+ python -m lidar_slam --no-model /working/d3ca9c34-2c63-4530-a2ce-b0ce0ec3ebd6 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/d3ca9c34-2c63-4530-a2ce-b0ce0ec3ebd6 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 0.021193817 Adjusted end_distance from 9.223372036854776e+18 to 281.751193817 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.021193817 meters Centerline goodness : 0.226199 Centerline is valid? [0, False] SLAMing on 0.051193817 meters Centerline goodness : 0.241304 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99991818 -0.01210551 -0.00413465 0.012498 ] [ 0.0120983 0.99992525 -0.00176521 -0.01003882] [ 0.00415571 0.00171505 0.99998989 -0.00113353] [ 0. 0. 0. 1. ]] SLAMing on 0.081193817 meters Centerline goodness : 0.279439 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99986752 -0.01571998 -0.00422234 0.01490676] [ 0.01570384 0.99986935 -0.00383016 -0.0146279 ] [ 0.004282 0.00376335 0.99998375 -0.00286 ] [ 0. 0. 0. 1. ]] SLAMing on 0.11119381700000001 meters Centerline goodness : 0.239040 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 0.9998087 -0.01902553 -0.00453742 0.01840242] [ 0.01899986 0.9998036 -0.00563628 -0.01823881] [ 0.00464376 0.00554899 0.99997382 -0.00524418] [ 0. 0. 0. 1. ]] SLAMing on 0.141193817 meters Centerline goodness : 0.301262 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 0.99977696 -0.02042088 -0.00538713 0.02407339] [ 0.02039241 0.99977806 -0.00528908 -0.02203791] [ 0.00549394 0.00517805 0.9999715 -0.00896614] [ 0. 0. 0. 1. ]] SLAMing on 0.17119381700000003 meters Centerline goodness : 0.745750 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.01 [[ 0.99970729 -0.02301183 -0.00746926 0.05183526] [ 0.02298226 0.99972779 -0.0040207 -0.02789808] [ 0.00755975 0.00384786 0.99996402 -0.01415927] [ 0. 0. 0. 1. ]] SLAMing on 0.20119381700000002 meters Centerline goodness : 0.173730 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.02 [[ 0.99967358 -0.02426095 -0.00800897 0.0571243 ] [ 0.02422887 0.99969812 -0.00407814 -0.03069995] [ 0.00810549 0.00388276 0.99995961 -0.01777242] [ 0. 0. 0. 1. ]] SLAMing on 0.23119381700000002 meters Centerline goodness : 0.170350 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.02 [[ 0.99962407 -0.02606622 -0.00850154 0.06184408] [ 0.02602855 0.99965102 -0.00451207 -0.03349948] [ 0.00861618 0.00428909 0.99995368 -0.02070249] [ 0. 0. 0. 1. ]] SLAMing on 0.261193817 meters Centerline goodness : 0.228792 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.04, Z:-0.02 [[ 0.99958081 -0.02746217 -0.00916713 0.06671416] [ 0.02742542 0.9996154 -0.00411104 -0.03689289] [ 0.00927651 0.0038579 0.99994953 -0.02341186] [ 0. 0. 0. 1. ]] SLAMing on 0.291193817 meters Centerline goodness : 0.168427 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.04, Z:-0.03 [[ 0.99943817 -0.03222447 -0.00921517 0.09346073] [ 0.03221097 0.9994798 -0.00161015 -0.04375283] [ 0.00926226 0.00131242 0.99995624 -0.02564619] [ 0. 0. 0. 1. ]] SLAMing on 0.32119381700000005 meters Centerline goodness : 0.167210 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.05, Z:-0.03 [[ 0.9993221 -0.03541557 -0.01005362 0.09901542] [ 0.03538476 0.99936856 -0.0032262 -0.04638003] [ 0.01016153 0.00286827 0.99994426 -0.02862458] [ 0. 0. 0. 1. ]] SLAMing on 0.351193817 meters Centerline goodness : 0.163554 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.05, Z:-0.03 [[ 0.99918428 -0.03893752 -0.01070682 0.10465427] [ 0.03887997 0.99922858 -0.00553128 -0.04934386] [ 0.01091394 0.00511049 0.99992738 -0.03220587] [ 0. 0. 0. 1. ]] SLAMing on 0.38119381700000005 meters Centerline goodness : 0.162357 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.05, Z:-0.04 [[ 0.99905248 -0.04206598 -0.01116242 0.10982774] [ 0.04198268 0.99908947 -0.00759473 -0.05301081] [ 0.01147174 0.0071189 0.99990886 -0.03567573] [ 0. 0. 0. 1. ]] SLAMing on 0.411193817 meters Centerline goodness : 0.165958 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:-0.04 [[ 0.99893725 -0.04514608 -0.00928401 0.13685239] [ 0.04507978 0.99895722 -0.0072306 -0.06220299] [ 0.00960076 0.00680439 0.99993076 -0.04113296] [ 0. 0. 0. 1. ]] SLAMing on 0.44119381700000004 meters Centerline goodness : 0.172731 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.07, Z:-0.04 [[ 0.99885637 -0.04676436 -0.00995218 0.14244558] [ 0.04669171 0.99888185 -0.00741206 -0.06559061] [ 0.01028767 0.0069389 0.999923 -0.0444967 ] [ 0. 0. 0. 1. ]] SLAMing on 0.471193817 meters Centerline goodness : 0.180639 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.08, Z:-0.05 [[ 0.99902 -0.04355821 -0.00785639 0.17887223] [ 0.0435145 0.99903681 -0.00565106 -0.076394 ] [ 0.00809498 0.00530366 0.99995317 -0.04599833] [ 0. 0. 0. 1. ]] SLAMing on 0.501193817 meters Centerline goodness : 0.190394 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.08, Z:-0.04 [[ 0.99900068 -0.04334523 -0.01090089 0.19941879] [ 0.04327482 0.99904131 -0.0066148 -0.08129245] [ 0.01117716 0.00613645 0.9999187 -0.04438521] [ 0. 0. 0. 1. ]] SLAMing on 0.531193817 meters Centerline goodness : 0.190436 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:-0.05 [[ 0.99887052 -0.04610259 -0.01149913 0.20477729] [ 0.04601352 0.99890963 -0.00789385 -0.08503698] [ 0.01185052 0.00735582 0.99990272 -0.04698615] [ 0. 0. 0. 1. ]] SLAMing on 0.561193817 meters Centerline goodness : 0.190907 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:-0.05 [[ 0.99889318 -0.04602834 -0.00968585 0.22521173] [ 0.0459878 0.99893245 -0.00436749 -0.09258597] [ 0.00987653 0.00391722 0.99994355 -0.04832939] [ 0. 0. 0. 1. ]] SLAMing on 0.5911938170000001 meters Centerline goodness : 0.233536 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:-0.05 [[ 0.99873239 -0.0492549 -0.01037198 0.23119541] [ 0.04919191 0.99876983 -0.00624304 -0.09770938] [ 0.01066673 0.00572491 0.99992672 -0.05192295] [ 0. 0. 0. 1. ]] SLAMing on 0.6211938170000001 meters Centerline goodness : 0.417817 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:-0.06 [[ 0.99854021 -0.05293545 -0.01073701 0.26036659] [ 0.05288538 0.99858859 -0.00489452 -0.11134653] [ 0.01098095 0.00431954 0.99993038 -0.05773612] [ 0. 0. 0. 1. ]] SLAMing on 0.651193817 meters Centerline goodness : 0.371771 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.12, Z:-0.06 [[ 0.99848235 -0.05275857 -0.01579678 0.27543928] [ 0.05268111 0.99859743 -0.00528009 -0.11918628] [ 0.01605319 0.00443989 0.99986128 -0.05795544] [ 0. 0. 0. 1. ]] SLAMing on 0.681193817 meters Centerline goodness : 0.376748 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.13, Z:-0.06 [[ 0.99840495 -0.05231693 -0.02122488 0.29382583] [ 0.05220216 0.99861895 -0.00592622 -0.12738427] [ 0.02150561 0.00480878 0.99975716 -0.05770998] [ 0. 0. 0. 1. ]] SLAMing on 0.7111938170000001 meters Centerline goodness : 0.365631 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.14, Z:-0.06 [[ 9.98429766e-01 -5.29676855e-02 -1.82325717e-02 3.13483349e-01] [ 5.29728319e-02 9.98595934e-01 -2.00914787e-04 -1.37315759e-01] [ 1.82176139e-02 -7.65231652e-04 9.99833753e-01 -6.03678997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7411938170000001 meters Centerline goodness : 0.526786 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.15, Z:-0.06 [[ 0.99821872 -0.05609346 -0.02032027 0.35959297] [ 0.056188 0.99841174 0.00411146 -0.15372564] [ 0.02005737 -0.00524589 0.99978507 -0.05979157] [ 0. 0. 0. 1. ]] SLAMing on 0.7711938170000001 meters Centerline goodness : 0.370201 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.06 [[ 0.99821057 -0.05716067 -0.01755877 0.37981534] [ 0.05730576 0.99832563 0.0078737 -0.16327947] [ 0.01707931 -0.00886583 0.99981483 -0.06105928] [ 0. 0. 0. 1. ]] SLAMing on 0.801193817 meters Centerline goodness : 0.725367 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.17, Z:-0.06 [[ 0.99806305 -0.05796016 -0.02260029 0.39886889] [ 0.05809732 0.99829599 0.00545981 -0.17181253] [ 0.02224533 -0.00676225 0.99972967 -0.05927628] [ 0. 0. 0. 1. ]] SLAMing on 0.8311938170000001 meters Centerline goodness : 0.705798 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.06 [[ 0.99799087 -0.05999294 -0.0203735 0.41935865] [ 0.0601265 0.99817269 0.00600704 -0.18054917] [ 0.01997589 -0.00721996 0.99977439 -0.06009831] [ 0. 0. 0. 1. ]] SLAMing on 0.8611938170000001 meters Centerline goodness : 0.668004 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.19, Z:-0.06 [[ 0.99786652 -0.06127718 -0.02252821 0.44105395] [ 0.06140457 0.9981004 0.00500682 -0.1888928 ] [ 0.02217861 -0.00637947 0.99973367 -0.0598507 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8911938170000001 meters SLAMing on 0.921193817 meters Centerline goodness : 0.462245 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.21, Z:-0.06 [[ 0.99706852 -0.07421936 -0.01859705 0.4966515 ] [ 0.07440786 0.99718113 0.00965692 -0.20621107] [ 0.01782789 -0.01101237 0.99978042 -0.06471703] [ 0. 0. 0. 1. ]] SLAMing on 0.951193817 meters Centerline goodness : 0.306142 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.07 [[ 0.99694524 -0.07661303 -0.01518633 0.51692266] [ 0.07676308 0.99700357 0.00955611 -0.21105656] [ 0.01440871 -0.01069267 0.99983902 -0.06586977] [ 0. 0. 0. 1. ]] SLAMing on 0.9811938170000001 meters Centerline goodness : 0.275062 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.07 [[ 0.99599832 -0.08806085 -0.01525202 0.55411965] [ 0.08825292 0.99602075 0.01241304 -0.21894711] [ 0.01409823 -0.01370941 0.99980663 -0.06576256] [ 0. 0. 0. 1. ]] SLAMing on 1.011193817 meters Centerline goodness : 0.754463 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.22, Z:-0.07 [[ 0.9957147 -0.09031563 -0.01988256 0.57602953] [ 0.09048633 0.9958667 0.00785793 -0.22301954] [ 0.01909069 -0.00962336 0.99977144 -0.06566089] [ 0. 0. 0. 1. ]] SLAMing on 1.041193817 meters Centerline goodness : 0.754463 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.22, Z:-0.07 [[ 0.9957147 -0.09031563 -0.01988256 0.57602953] [ 0.09048633 0.9958667 0.00785793 -0.22301954] [ 0.01909069 -0.00962336 0.99977144 -0.06566089] [ 0. 0. 0. 1. ]] SLAMing on 1.071193817 meters Centerline goodness : 0.694942 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.23, Z:-0.07 [[ 0.99548603 -0.09164124 -0.02468716 0.59859389] [ 0.09175742 0.99577484 0.00361261 -0.22651788] [ 0.02425179 -0.00586154 0.9996887 -0.06616594] [ 0. 0. 0. 1. ]] SLAMing on 1.101193817 meters Centerline goodness : 0.209113 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.23, Z:-0.07 [[ 9.95347659e-01 -9.17971589e-02 -2.92629200e-02 6.21092680e-01] [ 9.18371006e-02 9.95774044e-01 2.10167203e-05 -2.28526628e-01] [ 2.91373269e-02 -2.70834067e-03 9.99571749e-01 -6.65144516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.131193817 meters Centerline goodness : 0.202513 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.07 [[ 0.99510654 -0.09460973 -0.02849527 0.65301319] [ 0.09468997 0.99550572 0.00147685 -0.22844722] [ 0.02822748 -0.00416784 0.99959284 -0.06920599] [ 0. 0. 0. 1. ]] SLAMing on 1.161193817 meters Centerline goodness : 0.769236 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.23, Z:-0.07 [[ 9.95309426e-01 -9.23818946e-02 -2.87181658e-02 6.73198751e-01] [ 9.24208035e-02 9.95720038e-01 2.76201086e-05 -2.28341289e-01] [ 2.85927015e-02 -2.68164651e-03 9.99587548e-01 -6.95265849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.191193817 meters Centerline goodness : 0.193720 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.07 [[ 0.99577885 -0.08824389 -0.02524868 0.68735484] [ 0.08814805 0.9960954 -0.0048863 -0.22747132] [ 0.02558128 0.00264006 0.99966926 -0.07312022] [ 0. 0. 0. 1. ]] SLAMing on 1.221193817 meters Centerline goodness : 0.701762 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.23, Z:-0.07 [[ 0.99604491 -0.08405366 -0.0288014 0.70790252] [ 0.08390472 0.99645359 -0.00634355 -0.22652021] [ 0.02923245 0.00390189 0.99956502 -0.07318212] [ 0. 0. 0. 1. ]] SLAMing on 1.251193817 meters Centerline goodness : 0.721394 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.22, Z:-0.07 [[ 0.99659189 -0.07743104 -0.02844345 0.74627695] [ 0.07728566 0.99698985 -0.00617732 -0.22422261] [ 0.02883614 0.00395799 0.99957632 -0.07415412] [ 0. 0. 0. 1. ]] SLAMing on 1.281193817 meters Centerline goodness : 0.721713 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.22, Z:-0.07 [[ 0.99680828 -0.07529278 -0.02653788 0.7653938 ] [ 0.07512717 0.99714808 -0.00718457 -0.22410462] [ 0.02700315 0.00516793 0.99962199 -0.07494533] [ 0. 0. 0. 1. ]] SLAMing on 1.311193817 meters Centerline goodness : 0.724679 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.22, Z:-0.08 [[ 0.99697252 -0.07450637 -0.0222395 0.78376898] [ 0.07432658 0.99719508 -0.00880557 -0.22429399] [ 0.02283319 0.00712593 0.99971389 -0.07592877] [ 0. 0. 0. 1. ]] SLAMing on 1.341193817 meters Centerline goodness : 0.717181 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.22, Z:-0.08 [[ 0.99707226 -0.07445671 -0.01741013 0.8026054 ] [ 0.0742805 0.99718149 -0.01055842 -0.22413855] [ 0.01814721 0.00923427 0.99979268 -0.07731737] [ 0. 0. 0. 1. ]] SLAMing on 1.371193817 meters Centerline goodness : 0.696951 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.22, Z:-0.08 [[ 0.99694004 -0.07682429 -0.01444225 0.82671878] [ 0.07667954 0.99700234 -0.0103234 -0.22252755] [ 0.01519205 0.00918439 0.99984241 -0.07636836] [ 0. 0. 0. 1. ]] SLAMing on 1.401193817 meters Centerline goodness : 0.788687 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.22, Z:-0.08 [[ 0.99621865 -0.08651111 -0.00801416 0.87241904] [ 0.08646433 0.99623682 -0.00601059 -0.21649753] [ 0.00850398 0.00529492 0.99994982 -0.07736583] [ 0. 0. 0. 1. ]] SLAMing on 1.431193817 meters Centerline goodness : 0.791519 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.21, Z:-0.08 [[ 0.99603188 -0.08874542 -0.00668959 0.89979009] [ 0.08872527 0.99605083 -0.0032512 -0.2133702 ] [ 0.0069517 0.00264476 0.99997234 -0.07692796] [ 0. 0. 0. 1. ]] SLAMing on 1.461193817 meters Centerline goodness : 0.470386 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.21, Z:-0.08 [[ 0.99571442 -0.09239425 -0.00401304 0.92526442] [ 0.09238259 0.99571906 -0.00300026 -0.20893387] [ 0.00427307 0.00261667 0.99998745 -0.07608707] [ 0. 0. 0. 1. ]] SLAMing on 1.491193817 meters Centerline goodness : 0.284446 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.20, Z:-0.08 [[ 0.99458426 -0.10387506 0.00348043 0.96717929] [ 0.10387994 0.99458906 -0.00125022 -0.19800956] [-0.00333174 0.00160499 0.99999316 -0.07651173] [ 0. 0. 0. 1. ]] SLAMing on 1.5211938170000001 meters Centerline goodness : 0.829443 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.19, Z:-0.08 [[ 0.99431794 -0.10603685 0.00938201 0.98397681] [ 0.10610257 0.99433189 -0.006807 -0.19186253] [-0.00860704 0.00776378 0.99993282 -0.07818847] [ 0. 0. 0. 1. ]] SLAMing on 1.551193817 meters Centerline goodness : 0.274723 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.19, Z:-0.08 [[ 0.99457305 -0.10383412 0.0065518 1.00688565] [ 0.10389274 0.99454456 -0.00934933 -0.185653 ] [-0.00554528 0.00997928 0.99993483 -0.08003479] [ 0. 0. 0. 1. ]] SLAMing on 1.581193817 meters Centerline goodness : 0.722330 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.18, Z:-0.08 [[ 0.99490225 -0.10078872 0.00333895 1.02985908] [ 0.10082055 0.99483956 -0.01137812 -0.17832683] [-0.00217493 0.01165675 0.99992969 -0.08224132] [ 0. 0. 0. 1. ]] SLAMing on 1.611193817 meters Centerline goodness : 0.405386 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.16, Z:-0.09 [[ 0.99503686 -0.09947776 -0.00241439 1.0619718 ] [ 0.0994425 0.99497242 -0.01187709 -0.1606002 ] [ 0.00358376 0.01157805 0.99992655 -0.08552203] [ 0. 0. 0. 1. ]] SLAMing on 1.641193817 meters Centerline goodness : 0.148394 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.15, Z:-0.09 [[ 0.99546293 -0.09495346 -0.00611447 1.084183 ] [ 0.09487154 0.99541072 -0.01252514 -0.15310824] [ 0.00727572 0.01188822 0.99990286 -0.08677756] [ 0. 0. 0. 1. ]] SLAMing on 1.671193817 meters SLAMing on 1.701193817 meters Centerline goodness : 0.738322 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.13, Z:-0.09 [[ 0.9957414 -0.09158709 -0.01052909 1.11415004] [ 0.09146048 0.99573717 -0.01193609 -0.13348602] [ 0.01157739 0.01092226 0.99987333 -0.08962935] [ 0. 0. 0. 1. ]] SLAMing on 1.731193817 meters Centerline goodness : 0.705839 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.11, Z:-0.09 [[ 0.99627601 -0.08506423 -0.01407806 1.1414412 ] [ 0.0849083 0.99632439 -0.0113267 -0.11414804] [ 0.01498981 0.01008917 0.99983674 -0.09372167] [ 0. 0. 0. 1. ]] SLAMing on 1.761193817 meters Centerline goodness : 0.568394 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:-0.10 [[ 0.99672448 -0.07895622 -0.01749958 1.16438534] [ 0.07878823 0.9968403 -0.0100908 -0.10682084] [ 0.01824102 0.00867899 0.99979595 -0.09514567] [ 0. 0. 0. 1. ]] SLAMing on 1.7911938170000001 meters Centerline goodness : 0.725387 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:-0.10 [[ 0.99705384 -0.0742923 -0.01908646 1.16881448] [ 0.07418127 0.99722384 -0.00646221 -0.10064597] [ 0.01951356 0.00502732 0.99979695 -0.09776839] [ 0. 0. 0. 1. ]] SLAMing on 1.821193817 meters Centerline goodness : 0.802583 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.09, Z:-0.10 [[ 0.99752434 -0.06860047 -0.01546488 1.18406756] [ 0.06846549 0.99761202 -0.00909601 -0.09269365] [ 0.01605194 0.00801468 0.99983904 -0.10055036] [ 0. 0. 0. 1. ]] SLAMing on 1.851193817 meters Centerline goodness : 0.186997 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.08, Z:-0.10 [[ 0.99819134 -0.05824325 -0.01489209 1.211229 ] [ 0.058012 0.99819531 -0.01551574 -0.07757503] [ 0.01576891 0.01462375 0.99976872 -0.10080784] [ 0. 0. 0. 1. ]] SLAMing on 1.881193817 meters Centerline goodness : 0.797168 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.07, Z:-0.10 [[ 0.99852696 -0.05178426 -0.01619564 1.2320687 ] [ 0.05154744 0.99856215 -0.0147135 -0.07093465] [ 0.01693428 0.01385698 0.99976058 -0.10215644] [ 0. 0. 0. 1. ]] SLAMing on 1.911193817 meters Centerline goodness : 0.741262 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.06, Z:-0.10 [[ 0.99891184 -0.04271901 -0.01871439 1.25940775] [ 0.04236654 0.99892444 -0.01884267 -0.06469328] [ 0.0194992 0.0180293 0.9996473 -0.10104588] [ 0. 0. 0. 1. ]] SLAMing on 1.941193817 meters Centerline goodness : 0.773049 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.05, Z:-0.10 [[ 0.99931985 -0.03456179 -0.01285736 1.29041825] [ 0.03426084 0.99914975 -0.0229339 -0.05154479] [ 0.01363907 0.0224778 0.9996543 -0.10335128] [ 0. 0. 0. 1. ]] SLAMing on 1.971193817 meters Centerline goodness : 0.793541 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.05, Z:-0.10 [[ 0.99954287 -0.02778367 -0.01192132 1.30819319] [ 0.02737599 0.99907717 -0.03309617 -0.04695585] [ 0.01282985 0.03275469 0.99938107 -0.10301042] [ 0. 0. 0. 1. ]] SLAMing on 2.0011938170000003 meters Centerline goodness : 0.799696 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.04, Z:-0.11 [[ 0.99966972 -0.0253967 -0.0039329 1.31917712] [ 0.02523713 0.99901991 -0.0363635 -0.04395362] [ 0.00485255 0.03625224 0.99933089 -0.10518289] [ 0. 0. 0. 1. ]] SLAMing on 2.031193817 meters Centerline goodness : 0.766121 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.04, Z:-0.10 [[ 0.99965331 -0.0260149 -0.0040611 1.32021275] [ 0.02584106 0.99893611 -0.03819536 -0.04060749] [ 0.00505043 0.03807717 0.99926204 -0.10454928] [ 0. 0. 0. 1. ]] SLAMing on 2.061193817 meters Centerline goodness : 0.830116 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.04, Z:-0.10 [[ 0.99971869 -0.02331926 -0.00433128 1.32192906] [ 0.02315402 0.99912169 -0.0349248 -0.03841646] [ 0.00514189 0.03481469 0.99938056 -0.10420818] [ 0. 0. 0. 1. ]] SLAMing on 2.091193817 meters Centerline goodness : 0.767143 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.04, Z:-0.11 [[ 0.99973521 -0.02230999 -0.00563609 1.32605718] [ 0.02210689 0.99918278 -0.03383858 -0.03787071] [ 0.00638642 0.03370502 0.99941142 -0.1060022 ] [ 0. 0. 0. 1. ]] SLAMing on 2.121193817 meters Centerline goodness : 0.830118 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.04, Z:-0.11 [[ 0.99974469 -0.02157011 -0.00672935 1.3300297 ] [ 0.021337 0.99922833 -0.03297692 -0.03839622] [ 0.00743548 0.03282491 0.99943346 -0.10825953] [ 0. 0. 0. 1. ]] SLAMing on 2.1511938170000002 meters Centerline goodness : 0.832678 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.04, Z:-0.11 [[ 0.9997351 -0.02166945 -0.00775715 1.33463185] [ 0.0214017 0.99922359 -0.03307857 -0.03847836] [ 0.00846792 0.03290379 0.99942265 -0.1113183 ] [ 0. 0. 0. 1. ]] SLAMing on 2.181193817 meters Centerline goodness : 0.840416 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.04, Z:-0.11 [[ 0.99976047 -0.02004456 -0.00878719 1.3388166 ] [ 0.01976 0.99931295 -0.03135555 -0.0388651 ] [ 0.00940966 0.0311744 0.99946967 -0.11408378] [ 0. 0. 0. 1. ]] SLAMing on 2.2111938170000003 meters Centerline goodness : 0.841477 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.04, Z:-0.12 [[ 0.99979399 -0.0178381 -0.00968407 1.34345415] [ 0.01755371 0.99943398 -0.02869823 -0.03959395] [ 0.01019051 0.02852233 0.99954121 -0.1169055 ] [ 0. 0. 0. 1. ]] SLAMing on 2.241193817 meters Centerline goodness : 0.843908 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.04, Z:-0.12 [[ 0.99984523 -0.01409126 -0.01053314 1.34518816] [ 0.01383372 0.99961295 -0.02413662 -0.0425404 ] [ 0.01086918 0.02398717 0.99965318 -0.11692907] [ 0. 0. 0. 1. ]] SLAMing on 2.271193817 meters Centerline goodness : 0.845370 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.04, Z:-0.12 [[ 0.99984192 -0.01385102 -0.01114788 1.34613046] [ 0.01358398 0.9996272 -0.0236839 -0.04393331] [ 0.01147177 0.02352873 0.99965734 -0.11659028] [ 0. 0. 0. 1. ]] SLAMing on 2.301193817 meters Centerline goodness : 0.846836 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.05, Z:-0.12 [[ 0.99983816 -0.01355889 -0.01182378 1.34726192] [ 0.01328344 0.99964558 -0.02307106 -0.04585118] [ 0.0121324 0.02291027 0.99966391 -0.11633739] [ 0. 0. 0. 1. ]] SLAMing on 2.331193817 meters Centerline goodness : 0.847841 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.05, Z:-0.12 [[ 0.9998372 -0.013062 -0.01244809 1.34832561] [ 0.0127841 0.99967295 -0.02214866 -0.04859256] [ 0.01273332 0.02198591 0.99967719 -0.11614651] [ 0. 0. 0. 1. ]] SLAMing on 2.361193817 meters Centerline goodness : 0.850027 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.06, Z:-0.12 [[ 0.99985805 -0.01111794 -0.01266014 1.34858014] [ 0.01087347 0.99975618 -0.01921827 -0.05502393] [ 0.01287072 0.01907788 0.99973515 -0.11509464] [ 0. 0. 0. 1. ]] SLAMing on 2.391193817 meters Centerline goodness : 0.853919 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.06, Z:-0.11 [[ 0.99988843 -0.00675444 -0.0133233 1.34982821] [ 0.0065712 0.99988388 -0.0137497 -0.05992753] [ 0.01341463 0.01366062 0.9998167 -0.11492641] [ 0. 0. 0. 1. ]] SLAMing on 2.4211938170000002 meters Centerline goodness : 0.849203 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.07, Z:-0.12 [[ 0.99989461 -0.00385511 -0.01399665 1.35253471] [ 0.00372428 0.99994925 -0.00936069 -0.06874905] [ 0.01403202 0.00930758 0.99985823 -0.11598435] [ 0. 0. 0. 1. ]] SLAMing on 2.451193817 meters Centerline goodness : 0.853332 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.07, Z:-0.12 [[ 0.9998892 -0.0030518 -0.01456972 1.35362784] [ 0.00294272 0.99996752 -0.00750272 -0.07392863] [ 0.01459214 0.00745902 0.99986571 -0.1158281 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4811938170000003 meters Centerline goodness : 0.861586 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.08, Z:-0.12 [[ 0.99988266 -0.00250825 -0.01511188 1.35479443] [ 0.00242361 0.99998129 -0.0056161 -0.07982325] [ 0.01512568 0.00557882 0.99987004 -0.11560864] [ 0. 0. 0. 1. ]] SLAMing on 2.511193817 meters Centerline goodness : 0.854213 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.09, Z:-0.12 [[ 0.99986591 -0.00540735 -0.01545737 1.35535007] [ 0.00529212 0.99995797 -0.00748614 -0.08537196] [ 0.0154972 0.00740333 0.9998525 -0.11518294] [ 0. 0. 0. 1. ]] SLAMing on 2.541193817 meters Centerline goodness : 0.877650 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.10, Z:-0.11 [[ 0.99980125 -0.0128861 -0.01521225 1.35672995] [ 0.01278902 0.99989734 -0.00646192 -0.10176497] [ 0.01529396 0.00626609 0.99986341 -0.10990943] [ 0. 0. 0. 1. ]] SLAMing on 2.571193817 meters Centerline goodness : 0.877060 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.11, Z:-0.11 [[ 0.99974084 -0.01667997 -0.01549273 1.35753511] [ 0.01654891 0.99982651 -0.00854892 -0.10851386] [ 0.01563264 0.00829032 0.99984343 -0.10962344] [ 0. 0. 0. 1. ]] SLAMing on 2.601193817 meters Centerline goodness : 0.877777 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.11, Z:-0.11 [[ 0.99966254 -0.02060862 -0.01581396 1.35869907] [ 0.02043688 0.99973123 -0.01094547 -0.11400367] [ 0.01603528 0.01061859 0.99981504 -0.10986723] [ 0. 0. 0. 1. ]] SLAMing on 2.631193817 meters Centerline goodness : 0.876853 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.12, Z:-0.11 [[ 0.99956573 -0.0245858 -0.01624489 1.36036528] [ 0.02436645 0.99961106 -0.01356519 -0.11873146] [ 0.01657208 0.01316347 0.99977602 -0.11059657] [ 0. 0. 0. 1. ]] SLAMing on 2.661193817 meters Centerline goodness : 0.877438 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.13, Z:-0.11 [[ 0.99940356 -0.03230362 -0.01220659 1.37268384] [ 0.03217392 0.99942526 -0.0106764 -0.12948454] [ 0.01254446 0.0102773 0.9998685 -0.11398787] [ 0. 0. 0. 1. ]] SLAMing on 2.6911938170000003 meters Centerline goodness : 0.876663 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.13, Z:-0.11 [[ 0.99927242 -0.03605106 -0.01244779 1.37391406] [ 0.03587878 0.99926092 -0.01379617 -0.13255601] [ 0.01293595 0.01333952 0.99982734 -0.11457904] [ 0. 0. 0. 1. ]] SLAMing on 2.721193817 meters Centerline goodness : 0.877806 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.14, Z:-0.12 [[ 0.99923383 -0.03690296 -0.01303547 1.37634901] [ 0.03672289 0.99923029 -0.01379371 -0.13601326] [ 0.01353447 0.01330444 0.99981989 -0.11583597] [ 0. 0. 0. 1. ]] SLAMing on 2.7511938170000003 meters Centerline goodness : 0.877761 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.14, Z:-0.12 [[ 0.99924947 -0.03567258 -0.01509875 1.39739038] [ 0.03546211 0.99927317 -0.01398459 -0.13949291] [ 0.01558664 0.01343866 0.99978821 -0.11556655] [ 0. 0. 0. 1. ]] SLAMing on 2.781193817 meters Centerline goodness : 0.875125 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.14, Z:-0.12 [[ 0.99911697 -0.0387841 -0.01615753 1.40294731] [ 0.03851835 0.99912255 -0.01644592 -0.142876 ] [ 0.01678119 0.01580903 0.9997342 -0.11922508] [ 0. 0. 0. 1. ]] SLAMing on 2.811193817 meters Centerline goodness : 0.873454 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.14, Z:-0.12 [[ 0.9990903 -0.03924694 -0.01668105 1.40529014] [ 0.03897219 0.99910425 -0.01648847 -0.14443864] [ 0.01731323 0.01582338 0.9997249 -0.12075423] [ 0. 0. 0. 1. ]] SLAMing on 2.841193817 meters Centerline goodness : 0.873136 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.15, Z:-0.12 [[ 0.9991115 -0.03714921 -0.01990357 1.42704763] [ 0.03681661 0.9991804 -0.0168245 -0.14681028] [ 0.02051228 0.01607677 0.99966033 -0.12245299] [ 0. 0. 0. 1. ]] SLAMing on 2.871193817 meters Centerline goodness : 0.870718 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.15, Z:-0.12 [[ 0.99909909 -0.03730077 -0.02023993 1.42845405] [ 0.03696402 0.99917597 -0.01676431 -0.14770826] [ 0.02084857 0.01600106 0.99965459 -0.1233116 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9011938170000002 meters Centerline goodness : 0.869639 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.15, Z:-0.13 [[ 0.99927175 -0.03461789 -0.01604878 1.43990618] [ 0.03421577 0.99910949 -0.02468815 -0.14760845] [ 0.01688914 0.02412105 0.99956637 -0.12674214] [ 0. 0. 0. 1. ]] SLAMing on 2.931193817 meters Centerline goodness : 0.869639 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.15, Z:-0.13 [[ 0.99927175 -0.03461789 -0.01604878 1.43990618] [ 0.03421577 0.99910949 -0.02468815 -0.14760845] [ 0.01688914 0.02412105 0.99956637 -0.12674214] [ 0. 0. 0. 1. ]] SLAMing on 2.9611938170000003 meters Centerline goodness : 0.865292 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.15, Z:-0.13 [[ 0.99951073 -0.02962757 -0.01002557 1.45068059] [ 0.02932735 0.99915276 -0.02887321 -0.1486459 ] [ 0.01087252 0.02856506 0.9995328 -0.12941543] [ 0. 0. 0. 1. ]] SLAMing on 2.991193817 meters Centerline goodness : 0.866499 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.15, Z:-0.13 [[ 0.99965193 -0.02506811 -0.00822296 1.46875507] [ 0.02482625 0.99929106 -0.02830252 -0.14939482] [ 0.00892662 0.02808852 0.99956558 -0.12938682] [ 0. 0. 0. 1. ]] SLAMing on 3.0211938170000003 meters Centerline goodness : 0.863656 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.15, Z:-0.13 [[ 0.99977737 -0.02084428 -0.00327587 1.48140237] [ 0.02072336 0.99922712 -0.0334022 -0.14850109] [ 0.00396959 0.03332687 0.99943662 -0.13290897] [ 0. 0. 0. 1. ]] SLAMing on 3.051193817 meters Centerline goodness : 0.863692 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.15, Z:-0.13 [[ 9.99841082e-01 -1.77987924e-02 -1.00636696e-03 1.49924078e+00] [ 1.77517881e-02 9.99210398e-01 -3.55451026e-02 -1.48585601e-01] [ 1.63823223e-03 3.55215891e-02 9.99367566e-01 -1.33960000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.081193817 meters Centerline goodness : 0.859805 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.15, Z:-0.13 [[ 0.99994605 -0.01019256 -0.00199987 1.52570113] [ 0.0101004 0.99908031 -0.04167143 -0.15171776] [ 0.00242277 0.04164898 0.99912937 -0.13255398] [ 0. 0. 0. 1. ]] SLAMing on 3.111193817 meters Centerline goodness : 0.861944 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.15, Z:-0.13 [[ 0.99996819 -0.00756844 -0.00251628 1.5277607 ] [ 0.00746682 0.99924212 -0.03820247 -0.15406136] [ 0.00280351 0.03818246 0.99926685 -0.13366282] [ 0. 0. 0. 1. ]] SLAMing on 3.141193817 meters Centerline goodness : 0.862035 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.16, Z:-0.14 [[ 0.99997986 -0.00551296 -0.00314477 1.53037479] [ 0.00539871 0.99936394 -0.03525017 -0.15595545] [ 0.0033371 0.03523248 0.99937357 -0.13513921] [ 0. 0. 0. 1. ]] SLAMing on 3.1711938170000002 meters Centerline goodness : 0.859230 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.16, Z:-0.14 [[ 0.99997942 -0.00542027 -0.00343093 1.53114704] [ 0.00529793 0.99938312 -0.03471771 -0.15742369] [ 0.00361699 0.03469881 0.99939127 -0.13545391] [ 0. 0. 0. 1. ]] SLAMing on 3.201193817 meters Centerline goodness : 0.858544 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.16, Z:-0.14 [[ 0.99996278 -0.00777576 -0.00373935 1.53310127] [ 0.00763541 0.9993159 -0.03618598 -0.16240594] [ 0.00401816 0.03615608 0.99933808 -0.13699242] [ 0. 0. 0. 1. ]] SLAMing on 3.2311938170000003 meters Centerline goodness : 0.859714 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.17, Z:-0.14 [[ 0.99995034 -0.00890166 -0.00448069 1.53569303] [ 0.00873209 0.99929405 -0.03653971 -0.16512418] [ 0.00480279 0.03649877 0.99932216 -0.13836734] [ 0. 0. 0. 1. ]] SLAMing on 3.261193817 meters Centerline goodness : 0.860070 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.17, Z:-0.14 [[ 0.99994067 -0.00960006 -0.00514782 1.53760757] [ 0.00940641 0.99929273 -0.03640836 -0.16780397] [ 0.0054937 0.03635778 0.99932374 -0.13910154] [ 0. 0. 0. 1. ]] SLAMing on 3.2911938170000004 meters Centerline goodness : 0.859456 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.17, Z:-0.14 [[ 0.99991491 -0.0118361 -0.00548376 1.54001699] [ 0.01162051 0.99921754 -0.0378057 -0.17122234] [ 0.00592695 0.03773876 0.99927006 -0.14101537] [ 0. 0. 0. 1. ]] SLAMing on 3.321193817 meters Centerline goodness : 0.858954 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.17, Z:-0.14 [[ 0.99991359 -0.01181465 -0.00576406 1.54087694] [ 0.01158956 0.99922437 -0.03763422 -0.17187629] [ 0.00620423 0.03756417 0.99927496 -0.14143557] [ 0. 0. 0. 1. ]] SLAMing on 3.351193817 meters Centerline goodness : 0.858675 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.17, Z:-0.14 [[ 0.99993694 -0.00922644 -0.00640263 1.54337227] [ 0.00900064 0.99936615 -0.0344425 -0.17315928] [ 0.00671635 0.0343827 0.99938617 -0.14285988] [ 0. 0. 0. 1. ]] SLAMing on 3.381193817 meters Centerline goodness : 0.857628 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.17, Z:-0.14 [[ 0.99995372 -0.00651932 -0.00707542 1.54549363] [ 0.00629594 0.99949497 -0.03114747 -0.17455567] [ 0.0072749 0.03110148 0.99948976 -0.14374075] [ 0. 0. 0. 1. ]] SLAMing on 3.411193817 meters Centerline goodness : 0.855990 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.18, Z:-0.14 [[ 0.99996363 -0.0036709 -0.00769763 1.54719266] [ 0.00345614 0.99960951 -0.02772871 -0.17610311] [ 0.00779641 0.0277011 0.99958585 -0.14413722] [ 0. 0. 0. 1. ]] SLAMing on 3.4411938170000003 meters Centerline goodness : 0.857637 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.18, Z:-0.14 [[ 9.99966705e-01 -7.71117622e-04 -8.12372983e-03 1.54830823e+00] [ 5.73454907e-04 9.99704406e-01 -2.43058146e-02 -1.78099304e-01] [ 8.14007114e-03 2.43003467e-02 9.99671562e-01 -1.44064780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.471193817 meters Centerline goodness : 0.857125 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.18, Z:-0.14 [[ 9.99965015e-01 -8.52852261e-04 -8.32119427e-03 1.54887993e+00] [ 6.49141435e-04 9.99700769e-01 -2.44530208e-02 -1.78109231e-01] [ 8.33955912e-03 2.44467637e-02 9.99666348e-01 -1.44280475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5011938170000003 meters Centerline goodness : 0.856362 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.18, Z:-0.14 [[ 9.99963256e-01 -9.21369035e-04 -8.52277867e-03 1.54934184e+00] [ 7.11429538e-04 9.99697046e-01 -2.46030682e-02 -1.77706581e-01] [ 8.54286517e-03 2.45961008e-02 9.99660968e-01 -1.44369605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.531193817 meters Centerline goodness : 0.857953 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.18, Z:-0.14 [[ 0.99995821 0.00195639 -0.0089298 1.55060747] [-0.00214315 0.99977818 -0.02095214 -0.17919642] [ 0.00888683 0.0209704 0.9997406 -0.14467133] [ 0. 0. 0. 1. ]] SLAMing on 3.5611938170000004 meters Centerline goodness : 0.857429 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.18, Z:-0.15 [[ 0.9999453 0.00476539 -0.00931035 1.55216403] [-0.0049256 0.99983888 -0.01726122 -0.18162555] [ 0.00922659 0.01730614 0.99980767 -0.14526488] [ 0. 0. 0. 1. ]] SLAMing on 3.591193817 meters Centerline goodness : 0.857312 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.18, Z:-0.15 [[ 0.99994315 0.00492783 -0.0094559 1.55261864] [-0.00508707 0.99984439 -0.01689138 -0.18289371] [ 0.00937119 0.01693853 0.99981262 -0.14546889] [ 0. 0. 0. 1. ]] SLAMing on 3.621193817 meters Centerline goodness : 0.859288 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.18, Z:-0.15 [[ 0.99994141 0.00499506 -0.00960343 1.55323043] [-0.00515318 0.99985041 -0.01651089 -0.18438595] [ 0.00951952 0.01655941 0.99981757 -0.14586136] [ 0. 0. 0. 1. ]] SLAMing on 3.6511938170000002 meters Centerline goodness : 0.858429 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.19, Z:-0.15 [[ 0.99994081 0.00498722 -0.0096696 1.55347969] [-0.00514203 0.99985794 -0.0160519 -0.18586337] [ 0.00958817 0.01610067 0.9998244 -0.14596641] [ 0. 0. 0. 1. ]] SLAMing on 3.681193817 meters Centerline goodness : 0.857916 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.19, Z:-0.15 [[ 0.99994487 0.00369152 -0.00982969 1.55498546] [-0.00384984 0.99986239 -0.01613627 -0.18879753] [ 0.00976877 0.01617323 0.99982148 -0.14706351] [ 0. 0. 0. 1. ]] SLAMing on 3.7111938170000003 meters Centerline goodness : 0.855530 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.19, Z:-0.15 [[ 0.99994281 0.00251968 -0.01039377 1.55714405] [-0.00269298 0.99985704 -0.01669297 -0.19003003] [ 0.01035022 0.01672001 0.99980664 -0.14831709] [ 0. 0. 0. 1. ]] SLAMing on 3.741193817 meters Centerline goodness : 0.855719 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.19, Z:-0.15 [[ 9.99940082e-01 1.34312738e-03 -1.08640819e-02 1.55921998e+00] [-1.53120464e-03 9.99848789e-01 -1.73220908e-02 -1.90970488e-01] [ 1.08391733e-02 1.73376880e-02 9.99790937e-01 -1.49677012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7711938170000003 meters Centerline goodness : 0.856486 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.19, Z:-0.15 [[ 9.99935758e-01 6.13113213e-04 -1.13183178e-02 1.56052521e+00] [-8.11367638e-04 9.99846184e-01 -1.75199717e-02 -1.91957760e-01] [ 1.13058351e-02 1.75280295e-02 9.99782449e-01 -1.50212756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.801193817 meters Centerline goodness : 0.857369 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.19, Z:-0.15 [[ 0.99992514 -0.00403872 -0.01154972 1.56183826] [ 0.00378454 0.99975202 -0.02194491 -0.19233392] [ 0.01163548 0.02189956 0.99969247 -0.15129084] [ 0. 0. 0. 1. ]] SLAMing on 3.8311938170000004 meters Centerline goodness : 0.854814 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.19, Z:-0.15 [[ 0.99991452 -0.00504333 -0.01206282 1.56397175] [ 0.00476881 0.99973141 -0.02267944 -0.19266097] [ 0.01217396 0.02261998 0.99967001 -0.15270732] [ 0. 0. 0. 1. ]] SLAMing on 3.861193817 meters Centerline goodness : 0.855446 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.19, Z:-0.15 [[ 0.99991019 -0.00554493 -0.0122011 1.56489661] [ 0.00526236 0.99971998 -0.02307108 -0.19232402] [ 0.01232562 0.0230048 0.99965937 -0.15353584] [ 0. 0. 0. 1. ]] SLAMing on 3.891193817 meters Centerline goodness : 0.854852 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.19, Z:-0.16 [[ 0.99991246 -0.00401299 -0.01260811 1.56772845] [ 0.00374553 0.99976897 -0.02116566 -0.18970671] [ 0.01269013 0.02111659 0.99969648 -0.15571513] [ 0. 0. 0. 1. ]] SLAMing on 3.9211938170000002 meters Centerline goodness : 0.851947 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.19, Z:-0.16 [[ 9.99911023e-01 -1.72255810e-03 -1.32279438e-02 1.57020975e+00] [ 1.47664157e-03 9.99826324e-01 -1.85780012e-02 -1.88849570e-01] [ 1.32576481e-02 1.85568153e-02 9.99739906e-01 -1.57146260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.951193817 meters Centerline goodness : 0.850363 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.19, Z:-0.16 [[ 9.99904409e-01 8.24658296e-04 -1.38019256e-02 1.57211356e+00] [-1.04225876e-03 9.99875163e-01 -1.57661900e-02 -1.88435306e-01] [ 1.37872009e-02 1.57790681e-02 9.99780443e-01 -1.57941902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9811938170000003 meters Centerline goodness : 0.849648 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.19, Z:-0.16 [[ 9.99988426e-01 1.45339279e-03 -4.58644289e-03 1.57374625e+00] [-1.51080850e-03 9.99920229e-01 -1.25400364e-02 -1.85801325e-01] [ 4.56785143e-03 1.25468205e-02 9.99910852e-01 -1.62268646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0111938170000005 meters Centerline goodness : 0.848338 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.19, Z:-0.16 [[ 0.99997939 0.00388174 -0.00511332 1.57575769] [-0.00393357 0.99994059 -0.01016607 -0.18512897] [ 0.00507355 0.01018598 0.99993525 -0.16334937] [ 0. 0. 0. 1. ]] SLAMing on 4.041193817000001 meters Centerline goodness : 0.848299 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.18, Z:-0.16 [[ 0.99996221 0.00669295 -0.00554849 1.57774616] [-0.00673466 0.99994894 -0.00753378 -0.18356062] [ 0.00549778 0.00757086 0.99995623 -0.16466708] [ 0. 0. 0. 1. ]] SLAMing on 4.071193817000001 meters Centerline goodness : 0.846322 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.18, Z:-0.17 [[ 0.99993048 0.01035215 -0.00564577 1.57846199] [-0.01037551 0.99993767 -0.00412267 -0.18209215] [ 0.00560274 0.00418096 0.99997556 -0.16519756] [ 0. 0. 0. 1. ]] SLAMing on 4.101193817 meters Centerline goodness : 0.844268 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.18, Z:-0.17 [[ 0.99992861 0.01054793 -0.00561449 1.57880147] [-0.01057658 0.99993107 -0.00509875 -0.17842158] [ 0.00556032 0.00515777 0.99997124 -0.16588007] [ 0. 0. 0. 1. ]] SLAMing on 4.131193817000001 meters Centerline goodness : 0.840840 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.17 [[ 9.99855714e-01 1.69809419e-02 -4.46008707e-04 1.59023829e+00] [-1.69846238e-02 9.99803157e-01 -1.02552168e-02 -1.73474394e-01] [ 2.71777674e-04 1.02613124e-02 9.99947314e-01 -1.69986462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.161193817000001 meters Centerline goodness : 0.840845 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.17 [[ 9.99784716e-01 2.07403194e-02 -6.01403405e-04 1.59075443e+00] [-2.07438495e-02 9.99762900e-01 -6.62092565e-03 -1.72652937e-01] [ 4.63940700e-04 6.63197569e-03 9.99977901e-01 -1.70017564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.191193817 meters Centerline goodness : 0.837912 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.17 [[ 9.99762497e-01 2.17771587e-02 -8.39683326e-04 1.59138925e+00] [-2.17824249e-02 9.99739079e-01 -6.87750377e-03 -1.68592350e-01] [ 6.89691744e-04 6.89416068e-03 9.99975997e-01 -1.70455907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2211938170000005 meters Centerline goodness : 0.837294 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.17 [[ 9.99767536e-01 2.15406816e-02 -9.34700032e-04 1.59209292e+00] [-2.15471542e-02 9.99739111e-01 -7.57820991e-03 -1.66939039e-01] [ 7.71216372e-04 7.59658837e-03 9.99970848e-01 -1.71199365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.251193817000001 meters Centerline goodness : 0.835284 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.17 [[ 9.99726929e-01 2.33226745e-02 -1.45613526e-03 1.59496784e+00] [-2.33306892e-02 9.99711245e-01 -5.75376148e-03 -1.66627456e-01] [ 1.32152169e-03 5.78616293e-03 9.99982387e-01 -1.73342397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.281193817000001 meters Centerline goodness : 0.834453 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:-0.17 [[ 9.99731590e-01 2.31165923e-02 -1.53954832e-03 1.59561138e+00] [-2.31258733e-02 9.99712639e-01 -6.31138085e-03 -1.64894323e-01] [ 1.39320829e-03 6.34529022e-03 9.99978898e-01 -1.73980824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.311193817 meters Centerline goodness : 0.832158 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:-0.17 [[ 9.99735292e-01 2.29433804e-02 -1.71681519e-03 1.59630333e+00] [-2.29544454e-02 9.99713861e-01 -6.72980125e-03 -1.63763910e-01] [ 1.56191955e-03 6.76742835e-03 9.99975881e-01 -1.74493557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.341193817000001 meters Centerline goodness : 0.827782 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:-0.18 [[ 0.99975591 0.02197588 -0.00227412 1.59902339] [-0.02199301 0.99972768 -0.00780232 -0.16319031] [ 0.00210204 0.00785043 0.99996698 -0.176718 ] [ 0. 0. 0. 1. ]] SLAMing on 4.371193817000001 meters Centerline goodness : 0.826759 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:-0.18 [[ 0.99977153 0.02121459 -0.00261464 1.60076452] [-0.02123613 0.99973829 -0.00850725 -0.16316729] [ 0.00243347 0.00856083 0.99996039 -0.17813589] [ 0. 0. 0. 1. ]] SLAMing on 4.401193817000001 meters Centerline goodness : 0.827753 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:-0.18 [[ 0.99979223 0.02015257 -0.0030616 1.60267264] [-0.02018037 0.99975276 -0.00933649 -0.16360823] [ 0.00287269 0.00939634 0.99995173 -0.17950074] [ 0. 0. 0. 1. ]] SLAMing on 4.4311938170000005 meters Centerline goodness : 0.824904 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:-0.18 [[ 0.99980273 0.01959734 -0.00323253 1.60293731] [-0.01962679 0.9997637 -0.00934564 -0.16479915] [ 0.00304862 0.00940724 0.9999511 -0.17931606] [ 0. 0. 0. 1. ]] SLAMing on 4.461193817000001 meters Centerline goodness : 0.825387 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.17, Z:-0.18 [[ 0.99981171 0.01909731 -0.00344041 1.60299437] [-0.01912817 0.99977497 -0.00917192 -0.16657834] [ 0.00326448 0.009236 0.99995202 -0.1786902 ] [ 0. 0. 0. 1. ]] SLAMing on 4.491193817000001 meters Centerline goodness : 0.824308 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.17, Z:-0.18 [[ 0.99988345 0.01487718 -0.00342924 1.60221993] [-0.01492119 0.99980172 -0.01318648 -0.16648241] [ 0.00323238 0.01323611 0.99990717 -0.17766522] [ 0. 0. 0. 1. ]] SLAMing on 4.521193817 meters Centerline goodness : 0.822807 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.17, Z:-0.18 [[ 0.99989197 0.01423962 -0.00364407 1.60301936] [-0.01428833 0.99980394 -0.01370881 -0.16595496] [ 0.00344814 0.0137594 0.99989939 -0.17810066] [ 0. 0. 0. 1. ]] SLAMing on 4.551193817000001 meters Centerline goodness : 0.821511 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.17, Z:-0.18 [[ 0.99989932 0.01364694 -0.00388763 1.60396578] [-0.01370157 0.99980255 -0.0143916 -0.16505171] [ 0.00369046 0.01444342 0.99988888 -0.17870326] [ 0. 0. 0. 1. ]] SLAMing on 4.581193817000001 meters Centerline goodness : 0.819876 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:-0.18 [[ 0.99990513 0.01312716 -0.00417342 1.60489572] [-0.01318887 0.9997987 -0.01512017 -0.16391463] [ 0.00397409 0.01517378 0.99987697 -0.17920324] [ 0. 0. 0. 1. ]] SLAMing on 4.611193817000001 meters Centerline goodness : 0.818895 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.18 [[ 0.99991492 0.0122175 -0.00457109 1.60652145] [-0.01229174 0.99978694 -0.01658251 -0.16123428] [ 0.00436751 0.01663729 0.99985205 -0.18021642] [ 0. 0. 0. 1. ]] SLAMing on 4.641193817 meters Centerline goodness : 0.816214 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.18 [[ 0.99991944 0.01175099 -0.00479949 1.60729978] [-0.01183241 0.99978029 -0.01730208 -0.15977857] [ 0.00459511 0.01735747 0.99983879 -0.18062341] [ 0. 0. 0. 1. ]] SLAMing on 4.671193817000001 meters Centerline goodness : 0.815689 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.18 [[ 0.99992585 0.01108997 -0.00503001 1.60832302] [-0.01117921 0.99977413 -0.01807506 -0.15848214] [ 0.00482842 0.01812995 0.99982398 -0.1813159 ] [ 0. 0. 0. 1. ]] SLAMing on 4.701193817000001 meters Centerline goodness : 0.815575 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.18 [[ 0.9999395 0.00945927 -0.00561453 1.61030686] [-0.00956669 0.99976555 -0.01942483 -0.15713194] [ 0.00542947 0.01947737 0.99979556 -0.18221408] [ 0. 0. 0. 1. ]] SLAMing on 4.731193817 meters Centerline goodness : 0.814515 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.18 [[ 0.99994246 0.00893288 -0.00593992 1.61119256] [-0.00904872 0.9997636 -0.01977017 -0.15688507] [ 0.00576191 0.01982278 0.99978691 -0.18248297] [ 0. 0. 0. 1. ]] SLAMing on 4.7611938170000005 meters Centerline goodness : 0.816310 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.18 [[ 0.99994843 0.00800396 -0.0062512 1.61281041] [-0.00813122 0.99975463 -0.02060501 -0.15615064] [ 0.00608475 0.02065478 0.99976815 -0.1836867 ] [ 0. 0. 0. 1. ]] SLAMing on 4.791193817000001 meters Centerline goodness : 0.813655 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.19 [[ 0.99995343 0.00696946 -0.00667493 1.61481651] [-0.00711148 0.99974368 -0.02149425 -0.15541889] [ 0.00652341 0.02154072 0.99974669 -0.18512153] [ 0. 0. 0. 1. ]] SLAMing on 4.821193817000001 meters Centerline goodness : 0.813743 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.15, Z:-0.19 [[ 0.99996017 0.00545349 -0.00706575 1.61750552] [-0.00561424 0.99972124 -0.02293315 -0.15318111] [ 0.00693871 0.0229719 0.99971203 -0.18739482] [ 0. 0. 0. 1. ]] SLAMing on 4.851193817 meters Centerline goodness : 0.813743 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.15, Z:-0.19 [[ 0.99996017 0.00545349 -0.00706575 1.61750552] [-0.00561424 0.99972124 -0.02293315 -0.15318111] [ 0.00693871 0.0229719 0.99971203 -0.18739482] [ 0. 0. 0. 1. ]] SLAMing on 4.881193817000001 meters Centerline goodness : 0.812009 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.15, Z:-0.19 [[ 0.99994457 0.00729561 -0.00759151 1.62032994] [-0.00745057 0.99976027 -0.02058884 -0.15304061] [ 0.00743949 0.02064426 0.99975921 -0.18939879] [ 0. 0. 0. 1. ]] SLAMing on 4.911193817000001 meters Centerline goodness : 0.812890 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.15, Z:-0.19 [[ 0.99993 0.00867133 -0.00804978 1.62307231] [-0.00882232 0.99978215 -0.01891609 -0.15282435] [ 0.007884 0.01898578 0.99978867 -0.19136254] [ 0. 0. 0. 1. ]] SLAMing on 4.941193817000001 meters Centerline goodness : 0.811106 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.15, Z:-0.19 [[ 0.99989933 0.01126311 -0.00862979 1.62550077] [-0.01140436 0.99979887 -0.01649713 -0.15143936] [ 0.00844225 0.01659388 0.99982667 -0.19259751] [ 0. 0. 0. 1. ]] SLAMing on 4.9711938170000005 meters Centerline goodness : 0.809895 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.15, Z:-0.19 [[ 0.99986131 0.01398585 -0.00904237 1.627399 ] [-0.01411031 0.99980453 -0.01384943 -0.15028474] [ 0.0088469 0.0139751 0.99986321 -0.19365397] [ 0. 0. 0. 1. ]] SLAMing on 5.001193817000001 meters Centerline goodness : 0.811780 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.15, Z:-0.19 [[ 0.99980738 0.01736159 -0.0091531 1.62790823] [-0.01745848 0.99979125 -0.01061399 -0.14877535] [ 0.00896691 0.01077174 0.99990178 -0.19370045] [ 0. 0. 0. 1. ]] SLAMing on 5.031193817000001 meters Centerline goodness : 0.811694 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.15, Z:-0.19 [[ 0.99974057 0.02083181 -0.00920997 1.62807105] [-0.0208989 0.99975531 -0.00724992 -0.14707109] [ 0.00905669 0.00744051 0.99993131 -0.19330282] [ 0. 0. 0. 1. ]] SLAMing on 5.061193817 meters Centerline goodness : 0.814886 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.14, Z:-0.20 [[ 0.99967794 0.02520003 -0.00299535 1.6376314 ] [-0.02523836 0.99958985 -0.01353338 -0.14038007] [ 0.00265307 0.01360462 0.99990393 -0.19522986] [ 0. 0. 0. 1. ]] SLAMing on 5.091193817000001 meters Centerline goodness : 0.814218 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.14, Z:-0.19 [[ 0.99958334 0.0287143 -0.00293936 1.63759189] [-0.02874313 0.99953389 -0.01028715 -0.13867575] [ 0.0026426 0.01036735 0.99994277 -0.19477379] [ 0. 0. 0. 1. ]] SLAMing on 5.121193817000001 meters Centerline goodness : 0.818293 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.14, Z:-0.19 [[ 0.99957703 0.02894262 -0.00284453 1.63721057] [-0.0289726 0.99951819 -0.01113442 -0.13517784] [ 0.0025209 0.01121213 0.99993396 -0.19425535] [ 0. 0. 0. 1. ]] SLAMing on 5.151193817000001 meters Centerline goodness : 0.819803 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.13, Z:-0.19 [[ 0.99946722 0.03252439 -0.00272752 1.63722206] [-0.03254439 0.99944109 -0.00763968 -0.13416534] [ 0.00247752 0.00772438 0.9999671 -0.19400965] [ 0. 0. 0. 1. ]] SLAMing on 5.1811938170000005 meters Centerline goodness : 0.823903 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.20 [[ 0.99934401 0.03609117 0.00299502 1.64763799] [-0.03604127 0.99923297 -0.01531326 -0.12930862] [-0.00354539 0.01519527 0.99987826 -0.19736323] [ 0. 0. 0. 1. ]] SLAMing on 5.211193817000001 meters Centerline goodness : 0.823978 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.20 [[ 0.99923922 0.03890315 0.00274368 1.64987728] [-0.03886532 0.99916367 -0.01270594 -0.12832728] [-0.00323569 0.01258964 0.99991551 -0.19914112] [ 0. 0. 0. 1. ]] SLAMing on 5.241193817000001 meters Centerline goodness : 0.825669 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.20 [[ 0.9991214 0.04183325 0.00253174 1.65238024] [-0.04180598 0.99907566 -0.0100047 -0.12743042] [-0.00294793 0.00989007 0.99994675 -0.20134692] [ 0. 0. 0. 1. ]] SLAMing on 5.271193817 meters Centerline goodness : 0.824976 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.20 [[ 0.999102 0.04230371 0.00236348 1.65352612] [-0.04227692 0.99905159 -0.01042011 -0.12536437] [-0.00280204 0.01031083 0.99994292 -0.20248068] [ 0. 0. 0. 1. ]] SLAMing on 5.301193817000001 meters Centerline goodness : 0.825579 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.13, Z:-0.20 [[ 0.99894306 0.0459208 0.0020112 1.65628424] [-0.04590584 0.99892162 -0.00694564 -0.12629254] [-0.00232798 0.00684597 0.99997386 -0.20467719] [ 0. 0. 0. 1. ]] SLAMing on 5.331193817000001 meters Centerline goodness : 0.827079 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.13, Z:-0.21 [[ 0.99892892 0.04623619 0.00179708 1.65707854] [-0.04622367 0.99891014 -0.00647411 -0.12793452] [-0.00209446 0.0063841 0.99997743 -0.2051883 ] [ 0. 0. 0. 1. ]] SLAMing on 5.361193817000001 meters Centerline goodness : 0.828933 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.13, Z:-0.21 [[ 0.99891065 0.04663433 0.00166104 1.6577342 ] [-0.04662402 0.99889577 -0.00578207 -0.13015548] [-0.00192885 0.00569833 0.9999819 -0.20571592] [ 0. 0. 0. 1. ]] SLAMing on 5.391193817 meters Centerline goodness : 0.827717 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.13, Z:-0.21 [[ 9.98889368e-01 4.70912267e-02 1.56450476e-03 1.65839975e+00] [-4.70827974e-02 9.98878240e-01 -5.04688583e-03 -1.32009738e-01] [-1.80041380e-03 4.96761933e-03 9.99986041e-01 -2.06352248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.421193817000001 meters Centerline goodness : 0.829376 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:-0.21 [[ 9.98799359e-01 4.89642180e-02 1.53140927e-03 1.65909862e+00] [-4.89599025e-02 9.98796990e-01 -2.73883199e-03 -1.36064759e-01] [-1.66367174e-03 2.66056599e-03 9.99995077e-01 -2.07172709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.451193817000001 meters Centerline goodness : 0.830465 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:-0.21 [[ 9.98757466e-01 4.98102604e-02 1.56891949e-03 1.65915092e+00] [-4.98079684e-02 9.98757735e-01 -1.46760108e-03 -1.39497586e-01] [-1.64007207e-03 1.38763284e-03 9.99997692e-01 -2.07289281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.481193817000001 meters Centerline goodness : 0.830762 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:-0.21 [[ 9.98869681e-01 4.75074340e-02 1.55032639e-03 1.65854526e+00] [-4.75013082e-02 9.98864046e-01 -3.77414187e-03 -1.43108920e-01] [-1.72786508e-03 3.69623335e-03 9.99991676e-01 -2.06971049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5111938170000005 meters Centerline goodness : 0.832057 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.15, Z:-0.21 [[ 9.98924003e-01 4.63662607e-02 1.00284438e-03 1.65932108e+00] [-4.63613224e-02 9.98914659e-01 -4.48691945e-03 -1.49282186e-01] [-1.20979762e-03 4.43559835e-03 9.99989431e-01 -2.07152373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.541193817000001 meters Centerline goodness : 0.836326 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.15, Z:-0.21 [[ 9.99048649e-01 4.35973693e-02 1.03246416e-03 1.65871571e+00] [-4.35897524e-02 9.99028298e-01 -6.51102908e-03 -1.54482799e-01] [-1.31532466e-03 6.45982995e-03 9.99978270e-01 -2.06912036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.571193817000001 meters Centerline goodness : 0.839537 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.17, Z:-0.21 [[ 9.99199161e-01 4.00040797e-02 8.42883983e-04 1.65992496e+00] [-3.99972493e-02 9.99175463e-01 -6.97243224e-03 -1.66861398e-01] [-1.12111473e-03 6.93313540e-03 9.99975337e-01 -2.07950951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.601193817 meters Centerline goodness : 0.839035 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.17, Z:-0.21 [[ 9.99333195e-01 3.65106554e-02 3.70246483e-04 1.66186088e+00] [-3.65057373e-02 9.99291467e-01 -9.15946257e-03 -1.72910008e-01] [-7.04402132e-04 9.13983888e-03 9.99957983e-01 -2.09569389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.631193817000001 meters Centerline goodness : 0.842642 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.19, Z:-0.21 [[ 9.99573526e-01 2.92016548e-02 -1.73513628e-04 1.66374458e+00] [-2.92013582e-02 9.99483768e-01 -1.33969189e-02 -1.85395113e-01] [-2.17788147e-04 1.33962723e-02 9.99910242e-01 -2.10912698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.661193817000001 meters Centerline goodness : 0.844982 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.19, Z:-0.21 [[ 9.99667079e-01 2.57994644e-02 -3.44115741e-04 1.66346955e+00] [-2.58017033e-02 9.99548241e-01 -1.54138223e-02 -1.91788194e-01] [-5.37080767e-05 1.54175695e-02 9.99881141e-01 -2.10301766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.691193817000001 meters Centerline goodness : 0.848435 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.20, Z:-0.21 [[ 9.99751784e-01 2.22706127e-02 -6.24823193e-04 1.66339730e+00] [-2.22781933e-02 9.99594459e-01 -1.77369305e-02 -1.97444400e-01] [ 2.29557492e-04 1.77464479e-02 9.99842493e-01 -2.09653484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7211938170000005 meters Centerline goodness : 0.850002 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.20, Z:-0.21 [[ 9.99821211e-01 1.88988043e-02 -6.17018572e-04 1.66271247e+00] [-1.89074075e-02 9.99617658e-01 -2.01754457e-02 -2.01881837e-01] [ 2.35490859e-04 2.01835048e-02 9.99796265e-01 -2.08940607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.751193817000001 meters Centerline goodness : 0.852299 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.20, Z:-0.21 [[ 9.99884791e-01 1.51639669e-02 -6.77002741e-04 1.66283456e+00] [-1.51756463e-02 9.99611858e-01 -2.33630800e-02 -2.04581102e-01] [ 3.22462997e-04 2.33706623e-02 9.99726817e-01 -2.09130369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.781193817000001 meters Centerline goodness : 0.854020 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.21, Z:-0.21 [[ 9.99967433e-01 7.93427078e-03 -1.47686888e-03 1.65812213e+00] [-7.95775168e-03 9.99829922e-01 -1.66373513e-02 -2.10542375e-01] [ 1.34461244e-03 1.66485620e-02 9.99860499e-01 -2.11766725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.811193817 meters Centerline goodness : 0.855087 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.21, Z:-0.21 [[ 9.99970245e-01 7.54018841e-03 -1.62911448e-03 1.65901987e+00] [-7.56550164e-03 9.99841203e-01 -1.61348270e-02 -2.13702888e-01] [ 1.50719614e-03 1.61466720e-02 9.99868498e-01 -2.12351352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.841193817000001 meters Centerline goodness : 0.856669 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.22, Z:-0.21 [[ 0.99997663 0.00647946 -0.00217964 1.6615736 ] [-0.00651491 0.9998398 -0.01667133 -0.21550285] [ 0.00207127 0.01668514 0.99985865 -0.21414504] [ 0. 0. 0. 1. ]] SLAMing on 5.871193817000001 meters Centerline goodness : 0.860557 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.22, Z:-0.21 [[ 0.99997773 0.0062737 -0.00227753 1.66196023] [-0.00631003 0.9998471 -0.0163085 -0.2169709 ] [ 0.00217487 0.01632251 0.99986441 -0.21429562] [ 0. 0. 0. 1. ]] SLAMing on 5.901193817000001 meters Centerline goodness : 0.862928 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.22, Z:-0.21 [[ 0.99997995 0.00577456 -0.00259931 1.66297823] [-0.00581603 0.99985124 -0.01623782 -0.21845331] [ 0.00250515 0.01625261 0.99986478 -0.21464051] [ 0. 0. 0. 1. ]] SLAMing on 5.9311938170000005 meters Centerline goodness : 0.866788 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.22, Z:-0.21 [[ 0.99998143 0.0055162 -0.00259061 1.66225618] [-0.00555498 0.9998689 -0.01520962 -0.2232799 ] [ 0.00250637 0.01522373 0.99988097 -0.21304953] [ 0. 0. 0. 1. ]] SLAMing on 5.961193817000001 meters Centerline goodness : 0.902359 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.22, Z:-0.21 [[ 0.99998197 0.00528646 -0.00284687 1.66288323] [-0.00532871 0.99987268 -0.01504086 -0.2248521 ] [ 0.002767 0.01505576 0.99988283 -0.21305933] [ 0. 0. 0. 1. ]] SLAMing on 5.991193817000001 meters Centerline goodness : 0.905742 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.23, Z:-0.21 [[ 0.99998244 0.00513365 -0.00295962 1.66331351] [-0.00517704 0.99987641 -0.01484472 -0.22547167] [ 0.00288305 0.01485978 0.99988543 -0.21315533] [ 0. 0. 0. 1. ]] SLAMing on 6.021193817000001 meters Centerline goodness : 0.905521 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.23, Z:-0.21 [[ 0.99998349 0.00483242 -0.00311049 1.66411841] [-0.00487778 0.99987937 -0.01474628 -0.22591043] [ 0.00303886 0.0147612 0.99988643 -0.21363611] [ 0. 0. 0. 1. ]] SLAMing on 6.051193817000001 meters Centerline goodness : 0.904223 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.23, Z:-0.22 [[ 0.99999131 0.0025065 -0.00333134 1.66680678] [-0.00255901 0.99987105 -0.01585327 -0.22635724] [ 0.00329118 0.01586165 0.99986878 -0.2156778 ] [ 0. 0. 0. 1. ]] SLAMing on 6.081193817000001 meters Centerline goodness : 0.906094 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.23, Z:-0.22 [[ 0.99999249 0.00179357 -0.00343695 1.66747684] [-0.00184824 0.99987076 -0.01597048 -0.22672102] [ 0.00340786 0.01597671 0.99986656 -0.21597209] [ 0. 0. 0. 1. ]] SLAMing on 6.111193817000001 meters Centerline goodness : 0.903445 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.23, Z:-0.22 [[ 9.99992903e-01 9.92775272e-04 -3.63439219e-03 1.66828351e+00] [-1.05218505e-03 9.99865264e-01 -1.63813010e-02 -2.26286819e-01] [ 3.61763956e-03 1.63850088e-02 9.99859212e-01 -2.16251978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.141193817 meters Centerline goodness : 0.896509 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.22, Z:-0.22 [[ 9.99990364e-01 -1.13155191e-03 -4.24158759e-03 1.67066211e+00] [ 1.05267287e-03 9.99827326e-01 -1.85529101e-02 -2.22570968e-01] [ 4.26184876e-03 1.85482663e-02 9.99818883e-01 -2.17138642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.171193817000001 meters Centerline goodness : 0.894556 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.22, Z:-0.22 [[ 9.99989139e-01 1.53187811e-03 -4.40179609e-03 1.67119851e+00] [-1.60007887e-03 9.99878086e-01 -1.55323276e-02 -2.21497898e-01] [ 4.37746581e-03 1.55392021e-02 9.99869677e-01 -2.16889194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.201193817000001 meters Centerline goodness : 0.892531 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.22, Z:-0.22 [[ 0.99998208 0.00322538 -0.00504337 1.67390471] [-0.00329411 0.99990101 -0.01367882 -0.21895998] [ 0.00499875 0.01369519 0.99989372 -0.21828527] [ 0. 0. 0. 1. ]] SLAMing on 6.231193817000001 meters Centerline goodness : 0.891502 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.21, Z:-0.22 [[ 0.99997611 0.00391872 -0.00569409 1.6772786 ] [-0.00399216 0.99990825 -0.01294399 -0.21475357] [ 0.00564284 0.01296642 0.99990001 -0.22030418] [ 0. 0. 0. 1. ]] SLAMing on 6.2611938170000005 meters Centerline goodness : 0.888165 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.20, Z:-0.22 [[ 0.99997024 0.00309845 -0.00706557 1.68300348] [-0.0031971 0.99989699 -0.01399274 -0.20302159] [ 0.00702149 0.01401491 0.99987713 -0.22279751] [ 0. 0. 0. 1. ]] SLAMing on 6.291193817000001 meters Centerline goodness : 0.888285 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.20, Z:-0.22 [[ 0.99995903 0.00474098 -0.0077113 1.68623946] [-0.00484164 0.99990263 -0.01308806 -0.1968367 ] [ 0.0076485 0.01312486 0.99988461 -0.22496856] [ 0. 0. 0. 1. ]] SLAMing on 6.321193817000001 meters Centerline goodness : 0.886576 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.19, Z:-0.23 [[ 0.99994494 0.00635866 -0.0083483 1.68954575] [-0.0064613 0.99990317 -0.01232517 -0.1901976 ] [ 0.00826912 0.01237843 0.99988919 -0.2272654 ] [ 0. 0. 0. 1. ]] SLAMing on 6.351193817 meters Centerline goodness : 0.888642 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.18, Z:-0.23 [[ 0.99993247 0.0051129 -0.01043661 1.69715688] [-0.00524615 0.99990457 -0.01278005 -0.17559322] [ 0.01037027 0.01283394 0.99986386 -0.22889072] [ 0. 0. 0. 1. ]] SLAMing on 6.381193817000001 meters Centerline goodness : 0.892289 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.17, Z:-0.23 [[ 0.99992252 0.00577573 -0.01102659 1.70001722] [-0.00591103 0.99990716 -0.01227759 -0.16990589] [ 0.01095466 0.01234182 0.99986383 -0.23048365] [ 0. 0. 0. 1. ]] SLAMing on 6.411193817000001 meters Centerline goodness : 0.889556 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.16, Z:-0.23 [[ 0.99992791 0.00427637 -0.01121958 1.70081569] [-0.00444001 0.99988354 -0.01460112 -0.16308965] [ 0.01115583 0.01464989 0.99983045 -0.23076386] [ 0. 0. 0. 1. ]] SLAMing on 6.441193817000001 meters Centerline goodness : 0.885175 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.16, Z:-0.23 [[ 0.99992203 0.00437838 -0.01169499 1.70356515] [-0.00454775 0.99988459 -0.01449538 -0.15757212] [ 0.01163017 0.01454743 0.99982654 -0.23239885] [ 0. 0. 0. 1. ]] SLAMing on 6.4711938170000005 meters Centerline goodness : 0.884513 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.14, Z:-0.23 [[ 9.99884362e-01 7.19526164e-04 -1.51903163e-02 1.71425055e+00] [-9.55539213e-04 9.99878860e-01 -1.55355367e-02 -1.43753957e-01] [ 1.51772979e-02 1.55482551e-02 9.99763923e-01 -2.33127257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.501193817000001 meters Centerline goodness : 0.886606 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.14, Z:-0.23 [[ 0.99987526 0.00267166 -0.01556668 1.71638922] [-0.00289184 0.99989586 -0.0141391 -0.13867735] [ 0.01552728 0.01418235 0.99977886 -0.23454598] [ 0. 0. 0. 1. ]] SLAMing on 6.531193817000001 meters Centerline goodness : 0.887545 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.13, Z:-0.24 [[ 0.99985978 0.00455029 -0.01611598 1.71873748] [-0.00476059 0.99990371 -0.01303508 -0.13292092] [ 0.01605512 0.01310997 0.99978516 -0.23578927] [ 0. 0. 0. 1. ]] SLAMing on 6.561193817000001 meters Centerline goodness : 0.886177 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.13, Z:-0.24 [[ 0.99984087 0.00681015 -0.01648825 1.720563 ] [-0.00700396 0.99990673 -0.01172529 -0.12681668] [ 0.01640686 0.01183891 0.99979531 -0.2368123 ] [ 0. 0. 0. 1. ]] SLAMing on 6.591193817000001 meters Centerline goodness : 0.874010 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.12, Z:-0.24 [[ 0.99981568 0.00929668 -0.01679788 1.72179081] [-0.00947401 0.99989991 -0.01050803 -0.11957363] [ 0.01669851 0.01066524 0.99980369 -0.23725742] [ 0. 0. 0. 1. ]] SLAMing on 6.621193817000001 meters Centerline goodness : 0.841961 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.10, Z:-0.24 [[ 0.99983158 0.01435707 -0.01143222 1.73585804] [-0.01450161 0.99981468 -0.01266172 -0.09991429] [ 0.01124831 0.01282537 0.99985448 -0.23987498] [ 0. 0. 0. 1. ]] SLAMing on 6.651193817000001 meters Centerline goodness : 0.872202 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.09, Z:-0.24 [[ 0.99978917 0.01689782 -0.01166571 1.73702014] [-0.01703432 0.99978643 -0.01170188 -0.09141543] [ 0.01146549 0.01189813 0.99986348 -0.24027929] [ 0. 0. 0. 1. ]] SLAMing on 6.6811938170000005 meters Centerline goodness : 0.846344 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.08, Z:-0.24 [[ 0.99974125 0.01938434 -0.01190263 1.73801637] [-0.0195118 0.9997525 -0.01068763 -0.08396812] [ 0.01169251 0.01091711 0.99987204 -0.24051046] [ 0. 0. 0. 1. ]] SLAMing on 6.711193817000001 meters Centerline goodness : 0.840825 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.08, Z:-0.24 [[ 0.99969067 0.02173618 -0.01208755 1.73896358] [-0.02185405 0.99971405 -0.00970663 -0.07690393] [ 0.01187311 0.00996779 0.99987983 -0.24073202] [ 0. 0. 0. 1. ]] SLAMing on 6.741193817000001 meters Centerline goodness : 0.816824 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.06, Z:-0.24 [[ 0.99971318 0.02314152 -0.00616616 1.75238617] [-0.02324203 0.99958937 -0.01676023 -0.05915912] [ 0.00577577 0.01689873 0.99984052 -0.24425979] [ 0. 0. 0. 1. ]] SLAMing on 6.771193817000001 meters Centerline goodness : 0.816824 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.06, Z:-0.24 [[ 0.99971318 0.02314152 -0.00616616 1.75238617] [-0.02324203 0.99958937 -0.01676023 -0.05915912] [ 0.00577577 0.01689873 0.99984052 -0.24425979] [ 0. 0. 0. 1. ]] SLAMing on 6.801193817000001 meters Centerline goodness : 0.813911 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.05, Z:-0.24 [[ 0.99966729 0.02500688 -0.00632259 1.75352595] [-0.02510542 0.99955647 -0.01601819 -0.05160091] [ 0.00591922 0.01617159 0.99985171 -0.24468293] [ 0. 0. 0. 1. ]] SLAMing on 6.831193817000001 meters Centerline goodness : 0.812311 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.04, Z:-0.25 [[ 0.99961853 0.0268382 -0.00652016 1.75465663] [-0.02693488 0.99952128 -0.01522234 -0.04410218] [ 0.0061085 0.01539216 0.99986287 -0.24501148] [ 0. 0. 0. 1. ]] SLAMing on 6.861193817000001 meters Centerline goodness : 0.813897 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.03, Z:-0.24 [[ 0.99956368 0.02813433 -0.00899483 1.76058333] [-0.02824943 0.9995172 -0.01293619 -0.02822249] [ 0.00862654 0.01318464 0.99987587 -0.24373416] [ 0. 0. 0. 1. ]] SLAMing on 6.891193817 meters Centerline goodness : 0.850380 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.02, Z:-0.24 [[ 0.99951751 0.02960315 -0.00940168 1.76269743] [-0.02971963 0.9994801 -0.01250085 -0.02047787] [ 0.00902673 0.01277424 0.99987766 -0.24477246] [ 0. 0. 0. 1. ]] SLAMing on 6.921193817000001 meters Centerline goodness : 0.819241 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.01, Z:-0.25 [[ 0.99945957 0.03139842 -0.00973213 1.76434862] [-0.03151367 0.99943219 -0.0119241 -0.01271529] [ 0.00935221 0.01222435 0.99988154 -0.24542981] [ 0. 0. 0. 1. ]] SLAMing on 6.951193817000001 meters Centerline goodness : 0.871902 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.01, Z:-0.25 [[ 0.99938971 0.03348303 -0.00995479 1.76577108] [-0.03359336 0.9993736 -0.01113097 -0.00555941] [ 0.00957585 0.01145859 0.9998885 -0.24602854] [ 0. 0. 0. 1. ]] SLAMing on 6.981193817000001 meters Centerline goodness : 0.871475 Centerline is valid? [False, False] Translation: X:1.77, Y:0.01, Z:-0.25 [[ 0.99926814 0.03620291 -0.01235076 1.77063675] [-0.03640755 0.99919635 -0.01676722 0.01134396] [ 0.01173381 0.01720461 0.99978314 -0.24748333] [ 0. 0. 0. 1. ]] SLAMing on 7.0111938170000005 meters Centerline goodness : 0.872674 Centerline is valid? [False, False] Translation: X:1.77, Y:0.02, Z:-0.25 [[ 0.9991626 0.03899579 -0.01238674 1.77213377] [-0.03918661 0.99911083 -0.01555525 0.01794332] [ 0.01176914 0.01602762 0.99980228 -0.24837725] [ 0. 0. 0. 1. ]] SLAMing on 7.041193817000001 meters Centerline goodness : 0.872387 Centerline is valid? [False, False] Translation: X:1.77, Y:0.03, Z:-0.25 [[ 0.99907075 0.0412022 -0.0126499 1.77445325] [-0.04138972 0.9990314 -0.01493837 0.02517814] [ 0.01202215 0.01544806 0.99980839 -0.24961531] [ 0. 0. 0. 1. ]] SLAMing on 7.071193817000001 meters Centerline goodness : 0.873995 Centerline is valid? [False, False] Translation: X:1.78, Y:0.03, Z:-0.25 [[ 0.998963 0.04370993 -0.01274208 1.77613515] [-0.04388508 0.99894118 -0.01380629 0.03250079] [ 0.01212512 0.01435117 0.9998235 -0.25061952] [ 0. 0. 0. 1. ]] SLAMing on 7.101193817000001 meters Centerline goodness : 0.873632 Centerline is valid? [False, False] Translation: X:1.78, Y:0.04, Z:-0.25 [[ 0.99866269 0.05009717 -0.01277141 1.77748046] [-0.05022849 0.9986859 -0.01017688 0.04440886] [ 0.01224479 0.01080476 0.99986665 -0.25042269] [ 0. 0. 0. 1. ]] SLAMing on 7.131193817000001 meters Centerline goodness : 0.874430 Centerline is valid? [False, False] Translation: X:1.78, Y:0.05, Z:-0.25 [[ 0.99846858 0.05382416 -0.01278494 1.77793781] [-0.05392235 0.99851724 -0.00746353 0.04804029] [ 0.01236427 0.00814149 0.99989041 -0.25028067] [ 0. 0. 0. 1. ]] SLAMing on 7.161193817000001 meters Centerline goodness : 0.875131 Centerline is valid? [False, False] Translation: X:1.78, Y:0.05, Z:-0.25 [[ 0.99823997 0.05791898 -0.01274162 1.77816016] [-0.0579792 0.99830806 -0.00440878 0.05185747] [ 0.01246471 0.00513977 0.9999091 -0.24976323] [ 0. 0. 0. 1. ]] SLAMing on 7.191193817000001 meters Centerline goodness : 0.876127 Centerline is valid? [False, False] Translation: X:1.78, Y:0.06, Z:-0.25 [[ 9.97873757e-01 6.40491308e-02 -1.20695663e-02 1.77636974e+00] [-6.40410893e-02 9.97946708e-01 1.05197185e-03 5.53365816e-02] [ 1.21121619e-02 -2.76786929e-04 9.99926607e-01 -2.48085952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2211938170000005 meters Centerline goodness : 0.873553 Centerline is valid? [False, False] Translation: X:1.78, Y:0.06, Z:-0.25 [[ 0.99729612 0.07258894 -0.0114583 1.7763655 ] [-0.0725004 0.9973366 0.00796202 0.06014362] [ 0.01200573 -0.00710976 0.99990265 -0.24779946] [ 0. 0. 0. 1. ]] SLAMing on 7.251193817000001 meters Centerline goodness : 0.873051 Centerline is valid? [False, False] Translation: X:1.78, Y:0.06, Z:-0.25 [[ 0.99703161 0.07613755 -0.01144773 1.77843133] [-0.07601118 0.99704521 0.01109684 0.0608694 ] [ 0.01225879 -0.01019375 0.9998729 -0.24963025] [ 0. 0. 0. 1. ]] SLAMing on 7.281193817000001 meters Centerline goodness : 0.871537 Centerline is valid? [False, False] Translation: X:1.78, Y:0.06, Z:-0.25 [[ 0.99694965 0.07718409 -0.01157629 1.77964232] [-0.07705448 0.99696337 0.01125344 0.06205972] [ 0.01240972 -0.01032711 0.99986967 -0.25073019] [ 0. 0. 0. 1. ]] SLAMing on 7.311193817000001 meters Centerline goodness : 0.868775 Centerline is valid? [False, False] Translation: X:1.78, Y:0.06, Z:-0.25 [[ 0.99688646 0.07796978 -0.01175166 1.78071962] [-0.07783469 0.99689942 0.01154562 0.06230808] [ 0.01261543 -0.01059498 0.99986429 -0.25160557] [ 0. 0. 0. 1. ]] SLAMing on 7.341193817000001 meters Centerline goodness : 0.869002 Centerline is valid? [False, False] Translation: X:1.78, Y:0.06, Z:-0.25 [[ 0.99683209 0.07864384 -0.01187171 1.78164188] [-0.07850075 0.99684094 0.01207336 0.06143769] [ 0.0127837 -0.01110318 0.99985664 -0.25249599] [ 0. 0. 0. 1. ]] SLAMing on 7.371193817000001 meters Centerline goodness : 0.864520 Centerline is valid? [False, False] Translation: X:1.78, Y:0.06, Z:-0.25 [[ 0.99665593 0.0808373 -0.01192884 1.78332512] [-0.08065788 0.99663157 0.01482602 0.0555714 ] [ 0.01308715 -0.01381428 0.99981893 -0.25432293] [ 0. 0. 0. 1. ]] SLAMing on 7.401193817000001 meters Centerline goodness : 0.863392 Centerline is valid? [False, False] Translation: X:1.78, Y:0.05, Z:-0.25 [[ 0.99687587 0.07801331 -0.0123462 1.78380229] [-0.07786771 0.99689309 0.01186551 0.05352712] [ 0.01323351 -0.01086707 0.99985338 -0.25460995] [ 0. 0. 0. 1. ]] SLAMing on 7.4311938170000005 meters Centerline goodness : 0.862774 Centerline is valid? [False, False] Translation: X:1.78, Y:0.05, Z:-0.26 [[ 0.9970943 0.07508998 -0.01282421 1.78454449] [-0.07497636 0.99714358 0.0091227 0.05072041] [ 0.01347261 -0.00813467 0.99987615 -0.25506772] [ 0. 0. 0. 1. ]] SLAMing on 7.461193817000001 meters Centerline goodness : 0.862601 Centerline is valid? [False, False] Translation: X:1.78, Y:0.04, Z:-0.26 [[ 0.99706573 0.0754783 -0.01276512 1.78469852] [-0.07534383 0.99710013 0.01070671 0.04479842] [ 0.01353623 -0.00971352 0.9998612 -0.25543947] [ 0. 0. 0. 1. ]] SLAMing on 7.491193817000001 meters Centerline goodness : 0.861775 Centerline is valid? [False, False] Translation: X:1.80, Y:0.03, Z:-0.26 [[ 0.99727298 0.07346459 -0.00703908 1.79663926] [-0.07334368 0.9971764 0.01612245 0.02996712] [ 0.00820363 -0.01556222 0.99984525 -0.25576838] [ 0. 0. 0. 1. ]] SLAMing on 7.521193817000001 meters Centerline goodness : 0.861134 Centerline is valid? [False, False] Translation: X:1.80, Y:0.03, Z:-0.26 [[ 0.99751338 0.07012074 -0.00708129 1.79607097] [-0.07001921 0.99745169 0.01369083 0.02547499] [ 0.00802326 -0.01316096 0.9998812 -0.25554016] [ 0. 0. 0. 1. ]] SLAMing on 7.551193817000001 meters Centerline goodness : 0.862135 Centerline is valid? [False, False] Translation: X:1.80, Y:0.02, Z:-0.26 [[ 0.99774369 0.06675028 -0.0072066 1.79576227] [-0.06666695 0.99771194 0.01124287 0.02097902] [ 0.00794058 -0.01073706 0.99991083 -0.25552903] [ 0. 0. 0. 1. ]] SLAMing on 7.581193817000001 meters Centerline goodness : 0.860011 Centerline is valid? [False, False] Translation: X:1.80, Y:0.01, Z:-0.26 [[ 0.99813564 0.0605792 -0.00744375 1.79574256] [-0.06053084 0.99814477 0.00655944 0.01252235] [ 0.00782731 -0.00609663 0.99995078 -0.25602822] [ 0. 0. 0. 1. ]] SLAMing on 7.611193817000001 meters Centerline goodness : 0.856940 Centerline is valid? [False, False] Translation: X:1.80, Y:0.01, Z:-0.26 [[ 0.99831711 0.05747638 -0.00770771 1.79615509] [-0.0574449 0.99833965 0.00424545 0.00778749] [ 0.00793893 -0.00379553 0.99996128 -0.25661208] [ 0. 0. 0. 1. ]] SLAMing on 7.641193817000001 meters Centerline goodness : 0.858412 Centerline is valid? [False, False] Translation: X:1.80, Y:0.00, Z:-0.26 [[ 9.98478611e-01 5.45560985e-02 -8.00601299e-03 1.79645240e+00] [-5.45401516e-02 9.98509161e-01 2.19702101e-03 2.14644983e-03] [ 8.11393821e-03 -1.75702932e-03 9.99965538e-01 -2.56998838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.671193817000001 meters Centerline goodness : 0.858024 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.00, Z:-0.26 [[ 9.98633063e-01 5.16124291e-02 -8.25603866e-03 1.79681225e+00] [-5.16120604e-02 9.98667176e-01 2.57847743e-04 -3.38885901e-03] [ 8.25834296e-03 1.68615884e-04 9.99965885e-01 -2.57557165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.701193817000001 meters Centerline goodness : 0.858247 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.01, Z:-0.26 [[ 9.98747640e-01 4.93384050e-02 -8.29895165e-03 1.79682142e+00] [-4.93350891e-02 9.98782100e-01 6.03925005e-04 -1.43889438e-02] [ 8.31864105e-03 -1.93739155e-04 9.99965381e-01 -2.58544960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.731193817000001 meters Centerline goodness : 0.857529 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.02, Z:-0.26 [[ 0.99889434 0.04622844 -0.0085461 1.79709672] [-0.04624574 0.9989284 -0.00183866 -0.01752285] [ 0.00845194 0.00223185 0.99996179 -0.25894524] [ 0. 0. 0. 1. ]] SLAMing on 7.7611938170000005 meters Centerline goodness : 0.855212 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.02, Z:-0.26 [[ 0.99902065 0.04331052 -0.00905171 1.79787766] [-0.04334662 0.99905275 -0.00383064 -0.02160586] [ 0.00887723 0.00421925 0.9999517 -0.25946422] [ 0. 0. 0. 1. ]] SLAMing on 7.791193817000001 meters Centerline goodness : 0.853935 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.03, Z:-0.26 [[ 0.99923945 0.03785646 -0.00934907 1.79771293] [-0.03791108 0.99926466 -0.00573519 -0.03468576] [ 0.00912508 0.00608526 0.99993985 -0.26026745] [ 0. 0. 0. 1. ]] SLAMing on 7.821193817000001 meters Centerline goodness : 0.854608 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.04, Z:-0.26 [[ 0.9993635 0.0343373 -0.00967201 1.79812526] [-0.03440292 0.99938557 -0.00670245 -0.04258834] [ 0.00943592 0.00703093 0.99993076 -0.26131477] [ 0. 0. 0. 1. ]] SLAMing on 7.851193817000001 meters Centerline goodness : 0.853124 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.05, Z:-0.26 [[ 0.99948318 0.03069976 -0.00953434 1.79752593] [-0.03077167 0.99949839 -0.00748873 -0.0505294 ] [ 0.00929965 0.00777825 0.9999265 -0.26211906] [ 0. 0. 0. 1. ]] SLAMing on 7.881193817000001 meters Centerline goodness : 0.853358 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.06, Z:-0.26 [[ 0.99959904 0.02667738 -0.00949116 1.79688032] [-0.02676044 0.99960371 -0.00873514 -0.05774025] [ 0.00925437 0.00898563 0.9999168 -0.2625244 ] [ 0. 0. 0. 1. ]] SLAMing on 7.911193817000001 meters Centerline goodness : 0.854481 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.06, Z:-0.26 [[ 0.99968677 0.02319663 -0.00939601 1.79609331] [-0.02329687 0.99967129 -0.01070355 -0.06374697] [ 0.00914463 0.0109191 0.99989857 -0.26199249] [ 0. 0. 0. 1. ]] SLAMing on 7.941193817000001 meters Centerline goodness : 0.854807 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.07, Z:-0.26 [[ 0.99982516 0.01625297 -0.00924662 1.79554612] [-0.01639494 0.99974558 -0.01549149 -0.07162043] [ 0.00899248 0.01564038 0.99983724 -0.26182668] [ 0. 0. 0. 1. ]] SLAMing on 7.971193817000001 meters Centerline goodness : 0.854988 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.08, Z:-0.26 [[ 0.99983023 0.01569055 -0.00965965 1.79732811] [-0.01583448 0.99976198 -0.0150085 -0.07539827] [ 0.00942186 0.01515891 0.99984071 -0.26308064] [ 0. 0. 0. 1. ]] SLAMing on 8.001193817 meters Centerline goodness : 0.854352 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.08, Z:-0.26 [[ 0.99982611 0.01579262 -0.00991724 1.79840877] [-0.01593303 0.99977163 -0.01424182 -0.0783498 ] [ 0.00969006 0.01439735 0.9998494 -0.26387573] [ 0. 0. 0. 1. ]] SLAMing on 8.031193817 meters Centerline goodness : 0.853620 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.08, Z:-0.26 [[ 0.99981973 0.01607858 -0.01009843 1.79925493] [-0.0162152 0.99977608 -0.01359621 -0.08047598] [ 0.00987756 0.01375751 0.99985657 -0.26453093] [ 0. 0. 0. 1. ]] SLAMing on 8.061193817000001 meters Centerline goodness : 0.856354 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.08, Z:-0.27 [[ 0.99977424 0.01854373 -0.0103729 1.8016039 ] [-0.01865858 0.99976444 -0.01108675 -0.08145299] [ 0.01016486 0.01127779 0.99988474 -0.26654063] [ 0. 0. 0. 1. ]] SLAMing on 8.091193817 meters Centerline goodness : 0.854359 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.08, Z:-0.27 [[ 0.99972414 0.02087013 -0.01077418 1.80401063] [-0.02096584 0.99974104 -0.00884803 -0.08061181] [ 0.01058673 0.00907148 0.99990281 -0.26828415] [ 0. 0. 0. 1. ]] SLAMing on 8.121193817000002 meters Centerline goodness : 0.852584 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.08, Z:-0.27 [[ 0.99963862 0.02459176 -0.01085688 1.80467904] [-0.02464972 0.99968243 -0.00523746 -0.08018037] [ 0.01072463 0.00550319 0.99992735 -0.26861936] [ 0. 0. 0. 1. ]] SLAMing on 8.151193817000001 meters Centerline goodness : 0.851094 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.08, Z:-0.27 [[ 0.99955842 0.02752118 -0.01120487 1.80684367] [-0.02755303 0.9996167 -0.00269779 -0.079058 ] [ 0.01112632 0.00300532 0.99993358 -0.27006813] [ 0. 0. 0. 1. ]] SLAMing on 8.181193817 meters Centerline goodness : 0.848810 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.07, Z:-0.28 [[ 0.9994733 0.03153513 -0.00765827 1.82195304] [-0.03161007 0.99945154 -0.00987037 -0.07405424] [ 0.00734281 0.01010725 0.99992196 -0.27576592] [ 0. 0. 0. 1. ]] SLAMing on 8.211193817000002 meters Centerline goodness : 0.848887 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.07, Z:-0.28 [[ 0.99947851 0.03130484 -0.00791976 1.82327324] [-0.03138926 0.9994492 -0.01077061 -0.07163879] [ 0.00757823 0.01101359 0.99991063 -0.27679747] [ 0. 0. 0. 1. ]] SLAMing on 8.241193817000001 meters Centerline goodness : 0.849144 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.07, Z:-0.28 [[ 0.99948672 0.03098063 -0.00815474 1.82454481] [-0.03107344 0.99945081 -0.01151168 -0.06968563] [ 0.00779362 0.01175917 0.99990049 -0.27782011] [ 0. 0. 0. 1. ]] SLAMing on 8.271193817 meters Centerline goodness : 0.848431 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.07, Z:-0.28 [[ 0.99942129 0.0328729 -0.00874433 1.82814305] [-0.03295667 0.99941053 -0.00961479 -0.06745917] [ 0.00842311 0.00989741 0.99991554 -0.28060198] [ 0. 0. 0. 1. ]] SLAMing on 8.301193817000001 meters Centerline goodness : 0.846590 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.07, Z:-0.28 [[ 0.9994192 0.03287778 -0.00896146 1.82895972] [-0.0329651 0.99940869 -0.00977609 -0.06663468] [ 0.00863475 0.01006583 0.99991206 -0.28106021] [ 0. 0. 0. 1. ]] SLAMing on 8.331193817 meters Centerline goodness : 0.846160 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.07, Z:-0.28 [[ 0.99941937 0.03280939 -0.0091901 1.82977059] [-0.03290037 0.9994093 -0.00993014 -0.06646991] [ 0.00885887 0.01022673 0.99990846 -0.28149099] [ 0. 0. 0. 1. ]] SLAMing on 8.361193817 meters Centerline goodness : 0.845614 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.07, Z:-0.28 [[ 0.99941316 0.03290898 -0.00950473 1.83060675] [-0.03300125 0.99940804 -0.00971996 -0.0674491 ] [ 0.00917923 0.01002792 0.99990759 -0.28178953] [ 0. 0. 0. 1. ]] SLAMing on 8.391193817000001 meters Centerline goodness : 0.844321 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.07, Z:-0.28 [[ 0.99941798 0.03254012 -0.01023968 1.8336323 ] [-0.03264348 0.99941609 -0.01009351 -0.06957201] [ 0.00990526 0.01042189 0.99989663 -0.28383173] [ 0. 0. 0. 1. ]] SLAMing on 8.421193817 meters Centerline goodness : 0.843510 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.07, Z:-0.29 [[ 0.99934073 0.03463755 -0.01087832 1.83642665] [-0.03472441 0.9993657 -0.00790039 -0.07125789] [ 0.01059777 0.00827292 0.99990962 -0.28546942] [ 0. 0. 0. 1. ]] SLAMing on 8.451193817000002 meters Centerline goodness : 0.843763 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.07, Z:-0.29 [[ 0.99923436 0.03746397 -0.01127624 1.83868574] [-0.03752218 0.99928331 -0.0049955 -0.07223894] [ 0.01108101 0.00541478 0.99992394 -0.28689048] [ 0. 0. 0. 1. ]] SLAMing on 8.481193817000001 meters Centerline goodness : 0.844615 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.07, Z:-0.29 [[ 0.99919962 0.0383483 -0.01138114 1.83909081] [-0.03840453 0.99925092 -0.0047639 -0.07126397] [ 0.01118993 0.00519717 0.99992388 -0.28705644] [ 0. 0. 0. 1. ]] SLAMing on 8.511193817 meters Centerline goodness : 0.841589 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.07, Z:-0.29 [[ 9.98976747e-01 4.36478885e-02 -1.18457460e-02 1.84019612e+00] [-4.36541961e-02 9.99046664e-01 -2.74317630e-04 -7.14704045e-02] [ 1.18224797e-02 7.91153455e-04 9.99929799e-01 -2.86564622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.541193817000002 meters Centerline goodness : 0.841623 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.07, Z:-0.29 [[ 9.98936097e-01 4.43827017e-02 -1.25239415e-02 1.84148057e+00] [-4.43842552e-02 9.99014522e-01 1.54010751e-04 -7.26997966e-02] [ 1.25184349e-02 4.02018918e-04 9.99921561e-01 -2.86451833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.571193817000001 meters Centerline goodness : 0.842486 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.08, Z:-0.29 [[ 0.99899182 0.04263012 -0.0140718 1.84370673] [-0.04266467 0.99908711 -0.00216395 -0.07701441] [ 0.01396671 0.00276214 0.99989865 -0.28578026] [ 0. 0. 0. 1. ]] SLAMing on 8.601193817 meters Centerline goodness : 0.842460 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.08, Z:-0.28 [[ 0.99907645 0.04057424 -0.01414126 1.84210152] [-0.04064305 0.99916308 -0.00461312 -0.07864421] [ 0.01394225 0.0051836 0.99988937 -0.28372306] [ 0. 0. 0. 1. ]] SLAMing on 8.631193817000002 meters Centerline goodness : 0.844310 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.08, Z:-0.28 [[ 0.9990869 0.0403261 -0.0141131 1.84156017] [-0.04038663 0.999176 -0.00403033 -0.08097163] [ 0.01393894 0.00459663 0.99989228 -0.28324367] [ 0. 0. 0. 1. ]] SLAMing on 8.661193817000001 meters Centerline goodness : 0.844310 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.08, Z:-0.28 [[ 0.9990869 0.0403261 -0.0141131 1.84156017] [-0.04038663 0.999176 -0.00403033 -0.08097163] [ 0.01393894 0.00459663 0.99989228 -0.28324367] [ 0. 0. 0. 1. ]] SLAMing on 8.691193817 meters Centerline goodness : 0.845315 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.08, Z:-0.28 [[ 0.9990877 0.04031038 -0.01410078 1.84076927] [-0.04036219 0.9991793 -0.0034092 -0.0833032 ] [ 0.01395178 0.00397523 0.99989477 -0.28236721] [ 0. 0. 0. 1. ]] SLAMing on 8.721193817000001 meters Centerline goodness : 0.844356 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.09, Z:-0.28 [[ 0.99906827 0.04067717 -0.01442102 1.84096582] [-0.04071635 0.99916778 -0.00243347 -0.08630425] [ 0.01431003 0.00301838 0.99989305 -0.28198603] [ 0. 0. 0. 1. ]] SLAMing on 8.751193817 meters Centerline goodness : 0.845434 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.09, Z:-0.28 [[ 9.98954598e-01 4.28817584e-02 -1.58387412e-02 1.84324460e+00] [-4.28878720e-02 9.99079891e-01 -4.63687067e-05 -9.28525177e-02] [ 1.58221795e-02 7.25610140e-04 9.99874558e-01 -2.81624247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.781193817000002 meters Centerline goodness : 0.847319 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.10, Z:-0.28 [[ 9.98882217e-01 4.42386484e-02 -1.66510778e-02 1.84505564e+00] [-4.42208459e-02 9.99020748e-01 1.43600686e-03 -9.61930185e-02] [ 1.66982992e-02 -6.98076971e-04 9.99860330e-01 -2.82083621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.811193817000001 meters Centerline goodness : 0.846138 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.10, Z:-0.28 [[ 9.98912138e-01 4.29881154e-02 -1.80710457e-02 1.84776452e+00] [-4.30156382e-02 9.99073752e-01 -1.13692187e-03 -9.82368435e-02] [ 1.80054333e-02 1.91302262e-03 9.99836059e-01 -2.82163653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.841193817 meters Centerline goodness : 0.847879 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.10, Z:-0.28 [[ 0.99895936 0.04129735 -0.01935788 1.84977211] [-0.04137737 0.99913655 -0.00375162 -0.10100505] [ 0.01918623 0.0045487 0.99980558 -0.28177032] [ 0. 0. 0. 1. ]] SLAMing on 8.871193817000002 meters Centerline goodness : 0.847666 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.11, Z:-0.28 [[ 0.99900518 0.03948882 -0.02071915 1.85185388] [-0.03962191 0.99919641 -0.00605291 -0.10501876] [ 0.02046348 0.00686782 0.99976701 -0.28141395] [ 0. 0. 0. 1. ]] SLAMing on 8.901193817000001 meters Centerline goodness : 0.850153 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.12, Z:-0.28 [[ 0.9990613 0.03810183 -0.0206101 1.8522531 ] [-0.03823747 0.99924928 -0.00622742 -0.11666588] [ 0.02035735 0.00700966 0.99976819 -0.28269087] [ 0. 0. 0. 1. ]] SLAMing on 8.931193817 meters Centerline goodness : 0.849948 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.12, Z:-0.29 [[ 0.99915553 0.03516646 -0.02124984 1.85577936] [-0.03534647 0.99934184 -0.00815543 -0.12224555] [ 0.02094905 0.00889965 0.99974093 -0.28562423] [ 0. 0. 0. 1. ]] SLAMing on 8.961193817000002 meters Centerline goodness : 0.848194 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.13, Z:-0.29 [[ 0.9992721 0.03118004 -0.02197919 1.85946032] [-0.03142206 0.99944836 -0.01075333 -0.12870024] [ 0.02163178 0.01143613 0.9997006 -0.28863164] [ 0. 0. 0. 1. ]] SLAMing on 8.991193817000001 meters Centerline goodness : 0.847501 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.14, Z:-0.29 [[ 0.99942602 0.02531406 -0.02251304 1.86165055] [-0.02565755 0.99955671 -0.01510184 -0.13629694] [ 0.02212077 0.0156708 0.99963248 -0.2904227 ] [ 0. 0. 0. 1. ]] SLAMing on 9.021193817 meters Centerline goodness : 0.848171 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.16, Z:-0.29 [[ 0.99956948 0.0136718 -0.02596041 1.86748766] [-0.01413246 0.99974444 -0.0176447 -0.15586069] [ 0.02571254 0.01800398 0.99950724 -0.29090434] [ 0. 0. 0. 1. ]] SLAMing on 9.051193817000001 meters Centerline goodness : 0.849152 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.16, Z:-0.29 [[ 0.9996243 0.00759835 -0.02633494 1.86911201] [-0.00818647 0.99971788 -0.0222968 -0.16306569] [ 0.02615809 0.02250401 0.99940448 -0.29210771] [ 0. 0. 0. 1. ]] SLAMing on 9.081193817 meters Centerline goodness : 0.851140 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.17, Z:-0.29 [[ 0.99963616 0.0040477 -0.02666774 1.87032861] [-0.00469501 0.99969477 -0.02425545 -0.16962014] [ 0.02656142 0.02437183 0.99935004 -0.29276596] [ 0. 0. 0. 1. ]] SLAMing on 9.111193817 meters Centerline goodness : 0.851694 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.17, Z:-0.29 [[ 9.99637581e-01 4.52883862e-04 -2.69165842e-02 1.87135650e+00] [-1.16929127e-03 9.99645312e-01 -2.66060606e-02 -1.74618541e-01] [ 2.68949877e-02 2.66278913e-02 9.99283551e-01 -2.93393429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.141193817000001 meters Centerline goodness : 0.854144 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.18, Z:-0.29 [[ 0.9996188 -0.00630625 -0.02687916 1.87181393] [ 0.00546718 0.99949895 -0.03117636 -0.18312435] [ 0.0270623 0.03101752 0.99915241 -0.29362857] [ 0. 0. 0. 1. ]] SLAMing on 9.171193817 meters Centerline goodness : 0.852837 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.19, Z:-0.29 [[ 0.99958579 -0.01009414 -0.0269511 1.87182811] [ 0.00916946 0.99937242 -0.03421532 -0.18603364] [ 0.02727956 0.03395402 0.99905102 -0.29331824] [ 0. 0. 0. 1. ]] SLAMing on 9.201193817000002 meters Centerline goodness : 0.854101 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.19, Z:-0.29 [[ 0.99957555 -0.01088881 -0.02702141 1.8718867 ] [ 0.00997531 0.99938174 -0.03371383 -0.19028462] [ 0.02737181 0.03342997 0.99906617 -0.29281858] [ 0. 0. 0. 1. ]] SLAMing on 9.231193817000001 meters Centerline goodness : 0.857860 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.19, Z:-0.29 [[ 0.99952215 -0.01526269 -0.02687978 1.87090485] [ 0.01425933 0.99920863 -0.03713198 -0.19341618] [ 0.02742524 0.03673095 0.99894879 -0.29147899] [ 0. 0. 0. 1. ]] SLAMing on 9.261193817 meters Centerline goodness : 0.858220 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.19, Z:-0.29 [[ 0.99951044 -0.01565963 -0.0270862 1.87137693] [ 0.01464298 0.99919557 -0.03733359 -0.1934539 ] [ 0.02764904 0.03691869 0.9989357 -0.29142645] [ 0. 0. 0. 1. ]] SLAMing on 9.291193817000002 meters Centerline goodness : 0.860283 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.19, Z:-0.29 [[ 0.99952838 -0.01389945 -0.02738301 1.87353604] [ 0.01293525 0.99930081 -0.03507951 -0.19312292] [ 0.02785145 0.03470875 0.99900931 -0.29295207] [ 0. 0. 0. 1. ]] SLAMing on 9.321193817000001 meters Centerline goodness : 0.860972 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.19, Z:-0.29 [[ 0.99954116 -0.0115376 -0.02800622 1.87580939] [ 0.01062231 0.9994116 -0.03261305 -0.1912912 ] [ 0.02836602 0.03230059 0.99907559 -0.2940437 ] [ 0. 0. 0. 1. ]] SLAMing on 9.351193817 meters Centerline goodness : 0.857090 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.19, Z:-0.30 [[ 0.9995766 -0.00539838 -0.02859144 1.87828875] [ 0.00461637 0.99961534 -0.02734701 -0.18548332] [ 0.02872808 0.02720344 0.99921703 -0.29526552] [ 0. 0. 0. 1. ]] SLAMing on 9.381193817000002 meters Centerline goodness : 0.857164 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.18, Z:-0.30 [[ 9.99580467e-01 -1.66161463e-03 -2.89159094e-02 1.87945747e+00] [ 9.58407183e-04 9.99703864e-01 -2.43159382e-02 -1.82772921e-01] [ 2.89477501e-02 2.42780236e-02 9.99286048e-01 -2.95815498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.411193817000001 meters Centerline goodness : 0.853685 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.18, Z:-0.30 [[ 0.99957135 0.00199944 -0.02920819 1.88095312] [-0.00262753 0.9997658 -0.02148135 -0.17979303] [ 0.02915839 0.02154889 0.9993425 -0.29685092] [ 0. 0. 0. 1. ]] SLAMing on 9.441193817 meters Centerline goodness : 0.852849 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.18, Z:-0.30 [[ 0.99953616 0.00719563 -0.0295919 1.88414482] [-0.00769583 0.99982884 -0.01682426 -0.17751557] [ 0.02946578 0.0170442 0.99942046 -0.29936308] [ 0. 0. 0. 1. ]] SLAMing on 9.471193817000001 meters Centerline goodness : 0.852017 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.17, Z:-0.30 [[ 0.99956481 0.01610636 -0.02471402 1.89736893] [-0.0165741 0.99968514 -0.01883953 -0.17065471] [ 0.02440281 0.01924094 0.99951703 -0.30400123] [ 0. 0. 0. 1. ]] SLAMing on 9.501193817 meters Centerline goodness : 0.852503 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.17, Z:-0.31 [[ 0.9995025 0.01916555 -0.02504855 1.89921222] [-0.01957101 0.99967974 -0.01604328 -0.16882299] [ 0.02473305 0.01652552 0.99955749 -0.30514237] [ 0. 0. 0. 1. ]] SLAMing on 9.531193817000002 meters Centerline goodness : 0.849867 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.17, Z:-0.31 [[ 0.99945435 0.02102469 -0.02547468 1.90205884] [-0.02138697 0.99967278 -0.01403302 -0.16760218] [ 0.0251713 0.01457019 0.99957697 -0.30700502] [ 0. 0. 0. 1. ]] SLAMing on 9.561193817000001 meters Centerline goodness : 0.850322 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.17, Z:-0.31 [[ 0.99946071 0.02061613 -0.02555912 1.9026288 ] [-0.02098741 0.99967683 -0.01434431 -0.16766702] [ 0.02525514 0.014873 0.99957039 -0.307424 ] [ 0. 0. 0. 1. ]] SLAMing on 9.591193817 meters Centerline goodness : 0.849535 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.17, Z:-0.31 [[ 0.99946242 0.02014621 -0.02586486 1.90356347] [-0.02053118 0.99968106 -0.01470562 -0.16773382] [ 0.02556035 0.01522875 0.99955728 -0.30770207] [ 0. 0. 0. 1. ]] SLAMing on 9.621193817000002 meters Centerline goodness : 0.849126 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.17, Z:-0.31 [[ 0.99946556 0.01967916 -0.02610216 1.90445207] [-0.02007875 0.99968382 -0.01513613 -0.16706661] [ 0.02579604 0.01565214 0.99954468 -0.3081166 ] [ 0. 0. 0. 1. ]] SLAMing on 9.651193817000001 meters Centerline goodness : 0.849225 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.16, Z:-0.31 [[ 0.99947968 0.01873237 -0.02625752 1.9057156 ] [-0.01916393 0.99968378 -0.01628146 -0.16315461] [ 0.02594423 0.01677619 0.99952261 -0.30903026] [ 0. 0. 0. 1. ]] SLAMing on 9.681193817 meters Centerline goodness : 0.849676 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.16, Z:-0.31 [[ 0.99944775 0.01995448 -0.02657077 1.90833924] [-0.02035135 0.99968407 -0.01475083 -0.16224263] [ 0.02626803 0.01528344 0.9995381 -0.31092205] [ 0. 0. 0. 1. ]] SLAMing on 9.711193817000002 meters Centerline goodness : 0.851238 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.16, Z:-0.31 [[ 0.99945094 0.01950905 -0.02678073 1.90898928] [-0.01992304 0.99968475 -0.01527952 -0.16102388] [ 0.0264742 0.01580468 0.99952455 -0.31111984] [ 0. 0. 0. 1. ]] SLAMing on 9.741193817000001 meters Centerline goodness : 0.849345 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.16, Z:-0.31 [[ 0.99945754 0.0188451 -0.02700887 1.9097332 ] [-0.01928049 0.99968686 -0.01595157 -0.16039765] [ 0.0266998 0.01646366 0.99950791 -0.31132294] [ 0. 0. 0. 1. ]] SLAMing on 9.771193817 meters Centerline goodness : 0.850127 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.16, Z:-0.31 [[ 0.99946024 0.01837308 -0.02723337 1.91013137] [-0.0188256 0.99968738 -0.01645423 -0.16010462] [ 0.02692254 0.01695803 0.99949367 -0.31112309] [ 0. 0. 0. 1. ]] SLAMing on 9.801193817000001 meters Centerline goodness : 0.853266 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.15, Z:-0.31 [[ 0.99960866 0.0190471 -0.02048743 1.92114071] [-0.01955021 0.99950513 -0.02464322 -0.15463745] [ 0.02000791 0.02503411 0.99948636 -0.31393884] [ 0. 0. 0. 1. ]] SLAMing on 9.831193817 meters Centerline goodness : 0.854819 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.15, Z:-0.31 [[ 0.99954166 0.02216557 -0.02061948 1.92146697] [-0.02260858 0.99951305 -0.0215061 -0.15259919] [ 0.02013275 0.02196242 0.99955606 -0.31350401] [ 0. 0. 0. 1. ]] SLAMing on 9.861193817000002 meters Centerline goodness : 0.856216 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.15, Z:-0.31 [[ 0.99946328 0.02531926 -0.02078682 1.92217294] [-0.02570893 0.99949459 -0.01869785 -0.14970975] [ 0.0203029 0.01922222 0.99960907 -0.31344538] [ 0. 0. 0. 1. ]] SLAMing on 9.891193817000001 meters Centerline goodness : 0.854554 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.15, Z:-0.31 [[ 0.9993723 0.02860503 -0.0208988 1.92319619] [-0.02894032 0.99945434 -0.01592114 -0.14700127] [ 0.02043198 0.01651597 0.99965482 -0.31389908] [ 0. 0. 0. 1. ]] SLAMing on 9.921193817 meters Centerline goodness : 0.855476 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.14, Z:-0.32 [[ 0.99921569 0.03357559 -0.02099246 1.92577359] [-0.03383109 0.99935628 -0.01193646 -0.14178859] [ 0.02057817 0.0126373 0.99970838 -0.31577998] [ 0. 0. 0. 1. ]] SLAMing on 9.951193817000002 meters Centerline goodness : 0.857016 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.14, Z:-0.32 [[ 0.9991233 0.03595951 -0.02143715 1.92860249] [-0.03617827 0.99929626 -0.00990555 -0.13972751] [ 0.02106586 0.01067242 0.99972113 -0.3177068 ] [ 0. 0. 0. 1. ]] SLAMing on 9.981193817000001 meters Centerline goodness : 0.856045 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.14, Z:-0.32 [[ 0.99903435 0.03802714 -0.02200711 1.93178318] [-0.0382115 0.99923751 -0.00801805 -0.13825399] [ 0.02168542 0.00885123 0.99972566 -0.31980545] [ 0. 0. 0. 1. ]] SLAMing on 10.011193817 meters Centerline goodness : 0.855777 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.14, Z:-0.32 [[ 0.99899459 0.03867652 -0.02266998 1.93566313] [-0.03885931 0.99921519 -0.00767849 -0.13668991] [ 0.02235521 0.00855171 0.99971352 -0.32258343] [ 0. 0. 0. 1. ]] SLAMing on 10.041193817000002 meters Centerline goodness : 0.855893 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.13, Z:-0.32 [[ 0.99890927 0.04045223 -0.02332141 1.93930824] [-0.04060288 0.99915721 -0.00602251 -0.13389427] [ 0.02305813 0.00696286 0.99970988 -0.32495735] [ 0. 0. 0. 1. ]] SLAMing on 10.071193817000001 meters Centerline goodness : 0.854537 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.13, Z:-0.33 [[ 0.99892499 0.03998397 -0.02345507 1.94016446] [-0.04015335 0.99917042 -0.00679539 -0.13174778] [ 0.0231639 0.00772988 0.9997018 -0.32559601] [ 0. 0. 0. 1. ]] SLAMing on 10.101193817 meters Centerline goodness : 0.855115 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.13, Z:-0.33 [[ 0.9989023 0.04042998 -0.02365624 1.94134097] [-0.04058822 0.99915643 -0.0062473 -0.1311025 ] [ 0.02338371 0.00720061 0.99970063 -0.32616869] [ 0. 0. 0. 1. ]] SLAMing on 10.131193817000002 meters Centerline goodness : 0.853304 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.13, Z:-0.33 [[ 0.99891124 0.04013741 -0.02377639 1.9415759 ] [-0.04030481 0.99916561 -0.00660367 -0.13055695] [ 0.02349149 0.00755478 0.99969549 -0.32602302] [ 0. 0. 0. 1. ]] SLAMing on 10.161193817000001 meters Centerline goodness : 0.853655 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.13, Z:-0.33 [[ 9.99093255e-01 3.89012470e-02 -1.73020455e-02 1.95122692e+00] [-3.89148460e-02 9.99242429e-01 -4.49864501e-04 -1.31040667e-01] [ 1.72714377e-02 1.12276303e-03 9.99850207e-01 -3.28517345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.191193817 meters Centerline goodness : 0.853615 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.13, Z:-0.33 [[ 9.99090611e-01 3.88201434e-02 -1.76337296e-02 1.95229745e+00] [-3.88444541e-02 9.99244730e-01 -1.03810122e-03 -1.29151379e-01] [ 1.75801121e-02 1.72212978e-03 9.99843975e-01 -3.29059364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.221193817000001 meters Centerline goodness : 0.853578 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.13, Z:-0.33 [[ 9.98997540e-01 4.08868700e-02 -1.82258027e-02 1.95568867e+00] [-4.08747021e-02 9.99163739e-01 1.03979245e-03 -1.28089583e-01] [ 1.82530751e-02 -2.93775845e-04 9.99833356e-01 -3.31372879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.251193817 meters Centerline goodness : 0.851031 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.13, Z:-0.33 [[ 9.99011613e-01 4.02996228e-02 -1.87546580e-02 1.95812146e+00] [-4.03100876e-02 9.99187202e-01 -1.80130253e-04 -1.25320989e-01] [ 1.87321551e-02 9.35954122e-04 9.99824100e-01 -3.33094373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.281193817000002 meters Centerline goodness : 0.847863 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.12, Z:-0.34 [[ 0.99904404 0.03905122 -0.01964709 1.9624684 ] [-0.03910192 0.9992328 -0.00220287 -0.12167739] [ 0.01954599 0.002969 0.99980455 -0.33649116] [ 0. 0. 0. 1. ]] SLAMing on 10.311193817000001 meters Centerline goodness : 0.850115 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.12, Z:-0.34 [[ 0.99908879 0.03758366 -0.02022524 1.96516326] [-0.03766571 0.99928358 -0.00369114 -0.12090482] [ 0.02007203 0.00444958 0.99978864 -0.33841784] [ 0. 0. 0. 1. ]] SLAMing on 10.341193817 meters Centerline goodness : 0.848551 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.12, Z:-0.34 [[ 0.99916999 0.03504784 -0.02076018 1.96787428] [-0.03518118 0.99936238 -0.00609278 -0.11892848] [ 0.02053341 0.0068181 0.99976592 -0.340281 ] [ 0. 0. 0. 1. ]] SLAMing on 10.371193817000002 meters Centerline goodness : 0.847802 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.12, Z:-0.34 [[ 0.99918767 0.03448846 -0.02084578 1.96825297] [-0.03463697 0.99937679 -0.00680535 -0.11727312] [ 0.02059808 0.00752186 0.99975954 -0.34043156] [ 0. 0. 0. 1. ]] SLAMing on 10.401193817000001 meters Centerline goodness : 0.848533 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.12, Z:-0.34 [[ 0.9991994 0.03400502 -0.02107664 1.96847822] [-0.0341686 0.99938832 -0.00744999 -0.11589587] [ 0.02081041 0.00816418 0.99975011 -0.34003334] [ 0. 0. 0. 1. ]] SLAMing on 10.431193817 meters Centerline goodness : 0.848104 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.12, Z:-0.34 [[ 0.99920313 0.03372794 -0.02134309 1.96879995] [-0.03390264 0.9993941 -0.00787699 -0.11513607] [ 0.02106449 0.0085943 0.99974118 -0.3396335 ] [ 0. 0. 0. 1. ]] SLAMing on 10.461193817000002 meters Centerline goodness : 0.849171 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.11, Z:-0.34 [[ 0.99930725 0.0336135 -0.01597365 1.98257572] [-0.03382537 0.9993408 -0.01318386 -0.11249109] [ 0.01551997 0.01371505 0.99978549 -0.33955554] [ 0. 0. 0. 1. ]] SLAMing on 10.491193817000001 meters Centerline goodness : 0.850146 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.11, Z:-0.34 [[ 0.99931823 0.03329846 -0.01594663 1.98258715] [-0.03351744 0.99934468 -0.01366734 -0.11123613] [ 0.01548108 0.01419252 0.99977943 -0.33951211] [ 0. 0. 0. 1. ]] SLAMing on 10.521193817 meters Centerline goodness : 0.848834 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.34 [[ 0.99926589 0.03464608 -0.01635021 1.98524708] [-0.03484787 0.99931788 -0.01222287 -0.11086741] [ 0.01591558 0.01278367 0.99979161 -0.34143714] [ 0. 0. 0. 1. ]] SLAMing on 10.551193817000001 meters Centerline goodness : 0.847700 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.34 [[ 0.99921983 0.03578008 -0.01671862 1.98807272] [-0.03596815 0.99929143 -0.011087 -0.11024532] [ 0.01631008 0.01167969 0.99979876 -0.34364766] [ 0. 0. 0. 1. ]] SLAMing on 10.581193817 meters Centerline goodness : 0.847700 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.34 [[ 0.99921983 0.03578008 -0.01671862 1.98807272] [-0.03596815 0.99929143 -0.011087 -0.11024532] [ 0.01631008 0.01167969 0.99979876 -0.34364766] [ 0. 0. 0. 1. ]] SLAMing on 10.611193817000002 meters Centerline goodness : 0.846576 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.34 [[ 0.99923176 0.03534573 -0.0169284 1.98922294] [-0.03554956 0.99929712 -0.01189506 -0.10854068] [ 0.01649606 0.01248772 0.99978595 -0.34449877] [ 0. 0. 0. 1. ]] SLAMing on 10.641193817000001 meters Centerline goodness : 0.845310 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.34 [[ 0.99922435 0.03540702 -0.01723511 1.99019195] [-0.03561585 0.99929394 -0.01196366 -0.10862535] [ 0.01679934 0.01256823 0.99977989 -0.34498531] [ 0. 0. 0. 1. ]] SLAMing on 10.671193817 meters Centerline goodness : 0.847058 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.35 [[ 0.99921811 0.0354854 -0.01743444 1.99109662] [-0.0356933 0.99929358 -0.01176157 -0.10864084] [ 0.01700476 0.01237466 0.99977883 -0.34572315] [ 0. 0. 0. 1. ]] SLAMing on 10.701193817000002 meters Centerline goodness : 0.844450 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.35 [[ 0.99922979 0.03510461 -0.01753523 1.99180784] [-0.03531621 0.99930526 -0.01190669 -0.1079651 ] [ 0.01710507 0.0125168 0.99977535 -0.34620939] [ 0. 0. 0. 1. ]] SLAMing on 10.731193817000001 meters Centerline goodness : 0.842693 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.35 [[ 0.99924853 0.0345644 -0.01754073 1.99201513] [-0.03477609 0.99932415 -0.01191073 -0.1085104 ] [ 0.01711719 0.01251177 0.9997752 -0.34662566] [ 0. 0. 0. 1. ]] SLAMing on 10.761193817 meters Centerline goodness : 0.843481 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.35 [[ 0.9992771 0.03388907 -0.01722807 1.99134509] [-0.03409001 0.99935253 -0.01150658 -0.10992422] [ 0.01682697 0.01208557 0.99978537 -0.34686413] [ 0. 0. 0. 1. ]] SLAMing on 10.791193817000002 meters Centerline goodness : 0.843399 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.35 [[ 0.99932511 0.03262846 -0.01687338 1.99070768] [-0.0328251 0.99939482 -0.01151088 -0.11109574] [ 0.01648759 0.01205698 0.99979137 -0.34722988] [ 0. 0. 0. 1. ]] SLAMing on 10.821193817000001 meters Centerline goodness : 0.844518 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.35 [[ 0.99937195 0.03087547 -0.01739001 1.99309724] [-0.03110113 0.99943352 -0.01285893 -0.11075653] [ 0.01698314 0.0133917 0.99976609 -0.3489127 ] [ 0. 0. 0. 1. ]] SLAMing on 10.851193817 meters Centerline goodness : 0.841843 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.11, Z:-0.35 [[ 0.99945201 0.02780156 -0.01796514 1.99634393] [-0.02808213 0.99948453 -0.01555844 -0.10688899] [ 0.01752333 0.01605441 0.99971755 -0.35117734] [ 0. 0. 0. 1. ]] SLAMing on 10.881193817000002 meters Centerline goodness : 0.843984 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.11, Z:-0.35 [[ 0.99947248 0.02691336 -0.01817805 1.99695306] [-0.02721578 0.99949176 -0.01659914 -0.10502514] [ 0.01772207 0.01708512 0.99969697 -0.35130193] [ 0. 0. 0. 1. ]] SLAMing on 10.911193817000001 meters Centerline goodness : 0.842952 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.10, Z:-0.35 [[ 0.99948812 0.0261831 -0.01838306 1.99709271] [-0.02650504 0.99949561 -0.01749319 -0.10333051] [ 0.01791576 0.01797148 0.99967797 -0.35082876] [ 0. 0. 0. 1. ]] SLAMing on 10.941193817000002 meters Centerline goodness : 0.845405 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.10, Z:-0.35 [[ 0.99953973 0.02412105 -0.01839829 1.99693223] [-0.02449541 0.99949176 -0.02040077 -0.09623553] [ 0.01789685 0.02084206 0.99962258 -0.35008885] [ 0. 0. 0. 1. ]] SLAMing on 10.971193817000001 meters Centerline goodness : 0.845289 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.09, Z:-0.35 [[ 0.99950883 0.02496953 -0.01893709 1.99972844] [-0.0253393 0.99948784 -0.0195443 -0.09195079] [ 0.01843938 0.02001455 0.99962963 -0.35172913] [ 0. 0. 0. 1. ]] SLAMing on 11.001193817 meters Centerline goodness : 0.845869 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.09, Z:-0.35 [[ 0.99946986 0.02595057 -0.0196614 2.0031465 ] [-0.02632043 0.9994769 -0.01879254 -0.08656627] [ 0.01916344 0.01930007 0.99963007 -0.35375467] [ 0. 0. 0. 1. ]] SLAMing on 11.031193817000002 meters Centerline goodness : 0.845497 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.08, Z:-0.36 [[ 0.99943016 0.02695622 -0.02031521 2.00656824] [-0.02732827 0.99945965 -0.01826419 -0.0807295 ] [ 0.0198119 0.01880896 0.99962679 -0.35587466] [ 0. 0. 0. 1. ]] SLAMing on 11.061193817000001 meters Centerline goodness : 0.842761 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.07, Z:-0.36 [[ 0.99945718 0.02578912 -0.02050042 2.00768285] [-0.02620872 0.99944689 -0.02046989 -0.07387721] [ 0.01996118 0.02099607 0.99958027 -0.35653807] [ 0. 0. 0. 1. ]] SLAMing on 11.091193817 meters Centerline goodness : 0.843097 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.06, Z:-0.36 [[ 0.99952188 0.02277506 -0.02091197 2.00936263] [-0.02328482 0.99942947 -0.02446529 -0.06047791] [ 0.02034284 0.02494052 0.99948194 -0.35660183] [ 0. 0. 0. 1. ]] SLAMing on 11.121193817000002 meters Centerline goodness : 0.843177 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.05, Z:-0.36 [[ 0.99955372 0.02114742 -0.0210985 2.00997406] [-0.02171504 0.99939827 -0.02704742 -0.05389569] [ 0.02051383 0.0274935 0.99941147 -0.35657478] [ 0. 0. 0. 1. ]] SLAMing on 11.151193817000001 meters Centerline goodness : 0.842787 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.05, Z:-0.36 [[ 0.99954543 0.02106582 -0.02156759 2.0125299 ] [-0.02165499 0.99938837 -0.02745822 -0.04749812] [ 0.02097597 0.02791278 0.99939026 -0.35802399] [ 0. 0. 0. 1. ]] SLAMing on 11.181193817 meters Centerline goodness : 0.841424 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.04, Z:-0.36 [[ 0.99951784 0.02169053 -0.02221741 2.01554748] [-0.02229417 0.99937885 -0.02729239 -0.04064042] [ 0.02161162 0.02777455 0.99938056 -0.35962673] [ 0. 0. 0. 1. ]] SLAMing on 11.211193817000002 meters Centerline goodness : 0.840921 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.36 [[ 0.99946824 0.01801163 -0.02718138 2.03433808] [-0.01860976 0.99958662 -0.02191515 -0.02308612] [ 0.02677542 0.02240933 0.99939026 -0.35906508] [ 0. 0. 0. 1. ]] SLAMing on 11.241193817000001 meters Centerline goodness : 0.842690 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.01, Z:-0.36 [[ 0.99943276 0.01953867 -0.02742982 2.03630031] [-0.02013262 0.99956511 -0.02154687 -0.01443099] [ 0.0269969 0.02208689 0.99939148 -0.36023182] [ 0. 0. 0. 1. ]] SLAMing on 11.271193817 meters Centerline goodness : 0.840141 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.01, Z:-0.36 [[ 0.99939182 0.02137621 -0.02755095 2.03772814] [-0.02195709 0.99953924 -0.02095682 -0.0061912 ] [ 0.02709028 0.02154901 0.9994007 -0.36106085] [ 0. 0. 0. 1. ]] SLAMing on 11.301193817000001 meters Centerline goodness : 0.838496 Centerline is valid? [False, False] Translation: X:2.04, Y:0.01, Z:-0.36 [[ 0.99929044 0.02538145 -0.02782787 2.04020372] [-0.02595819 0.99945151 -0.02056351 0.01106169] [ 0.02729068 0.02127128 0.9994012 -0.36150203] [ 0. 0. 0. 1. ]] SLAMing on 11.331193817 meters Centerline goodness : 0.841166 Centerline is valid? [False, False] Translation: X:2.04, Y:0.02, Z:-0.36 [[ 0.99916234 0.03035861 -0.02744038 2.04069152] [-0.03083544 0.99937778 -0.01712408 0.01981369] [ 0.02690345 0.01795588 0.99947676 -0.36190086] [ 0. 0. 0. 1. ]] SLAMing on 11.361193817000002 meters Centerline goodness : 0.842262 Centerline is valid? [False, False] Translation: X:2.04, Y:0.03, Z:-0.36 [[ 0.99897198 0.03606665 -0.02746251 2.04254742] [-0.03643476 0.99925117 -0.01302372 0.02935779] [ 0.02697222 0.01401092 0.99953799 -0.36287847] [ 0. 0. 0. 1. ]] SLAMing on 11.391193817000001 meters Centerline goodness : 0.843038 Centerline is valid? [False, False] Translation: X:2.04, Y:0.04, Z:-0.36 [[ 0.99874377 0.04202449 -0.02729132 2.0429796 ] [-0.04227845 0.99906715 -0.00879578 0.03930628] [ 0.02689622 0.00993857 0.99958882 -0.36271567] [ 0. 0. 0. 1. ]] SLAMing on 11.421193817 meters Centerline goodness : 0.842073 Centerline is valid? [False, False] Translation: X:2.05, Y:0.06, Z:-0.36 [[ 0.99822523 0.05227987 -0.02851689 2.0464505 ] [-0.05253303 0.99858551 -0.00820135 0.06025834] [ 0.02804779 0.00968487 0.99955967 -0.3625284 ] [ 0. 0. 0. 1. ]] SLAMing on 11.451193817000002 meters Centerline goodness : 0.843188 Centerline is valid? [False, False] Translation: X:2.05, Y:0.07, Z:-0.36 [[ 0.99789239 0.05837996 -0.02832931 2.04731642] [-0.05850241 0.99828109 -0.00351208 0.0670706 ] [ 0.02807558 0.00516201 0.99959247 -0.36277276] [ 0. 0. 0. 1. ]] SLAMing on 11.481193817000001 meters Centerline goodness : 0.843819 Centerline is valid? [False, False] Translation: X:2.05, Y:0.07, Z:-0.36 [[ 0.9977038 0.06151229 -0.02834368 2.04805972] [-0.0615954 0.99809906 -0.00206775 0.0737693 ] [ 0.02816261 0.00380884 0.9995961 -0.36277138] [ 0. 0. 0. 1. ]] SLAMing on 11.511193817 meters Centerline goodness : 0.846168 Centerline is valid? [False, False] Translation: X:2.05, Y:0.08, Z:-0.36 [[ 9.97492580e-01 6.48712842e-02 -2.82890479e-02 2.04855915e+00] [-6.49033311e-02 9.97891533e-01 -2.15133299e-04 7.97507083e-02] [ 2.82154454e-02 2.05064731e-03 9.99599762e-01 -3.62606349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.541193817000002 meters Centerline goodness : 0.850370 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:-0.36 [[ 0.99681906 0.0746644 -0.02787452 2.04915127] [-0.07449286 0.99719596 0.00714416 0.09097146] [ 0.02832978 -0.00504498 0.9995859 -0.36185753] [ 0. 0. 0. 1. ]] SLAMing on 11.571193817000001 meters Centerline goodness : 0.848600 Centerline is valid? [False, False] Translation: X:2.05, Y:0.10, Z:-0.36 [[ 0.99654844 0.07823298 -0.02776326 2.04932596] [-0.07800592 0.99691071 0.0091712 0.09751102] [ 0.02839499 -0.00697385 0.99957245 -0.36120475] [ 0. 0. 0. 1. ]] SLAMing on 11.601193817 meters Centerline goodness : 0.849192 Centerline is valid? [False, False] Translation: X:2.05, Y:0.10, Z:-0.36 [[ 0.99626088 0.08183651 -0.02769559 2.04948418] [-0.08154906 0.99660463 0.01135585 0.1030234 ] [ 0.02853088 -0.00905484 0.9995519 -0.36052874] [ 0. 0. 0. 1. ]] SLAMing on 11.631193817000002 meters Centerline goodness : 0.850340 Centerline is valid? [False, False] Translation: X:2.05, Y:0.11, Z:-0.36 [[ 0.99588768 0.08628916 -0.02760257 2.04984275] [-0.08593872 0.99620702 0.01364198 0.10921288] [ 0.02867503 -0.01121375 0.99952588 -0.35973442] [ 0. 0. 0. 1. ]] SLAMing on 11.661193817000001 meters Centerline goodness : 0.853061 Centerline is valid? [False, False] Translation: X:2.06, Y:0.11, Z:-0.36 [[ 0.99582726 0.08798944 -0.02420595 2.05836368] [-0.08791267 0.99611925 0.00421972 0.11162505] [ 0.0244833 -0.0020741 0.99969809 -0.3601113 ] [ 0. 0. 0. 1. ]] SLAMing on 11.691193817000002 meters Centerline goodness : 0.852940 Centerline is valid? [False, False] Translation: X:2.06, Y:0.11, Z:-0.36 [[ 9.95816567e-01 8.80865441e-02 -2.42924957e-02 2.05862022e+00] [-8.80201680e-02 9.96111481e-01 3.79032533e-03 1.12985182e-01] [ 2.45319106e-02 -1.63623920e-03 9.99697708e-01 -3.60142007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.721193817000001 meters Centerline goodness : 0.855586 Centerline is valid? [False, False] Translation: X:2.06, Y:0.11, Z:-0.36 [[ 9.95807430e-01 8.81931419e-02 -2.42802935e-02 2.05881412e+00] [-8.81292454e-02 9.96102209e-01 3.69130930e-03 1.13636405e-01] [ 2.45112022e-02 -1.53602928e-03 9.99698375e-01 -3.60321657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.751193817 meters Centerline goodness : 0.854536 Centerline is valid? [False, False] Translation: X:2.07, Y:0.11, Z:-0.36 [[ 0.99625406 0.08389816 -0.02095086 2.07013497] [-0.0837029 0.99644027 0.01003047 0.11188948] [ 0.02171782 -0.00823924 0.99973019 -0.36275404] [ 0. 0. 0. 1. ]] SLAMing on 11.781193817000002 meters Centerline goodness : 0.852749 Centerline is valid? [False, False] Translation: X:2.08, Y:0.11, Z:-0.37 [[ 0.99668537 0.07944959 -0.01749378 2.08208846] [-0.07916971 0.99673032 0.01615006 0.108105 ] [ 0.01871969 -0.01471155 0.99971653 -0.36577729] [ 0. 0. 0. 1. ]] SLAMing on 11.811193817000001 meters Centerline goodness : 0.855381 Centerline is valid? [False, False] Translation: X:2.09, Y:0.10, Z:-0.37 [[ 0.99702868 0.07561696 -0.0146934 2.09143848] [-0.0752311 0.99684651 0.02524512 0.10213596] [ 0.01655603 -0.02406471 0.9995733 -0.36605759] [ 0. 0. 0. 1. ]] SLAMing on 11.841193817 meters Centerline goodness : 0.851814 Centerline is valid? [False, False] Translation: X:2.11, Y:0.09, Z:-0.36 [[ 0.99734716 0.07085385 -0.01668478 2.105863 ] [-0.07012301 0.99669827 0.04093066 0.09414137] [ 0.01952979 -0.03965209 0.99902267 -0.36239522] [ 0. 0. 0. 1. ]] SLAMing on 11.871193817000002 meters Centerline goodness : 0.854859 Centerline is valid? [False, False] Translation: X:2.12, Y:0.09, Z:-0.36 [[ 0.99786369 0.06289299 -0.0176784 2.11644121] [-0.06175515 0.99635447 0.05885636 0.0860129 ] [ 0.02131561 -0.05763889 0.99810992 -0.36051318] [ 0. 0. 0. 1. ]] SLAMing on 11.901193817000001 meters Centerline goodness : 0.853741 Centerline is valid? [False, False] Translation: X:2.12, Y:0.08, Z:-0.36 [[ 0.99788318 0.06248387 -0.01802567 2.11708149] [-0.06131332 0.99634534 0.05946972 0.08491566] [ 0.02167569 -0.05823862 0.99806735 -0.36024044] [ 0. 0. 0. 1. ]] SLAMing on 11.931193817 meters Centerline goodness : 0.853429 Centerline is valid? [False, False] Translation: X:2.12, Y:0.08, Z:-0.36 [[ 0.99789617 0.06218621 -0.01833346 2.11749133] [-0.06097351 0.99629874 0.06058921 0.08140193] [ 0.02203342 -0.05934388 0.9979944 -0.35990684] [ 0. 0. 0. 1. ]] SLAMing on 11.961193817000002 meters Centerline goodness : 0.854831 Centerline is valid? [False, False] Translation: X:2.12, Y:0.08, Z:-0.36 [[ 0.99806874 0.05923743 -0.01870071 2.11769443] [-0.05808378 0.99667432 0.05715393 0.08130807] [ 0.02202417 -0.05595734 0.99819022 -0.3594368 ] [ 0. 0. 0. 1. ]] SLAMing on 11.991193817000001 meters Centerline goodness : 0.854391 Centerline is valid? [False, False] Translation: X:2.12, Y:0.08, Z:-0.36 [[ 0.99804021 0.059553 -0.01921408 2.11860263] [-0.05835735 0.99662563 0.0577216 0.08000088] [ 0.02258674 -0.0564872 0.9981478 -0.35904666] [ 0. 0. 0. 1. ]] SLAMing on 12.021193817000002 meters Centerline goodness : 0.855166 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.36 [[ 0.99792536 0.05999405 -0.02336007 2.10208572] [-0.05867149 0.9968324 0.05369185 0.08238612] [ 0.02650727 -0.05220989 0.99828427 -0.35714529] [ 0. 0. 0. 1. ]] SLAMing on 12.051193817000001 meters Centerline goodness : 0.857084 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.36 [[ 0.99784617 0.06111177 -0.02384074 2.10348432] [-0.05974436 0.99673163 0.05437531 0.08233113] [ 0.02708579 -0.05283385 0.99823592 -0.35746885] [ 0. 0. 0. 1. ]] SLAMing on 12.081193817 meters Centerline goodness : 0.856454 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.36 [[ 0.99717096 0.07099681 -0.02468873 2.09909021] [-0.06961422 0.9961674 0.0529564 0.08203105] [ 0.02835385 -0.0510879 0.99829158 -0.36228055] [ 0. 0. 0. 1. ]] SLAMing on 12.111193817000002 meters Centerline goodness : 0.858160 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.36 [[ 0.99703034 0.0727871 -0.02515043 2.10107281] [-0.07133388 0.99596156 0.05451643 0.08096061] [ 0.02901695 -0.05256045 0.99819608 -0.36330536] [ 0. 0. 0. 1. ]] SLAMing on 12.141193817000001 meters Centerline goodness : 0.857028 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.36 [[ 0.99698119 0.07343189 -0.02522412 2.1013969 ] [-0.07194861 0.99586918 0.05538935 0.07906488] [ 0.02918727 -0.0534073 0.99814616 -0.3631515 ] [ 0. 0. 0. 1. ]] SLAMing on 12.171193817 meters Centerline goodness : 0.857438 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.36 [[ 0.99706735 0.07202981 -0.02585372 2.10346729] [-0.07055716 0.99604759 0.05395267 0.07669159] [ 0.02963774 -0.05197028 0.99820874 -0.3640435 ] [ 0. 0. 0. 1. ]] SLAMing on 12.201193817000002 meters Centerline goodness : 0.857521 Centerline is valid? [False, False] Translation: X:2.12, Y:0.07, Z:-0.36 [[ 0.99727743 0.06906064 -0.02585245 2.1239664 ] [-0.06759488 0.99625992 0.05382467 0.06683685] [ 0.02947292 -0.05193064 0.99821569 -0.36471718] [ 0. 0. 0. 1. ]] SLAMing on 12.231193817000001 meters Centerline goodness : 0.857267 Centerline is valid? [False, False] Translation: X:2.14, Y:0.06, Z:-0.37 [[ 0.99742565 0.06650304 -0.02682212 2.14488842] [-0.06501263 0.99647274 0.05306066 0.06198298] [ 0.03025621 -0.05118029 0.99823101 -0.36517557] [ 0. 0. 0. 1. ]] SLAMing on 12.261193817 meters Centerline goodness : 0.857016 Centerline is valid? [False, False] Translation: X:2.16, Y:0.05, Z:-0.37 [[ 0.99759392 0.0661339 -0.0208011 2.15787036] [-0.06473774 0.99598432 0.06184067 0.05169886] [ 0.02480733 -0.06034526 0.99786925 -0.36872179] [ 0. 0. 0. 1. ]] SLAMing on 12.291193817000002 meters Centerline goodness : 0.856487 Centerline is valid? [False, False] Translation: X:2.16, Y:0.05, Z:-0.37 [[ 0.99756404 0.06656506 -0.0208587 2.15792055] [-0.06514449 0.99590716 0.06265082 0.04937948] [ 0.02494369 -0.06113938 0.99781751 -0.36843664] [ 0. 0. 0. 1. ]] SLAMing on 12.321193817000001 meters Centerline goodness : 0.858924 Centerline is valid? [False, False] Translation: X:2.16, Y:0.05, Z:-0.37 [[ 0.9975939 0.06595668 -0.02135709 2.15884724] [-0.06452528 0.99599329 0.06191814 0.04741173] [ 0.02535544 -0.06039109 0.9978527 -0.36827114] [ 0. 0. 0. 1. ]] SLAMing on 12.351193817000002 meters Centerline goodness : 0.858789 Centerline is valid? [False, False] Translation: X:2.17, Y:0.04, Z:-0.37 [[ 0.99759879 0.06680529 -0.01826746 2.16695817] [-0.0657723 0.99646491 0.05226549 0.04468586] [ 0.02169449 -0.0509385 0.99846613 -0.36798777] [ 0. 0. 0. 1. ]] SLAMing on 12.381193817000002 meters Centerline goodness : 0.859705 Centerline is valid? [False, False] Translation: X:2.18, Y:0.03, Z:-0.37 [[ 0.99772036 0.06598131 -0.01416177 2.18217066] [-0.06509836 0.99632331 0.05569612 0.03206547] [ 0.01778461 -0.05464725 0.99834733 -0.3664462 ] [ 0. 0. 0. 1. ]] SLAMing on 12.411193817000001 meters Centerline goodness : 0.858659 Centerline is valid? [False, False] Translation: X:2.19, Y:0.02, Z:-0.37 [[ 0.99793373 0.06375632 -0.00796225 2.1920381 ] [-0.06312581 0.99598729 0.06343851 0.02430154] [ 0.01197491 -0.0628048 0.99795399 -0.36893039] [ 0. 0. 0. 1. ]] SLAMing on 12.441193817000002 meters Centerline goodness : 0.858405 Centerline is valid? [False, False] Translation: X:2.19, Y:0.02, Z:-0.37 [[ 0.99788599 0.06453687 -0.00765166 2.19213641] [-0.06388408 0.99571672 0.06683594 0.01743767] [ 0.01193227 -0.06620583 0.99773464 -0.36797098] [ 0. 0. 0. 1. ]] SLAMing on 12.471193817000001 meters Centerline goodness : 0.858405 Centerline is valid? [False, False] Translation: X:2.19, Y:0.02, Z:-0.37 [[ 0.99788623 0.06454127 -0.00758221 2.19209067] [-0.06389159 0.9957079 0.06696007 0.01752132] [ 0.01187135 -0.06633409 0.99772685 -0.36778361] [ 0. 0. 0. 1. ]] SLAMing on 12.501193817 meters Centerline goodness : 0.857355 Centerline is valid? [False, False] Translation: X:2.20, Y:0.01, Z:-0.36 [[ 0.9979413 0.06328512 -0.01039973 2.19696135] [-0.06235397 0.99534168 0.07353178 0.01058797] [ 0.01500475 -0.07273193 0.99723865 -0.3622536 ] [ 0. 0. 0. 1. ]] SLAMing on 12.531193817000002 meters Centerline goodness : 0.857403 Centerline is valid? [False, False] Translation: X:2.19, Y:0.01, Z:-0.37 [[ 0.99791548 0.06335551 -0.0122792 2.19329091] [-0.0624598 0.99604734 0.06315439 0.00762884] [ 0.01623184 -0.06225579 0.99792823 -0.36633635] [ 0. 0. 0. 1. ]] SLAMing on 12.561193817000001 meters Centerline goodness : 0.856969 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.00, Z:-0.37 [[ 9.97921556e-01 6.37685874e-02 -9.28086217e-03 2.18785560e+00] [-6.30897494e-02 9.96152068e-01 6.08337090e-02 -1.00460676e-03] [ 1.31244297e-02 -6.01217423e-02 9.98104767e-01 -3.68335498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.591193817 meters Centerline goodness : 0.856818 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.01, Z:-0.37 [[ 0.99785513 0.06411366 -0.01321275 2.19738309] [-0.06331718 0.99654307 0.05378524 -0.0051406 ] [ 0.01661544 -0.05283329 0.99846511 -0.36584565] [ 0. 0. 0. 1. ]] SLAMing on 12.621193817000002 meters Centerline goodness : 0.857426 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.01, Z:-0.37 [[ 0.99781562 0.06464693 -0.01359262 2.19059699] [-0.0639826 0.99695135 0.04465684 -0.00844091] [ 0.01643811 -0.0436896 0.99890991 -0.36899663] [ 0. 0. 0. 1. ]] SLAMing on 12.651193817000001 meters Centerline goodness : 0.858583 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.01, Z:-0.37 [[ 0.99799411 0.06175436 -0.013934 2.19119918] [-0.06112138 0.99724553 0.04201832 -0.01150674] [ 0.01649043 -0.04108237 0.99901967 -0.36938542] [ 0. 0. 0. 1. ]] SLAMing on 12.681193817 meters Centerline goodness : 0.860419 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.01, Z:-0.37 [[ 0.99816736 0.05884077 -0.01413068 2.19143936] [-0.05824295 0.99751944 0.03953128 -0.01496884] [ 0.01642168 -0.03863582 0.99911841 -0.36967466] [ 0. 0. 0. 1. ]] SLAMing on 12.711193817000002 meters Centerline goodness : 0.861303 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.02, Z:-0.37 [[ 0.99869587 0.04881092 -0.01496837 2.19227958] [-0.04832882 0.99834921 0.03103519 -0.02298827] [ 0.01645852 -0.03027131 0.99940621 -0.37037814] [ 0. 0. 0. 1. ]] SLAMing on 12.741193817000001 meters Centerline goodness : 0.863729 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.03, Z:-0.37 [[ 0.99903182 0.0412145 -0.01538771 2.19254091] [-0.04083244 0.99886881 0.0243681 -0.02653233] [ 0.01637462 -0.02371619 0.99958462 -0.37078177] [ 0. 0. 0. 1. ]] SLAMing on 12.771193817000002 meters Centerline goodness : 0.864347 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.03, Z:-0.37 [[ 0.99931915 0.03332226 -0.01583865 2.19297583] [-0.0330461 0.99930254 0.01738921 -0.02916221] [ 0.01640705 -0.01685397 0.99972334 -0.37120449] [ 0. 0. 0. 1. ]] SLAMing on 12.801193817000001 meters Centerline goodness : 0.864053 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.37 [[ 0.99960281 0.02359615 -0.01540943 2.1917531 ] [-0.0234218 0.99966069 0.0113986 -0.03604241] [ 0.01567316 -0.01103316 0.99981629 -0.37177811] [ 0. 0. 0. 1. ]] SLAMing on 12.831193817 meters Centerline goodness : 0.867944 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.37 [[ 0.9996956 0.01932937 -0.01533226 2.19129324] [-0.01920235 0.99978043 0.00838836 -0.03881052] [ 0.01549103 -0.00809139 0.99984727 -0.37193561] [ 0. 0. 0. 1. ]] SLAMing on 12.861193817000002 meters Centerline goodness : 0.866869 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.37 [[ 0.99976572 0.01507826 -0.01552875 2.19162809] [-0.01500584 0.99987603 0.00476947 -0.04087348] [ 0.01559874 -0.00453533 0.99986805 -0.37201022] [ 0. 0. 0. 1. ]] SLAMing on 12.891193817000001 meters Centerline goodness : 0.871964 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.37 [[ 9.99822112e-01 1.05958804e-02 -1.56035796e-02 2.19144735e+00] [-1.05846032e-02 9.99943657e-01 8.05140742e-04 -4.24110858e-02] [ 1.56112317e-02 -6.39839818e-04 9.99877933e-01 -3.71661493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.921193817 meters Centerline goodness : 0.870906 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.37 [[ 9.99822452e-01 1.02143026e-02 -1.58345419e-02 2.19240931e+00] [-1.02092232e-02 9.99947804e-01 4.01579810e-04 -4.19737383e-02] [ 1.58378173e-02 -2.39850138e-04 9.99874545e-01 -3.72200623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.951193817000002 meters Centerline goodness : 0.871608 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.37 [[ 9.99821231e-01 9.88294401e-03 -1.61193464e-02 2.19353053e+00] [-9.88700474e-03 9.99951108e-01 -1.72242915e-04 -4.06659339e-02] [ 1.61168560e-02 3.31584177e-04 9.99870060e-01 -3.72840516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.981193817000001 meters Centerline goodness : 0.870848 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.37 [[ 9.99821836e-01 9.52541659e-03 -1.62961177e-02 2.19433202e+00] [-9.53929788e-03 9.99954200e-01 -7.74294080e-04 -3.93339176e-02] [ 1.62879959e-02 9.29609650e-04 9.99866910e-01 -3.73332435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.011193817 meters Centerline goodness : 0.870041 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.37 [[ 9.99823655e-01 9.02688149e-03 -1.64673586e-02 2.19488753e+00] [-9.05959690e-03 9.99957131e-01 -1.91316468e-03 -3.65818410e-02] [ 1.64493828e-02 2.06201494e-03 9.99862574e-01 -3.73498251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.041193817000002 meters Centerline goodness : 0.871494 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.04, Z:-0.37 [[ 0.99982495 0.00859869 -0.01661702 2.19543795] [-0.0086425 0.99995936 -0.00256671 -0.03510405] [ 0.01659428 0.00270987 0.99985863 -0.37367901] [ 0. 0. 0. 1. ]] SLAMing on 13.071193817000001 meters Centerline goodness : 0.871535 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.03, Z:-0.37 [[ 0.99982498 0.00821296 -0.01680939 2.19584982] [-0.00826754 0.99996077 -0.00317985 -0.03338811] [ 0.01678262 0.00331827 0.99985366 -0.37359095] [ 0. 0. 0. 1. ]] SLAMing on 13.101193817000002 meters Centerline goodness : 0.873759 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.03, Z:-0.38 [[ 0.99992105 0.00668737 -0.01063849 2.20587067] [-0.00664246 0.9999689 0.00425129 -0.03357268] [ 0.01066659 -0.00418029 0.99993437 -0.37645608] [ 0. 0. 0. 1. ]] SLAMing on 13.131193817000002 meters Centerline goodness : 0.876820 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.03, Z:-0.37 [[ 9.99931604e-01 4.78432274e-03 -1.06722589e-02 2.20432031e+00] [-4.76451987e-03 9.99986882e-01 1.88020057e-03 -2.92629399e-02] [ 1.06811143e-02 -1.82922378e-03 9.99941282e-01 -3.74317749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.161193817000001 meters Centerline goodness : 0.878006 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.03, Z:-0.38 [[ 0.99997976 0.00508063 -0.00382928 2.21427644] [-0.00510679 0.99996348 -0.0068524 -0.0257376 ] [ 0.00379432 0.00687181 0.99996919 -0.37746689] [ 0. 0. 0. 1. ]] SLAMing on 13.191193817000002 meters Centerline goodness : 0.880716 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.02, Z:-0.38 [[ 0.99998187 0.00459734 -0.00388822 2.21460194] [-0.00462709 0.99995982 -0.00767829 -0.02324128] [ 0.00385276 0.00769615 0.99996296 -0.37756313] [ 0. 0. 0. 1. ]] SLAMing on 13.221193817000001 meters Centerline goodness : 0.877034 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.02, Z:-0.38 [[ 0.99998531 0.00359117 -0.00406026 2.21624275] [-0.0036301 0.99994711 -0.00962244 -0.01774233] [ 0.00402549 0.00963704 0.99994546 -0.37893514] [ 0. 0. 0. 1. ]] SLAMing on 13.251193817 meters Centerline goodness : 0.876645 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.02, Z:-0.38 [[ 0.99998094 0.00426538 -0.00446285 2.21887351] [-0.00430673 0.9999475 -0.00929788 -0.01571879] [ 0.00442295 0.00931692 0.99994681 -0.38093287] [ 0. 0. 0. 1. ]] SLAMing on 13.281193817000002 meters Centerline goodness : 0.874607 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.01, Z:-0.38 [[ 0.99998152 0.00386847 -0.00469051 2.22020456] [-0.00391764 0.99993701 -0.01051807 -0.01175442] [ 0.00464952 0.01053625 0.99993368 -0.38185585] [ 0. 0. 0. 1. ]] SLAMing on 13.311193817000001 meters Centerline goodness : 0.874333 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.01, Z:-0.38 [[ 0.99996945 0.00588751 -0.0051423 2.22269072] [-0.00593356 0.999942 -0.00898807 -0.00761493] [ 0.00508908 0.00901831 0.99994638 -0.38359191] [ 0. 0. 0. 1. ]] SLAMing on 13.341193817 meters Centerline goodness : 0.875609 Centerline is valid? [False, False] Translation: X:2.24, Y:0.01, Z:-0.39 [[ 9.99957456e-01 9.02364609e-03 -1.91317682e-03 2.23997047e+00] [-9.04734684e-03 9.99877602e-01 -1.27642780e-02 6.02120479e-03] [ 1.79776233e-03 1.27810442e-02 9.99916703e-01 -3.86435219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.371193817000002 meters Centerline goodness : 0.875643 Centerline is valid? [False, False] Translation: X:2.26, Y:0.01, Z:-0.39 [[ 9.99948865e-01 1.01124226e-02 7.68992762e-05 2.25832374e+00] [-1.01097652e-02 9.99811939e-01 -1.65492806e-02 1.35093192e-02] [-2.44238134e-04 1.65476570e-02 9.99863048e-01 -3.87514163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.401193817000001 meters Centerline goodness : 0.872352 Centerline is valid? [False, False] Translation: X:2.26, Y:0.02, Z:-0.39 [[ 9.99917647e-01 1.28316124e-02 -2.21510425e-04 2.26021043e+00] [-1.28334846e-02 9.99808447e-01 -1.47773523e-02 1.83877821e-02] [ 3.18507381e-05 1.47789781e-02 9.99890784e-01 -3.88727212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.431193817000002 meters Centerline goodness : 0.873640 Centerline is valid? [False, False] Translation: X:2.26, Y:0.02, Z:-0.39 [[ 9.99883250e-01 1.52721786e-02 -4.96336378e-04 2.26243161e+00] [-1.52773953e-02 9.99796402e-01 -1.31816435e-02 2.27738852e-02] [ 2.94922912e-04 1.31876873e-02 9.99912995e-01 -3.90334081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.461193817000002 meters Centerline goodness : 0.873371 Centerline is valid? [False, False] Translation: X:2.26, Y:0.03, Z:-0.39 [[ 9.99776441e-01 2.11372461e-02 -5.34347760e-04 2.26475336e+00] [-2.11413935e-02 9.99730698e-01 -9.56937966e-03 3.35682661e-02] [ 3.31933526e-04 9.57853720e-03 9.99954070e-01 -3.92252293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.491193817000001 meters Centerline goodness : 0.873173 Centerline is valid? [False, False] Translation: X:2.26, Y:0.04, Z:-0.39 [[ 9.99689003e-01 2.49336214e-02 -4.59197077e-04 2.26499842e+00] [-2.49363168e-02 9.99662229e-01 -7.32171383e-03 4.02525148e-02] [ 2.76485133e-04 7.33088748e-03 9.99973090e-01 -3.92147326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.521193817000002 meters Centerline goodness : 0.873534 Centerline is valid? [False, False] Translation: X:2.27, Y:0.05, Z:-0.39 [[ 9.99572618e-01 2.92289533e-02 -4.98818228e-04 2.26566363e+00] [-2.92309842e-02 9.99561547e-01 -4.71836056e-03 4.66829416e-02] [ 3.60686779e-04 4.73092497e-03 9.99988744e-01 -3.92129625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.551193817000001 meters Centerline goodness : 0.871962 Centerline is valid? [False, False] Translation: X:2.27, Y:0.06, Z:-0.39 [[ 9.99164085e-01 4.08785033e-02 -2.81879831e-04 2.26670179e+00] [-4.08770714e-02 9.99156357e-01 3.95474512e-03 5.65072430e-02] [ 4.43306086e-04 -3.93991687e-03 9.99992140e-01 -3.92206962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.581193817 meters Centerline goodness : 0.871004 Centerline is valid? [False, False] Translation: X:2.27, Y:0.06, Z:-0.39 [[ 9.98985732e-01 4.50262231e-02 -3.83327466e-04 2.26753808e+00] [-4.50226160e-02 9.98963165e-01 6.74973296e-03 6.08977130e-02] [ 6.86845001e-04 -6.72562852e-03 9.99977147e-01 -3.92385533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.611193817000002 meters Centerline goodness : 0.871351 Centerline is valid? [False, False] Translation: X:2.27, Y:0.06, Z:-0.39 [[ 9.98801506e-01 4.89417766e-02 -5.03353760e-04 2.26880267e+00] [-4.89342841e-02 9.98751696e-01 1.00242712e-02 6.33022752e-02] [ 9.93331065e-04 -9.98762597e-03 9.99949629e-01 -3.93076083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.641193817000001 meters Centerline goodness : 0.870161 Centerline is valid? [False, False] Translation: X:2.27, Y:0.07, Z:-0.39 [[ 9.98775941e-01 4.94576841e-02 -7.46111570e-04 2.26979279e+00] [-4.94484688e-02 9.98732137e-01 9.43229819e-03 6.60919277e-02] [ 1.21166523e-03 -9.38385843e-03 9.99955237e-01 -3.93580440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.671193817 meters Centerline goodness : 0.869193 Centerline is valid? [False, False] Translation: X:2.27, Y:0.07, Z:-0.39 [[ 9.98710642e-01 5.07603235e-02 -6.64971180e-04 2.26999681e+00] [-5.07515774e-02 9.98664811e-01 9.63701584e-03 6.73521084e-02] [ 1.15326136e-03 -9.59084194e-03 9.99953342e-01 -3.93793344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.701193817000002 meters Centerline goodness : 0.869397 Centerline is valid? [False, False] Translation: X:2.27, Y:0.07, Z:-0.39 [[ 9.98690961e-01 5.11447774e-02 -7.58894727e-04 2.27042532e+00] [-5.11347336e-02 9.98642310e-01 9.93863315e-03 6.66903488e-02] [ 1.26617356e-03 -9.88681722e-03 9.99950323e-01 -3.94015252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.731193817000001 meters Centerline goodness : 0.870313 Centerline is valid? [False, False] Translation: X:2.27, Y:0.06, Z:-0.39 [[ 9.98665214e-01 5.16435619e-02 -8.56423254e-04 2.27097558e+00] [-5.16314873e-02 9.98608992e-01 1.06897872e-02 6.46990964e-02] [ 1.40729065e-03 -1.06313002e-02 9.99942496e-01 -3.94368451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.761193817 meters Centerline goodness : 0.867057 Centerline is valid? [False, False] Translation: X:2.27, Y:0.06, Z:-0.39 [[ 9.98638695e-01 5.21515461e-02 -9.86903805e-04 2.27165489e+00] [-5.21363165e-02 9.98570301e-01 1.17965412e-02 6.15856899e-02] [ 1.60070069e-03 -1.17290290e-02 9.99929931e-01 -3.94762463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.791193817000002 meters Centerline goodness : 0.864920 Centerline is valid? [False, False] Translation: X:2.27, Y:0.06, Z:-0.40 [[ 9.98753684e-01 4.98968065e-02 -1.17754941e-03 2.27229644e+00] [-4.98819635e-02 9.98701291e-01 1.03692280e-02 5.50874313e-02] [ 1.69341148e-03 -1.02975662e-02 9.99945545e-01 -3.95318179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.821193817000001 meters Centerline goodness : 0.866290 Centerline is valid? [False, False] Translation: X:2.27, Y:0.05, Z:-0.40 [[ 9.98732526e-01 5.03177838e-02 -1.20922872e-03 2.27279706e+00] [-5.02999069e-02 9.98663399e-01 1.18884595e-02 4.98428970e-02] [ 1.80581340e-03 -1.18125671e-02 9.99928599e-01 -3.95739785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.851193817000002 meters Centerline goodness : 0.865437 Centerline is valid? [False, False] Translation: X:2.28, Y:0.04, Z:-0.40 [[ 0.99885555 0.04770228 0.00347519 2.28196267] [-0.04776418 0.99864433 0.02069032 0.04268789] [-0.0024835 -0.02083263 0.99977989 -0.39809184] [ 0. 0. 0. 1. ]] SLAMing on 13.881193817000002 meters Centerline goodness : 0.864148 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:-0.40 [[ 0.99890433 0.04605317 0.00832118 2.29251162] [-0.04629476 0.99842642 0.03164626 0.03059692] [-0.00685068 -0.03199681 0.99946449 -0.39993297] [ 0. 0. 0. 1. ]] SLAMing on 13.911193817000001 meters Centerline goodness : 0.862933 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:-0.40 [[ 0.99891617 0.04587022 0.00789942 2.29383005] [-0.04610792 0.99838686 0.03313198 0.02592257] [-0.00636691 -0.0334603 0.99941977 -0.40034713] [ 0. 0. 0. 1. ]] SLAMing on 13.941193817000002 meters Centerline goodness : 0.862884 Centerline is valid? [False, False] Translation: X:2.29, Y:0.02, Z:-0.40 [[ 0.99907792 0.04227406 0.00749799 2.29453393] [-0.04248206 0.99864141 0.03017634 0.02235908] [-0.00621213 -0.03046704 0.99951647 -0.40057639] [ 0. 0. 0. 1. ]] SLAMing on 13.971193817000001 meters Centerline goodness : 0.861990 Centerline is valid? [False, False] Translation: X:2.29, Y:0.02, Z:-0.40 [[ 0.99932876 0.03595066 0.00704141 2.2942299 ] [-0.03611175 0.99905299 0.02427058 0.01980183] [-0.00616219 -0.02450857 0.99968063 -0.39938021] [ 0. 0. 0. 1. ]] SLAMing on 14.001193817 meters Centerline goodness : 0.862393 Centerline is valid? [False, False] Translation: X:2.29, Y:0.01, Z:-0.40 [[ 0.99975033 0.02131176 0.00671526 2.29320138] [-0.02138122 0.9997168 0.01044806 0.01498722] [-0.00649069 -0.01058903 0.99992287 -0.39822198] [ 0. 0. 0. 1. ]] SLAMing on 14.031193817000002 meters Centerline goodness : 0.862932 Centerline is valid? [False, False] Translation: X:2.29, Y:0.01, Z:-0.40 [[ 0.9998488 0.01609618 0.00657971 2.29313197] [-0.01614059 0.99984692 0.00675352 0.0103394 ] [-0.00646999 -0.00685869 0.99995555 -0.39808901] [ 0. 0. 0. 1. ]] SLAMing on 14.061193817000001 meters Centerline goodness : 0.863111 Centerline is valid? [False, False] Translation: X:2.29, Y:0.01, Z:-0.40 [[ 0.99991828 0.01097982 0.00654845 2.29319799] [-0.01100157 0.99993406 0.003294 0.00571052] [-0.00651185 -0.00336577 0.99997313 -0.39848834] [ 0. 0. 0. 1. ]] SLAMing on 14.091193817 meters Centerline goodness : 0.863868 Centerline is valid? [False, False] Translation: X:2.30, Y:0.00, Z:-0.40 [[ 0.99997167 0.00430872 0.0061725 2.29562798] [-0.00429234 0.99998724 -0.00266528 0.0032112 ] [-0.0061839 0.00263871 0.9999774 -0.4006116 ] [ 0. 0. 0. 1. ]] SLAMing on 14.121193817000002 meters Centerline goodness : 0.863530 Centerline is valid? [False, False] Translation: X:2.30, Y:0.00, Z:-0.40 [[ 9.99982221e-01 -9.30403752e-05 5.96224560e-03 2.29671757e+00] [ 1.30856528e-04 9.99979877e-01 -6.34252620e-03 1.52863913e-03] [-5.96153552e-03 6.34319364e-03 9.99962111e-01 -4.01516538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.151193817000001 meters Centerline goodness : 0.862893 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.00, Z:-0.40 [[ 9.99957804e-01 -7.14311174e-03 5.77628925e-03 2.29914582e+00] [ 7.21553774e-03 9.99894376e-01 -1.26164077e-02 -6.34089791e-04] [-5.68555873e-03 1.26575543e-02 9.99903726e-01 -4.03945357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.181193817000002 meters Centerline goodness : 0.859837 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.00, Z:-0.40 [[ 9.99959045e-01 -7.15596051e-03 5.54073860e-03 2.30015686e+00] [ 7.22338260e-03 9.99898929e-01 -1.22455741e-02 -2.29960511e-03] [-5.45254975e-03 1.22850954e-02 9.99909669e-01 -4.04629281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.211193817000002 meters Centerline goodness : 0.861028 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.00, Z:-0.41 [[ 0.99996168 -0.00694372 0.0053306 2.30103142] [ 0.007008 0.9999018 -0.01213547 -0.00258217] [-0.00524581 0.01217236 0.99991215 -0.40517754] [ 0. 0. 0. 1. ]] SLAMing on 14.241193817000001 meters Centerline goodness : 0.862859 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.00, Z:-0.41 [[ 9.99982395e-01 -3.02039574e-03 5.10751612e-03 2.30150659e+00] [ 3.06416766e-03 9.99958461e-01 -8.58410228e-03 -1.67590687e-03] [-5.08137657e-03 8.59960144e-03 9.99950112e-01 -4.05100003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.271193817000002 meters Centerline goodness : 0.863293 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.00, Z:-0.41 [[ 9.99988715e-01 -1.25966829e-03 4.58065499e-03 2.30374337e+00] [ 1.29292824e-03 9.99972772e-01 -7.26526053e-03 -4.80891989e-04] [-4.57137845e-03 7.27110101e-03 9.99963116e-01 -4.06426419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.301193817000001 meters Centerline goodness : 0.862279 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.41 [[ 9.99990314e-01 1.11189259e-03 4.25857400e-03 2.30573020e+00] [-1.09057344e-03 9.99986879e-01 -5.00522592e-03 7.31441248e-04] [-4.26408339e-03 5.00053315e-03 9.99978406e-01 -4.07953444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.331193817 meters Centerline goodness : 0.862970 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.41 [[ 9.99985528e-01 3.65175068e-03 3.95079342e-03 2.30747818e+00] [-3.64167109e-03 9.99990104e-01 -2.55547567e-03 2.19025979e-03] [-3.96008628e-03 2.54105120e-03 9.99988930e-01 -4.09269010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.361193817000002 meters Centerline goodness : 0.862006 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:-0.41 [[ 0.99996857 0.00464826 0.00642225 2.32505965] [-0.00460134 0.99996276 -0.00730044 0.00904038] [-0.00645594 0.00727066 0.99995273 -0.41119529] [ 0. 0. 0. 1. ]] SLAMing on 14.391193817000001 meters Centerline goodness : 0.862006 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:-0.41 [[ 0.99996857 0.00464826 0.00642225 2.32505965] [-0.00460134 0.99996276 -0.00730044 0.00904038] [-0.00645594 0.00727066 0.99995273 -0.41119529] [ 0. 0. 0. 1. ]] SLAMing on 14.421193817 meters Centerline goodness : 0.860707 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:-0.41 [[ 0.99996965 0.00455287 0.0063227 2.32540999] [-0.00450187 0.99995741 -0.00805704 0.01189516] [-0.00635911 0.00802833 0.99994755 -0.4111662 ] [ 0. 0. 0. 1. ]] SLAMing on 14.451193817000002 meters Centerline goodness : 0.862646 Centerline is valid? [False, False] Translation: X:2.34, Y:0.01, Z:-0.41 [[ 0.99994631 0.00480795 0.00917916 2.34367745] [-0.00471369 0.99993622 -0.01026336 0.01497549] [-0.00922792 0.01021955 0.9999052 -0.4115061 ] [ 0. 0. 0. 1. ]] SLAMing on 14.481193817000001 meters Centerline goodness : 0.865776 Centerline is valid? [False, False] Translation: X:2.34, Y:0.02, Z:-0.41 [[ 0.99994443 0.00510033 0.00922629 2.34338346] [-0.00499737 0.99992537 -0.01114842 0.01898099] [-0.00928246 0.0111017 0.99989529 -0.41079251] [ 0. 0. 0. 1. ]] SLAMing on 14.511193817000002 meters Centerline goodness : 0.862427 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:-0.41 [[ 0.99991131 0.00957188 0.00926031 2.3432214 ] [-0.00949138 0.99991713 -0.00869809 0.02567099] [-0.0093428 0.00860943 0.99991929 -0.41003147] [ 0. 0. 0. 1. ]] SLAMing on 14.541193817000002 meters Centerline goodness : 0.863849 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:-0.41 [[ 0.99986927 0.01337439 0.00908642 2.34382811] [-0.01332642 0.99989705 -0.00531946 0.02720508] [-0.00915663 0.00519768 0.99994457 -0.41018786] [ 0. 0. 0. 1. ]] SLAMing on 14.571193817000001 meters Centerline goodness : 0.864484 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:-0.41 [[ 0.9998583 0.01415632 0.00910922 2.34407936] [-0.01410477 0.99988428 -0.00569857 0.03001504] [-0.00918884 0.00556927 0.99994227 -0.41048312] [ 0. 0. 0. 1. ]] SLAMing on 14.601193817000002 meters Centerline goodness : 0.862261 Centerline is valid? [False, False] Translation: X:2.35, Y:0.03, Z:-0.41 [[ 9.99788643e-01 1.85904413e-02 8.77862199e-03 2.34779399e+00] [-1.85747714e-02 9.99825738e-01 -1.86318512e-03 3.46865414e-02] [-8.81172964e-03 1.69973043e-03 9.99959731e-01 -4.14184942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.631193817000002 meters Centerline goodness : 0.859545 Centerline is valid? [False, False] Translation: X:2.35, Y:0.04, Z:-0.42 [[ 0.99980621 0.01776068 0.00849162 2.34983929] [-0.01773427 0.99983769 -0.00317491 0.0380193 ] [-0.00854663 0.0030237 0.99995891 -0.41601838] [ 0. 0. 0. 1. ]] SLAMing on 14.661193817000001 meters Centerline goodness : 0.858968 Centerline is valid? [False, False] Translation: X:2.35, Y:0.04, Z:-0.42 [[ 0.99981154 0.01754248 0.00831568 2.35113409] [-0.01751506 0.99984096 -0.00335897 0.03910991] [-0.00837329 0.00321269 0.99995978 -0.41723195] [ 0. 0. 0. 1. ]] SLAMing on 14.691193817000002 meters Centerline goodness : 0.859080 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:-0.42 [[ 0.99986762 0.01560407 0.0046096 2.34263593] [-0.0156309 0.99986076 0.00584299 0.03810188] [-0.00451778 -0.00591427 0.99997231 -0.41623149] [ 0. 0. 0. 1. ]] SLAMing on 14.721193817000001 meters Centerline goodness : 0.855590 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.41 [[ 9.99894363e-01 1.43731084e-02 -2.16247945e-03 2.33480015e+00] [-1.43425147e-02 9.99805273e-01 1.35538931e-02 3.73774507e-02] [ 2.35686993e-03 -1.35214459e-02 9.99905803e-01 -4.13914908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.751193817 meters Centerline goodness : 0.856820 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:-0.41 [[ 0.99988892 0.01469645 -0.00248403 2.33613806] [-0.01466225 0.99980449 0.01326667 0.03865951] [ 0.00267852 -0.01322877 0.99990891 -0.41483284] [ 0. 0. 0. 1. ]] SLAMing on 14.781193817000002 meters Centerline goodness : 0.856094 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.41 [[ 9.99859005e-01 1.66321114e-02 -2.31157222e-03 2.33486952e+00] [-1.65964881e-02 9.99754806e-01 1.46589578e-02 3.96894611e-02] [ 2.55481485e-03 -1.46185270e-02 9.99889880e-01 -4.13586202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.811193817000001 meters Centerline goodness : 0.857226 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.41 [[ 9.99822863e-01 1.87147725e-02 -2.00010067e-03 2.33286082e+00] [-1.86795408e-02 9.99691321e-01 1.63810325e-02 4.01654417e-02] [ 2.30605058e-03 -1.63407699e-02 9.99863821e-01 -4.11717970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.841193817 meters Centerline goodness : 0.858398 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.41 [[ 9.99762499e-01 2.17441673e-02 -1.46175994e-03 2.32893585e+00] [-2.17092436e-02 9.99549613e-01 2.07190901e-02 3.79105016e-02] [ 1.91162094e-03 -2.06824356e-02 9.99784268e-01 -4.06938567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.871193817000002 meters Centerline goodness : 0.859313 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.40 [[ 9.99781736e-01 2.08525657e-02 -1.28519542e-03 2.32609311e+00] [-2.08208663e-02 9.99561004e-01 2.10782151e-02 3.60086707e-02] [ 1.72416608e-03 -2.10468556e-02 9.99777004e-01 -4.03126656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.901193817000001 meters Centerline goodness : 0.858884 Centerline is valid? [False, False] Translation: X:2.32, Y:0.03, Z:-0.40 [[ 9.99820479e-01 1.89184757e-02 -1.04952262e-03 2.32372388e+00] [-1.88931973e-02 9.99614144e-01 2.03619887e-02 3.40653728e-02] [ 1.43433545e-03 -2.03385045e-02 9.99792122e-01 -4.00334841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.931193817000002 meters Centerline goodness : 0.860685 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:-0.40 [[ 9.99920053e-01 1.26039712e-02 -1.01411460e-03 2.30436422e+00] [-1.25651191e-02 9.99409911e-01 3.19679088e-02 3.11412654e-02] [ 1.41643878e-03 -3.19526106e-02 9.99488381e-01 -3.99384089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.961193817000002 meters Centerline goodness : 0.858471 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:-0.40 [[ 9.99985725e-01 1.13557169e-03 -5.22117407e-03 2.28248395e+00] [-9.33396434e-04 9.99255740e-01 3.85628639e-02 2.85588202e-02] [ 5.26107906e-03 -3.85574400e-02 9.99242536e-01 -3.96812589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.991193817000001 meters Centerline goodness : 0.855268 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:-0.40 [[ 0.99997997 -0.00324292 -0.00543504 2.28371678] [ 0.00342801 0.99940229 0.03439928 0.02806588] [ 0.00532023 -0.03441723 0.99939339 -0.39785572] [ 0. 0. 0. 1. ]] SLAMing on 15.021193817000002 meters Centerline goodness : 0.855881 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:-0.40 [[ 0.99995168 -0.00797971 -0.00574067 2.28541655] [ 0.00814707 0.99952427 0.02974646 0.02835911] [ 0.00550057 -0.0297918 0.99954099 -0.39919114] [ 0. 0. 0. 1. ]] SLAMing on 15.051193817000001 meters Centerline goodness : 0.854833 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:-0.40 [[ 0.99987672 -0.01437202 -0.00632419 2.28788669] [ 0.01451706 0.999618 0.02351808 0.03038511] [ 0.00598378 -0.02360699 0.99970341 -0.40079565] [ 0. 0. 0. 1. ]] SLAMing on 15.081193817 meters Centerline goodness : 0.856007 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:-0.40 [[ 9.99888187e-01 -1.47794644e-02 -2.27610059e-03 2.30020705e+00] [ 1.48081498e-02 9.99803895e-01 1.31487713e-02 3.33348544e-02] [ 2.08132244e-03 -1.31810060e-02 9.99910961e-01 -4.04774756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.111193817000002 meters Centerline goodness : 0.854121 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:-0.40 [[ 0.99988262 -0.01509415 -0.0026275 2.30109271] [ 0.01512584 0.99980759 0.01248967 0.03474834] [ 0.00243847 -0.01252795 0.99991855 -0.40499113] [ 0. 0. 0. 1. ]] SLAMing on 15.141193817000001 meters Centerline goodness : 0.858068 Centerline is valid? [False, False] Translation: X:2.32, Y:0.04, Z:-0.41 [[ 9.99944289e-01 -1.04140409e-02 -1.72264599e-03 2.32169129e+00] [ 1.04133202e-02 9.99945689e-01 -4.26801790e-04 3.90824823e-02] [ 1.72699717e-03 4.08839548e-04 9.99998425e-01 -4.05770132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.171193817 meters Centerline goodness : 0.856701 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.41 [[ 9.99971580e-01 -7.31798544e-03 1.81262468e-03 2.33029133e+00] [ 7.33414009e-03 9.99931952e-01 -9.07203724e-03 4.32348275e-02] [-1.74611230e-03 9.08507346e-03 9.99957205e-01 -4.06878530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.201193817000002 meters Centerline goodness : 0.855499 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.41 [[ 0.99996778 -0.00304412 0.00742744 2.34183023] [ 0.00315186 0.99988937 -0.01453656 0.0471514 ] [-0.00738237 0.0145595 0.99986675 -0.41125125] [ 0. 0. 0. 1. ]] SLAMing on 15.231193817000001 meters Centerline goodness : 0.856784 Centerline is valid? [False, False] Translation: X:2.36, Y:0.05, Z:-0.41 [[ 9.99946485e-01 -1.36163155e-03 1.02553973e-02 2.35989507e+00] [ 1.53101914e-03 9.99862244e-01 -1.65272215e-02 5.18125660e-02] [-1.02314805e-02 1.65420383e-02 9.99810821e-01 -4.12690913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.261193817000002 meters Centerline goodness : 0.856595 Centerline is valid? [False, False] Translation: X:2.36, Y:0.06, Z:-0.41 [[ 0.99994384 0.0039992 0.00981426 2.36125148] [-0.00387605 0.99991391 -0.01253559 0.05604027] [-0.00986355 0.01249685 0.99987326 -0.41296227] [ 0. 0. 0. 1. ]] SLAMing on 15.291193817000002 meters Centerline goodness : 0.857303 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.41 [[ 0.99996573 0.0034577 0.00752264 2.34193524] [-0.00347863 0.99999011 0.0027714 0.05492611] [-0.00751298 -0.00279747 0.99996786 -0.41097582] [ 0. 0. 0. 1. ]] SLAMing on 15.321193817000001 meters Centerline goodness : 0.857408 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:-0.41 [[ 9.99990429e-01 3.80322508e-03 2.16251314e-03 2.33352942e+00] [-3.83347281e-03 9.99892400e-01 1.41595781e-02 5.34210865e-02] [-2.10842839e-03 -1.41677325e-02 9.99897410e-01 -4.08256077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.351193817000002 meters Centerline goodness : 0.856764 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:-0.40 [[ 0.99998474 0.00346091 -0.00430706 2.32434144] [-0.00335568 0.9997014 0.02420442 0.05214994] [ 0.00438954 -0.0241896 0.99969775 -0.40408285] [ 0. 0. 0. 1. ]] SLAMing on 15.381193817000002 meters Centerline goodness : 0.854178 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:-0.40 [[ 0.99998014 0.00398877 -0.00487866 2.3259924 ] [-0.00386809 0.99969231 0.02450164 0.05263732] [ 0.00497489 -0.02448228 0.99968789 -0.40487141] [ 0. 0. 0. 1. ]] SLAMing on 15.411193817000001 meters Centerline goodness : 0.854584 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:-0.40 [[ 0.99992596 0.00519867 -0.01100262 2.3174581 ] [-0.00478825 0.99930359 0.03700546 0.04985149] [ 0.01118734 -0.03695004 0.99925449 -0.40072864] [ 0. 0. 0. 1. ]] SLAMing on 15.441193817000002 meters Centerline goodness : 0.854948 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:-0.40 [[ 0.9999185 0.00580355 -0.01137142 2.31810943] [-0.00537603 0.99929067 0.03727264 0.05039101] [ 0.01157966 -0.03720847 0.99924043 -0.40058604] [ 0. 0. 0. 1. ]] SLAMing on 15.471193817000001 meters Centerline goodness : 0.852884 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:-0.40 [[ 0.99987126 0.0105924 -0.01205243 2.31859055] [-0.01006053 0.99900861 0.04336578 0.0464794 ] [ 0.01249983 -0.04323894 0.99898656 -0.39897207] [ 0. 0. 0. 1. ]] SLAMing on 15.501193817 meters Centerline goodness : 0.850905 Centerline is valid? [False, False] Translation: X:2.32, Y:0.04, Z:-0.40 [[ 0.99985651 0.01194818 -0.01200814 2.31738238] [-0.01138658 0.9988859 0.04579635 0.04322966] [ 0.01254194 -0.04565304 0.99887862 -0.39684982] [ 0. 0. 0. 1. ]] SLAMing on 15.531193817000002 meters Centerline goodness : 0.855242 Centerline is valid? [False, False] Translation: X:2.32, Y:0.04, Z:-0.39 [[ 0.99989714 0.01106552 -0.00912469 2.32259231] [-0.0107609 0.99940454 0.03278377 0.04361396] [ 0.00948202 -0.03268221 0.99942081 -0.3945878 ] [ 0. 0. 0. 1. ]] SLAMing on 15.561193817000001 meters Centerline goodness : 0.854913 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.39 [[ 0.99993656 0.01001073 -0.00516408 2.32765772] [-0.00990593 0.99975218 0.01993622 0.0434219 ] [ 0.00536238 -0.0198838 0.99978792 -0.39276821] [ 0. 0. 0. 1. ]] SLAMing on 15.591193817000002 meters Centerline goodness : 0.857013 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.39 [[ 0.99995683 0.00888675 -0.00271259 2.33250715] [-0.00886692 0.9999345 0.0072375 0.04360912] [ 0.00277673 -0.00721313 0.99997013 -0.38975766] [ 0. 0. 0. 1. ]] SLAMing on 15.621193817000002 meters Centerline goodness : 0.854380 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.39 [[ 0.99998074 0.00561761 -0.00263737 2.3316866 ] [-0.0056045 0.99997205 0.0049486 0.03890082] [ 0.00266509 -0.00493372 0.99998428 -0.38891059] [ 0. 0. 0. 1. ]] SLAMing on 15.651193817000001 meters Centerline goodness : 0.855894 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.39 [[ 9.99993951e-01 2.11523641e-03 -2.76095917e-03 2.33208428e+00] [-2.11002950e-03 9.99995993e-01 1.88745803e-03 3.63548399e-02] [ 2.76494053e-03 -1.88162091e-03 9.99994407e-01 -3.89131195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.681193817000002 meters Centerline goodness : 0.853267 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:-0.39 [[ 9.99994443e-01 -1.44810562e-03 -3.00293364e-03 2.33288138e+00] [ 1.44526351e-03 9.99998506e-01 -9.48400618e-04 3.24722880e-02] [ 3.00430253e-03 9.44055317e-04 9.99995041e-01 -3.89536246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.711193817000002 meters Centerline goodness : 0.853476 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:-0.39 [[ 0.99998222 -0.00501077 -0.00323347 2.33399932] [ 0.00499865 0.99998049 -0.00374626 0.02837508] [ 0.00325218 0.00373003 0.99998776 -0.39034303] [ 0. 0. 0. 1. ]] SLAMing on 15.741193817000001 meters Centerline goodness : 0.849382 Centerline is valid? [False, False] Translation: X:2.34, Y:0.02, Z:-0.39 [[ 0.99994483 -0.00967574 -0.00408913 2.33862585] [ 0.00964687 0.99992881 -0.00702289 0.02018702] [ 0.00415679 0.00698305 0.99996698 -0.39406477] [ 0. 0. 0. 1. ]] SLAMing on 15.771193817000002 meters Centerline goodness : 0.851641 Centerline is valid? [False, False] Translation: X:2.34, Y:0.02, Z:-0.40 [[ 0.99993771 -0.01005837 -0.00483881 2.34270958] [ 0.01002574 0.99992716 -0.00672065 0.01690917] [ 0.00490605 0.00667172 0.99996571 -0.39720255] [ 0. 0. 0. 1. ]] SLAMing on 15.801193817000001 meters Centerline goodness : 0.850856 Centerline is valid? [False, False] Translation: X:2.35, Y:0.01, Z:-0.40 [[ 0.99993644 -0.00985508 -0.005477 2.34628777] [ 0.00982193 0.99993348 -0.00604716 0.01463306] [ 0.00553623 0.00599298 0.99996672 -0.39999508] [ 0. 0. 0. 1. ]] SLAMing on 15.831193817 meters Centerline goodness : 0.848287 Centerline is valid? [False, False] Translation: X:2.35, Y:0.01, Z:-0.40 [[ 0.9999448 -0.00853533 -0.00612777 2.34841736] [ 0.00851099 0.99995583 -0.00398802 0.01070097] [ 0.00616154 0.00393565 0.99997327 -0.40110112] [ 0. 0. 0. 1. ]] SLAMing on 15.861193817000002 meters Centerline goodness : 0.848402 Centerline is valid? [False, False] Translation: X:2.35, Y:0.01, Z:-0.40 [[ 0.99992687 -0.01010232 -0.0066487 2.3501693 ] [ 0.01006573 0.99993413 -0.00551515 0.0085581 ] [ 0.00670398 0.00544782 0.99996269 -0.40188357] [ 0. 0. 0. 1. ]] SLAMing on 15.891193817000001 meters Centerline goodness : 0.847229 Centerline is valid? [False, False] Translation: X:2.35, Y:0.01, Z:-0.40 [[ 0.99990969 -0.01131409 -0.00725335 2.35219689] [ 0.01126667 0.99991511 -0.00654523 0.00543161] [ 0.00732679 0.00646292 0.99995227 -0.40284649] [ 0. 0. 0. 1. ]] SLAMing on 15.921193817000002 meters Centerline goodness : 0.847382 Centerline is valid? [False, False] Translation: X:2.35, Y:0.00, Z:-0.40 [[ 9.99892841e-01 -1.23751078e-02 -7.82063989e-03 2.35442928e+00] [ 1.23186000e-02 9.99897964e-01 -7.23280105e-03 2.03261034e-03] [ 7.90934859e-03 7.13568666e-03 9.99943260e-01 -4.04135421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.951193817000002 meters Centerline goodness : 0.847611 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.01, Z:-0.40 [[ 0.99990377 -0.01129978 -0.00804777 2.354971 ] [ 0.01125993 0.9999242 -0.00498032 -0.0052938 ] [ 0.00810344 0.00488922 0.99995521 -0.4041979 ] [ 0. 0. 0. 1. ]] SLAMing on 15.981193817000001 meters Centerline goodness : 0.848705 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.01, Z:-0.41 [[ 0.99995496 -0.00854852 -0.00412339 2.36558072] [ 0.00849741 0.99988876 -0.01225817 -0.00721062] [ 0.00422772 0.01222258 0.99991636 -0.40705048] [ 0. 0. 0. 1. ]] SLAMing on 16.011193817000002 meters Centerline goodness : 0.850564 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:-0.41 [[ 9.99988125e-01 -4.80372277e-03 8.20611144e-04 2.37659791e+00] [ 4.81756948e-03 9.99829975e-01 -1.77992424e-02 -8.77785427e-03] [-7.34968993e-04 1.78029844e-02 9.99841244e-01 -4.10921588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.041193817 meters Centerline goodness : 0.849247 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:-0.41 [[ 9.99990412e-01 -4.32481653e-03 6.86814318e-04 2.37679850e+00] [ 4.33587720e-03 9.99845842e-01 -1.70144992e-02 -1.00123429e-02] [-6.13123853e-04 1.70173140e-02 9.99855007e-01 -4.10858335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.071193817 meters Centerline goodness : 0.846934 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.02, Z:-0.41 [[ 9.99996334e-01 -2.62628965e-03 6.58553201e-04 2.39738768e+00] [ 2.63430068e-03 9.99918726e-01 -1.24740465e-02 -1.57629862e-02] [-6.25739218e-04 1.24757356e-02 9.99921979e-01 -4.12064116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.101193817000002 meters Centerline goodness : 0.849480 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.02, Z:-0.41 [[ 9.99995807e-01 -2.87693841e-03 3.31650263e-04 2.39812577e+00] [ 2.88061374e-03 9.99927725e-01 -1.16724624e-02 -1.97185280e-02] [-2.98045338e-04 1.16733688e-02 9.99931819e-01 -4.12271237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.131193817000003 meters Centerline goodness : 0.848000 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.03, Z:-0.41 [[ 9.99947639e-01 -1.02261091e-02 3.82886217e-04 2.39767942e+00] [ 1.02312803e-02 9.99791365e-01 -1.76790331e-02 -2.62892388e-02] [-2.02018613e-04 1.76820248e-02 9.99843640e-01 -4.11725952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.161193817 meters Centerline goodness : 0.848460 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.03, Z:-0.41 [[ 9.99900494e-01 -1.41030464e-02 3.25525212e-04 2.39799584e+00] [ 1.41067663e-02 9.99684133e-01 -2.07998622e-02 -2.92823985e-02] [-3.20809666e-05 2.08023846e-02 9.99783606e-01 -4.11904533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.191193817000002 meters Centerline goodness : 0.848085 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.03, Z:-0.41 [[ 9.99885855e-01 -1.51087007e-02 6.87974567e-05 2.39886086e+00] [ 1.51069742e-02 9.99678980e-01 -2.03400358e-02 -3.29626329e-02] [ 2.38536142e-04 2.03387534e-02 9.99793118e-01 -4.12306620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.221193817000003 meters Centerline goodness : 0.849007 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:-0.41 [[ 9.99876563e-01 -1.57102766e-02 -2.13425837e-04 2.39966963e+00] [ 1.57029976e-02 9.99681611e-01 -1.97507511e-02 -3.58617707e-02] [ 5.23647647e-04 1.97449617e-02 9.99804912e-01 -4.12586836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.251193817 meters Centerline goodness : 0.849007 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:-0.41 [[ 9.99876563e-01 -1.57102766e-02 -2.13425837e-04 2.39966963e+00] [ 1.57029976e-02 9.99681611e-01 -1.97507511e-02 -3.58617707e-02] [ 5.23647647e-04 1.97449617e-02 9.99804912e-01 -4.12586836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.281193817000002 meters Centerline goodness : 0.848024 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:-0.41 [[ 9.99872539e-01 -1.59585856e-02 -4.79590485e-04 2.40042194e+00] [ 1.59463892e-02 9.99687277e-01 -1.92629414e-02 -3.78347332e-02] [ 7.86849805e-04 1.92528384e-02 9.99814337e-01 -4.12812752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.311193817000003 meters Centerline goodness : 0.847054 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:-0.41 [[ 9.99871820e-01 -1.59903728e-02 -8.06871815e-04 2.40153983e+00] [ 1.59724309e-02 9.99696458e-01 -1.87582773e-02 -3.99774553e-02] [ 1.10657874e-03 1.87429852e-02 9.99823722e-01 -4.13390899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.341193817 meters Centerline goodness : 0.847129 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:-0.41 [[ 9.99923411e-01 -1.23311000e-02 -1.05644430e-03 2.40197950e+00] [ 1.23145796e-02 9.99820045e-01 -1.44301015e-02 -4.17950508e-02] [ 1.23419322e-03 1.44159867e-02 9.99895323e-01 -4.13360590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.371193817 meters Centerline goodness : 0.844221 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:-0.41 [[ 9.99961387e-01 -8.70106611e-03 -1.23117814e-03 2.40217343e+00] [ 8.68788371e-03 9.99908846e-01 -1.03354068e-02 -4.27655833e-02] [ 1.32099497e-03 1.03243114e-02 9.99945830e-01 -4.13165744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.401193817000003 meters Centerline goodness : 0.845354 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:-0.41 [[ 9.99978463e-01 -6.33303869e-03 -1.72239269e-03 2.40409100e+00] [ 6.31918431e-03 9.99948562e-01 -7.93356927e-03 -4.20753634e-02] [ 1.77254769e-03 7.92251428e-03 9.99967045e-01 -4.14245017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.431193817 meters Centerline goodness : 0.845907 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.04, Z:-0.42 [[ 9.99985762e-01 -4.79482987e-03 -2.34204323e-03 2.40713996e+00] [ 4.77916803e-03 9.99966483e-01 -6.64768985e-03 -4.13821429e-02] [ 2.37383927e-03 6.63640218e-03 9.99975161e-01 -4.16534340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.461193817 meters Centerline goodness : 0.841516 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.04, Z:-0.42 [[ 9.99993699e-01 -2.03389851e-03 -2.90955195e-03 2.40997932e+00] [ 2.02196575e-03 9.99989558e-01 -4.09831802e-03 -4.02262811e-02] [ 2.91785714e-03 4.09240919e-03 9.99987369e-01 -4.18605592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.491193817000003 meters Centerline goodness : 0.836213 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.04, Z:-0.42 [[ 0.99993015 0.00715035 -0.00941112 2.42318424] [-0.00717997 0.99996936 -0.00311735 -0.03771899] [ 0.00938854 0.0031847 0.99995086 -0.41871257] [ 0. 0. 0. 1. ]] SLAMing on 16.521193817 meters Centerline goodness : 0.836552 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.04, Z:-0.42 [[ 0.9999227 0.01149079 -0.00474894 2.43506012] [-0.01153647 0.99988634 -0.00970627 -0.03534183] [ 0.00463687 0.0097603 0.99994162 -0.42266245] [ 0. 0. 0. 1. ]] SLAMing on 16.551193817 meters Centerline goodness : 0.836917 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.03, Z:-0.43 [[ 9.99878931e-01 1.55343576e-02 8.98194716e-04 2.44594281e+00] [-1.55182239e-02 9.99754589e-01 -1.58096718e-02 -3.32700253e-02] [-1.14356739e-03 1.57938194e-02 9.99874616e-01 -4.25958891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.581193817000003 meters Centerline goodness : 0.836921 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.03, Z:-0.43 [[ 9.99807381e-01 1.96098378e-02 8.09984321e-04 2.44584099e+00] [-1.95990306e-02 9.99739500e-01 -1.16966079e-02 -3.35306941e-02] [-1.03914190e-03 1.16784800e-02 9.99931264e-01 -4.25287827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.611193817 meters Centerline goodness : 0.837470 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.43 [[ 0.99972427 0.02308545 0.00429578 2.46186154] [-0.02302458 0.99964079 -0.01371677 -0.02916964] [-0.00461089 0.01361408 0.99989669 -0.42573555] [ 0. 0. 0. 1. ]] SLAMing on 16.641193817 meters Centerline goodness : 0.836543 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.43 [[ 0.99971581 0.02354106 0.00375756 2.46261841] [-0.02348643 0.99962647 -0.01397532 -0.02799763] [-0.00408515 0.0138831 0.99989528 -0.42507636] [ 0. 0. 0. 1. ]] SLAMing on 16.671193817000002 meters Centerline goodness : 0.835524 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.42 [[ 0.99970315 0.02411279 0.0034915 2.46301469] [-0.02406467 0.99962292 -0.01322531 -0.02941808] [-0.00380908 0.01313736 0.99990645 -0.42493747] [ 0. 0. 0. 1. ]] SLAMing on 16.701193817 meters Centerline goodness : 0.835834 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.42 [[ 0.9996974 0.02437757 0.00329343 2.46318423] [-0.02433523 0.99962772 -0.01233738 -0.03223299] [-0.00359296 0.0122535 0.99991847 -0.42481721] [ 0. 0. 0. 1. ]] SLAMing on 16.731193817 meters Centerline goodness : 0.837147 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:-0.42 [[ 0.99969788 0.02435954 0.0032816 2.4630656 ] [-0.02432076 0.99963945 -0.0113786 -0.03548484] [-0.0035576 0.01129535 0.99992988 -0.42484468] [ 0. 0. 0. 1. ]] SLAMing on 16.761193817000002 meters Centerline goodness : 0.837764 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:-0.42 [[ 0.9997079 0.02386031 0.00384598 2.46091759] [-0.02381782 0.99965864 -0.01073828 -0.03807194] [-0.00410089 0.01064354 0.99993495 -0.42356807] [ 0. 0. 0. 1. ]] SLAMing on 16.791193817 meters Centerline goodness : 0.838718 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:-0.42 [[ 0.99970999 0.02375875 0.0039304 2.46046236] [-0.02371623 0.99966323 -0.01053367 -0.03862642] [-0.00417934 0.0104374 0.99993679 -0.42323065] [ 0. 0. 0. 1. ]] SLAMing on 16.821193817 meters Centerline goodness : 0.837974 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:-0.42 [[ 0.99971362 0.02362217 0.00382942 2.46066051] [-0.02358269 0.99967143 -0.01004426 -0.0401194 ] [-0.00406543 0.00995107 0.99994222 -0.42343722] [ 0. 0. 0. 1. ]] SLAMing on 16.851193817000002 meters Centerline goodness : 0.838074 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:-0.42 [[ 0.99971737 0.02352479 0.00342949 2.46141708] [-0.02349169 0.99967991 -0.00939215 -0.04244665] [-0.00364934 0.00930893 0.99995001 -0.42370258] [ 0. 0. 0. 1. ]] SLAMing on 16.881193817000003 meters Centerline goodness : 0.837274 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.05, Z:-0.42 [[ 0.99972132 0.02337857 0.00327572 2.46160202] [-0.02335014 0.99969152 -0.0084633 -0.04573868] [-0.00347257 0.00838445 0.99995882 -0.42391566] [ 0. 0. 0. 1. ]] SLAMing on 16.911193817 meters Centerline goodness : 0.839092 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.05, Z:-0.42 [[ 0.99980497 0.01952851 0.00294339 2.46165239] [-0.01949237 0.99973988 -0.01184169 -0.04816743] [-0.00317387 0.011782 0.99992555 -0.42334861] [ 0. 0. 0. 1. ]] SLAMing on 16.941193817000002 meters Centerline goodness : 0.841073 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.05, Z:-0.42 [[ 9.99831487e-01 1.81934822e-02 2.44861354e-03 2.46353678e+00] [-1.81604581e-02 9.99751946e-01 -1.28936064e-02 -4.85519608e-02] [-2.68258575e-03 1.28469657e-02 9.99913876e-01 -4.24440487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.971193817000003 meters Centerline goodness : 0.839068 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.05, Z:-0.42 [[ 9.99838346e-01 1.78514420e-02 2.14646478e-03 2.46414736e+00] [-1.78223637e-02 9.99758224e-01 -1.28785453e-02 -4.93498950e-02] [-2.37584642e-03 1.28382083e-02 9.99914764e-01 -4.24443405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.001193817 meters Centerline goodness : 0.839466 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.05, Z:-0.43 [[ 9.99872853e-01 1.58665976e-02 1.59032744e-03 2.46595395e+00] [-1.58421203e-02 9.99771169e-01 -1.43748832e-02 -5.05103943e-02] [-1.81804401e-03 1.43478613e-02 9.99895411e-01 -4.25264537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.031193817000002 meters Centerline goodness : 0.838641 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.05, Z:-0.43 [[ 9.99893973e-01 1.45297125e-02 9.64173403e-04 2.46803169e+00] [-1.45131689e-02 9.99776330e-01 -1.53836721e-02 -5.13220565e-02] [-1.18747808e-03 1.53680478e-02 9.99881199e-01 -4.26322113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.061193817000003 meters Centerline goodness : 0.838199 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.05, Z:-0.43 [[ 9.99916143e-01 1.29480970e-02 2.30500070e-04 2.47085925e+00] [-1.29424677e-02 9.99777713e-01 -1.66438466e-02 -5.26097265e-02] [-4.45954973e-04 1.66394677e-02 9.99861455e-01 -4.28137556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.091193817 meters Centerline goodness : 0.837683 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.06, Z:-0.43 [[ 9.99963434e-01 8.52934887e-03 -6.16755140e-04 2.47515923e+00] [-8.54012246e-03 9.99757005e-01 -2.03223254e-02 -5.64441160e-02] [ 4.43269069e-04 2.03268495e-02 9.99793290e-01 -4.31591279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.121193817 meters Centerline goodness : 0.835777 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.06, Z:-0.43 [[ 9.99974435e-01 7.04313937e-03 -1.23448729e-03 2.47823599e+00] [-7.06772742e-03 9.99750368e-01 -2.11954855e-02 -5.79511788e-02] [ 1.08489637e-03 2.12036687e-02 9.99774588e-01 -4.33991008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.151193817000003 meters Centerline goodness : 0.835614 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.06, Z:-0.44 [[ 9.99981920e-01 5.71726865e-03 -1.86367384e-03 2.48141250e+00] [-5.75690264e-03 9.99741299e-01 -2.20043684e-02 -5.85963921e-02] [ 1.73738682e-03 2.20146995e-02 9.99756138e-01 -4.36429365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.181193817 meters Centerline goodness : 0.836837 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.06, Z:-0.44 [[ 9.99983931e-01 5.22186134e-03 -2.20687347e-03 2.48301618e+00] [-5.26939288e-03 9.99741637e-01 -2.21109194e-02 -5.89742448e-02] [ 2.09084314e-03 2.21221930e-02 9.99753088e-01 -4.37583842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.211193817 meters Centerline goodness : 0.833489 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.06, Z:-0.44 [[ 0.99997992 0.00550545 -0.00313797 2.48743358] [-0.00557075 0.9997598 -0.02119678 -0.06012705] [ 0.00302052 0.02121383 0.9997704 -0.44075084] [ 0. 0. 0. 1. ]] SLAMing on 17.241193817000003 meters Centerline goodness : 0.833984 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.06, Z:-0.44 [[ 0.99997751 0.00571366 -0.00351084 2.48830808] [-0.00578551 0.99976672 -0.02080946 -0.06128012] [ 0.00339113 0.02082931 0.9997773 -0.44090592] [ 0. 0. 0. 1. ]] SLAMing on 17.271193817 meters Centerline goodness : 0.835895 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.06, Z:-0.44 [[ 0.99997385 0.00619334 -0.00373455 2.48860111] [-0.00626811 0.99977319 -0.02035381 -0.06229573] [ 0.00360765 0.02037668 0.99978586 -0.44066663] [ 0. 0. 0. 1. ]] SLAMing on 17.301193817 meters Centerline goodness : 0.836511 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.06, Z:-0.44 [[ 0.99994493 0.0096988 -0.00400902 2.48865435] [-0.00976371 0.99981618 -0.01650103 -0.0641181 ] [ 0.00384825 0.01653927 0.99985581 -0.43983978] [ 0. 0. 0. 1. ]] SLAMing on 17.331193817000003 meters Centerline goodness : 0.840801 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.06, Z:-0.44 [[ 9.99911527e-01 1.32876363e-02 6.14585815e-04 2.50318781e+00] [-1.32750191e-02 9.99762219e-01 -1.72997050e-02 -6.04659378e-02] [-8.44311866e-04 1.72900158e-02 9.99850160e-01 -4.38334500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.361193817 meters Centerline goodness : 0.841468 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.06, Z:-0.44 [[ 9.99853132e-01 1.71303244e-02 5.16850836e-04 2.50317067e+00] [-1.71216786e-02 9.99760268e-01 -1.36475451e-02 -5.89834776e-02] [-7.50513805e-04 1.36366913e-02 9.99906734e-01 -4.37728136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.391193817 meters Centerline goodness : 0.840328 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.06, Z:-0.44 [[ 9.99782959e-01 2.08282574e-02 4.67756137e-04 2.50335638e+00] [-2.08224477e-02 9.99731780e-01 -1.01387406e-02 -5.74058226e-02] [-6.78802974e-04 1.01268002e-02 9.99948492e-01 -4.37513946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.421193817000002 meters Centerline goodness : 0.840887 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.05, Z:-0.44 [[ 0.9996863 0.0241358 0.00668995 2.51550632] [-0.02403212 0.99959613 -0.01516693 -0.0549409 ] [-0.00705331 0.0150014 0.9998626 -0.44188412] [ 0. 0. 0. 1. ]] SLAMing on 17.451193817 meters Centerline goodness : 0.841565 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.06, Z:-0.44 [[ 0.99969359 0.02387041 0.00655276 2.51540092] [-0.02376799 0.99960063 -0.01528633 -0.05550146] [-0.00691503 0.0151259 0.99986169 -0.44128876] [ 0. 0. 0. 1. ]] SLAMing on 17.481193817 meters Centerline goodness : 0.842431 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.06, Z:-0.44 [[ 0.99973164 0.02240557 0.00588539 2.51777391] [-0.02230584 0.99961509 -0.01649626 -0.0567114 ] [-0.00625273 0.01636056 0.99984661 -0.44266113] [ 0. 0. 0. 1. ]] SLAMing on 17.511193817000002 meters Centerline goodness : 0.843555 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.06, Z:-0.44 [[ 0.99976532 0.02096117 0.0054709 2.51979963] [-0.02086139 0.99962572 -0.01769812 -0.05751163] [-0.00583982 0.01757984 0.99982841 -0.44413709] [ 0. 0. 0. 1. ]] SLAMing on 17.541193817000003 meters Centerline goodness : 0.843854 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.06, Z:-0.44 [[ 0.99977491 0.02053714 0.00532555 2.52012387] [-0.02043909 0.99963166 -0.01785479 -0.05797234] [-0.00569027 0.01774192 0.99982641 -0.44415194] [ 0. 0. 0. 1. ]] SLAMing on 17.571193817 meters Centerline goodness : 0.847543 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.06, Z:-0.44 [[ 0.9997949 0.01957039 0.00521109 2.52050032] [-0.01947066 0.99963837 -0.01854759 -0.05665989] [-0.00557219 0.01844232 0.9998144 -0.44416747] [ 0. 0. 0. 1. ]] SLAMing on 17.601193817000002 meters Centerline goodness : 0.846514 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.06, Z:-0.44 [[ 0.99979837 0.01944612 0.00500696 2.52138784] [-0.0193499 0.99963982 -0.01859605 -0.05633812] [-0.00536677 0.01849542 0.99981454 -0.44473199] [ 0. 0. 0. 1. ]] SLAMing on 17.631193817000003 meters Centerline goodness : 0.847179 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.06, Z:-0.45 [[ 0.99980421 0.01921059 0.0047424 2.52262075] [-0.01911877 0.9996423 -0.01870133 -0.05676698] [-0.00509996 0.018607 0.99981387 -0.44560967] [ 0. 0. 0. 1. ]] SLAMing on 17.661193817 meters Centerline goodness : 0.847636 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.06, Z:-0.45 [[ 0.99981687 0.01861121 0.00445445 2.52442117] [-0.0185222 0.99964304 -0.01925424 -0.05720036] [-0.0048112 0.01916821 0.9998047 -0.44709667] [ 0. 0. 0. 1. ]] SLAMing on 17.691193817000002 meters Centerline goodness : 0.847818 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.06, Z:-0.45 [[ 0.99983355 0.01777223 0.00412576 2.52664617] [-0.01768776 0.99964989 -0.0196783 -0.05846659] [-0.00447404 0.01960205 0.99979785 -0.44906286] [ 0. 0. 0. 1. ]] SLAMing on 17.721193817000003 meters Centerline goodness : 0.846677 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.06, Z:-0.45 [[ 0.99984141 0.01736063 0.0039695 2.527357 ] [-0.01727879 0.99965474 -0.01979519 -0.058742 ] [-0.00431179 0.01972346 0.99979618 -0.44950509] [ 0. 0. 0. 1. ]] SLAMing on 17.751193817 meters Centerline goodness : 0.847315 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.06, Z:-0.45 [[ 0.99986109 0.01631381 0.00341403 2.52933009] [-0.01624081 0.99965963 -0.02041716 -0.05881038] [-0.00374595 0.02035888 0.99978572 -0.45066786] [ 0. 0. 0. 1. ]] SLAMing on 17.781193817000002 meters Centerline goodness : 0.846591 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.06, Z:-0.45 [[ 0.99988602 0.01484755 0.00273826 2.53196314] [-0.01478557 0.99966136 -0.02141386 -0.05916554] [-0.00305528 0.02137093 0.99976695 -0.45236967] [ 0. 0. 0. 1. ]] SLAMing on 17.811193817000003 meters Centerline goodness : 0.848081 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.46 [[ 9.99975874e-01 6.79362084e-03 -1.44832662e-03 2.53560059e+00] [-6.81271975e-03 9.99884073e-01 -1.36171715e-02 -6.02944877e-02] [ 1.35564882e-03 1.36267100e-02 9.99906233e-01 -4.55555175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.841193817 meters Centerline goodness : 0.846317 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.46 [[ 9.99987809e-01 4.48344262e-03 -2.06906843e-03 2.53884720e+00] [-4.51490754e-03 9.99870266e-01 -1.54618092e-02 -5.93918401e-02] [ 1.99947787e-03 1.54709623e-02 9.99878318e-01 -4.58022399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.871193817 meters Centerline goodness : 0.845762 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.46 [[ 9.99994079e-01 2.20283574e-03 -2.64379240e-03 2.54197812e+00] [-2.24831744e-03 9.99847377e-01 -1.73253356e-02 -5.79180598e-02] [ 2.60522403e-03 1.73311771e-02 9.99846410e-01 -4.60372511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.901193817000003 meters Centerline goodness : 0.847643 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:-0.46 [[ 9.99992540e-01 -2.17404611e-03 -3.19283273e-03 2.54522577e+00] [ 2.10482533e-03 9.99766080e-01 -2.15256914e-02 -5.41770724e-02] [ 3.23888371e-03 2.15188104e-02 9.99763197e-01 -4.62671591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.931193817 meters Centerline goodness : 0.846921 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:-0.46 [[ 0.99998901 -0.00317543 -0.00344925 2.54600326] [ 0.00309637 0.99973775 -0.02269014 -0.0517413 ] [ 0.00352039 0.02267921 0.9997366 -0.46286272] [ 0. 0. 0. 1. ]] SLAMing on 17.961193817 meters Centerline goodness : 0.849704 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:-0.46 [[ 0.99998624 -0.00383085 -0.00358276 2.54619725] [ 0.00374488 0.99971206 -0.02370196 -0.04893628] [ 0.00367252 0.02368822 0.99971265 -0.46263978] [ 0. 0. 0. 1. ]] SLAMing on 17.991193817000003 meters Centerline goodness : 0.849221 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:-0.46 [[ 0.99998286 -0.00450431 -0.00374162 2.54635302] [ 0.0044094 0.99967775 -0.02499921 -0.045052 ] [ 0.00385302 0.02498229 0.99968047 -0.46223153] [ 0. 0. 0. 1. ]] SLAMing on 18.021193817 meters Centerline goodness : 0.851601 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.04, Z:-0.46 [[ 9.99994705e-01 -2.98638476e-03 1.29286988e-03 2.56075265e+00] [ 3.02111813e-03 9.99610239e-01 -2.77532498e-02 -3.52054267e-02] [-1.20948408e-03 2.77570087e-02 9.99613968e-01 -4.61581209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.051193817 meters Centerline goodness : 0.855141 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:-0.46 [[ 9.99999201e-01 -1.34929646e-04 1.25656778e-03 2.56070738e+00] [ 1.66913218e-04 9.99675117e-01 -2.54879013e-02 -3.08282600e-02] [-1.25272047e-03 2.54880907e-02 9.99674341e-01 -4.61124763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.081193817000003 meters Centerline goodness : 0.855427 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:-0.46 [[ 9.99995646e-01 2.67498168e-03 1.24635237e-03 2.56026799e+00] [-2.64527163e-03 9.99725980e-01 -2.32587276e-02 -2.64779693e-02] [-1.30822751e-03 2.32553294e-02 9.99728702e-01 -4.60221835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.111193817 meters Centerline goodness : 0.857771 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:-0.46 [[ 9.99985581e-01 5.21066336e-03 1.29900439e-03 2.55989633e+00] [-5.18198115e-03 9.99762171e-01 -2.11836720e-02 -2.23814136e-02] [-1.40907643e-03 2.11766351e-02 9.99774757e-01 -4.59555147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.141193817 meters Centerline goodness : 0.859153 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.46 [[ 9.99973593e-01 7.12457433e-03 1.43308911e-03 2.55833801e+00] [-7.09302173e-03 9.99755711e-01 -2.09334209e-02 -1.17247617e-02] [-1.58188073e-03 2.09227032e-02 9.99779845e-01 -4.57074058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.171193817000002 meters Centerline goodness : 0.860525 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.46 [[ 9.99952677e-01 9.64388339e-03 1.28027461e-03 2.55888796e+00] [-9.61793801e-03 9.99774670e-01 -1.89236570e-02 -7.32662980e-03] [-1.46248367e-03 1.89104479e-02 9.99820112e-01 -4.57041920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.201193817 meters Centerline goodness : 0.860525 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.46 [[ 9.99952677e-01 9.64388339e-03 1.28027461e-03 2.55888796e+00] [-9.61793801e-03 9.99774670e-01 -1.89236570e-02 -7.32662980e-03] [-1.46248367e-03 1.89104479e-02 9.99820112e-01 -4.57041920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.231193817 meters Centerline goodness : 0.859041 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.00, Z:-0.46 [[ 9.99938298e-01 1.10839864e-02 7.37906780e-04 2.56158294e+00] [-1.10689585e-02 9.99777602e-01 -1.79506064e-02 -2.66676587e-03] [-9.36706949e-04 1.79413310e-02 9.99838603e-01 -4.58867362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.261193817000002 meters Centerline goodness : 0.859099 Centerline is valid? [False, False] Translation: X:2.57, Y:0.01, Z:-0.46 [[ 9.99945708e-01 1.00902509e-02 -2.60151446e-03 2.57306597e+00] [-1.01309463e-02 9.99818487e-01 -1.61355601e-02 8.44216611e-03] [ 2.43823040e-03 1.61610399e-02 9.99866429e-01 -4.61899769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.291193817000003 meters Centerline goodness : 0.859032 Centerline is valid? [False, False] Translation: X:2.58, Y:0.01, Z:-0.46 [[ 0.99992583 0.01177683 -0.00310493 2.57603364] [-0.01182246 0.99981592 -0.01511117 0.01358742] [ 0.0029264 0.01514675 0.999881 -0.46409472] [ 0. 0. 0. 1. ]] SLAMing on 18.321193817 meters Centerline goodness : 0.859404 Centerline is valid? [False, False] Translation: X:2.58, Y:0.02, Z:-0.47 [[ 0.99989805 0.01390013 -0.00326792 2.57788562] [-0.01394424 0.99980634 -0.01388678 0.01901359] [ 0.00307426 0.01393094 0.99989823 -0.46551211] [ 0. 0. 0. 1. ]] SLAMing on 18.351193817000002 meters Centerline goodness : 0.860843 Centerline is valid? [False, False] Translation: X:2.58, Y:0.02, Z:-0.46 [[ 0.99986068 0.0163791 -0.0032165 2.57763085] [-0.01641786 0.99978809 -0.01241875 0.02439809] [ 0.00301241 0.01246983 0.99991771 -0.46486662] [ 0. 0. 0. 1. ]] SLAMing on 18.381193817000003 meters Centerline goodness : 0.866336 Centerline is valid? [False, False] Translation: X:2.58, Y:0.04, Z:-0.46 [[ 0.99977664 0.0209491 -0.00279383 2.57565256] [-0.02097652 0.99972817 -0.01017723 0.0365289 ] [ 0.00257986 0.01023356 0.99994431 -0.46227482] [ 0. 0. 0. 1. ]] SLAMing on 18.411193817 meters Centerline goodness : 0.866866 Centerline is valid? [False, False] Translation: X:2.58, Y:0.04, Z:-0.46 [[ 9.99718915e-01 2.35573967e-02 -2.67200500e-03 2.57527433e+00] [-2.35799494e-02 9.99683673e-01 -8.74868129e-03 4.33246889e-02] [ 2.46506362e-03 8.80922791e-03 9.99958160e-01 -4.61654018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.441193817000002 meters Centerline goodness : 0.867191 Centerline is valid? [False, False] Translation: X:2.57, Y:0.05, Z:-0.46 [[ 9.99652949e-01 2.62177162e-02 -2.57172726e-03 2.57485709e+00] [-2.62357782e-02 9.99629414e-01 -7.26078085e-03 5.01698844e-02] [ 2.38041312e-03 7.32573225e-03 9.99970333e-01 -4.60872950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.471193817000003 meters Centerline goodness : 0.870527 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.46 [[ 9.99567166e-01 2.93092522e-02 -2.53926634e-03 2.57494098e+00] [-2.93225440e-02 9.99555600e-01 -5.36576177e-03 5.66923321e-02] [ 2.38087142e-03 5.43789704e-03 9.99982380e-01 -4.60569354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.501193817 meters Centerline goodness : 0.868752 Centerline is valid? [False, False] Translation: X:2.58, Y:0.07, Z:-0.46 [[ 9.99357884e-01 3.57399294e-02 -2.54516837e-03 2.57613133e+00] [-3.57430319e-02 9.99360312e-01 -1.18411055e-03 6.69365002e-02] [ 2.50122023e-03 1.27432225e-03 9.99996060e-01 -4.61057722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.531193817000002 meters Centerline goodness : 0.870632 Centerline is valid? [False, False] Translation: X:2.58, Y:0.07, Z:-0.46 [[ 9.99229656e-01 3.91587574e-02 -2.58561902e-03 2.57688586e+00] [-3.91551884e-02 9.99232137e-01 1.41681966e-03 7.07825537e-02] [ 2.63911451e-03 -1.31448782e-03 9.99995654e-01 -4.61434267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.561193817000003 meters Centerline goodness : 0.868838 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.46 [[ 0.99911449 0.04197899 -0.0028279 2.57895064] [-0.04196925 0.99911304 0.0034219 0.0750876 ] [ 0.00296904 -0.00330018 0.99999015 -0.46290715] [ 0. 0. 0. 1. ]] SLAMing on 18.591193817 meters Centerline goodness : 0.867723 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.47 [[ 0.99883862 0.04807777 -0.00315115 2.58209521] [-0.04805043 0.9988109 0.00824213 0.08127259] [ 0.00354366 -0.00808115 0.99996107 -0.4652084 ] [ 0. 0. 0. 1. ]] SLAMing on 18.621193817 meters Centerline goodness : 0.867298 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.47 [[ 0.99865673 0.0517162 -0.00319017 2.58264534] [-0.05167692 0.9985992 0.01136375 0.08328667] [ 0.00377339 -0.01118363 0.99993034 -0.46525265] [ 0. 0. 0. 1. ]] SLAMing on 18.651193817000003 meters Centerline goodness : 0.869422 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.46 [[ 0.99847873 0.05505185 -0.00308433 2.58230657] [-0.05500231 0.99838335 0.01433284 0.08521718] [ 0.00386839 -0.0141414 0.99989252 -0.46451974] [ 0. 0. 0. 1. ]] SLAMing on 18.681193817 meters Centerline goodness : 0.870089 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.46 [[ 0.99846052 0.05537696 -0.00315791 2.58199206] [-0.05533046 0.9983797 0.01328554 0.09091971] [ 0.00388851 -0.01309036 0.99990676 -0.46346397] [ 0. 0. 0. 1. ]] SLAMing on 18.711193817 meters Centerline goodness : 0.870307 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.46 [[ 9.98487180e-01 5.49663433e-02 -1.43249989e-03 2.58920657e+00] [-5.49142645e-02 9.98185201e-01 2.47129260e-02 8.94543208e-02] [ 2.78827937e-03 -2.45968751e-02 9.99693563e-01 -4.61404920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.741193817000003 meters Centerline goodness : 0.871753 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.46 [[ 9.98499491e-01 5.47412629e-02 -1.46983701e-03 2.58913084e+00] [-5.46880423e-02 9.98195059e-01 2.48161744e-02 8.97780861e-02] [ 2.82565277e-03 -2.46985550e-02 9.99690951e-01 -4.60657672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.771193817 meters Centerline goodness : 0.870307 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.98572654e-01 5.33942403e-02 1.30777862e-03 2.59571815e+00] [-5.34067312e-02 9.97926230e-01 3.59299516e-02 8.71869377e-02] [ 6.13385878e-04 -3.59485113e-02 9.99353455e-01 -4.58982464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.801193817 meters Centerline goodness : 0.873560 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.98600761e-01 5.28685902e-02 1.19669767e-03 2.59603257e+00] [-5.28774976e-02 9.97957944e-01 3.58317307e-02 8.72142917e-02] [ 7.00119138e-04 -3.58448719e-02 9.99357121e-01 -4.58764505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.831193817000003 meters Centerline goodness : 0.871968 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.98813434e-01 4.86962270e-02 6.34152545e-04 2.59681561e+00] [-4.86920982e-02 9.98319616e-01 3.14169426e-02 8.74829427e-02] [ 8.96799646e-04 -3.14105426e-02 9.99506165e-01 -4.58807739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.861193817 meters Centerline goodness : 0.870786 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.98806328e-01 4.88445139e-02 3.63349247e-04 2.59729515e+00] [-4.88310370e-02 9.98292211e-01 3.20654254e-02 8.64440543e-02] [ 1.20349139e-03 -3.20448925e-02 9.99485706e-01 -4.58459517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.891193817 meters Centerline goodness : 0.872613 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.98812847e-01 4.87123401e-02 6.34987830e-05 2.59805612e+00] [-4.86891275e-02 9.98294919e-01 3.21966429e-02 8.59718332e-02] [ 1.50498331e-03 -3.21615123e-02 9.99481552e-01 -4.58669152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.921193817000002 meters Centerline goodness : 0.873474 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.98824196e-01 4.84790954e-02 -4.30878814e-05 2.59845020e+00] [-4.84528908e-02 9.98312741e-01 3.19998363e-02 8.62299456e-02] [ 1.59433830e-03 -3.19601231e-02 9.99487873e-01 -4.58941330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.951193817 meters Centerline goodness : 0.872177 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.98855589e-01 4.78278957e-02 -6.52958918e-05 2.59787177e+00] [-4.78017346e-02 9.98352558e-01 3.17358557e-02 8.69801818e-02] [ 1.58304752e-03 -3.16964156e-02 9.99496289e-01 -4.57857707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.981193817 meters Centerline goodness : 0.871761 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.98871920e-01 4.74855288e-02 -1.08551101e-04 2.59754574e+00] [-4.74583584e-02 9.98372662e-01 3.16185317e-02 8.66528141e-02] [ 1.60979715e-03 -3.15777118e-02 9.99500003e-01 -4.57286076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.011193817000002 meters Centerline goodness : 0.872051 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.99040671e-01 4.37903904e-02 -3.74436725e-04 2.59763885e+00] [-4.37640189e-02 9.98671592e-01 2.71985803e-02 8.84861781e-02] [ 1.56497577e-03 -2.71561010e-02 9.99629980e-01 -4.57033451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.041193817000003 meters Centerline goodness : 0.870095 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.99062758e-01 4.32816945e-02 -5.47999271e-04 2.59761674e+00] [-4.32507048e-02 9.98692481e-01 2.72526096e-02 8.78148644e-02] [ 1.72682187e-03 -2.72033659e-02 9.99628428e-01 -4.56486816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.071193817 meters Centerline goodness : 0.873277 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.99127534e-01 4.17602204e-02 -5.03877147e-04 2.59628617e+00] [-4.17326198e-02 9.98783915e-01 2.62503365e-02 8.74083103e-02] [ 1.59948423e-03 -2.62064058e-02 9.99655274e-01 -4.55005907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.101193817000002 meters Centerline goodness : 0.871885 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.45 [[ 9.99521981e-01 3.08860380e-02 -1.36472265e-03 2.57909771e+00] [-3.08303313e-02 9.99062325e-01 3.03967350e-02 8.85268353e-02] [ 2.30227770e-03 -3.03401299e-02 9.99536981e-01 -4.54661086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.131193817000003 meters Centerline goodness : 0.872266 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.45 [[ 9.99652715e-01 2.62994630e-02 -1.66939860e-03 2.57959418e+00] [-2.62480336e-02 9.99326247e-01 2.56533020e-02 9.05184467e-02] [ 2.34294190e-03 -2.56005746e-02 9.99669506e-01 -4.54824887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.161193817 meters Centerline goodness : 0.869881 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.46 [[ 9.99762802e-01 2.16899499e-02 -1.97117649e-03 2.58029753e+00] [-2.16439963e-02 9.99546657e-01 2.09288631e-02 9.24535980e-02] [ 2.42422886e-03 -2.08812347e-02 9.99779024e-01 -4.55196612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.191193817000002 meters Centerline goodness : 0.871098 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.45 [[ 9.99886691e-01 1.49096123e-02 -2.07572509e-03 2.57958827e+00] [-1.48775737e-02 9.99781581e-01 1.46781408e-02 9.33999494e-02] [ 2.29411710e-03 -1.46455959e-02 9.99890116e-01 -4.54436434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.221193817000003 meters Centerline goodness : 0.870894 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.45 [[ 9.99938240e-01 1.08812271e-02 -2.26166941e-03 2.57992532e+00] [-1.08575103e-02 9.99888554e-01 1.02466894e-02 9.45725622e-02] [ 2.37291391e-03 -1.02215005e-02 9.99944944e-01 -4.54448643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.251193817 meters Centerline goodness : 0.871846 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.45 [[ 9.99942144e-01 1.04817256e-02 -2.41703252e-03 2.58004498e+00] [-1.04576564e-02 9.99897640e-01 9.76456819e-03 9.49387694e-02] [ 2.51913464e-03 -9.73872676e-03 9.99949404e-01 -4.54208297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.281193817000002 meters Centerline goodness : 0.869781 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.45 [[ 9.99889308e-01 1.46716672e-02 -2.47255978e-03 2.58002508e+00] [-1.46389882e-02 9.99811506e-01 1.27535655e-02 9.85638835e-02] [ 2.65920979e-03 -1.27159580e-02 9.99915613e-01 -4.53660801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.311193817000003 meters Centerline goodness : 0.871903 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.45 [[ 9.99815076e-01 1.90647141e-02 -2.52007792e-03 2.58034229e+00] [-1.90222183e-02 9.99692151e-01 1.59298052e-02 1.02376655e-01] [ 2.82299929e-03 -1.58789220e-02 9.99869937e-01 -4.53555449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.341193817 meters Centerline goodness : 0.870117 Centerline is valid? [False, False] Translation: X:2.58, Y:0.11, Z:-0.45 [[ 9.99709500e-01 2.39869034e-02 -2.35475986e-03 2.58038322e+00] [-2.39374392e-02 9.99529679e-01 1.91681939e-02 1.06894668e-01] [ 2.81343798e-03 -1.91062586e-02 9.99813500e-01 -4.53309224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.371193817 meters Centerline goodness : 0.870822 Centerline is valid? [False, False] Translation: X:2.58, Y:0.11, Z:-0.45 [[ 9.99581166e-01 2.88604759e-02 -2.13676086e-03 2.58010277e+00] [-2.88054035e-02 9.99333594e-01 2.24191122e-02 1.10996052e-01] [ 2.78236315e-03 -2.23481720e-02 9.99746377e-01 -4.52781932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.401193817000003 meters Centerline goodness : 0.870696 Centerline is valid? [False, False] Translation: X:2.58, Y:0.11, Z:-0.45 [[ 9.99440836e-01 3.33791953e-02 -1.96073090e-03 2.57983134e+00] [-3.33175279e-02 9.99111192e-01 2.58218400e-02 1.14034372e-01] [ 2.82090042e-03 -2.57420746e-02 9.99664638e-01 -4.52307251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.431193817 meters Centerline goodness : 0.871660 Centerline is valid? [False, False] Translation: X:2.59, Y:0.12, Z:-0.45 [[ 9.99065642e-01 4.31889247e-02 -1.60020951e-03 2.58524348e+00] [-4.31353160e-02 9.98754553e-01 2.50736274e-02 1.18615930e-01] [ 2.68111954e-03 -2.49811741e-02 9.99684326e-01 -4.47910359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.461193817 meters Centerline goodness : 0.869955 Centerline is valid? [False, False] Translation: X:2.59, Y:0.12, Z:-0.45 [[ 9.99022002e-01 4.41786206e-02 -1.81370262e-03 2.58617053e+00] [-4.41188800e-02 9.98707350e-01 2.52419084e-02 1.19996727e-01] [ 2.92651083e-03 -2.51372034e-02 9.99679727e-01 -4.48365372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.491193817000003 meters Centerline goodness : 0.867514 Centerline is valid? [False, False] Translation: X:2.59, Y:0.12, Z:-0.45 [[ 9.98883580e-01 4.71937476e-02 -2.08394020e-03 2.58878884e+00] [-4.71183093e-02 9.98507046e-01 2.76322839e-02 1.17799220e-01] [ 3.38490000e-03 -2.75032429e-02 9.99615983e-01 -4.50607989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.521193817 meters Centerline goodness : 0.865951 Centerline is valid? [False, False] Translation: X:2.59, Y:0.12, Z:-0.45 [[ 9.98849557e-01 4.79030349e-02 -2.20505550e-03 2.58960326e+00] [-4.78218026e-02 9.98456247e-01 2.82523944e-02 1.16588856e-01] [ 3.55502688e-03 -2.81144419e-02 9.99598389e-01 -4.51256851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.551193817 meters Centerline goodness : 0.866252 Centerline is valid? [False, False] Translation: X:2.59, Y:0.12, Z:-0.45 [[ 9.98827741e-01 4.83520093e-02 -2.28625852e-03 2.59013934e+00] [-4.82661034e-02 9.98417589e-01 2.88565497e-02 1.15280490e-01] [ 3.67791288e-03 -2.87123736e-02 9.99580948e-01 -4.51680926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.581193817000003 meters Centerline goodness : 0.864284 Centerline is valid? [False, False] Translation: X:2.59, Y:0.11, Z:-0.45 [[ 9.98808903e-01 4.87335614e-02 -2.41165858e-03 2.59075093e+00] [-4.86404333e-02 9.98372915e-01 2.97595597e-02 1.12802315e-01] [ 3.85802394e-03 -2.96068091e-02 9.99554177e-01 -4.52101384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.611193817 meters Centerline goodness : 0.861942 Centerline is valid? [False, False] Translation: X:2.61, Y:0.10, Z:-0.45 [[ 9.98975662e-01 4.52498475e-02 2.80153327e-04 2.60889564e+00] [-4.52366891e-02 9.98492750e-01 3.10784380e-02 1.02637233e-01] [ 1.12656351e-03 -3.10592763e-02 9.99516909e-01 -4.53807275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.641193817 meters Centerline goodness : 0.862533 Centerline is valid? [False, False] Translation: X:2.61, Y:0.10, Z:-0.45 [[ 9.99113631e-01 4.20945534e-02 2.73521111e-05 2.60931893e+00] [-4.20781946e-02 9.98706814e-01 2.85328707e-02 9.83845526e-02] [ 1.17376171e-03 -2.85087310e-02 9.99592854e-01 -4.53997926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.671193817000002 meters Centerline goodness : 0.862561 Centerline is valid? [False, False] Translation: X:2.61, Y:0.09, Z:-0.45 [[ 9.99240634e-01 3.89623752e-02 -2.98112605e-04 2.61037208e+00] [-3.89415761e-02 9.98905472e-01 2.59116263e-02 9.46502834e-02] [ 1.30736482e-03 -2.58803409e-02 9.99664193e-01 -4.54783872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.701193817000004 meters Centerline goodness : 0.861603 Centerline is valid? [False, False] Translation: X:2.61, Y:0.09, Z:-0.46 [[ 9.99352938e-01 3.59644836e-02 -5.11201096e-04 2.61124392e+00] [-3.59429285e-02 9.99084039e-01 2.32204224e-02 9.18929954e-02] [ 1.34584336e-03 -2.31870233e-02 9.99730239e-01 -4.55567919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.731193817 meters Centerline goodness : 0.859883 Centerline is valid? [False, False] Translation: X:2.62, Y:0.08, Z:-0.46 [[ 0.99945179 0.03284142 0.00419162 2.62127133] [-0.03295584 0.99897548 0.03101447 0.08265136] [-0.00316876 -0.03113561 0.99951015 -0.45768784] [ 0. 0. 0. 1. ]] SLAMing on 19.761193817000002 meters Centerline goodness : 0.859980 Centerline is valid? [False, False] Translation: X:2.63, Y:0.08, Z:-0.46 [[ 0.99956548 0.02855596 0.00730867 2.6290519 ] [-0.02881586 0.99884904 0.03834371 0.07641251] [-0.00620532 -0.03853766 0.99923788 -0.45757886] [ 0. 0. 0. 1. ]] SLAMing on 19.791193817000003 meters Centerline goodness : 0.860666 Centerline is valid? [False, False] Translation: X:2.63, Y:0.07, Z:-0.45 [[ 0.99964653 0.02520304 0.00846308 2.63411892] [-0.0255832 0.99850505 0.04830279 0.06870594] [-0.00723305 -0.04850223 0.99879688 -0.45219147] [ 0. 0. 0. 1. ]] SLAMing on 19.821193817 meters Centerline goodness : 0.859649 Centerline is valid? [False, False] Translation: X:2.65, Y:0.05, Z:-0.44 [[ 0.99983057 0.01788565 0.0043525 2.65387602] [-0.01820409 0.99580231 0.08970157 0.04872834] [-0.00272986 -0.0897656 0.99595918 -0.44147456] [ 0. 0. 0. 1. ]] SLAMing on 19.851193817000002 meters Centerline goodness : 0.860172 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.44 [[ 9.99812640e-01 1.89014080e-02 4.17392302e-03 2.65323179e+00] [-1.92125853e-02 9.95290024e-01 9.50191759e-02 4.20206682e-02] [-2.35826773e-03 -9.50815649e-02 9.95466692e-01 -4.37615253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.881193817000003 meters Centerline goodness : 0.857424 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:-0.43 [[ 9.99859116e-01 1.67334761e-02 -1.31835753e-03 2.66973579e+00] [-1.64602940e-02 9.92850375e-01 1.18225175e-01 3.26241562e-02] [ 3.28724990e-03 -1.18186818e-01 9.92985936e-01 -4.27949233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.911193817 meters Centerline goodness : 0.856584 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.42 [[ 0.99986999 0.01535813 -0.00491329 2.68161782] [-0.01453771 0.99041045 0.1373892 0.02398899] [ 0.00697622 -0.13729991 0.99050496 -0.41796418] [ 0. 0. 0. 1. ]] SLAMing on 19.941193817000002 meters Centerline goodness : 0.857661 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.40 [[ 0.99986523 0.01163877 -0.01157877 2.68609981] [-0.00951495 0.98556575 0.16902547 0.00888022] [ 0.01337889 -0.16889252 0.98554367 -0.40327944] [ 0. 0. 0. 1. ]] SLAMing on 19.971193817000003 meters Centerline goodness : 0.858704 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.40 [[ 0.99990439 0.00946611 -0.01008015 2.67941295] [-0.00765427 0.98598555 0.16665508 0.00613692] [ 0.01151646 -0.16656199 0.98596373 -0.39842405] [ 0. 0. 0. 1. ]] SLAMing on 20.001193817 meters Centerline goodness : 0.857226 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.40 [[ 0.99993664 0.00827425 -0.00763195 2.67284792] [-0.00710117 0.98974769 0.1426502 0.00737955] [ 0.00873403 -0.14258697 0.98974374 -0.39875164] [ 0. 0. 0. 1. ]] SLAMing on 20.031193817000002 meters Centerline goodness : 0.857815 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.40 [[ 0.99996588 0.00717716 -0.00408901 2.67199138] [-0.00661505 0.99226636 0.12395044 0.00776332] [ 0.004947 -0.12391916 0.99227998 -0.39878761] [ 0. 0. 0. 1. ]] SLAMing on 20.061193817000003 meters Centerline goodness : 0.861272 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.40 [[ 9.99986639e-01 4.95477772e-03 1.47408673e-03 2.66928957e+00] [-5.08329529e-03 9.94333341e-01 1.06185529e-01 5.84102183e-03] [-9.39607890e-04 -1.06191604e-01 9.94345242e-01 -3.96116486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.091193817 meters Centerline goodness : 0.861272 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.40 [[ 0.9999748 0.00492401 0.00511341 2.67136332] [-0.00535552 0.99609548 0.0881199 0.01012711] [-0.00465954 -0.08814506 0.99609675 -0.39879449] [ 0. 0. 0. 1. ]] SLAMing on 20.121193817 meters Centerline goodness : 0.862000 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.40 [[ 0.99996058 0.003021 0.00834938 2.67888849] [-0.00363235 0.99723651 0.0742034 0.01190978] [-0.00810214 -0.0742308 0.99720817 -0.3989442 ] [ 0. 0. 0. 1. ]] SLAMing on 20.151193817000003 meters Centerline goodness : 0.863451 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.40 [[ 0.99995116 0.00511134 0.00845856 2.69455738] [-0.00562002 0.99810666 0.06124958 0.01196992] [-0.00812948 -0.06129413 0.99808664 -0.39855118] [ 0. 0. 0. 1. ]] SLAMing on 20.181193817 meters Centerline goodness : 0.869075 Centerline is valid? [False, False] Translation: X:2.70, Y:0.01, Z:-0.40 [[ 0.99990169 0.00546215 0.01291418 2.70237656] [-0.00610238 0.99872719 0.05006754 0.0146443 ] [-0.01262426 -0.05014143 0.99866234 -0.39997453] [ 0. 0. 0. 1. ]] SLAMing on 20.211193817 meters Centerline goodness : 0.870211 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.40 [[ 0.99981816 0.00694536 0.01775975 2.71173663] [-0.00765707 0.99915725 0.04032572 0.01831352] [-0.0174647 -0.04045438 0.99902874 -0.40269882] [ 0. 0. 0. 1. ]] SLAMing on 20.241193817000003 meters Centerline goodness : 0.871302 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:-0.40 [[ 0.9997404 0.00841384 0.02117424 2.71966801] [-0.00904185 0.99951676 0.02974042 0.02216823] [-0.02091378 -0.02992416 0.99933336 -0.40324849] [ 0. 0. 0. 1. ]] SLAMing on 20.271193817 meters Centerline goodness : 0.871789 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:-0.41 [[ 0.99963995 0.01030416 0.02477481 2.72959126] [-0.01080073 0.99974176 0.01999385 0.0250669 ] [-0.0245624 -0.02025424 0.9994931 -0.40573234] [ 0. 0. 0. 1. ]] SLAMing on 20.301193817 meters Centerline goodness : 0.871338 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:-0.41 [[ 0.99954751 0.01211435 0.02753196 2.73962687] [-0.01239061 0.99987436 0.00988578 0.02776068] [-0.02740875 -0.01022244 0.99957204 -0.40797369] [ 0. 0. 0. 1. ]] SLAMing on 20.331193817000003 meters Centerline goodness : 0.874977 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:-0.41 [[ 0.99954444 0.01197507 0.02770388 2.74010145] [-0.01222388 0.9998863 0.00882918 0.03074016] [-0.027595 -0.00916381 0.99957718 -0.40901038] [ 0. 0. 0. 1. ]] SLAMing on 20.361193817 meters Centerline goodness : 0.875657 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:-0.41 [[ 0.99955066 0.01166351 0.02761246 2.74075078] [-0.01188892 0.99989721 0.00801345 0.0331553 ] [-0.02751616 -0.00833814 0.99958658 -0.40961592] [ 0. 0. 0. 1. ]] SLAMing on 20.391193817 meters Centerline goodness : 0.876343 Centerline is valid? [False, False] Translation: X:2.74, Y:0.04, Z:-0.41 [[ 0.9995567 0.01150801 0.02745866 2.74174268] [-0.01170772 0.99990609 0.00712339 0.0362326 ] [-0.02737411 -0.00744171 0.99959756 -0.41052493] [ 0. 0. 0. 1. ]] SLAMing on 20.421193817000002 meters Centerline goodness : 0.877035 Centerline is valid? [False, False] Translation: X:2.74, Y:0.04, Z:-0.41 [[ 0.99955273 0.01173287 0.02750773 2.74221308] [-0.01191593 0.99990787 0.00650047 0.03935492] [-0.02742892 -0.00682534 0.99960045 -0.41121996] [ 0. 0. 0. 1. ]] SLAMing on 20.451193817000004 meters Centerline goodness : 0.874647 Centerline is valid? [False, False] Translation: X:2.74, Y:0.04, Z:-0.41 [[ 0.99950171 0.01573887 0.02736108 2.74329978] [-0.01600752 0.99982552 0.00962763 0.04322348] [-0.02720478 -0.01006082 0.99957925 -0.41222966] [ 0. 0. 0. 1. ]] SLAMing on 20.481193817 meters Centerline goodness : 0.872886 Centerline is valid? [False, False] Translation: X:2.73, Y:0.04, Z:-0.41 [[ 0.99957423 0.01690094 0.02378466 2.73486817] [-0.01743191 0.99959941 0.02229662 0.04197479] [-0.02339829 -0.02270174 0.99946843 -0.41035995] [ 0. 0. 0. 1. ]] SLAMing on 20.511193817000002 meters Centerline goodness : 0.874456 Centerline is valid? [False, False] Translation: X:2.73, Y:0.04, Z:-0.41 [[ 0.99964541 0.01781825 0.01978775 2.72753443] [-0.01852354 0.99917828 0.03605059 0.039044 ] [-0.01912913 -0.03640434 0.99915404 -0.40820097] [ 0. 0. 0. 1. ]] SLAMing on 20.541193817000003 meters Centerline goodness : 0.873153 Centerline is valid? [False, False] Translation: X:2.73, Y:0.04, Z:-0.40 [[ 0.99978319 0.01575272 0.01361679 2.72769913] [-0.01646134 0.99842689 0.05359823 0.03537113] [-0.01275105 -0.05381076 0.99846974 -0.40366843] [ 0. 0. 0. 1. ]] SLAMing on 20.571193817 meters Centerline goodness : 0.870537 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:-0.40 [[ 0.99978984 0.01534163 0.01359849 2.72760457] [-0.01606068 0.99838745 0.05444774 0.03365767] [-0.01274124 -0.0546547 0.99842402 -0.40300754] [ 0. 0. 0. 1. ]] SLAMing on 20.601193817000002 meters Centerline goodness : 0.871282 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:-0.40 [[ 0.99983499 0.01256144 0.01312228 2.72967863] [-0.01322264 0.99858136 0.05157941 0.03331646] [-0.01245576 -0.05174441 0.99858268 -0.40451745] [ 0. 0. 0. 1. ]] SLAMing on 20.631193817000003 meters Centerline goodness : 0.871191 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:-0.40 [[ 0.99992304 0.00945134 0.00803698 2.72098853] [-0.0099214 0.99811201 0.06061342 0.03050957] [-0.00744892 -0.0606885 0.99812896 -0.40100152] [ 0. 0. 0. 1. ]] SLAMing on 20.661193817 meters Centerline goodness : 0.869881 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.40 [[ 0.99995927 0.00812672 0.00392538 2.71235306] [-0.00830692 0.99879791 0.04830876 0.03144413] [-0.00352807 -0.0483394 0.99882474 -0.39967308] [ 0. 0. 0. 1. ]] SLAMing on 20.691193817000002 meters Centerline goodness : 0.868407 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.39 [[ 9.99985965e-01 4.88040551e-03 -2.06184399e-03 2.70257521e+00] [-4.75216495e-03 9.98294125e-01 5.81915486e-02 2.47037515e-02] [ 2.34232509e-03 -5.81809336e-02 9.98303307e-01 -3.94125764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.721193817000003 meters Centerline goodness : 0.868879 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.39 [[ 9.99996940e-01 1.38282951e-03 -2.05123728e-03 2.70305396e+00] [-1.26913293e-03 9.98516767e-01 5.44302742e-02 2.50843328e-02] [ 2.12346261e-03 -5.44275044e-02 9.98515467e-01 -3.94802198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.751193817 meters Centerline goodness : 0.869795 Centerline is valid? [False, False] Translation: X:2.69, Y:0.03, Z:-0.39 [[ 9.99974136e-01 8.53842552e-04 -7.14129829e-03 2.69468775e+00] [-5.43049513e-04 9.99057204e-01 4.34097657e-02 2.78593913e-02] [ 7.17163061e-03 -4.34047648e-02 9.99031828e-01 -3.93206427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.781193817000002 meters Centerline goodness : 0.866058 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.39 [[ 9.99905749e-01 5.56335658e-04 -1.37179780e-02 2.68423981e+00] [-8.83042636e-05 9.99418588e-01 3.40951311e-02 3.09522215e-02] [ 1.37289705e-02 -3.40907062e-02 9.99324441e-01 -3.89499764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.811193817000003 meters Centerline goodness : 0.867260 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.39 [[ 9.99903190e-01 1.57819414e-04 -1.39135013e-02 2.68450577e+00] [ 3.11967619e-04 9.99430049e-01 3.37561963e-02 3.12476288e-02] [ 1.39108987e-02 -3.37572690e-02 9.99333245e-01 -3.89230856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.841193817 meters Centerline goodness : 0.868150 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.39 [[ 9.99900498e-01 -1.31368876e-04 -1.41059401e-02 2.68473807e+00] [ 6.04082006e-04 9.99438112e-01 3.35126076e-02 3.12856280e-02] [ 1.40936117e-02 -3.35177942e-02 9.99338745e-01 -3.88956588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.871193817 meters Centerline goodness : 0.867143 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.39 [[ 9.99912380e-01 -8.32749262e-04 -1.32113527e-02 2.66281314e+00] [ 1.26052026e-03 9.99474063e-01 3.24038377e-02 3.25283747e-02] [ 1.31774201e-02 -3.24176517e-02 9.99387538e-01 -3.87627743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.901193817000003 meters Centerline goodness : 0.864194 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.39 [[ 9.99910824e-01 -1.21544505e-03 -1.32991096e-02 2.66314271e+00] [ 1.63962750e-03 9.99488722e-01 3.19312859e-02 3.34603222e-02] [ 1.32534994e-02 -3.19502439e-02 9.99401584e-01 -3.87778639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.931193817 meters Centerline goodness : 0.864142 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.39 [[ 9.99908437e-01 -1.76475029e-03 -1.34165116e-02 2.66333815e+00] [ 2.18323298e-03 9.99509489e-01 3.12412366e-02 3.49754584e-02] [ 1.33547977e-02 -3.12676675e-02 9.99421824e-01 -3.87717485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.961193817 meters Centerline goodness : 0.866177 Centerline is valid? [False, False] Translation: X:2.66, Y:0.04, Z:-0.39 [[ 9.99906165e-01 -2.26459770e-03 -1.35104881e-02 2.66359381e+00] [ 2.67637947e-03 9.99529997e-01 3.05388666e-02 3.63271292e-02] [ 1.34349799e-02 -3.05721602e-02 9.99442267e-01 -3.87720073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.991193817000003 meters Centerline goodness : 0.865020 Centerline is valid? [False, False] Translation: X:2.64, Y:0.04, Z:-0.39 [[ 0.999935 -0.0030793 -0.01097803 2.64073749] [ 0.00339553 0.99957642 0.02890426 0.03814287] [ 0.01088437 -0.02893965 0.9995219 -0.38659814] [ 0. 0. 0. 1. ]] SLAMing on 21.021193817 meters Centerline goodness : 0.867297 Centerline is valid? [False, False] Translation: X:2.62, Y:0.04, Z:-0.38 [[ 0.99995942 -0.00499951 -0.00749473 2.61636144] [ 0.00519957 0.99962415 0.02691685 0.03791718] [ 0.00735734 -0.02695472 0.99960958 -0.38433455] [ 0. 0. 0. 1. ]] SLAMing on 21.051193817 meters Centerline goodness : 0.868166 Centerline is valid? [False, False] Translation: X:2.62, Y:0.04, Z:-0.39 [[ 0.99993499 -0.00814594 -0.00797872 2.61823037] [ 0.00832936 0.99969541 0.02323173 0.03992973] [ 0.00778704 -0.02329668 0.99969827 -0.38539176] [ 0. 0. 0. 1. ]] SLAMing on 21.081193817000003 meters Centerline goodness : 0.866820 Centerline is valid? [False, False] Translation: X:2.62, Y:0.04, Z:-0.39 [[ 0.99988837 -0.01259591 -0.00803661 2.61897817] [ 0.01273978 0.99975486 0.01810868 0.04428108] [ 0.00780654 -0.01820904 0.99980373 -0.38616881] [ 0. 0. 0. 1. ]] SLAMing on 21.111193817000004 meters Centerline goodness : 0.863971 Centerline is valid? [False, False] Translation: X:2.62, Y:0.05, Z:-0.39 [[ 0.99986152 -0.01430486 -0.00850334 2.62138358] [ 0.01444351 0.99975996 0.01647421 0.04552033] [ 0.00826564 -0.01659475 0.99982813 -0.38803257] [ 0. 0. 0. 1. ]] SLAMing on 21.141193817 meters Centerline goodness : 0.864746 Centerline is valid? [False, False] Translation: X:2.62, Y:0.05, Z:-0.39 [[ 0.99981116 -0.01720749 -0.00903064 2.62420205] [ 0.01732701 0.99976104 0.01332825 0.04624644] [ 0.00879914 -0.01348221 0.99987039 -0.3901256 ] [ 0. 0. 0. 1. ]] SLAMing on 21.171193817000002 meters Centerline goodness : 0.863254 Centerline is valid? [False, False] Translation: X:2.62, Y:0.05, Z:-0.39 [[ 0.9997988 -0.01784937 -0.00915237 2.62489827] [ 0.01796737 0.99975436 0.01297645 0.04580226] [ 0.00891851 -0.01313828 0.99987391 -0.39076242] [ 0. 0. 0. 1. ]] SLAMing on 21.201193817000004 meters Centerline goodness : 0.862990 Centerline is valid? [False, False] Translation: X:2.63, Y:0.05, Z:-0.39 [[ 0.99977361 -0.01916628 -0.00924021 2.62543725] [ 0.01927477 0.99974461 0.01179797 0.04757064] [ 0.00901173 -0.0119734 0.99988771 -0.39129544] [ 0. 0. 0. 1. ]] SLAMing on 21.231193817 meters Centerline goodness : 0.863879 Centerline is valid? [False, False] Translation: X:2.63, Y:0.05, Z:-0.39 [[ 0.99975981 -0.01987935 -0.0092263 2.62570962] [ 0.0199782 0.99974264 0.01074797 0.05035434] [ 0.00901027 -0.01092971 0.99989967 -0.39163601] [ 0. 0. 0. 1. ]] SLAMing on 21.261193817000002 meters Centerline goodness : 0.863331 Centerline is valid? [False, False] Translation: X:2.63, Y:0.05, Z:-0.39 [[ 0.99973968 -0.02080511 -0.00936615 2.62642338] [ 0.0208929 0.99973776 0.00937526 0.05369818] [ 0.00916864 -0.00956851 0.99991219 -0.39211128] [ 0. 0. 0. 1. ]] SLAMing on 21.291193817000003 meters Centerline goodness : 0.862810 Centerline is valid? [False, False] Translation: X:2.63, Y:0.06, Z:-0.39 [[ 0.99972406 -0.02145942 -0.00955472 2.62716128] [ 0.02153639 0.99973584 0.0080272 0.05761238] [ 0.00937994 -0.00823076 0.99992213 -0.39249249] [ 0. 0. 0. 1. ]] SLAMing on 21.321193817 meters Centerline goodness : 0.862330 Centerline is valid? [False, False] Translation: X:2.63, Y:0.07, Z:-0.39 [[ 0.99975749 -0.01965561 -0.0099306 2.62850068] [ 0.01974103 0.99976833 0.00857759 0.06530628] [ 0.00975971 -0.00877155 0.9999139 -0.39331379] [ 0. 0. 0. 1. ]] SLAMing on 21.351193817000002 meters Centerline goodness : 0.862810 Centerline is valid? [False, False] Translation: X:2.63, Y:0.07, Z:-0.39 [[ 0.99975519 -0.01954818 -0.01036429 2.62982236] [ 0.01962732 0.99977856 0.00758951 0.06937568] [ 0.01021364 -0.00779107 0.99991749 -0.39385364] [ 0. 0. 0. 1. ]] SLAMing on 21.381193817000003 meters Centerline goodness : 0.862218 Centerline is valid? [False, False] Translation: X:2.63, Y:0.07, Z:-0.39 [[ 0.99975971 -0.01911477 -0.01073102 2.63058796] [ 0.01918837 0.99979277 0.00679821 0.07347117] [ 0.01059885 -0.00700249 0.99991931 -0.3938894 ] [ 0. 0. 0. 1. ]] SLAMing on 21.411193817 meters Centerline goodness : 0.861461 Centerline is valid? [False, False] Translation: X:2.63, Y:0.08, Z:-0.39 [[ 0.99981697 -0.01569213 -0.01094435 2.63062877] [ 0.01579673 0.99982974 0.00953714 0.07678569] [ 0.01079283 -0.00970828 0.99989463 -0.39353263] [ 0. 0. 0. 1. ]] SLAMing on 21.441193817000002 meters Centerline goodness : 0.863561 Centerline is valid? [False, False] Translation: X:2.63, Y:0.08, Z:-0.39 [[ 0.99986192 -0.01229138 -0.01118337 2.63088562] [ 0.01242665 0.99984948 0.01210762 0.08085732] [ 0.01103287 -0.01224492 0.99986416 -0.39340036] [ 0. 0. 0. 1. ]] SLAMing on 21.471193817000003 meters Centerline goodness : 0.862925 Centerline is valid? [False, False] Translation: X:2.63, Y:0.09, Z:-0.39 [[ 9.99931852e-01 -1.77368875e-03 -1.15388889e-02 2.63190011e+00] [ 2.02018852e-03 9.99769251e-01 2.13860604e-02 8.74413265e-02] [ 1.14982941e-02 -2.14079137e-02 9.99704702e-01 -3.94026448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.501193817 meters Centerline goodness : 0.862709 Centerline is valid? [False, False] Translation: X:2.63, Y:0.09, Z:-0.39 [[ 9.99928837e-01 2.36854222e-03 -1.16923644e-02 2.63272666e+00] [-2.08343021e-03 9.99701648e-01 2.43367041e-02 9.15024930e-02] [ 1.17465185e-02 -2.43106120e-02 9.99635440e-01 -3.94679541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.531193817000002 meters Centerline goodness : 0.862087 Centerline is valid? [False, False] Translation: X:2.63, Y:0.10, Z:-0.39 [[ 0.99990916 0.00666849 -0.0117131 2.63308526] [-0.00634654 0.99960681 0.02731193 0.09549834] [ 0.01189062 -0.02723511 0.99955833 -0.39499508] [ 0. 0. 0. 1. ]] SLAMing on 21.561193817000003 meters Centerline goodness : 0.859905 Centerline is valid? [False, False] Translation: X:2.63, Y:0.10, Z:-0.40 [[ 0.99987133 0.01061487 -0.01202704 2.63399155] [-0.01024588 0.99948721 0.03033692 0.09850526] [ 0.0123429 -0.03020979 0.99946737 -0.39529412] [ 0. 0. 0. 1. ]] SLAMing on 21.591193817 meters Centerline goodness : 0.861637 Centerline is valid? [False, False] Translation: X:2.64, Y:0.10, Z:-0.39 [[ 0.99972036 0.01731452 -0.01610595 2.64246281] [-0.01680901 0.99937773 0.0310097 0.10046594] [ 0.01663285 -0.0307303 0.99938931 -0.39270119] [ 0. 0. 0. 1. ]] SLAMing on 21.621193817 meters Centerline goodness : 0.858001 Centerline is valid? [False, False] Translation: X:2.66, Y:0.10, Z:-0.39 [[ 0.99972032 0.01610389 -0.01731905 2.66419944] [-0.01558126 0.99943145 0.02989973 0.10039105] [ 0.0177907 -0.02962151 0.99940285 -0.39332441] [ 0. 0. 0. 1. ]] SLAMing on 21.651193817000003 meters Centerline goodness : 0.857480 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.40 [[ 0.99982501 0.01268959 -0.01374519 2.67874162] [-0.01219744 0.99930176 0.03531605 0.09768569] [ 0.01418374 -0.03514221 0.99928167 -0.39866674] [ 0. 0. 0. 1. ]] SLAMing on 21.681193817 meters Centerline goodness : 0.858402 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.40 [[ 0.99986734 0.01040626 -0.01253058 2.69781644] [-0.00994743 0.99929729 0.03613822 0.09559055] [ 0.01289784 -0.03600878 0.99926824 -0.39866967] [ 0. 0. 0. 1. ]] SLAMing on 21.711193817 meters Centerline goodness : 0.859799 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:-0.39 [[ 9.99949365e-01 1.80031552e-03 -9.90083844e-03 2.71456266e+00] [-1.04420728e-03 9.97118729e-01 7.58495270e-02 8.31616032e-02] [ 1.00088645e-02 -7.58353478e-02 9.97070119e-01 -3.89219536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.741193817000003 meters Centerline goodness : 0.859180 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:-0.39 [[ 9.99953044e-01 1.34850292e-03 -9.59641202e-03 2.71339640e+00] [-6.09627595e-04 9.97062854e-01 7.65852071e-02 8.20316412e-02] [ 9.67150133e-03 -7.65757607e-02 9.97016858e-01 -3.87302922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.771193817 meters Centerline goodness : 0.858866 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:-0.39 [[ 9.99950355e-01 -2.28018498e-03 -9.69990437e-03 2.71358805e+00] [ 2.97772640e-03 9.97362738e-01 7.25169034e-02 8.26160727e-02] [ 9.50897123e-03 -7.25421870e-02 9.97320014e-01 -3.87203673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.801193817 meters Centerline goodness : 0.859364 Centerline is valid? [False, False] Translation: X:2.69, Y:0.08, Z:-0.39 [[ 0.99994105 -0.005663 -0.00926464 2.68810102] [ 0.00618907 0.99831037 0.0577763 0.08467127] [ 0.0089218 -0.05783023 0.99828656 -0.38991292] [ 0. 0. 0. 1. ]] SLAMing on 21.831193817000003 meters Centerline goodness : 0.860042 Centerline is valid? [False, False] Translation: X:2.68, Y:0.09, Z:-0.39 [[ 0.99988181 -0.00774152 -0.01328283 2.67921878] [ 0.00831798 0.99900099 0.04390701 0.08814287] [ 0.01292965 -0.04401231 0.99894732 -0.38849245] [ 0. 0. 0. 1. ]] SLAMing on 21.861193817000004 meters Centerline goodness : 0.858377 Centerline is valid? [False, False] Translation: X:2.68, Y:0.09, Z:-0.39 [[ 0.99984408 -0.01131039 -0.01356037 2.6803181 ] [ 0.0118446 0.99913011 0.03998419 0.08962199] [ 0.01309634 -0.04013858 0.99910829 -0.38911531] [ 0. 0. 0. 1. ]] SLAMing on 21.891193817 meters Centerline goodness : 0.859025 Centerline is valid? [False, False] Translation: X:2.68, Y:0.09, Z:-0.39 [[ 0.99979668 -0.01453279 -0.01397868 2.6820939 ] [ 0.01503155 0.99922922 0.0362633 0.09160095] [ 0.0134409 -0.03646605 0.9992445 -0.39019875] [ 0. 0. 0. 1. ]] SLAMing on 21.921193817000002 meters Centerline goodness : 0.859231 Centerline is valid? [False, False] Translation: X:2.67, Y:0.10, Z:-0.39 [[ 0.99971839 -0.015777 -0.01772623 2.67300043] [ 0.01618831 0.99959733 0.02330472 0.09522673] [ 0.01735141 -0.02358512 0.99957124 -0.38890038] [ 0. 0. 0. 1. ]] SLAMing on 21.951193817000004 meters Centerline goodness : 0.860157 Centerline is valid? [False, False] Translation: X:2.67, Y:0.09, Z:-0.39 [[ 0.99970678 -0.01607376 -0.01811048 2.67437487] [ 0.01649163 0.99959561 0.02316567 0.09488304] [ 0.0177308 -0.02345754 0.99956759 -0.38963792] [ 0. 0. 0. 1. ]] SLAMing on 21.981193817 meters Centerline goodness : 0.860157 Centerline is valid? [False, False] Translation: X:2.67, Y:0.09, Z:-0.39 [[ 0.99970678 -0.01607376 -0.01811048 2.67437487] [ 0.01649163 0.99959561 0.02316567 0.09488304] [ 0.0177308 -0.02345754 0.99956759 -0.38963792] [ 0. 0. 0. 1. ]] SLAMing on 22.011193817000002 meters Centerline goodness : 0.859082 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.39 [[ 0.99969248 -0.01647486 -0.01853454 2.67571686] [ 0.016896 0.99959727 0.02279983 0.09519843] [ 0.01815146 -0.02310597 0.99956823 -0.39022059] [ 0. 0. 0. 1. ]] SLAMing on 22.041193817000003 meters Centerline goodness : 0.858570 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.39 [[ 0.99969549 -0.01627547 -0.01854841 2.67594198] [ 0.01668518 0.99961536 0.02215245 0.09784242] [ 0.01818074 -0.02245519 0.99958253 -0.39049545] [ 0. 0. 0. 1. ]] SLAMing on 22.071193817 meters Centerline goodness : 0.861153 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.39 [[ 0.99969871 -0.01570803 -0.018861 2.67659958] [ 0.01612165 0.99962837 0.02198203 0.09965979] [ 0.0185087 -0.02227947 0.99958044 -0.39061273] [ 0. 0. 0. 1. ]] SLAMing on 22.101193817000002 meters Centerline goodness : 0.857890 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.39 [[ 0.99971286 -0.01447234 -0.01909857 2.67744709] [ 0.01489623 0.99964162 0.02224252 0.10158202] [ 0.01876982 -0.02252063 0.99957017 -0.39113855] [ 0. 0. 0. 1. ]] SLAMing on 22.131193817000003 meters Centerline goodness : 0.858518 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.39 [[ 0.99972147 -0.01359651 -0.01929015 2.67794186] [ 0.01402375 0.99965544 0.02218848 0.10336078] [ 0.01898181 -0.02245282 0.99956769 -0.39146422] [ 0. 0. 0. 1. ]] SLAMing on 22.161193817 meters Centerline goodness : 0.859812 Centerline is valid? [False, False] Translation: X:2.67, Y:0.10, Z:-0.39 [[ 0.9997747 -0.00954144 -0.01896086 2.6749909 ] [ 0.01003285 0.99961178 0.0259931 0.10282581] [ 0.01870548 -0.02617747 0.99948229 -0.38848963] [ 0. 0. 0. 1. ]] SLAMing on 22.191193817000002 meters Centerline goodness : 0.859313 Centerline is valid? [False, False] Translation: X:2.67, Y:0.10, Z:-0.39 [[ 0.99980406 -0.0065773 -0.01867052 2.67269465] [ 0.00711377 0.99955948 0.02881386 0.10252319] [ 0.01847278 -0.02894104 0.99941041 -0.38638869] [ 0. 0. 0. 1. ]] SLAMing on 22.221193817000003 meters Centerline goodness : 0.862916 Centerline is valid? [False, False] Translation: X:2.67, Y:0.10, Z:-0.39 [[ 9.99822268e-01 -2.44283068e-03 -1.86939578e-02 2.67210608e+00] [ 3.05767336e-03 9.99452906e-01 3.29323356e-02 1.02622602e-01] [ 1.86032823e-02 -3.29836425e-02 9.99282741e-01 -3.85430674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.251193817 meters Centerline goodness : 0.860645 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:-0.39 [[ 9.99891136e-01 -2.93835248e-05 -1.47551850e-02 2.68879944e+00] [ 5.39645637e-04 9.99401819e-01 3.45790949e-02 1.04432693e-01] [ 1.47453426e-02 -3.45832930e-02 9.99293035e-01 -3.85020168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.281193817000002 meters Centerline goodness : 0.860041 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:-0.38 [[ 9.99937097e-01 2.59958015e-03 -1.09107098e-02 2.70583790e+00] [-2.18990762e-03 9.99298232e-01 3.73931653e-02 1.05618401e-01] [ 1.10002595e-02 -3.73669198e-02 9.99241066e-01 -3.84898791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.311193817000003 meters Centerline goodness : 0.859196 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.39 [[ 0.99992103 0.00493977 -0.01155573 2.70768523] [-0.00448176 0.99921622 0.03933025 0.10427671] [ 0.01174096 -0.03927536 0.99915944 -0.38556518] [ 0. 0. 0. 1. ]] SLAMing on 22.341193817 meters Centerline goodness : 0.857733 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.39 [[ 0.99997129 0.00485549 -0.00581709 2.71810577] [-0.0046805 0.99954712 0.02972632 0.10406424] [ 0.00595879 -0.02969824 0.99954115 -0.38855344] [ 0. 0. 0. 1. ]] SLAMing on 22.371193817 meters Centerline goodness : 0.861223 Centerline is valid? [False, False] Translation: X:2.74, Y:0.10, Z:-0.39 [[ 0.99998405 0.00435871 -0.00359317 2.73770933] [-0.00424245 0.99948682 0.03175051 0.09988017] [ 0.00372972 -0.03173476 0.99948937 -0.38947505] [ 0. 0. 0. 1. ]] SLAMing on 22.401193817000003 meters Centerline goodness : 0.862386 Centerline is valid? [False, False] Translation: X:2.76, Y:0.10, Z:-0.39 [[ 9.99995745e-01 2.00664399e-03 -2.11719407e-03 2.75706691e+00] [-1.94282158e-03 9.99556136e-01 2.97280278e-02 9.77195218e-02] [ 2.17590789e-03 -2.97237880e-02 9.99555782e-01 -3.89489615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.431193817 meters Centerline goodness : 0.862338 Centerline is valid? [False, False] Translation: X:2.78, Y:0.09, Z:-0.39 [[ 9.99986654e-01 1.09252516e-03 -5.04965104e-03 2.78009476e+00] [-9.41676764e-04 9.99556050e-01 2.97794715e-02 9.38443560e-02] [ 5.07994407e-03 -2.97743189e-02 9.99543738e-01 -3.90576224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.461193817 meters Centerline goodness : 0.859424 Centerline is valid? [False, False] Translation: X:2.78, Y:0.09, Z:-0.39 [[ 9.99984152e-01 1.61496963e-03 -5.39323842e-03 2.78117623e+00] [-1.44948748e-03 9.99532266e-01 3.05474619e-02 9.19556435e-02] [ 5.44004905e-03 -3.05391603e-02 9.99518767e-01 -3.90984825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.491193817000003 meters Centerline goodness : 0.861099 Centerline is valid? [False, False] Translation: X:2.80, Y:0.09, Z:-0.39 [[ 9.99977071e-01 1.36830658e-03 -6.63218134e-03 2.80288500e+00] [-1.16080004e-03 9.99512758e-01 3.11913151e-02 8.98992980e-02] [ 6.67162915e-03 -3.11829013e-02 9.99491429e-01 -3.91688420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.521193817 meters Centerline goodness : 0.860335 Centerline is valid? [False, False] Translation: X:2.82, Y:0.09, Z:-0.39 [[ 9.99968695e-01 5.04454443e-04 -7.89646540e-03 2.82436215e+00] [-2.61706091e-04 9.99528232e-01 3.07122931e-02 8.82250685e-02] [ 7.90823305e-03 -3.07092651e-02 9.99497074e-01 -3.92052567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.551193817 meters Centerline goodness : 0.860045 Centerline is valid? [False, False] Translation: X:2.83, Y:0.08, Z:-0.39 [[ 9.99964499e-01 -5.67015028e-04 -8.40707824e-03 2.82673104e+00] [ 8.16816016e-04 9.99557347e-01 2.97395806e-02 8.45648651e-02] [ 8.38649403e-03 -2.97453919e-02 9.99522325e-01 -3.93585525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.581193817000003 meters Centerline goodness : 0.857105 Centerline is valid? [False, False] Translation: X:2.85, Y:0.08, Z:-0.39 [[ 9.99978685e-01 1.46423580e-04 -6.52748208e-03 2.84652548e+00] [ 7.04320236e-05 9.99448415e-01 3.32093347e-02 8.08347680e-02] [ 6.52874425e-03 -3.32090866e-02 9.99427102e-01 -3.94720024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.611193817000004 meters Centerline goodness : 0.859718 Centerline is valid? [False, False] Translation: X:2.86, Y:0.08, Z:-0.39 [[ 9.99990081e-01 -2.21646150e-03 -3.86321433e-03 2.86490503e+00] [ 2.33372774e-03 9.99528399e-01 3.06191589e-02 7.90402768e-02] [ 3.79352625e-03 -3.06278709e-02 9.99523658e-01 -3.94651699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.641193817 meters Centerline goodness : 0.859962 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:-0.40 [[ 9.99996022e-01 -2.11806114e-03 -1.86299509e-03 2.88409928e+00] [ 2.18216147e-03 9.99381213e-01 3.51059811e-02 6.98612226e-02] [ 1.78748568e-03 -3.51099067e-02 9.99381859e-01 -3.95934668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.671193817000002 meters Centerline goodness : 0.861073 Centerline is valid? [False, False] Translation: X:2.90, Y:0.06, Z:-0.39 [[ 9.99992273e-01 -3.73014928e-03 -1.24117516e-03 2.90008612e+00] [ 3.79325900e-03 9.98453019e-01 5.54723272e-02 6.31141930e-02] [ 1.03233503e-03 -5.54766067e-02 9.98459454e-01 -3.91446215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.701193817000004 meters Centerline goodness : 0.862350 Centerline is valid? [False, False] Translation: X:2.90, Y:0.06, Z:-0.39 [[ 9.99978126e-01 -6.31772281e-03 -1.95795771e-03 2.90269398e+00] [ 6.41279322e-03 9.98568421e-01 5.31035241e-02 6.23650234e-02] [ 1.61966140e-03 -5.31149185e-02 9.98587093e-01 -3.92421404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.731193817 meters Centerline goodness : 0.862316 Centerline is valid? [False, False] Translation: X:2.92, Y:0.06, Z:-0.39 [[ 9.99953902e-01 -9.14800428e-03 -2.91688450e-03 2.92369563e+00] [ 9.28705984e-03 9.98609846e-01 5.18856946e-02 6.08742258e-02] [ 2.43817903e-03 -5.19103920e-02 9.98648770e-01 -3.92589178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.761193817000002 meters Centerline goodness : 0.862437 Centerline is valid? [False, False] Translation: X:2.92, Y:0.06, Z:-0.39 [[ 0.99982259 -0.01756799 -0.00679334 2.91802175] [ 0.01778229 0.99930079 0.03288949 0.05714371] [ 0.00621079 -0.03300446 0.99943591 -0.39321329] [ 0. 0. 0. 1. ]] SLAMing on 22.791193817000003 meters Centerline goodness : 0.862330 Centerline is valid? [False, False] Translation: X:2.92, Y:0.05, Z:-0.39 [[ 0.99968272 -0.02409677 -0.00733477 2.92073796] [ 0.02428591 0.99934324 0.02689402 0.05401812] [ 0.00668189 -0.02706362 0.99961138 -0.39475729] [ 0. 0. 0. 1. ]] SLAMing on 22.821193817 meters Centerline goodness : 0.861957 Centerline is valid? [False, False] Translation: X:2.92, Y:0.05, Z:-0.40 [[ 0.99948199 -0.03126313 -0.00763953 2.92257502] [ 0.03141213 0.99930174 0.02023132 0.05116034] [ 0.0070017 -0.02046081 0.99976614 -0.39564416] [ 0. 0. 0. 1. ]] SLAMing on 22.851193817000002 meters Centerline goodness : 0.866171 Centerline is valid? [False, False] Translation: X:2.92, Y:0.05, Z:-0.39 [[ 0.99903736 -0.04324014 -0.00739203 2.92205321] [ 0.04330902 0.99901724 0.0094273 0.04717568] [ 0.00697712 -0.00973836 0.99992824 -0.39419334] [ 0. 0. 0. 1. ]] SLAMing on 22.881193817000003 meters Centerline goodness : 0.867252 Centerline is valid? [False, False] Translation: X:2.93, Y:0.05, Z:-0.40 [[ 9.98927985e-01 -4.62903402e-02 -2.91570282e-04 2.93247386e+00] [ 4.62898256e-02 9.98926808e-01 -1.57625067e-03 4.82341119e-02] [ 3.64222551e-04 1.56106417e-03 9.99998715e-01 -3.97087582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.911193817 meters Centerline goodness : 0.869110 Centerline is valid? [False, False] Translation: X:2.93, Y:0.05, Z:-0.40 [[ 9.98739437e-01 -5.01937019e-02 -3.60030133e-04 2.93177314e+00] [ 5.01908718e-02 9.98723657e-01 -5.65088717e-03 4.88362511e-02] [ 6.43209558e-04 5.62569364e-03 9.99983969e-01 -3.95464398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.941193817000002 meters Centerline goodness : 0.870938 Centerline is valid? [False, False] Translation: X:2.94, Y:0.05, Z:-0.40 [[ 0.9987564 -0.04946348 0.00624686 2.9410094 ] [ 0.04954738 0.99867255 -0.01407786 0.04975055] [-0.00554223 0.01436987 0.99988139 -0.39794396] [ 0. 0. 0. 1. ]] SLAMing on 22.971193817000003 meters Centerline goodness : 0.872072 Centerline is valid? [False, False] Translation: X:2.96, Y:0.05, Z:-0.40 [[ 0.99874698 -0.04907465 0.00980505 2.95867511] [ 0.04920532 0.9986966 -0.01356264 0.04924662] [-0.00912669 0.01402811 0.99985995 -0.39787709] [ 0. 0. 0. 1. ]] SLAMing on 23.001193817 meters Centerline goodness : 0.873069 Centerline is valid? [False, False] Translation: X:2.96, Y:0.05, Z:-0.40 [[ 0.99874237 -0.04917113 0.00979152 2.95889372] [ 0.04930614 0.99868473 -0.01406076 0.05132652] [-0.00908726 0.01452586 0.9998532 -0.39812877] [ 0. 0. 0. 1. ]] SLAMing on 23.031193817000002 meters Centerline goodness : 0.873278 Centerline is valid? [False, False] Translation: X:2.96, Y:0.05, Z:-0.40 [[ 0.9987302 -0.04946753 0.00953734 2.96017529] [ 0.04960417 0.99866127 -0.01466607 0.0531926 ] [-0.00879908 0.01512053 0.99984696 -0.39912881] [ 0. 0. 0. 1. ]] SLAMing on 23.061193817000003 meters Centerline goodness : 0.874789 Centerline is valid? [False, False] Translation: X:2.96, Y:0.06, Z:-0.40 [[ 0.99873433 -0.04945935 0.00913852 2.96338126] [ 0.04959114 0.99865985 -0.01480612 0.05510983] [-0.00839398 0.01524057 0.99984862 -0.40206893] [ 0. 0. 0. 1. ]] SLAMing on 23.091193817 meters Centerline goodness : 0.874278 Centerline is valid? [False, False] Translation: X:2.97, Y:0.06, Z:-0.40 [[ 0.99877007 -0.04883374 0.00857956 2.96642172] [ 0.04895324 0.99869842 -0.01431939 0.05721342] [-0.00786913 0.01472178 0.99986066 -0.40458594] [ 0. 0. 0. 1. ]] SLAMing on 23.121193817 meters Centerline goodness : 0.873166 Centerline is valid? [False, False] Translation: X:2.98, Y:0.07, Z:-0.41 [[ 0.99872308 -0.04925725 0.0112216 2.98483246] [ 0.04947503 0.99857439 -0.02003517 0.06610964] [-0.01021872 0.02056478 0.9997363 -0.40791207] [ 0. 0. 0. 1. ]] SLAMing on 23.151193817000003 meters Centerline goodness : 0.876627 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.41 [[ 0.99879577 -0.04780625 0.0110258 3.00574509] [ 0.04800712 0.99867126 -0.0187358 0.06947669] [-0.01011546 0.01924255 0.99976367 -0.40865036] [ 0. 0. 0. 1. ]] SLAMing on 23.181193817 meters Centerline goodness : 0.878086 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.41 [[ 0.99883354 -0.04717325 0.01030715 3.00809321] [ 0.04735897 0.998705 -0.0185861 0.07394612] [-0.00941703 0.01905256 0.99977413 -0.40994668] [ 0. 0. 0. 1. ]] SLAMing on 23.211193817 meters Centerline goodness : 0.878356 Centerline is valid? [False, False] Translation: X:3.03, Y:0.08, Z:-0.41 [[ 0.99892809 -0.0453771 0.00914228 3.02965332] [ 0.04552946 0.99881472 -0.01721089 0.07842987] [-0.00835046 0.01760868 0.99981008 -0.41073945] [ 0. 0. 0. 1. ]] SLAMing on 23.241193817000003 meters Centerline goodness : 0.878096 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:-0.41 [[ 0.99906002 -0.04250192 0.0085245 3.03143791] [ 0.0426328 0.99896574 -0.01580828 0.08577307] [-0.0078438 0.01615685 0.9998387 -0.41184783] [ 0. 0. 0. 1. ]] SLAMing on 23.271193817000004 meters Centerline goodness : 0.878244 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:-0.41 [[ 0.99919739 -0.03920034 0.0082411 3.03191852] [ 0.03930416 0.99914483 -0.01283704 0.08810711] [-0.00773083 0.01315065 0.99988364 -0.41204803] [ 0. 0. 0. 1. ]] SLAMing on 23.301193817 meters Centerline goodness : 0.880112 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:-0.41 [[ 0.9993283 -0.03574341 0.0080849 3.03132309] [ 0.03582236 0.99930972 -0.00984066 0.09123717] [-0.00772758 0.01012367 0.99991889 -0.41121138] [ 0. 0. 0. 1. ]] SLAMing on 23.331193817000003 meters Centerline goodness : 0.884557 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.41 [[ 0.99954165 -0.02920022 0.00798924 3.03002022] [ 0.02923641 0.99956261 -0.00445162 0.09955133] [-0.00785575 0.00468316 0.99995818 -0.40989693] [ 0. 0. 0. 1. ]] SLAMing on 23.361193817000004 meters Centerline goodness : 0.884054 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.41 [[ 9.99640532e-01 -2.56615753e-02 7.76462552e-03 3.03095593e+00] [ 2.56733238e-02 9.99669381e-01 -1.41719663e-03 1.02847231e-01] [-7.72569089e-03 1.61603093e-03 9.99968851e-01 -4.10837931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.391193817 meters Centerline goodness : 0.886497 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.41 [[ 9.99729076e-01 -2.20105558e-02 7.57038571e-03 3.03171952e+00] [ 2.19977903e-02 9.99756461e-01 1.76539817e-03 1.05459773e-01] [-7.60739942e-03 -1.59838812e-03 9.99969786e-01 -4.11666726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.421193817000002 meters Centerline goodness : 0.885665 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.41 [[ 0.9997966 -0.01881086 0.00727382 3.03319744] [ 0.01877899 0.99981387 0.00442495 0.10787273] [-0.0073557 -0.00428746 0.99996376 -0.41320607] [ 0. 0. 0. 1. ]] SLAMing on 23.451193817000004 meters Centerline goodness : 0.883260 Centerline is valid? [False, False] Translation: X:3.04, Y:0.11, Z:-0.42 [[ 0.99982097 -0.01769303 0.00670744 3.03602197] [ 0.01766484 0.99983498 0.00423946 0.11071383] [-0.00678134 -0.00412022 0.99996852 -0.41589558] [ 0. 0. 0. 1. ]] SLAMing on 23.481193817 meters Centerline goodness : 0.884168 Centerline is valid? [False, False] Translation: X:3.04, Y:0.12, Z:-0.42 [[ 9.99829144e-01 -1.72953891e-02 6.52314374e-03 3.03736646e+00] [ 1.72781478e-02 9.99847102e-01 2.69025359e-03 1.15246223e-01] [-6.56867534e-03 -2.57708610e-03 9.99975105e-01 -4.17961209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.511193817000002 meters Centerline goodness : 0.884426 Centerline is valid? [False, False] Translation: X:3.04, Y:0.11, Z:-0.42 [[ 0.99988007 -0.01429369 0.00596046 3.03817976] [ 0.01425504 0.99987742 0.00647607 0.11469372] [-0.0060523 -0.00639033 0.99996127 -0.41754007] [ 0. 0. 0. 1. ]] SLAMing on 23.541193817000003 meters Centerline goodness : 0.888976 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.42 [[ 0.99987501 -0.01271411 0.00939756 3.0299253 ] [ 0.01259838 0.99984532 0.01227282 0.11697527] [-0.00955215 -0.01215289 0.99988052 -0.41777724] [ 0. 0. 0. 1. ]] SLAMing on 23.571193817 meters Centerline goodness : 0.889057 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.42 [[ 0.99985482 -0.01133313 0.01272423 3.02360744] [ 0.01110041 0.9997725 0.01821318 0.11776621] [-0.01292775 -0.0180693 0.99975316 -0.42019818] [ 0. 0. 0. 1. ]] SLAMing on 23.601193817000002 meters Centerline goodness : 0.889314 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.42 [[ 0.99989249 -0.00782123 0.01240337 3.02365087] [ 0.00754214 0.99972086 0.02239015 0.11719059] [-0.01257503 -0.02229419 0.99967237 -0.41938352] [ 0. 0. 0. 1. ]] SLAMing on 23.631193817000003 meters Centerline goodness : 0.892367 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.42 [[ 0.99989631 -0.0075745 0.01224719 3.02341322] [ 0.00729875 0.99972232 0.02240544 0.11773394] [-0.01241349 -0.02231373 0.99967395 -0.41857507] [ 0. 0. 0. 1. ]] SLAMing on 23.661193817 meters Centerline goodness : 0.894044 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.41 [[ 0.99988144 -0.00988923 0.01180279 3.02945602] [ 0.00951307 0.99945811 0.03151186 0.11544945] [-0.01210802 -0.03139585 0.99943369 -0.41385822] [ 0. 0. 0. 1. ]] SLAMing on 23.691193817000002 meters Centerline goodness : 0.896372 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.41 [[ 0.99988009 -0.01012321 0.01171864 3.02915491] [ 0.00974926 0.99945493 0.03154036 0.11499738] [-0.01203155 -0.03142233 0.99943378 -0.41303109] [ 0. 0. 0. 1. ]] SLAMing on 23.721193817000003 meters Centerline goodness : 0.899248 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.41 [[ 0.9998757 -0.01053456 0.01173042 3.02901734] [ 0.01016126 0.99945397 0.03144067 0.11432496] [-0.01205522 -0.03131757 0.99943678 -0.41278156] [ 0. 0. 0. 1. ]] SLAMing on 23.751193817 meters Centerline goodness : 0.897750 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.41 [[ 0.99983578 -0.01360659 0.01196973 3.02874733] [ 0.01327221 0.99953135 0.02758489 0.11617638] [-0.01233946 -0.0274215 0.9995478 -0.41285541] [ 0. 0. 0. 1. ]] SLAMing on 23.781193817000002 meters Centerline goodness : 0.901792 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.41 [[ 0.99982693 -0.01431548 0.0118819 3.02887755] [ 0.013998 0.99955383 0.02638543 0.11985749] [-0.01225432 -0.02621454 0.99958123 -0.41298286] [ 0. 0. 0. 1. ]] SLAMing on 23.811193817000003 meters Centerline goodness : 0.899463 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.41 [[ 0.99982043 -0.01451047 0.01218838 3.02820286] [ 0.01418842 0.99955848 0.02610628 0.1209649 ] [-0.01256181 -0.02592866 0.99958487 -0.41276371] [ 0. 0. 0. 1. ]] SLAMing on 23.841193817 meters Centerline goodness : 0.897160 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.41 [[ 0.99984583 -0.0162439 0.00666743 3.0198859 ] [ 0.01599514 0.9992308 0.03580444 0.11971548] [-0.00724391 -0.03569228 0.99933657 -0.40962529] [ 0. 0. 0. 1. ]] SLAMing on 23.871193817 meters Centerline goodness : 0.897036 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.41 [[ 0.99975905 -0.02103689 0.00626812 3.02275111] [ 0.02083709 0.99932069 0.0303971 0.12071225] [-0.00690332 -0.03025917 0.99951825 -0.41247313] [ 0. 0. 0. 1. ]] SLAMing on 23.901193817000003 meters Centerline goodness : 0.897036 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.41 [[ 0.99975905 -0.02103689 0.00626812 3.02275111] [ 0.02083709 0.99932069 0.0303971 0.12071225] [-0.00690332 -0.03025917 0.99951825 -0.41247313] [ 0. 0. 0. 1. ]] SLAMing on 23.931193817 meters Centerline goodness : 0.898049 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.41 [[ 0.99967117 -0.02485518 0.00630645 3.02335383] [ 0.02468443 0.99936114 0.02584554 0.12242553] [-0.00694482 -0.02568137 0.99964606 -0.41333319] [ 0. 0. 0. 1. ]] SLAMing on 23.961193817 meters Centerline goodness : 0.897131 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.41 [[ 0.99966034 -0.02539217 0.00586899 3.0246435 ] [ 0.02523472 0.99935619 0.02550327 0.12274512] [-0.0065128 -0.0253465 0.99965751 -0.41389037] [ 0. 0. 0. 1. ]] SLAMing on 23.991193817000003 meters Centerline goodness : 0.897866 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.41 [[ 0.99964948 -0.02589799 0.00549583 3.02536591] [ 0.02575325 0.99935696 0.02494878 0.12371039] [-0.00613842 -0.0247985 0.99967362 -0.4139078 ] [ 0. 0. 0. 1. ]] SLAMing on 24.021193817000004 meters Centerline goodness : 0.895156 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.41 [[ 0.99965689 -0.02567811 0.00517035 3.02600655] [ 0.02554073 0.99935907 0.02508223 0.1236423 ] [-0.0058111 -0.02494157 0.99967202 -0.41390966] [ 0. 0. 0. 1. ]] SLAMing on 24.051193817 meters Centerline goodness : 0.897485 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.41 [[ 0.99966502 -0.02536979 0.00511993 3.02539815] [ 0.02523202 0.99935928 0.02538463 0.12309632] [-0.00576066 -0.02524694 0.99966465 -0.41281219] [ 0. 0. 0. 1. ]] SLAMing on 24.081193817000003 meters Centerline goodness : 0.900980 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.41 [[ 0.99967207 -0.02506645 0.00523736 3.02435145] [ 0.02492481 0.99936267 0.02555398 0.12307296] [-0.00587457 -0.02541506 0.99965972 -0.41157469] [ 0. 0. 0. 1. ]] SLAMing on 24.111193817000004 meters Centerline goodness : 0.901976 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.41 [[ 0.99968305 -0.02464642 0.00513277 3.02404176] [ 0.02450716 0.99937117 0.0256254 0.12393522] [-0.00576112 -0.02549148 0.99965844 -0.41083447] [ 0. 0. 0. 1. ]] SLAMing on 24.141193817 meters Centerline goodness : 0.901643 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.41 [[ 0.99968975 -0.02434889 0.00524704 3.02349623] [ 0.02420982 0.99939145 0.02511197 0.12609144] [-0.0058553 -0.02497715 0.99967087 -0.41058706] [ 0. 0. 0. 1. ]] SLAMing on 24.171193817000002 meters Centerline goodness : 0.899634 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.41 [[ 9.99873362e-01 -1.57542500e-02 2.25033675e-03 3.02328124e+00] [ 1.57246861e-02 9.99796954e-01 1.26009708e-02 1.29671778e-01] [-2.44839867e-03 -1.25639892e-02 9.99918072e-01 -4.09768925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.201193817000004 meters Centerline goodness : 0.899323 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.41 [[ 9.99889581e-01 -1.46949529e-02 2.21021969e-03 3.02359110e+00] [ 1.46651474e-02 9.99808652e-01 1.29457576e-02 1.29841959e-01] [-2.40003407e-03 -1.29119149e-02 9.99913757e-01 -4.10243711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.231193817 meters Centerline goodness : 0.901172 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.41 [[ 9.99944795e-01 -1.03444714e-02 1.84334253e-03 3.02452295e+00] [ 1.03103669e-02 9.99791262e-01 1.76388269e-02 1.28113271e-01] [-2.02542209e-03 -1.76188476e-02 9.99842725e-01 -4.10645092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.261193817000002 meters Centerline goodness : 0.903380 Centerline is valid? [False, False] Translation: X:3.04, Y:0.13, Z:-0.41 [[ 0.99997361 -0.00587925 0.00426867 3.0432156 ] [ 0.0057692 0.99966195 0.02535146 0.12512325] [-0.00441627 -0.02532616 0.99966949 -0.41119859] [ 0. 0. 0. 1. ]] SLAMing on 24.291193817000003 meters Centerline goodness : 0.905443 Centerline is valid? [False, False] Translation: X:3.06, Y:0.13, Z:-0.41 [[ 0.99994959 -0.00484616 0.00879413 3.05847495] [ 0.00460372 0.99961443 0.02738235 0.12500365] [-0.00892344 -0.02734048 0.99958635 -0.40918903] [ 0. 0. 0. 1. ]] SLAMing on 24.321193817 meters Centerline goodness : 0.902627 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:-0.41 [[ 9.99936050e-01 -2.94949891e-03 1.09177197e-02 3.07770229e+00] [ 2.58863714e-03 9.99454615e-01 3.29206748e-02 1.21855995e-01] [-1.10088648e-02 -3.28903075e-02 9.99398335e-01 -4.10256768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.351193817000002 meters Centerline goodness : 0.904312 Centerline is valid? [False, False] Translation: X:3.10, Y:0.12, Z:-0.41 [[ 9.99927043e-01 -1.97800019e-03 1.19162375e-02 3.09793466e+00] [ 1.54012289e-03 9.99327196e-01 3.66440204e-02 1.18921906e-01] [-1.19807021e-02 -3.66229945e-02 9.99257334e-01 -4.11273649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.381193817000003 meters Centerline goodness : 0.906119 Centerline is valid? [False, False] Translation: X:3.12, Y:0.12, Z:-0.41 [[ 9.99906495e-01 -3.04985282e-03 1.33304227e-02 3.11790473e+00] [ 2.57544911e-03 9.99367726e-01 3.54614550e-02 1.17833240e-01] [-1.34301464e-02 -3.54238073e-02 9.99282135e-01 -4.11972938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.411193817 meters Centerline goodness : 0.904397 Centerline is valid? [False, False] Translation: X:3.12, Y:0.11, Z:-0.41 [[ 9.99914356e-01 -9.41696373e-04 1.30535109e-02 3.11867637e+00] [ 4.47484901e-04 9.99284779e-01 3.78117642e-02 1.12187904e-01] [-1.30797820e-02 -3.78026846e-02 9.99199618e-01 -4.11965360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.441193817000002 meters Centerline goodness : 0.904307 Centerline is valid? [False, False] Translation: X:3.15, Y:0.11, Z:-0.41 [[ 9.99947451e-01 2.73788428e-03 9.87919924e-03 3.14752447e+00] [-3.08186603e-03 9.99383497e-01 3.49732507e-02 1.09729092e-01] [-9.77735597e-03 -3.50018593e-02 9.99339418e-01 -4.10908146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.471193817000003 meters Centerline goodness : 0.904301 Centerline is valid? [False, False] Translation: X:3.17, Y:0.11, Z:-0.41 [[ 0.99995243 0.00421545 0.00879594 3.16950367] [-0.00453634 0.99931286 0.03678638 0.10759221] [-0.00863482 -0.03682453 0.99928444 -0.41245002] [ 0. 0. 0. 1. ]] SLAMing on 24.501193817 meters Centerline goodness : 0.902554 Centerline is valid? [False, False] Translation: X:3.17, Y:0.10, Z:-0.41 [[ 0.99991534 0.00972783 0.00864163 3.17125597] [-0.01009141 0.99902077 0.04307731 0.1014115 ] [-0.00821412 -0.04316087 0.99903437 -0.41389441] [ 0. 0. 0. 1. ]] SLAMing on 24.531193817000002 meters Centerline goodness : 0.901895 Centerline is valid? [False, False] Translation: X:3.17, Y:0.10, Z:-0.41 [[ 0.99990881 0.01049167 0.00850258 3.17186839] [-0.0108586 0.99895821 0.04432356 0.09816604] [-0.0080287 -0.04441184 0.99898104 -0.41410872] [ 0. 0. 0. 1. ]] SLAMing on 24.561193817000003 meters Centerline goodness : 0.896378 Centerline is valid? [False, False] Translation: X:3.17, Y:0.09, Z:-0.42 [[ 0.99992359 0.00963067 0.00775038 3.17490975] [-0.00995916 0.99900268 0.04352545 0.09412428] [-0.00732347 -0.04359932 0.99902226 -0.41596199] [ 0. 0. 0. 1. ]] SLAMing on 24.591193817 meters Centerline goodness : 0.895047 Centerline is valid? [False, False] Translation: X:3.20, Y:0.09, Z:-0.42 [[ 0.99996007 0.00730049 0.00515397 3.19771545] [-0.00751376 0.99906186 0.04264906 0.08866272] [-0.00483778 -0.04268609 0.99907682 -0.41751869] [ 0. 0. 0. 1. ]] SLAMing on 24.621193817 meters Centerline goodness : 0.890428 Centerline is valid? [False, False] Translation: X:3.20, Y:0.08, Z:-0.42 [[ 9.99994662e-01 2.64321138e-03 -1.92093170e-03 3.20243634e+00] [-2.59778635e-03 9.99725675e-01 2.32771438e-02 7.89905736e-02] [ 1.98193116e-03 -2.32720293e-02 9.99727205e-01 -4.19818711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.651193817000003 meters Centerline goodness : 0.889404 Centerline is valid? [False, False] Translation: X:3.20, Y:0.07, Z:-0.42 [[ 9.99996674e-01 -1.47321371e-04 -2.57489418e-03 3.20466222e+00] [ 2.04112899e-04 9.99756417e-01 2.20695415e-02 7.29013423e-02] [ 2.57101567e-03 -2.20699936e-02 9.99753122e-01 -4.20338608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.681193817000004 meters Centerline goodness : 0.891256 Centerline is valid? [False, False] Translation: X:3.21, Y:0.07, Z:-0.42 [[ 9.99990178e-01 -3.39419021e-03 -2.85000958e-03 3.20546285e+00] [ 3.45002977e-03 9.99797573e-01 1.98219480e-02 6.70835452e-02] [ 2.78215320e-03 -1.98315860e-02 9.99799464e-01 -4.20453188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.711193817 meters Centerline goodness : 0.891603 Centerline is valid? [False, False] Translation: X:3.21, Y:0.06, Z:-0.42 [[ 0.99996491 -0.00649223 -0.00529498 3.21041544] [ 0.00657585 0.99985145 0.01593244 0.0610151 ] [ 0.00519075 -0.0159667 0.99985905 -0.42009725] [ 0. 0. 0. 1. ]] SLAMing on 24.741193817000003 meters Centerline goodness : 0.893132 Centerline is valid? [False, False] Translation: X:3.21, Y:0.05, Z:-0.42 [[ 0.99991654 -0.01155733 -0.00577363 3.21213112] [ 0.01163038 0.99985066 0.01278243 0.0495409 ] [ 0.00562503 -0.01284851 0.99990163 -0.42061188] [ 0. 0. 0. 1. ]] SLAMing on 24.771193817000004 meters Centerline goodness : 0.891352 Centerline is valid? [False, False] Translation: X:3.21, Y:0.04, Z:-0.42 [[ 0.99987246 -0.01478504 -0.00603865 3.21280701] [ 0.01484786 0.99983468 0.010495 0.04461952] [ 0.00588248 -0.01058332 0.99992669 -0.42047302] [ 0. 0. 0. 1. ]] SLAMing on 24.801193817 meters Centerline goodness : 0.890421 Centerline is valid? [False, False] Translation: X:3.22, Y:0.04, Z:-0.42 [[ 9.99859131e-01 -1.66402451e-02 -2.19536517e-03 3.22156180e+00] [ 1.66365824e-02 9.99860197e-01 -1.67625178e-03 4.02895856e-02] [ 2.22295150e-03 1.63949227e-03 9.99996185e-01 -4.21488037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.831193817000003 meters Centerline goodness : 0.896619 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:-0.42 [[ 9.99724249e-01 -2.34723741e-02 -6.87879521e-04 3.21719518e+00] [ 2.34701673e-02 9.99719862e-01 -3.05758384e-03 2.44138031e-02] [ 7.59455571e-04 3.04059607e-03 9.99995089e-01 -4.15700730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.861193817000004 meters Centerline goodness : 0.897474 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:-0.41 [[ 9.99637403e-01 -2.69157521e-02 -7.77865154e-04 3.21721831e+00] [ 2.69114563e-02 9.99624877e-01 -5.08707426e-03 1.75499452e-02] [ 9.14495789e-04 5.06429622e-03 9.99986758e-01 -4.14951313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.891193817 meters Centerline goodness : 0.898251 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:-0.41 [[ 9.99538569e-01 -3.03624862e-02 -8.76820711e-04 3.21734822e+00] [ 3.03554119e-02 9.99513310e-01 -7.18973686e-03 1.15887863e-02] [ 1.09469226e-03 7.15980303e-03 9.99973769e-01 -4.14400594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.921193817000002 meters Centerline goodness : 0.901452 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:-0.41 [[ 9.99430354e-01 -3.37301374e-02 -1.11550763e-03 3.21834162e+00] [ 3.37182362e-02 9.99387487e-01 -9.36653096e-03 6.37085301e-03] [ 1.43075874e-03 9.32358241e-03 9.99955511e-01 -4.14588034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.951193817000004 meters Centerline goodness : 0.898059 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.00, Z:-0.42 [[ 9.99211955e-01 -3.96551891e-02 -1.71306042e-03 3.22213138e+00] [ 3.96284093e-02 9.99122586e-01 -1.35516300e-02 -1.55103184e-03] [ 2.24894980e-03 1.34730649e-02 9.99906705e-01 -4.17356188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.981193817 meters Centerline goodness : 0.899266 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:-0.42 [[ 9.99215155e-01 -3.95463429e-02 -2.27159159e-03 3.22427899e+00] [ 3.95154459e-02 9.99142857e-01 -1.23321437e-02 -6.29849342e-03] [ 2.75733569e-03 1.22327019e-02 9.99921376e-01 -4.18532650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.011193817000002 meters Centerline goodness : 0.902568 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.42 [[ 9.99220163e-01 -3.93980064e-02 -2.61965123e-03 3.22542962e+00] [ 3.93662802e-02 9.99161810e-01 -1.12238080e-02 -1.01315071e-02] [ 3.05965112e-03 1.11119294e-02 9.99933580e-01 -4.19012060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.041193817000003 meters Centerline goodness : 0.900878 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.42 [[ 9.99234195e-01 -3.90170589e-02 -2.94847702e-03 3.22608120e+00] [ 3.89857136e-02 9.99189424e-01 -1.00304417e-02 -1.37019380e-02] [ 3.33744538e-03 9.90781182e-03 9.99945347e-01 -4.18840546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.071193817 meters Centerline goodness : 0.901441 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.02, Z:-0.42 [[ 0.99925592 -0.03843015 -0.00327461 3.22555824] [ 0.03840223 0.99922872 -0.00819936 -0.02126502] [ 0.00358718 0.00806751 0.99996102 -0.4170962 ] [ 0. 0. 0. 1. ]] SLAMing on 25.101193817000002 meters Centerline goodness : 0.903629 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.03, Z:-0.42 [[ 0.99927215 -0.03797242 -0.00364127 3.22590685] [ 0.03794633 0.99925537 -0.00698488 -0.02559678] [ 0.00390379 0.00684163 0.99996898 -0.41644131] [ 0. 0. 0. 1. ]] SLAMing on 25.131193817000003 meters Centerline goodness : 0.904597 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.03, Z:-0.42 [[ 0.99930812 -0.03700369 -0.00374206 3.22585436] [ 0.03698365 0.99930186 -0.0052917 -0.02977832] [ 0.00393526 0.00514965 0.999979 -0.41603932] [ 0. 0. 0. 1. ]] SLAMing on 25.161193817 meters Centerline goodness : 0.902905 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.03, Z:-0.42 [[ 0.99936305 -0.03541372 -0.00440138 3.22829375] [ 0.03539691 0.99936596 -0.00383979 -0.0297238 ] [ 0.00453457 0.00368155 0.99998294 -0.41754386] [ 0. 0. 0. 1. ]] SLAMing on 25.191193817000002 meters Centerline goodness : 0.902359 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.03, Z:-0.42 [[ 9.99491630e-01 -3.14942355e-02 -4.95936374e-03 3.22944867e+00] [ 3.14966635e-02 9.99503772e-01 4.12224721e-04 -3.06942009e-02] [ 4.94392006e-03 -5.68218569e-04 9.99987617e-01 -4.17839806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.221193817000003 meters Centerline goodness : 0.902284 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.03, Z:-0.42 [[ 0.99972563 -0.02285435 -0.00513286 3.24915233] [ 0.02281581 0.99971196 -0.00744534 -0.03191707] [ 0.00530154 0.00732618 0.99995911 -0.41829346] [ 0. 0. 0. 1. ]] SLAMing on 25.251193817 meters Centerline goodness : 0.903984 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.04, Z:-0.42 [[ 0.99992092 -0.0108666 -0.00632953 3.26811999] [ 0.01078381 0.99985771 -0.01297185 -0.03593643] [ 0.00646959 0.01290257 0.99989583 -0.41757474] [ 0. 0. 0. 1. ]] SLAMing on 25.281193817000002 meters Centerline goodness : 0.903004 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.04, Z:-0.42 [[ 9.99972449e-01 -7.08770937e-03 -2.20587227e-03 3.28285291e+00] [ 7.04575259e-03 9.99804404e-01 -1.84800214e-02 -3.54093901e-02] [ 2.33642183e-03 1.84639703e-02 9.99826796e-01 -4.22988006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.311193817000003 meters Centerline goodness : 0.905805 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.04, Z:-0.42 [[ 0.99998325 -0.00406722 -0.00411764 3.30490956] [ 0.00399792 0.99985251 -0.01670262 -0.03771536] [ 0.00418496 0.01668588 0.99985202 -0.42357206] [ 0. 0. 0. 1. ]] SLAMing on 25.341193817 meters Centerline goodness : 0.901839 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.04, Z:-0.42 [[ 9.99988026e-01 -2.61472756e-03 -4.13660266e-03 3.32614395e+00] [ 2.54538765e-03 9.99857641e-01 -1.66799077e-02 -3.97620575e-02] [ 4.17962719e-03 1.66691787e-02 9.99852324e-01 -4.24297151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.371193817 meters Centerline goodness : 0.904388 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.05, Z:-0.43 [[ 9.99995096e-01 -2.28653629e-03 2.14020413e-03 3.33627120e+00] [ 2.30186790e-03 9.99971511e-01 -7.18878420e-03 -4.80343024e-02] [-2.12370574e-03 7.19367541e-03 9.99971870e-01 -4.26947904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.401193817000003 meters Centerline goodness : 0.904552 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.05, Z:-0.43 [[ 9.99995920e-01 -2.21168808e-03 1.80764316e-03 3.33723247e+00] [ 2.22330695e-03 9.99976720e-01 -6.45109758e-03 -5.07768028e-02] [-1.79333326e-03 6.45509021e-03 9.99977558e-01 -4.27285539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.431193817000004 meters Centerline goodness : 0.903756 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.05, Z:-0.43 [[ 9.99996764e-01 -2.17005868e-03 1.32806146e-03 3.33857419e+00] [ 2.17769996e-03 9.99980927e-01 -5.77956622e-03 -5.34889494e-02] [-1.31549413e-03 5.78243964e-03 9.99982416e-01 -4.27774385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.461193817 meters Centerline goodness : 0.906625 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.06, Z:-0.43 [[ 9.99999565e-01 -7.15169329e-04 5.99404045e-04 3.34061516e+00] [ 7.17021870e-04 9.99994950e-01 -3.09614214e-03 -6.00934036e-02] [-5.97186752e-04 3.09657058e-03 9.99995027e-01 -4.28595976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.491193817000003 meters Centerline goodness : 0.904852 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.06, Z:-0.43 [[ 9.99990332e-01 1.04387679e-03 4.27152454e-03 3.35304970e+00] [-9.93852883e-04 9.99931101e-01 -1.16964306e-02 -6.12438715e-02] [-4.28343987e-03 1.16920723e-02 9.99922471e-01 -4.32604206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.521193817000004 meters Centerline goodness : 0.905712 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.07, Z:-0.43 [[ 9.99991081e-01 1.40528767e-03 3.98294849e-03 3.35335799e+00] [-1.36321559e-03 9.99943459e-01 -1.05461516e-02 -6.51512372e-02] [-3.99754367e-03 1.05406279e-02 9.99936455e-01 -4.32141809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.551193817 meters Centerline goodness : 0.906143 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.07, Z:-0.43 [[ 9.99970148e-01 1.96612848e-03 7.47238691e-03 3.37055337e+00] [-1.88253950e-03 9.99935763e-01 -1.11770016e-02 -6.95079102e-02] [-7.49388233e-03 1.11626008e-02 9.99909615e-01 -4.31408792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.581193817000003 meters Centerline goodness : 0.907929 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.07, Z:-0.43 [[ 9.99969736e-01 2.54111268e-03 7.35327809e-03 3.37016933e+00] [-2.47043345e-03 9.99950818e-01 -9.60510666e-03 -7.42206255e-02] [-7.37732410e-03 9.58665018e-03 9.99926833e-01 -4.30458758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.611193817000004 meters Centerline goodness : 0.909600 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.08, Z:-0.43 [[ 9.99970960e-01 2.65131827e-03 7.14487851e-03 3.37095055e+00] [-2.58896106e-03 9.99958605e-01 -8.72270113e-03 -7.77456646e-02] [-7.16770941e-03 8.70395002e-03 9.99936431e-01 -4.30826984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.641193817 meters Centerline goodness : 0.908897 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.08, Z:-0.43 [[ 9.99973114e-01 3.04695237e-03 6.66992635e-03 3.37383089e+00] [-2.99756935e-03 9.99968117e-01 -7.40135209e-03 -8.27276353e-02] [-6.69226526e-03 7.38115952e-03 9.99950365e-01 -4.33300632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.671193817000002 meters Centerline goodness : 0.907927 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.09, Z:-0.43 [[ 9.99974929e-01 3.04403024e-03 6.39337496e-03 3.37476574e+00] [-3.00083285e-03 9.99972680e-01 -6.75534588e-03 -8.53797190e-02] [-6.41376377e-03 6.73599107e-03 9.99956744e-01 -4.33711493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.701193817000004 meters Centerline goodness : 0.905016 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.09, Z:-0.43 [[ 9.99980673e-01 2.16737662e-03 5.82724642e-03 3.37674669e+00] [-2.12744546e-03 9.99974276e-01 -6.84998091e-03 -8.89791953e-02] [-5.84194301e-03 6.83745137e-03 9.99959560e-01 -4.34600228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.731193817 meters Centerline goodness : 0.908206 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.09, Z:-0.43 [[ 9.99983572e-01 -1.33996109e-03 5.57317047e-03 3.37734409e+00] [ 1.39476863e-03 9.99950594e-01 -9.84194432e-03 -9.21601117e-02] [-5.55970730e-03 9.84955592e-03 9.99936036e-01 -4.34662032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.761193817000002 meters Centerline goodness : 0.907060 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.10, Z:-0.44 [[ 0.99995468 -0.00771261 0.00558072 3.37784819] [ 0.00779444 0.9998602 -0.01479313 -0.10064077] [-0.00546584 0.01483596 0.999875 -0.43518597] [ 0. 0. 0. 1. ]] SLAMing on 25.791193817000003 meters Centerline goodness : 0.907809 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.10, Z:-0.44 [[ 0.99991893 -0.01151762 0.00542918 3.37889343] [ 0.01161298 0.99977283 -0.01787269 -0.10384451] [-0.0052221 0.01793429 0.99982553 -0.43602461] [ 0. 0. 0. 1. ]] SLAMing on 25.821193817 meters Centerline goodness : 0.907809 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.10, Z:-0.44 [[ 0.99991893 -0.01151762 0.00542918 3.37889343] [ 0.01161298 0.99977283 -0.01787269 -0.10384451] [-0.0052221 0.01793429 0.99982553 -0.43602461] [ 0. 0. 0. 1. ]] SLAMing on 25.851193817000002 meters Centerline goodness : 0.907212 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.11, Z:-0.44 [[ 0.99986827 -0.01535506 0.00525971 3.38016802] [ 0.01546294 0.9996573 -0.02112309 -0.10626495] [-0.00493356 0.02120164 0.99976305 -0.4371098 ] [ 0. 0. 0. 1. ]] SLAMing on 25.881193817000003 meters Centerline goodness : 0.907222 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.11, Z:-0.44 [[ 0.9998053 -0.01903988 0.00518199 3.38105317] [ 0.01916002 0.99952315 -0.0242152 -0.10875702] [-0.00471846 0.02430977 0.99969334 -0.43782772] [ 0. 0. 0. 1. ]] SLAMing on 25.911193817 meters Centerline goodness : 0.907753 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.12, Z:-0.44 [[ 0.99971607 -0.02324854 0.00522322 3.38197928] [ 0.02337925 0.99937439 -0.02653767 -0.11564445] [-0.00460299 0.02665225 0.99963417 -0.43864208] [ 0. 0. 0. 1. ]] SLAMing on 25.941193817000002 meters Centerline goodness : 0.907904 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.12, Z:-0.44 [[ 0.99971599 -0.02332283 0.00489669 3.3832912 ] [ 0.02344056 0.99939874 -0.02554792 -0.11939656] [-0.00429789 0.02565545 0.99966161 -0.43932422] [ 0. 0. 0. 1. ]] SLAMing on 25.971193817000003 meters Centerline goodness : 0.908618 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.12, Z:-0.44 [[ 0.9997181 -0.02332279 0.00444682 3.38517761] [ 0.02342685 0.99941304 -0.02499505 -0.1211874 ] [-0.00386126 0.02509218 0.99967768 -0.44057753] [ 0. 0. 0. 1. ]] SLAMing on 26.001193817 meters Centerline goodness : 0.908102 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.12, Z:-0.44 [[ 0.99972502 -0.02310694 0.00399541 3.38703116] [ 0.02319725 0.99943629 -0.02426911 -0.12329008] [-0.00343237 0.02435512 0.99969748 -0.44187047] [ 0. 0. 0. 1. ]] SLAMing on 26.031193817000002 meters Centerline goodness : 0.908659 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.12, Z:-0.44 [[ 9.99732237e-01 -2.28692185e-02 3.52877362e-03 3.38808162e+00] [ 2.29472428e-02 9.99450166e-01 -2.39330064e-02 -1.24070926e-01] [-2.97950423e-03 2.40075737e-02 9.99707337e-01 -4.41982476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.061193817000003 meters Centerline goodness : 0.908770 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.13, Z:-0.44 [[ 9.99805701e-01 -1.94738483e-02 3.05449873e-03 3.38890775e+00] [ 1.95299777e-02 9.99617706e-01 -1.95709537e-02 -1.27271354e-01] [-2.67220923e-03 1.96268053e-02 9.99803805e-01 -4.41683054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.091193817 meters Centerline goodness : 0.910866 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.13, Z:-0.44 [[ 9.99869893e-01 -1.58676539e-02 2.90075073e-03 3.38829928e+00] [ 1.59093772e-02 9.99761279e-01 -1.49758686e-02 -1.29790853e-01] [-2.66242636e-03 1.50200693e-02 9.99883648e-01 -4.40109284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.121193817 meters Centerline goodness : 0.911971 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.13, Z:-0.44 [[ 9.99868797e-01 -1.59643080e-02 2.74391637e-03 3.38830437e+00] [ 1.60041101e-02 9.99757089e-01 -1.51536265e-02 -1.28457374e-01] [-2.50133268e-03 1.51955523e-02 9.99881412e-01 -4.39596640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.151193817000003 meters Centerline goodness : 0.911652 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.13, Z:-0.44 [[ 0.99989507 -0.01372857 0.00462286 3.40751282] [ 0.01380046 0.99977842 -0.01589501 -0.12742589] [-0.00440362 0.01595714 0.99986298 -0.44020421] [ 0. 0. 0. 1. ]] SLAMing on 26.181193817000004 meters Centerline goodness : 0.909235 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.13, Z:-0.44 [[ 0.9999368 -0.01043885 0.0041743 3.40835485] [ 0.01048847 0.99987242 -0.01204762 -0.12778343] [-0.00404801 0.01209064 0.99991871 -0.43998288] [ 0. 0. 0. 1. ]] SLAMing on 26.211193817 meters Centerline goodness : 0.909673 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.12, Z:-0.44 [[ 0.99994801 -0.00609016 0.00817852 3.42439394] [ 0.00620341 0.99988424 -0.01389352 -0.12427352] [-0.00809296 0.01394353 0.99987003 -0.44047949] [ 0. 0. 0. 1. ]] SLAMing on 26.241193817000003 meters Centerline goodness : 0.909691 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.12, Z:-0.44 [[ 9.99922800e-01 -3.09358983e-03 1.20342429e-02 3.44106254e+00] [ 3.30755781e-03 9.99836081e-01 -1.78008489e-02 -1.20791088e-01] [-1.19772017e-02 1.78392786e-02 9.99769127e-01 -4.42551029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.271193817000004 meters Centerline goodness : 0.911796 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.12, Z:-0.44 [[ 9.99876269e-01 3.15102361e-04 1.57272640e-02 3.45798991e+00] [-1.44924552e-06 9.99801192e-01 -1.99393010e-02 -1.17509056e-01] [-1.57304202e-02 1.99368111e-02 9.99677487e-01 -4.43255137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.301193817 meters Centerline goodness : 0.913612 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.11, Z:-0.44 [[ 0.99980284 0.00462183 0.01931092 3.47565816] [-0.00423079 0.99978616 -0.02024193 -0.1149867 ] [-0.01940034 0.02015624 0.9996086 -0.44399557] [ 0. 0. 0. 1. ]] SLAMing on 26.331193817000003 meters Centerline goodness : 0.914067 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.11, Z:-0.45 [[ 0.99969661 0.00818224 0.02323215 3.49167139] [-0.00763655 0.99969512 -0.02348085 -0.10983792] [-0.0234172 0.02329632 0.99945431 -0.44549934] [ 0. 0. 0. 1. ]] SLAMing on 26.361193817000004 meters Centerline goodness : 0.913526 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.11, Z:-0.45 [[ 0.99964355 0.00939045 0.02499202 3.5108948 ] [-0.0087282 0.99961131 -0.02647713 -0.10957255] [-0.02523094 0.02624956 0.99933696 -0.44661888] [ 0. 0. 0. 1. ]] SLAMing on 26.391193817 meters Centerline goodness : 0.911963 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.11, Z:-0.45 [[ 0.99964638 0.00949842 0.02483727 3.5115339 ] [-0.00884793 0.99961835 -0.02617011 -0.11057906] [-0.02507636 0.0259411 0.99934891 -0.44703888] [ 0. 0. 0. 1. ]] SLAMing on 26.421193817000002 meters Centerline goodness : 0.913215 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.11, Z:-0.45 [[ 0.99964796 0.00963152 0.0247221 3.51230051] [-0.0089922 0.99962559 -0.02584234 -0.11131015] [-0.02496174 0.02561094 0.99936029 -0.44772731] [ 0. 0. 0. 1. ]] SLAMing on 26.451193817000004 meters Centerline goodness : 0.912293 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.11, Z:-0.45 [[ 0.99963143 0.012403 0.02414875 3.51490427] [-0.01186492 0.99968094 -0.02229888 -0.11264227] [-0.02441762 0.02200414 0.99945965 -0.44965994] [ 0. 0. 0. 1. ]] SLAMing on 26.481193817 meters Centerline goodness : 0.913634 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.11, Z:-0.45 [[ 0.9996019 0.01542982 0.0236214 3.51743972] [-0.01498779 0.99971136 -0.01877692 -0.11412295] [-0.0239043 0.01841541 0.99954462 -0.45141839] [ 0. 0. 0. 1. ]] SLAMing on 26.511193817000002 meters Centerline goodness : 0.911001 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.12, Z:-0.45 [[ 0.99957295 0.01819016 0.0228699 3.52036765] [-0.0178293 0.99971485 -0.0158849 -0.11604218] [-0.02315232 0.01547036 0.99961224 -0.45336331] [ 0. 0. 0. 1. ]] SLAMing on 26.541193817000003 meters Centerline goodness : 0.909841 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.12, Z:-0.45 [[ 0.99956057 0.02213118 0.01972013 3.54187686] [-0.02181202 0.99962994 -0.01625501 -0.11800588] [-0.02007257 0.01581773 0.99967339 -0.45425122] [ 0. 0. 0. 1. ]] SLAMing on 26.571193817 meters Centerline goodness : 0.906262 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.12, Z:-0.46 [[ 0.99942241 0.03054147 0.01490181 3.57398517] [-0.03020859 0.99929984 -0.02207404 -0.12037075] [-0.01556555 0.02161112 0.99964527 -0.45681658] [ 0. 0. 0. 1. ]] SLAMing on 26.601193817000002 meters Centerline goodness : 0.905235 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.12, Z:-0.46 [[ 0.99937079 0.03255359 0.01408141 3.5776739 ] [-0.03227163 0.99928285 -0.0198072 -0.12255124] [-0.0147161 0.01934031 0.99970465 -0.4594672 ] [ 0. 0. 0. 1. ]] SLAMing on 26.631193817000003 meters Centerline goodness : 0.904783 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.13, Z:-0.46 [[ 0.9993374 0.03387132 0.01332265 3.58045659] [-0.03362775 0.9992705 -0.01810074 -0.12571481] [-0.01392602 0.01764074 0.9997474 -0.46128817] [ 0. 0. 0. 1. ]] SLAMing on 26.661193817 meters Centerline goodness : 0.902967 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.13, Z:-0.46 [[ 0.99933015 0.03423008 0.0129446 3.58185053] [-0.03400559 0.99927393 -0.01718254 -0.12856871] [-0.01352336 0.01673085 0.99976857 -0.46218032] [ 0. 0. 0. 1. ]] SLAMing on 26.691193817000002 meters Centerline goodness : 0.904608 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.14, Z:-0.46 [[ 0.99937464 0.03291549 0.01291902 3.58149246] [-0.03268785 0.99931321 -0.01745321 -0.13669485] [-0.01348463 0.01702 0.99976421 -0.46200079] [ 0. 0. 0. 1. ]] SLAMing on 26.721193817000003 meters Centerline goodness : 0.904461 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.14, Z:-0.46 [[ 0.99946703 0.03005599 0.01273936 3.58133436] [-0.02980411 0.99936511 -0.0195215 -0.14159547] [-0.01331801 0.01913141 0.99972827 -0.46163994] [ 0. 0. 0. 1. ]] SLAMing on 26.751193817 meters Centerline goodness : 0.901763 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.15, Z:-0.46 [[ 0.99955345 0.02707149 0.01265058 3.58077385] [-0.02679536 0.99940951 -0.02150899 -0.14718973] [-0.01322539 0.02116041 0.99968861 -0.46088118] [ 0. 0. 0. 1. ]] SLAMing on 26.781193817000002 meters Centerline goodness : 0.903514 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.15, Z:-0.46 [[ 0.99962929 0.02409669 0.01267381 3.57984169] [-0.02379636 0.99944441 -0.02333657 -0.15265769] [-0.0132291 0.02302633 0.99964733 -0.45984957] [ 0. 0. 0. 1. ]] SLAMing on 26.811193817000003 meters Centerline goodness : 0.904837 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.16, Z:-0.46 [[ 0.99969457 0.02122731 0.01265553 3.57925367] [-0.02090469 0.99946631 -0.02510139 -0.15810798] [-0.01318161 0.02482916 0.9996048 -0.4591142 ] [ 0. 0. 0. 1. ]] SLAMing on 26.841193817000004 meters Centerline goodness : 0.904244 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.17, Z:-0.46 [[ 0.99980807 0.01501611 0.01258305 3.5786852 ] [-0.01465655 0.99949495 -0.02819644 -0.1702798 ] [-0.0130001 0.02800661 0.9995232 -0.45766943] [ 0. 0. 0. 1. ]] SLAMing on 26.871193817 meters Centerline goodness : 0.907279 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.18, Z:-0.46 [[ 0.99985539 0.01167221 0.01236789 3.57948158] [-0.01129233 0.99947549 -0.03035173 -0.17618672] [-0.01271567 0.03020767 0.99946276 -0.45823714] [ 0. 0. 0. 1. ]] SLAMing on 26.901193817000003 meters Centerline goodness : 0.904232 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.19, Z:-0.46 [[ 9.99861512e-01 2.95636574e-03 1.63773229e-02 3.57477064e+00] [-2.49638334e-03 9.99603793e-01 -2.80361324e-02 -1.90079595e-01] [-1.64537191e-02 2.79913656e-02 9.99472740e-01 -4.59340788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.931193817000004 meters Centerline goodness : 0.902058 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.20, Z:-0.46 [[ 0.99989943 -0.00420449 0.01354427 3.57140873] [ 0.00442885 0.99985277 -0.01657757 -0.19801868] [-0.01347258 0.01663589 0.99977084 -0.45643477] [ 0. 0. 0. 1. ]] SLAMing on 26.961193817 meters Centerline goodness : 0.905364 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.20, Z:-0.46 [[ 0.99987769 -0.00835066 0.01322428 3.57294418] [ 0.00861093 0.9997679 -0.01974832 -0.20198293] [-0.01305629 0.01985978 0.99971752 -0.45738959] [ 0. 0. 0. 1. ]] SLAMing on 26.991193817000003 meters Centerline goodness : 0.905163 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.20, Z:-0.46 [[ 0.99983862 -0.01247414 0.01292782 3.57462989] [ 0.01277136 0.99964999 -0.02316864 -0.20485961] [-0.01263428 0.02333001 0.99964798 -0.45866342] [ 0. 0. 0. 1. ]] SLAMing on 27.021193817000004 meters Centerline goodness : 0.906421 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.46 [[ 0.99970372 -0.0207043 0.0127987 3.57619163] [ 0.02109012 0.99930354 -0.03078385 -0.20730293] [-0.01215243 0.03104466 0.99944412 -0.46001404] [ 0. 0. 0. 1. ]] SLAMing on 27.051193817 meters Centerline goodness : 0.906260 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.46 [[ 0.9997008 -0.0209848 0.01256778 3.5764094 ] [ 0.02135632 0.99931586 -0.03019465 -0.20958026] [-0.01192555 0.03045402 0.99946502 -0.45931491] [ 0. 0. 0. 1. ]] SLAMing on 27.081193817000003 meters Centerline goodness : 0.903558 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.46 [[ 0.9997074 -0.02077562 0.0123892 3.57638321] [ 0.02113372 0.99934103 -0.02951045 -0.21124021] [-0.01176794 0.02976364 0.99948769 -0.45863235] [ 0. 0. 0. 1. ]] SLAMing on 27.111193817000004 meters Centerline goodness : 0.904879 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.46 [[ 0.99977558 -0.0175452 0.0118724 3.57744308] [ 0.01784059 0.99952196 -0.02524997 -0.21380181] [-0.0114237 0.02545611 0.99961067 -0.45837895] [ 0. 0. 0. 1. ]] SLAMing on 27.141193817 meters Centerline goodness : 0.904120 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.22, Z:-0.46 [[ 0.99984007 -0.01371689 0.0114749 3.57844403] [ 0.01395274 0.9996877 -0.02073243 -0.21597018] [-0.01118693 0.02088922 0.99971921 -0.45858584] [ 0. 0. 0. 1. ]] SLAMing on 27.171193817000002 meters Centerline goodness : 0.902790 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.22, Z:-0.46 [[ 0.99988832 -0.01042409 0.01070874 3.58101081] [ 0.01060638 0.99979736 -0.0171097 -0.21677526] [-0.01052821 0.01722137 0.99979627 -0.46002193] [ 0. 0. 0. 1. ]] SLAMing on 27.201193817000004 meters Centerline goodness : 0.903055 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 9.99976120e-01 -1.88975972e-03 6.64748665e-03 3.60589903e+00] [ 1.97559341e-03 9.99914460e-01 -1.29294229e-02 -2.17020188e-01] [-6.62248452e-03 1.29422468e-02 9.99894315e-01 -4.63595746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.231193817 meters Centerline goodness : 0.901843 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 9.99978055e-01 1.84940232e-03 6.36157547e-03 3.60677618e+00] [-1.79265405e-03 9.99958657e-01 -8.91463999e-03 -2.17679105e-01] [-6.37779921e-03 8.90304026e-03 9.99940028e-01 -4.63800983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.261193817000002 meters Centerline goodness : 0.901236 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 0.99997101 0.00495586 0.00578085 3.60853945] [-0.00492463 0.99997327 -0.00540357 -0.21958424] [-0.00580748 0.00537495 0.99996869 -0.46430411] [ 0. 0. 0. 1. ]] SLAMing on 27.291193817000003 meters Centerline goodness : 0.896415 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 0.99997092 0.00525703 0.00552388 3.60914772] [-0.00522805 0.99997256 -0.00524817 -0.21983785] [-0.00555132 0.00521914 0.99997097 -0.46444717] [ 0. 0. 0. 1. ]] SLAMing on 27.321193817 meters Centerline goodness : 0.900729 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.47 [[ 9.99949085e-01 8.73167670e-03 5.05824947e-03 3.61117688e+00] [-8.72391394e-03 9.99960737e-01 -1.55471019e-03 -2.20264831e-01] [-5.07162610e-03 1.51050330e-03 9.99985998e-01 -4.65754790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.351193817000002 meters Centerline goodness : 0.898323 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.47 [[ 9.99951317e-01 8.59208738e-03 4.85170820e-03 3.61211220e+00] [-8.58232677e-03 9.99961113e-01 -2.02903789e-03 -2.18612953e-01] [-4.86895320e-03 1.98730017e-03 9.99986172e-01 -4.66524399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.381193817000003 meters Centerline goodness : 0.897375 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.47 [[ 9.99942334e-01 9.51371229e-03 4.98181752e-03 3.61083183e+00] [-9.50731675e-03 9.99953952e-01 -1.30588785e-03 -2.19504923e-01] [-4.99401195e-03 1.25844883e-03 9.99986738e-01 -4.65109906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.411193817 meters Centerline goodness : 0.895587 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 9.99939600e-01 9.86682694e-03 4.84172463e-03 3.61047951e+00] [-9.86267343e-03 9.99950975e-01 -8.80985210e-04 -2.21063101e-01] [-4.85017979e-03 8.33179650e-04 9.99987891e-01 -4.64174345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.441193817000002 meters Centerline goodness : 0.898143 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 9.99938356e-01 1.00408473e-02 4.73971750e-03 3.61027378e+00] [-1.00375293e-02 9.99949361e-01 -7.23324304e-04 -2.21868577e-01] [-4.74674027e-03 6.75704663e-04 9.99988506e-01 -4.63566903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.471193817000003 meters Centerline goodness : 0.897719 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 9.99940097e-01 9.93628187e-03 4.59058369e-03 3.61052037e+00] [-9.93201311e-03 9.99950223e-01 -9.51758977e-04 -2.21571400e-01] [-4.59981213e-03 9.06108226e-04 9.99989010e-01 -4.63438643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.501193817 meters Centerline goodness : 0.899988 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 9.99939834e-01 1.00017443e-02 4.50484496e-03 3.61050044e+00] [-9.99623693e-03 9.99949263e-01 -1.24340109e-03 -2.20122966e-01] [-4.51705258e-03 1.19829478e-03 9.99989080e-01 -4.63226351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.531193817000002 meters Centerline goodness : 0.895134 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 9.99944753e-01 9.59145430e-03 4.30063522e-03 3.61129929e+00] [-9.58519475e-03 9.99952975e-01 -1.47375257e-03 -2.20579907e-01] [-4.31456841e-03 1.43244873e-03 9.99989666e-01 -4.63631311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.561193817000003 meters Centerline goodness : 0.898367 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 9.99957376e-01 8.44119806e-03 3.74064042e-03 3.61350429e+00] [-8.43290259e-03 9.99961961e-01 -2.22791272e-03 -2.21809237e-01] [-3.75930438e-03 2.19627330e-03 9.99990522e-01 -4.64852461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.591193817000004 meters Centerline goodness : 0.898239 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.47 [[ 9.99983320e-01 4.56399468e-03 3.53974294e-03 3.61429239e+00] [-4.54225521e-03 9.99970923e-01 -6.12545067e-03 -2.22396308e-01] [-3.56759654e-03 6.10927008e-03 9.99974974e-01 -4.65485081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.621193817 meters Centerline goodness : 0.898099 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.22, Z:-0.47 [[ 9.99994379e-01 6.67057814e-04 3.28593562e-03 3.61512857e+00] [-6.34523427e-04 9.99950870e-01 -9.89221477e-03 -2.23413713e-01] [-3.29237286e-03 9.89007416e-03 9.99945672e-01 -4.65974181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.651193817000003 meters Centerline goodness : 0.897946 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.23, Z:-0.47 [[ 9.99996192e-01 -8.82439721e-04 2.61498341e-03 3.61831606e+00] [ 9.10048024e-04 9.99943665e-01 -1.05754208e-02 -2.26114574e-01] [-2.60550392e-03 1.05777603e-02 9.99940659e-01 -4.68058766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.681193817000004 meters Centerline goodness : 0.899018 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.23, Z:-0.47 [[ 9.99987422e-01 -4.63687182e-03 1.91195433e-03 3.62351394e+00] [ 4.66194427e-03 9.99900357e-01 -1.33245030e-02 -2.28762707e-01] [-1.84997980e-03 1.33332488e-02 9.99909397e-01 -4.72727571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.711193817 meters Centerline goodness : 0.899018 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.23, Z:-0.47 [[ 9.99987422e-01 -4.63687182e-03 1.91195433e-03 3.62351394e+00] [ 4.66194427e-03 9.99900357e-01 -1.33245030e-02 -2.28762707e-01] [-1.84997980e-03 1.33332488e-02 9.99909397e-01 -4.72727571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.741193817000003 meters Centerline goodness : 0.897457 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.23, Z:-0.47 [[ 9.99986055e-01 -5.09836371e-03 1.37687460e-03 3.62531390e+00] [ 5.11613303e-03 9.99899443e-01 -1.32260812e-02 -2.30025530e-01] [-1.30930477e-03 1.32329411e-02 9.99911584e-01 -4.73552308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.771193817000004 meters Centerline goodness : 0.897712 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.23, Z:-0.47 [[ 9.99982364e-01 -5.89441226e-03 7.26911924e-04 3.62747450e+00] [ 5.90375878e-03 9.99889997e-01 -1.36066078e-02 -2.30940548e-01] [-6.46629006e-04 1.36106593e-02 9.99907162e-01 -4.74518188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.801193817 meters Centerline goodness : 0.896949 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.23, Z:-0.47 [[ 9.99984570e-01 -5.54013880e-03 4.07605791e-04 3.62749718e+00] [ 5.54488187e-03 9.99903491e-01 -1.27382534e-02 -2.33283940e-01] [-3.36994761e-04 1.27403169e-02 9.99918782e-01 -4.73556071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.831193817000003 meters Centerline goodness : 0.897110 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.24, Z:-0.47 [[ 9.99988995e-01 -4.69011668e-03 1.14965845e-04 3.62734134e+00] [ 4.69113035e-03 9.99922550e-01 -1.15276774e-02 -2.36366687e-01] [-6.08907887e-05 1.15280898e-02 9.99933548e-01 -4.72550963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.861193817000004 meters Centerline goodness : 0.897468 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.24, Z:-0.47 [[ 9.99998057e-01 -1.89964634e-03 -5.26671464e-04 3.62971565e+00] [ 1.89520566e-03 9.99963695e-01 -8.30764235e-03 -2.37156444e-01] [ 5.42433926e-04 8.30662805e-03 9.99965352e-01 -4.73671343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.891193817 meters Centerline goodness : 0.897553 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.24, Z:-0.47 [[ 9.99998489e-01 1.38901538e-03 -1.04534643e-03 3.63157944e+00] [-1.39404051e-03 9.99987403e-01 -4.82187106e-03 -2.37166675e-01] [ 1.03863561e-03 4.82332103e-03 9.99987828e-01 -4.74564878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.921193817000002 meters Centerline goodness : 0.897733 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.23, Z:-0.48 [[ 0.99998054 0.00499437 0.00373764 3.6462034 ] [-0.00495516 0.99993336 -0.01042742 -0.23446575] [-0.00378947 0.0104087 0.99993865 -0.47856096] [ 0. 0. 0. 1. ]] SLAMing on 27.951193817000004 meters Centerline goodness : 0.899187 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.24, Z:-0.48 [[ 9.99981721e-01 4.84578387e-03 3.61618162e-03 3.64619108e+00] [-4.80873913e-03 9.99936584e-01 -1.01834872e-02 -2.35989169e-01] [-3.66529927e-03 1.01659118e-02 9.99941608e-01 -4.77966150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.981193817 meters Centerline goodness : 0.897924 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.24, Z:-0.48 [[ 9.99983935e-01 4.46591350e-03 3.49086577e-03 3.64636634e+00] [-4.43062099e-03 9.99939650e-01 -1.00531430e-02 -2.37644029e-01] [-3.53555156e-03 1.00375148e-02 9.99943372e-01 -4.77535710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.011193817000002 meters Centerline goodness : 0.898761 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.24, Z:-0.48 [[ 9.99987574e-01 3.82941840e-03 3.19164787e-03 3.64720409e+00] [-3.79628743e-03 9.99939513e-01 -1.03227275e-02 -2.38291685e-01] [-3.23098486e-03 1.03104828e-02 9.99941626e-01 -4.77665405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.041193817000003 meters Centerline goodness : 0.900558 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.24, Z:-0.48 [[ 9.99993139e-01 2.49593927e-03 2.73735720e-03 3.64880027e+00] [-2.46520046e-03 9.99934510e-01 -1.11758408e-02 -2.38006595e-01] [-2.76507215e-03 1.11690160e-02 9.99933802e-01 -4.78289806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.071193817 meters Centerline goodness : 0.899127 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.24, Z:-0.48 [[ 9.99995398e-01 1.91823305e-03 2.35022707e-03 3.65028525e+00] [-1.89019700e-03 9.99927718e-01 -1.18737846e-02 -2.36717693e-01] [-2.37283388e-03 1.18692875e-02 9.99926742e-01 -4.79165632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.101193817000002 meters Centerline goodness : 0.899401 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.24, Z:-0.48 [[ 9.99993000e-01 3.32845872e-03 1.70924414e-03 3.65336705e+00] [-3.31076100e-03 9.99941939e-01 -1.02546140e-02 -2.36375678e-01] [-1.74327696e-03 1.02488833e-02 9.99945959e-01 -4.81082754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.131193817000003 meters Centerline goodness : 0.901731 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.24, Z:-0.48 [[ 9.99988782e-01 4.61857875e-03 1.05113448e-03 3.65665902e+00] [-4.60907036e-03 9.99949992e-01 -8.87529863e-03 -2.35997329e-01] [-1.09207318e-03 8.87035432e-03 9.99960061e-01 -4.83285089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.161193817 meters Centerline goodness : 0.899031 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.23, Z:-0.49 [[ 9.99988280e-01 4.84134935e-03 -4.53021217e-05 3.66192064e+00] [-4.84156083e-03 9.99948537e-01 -8.91530799e-03 -2.33568248e-01] [ 2.13766974e-06 8.91542283e-03 9.99960257e-01 -4.87297036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.191193817000002 meters Centerline goodness : 0.899884 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.23, Z:-0.49 [[ 9.99992404e-01 3.85657505e-03 -5.64411377e-04 3.66407757e+00] [-3.86203594e-03 9.99942369e-01 -1.00171967e-02 -2.32345101e-01] [ 5.25746778e-04 1.00193004e-02 9.99949667e-01 -4.88708030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.221193817000003 meters Centerline goodness : 0.898982 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.23, Z:-0.49 [[ 9.99995429e-01 2.78702865e-03 -1.17235887e-03 3.66643124e+00] [-2.79972817e-03 9.99935864e-01 -1.09740035e-02 -2.32110109e-01] [ 1.14169882e-03 1.09772356e-02 9.99939097e-01 -4.90095506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.251193817000004 meters Centerline goodness : 0.896630 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.23, Z:-0.49 [[ 9.99997078e-01 1.70572556e-03 -1.71306234e-03 3.66862026e+00] [-1.72551396e-03 9.99931029e-01 -1.16172070e-02 -2.32864675e-01] [ 1.69312842e-03 1.16201290e-02 9.99931051e-01 -4.91269325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.281193817000002 meters Centerline goodness : 0.896812 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.23, Z:-0.49 [[ 9.99997712e-01 -5.17535331e-04 -2.07577603e-03 3.67080737e+00] [ 4.90834924e-04 9.99917407e-01 -1.28428042e-02 -2.34597829e-01] [ 2.08225119e-03 1.28417559e-02 9.99915373e-01 -4.92610908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.311193817000003 meters Centerline goodness : 0.898601 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.24, Z:-0.49 [[ 9.99996391e-01 -1.06333629e-03 -2.46716535e-03 3.67217221e+00] [ 1.03138797e-03 9.99916069e-01 -1.29147389e-02 -2.35111645e-01] [ 2.48069099e-03 1.29121477e-02 9.99913558e-01 -4.93161653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.341193817000004 meters Centerline goodness : 0.896433 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.24, Z:-0.49 [[ 9.99995287e-01 -1.31564726e-03 -2.77395129e-03 3.67286886e+00] [ 1.28042500e-03 9.99919023e-01 -1.26612736e-02 -2.36266459e-01] [ 2.79038444e-03 1.26576621e-02 9.99915995e-01 -4.93097714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.371193817 meters Centerline goodness : 0.896404 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.24, Z:-0.49 [[ 9.99994139e-01 -1.57973263e-03 -3.03737610e-03 3.67339853e+00] [ 1.54215635e-03 9.99922743e-01 -1.23340918e-02 -2.37676890e-01] [ 3.05662601e-03 1.23293354e-02 9.99919319e-01 -4.92796681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.401193817000003 meters Centerline goodness : 0.899112 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.24, Z:-0.49 [[ 9.99993045e-01 -1.80042170e-03 -3.26623827e-03 3.67368087e+00] [ 1.76081735e-03 9.99925387e-01 -1.20879916e-02 -2.38556516e-01] [ 3.28775805e-03 1.20821562e-02 9.99921603e-01 -4.92321474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.431193817000004 meters Centerline goodness : 0.898575 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.24, Z:-0.49 [[ 9.99991384e-01 -2.37727592e-03 -3.40308981e-03 3.67366794e+00] [ 2.33409642e-03 9.99917431e-01 -1.26365533e-02 -2.35676116e-01] [ 3.43284939e-03 1.26285013e-02 9.99914365e-01 -4.91642585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.461193817 meters Centerline goodness : 0.900181 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.23, Z:-0.49 [[ 9.99992220e-01 -2.49336641e-04 -3.93675688e-03 3.67547355e+00] [ 2.09468837e-04 9.99948727e-01 -1.01242342e-02 -2.34817294e-01] [ 3.93907937e-03 1.01233308e-02 9.99940999e-01 -4.92116070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.491193817000003 meters Centerline goodness : 0.898776 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.23, Z:-0.49 [[ 9.99986361e-01 2.95751723e-03 -4.30480054e-03 3.67601805e+00] [-2.98643414e-03 9.99972917e-01 -6.72650955e-03 -2.34683040e-01] [ 4.28479019e-03 6.73927381e-03 9.99968111e-01 -4.91498623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.521193817000004 meters Centerline goodness : 0.904123 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.23, Z:-0.49 [[ 9.99962487e-01 7.68534192e-03 -3.99506867e-03 3.67358280e+00] [-7.69723162e-03 9.99965967e-01 -2.96928586e-03 -2.32361491e-01] [ 3.97211274e-03 2.99992544e-03 9.99987611e-01 -4.88804301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.551193817 meters Centerline goodness : 0.900698 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.23, Z:-0.49 [[ 0.99996217 0.00766962 -0.0041027 3.67345315] [-0.00768553 0.99996296 -0.00387512 -0.22873641] [ 0.00407283 0.00390651 0.99998408 -0.48846402] [ 0. 0. 0. 1. ]] SLAMing on 28.581193817000003 meters Centerline goodness : 0.904397 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.22, Z:-0.49 [[ 0.99996466 0.00720648 -0.00432989 3.67419902] [-0.00722843 0.99996099 -0.00507702 -0.22468191] [ 0.00429314 0.00510813 0.99997774 -0.48890736] [ 0. 0. 0. 1. ]] SLAMing on 28.611193817000004 meters Centerline goodness : 0.902378 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.22, Z:-0.49 [[ 0.99995929 0.00761439 -0.00484083 3.67738758] [-0.00763676 0.99996017 -0.0046198 -0.2214485 ] [ 0.00480546 0.00465658 0.99997761 -0.49111178] [ 0. 0. 0. 1. ]] SLAMing on 28.641193817 meters Centerline goodness : 0.900112 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.22, Z:-0.49 [[ 9.99941908e-01 9.12988021e-03 -5.72939130e-03 3.68077612e+00] [-9.14947506e-03 9.99952351e-01 -3.40321752e-03 -2.15957683e-01] [ 5.69804734e-03 3.45544075e-03 9.99977796e-01 -4.92884349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.671193817000002 meters Centerline goodness : 0.901863 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.21, Z:-0.49 [[ 0.99994456 0.00850875 -0.0062027 3.68203975] [-0.00853694 0.99995328 -0.00453364 -0.21334419] [ 0.00616384 0.00458634 0.99997049 -0.4932428 ] [ 0. 0. 0. 1. ]] SLAMing on 28.701193817000004 meters Centerline goodness : 0.901975 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.21, Z:-0.49 [[ 0.99994652 0.0078898 -0.00668612 3.68346822] [-0.00792759 0.99995265 -0.00564418 -0.21114824] [ 0.00664127 0.00569689 0.99996172 -0.4937987 ] [ 0. 0. 0. 1. ]] SLAMing on 28.731193817 meters Centerline goodness : 0.903508 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.21, Z:-0.50 [[ 0.99992984 0.00912348 -0.00755503 3.68731965] [-0.00915765 0.99994794 -0.00450108 -0.20932723] [ 0.00751357 0.00456995 0.99996133 -0.49610796] [ 0. 0. 0. 1. ]] SLAMing on 28.761193817000002 meters Centerline goodness : 0.899607 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.20, Z:-0.50 [[ 0.99990736 0.01242459 -0.00555898 3.70637813] [-0.01249399 0.99984218 -0.01262991 -0.19799101] [ 0.00540118 0.01269819 0.99990479 -0.50316647] [ 0. 0. 0. 1. ]] SLAMing on 28.791193817000003 meters Centerline goodness : 0.903532 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.19, Z:-0.50 [[ 0.99986723 0.01507707 -0.00618046 3.70897987] [-0.01514007 0.99983257 -0.0102765 -0.19455686] [ 0.00602449 0.01036871 0.9999281 -0.50457088] [ 0. 0. 0. 1. ]] SLAMing on 28.821193817 meters Centerline goodness : 0.902138 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.19, Z:-0.51 [[ 0.9998732 0.01445572 -0.00667916 3.71078042] [-0.01453334 0.99982566 -0.01172337 -0.19017824] [ 0.00650852 0.01181896 0.99990897 -0.50554004] [ 0. 0. 0. 1. ]] SLAMing on 28.851193817000002 meters Centerline goodness : 0.902152 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.19, Z:-0.51 [[ 0.99987053 0.01452071 -0.00693274 3.71117767] [-0.01460764 0.99981318 -0.01265784 -0.18625134] [ 0.00674764 0.01275747 0.99989585 -0.50545775] [ 0. 0. 0. 1. ]] SLAMing on 28.881193817000003 meters Centerline goodness : 0.903145 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.18, Z:-0.51 [[ 0.99987428 0.0140475 -0.00735429 3.71234252] [-0.01414515 0.99981018 -0.01339844 -0.18467236] [ 0.00716468 0.01350078 0.99988319 -0.50574432] [ 0. 0. 0. 1. ]] SLAMing on 28.911193817 meters Centerline goodness : 0.902019 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.18, Z:-0.51 [[ 0.9998734 0.01389988 -0.0077445 3.71318572] [-0.01400545 0.99980739 -0.01374902 -0.18392372] [ 0.0075519 0.01385574 0.99987549 -0.50573412] [ 0. 0. 0. 1. ]] SLAMing on 28.941193817000002 meters Centerline goodness : 0.902613 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.18, Z:-0.51 [[ 0.99987186 0.01381985 -0.00807894 3.71386039] [-0.01393206 0.99980491 -0.01400149 -0.18310543] [ 0.00788387 0.01411225 0.99986934 -0.50560522] [ 0. 0. 0. 1. ]] SLAMing on 28.971193817000003 meters Centerline goodness : 0.903973 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.18, Z:-0.51 [[ 0.99983132 0.01620327 -0.00864779 3.71614849] [-0.01630028 0.99980365 -0.01126761 -0.18317332] [ 0.00846352 0.01140667 0.99989912 -0.50658781] [ 0. 0. 0. 1. ]] SLAMing on 29.001193817000004 meters Centerline goodness : 0.905382 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.18, Z:-0.50 [[ 9.99751994e-01 1.97142534e-02 -1.03584624e-02 3.72289302e+00] [-1.97173769e-02 9.99805574e-01 -1.99490549e-04 -1.84159491e-01] [ 1.03525156e-02 4.03682781e-04 9.99946330e-01 -5.01687685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.031193817000002 meters Centerline goodness : 0.903824 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.18, Z:-0.51 [[ 0.99974986 0.02183269 -0.00485382 3.73618944] [-0.02186486 0.99973865 -0.00667562 -0.18257786] [ 0.0047068 0.00678008 0.99996594 -0.50553144] [ 0. 0. 0. 1. ]] SLAMing on 29.061193817000003 meters Centerline goodness : 0.902352 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.18, Z:-0.51 [[ 0.99975253 0.02161632 -0.00525515 3.73736384] [-0.02165191 0.99974235 -0.00681338 -0.1827924 ] [ 0.00510651 0.00692548 0.99996298 -0.50588229] [ 0. 0. 0. 1. ]] SLAMing on 29.091193817000004 meters Centerline goodness : 0.902178 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.18, Z:-0.51 [[ 0.99975399 0.02147112 -0.00556319 3.73846182] [-0.02150858 0.99974579 -0.00676329 -0.18382284] [ 0.00541656 0.00688129 0.99996165 -0.50638617] [ 0. 0. 0. 1. ]] SLAMing on 29.121193817 meters Centerline goodness : 0.903155 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.19, Z:-0.51 [[ 0.99973656 0.02227214 -0.00554551 3.73816402] [-0.02230555 0.99973296 -0.00603849 -0.18580827] [ 0.00540954 0.0061606 0.99996639 -0.50609067] [ 0. 0. 0. 1. ]] SLAMing on 29.151193817000003 meters Centerline goodness : 0.904724 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.19, Z:-0.51 [[ 0.9997293 0.02256017 -0.0056884 3.73857942] [-0.0225939 0.99972709 -0.00593731 -0.18598229] [ 0.0055529 0.00606423 0.99996619 -0.50621396] [ 0. 0. 0. 1. ]] SLAMing on 29.181193817000004 meters Centerline goodness : 0.904893 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.19, Z:-0.51 [[ 9.99678035e-01 2.45789870e-02 -6.30082302e-03 3.74138867e+00] [-2.46026866e-02 9.99690417e-01 -3.71183583e-03 -1.87118704e-01] [ 6.20763923e-03 3.86565792e-03 9.99973261e-01 -5.07818661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.211193817 meters Centerline goodness : 0.906972 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.19, Z:-0.51 [[ 0.99967182 0.02474495 -0.00662853 3.74258999] [-0.02477121 0.99968551 -0.00390841 -0.18635504] [ 0.00652973 0.00407132 0.99997039 -0.50856253] [ 0. 0. 0. 1. ]] SLAMing on 29.241193817000003 meters Centerline goodness : 0.905018 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.19, Z:-0.51 [[ 9.99568050e-01 2.84823499e-02 -7.24353006e-03 3.74506974e+00] [-2.84831736e-02 9.99594272e-01 -1.05502719e-05 -1.88027069e-01] [ 7.24029067e-03 2.16864439e-04 9.99973765e-01 -5.09960453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.271193817000004 meters Centerline goodness : 0.908148 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.19, Z:-0.51 [[ 9.99579434e-01 2.79395295e-02 -7.76772136e-03 3.74720700e+00] [-2.79444033e-02 9.99609344e-01 -5.19602033e-04 -1.88207185e-01] [ 7.75016942e-03 7.36447845e-04 9.99969696e-01 -5.11301098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.301193817 meters Centerline goodness : 0.904787 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.19, Z:-0.51 [[ 0.99967166 0.02427399 -0.00820679 3.74845562] [-0.02431269 0.99969359 -0.00464967 -0.18770769] [ 0.00809141 0.00484767 0.99995551 -0.51224262] [ 0. 0. 0. 1. ]] SLAMing on 29.331193817000003 meters Centerline goodness : 0.904985 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.19, Z:-0.51 [[ 0.99974138 0.02111027 -0.00845802 3.74880906] [-0.02117348 0.99974802 -0.00745575 -0.19136828] [ 0.00829849 0.00763291 0.99993643 -0.51235797] [ 0. 0. 0. 1. ]] SLAMing on 29.361193817000004 meters Centerline goodness : 0.905121 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.19, Z:-0.51 [[ 0.99975448 0.02028332 -0.00892042 3.7507844 ] [-0.02035372 0.99976184 -0.00787351 -0.19282004] [ 0.00875859 0.00805314 0.99992921 -0.51351148] [ 0. 0. 0. 1. ]] SLAMing on 29.391193817 meters Centerline goodness : 0.908497 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.19, Z:-0.51 [[ 0.99975693 0.0200168 -0.00924215 3.75186976] [-0.02008874 0.9997681 -0.00775767 -0.19402113] [ 0.00908473 0.00794144 0.9999272 -0.51389155] [ 0. 0. 0. 1. ]] SLAMing on 29.421193817000002 meters Centerline goodness : 0.905035 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.20, Z:-0.51 [[ 0.99975631 0.01988961 -0.00957712 3.75270814] [-0.01996202 0.99977242 -0.00752537 -0.19519875] [ 0.00942526 0.00771471 0.99992582 -0.51394184] [ 0. 0. 0. 1. ]] SLAMing on 29.451193817000004 meters Centerline goodness : 0.907020 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.20, Z:-0.51 [[ 0.99976 0.01957754 -0.00983142 3.75350681] [-0.01964903 0.99978081 -0.00722864 -0.19725433] [ 0.00968774 0.00742009 0.99992554 -0.51408407] [ 0. 0. 0. 1. ]] SLAMing on 29.481193817 meters Centerline goodness : 0.907227 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.20, Z:-0.52 [[ 0.9997752 0.0184889 -0.01037787 3.75572298] [-0.01856686 0.99979974 -0.0074668 -0.19993812] [ 0.01023774 0.00765781 0.99991827 -0.51518361] [ 0. 0. 0. 1. ]] SLAMing on 29.511193817000002 meters Centerline goodness : 0.908376 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.21, Z:-0.51 [[ 0.99983828 0.01451102 -0.01062315 3.75606615] [-0.01461592 0.99984452 -0.00986484 -0.20556494] [ 0.01047835 0.01001851 0.99989491 -0.51476371] [ 0. 0. 0. 1. ]] SLAMing on 29.541193817000003 meters Centerline goodness : 0.908420 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.21, Z:-0.52 [[ 0.99985251 0.01305652 -0.01115715 3.75815607] [-0.01317024 0.99986144 -0.01018083 -0.20944659] [ 0.01102268 0.01032628 0.99988593 -0.51555747] [ 0. 0. 0. 1. ]] SLAMing on 29.571193817 meters Centerline goodness : 0.905292 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.21, Z:-0.52 [[ 0.99989262 0.00919974 -0.01140715 3.75876856] [-0.00935402 0.9998645 -0.01354538 -0.21188395] [ 0.01128099 0.01365062 0.99984319 -0.51570567] [ 0. 0. 0. 1. ]] SLAMing on 29.601193817000002 meters Centerline goodness : 0.908704 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.22, Z:-0.52 [[ 0.99989455 0.00801481 -0.01211002 3.7610425 ] [-0.0081816 0.99987149 -0.0137865 -0.21579989] [ 0.01199796 0.01388412 0.99983163 -0.51639652] [ 0. 0. 0. 1. ]] SLAMing on 29.631193817000003 meters Centerline goodness : 0.908704 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.22, Z:-0.52 [[ 0.99989455 0.00801481 -0.01211002 3.7610425 ] [-0.0081816 0.99987149 -0.0137865 -0.21579989] [ 0.01199796 0.01388412 0.99983163 -0.51639652] [ 0. 0. 0. 1. ]] SLAMing on 29.661193817 meters Centerline goodness : 0.906284 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.22, Z:-0.52 [[ 0.99988897 0.00804973 -0.01254022 3.762917 ] [-0.0082124 0.9998821 -0.01297433 -0.22068198] [ 0.0124343 0.01307587 0.99983719 -0.51751909] [ 0. 0. 0. 1. ]] SLAMing on 29.691193817000002 meters Centerline goodness : 0.911598 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.22, Z:-0.52 [[ 0.99985323 0.01100047 -0.01313461 3.7655659 ] [-0.01112827 0.99989106 -0.00969716 -0.22241884] [ 0.0130265 0.0098419 0.99986671 -0.51899965] [ 0. 0. 0. 1. ]] SLAMing on 29.721193817000003 meters Centerline goodness : 0.907101 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.22, Z:-0.52 [[ 0.99980391 0.0143188 -0.01367877 3.76794873] [-0.0144024 0.99987808 -0.00603309 -0.22350719] [ 0.01359072 0.00622891 0.99988824 -0.52022154] [ 0. 0. 0. 1. ]] SLAMing on 29.751193817000004 meters Centerline goodness : 0.907125 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.22, Z:-0.53 [[ 0.99977545 0.01904346 -0.00929539 3.78158158] [-0.0191563 0.999742 -0.01220519 -0.22233176] [ 0.00906056 0.01238052 0.99988231 -0.52524304] [ 0. 0. 0. 1. ]] SLAMing on 29.781193817000002 meters Centerline goodness : 0.910152 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.23, Z:-0.53 [[ 0.99970438 0.02218957 -0.00993851 3.78378991] [-0.02227255 0.99971733 -0.00831813 -0.22517164] [ 0.00975113 0.00853703 0.99991601 -0.52577783] [ 0. 0. 0. 1. ]] SLAMing on 29.811193817000003 meters Centerline goodness : 0.908200 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.23, Z:-0.53 [[ 0.99970364 0.02210821 -0.01019101 3.78460641] [-0.02219202 0.99972021 -0.00818587 -0.22665159] [ 0.01000718 0.0084096 0.99991456 -0.52605613] [ 0. 0. 0. 1. ]] SLAMing on 29.841193817000004 meters Centerline goodness : 0.909372 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.23, Z:-0.53 [[ 0.99971553 0.02135261 -0.01062691 3.7865515 ] [-0.02144418 0.99973323 -0.00857951 -0.22828402] [ 0.01044088 0.00880496 0.99990673 -0.52726265] [ 0. 0. 0. 1. ]] SLAMing on 29.871193817 meters Centerline goodness : 0.908686 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.23, Z:-0.53 [[ 0.9997828 0.01776816 -0.01089289 3.78758936] [-0.01789191 0.99977527 -0.01137039 -0.23265155] [ 0.01068841 0.01156281 0.99987602 -0.52801393] [ 0. 0. 0. 1. ]] SLAMing on 29.901193817000003 meters Centerline goodness : 0.908002 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.23, Z:-0.53 [[ 0.99983869 0.01408353 -0.01114644 3.78807129] [-0.01424587 0.99979161 -0.01462176 -0.23465152] [ 0.01093819 0.01477819 0.99983097 -0.52810008] [ 0. 0. 0. 1. ]] SLAMing on 29.931193817000004 meters Centerline goodness : 0.909390 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.24, Z:-0.53 [[ 0.99985288 0.01242568 -0.01182497 3.79095771] [-0.01260398 0.99980616 -0.01512531 -0.23801949] [ 0.01163473 0.01527212 0.99981568 -0.52950668] [ 0. 0. 0. 1. ]] SLAMing on 29.961193817 meters Centerline goodness : 0.909802 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.24, Z:-0.53 [[ 0.99986132 0.0109833 -0.01251843 3.79355098] [-0.0111753 0.99981939 -0.01537226 -0.24160112] [ 0.01234733 0.01551002 0.99980347 -0.53056005] [ 0. 0. 0. 1. ]] SLAMing on 29.991193817000003 meters Centerline goodness : 0.907502 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.25, Z:-0.53 [[ 0.99987147 0.00928628 -0.01306922 3.79610525] [-0.00949304 0.99982934 -0.01584853 -0.24507267] [ 0.01291981 0.01597056 0.99978899 -0.53182975] [ 0. 0. 0. 1. ]] SLAMing on 30.021193817000004 meters Centerline goodness : 0.913921 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.25, Z:-0.53 [[ 0.99987953 0.00756784 -0.0135516 3.79840517] [-0.00778987 0.99983506 -0.0164067 -0.2484794 ] [ 0.0134252 0.01651028 0.99977356 -0.53290434] [ 0. 0. 0. 1. ]] SLAMing on 30.051193817 meters Centerline goodness : 0.914724 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.26, Z:-0.53 [[ 9.99903411e-01 3.48093005e-03 -1.34555516e-02 3.79799362e+00] [-3.73176203e-03 9.99818893e-01 -1.86615875e-02 -2.55237402e-01] [ 1.33881550e-02 1.87099979e-02 9.99735312e-01 -5.31970098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.081193817000003 meters Centerline goodness : 0.913286 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.26, Z:-0.53 [[ 9.99900386e-01 2.89994738e-03 -1.38133445e-02 3.79906027e+00] [-3.14888885e-03 9.99832410e-01 -1.80342855e-02 -2.60081177e-01] [ 1.37587310e-02 1.80759858e-02 9.99741945e-01 -5.31886671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.111193817000004 meters Centerline goodness : 0.914685 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.26, Z:-0.53 [[ 9.99893697e-01 2.18727364e-03 -1.44156416e-02 3.80085808e+00] [-2.44350530e-03 9.99838920e-01 -1.77809795e-02 -2.63107950e-01] [ 1.43744277e-02 1.78143140e-02 9.99737979e-01 -5.32252375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.141193817 meters Centerline goodness : 0.914048 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.27, Z:-0.53 [[ 9.99892447e-01 8.08000713e-04 -1.46437965e-02 3.80245226e+00] [-1.06700571e-03 9.99842989e-01 -1.76878383e-02 -2.65740459e-01] [ 1.46272055e-02 1.77015609e-02 9.99736315e-01 -5.32940733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.171193817000002 meters Centerline goodness : 0.914259 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.27, Z:-0.53 [[ 9.99886341e-01 4.12335625e-05 -1.50765886e-02 3.80343857e+00] [-3.04731876e-04 9.99847246e-01 -1.74754371e-02 -2.67218043e-01] [ 1.50735650e-02 1.74780452e-02 9.99733617e-01 -5.32525054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.201193817000004 meters Centerline goodness : 0.915012 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.27, Z:-0.53 [[ 9.99876875e-01 -9.55680516e-04 -1.56627196e-02 3.80469673e+00] [ 6.81155887e-04 9.99846224e-01 -1.75232362e-02 -2.68818433e-01] [ 1.56770577e-02 1.75104099e-02 9.99723770e-01 -5.32066574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.231193817 meters Centerline goodness : 0.915429 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.27, Z:-0.53 [[ 9.99862716e-01 -2.29818883e-03 -1.64093805e-02 3.80703640e+00] [ 1.99997311e-03 9.99832969e-01 -1.81668292e-02 -2.69859716e-01] [ 1.64483905e-02 1.81315169e-02 9.99700304e-01 -5.32681890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.261193817000002 meters Centerline goodness : 0.916174 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.27, Z:-0.53 [[ 0.99983759 -0.00448708 -0.01745457 3.81069766] [ 0.00413793 0.99979165 -0.01998832 -0.26844478] [ 0.01754062 0.01991284 0.99964784 -0.53427765] [ 0. 0. 0. 1. ]] SLAMing on 30.291193817000003 meters Centerline goodness : 0.913173 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.27, Z:-0.54 [[ 0.99982428 -0.00519518 -0.0180118 3.8125512 ] [ 0.00482039 0.99977227 -0.02078887 -0.2672606 ] [ 0.0181157 0.02069839 0.99962163 -0.53510785] [ 0. 0. 0. 1. ]] SLAMing on 30.321193817 meters Centerline goodness : 0.913804 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.27, Z:-0.54 [[ 9.99817951e-01 -3.26055529e-03 -1.87998538e-02 3.81568245e+00] [ 2.91539146e-03 9.99827224e-01 -1.83581871e-02 -2.67051614e-01] [ 1.88564636e-02 1.83000361e-02 9.99654712e-01 -5.36410897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.351193817000002 meters Centerline goodness : 0.913688 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.27, Z:-0.54 [[ 9.99816187e-01 1.70671758e-04 -1.91719470e-02 3.81664925e+00] [-4.57203387e-04 9.99888258e-01 -1.49419701e-02 -2.65592104e-01] [ 1.91672545e-02 1.49479891e-02 9.99704543e-01 -5.36382614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.381193817000003 meters Centerline goodness : 0.912592 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.26, Z:-0.54 [[ 0.99986493 0.00675802 -0.01498171 3.83292015] [-0.00702329 0.99981823 -0.01772504 -0.25537139] [ 0.0148592 0.01782787 0.99973065 -0.54049707] [ 0. 0. 0. 1. ]] SLAMing on 30.411193817000004 meters Centerline goodness : 0.908712 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.25, Z:-0.54 [[ 0.99982806 0.01031974 -0.01540654 3.83422896] [-0.01054804 0.99983467 -0.01481144 -0.25150218] [ 0.01525114 0.0149714 0.9997716 -0.54079047] [ 0. 0. 0. 1. ]] SLAMing on 30.441193817000002 meters Centerline goodness : 0.905571 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.25, Z:-0.54 [[ 0.99977754 0.01374334 -0.01599985 3.83603577] [-0.01393714 0.99983009 -0.01206458 -0.24803826] [ 0.01583132 0.01228488 0.99979921 -0.54133891] [ 0. 0. 0. 1. ]] SLAMing on 30.471193817000003 meters Centerline goodness : 0.906667 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.24, Z:-0.54 [[ 0.99971895 0.01700244 -0.01652094 3.83773758] [-0.01716216 0.99980687 -0.0095746 -0.24460609] [ 0.01635496 0.00985544 0.99981768 -0.54191956] [ 0. 0. 0. 1. ]] SLAMing on 30.501193817000004 meters Centerline goodness : 0.908448 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.24, Z:-0.55 [[ 0.99964148 0.02348053 -0.01286736 3.85388919] [-0.02365464 0.99962836 -0.0135501 -0.23538445] [ 0.01254442 0.01384962 0.9998254 -0.54554243] [ 0. 0. 0. 1. ]] SLAMing on 30.531193817000002 meters Centerline goodness : 0.905389 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.23, Z:-0.55 [[ 0.9995497 0.02693929 -0.01321626 3.85489473] [-0.02708094 0.99957642 -0.01065893 -0.23231675] [ 0.01292352 0.01101204 0.99985585 -0.54551765] [ 0. 0. 0. 1. ]] SLAMing on 30.561193817000003 meters Centerline goodness : 0.902408 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.23, Z:-0.55 [[ 0.99948912 0.03077991 -0.00860802 3.86987399] [-0.03091744 0.99938856 -0.01632852 -0.22784862] [ 0.00810017 0.01658631 0.99982963 -0.5498727 ] [ 0. 0. 0. 1. ]] SLAMing on 30.591193817000004 meters Centerline goodness : 0.902932 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.23, Z:-0.55 [[ 0.99938326 0.03391836 -0.00909089 3.87188023] [-0.03403824 0.99933106 -0.01337294 -0.22629295] [ 0.00863122 0.01367413 0.99986925 -0.550672 ] [ 0. 0. 0. 1. ]] SLAMing on 30.621193817 meters Centerline goodness : 0.902937 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.22, Z:-0.55 [[ 0.99922989 0.03810946 -0.00934335 3.87243783] [-0.03820208 0.99922056 -0.00994368 -0.22382681] [ 0.00895712 0.01029296 0.99990691 -0.55041442] [ 0. 0. 0. 1. ]] SLAMing on 30.651193817000003 meters Centerline goodness : 0.900176 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.22, Z:-0.56 [[ 0.9991555 0.04082027 -0.00468921 3.88751446] [-0.04089258 0.99902685 -0.01652751 -0.22046987] [ 0.00400999 0.01670531 0.99985242 -0.55525132] [ 0. 0. 0. 1. ]] SLAMing on 30.681193817000004 meters Centerline goodness : 0.900893 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.22, Z:-0.56 [[ 0.99903916 0.04351267 -0.00523422 3.88994471] [-0.04357951 0.99895986 -0.01341723 -0.22022835] [ 0.00464496 0.01363244 0.99989629 -0.55627878] [ 0. 0. 0. 1. ]] SLAMing on 30.711193817 meters Centerline goodness : 0.899027 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.22, Z:-0.56 [[ 0.99904894 0.04324599 -0.00556804 3.89074162] [-0.04331942 0.99896564 -0.01382287 -0.21967522] [ 0.0049645 0.01405092 0.99988896 -0.55638621] [ 0. 0. 0. 1. ]] SLAMing on 30.741193817000003 meters Centerline goodness : 0.895489 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.22, Z:-0.56 [[ 0.99906461 0.0428318 -0.00594466 3.89168538] [-0.04291067 0.998983 -0.01384353 -0.22122871] [ 0.00534567 0.01408567 0.9998865 -0.55645567] [ 0. 0. 0. 1. ]] SLAMing on 30.771193817000004 meters Centerline goodness : 0.898301 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.23, Z:-0.56 [[ 0.99923045 0.03873461 -0.00617514 3.89106623] [-0.03883277 0.99910684 -0.01665972 -0.22584941] [ 0.00552431 0.0168867 0.99984215 -0.55509024] [ 0. 0. 0. 1. ]] SLAMing on 30.801193817 meters Centerline goodness : 0.898618 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.23, Z:-0.56 [[ 0.99928445 0.03725112 -0.00655259 3.89249347] [-0.03735687 0.9991602 -0.01683322 -0.22836085] [ 0.00592003 0.01706595 0.99983684 -0.55542769] [ 0. 0. 0. 1. ]] SLAMing on 30.831193817000003 meters Centerline goodness : 0.898492 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.23, Z:-0.56 [[ 0.99934467 0.03551209 -0.00700846 3.89433826] [-0.0356282 0.99921703 -0.01720345 -0.23025126] [ 0.00639204 0.01744187 0.99982745 -0.5559282 ] [ 0. 0. 0. 1. ]] SLAMing on 30.861193817000004 meters Centerline goodness : 0.899644 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.24, Z:-0.56 [[ 9.99692673e-01 2.44854111e-02 -3.87604138e-03 3.89421996e+00] [-2.45191391e-02 9.99659677e-01 -8.90741672e-03 -2.35804890e-01] [ 3.65662052e-03 8.99971643e-03 9.99952816e-01 -5.55936003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.891193817 meters Centerline goodness : 0.901407 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.24, Z:-0.56 [[ 0.99978629 0.02021261 -0.00433944 3.89575574] [-0.02026718 0.99971107 -0.01292357 -0.2369316 ] [ 0.00407696 0.01300876 0.99990707 -0.55693591] [ 0. 0. 0. 1. ]] SLAMing on 30.921193817000002 meters Centerline goodness : 0.900422 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.24, Z:-0.56 [[ 0.99981669 0.01846169 -0.00507451 3.89870196] [-0.01853059 0.99973191 -0.0138826 -0.23846344] [ 0.00481685 0.01397409 0.99989076 -0.55850997] [ 0. 0. 0. 1. ]] SLAMing on 30.951193817000004 meters Centerline goodness : 0.903203 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.24, Z:-0.56 [[ 0.99984144 0.01687791 -0.00567732 3.90116885] [-0.01696044 0.99974639 -0.01481576 -0.23894861] [ 0.00542582 0.0149097 0.99987412 -0.55980696] [ 0. 0. 0. 1. ]] SLAMing on 30.981193817 meters Centerline goodness : 0.903355 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.24, Z:-0.56 [[ 0.99985867 0.01560011 -0.00626705 3.90293225] [-0.01569432 0.99976013 -0.01527654 -0.23966473] [ 0.00602723 0.01537273 0.99986367 -0.56020742] [ 0. 0. 0. 1. ]] SLAMing on 31.011193817000002 meters Centerline goodness : 0.904756 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.24, Z:-0.56 [[ 0.99993043 0.00946253 -0.00704298 3.90527599] [-0.00960578 0.99974182 -0.02059194 -0.23939756] [ 0.00684631 0.02065816 0.99976316 -0.56092487] [ 0. 0. 0. 1. ]] SLAMing on 31.041193817000003 meters Centerline goodness : 0.903227 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.24, Z:-0.56 [[ 0.99994074 0.00769656 -0.00769962 3.90770444] [-0.00786135 0.99973564 -0.02160657 -0.23973486] [ 0.00753129 0.02166582 0.9997369 -0.5619379 ] [ 0. 0. 0. 1. ]] SLAMing on 31.071193817 meters Centerline goodness : 0.902385 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.24, Z:-0.56 [[ 0.99994541 0.00616796 -0.00843424 3.91002223] [-0.00635857 0.99972067 -0.02276286 -0.23841564] [ 0.00829148 0.02281525 0.99970531 -0.56269697] [ 0. 0. 0. 1. ]] SLAMing on 31.101193817000002 meters Centerline goodness : 0.903782 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.24, Z:-0.56 [[ 0.99994834 0.00519121 -0.00873908 3.91114326] [-0.00539725 0.99970407 -0.02371997 -0.23630823] [ 0.00861336 0.02376591 0.99968044 -0.56310927] [ 0. 0. 0. 1. ]] SLAMing on 31.131193817000003 meters Centerline goodness : 0.900852 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.23, Z:-0.56 [[ 9.99950561e-01 3.80502643e-03 -9.18684365e-03 3.91234572e+00] [-4.03928908e-03 9.99663661e-01 -2.56173651e-02 -2.30313790e-01] [ 9.08627901e-03 2.56532069e-02 9.99629608e-01 -5.63150342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.161193817000004 meters Centerline goodness : 0.901873 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.23, Z:-0.56 [[ 0.9999353 0.00564392 -0.00987592 3.91523133] [-0.00587594 0.99970365 -0.02362397 -0.22741073] [ 0.00973966 0.02368047 0.99967213 -0.5645456 ] [ 0. 0. 0. 1. ]] SLAMing on 31.191193817000002 meters Centerline goodness : 0.899484 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.22, Z:-0.57 [[ 0.99991343 0.00776377 -0.01062313 3.91791649] [-0.00799143 0.99973565 -0.02155848 -0.22361235] [ 0.01045295 0.0216415 0.99971115 -0.56560491] [ 0. 0. 0. 1. ]] SLAMing on 31.221193817000003 meters Centerline goodness : 0.899706 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.22, Z:-0.57 [[ 0.9998879 0.01005449 -0.01109487 3.91966174] [-0.01026901 0.99975808 -0.01945059 -0.21997725] [ 0.01089662 0.01956235 0.99974926 -0.56615358] [ 0. 0. 0. 1. ]] SLAMing on 31.251193817000004 meters Centerline goodness : 0.898973 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.21, Z:-0.57 [[ 0.99985797 0.01190765 -0.01192691 3.92136284] [-0.01213138 0.99974843 -0.0188653 -0.21158224] [ 0.01169927 0.01900731 0.99975089 -0.56591356] [ 0. 0. 0. 1. ]] SLAMing on 31.281193817000002 meters Centerline goodness : 0.897791 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.21, Z:-0.57 [[ 0.99981718 0.01446692 -0.01250287 3.92310908] [-0.01467701 0.99974982 -0.01687844 -0.20713475] [ 0.01225556 0.01705886 0.99977937 -0.5662653 ] [ 0. 0. 0. 1. ]] SLAMing on 31.311193817000003 meters Centerline goodness : 0.897782 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.20, Z:-0.57 [[ 0.99976776 0.01727146 -0.01288898 3.92413532] [-0.01746378 0.99973555 -0.0149614 -0.20112154] [ 0.01262717 0.01518301 0.999805 -0.56615648] [ 0. 0. 0. 1. ]] SLAMing on 31.341193817000004 meters Centerline goodness : 0.894439 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.19, Z:-0.57 [[ 0.99970406 0.02235677 -0.00958969 3.94159211] [-0.02254081 0.99955509 -0.01953281 -0.18502351] [ 0.00914873 0.01974319 0.99976323 -0.56980972] [ 0. 0. 0. 1. ]] SLAMing on 31.371193817 meters Centerline goodness : 0.893475 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.18, Z:-0.57 [[ 0.99963043 0.02514681 -0.01032706 3.94409568] [-0.02532953 0.9995178 -0.01796077 -0.17818793] [ 0.00987043 0.01821571 0.99978536 -0.57077444] [ 0. 0. 0. 1. ]] SLAMing on 31.401193817000003 meters Centerline goodness : 0.891116 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.17, Z:-0.57 [[ 0.99955018 0.02792103 -0.0109478 3.94637874] [-0.02809959 0.99946878 -0.01651001 -0.17134295] [ 0.010481 0.01681021 0.99980376 -0.57178095] [ 0. 0. 0. 1. ]] SLAMing on 31.431193817000004 meters Centerline goodness : 0.892840 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.16, Z:-0.57 [[ 0.99945126 0.0311305 -0.01131721 3.94765646] [-0.03129313 0.99940524 -0.01448826 -0.16471127] [ 0.01085945 0.01483446 0.99983099 -0.57195116] [ 0. 0. 0. 1. ]] SLAMing on 31.461193817 meters Centerline goodness : 0.891986 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.16, Z:-0.57 [[ 0.9993551 0.03396731 -0.01164481 3.94888316] [-0.03411582 0.9993359 -0.01280149 -0.15790107] [ 0.01120224 0.01319051 0.99985025 -0.57206099] [ 0. 0. 0. 1. ]] SLAMing on 31.491193817000003 meters Centerline goodness : 0.891806 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.14, Z:-0.57 [[ 0.99922833 0.03822224 -0.00904461 3.96797154] [-0.03837325 0.99911618 -0.01715693 -0.14416175] [ 0.00838084 0.01749076 0.9998119 -0.57493497] [ 0. 0. 0. 1. ]] SLAMing on 31.521193817000004 meters Centerline goodness : 0.891806 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.14, Z:-0.57 [[ 0.99922833 0.03822224 -0.00904461 3.96797154] [-0.03837325 0.99911618 -0.01715693 -0.14416175] [ 0.00838084 0.01749076 0.9998119 -0.57493497] [ 0. 0. 0. 1. ]] SLAMing on 31.551193817 meters Centerline goodness : 0.888578 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.14, Z:-0.57 [[ 0.9991068 0.04118022 -0.00947608 3.96930279] [-0.04131816 0.99903563 -0.01485328 -0.14021042] [ 0.00885528 0.01523155 0.99984478 -0.57487035] [ 0. 0. 0. 1. ]] SLAMing on 31.581193817000003 meters Centerline goodness : 0.890032 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.14, Z:-0.57 [[ 0.99897427 0.04421786 -0.00975665 3.97027953] [-0.04433743 0.99893966 -0.0123998 -0.13660705] [ 0.00919801 0.01281967 0.99987552 -0.57469253] [ 0. 0. 0. 1. ]] SLAMing on 31.611193817000004 meters Centerline goodness : 0.891796 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.13, Z:-0.57 [[ 0.99884345 0.04703128 -0.00999086 3.97144863] [-0.04713221 0.99883741 -0.01011807 -0.13263465] [ 0.00950338 0.01057726 0.9998989 -0.57485322] [ 0. 0. 0. 1. ]] SLAMing on 31.641193817 meters Centerline goodness : 0.889692 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.13, Z:-0.58 [[ 0.99871035 0.04972007 -0.01027411 3.97305449] [-0.04980247 0.99872763 -0.0079266 -0.1284434 ] [ 0.00986693 0.00842805 0.9999158 -0.57545657] [ 0. 0. 0. 1. ]] SLAMing on 31.671193817000002 meters Centerline goodness : 0.889161 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.12, Z:-0.58 [[ 0.99857582 0.05236284 -0.01022079 3.97466923] [-0.05244443 0.99859272 -0.00788475 -0.11891708] [ 0.00979354 0.00840955 0.99991668 -0.57619757] [ 0. 0. 0. 1. ]] SLAMing on 31.701193817000004 meters Centerline goodness : 0.887658 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.11, Z:-0.58 [[ 0.99855812 0.052498 -0.01120889 3.97701425] [-0.05260852 0.99856708 -0.00980427 -0.11488013] [ 0.01067813 0.01037982 0.99988911 -0.57590587] [ 0. 0. 0. 1. ]] SLAMing on 31.731193817 meters Centerline goodness : 0.888234 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.11, Z:-0.58 [[ 0.99852384 0.0528945 -0.01234184 3.97951808] [-0.05303506 0.9985281 -0.01135405 -0.11187352] [ 0.01172311 0.01199184 0.99985937 -0.57554626] [ 0. 0. 0. 1. ]] SLAMing on 31.761193817000002 meters Centerline goodness : 0.886567 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.10, Z:-0.57 [[ 0.99842911 0.05223306 -0.02027359 3.96906456] [-0.05257361 0.99847833 -0.01664468 -0.1047634 ] [ 0.01937334 0.01768439 0.99965591 -0.57252325] [ 0. 0. 0. 1. ]] SLAMing on 31.791193817000003 meters Centerline goodness : 0.888709 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.10, Z:-0.57 [[ 0.99835432 0.05316764 -0.02149101 3.9717124 ] [-0.05356165 0.99839879 -0.01819361 -0.10112007] [ 0.02048929 0.01931476 0.99960349 -0.57185787] [ 0. 0. 0. 1. ]] SLAMing on 31.821193817000005 meters Centerline goodness : 0.884044 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.10, Z:-0.57 [[ 0.99800574 0.05893416 -0.02261201 3.97498545] [-0.05929202 0.9981204 -0.01549597 -0.0971209 ] [ 0.02165627 0.01680578 0.99962422 -0.5718173 ] [ 0. 0. 0. 1. ]] SLAMing on 31.851193817000002 meters Centerline goodness : 0.886928 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.10, Z:-0.57 [[ 0.99772147 0.06355541 -0.02264001 3.97601312] [-0.06382152 0.99789813 -0.01123137 -0.09712318] [ 0.02187861 0.0126507 0.99968059 -0.57231016] [ 0. 0. 0. 1. ]] SLAMing on 31.881193817000003 meters Centerline goodness : 0.885187 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.09, Z:-0.57 [[ 0.99764257 0.06443526 -0.02360948 3.97853305] [-0.06473031 0.99783121 -0.01195289 -0.09459011] [ 0.02278809 0.01345296 0.9996498 -0.5725379 ] [ 0. 0. 0. 1. ]] SLAMing on 31.911193817000004 meters Centerline goodness : 0.884363 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.09, Z:-0.57 [[ 0.99756863 0.06528455 -0.02438775 3.98057068] [-0.06558878 0.9977759 -0.0118894 -0.09379439] [ 0.02355731 0.01346006 0.99963187 -0.57290498] [ 0. 0. 0. 1. ]] SLAMing on 31.941193817000002 meters Centerline goodness : 0.882909 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.10, Z:-0.57 [[ 0.99750865 0.06588814 -0.02520393 3.98245261] [-0.0661728 0.99775154 -0.01063137 -0.09747923] [ 0.02444678 0.0122727 0.9996258 -0.573642 ] [ 0. 0. 0. 1. ]] SLAMing on 31.971193817000003 meters Centerline goodness : 0.883624 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.10, Z:-0.57 [[ 0.99751168 0.06566079 -0.02567332 3.98326233] [-0.06593196 0.99777538 -0.00986192 -0.10088679] [ 0.02496866 0.01153007 0.99962174 -0.57392789] [ 0. 0. 0. 1. ]] SLAMing on 32.001193817 meters Centerline goodness : 0.885193 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.10, Z:-0.57 [[ 0.9977045 0.06222292 -0.02672161 3.984374 ] [-0.06260712 0.99794298 -0.01378964 -0.10151555] [ 0.02580861 0.01543095 0.9995478 -0.57310423] [ 0. 0. 0. 1. ]] SLAMing on 32.031193817 meters Centerline goodness : 0.885739 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.11, Z:-0.57 [[ 0.99776467 0.06170741 -0.02564861 3.98117713] [-0.06201028 0.99801284 -0.01118481 -0.10800202] [ 0.02490746 0.01275028 0.99960845 -0.57230961] [ 0. 0. 0. 1. ]] SLAMing on 32.061193816999996 meters Centerline goodness : 0.884677 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.11, Z:-0.57 [[ 0.99793416 0.05852072 -0.02650906 3.98240208] [-0.05890897 0.99816365 -0.01410899 -0.10991002] [ 0.02563471 0.01564147 0.999549 -0.57241868] [ 0. 0. 0. 1. ]] SLAMing on 32.091193817 meters Centerline goodness : 0.887986 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.11, Z:-0.57 [[ 0.99800902 0.05693969 -0.02712707 3.98441994] [-0.05733427 0.99825692 -0.01399648 -0.1132821 ] [ 0.02628283 0.01552392 0.999534 -0.57416467] [ 0. 0. 0. 1. ]] SLAMing on 32.121193817 meters Centerline goodness : 0.886956 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.12, Z:-0.57 [[ 0.99809873 0.05531568 -0.02718635 3.98373296] [-0.05573246 0.99833576 -0.0148192 -0.11556053] [ 0.02632137 0.01630618 0.99952053 -0.57378276] [ 0. 0. 0. 1. ]] SLAMing on 32.151193817 meters Centerline goodness : 0.886969 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.12, Z:-0.57 [[ 0.99817004 0.0540572 -0.02709981 3.9832696 ] [-0.0544587 0.99841358 -0.01430284 -0.11879644] [ 0.02628364 0.01575248 0.9995304 -0.57397244] [ 0. 0. 0. 1. ]] SLAMing on 32.181193817 meters Centerline goodness : 0.887683 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.12, Z:-0.57 [[ 0.99821009 0.05346577 -0.02679612 3.98153259] [-0.05383072 0.9984643 -0.01308777 -0.12268758] [ 0.02605523 0.0145068 0.99955524 -0.57292637] [ 0. 0. 0. 1. ]] SLAMing on 32.211193817 meters Centerline goodness : 0.892000 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.13, Z:-0.57 [[ 0.99842835 0.04943938 -0.02639287 3.97869614] [-0.0498646 0.99863253 -0.01570312 -0.12629118] [ 0.02558042 0.01699451 0.9995283 -0.57100339] [ 0. 0. 0. 1. ]] SLAMing on 32.241193817 meters Centerline goodness : 0.890884 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.13, Z:-0.57 [[ 0.99847059 0.04841798 -0.02668665 3.97919814] [-0.04884321 0.99868588 -0.01551928 -0.12870734] [ 0.02590017 0.01679901 0.99952337 -0.57126755] [ 0. 0. 0. 1. ]] SLAMing on 32.271193817 meters Centerline goodness : 0.892361 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.13, Z:-0.57 [[ 0.99848768 0.0480687 -0.02667862 3.97873984] [-0.04846575 0.99872045 -0.01444072 -0.13211526] [ 0.02595034 0.01571188 0.99953975 -0.57116486] [ 0. 0. 0. 1. ]] SLAMing on 32.301193817 meters Centerline goodness : 0.896561 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.14, Z:-0.57 [[ 0.99866956 0.04403766 -0.02682916 3.97804381] [-0.04450231 0.99886505 -0.01697501 -0.13630432] [ 0.02605117 0.01814639 0.9994959 -0.57090858] [ 0. 0. 0. 1. ]] SLAMing on 32.331193817 meters Centerline goodness : 0.896757 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.14, Z:-0.57 [[ 0.99868253 0.04345735 -0.02728848 3.97905643] [-0.04392631 0.99889304 -0.01682763 -0.1379178 ] [ 0.02652699 0.01800414 0.99948595 -0.57094493] [ 0. 0. 0. 1. ]] SLAMing on 32.361193817 meters Centerline goodness : 0.895081 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.14, Z:-0.57 [[ 0.99869775 0.04285634 -0.02767919 3.98003716] [-0.0433339 0.99891786 -0.01689003 -0.13832982] [ 0.02692539 0.01806749 0.99947416 -0.57105718] [ 0. 0. 0. 1. ]] SLAMing on 32.391193817 meters Centerline goodness : 0.899307 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.14, Z:-0.57 [[ 0.99871168 0.04232881 -0.02798648 3.9810327 ] [-0.04281484 0.99893836 -0.01700141 -0.13835138] [ 0.02723711 0.01817774 0.99946371 -0.57141309] [ 0. 0. 0. 1. ]] SLAMing on 32.421193817 meters Centerline goodness : 0.898456 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.14, Z:-0.57 [[ 0.99879498 0.03971514 -0.02883231 3.98453738] [-0.04026835 0.99901076 -0.01886691 -0.13731426] [ 0.02805448 0.0200052 0.99940619 -0.57349167] [ 0. 0. 0. 1. ]] SLAMing on 32.451193817 meters Centerline goodness : 0.900949 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.14, Z:-0.57 [[ 0.99883227 0.03818012 -0.02960379 3.98728391] [-0.03878317 0.99904605 -0.02007123 -0.13719833] [ 0.02880923 0.02119592 0.99936018 -0.57489806] [ 0. 0. 0. 1. ]] SLAMing on 32.481193817 meters Centerline goodness : 0.900428 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.14, Z:-0.57 [[ 0.99884249 0.03755851 -0.03005068 3.98784948] [-0.03817755 0.99906479 -0.02029824 -0.13778541] [ 0.0292602 0.021422 0.99934225 -0.57441669] [ 0. 0. 0. 1. ]] SLAMing on 32.511193817 meters Centerline goodness : 0.903884 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.14, Z:-0.57 [[ 0.99886379 0.0366703 -0.03043713 3.98840821] [-0.03731381 0.99908606 -0.02085027 -0.137523 ] [ 0.02964473 0.02196231 0.99931919 -0.57396315] [ 0. 0. 0. 1. ]] SLAMing on 32.541193817 meters Centerline goodness : 0.905087 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.14, Z:-0.57 [[ 0.99885509 0.03416064 -0.03348976 3.99352277] [-0.03483709 0.9991963 -0.01982773 -0.13639251] [ 0.03278551 0.02097172 0.99924236 -0.57047833] [ 0. 0. 0. 1. ]] SLAMing on 32.571193817 meters Centerline goodness : 0.905728 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.13, Z:-0.57 [[ 0.99888165 0.03297892 -0.03387994 3.99465052] [-0.03370059 0.99921226 -0.0209552 -0.13387876] [ 0.03316217 0.02207354 0.9992062 -0.57067613] [ 0. 0. 0. 1. ]] SLAMing on 32.601193817 meters Centerline goodness : 0.908540 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.13, Z:-0.57 [[ 0.99887135 0.0294948 -0.03723023 4.00461477] [-0.03028509 0.99932393 -0.02084452 -0.12635222] [ 0.03659025 0.02194852 0.99908929 -0.57116382] [ 0. 0. 0. 1. ]] SLAMing on 32.631193816999996 meters Centerline goodness : 0.908122 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.12, Z:-0.57 [[ 0.9988935 0.0280655 -0.0377374 4.00704105] [-0.0289306 0.99932643 -0.02257671 -0.1223875 ] [ 0.03707836 0.02364349 0.99903262 -0.57264702] [ 0. 0. 0. 1. ]] SLAMing on 32.661193817 meters Centerline goodness : 0.909147 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.12, Z:-0.57 [[ 0.99891044 0.02691009 -0.03812853 4.00875715] [-0.02784432 0.99931962 -0.02418662 -0.11843949] [ 0.03745172 0.02522193 0.99898009 -0.57360316] [ 0. 0. 0. 1. ]] SLAMing on 32.691193817 meters Centerline goodness : 0.907891 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.11, Z:-0.57 [[ 0.99892524 0.02589592 -0.03844183 4.01000177] [-0.02689535 0.9993075 -0.02571317 -0.11462767] [ 0.03774934 0.02671944 0.99892996 -0.57417169] [ 0. 0. 0. 1. ]] SLAMing on 32.721193817 meters Centerline goodness : 0.908201 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.10, Z:-0.57 [[ 0.99888122 0.02688055 -0.03890687 4.01146203] [-0.02790309 0.99927292 -0.0259817 -0.10467164] [ 0.03818018 0.02703825 0.998905 -0.5740343 ] [ 0. 0. 0. 1. ]] SLAMing on 32.751193817 meters Centerline goodness : 0.906971 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.10, Z:-0.57 [[ 0.99878811 0.0297975 -0.03917155 4.01251742] [-0.03075221 0.99923886 -0.02400012 -0.09848928] [ 0.0384266 0.02517565 0.99894423 -0.57402331] [ 0. 0. 0. 1. ]] SLAMing on 32.781193817 meters Centerline goodness : 0.907480 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.09, Z:-0.57 [[ 0.99868316 0.0327482 -0.0394906 4.01368517] [-0.03364137 0.99918807 -0.0221688 -0.0917392 ] [ 0.03873255 0.02346812 0.99897399 -0.57395187] [ 0. 0. 0. 1. ]] SLAMing on 32.811193816999996 meters Centerline goodness : 0.902226 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.09, Z:-0.57 [[ 0.9985744 0.03551596 -0.03984691 4.01508184] [-0.03635544 0.99912772 -0.02054443 -0.08545475] [ 0.0390825 0.02196379 0.99899457 -0.57407762] [ 0. 0. 0. 1. ]] SLAMing on 32.841193817 meters Centerline goodness : 0.901111 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.07, Z:-0.58 [[ 0.99858506 0.03915593 -0.03598188 4.03201558] [-0.04007188 0.99888156 -0.02509736 -0.07226568] [ 0.03495892 0.02650371 0.99903725 -0.57648674] [ 0. 0. 0. 1. ]] SLAMing on 32.871193817 meters Centerline goodness : 0.899273 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.07, Z:-0.58 [[ 0.9984591 0.04200346 -0.03626486 4.03344505] [-0.04289093 0.99879023 -0.02405071 -0.0662685 ] [ 0.03521077 0.02556908 0.99905276 -0.57622402] [ 0. 0. 0. 1. ]] SLAMing on 32.901193817 meters Centerline goodness : 0.898298 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.06, Z:-0.58 [[ 0.99832678 0.04488095 -0.03646021 4.0346579 ] [-0.04574259 0.99868494 -0.02315172 -0.05941698] [ 0.0353732 0.02478077 0.99906689 -0.57580938] [ 0. 0. 0. 1. ]] SLAMing on 32.931193817 meters Centerline goodness : 0.898023 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.05, Z:-0.58 [[ 0.9981981 0.04758277 -0.03655738 4.03578273] [-0.0484253 0.99857297 -0.02251718 -0.0518361 ] [ 0.03543378 0.02424691 0.99907784 -0.57537936] [ 0. 0. 0. 1. ]] SLAMing on 32.961193817 meters Centerline goodness : 0.893364 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.04, Z:-0.57 [[ 0.9979339 0.05285913 -0.03652178 4.0362805 ] [-0.05364703 0.99834037 -0.02094054 -0.03793673] [ 0.03535427 0.02285656 0.99911343 -0.57314957] [ 0. 0. 0. 1. ]] SLAMing on 32.991193817 meters Centerline goodness : 0.896225 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.03, Z:-0.57 [[ 0.99777302 0.05567371 -0.03673481 4.03725212] [-0.05642241 0.99821323 -0.01966866 -0.03228673] [ 0.03557415 0.02169753 0.99913147 -0.57248151] [ 0. 0. 0. 1. ]] SLAMing on 33.021193817 meters Centerline goodness : 0.893534 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.03, Z:-0.57 [[ 0.99762105 0.05826014 -0.03685093 4.03802289] [-0.05897362 0.99808663 -0.01857936 -0.02682727] [ 0.03569799 0.02070839 0.99914805 -0.57185654] [ 0. 0. 0. 1. ]] SLAMing on 33.051193817 meters Centerline goodness : 0.892984 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.02, Z:-0.57 [[ 0.99746421 0.06082646 -0.03694985 4.03883455] [-0.0614945 0.99795888 -0.01721936 -0.0216892 ] [ 0.03582704 0.01944791 0.99916876 -0.57140119] [ 0. 0. 0. 1. ]] SLAMing on 33.081193817 meters Centerline goodness : 0.891700 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.02, Z:-0.57 [[ 0.99733575 0.0629864 -0.03679836 4.03856005] [-0.06361403 0.99784404 -0.01614063 -0.01634811] [ 0.03570239 0.01843852 0.99919235 -0.5703445 ] [ 0. 0. 0. 1. ]] SLAMing on 33.111193817 meters Centerline goodness : 0.887795 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.00, Z:-0.57 [[ 0.99721796 0.06483732 -0.03677579 4.03929479] [-0.06547064 0.9977216 -0.01628524 -0.00465351] [ 0.0356361 0.01864767 0.99919084 -0.56963429] [ 0. 0. 0. 1. ]] SLAMing on 33.141193817 meters Centerline goodness : 0.888620 Centerline is valid? [False, False] Translation: X:4.04, Y:0.00, Z:-0.57 [[ 9.97105866e-01 6.63930002e-02 -3.70386489e-02 4.04125983e+00] [-6.70031335e-02 9.97632659e-01 -1.54809136e-02 1.10105238e-03] [ 3.59231415e-02 1.79178153e-02 9.99193915e-01 -5.70276290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.171193817 meters Centerline goodness : 0.884153 Centerline is valid? [False, False] Translation: X:4.04, Y:0.01, Z:-0.57 [[ 0.99697033 0.06823502 -0.03733828 4.04315372] [-0.06881158 0.99752604 -0.01437933 0.00680563] [ 0.03626473 0.01690508 0.99919922 -0.57087737] [ 0. 0. 0. 1. ]] SLAMing on 33.201193817 meters Centerline goodness : 0.886095 Centerline is valid? [False, False] Translation: X:4.05, Y:0.01, Z:-0.57 [[ 0.99685443 0.06966383 -0.03779149 4.04563369] [-0.07021542 0.99744092 -0.01346868 0.01215336] [ 0.0367565 0.01607986 0.99919487 -0.57194211] [ 0. 0. 0. 1. ]] SLAMing on 33.231193817 meters Centerline goodness : 0.886971 Centerline is valid? [False, False] Translation: X:4.05, Y:0.02, Z:-0.57 [[ 0.99691284 0.06897027 -0.03752189 4.04544522] [-0.0695755 0.99746287 -0.01506911 0.02265801] [ 0.03638737 0.01763319 0.99918218 -0.57140392] [ 0. 0. 0. 1. ]] SLAMing on 33.261193817 meters Centerline goodness : 0.885067 Centerline is valid? [False, False] Translation: X:4.05, Y:0.03, Z:-0.57 [[ 0.99697088 0.0679584 -0.03782485 4.04627921] [-0.06863342 0.99749978 -0.01684157 0.02802376] [ 0.03658576 0.01938661 0.99914245 -0.57132869] [ 0. 0. 0. 1. ]] SLAMing on 33.291193817 meters Centerline goodness : 0.883782 Centerline is valid? [False, False] Translation: X:4.05, Y:0.03, Z:-0.57 [[ 0.99690359 0.06858914 -0.03845456 4.049399 ] [-0.06926535 0.99746122 -0.01653555 0.03339997] [ 0.03722278 0.01914792 0.99912353 -0.57278247] [ 0. 0. 0. 1. ]] SLAMing on 33.321193817 meters Centerline goodness : 0.884384 Centerline is valid? [False, False] Translation: X:4.05, Y:0.04, Z:-0.57 [[ 0.99675865 0.07039521 -0.03894495 4.0520008 ] [-0.07103455 0.99735678 -0.015282 0.03903761] [ 0.03776624 0.0179989 0.99912449 -0.57375755] [ 0. 0. 0. 1. ]] SLAMing on 33.351193817 meters Centerline goodness : 0.883899 Centerline is valid? [False, False] Translation: X:4.05, Y:0.05, Z:-0.57 [[ 0.99643919 0.07480738 -0.03889461 4.05430833] [-0.07534012 0.99708061 -0.01241472 0.05007366] [ 0.03785235 0.01530084 0.99916619 -0.57483821] [ 0. 0. 0. 1. ]] SLAMing on 33.381193816999996 meters Centerline goodness : 0.885688 Centerline is valid? [False, False] Translation: X:4.06, Y:0.05, Z:-0.58 [[ 0.99620294 0.07794371 -0.03878758 4.05503371] [-0.0783859 0.99687283 -0.01001078 0.05351534] [ 0.03788601 0.01301317 0.99919733 -0.57508389] [ 0. 0. 0. 1. ]] SLAMing on 33.411193817 meters Centerline goodness : 0.885688 Centerline is valid? [False, False] Translation: X:4.06, Y:0.05, Z:-0.58 [[ 0.99620334 0.07793987 -0.03878498 4.05503025] [-0.07838231 0.99687303 -0.01001852 0.0535346 ] [ 0.03788285 0.01302054 0.99919736 -0.57508563] [ 0. 0. 0. 1. ]] SLAMing on 33.441193817 meters Centerline goodness : 0.884925 Centerline is valid? [False, False] Translation: X:4.06, Y:0.06, Z:-0.58 [[ 0.99595989 0.08108916 -0.03858044 4.0553997 ] [-0.08143888 0.99664952 -0.00757849 0.05675658] [ 0.03783665 0.01068982 0.99922676 -0.57514651] [ 0. 0. 0. 1. ]] SLAMing on 33.471193817 meters Centerline goodness : 0.886095 Centerline is valid? [False, False] Translation: X:4.06, Y:0.06, Z:-0.57 [[ 0.99570329 0.08421455 -0.03850807 4.05585301] [-0.08447598 0.9964119 -0.00521005 0.06065409] [ 0.03793114 0.00844067 0.99924471 -0.57487089] [ 0. 0. 0. 1. ]] SLAMing on 33.501193817 meters Centerline goodness : 0.885212 Centerline is valid? [False, False] Translation: X:4.06, Y:0.07, Z:-0.57 [[ 9.95184030e-01 9.04017013e-02 -3.78982647e-02 4.05568084e+00] [-9.04892890e-02 9.95897249e-01 -5.98702402e-04 6.95930072e-02] [ 3.76886538e-02 4.02520609e-03 9.99281423e-01 -5.74022378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.531193817 meters Centerline goodness : 0.888042 Centerline is valid? [False, False] Translation: X:4.06, Y:0.07, Z:-0.57 [[ 9.94853792e-01 9.39862730e-02 -3.78485492e-02 4.05686029e+00] [-9.39688689e-02 9.95572611e-01 2.24245496e-03 7.28972137e-02] [ 3.78917389e-02 1.32567053e-03 9.99280971e-01 -5.74455409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.561193816999996 meters Centerline goodness : 0.888801 Centerline is valid? [False, False] Translation: X:4.06, Y:0.08, Z:-0.58 [[ 9.94483576e-01 9.78610411e-02 -3.77575622e-02 4.05816926e+00] [-9.77275295e-02 9.95198720e-01 5.37004482e-03 7.53064130e-02] [ 3.81017957e-02 -1.65046810e-03 9.99272500e-01 -5.75131375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.591193817 meters Centerline goodness : 0.887659 Centerline is valid? [False, False] Translation: X:4.06, Y:0.08, Z:-0.58 [[ 0.99403837 0.10232039 -0.03765969 4.05941723] [-0.1020513 0.99473838 0.00900474 0.0771401 ] [ 0.03838291 -0.00510783 0.99925005 -0.57573798] [ 0. 0. 0. 1. ]] SLAMing on 33.621193817 meters Centerline goodness : 0.889697 Centerline is valid? [False, False] Translation: X:4.06, Y:0.08, Z:-0.58 [[ 0.9931016 0.11134602 -0.0367597 4.05981301] [-0.11080547 0.99370621 0.01643492 0.0800306 ] [ 0.03835831 -0.01224837 0.99918898 -0.5758947 ] [ 0. 0. 0. 1. ]] SLAMing on 33.651193817 meters Centerline goodness : 0.888719 Centerline is valid? [False, False] Translation: X:4.06, Y:0.08, Z:-0.58 [[ 0.99257712 0.11595583 -0.03667306 4.06096844] [-0.11526173 0.99312333 0.02051324 0.08065116] [ 0.0387995 -0.01613397 0.99911676 -0.57621294] [ 0. 0. 0. 1. ]] SLAMing on 33.681193817 meters Centerline goodness : 0.887799 Centerline is valid? [False, False] Translation: X:4.06, Y:0.08, Z:-0.58 [[ 0.9924729 0.11675623 -0.03695293 4.06187938] [-0.11606322 0.99303269 0.02038144 0.0827002 ] [ 0.03907513 -0.01593915 0.99910914 -0.57629028] [ 0. 0. 0. 1. ]] SLAMing on 33.711193817 meters Centerline goodness : 0.887578 Centerline is valid? [False, False] Translation: X:4.06, Y:0.08, Z:-0.58 [[ 0.99226306 0.11841346 -0.03731325 4.06409099] [-0.11767151 0.99281986 0.02149752 0.08298631] [ 0.03959094 -0.01694049 0.99907236 -0.57740596] [ 0. 0. 0. 1. ]] SLAMing on 33.741193817 meters Centerline goodness : 0.887498 Centerline is valid? [False, False] Translation: X:4.07, Y:0.08, Z:-0.58 [[ 0.99201701 0.12162867 -0.03329731 4.07302675] [-0.12121847 0.99252599 0.0140801 0.08221012] [ 0.03476099 -0.00993145 0.99934631 -0.57838845] [ 0. 0. 0. 1. ]] SLAMing on 33.771193817 meters Centerline goodness : 0.888675 Centerline is valid? [False, False] Translation: X:4.07, Y:0.08, Z:-0.58 [[ 0.9923565 0.11866436 -0.03387249 4.07325599] [-0.11836712 0.99291271 0.01065683 0.08232182] [ 0.03489701 -0.00656598 0.99936934 -0.57799896] [ 0. 0. 0. 1. ]] SLAMing on 33.801193817 meters Centerline goodness : 0.890534 Centerline is valid? [False, False] Translation: X:4.07, Y:0.08, Z:-0.58 [[ 0.99227353 0.11933232 -0.03395645 4.07350225] [-0.11899274 0.9928243 0.01185874 0.07904832] [ 0.03512792 -0.00772654 0.99935296 -0.57804857] [ 0. 0. 0. 1. ]] SLAMing on 33.831193817 meters Centerline goodness : 0.889091 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:-0.58 [[ 0.99220371 0.11988847 -0.03403746 4.07347939] [-0.1194992 0.99274579 0.01325649 0.07453445] [ 0.03537985 -0.00908569 0.99933264 -0.57783528] [ 0. 0. 0. 1. ]] SLAMing on 33.861193817 meters Centerline goodness : 0.887865 Centerline is valid? [False, False] Translation: X:4.09, Y:0.07, Z:-0.58 [[ 0.99268488 0.11731959 -0.02851046 4.08731576] [-0.11687222 0.99300338 0.01688711 0.06716349] [ 0.03029217 -0.0134315 0.99945084 -0.58091684] [ 0. 0. 0. 1. ]] SLAMing on 33.891193817 meters Centerline goodness : 0.885499 Centerline is valid? [False, False] Translation: X:4.10, Y:0.06, Z:-0.58 [[ 0.99316689 0.11440605 -0.02303881 4.10006139] [-0.11391085 0.99325239 0.02177195 0.05970803] [ 0.02537419 -0.01899881 0.99949747 -0.58435711] [ 0. 0. 0. 1. ]] SLAMing on 33.921193817 meters Centerline goodness : 0.887866 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:-0.59 [[ 0.99354471 0.11195733 -0.01828829 4.1146311 ] [-0.11144815 0.99340812 0.0268257 0.04893685] [ 0.02117106 -0.02461434 0.99947282 -0.58809714] [ 0. 0. 0. 1. ]] SLAMing on 33.951193817 meters Centerline goodness : 0.883905 Centerline is valid? [False, False] Translation: X:4.13, Y:0.04, Z:-0.59 [[ 0.99398712 0.1082015 -0.0167938 4.12699615] [-0.10760659 0.9936454 0.03300955 0.04442328] [ 0.02025877 -0.03100395 0.99931393 -0.59028568] [ 0. 0. 0. 1. ]] SLAMing on 33.981193817 meters Centerline goodness : 0.883399 Centerline is valid? [False, False] Translation: X:4.14, Y:0.04, Z:-0.59 [[ 0.99428726 0.10594642 -0.01296884 4.14153095] [-0.10537402 0.99367287 0.03886579 0.03710314] [ 0.01700448 -0.03727718 0.99916028 -0.59441771] [ 0. 0. 0. 1. ]] SLAMing on 34.011193817 meters Centerline goodness : 0.883066 Centerline is valid? [False, False] Translation: X:4.16, Y:0.03, Z:-0.60 [[ 0.99439397 0.10497445 -0.01268825 4.16197816] [-0.10441046 0.99376833 0.03902504 0.02566734] [ 0.01670581 -0.03748148 0.99915767 -0.59515285] [ 0. 0. 0. 1. ]] SLAMing on 34.041193817 meters Centerline goodness : 0.879940 Centerline is valid? [False, False] Translation: X:4.17, Y:0.02, Z:-0.60 [[ 0.99458721 0.1036957 -0.00659449 4.17368337] [-0.10329003 0.99360158 0.04568455 0.0183127 ] [ 0.01128958 -0.04475612 0.99893415 -0.59871055] [ 0. 0. 0. 1. ]] SLAMing on 34.071193817 meters Centerline goodness : 0.879627 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-0.60 [[ 0.9944297 0.10483069 -0.01095903 4.18109507] [-0.10426844 0.99361104 0.04318786 0.01358384] [ 0.01541643 -0.04180461 0.99900686 -0.59634873] [ 0. 0. 0. 1. ]] SLAMing on 34.101193817 meters Centerline goodness : 0.881199 Centerline is valid? [False, False] Translation: X:4.20, Y:0.01, Z:-0.60 [[ 0.99424084 0.10677918 -0.00912976 4.20069853] [-0.10621804 0.99316059 0.04847446 0.0054341 ] [ 0.01424338 -0.04722554 0.9987827 -0.59738461] [ 0. 0. 0. 1. ]] SLAMing on 34.131193816999996 meters Centerline goodness : 0.880201 Centerline is valid? [False, False] Translation: X:4.20, Y:0.00, Z:-0.60 [[ 9.94526494e-01 1.04046708e-01 -9.55695066e-03 4.20109281e+00] [-1.03511348e-01 9.93587529e-01 4.54887130e-02 3.75109339e-03] [ 1.42286178e-02 -4.42504774e-02 9.98919137e-01 -5.97547418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.161193817 meters Centerline goodness : 0.878644 Centerline is valid? [False, False] Translation: X:4.20, Y:0.00, Z:-0.60 [[ 9.94832087e-01 1.01036487e-01 -1.00373124e-02 4.20182219e+00] [-1.00526943e-01 9.94029470e-01 4.24234076e-02 1.93219900e-03] [ 1.42636964e-02 -4.11951468e-02 9.99049302e-01 -5.97803517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.191193817 meters Centerline goodness : 0.877243 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.02, Z:-0.59 [[ 0.99519166 0.0977348 -0.00643895 4.21674743] [-0.09690728 0.99205261 0.08025332 -0.01763683] [ 0.01423132 -0.07924346 0.9967537 -0.58814701] [ 0. 0. 0. 1. ]] SLAMing on 34.221193817 meters Centerline goodness : 0.878941 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.02, Z:-0.59 [[ 0.99552539 0.09422898 -0.0070779 4.21760751] [-0.09341302 0.99266733 0.07671749 -0.01864918] [ 0.01425501 -0.07571304 0.99702775 -0.58849253] [ 0. 0. 0. 1. ]] SLAMing on 34.251193817 meters Centerline goodness : 0.877479 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.02, Z:-0.59 [[ 0.9959312 0.08981234 -0.0074012 4.21715086] [-0.08875562 0.99179507 0.09200533 -0.02402406] [ 0.01560369 -0.09097409 0.99573101 -0.58717343] [ 0. 0. 0. 1. ]] SLAMing on 34.281193817 meters Centerline goodness : 0.875611 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.03, Z:-0.59 [[ 0.99659058 0.08228512 -0.00603041 4.22293571] [-0.08162705 0.99397812 0.07310622 -0.0296019 ] [ 0.01200965 -0.07236473 0.99730593 -0.58615831] [ 0. 0. 0. 1. ]] SLAMing on 34.311193816999996 meters Centerline goodness : 0.875925 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.03, Z:-0.59 [[ 0.99668327 0.08068333 -0.01061439 4.2229701 ] [-0.0799677 0.99521929 0.05606904 -0.03190017] [ 0.01508748 -0.05503427 0.99837047 -0.58561881] [ 0. 0. 0. 1. ]] SLAMing on 34.341193817 meters Centerline goodness : 0.877960 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.03, Z:-0.59 [[ 0.99724939 0.07324636 -0.01134131 4.22330612] [-0.0726123 0.99616733 0.0487658 -0.03347376] [ 0.01486976 -0.04780815 0.99874585 -0.58570482] [ 0. 0. 0. 1. ]] SLAMing on 34.371193817 meters Centerline goodness : 0.877776 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.03, Z:-0.59 [[ 0.99774673 0.06600047 -0.0120582 4.22402734] [-0.06544961 0.99699413 0.04146142 -0.03422102] [ 0.01475842 -0.04057879 0.99906734 -0.58614291] [ 0. 0. 0. 1. ]] SLAMing on 34.401193817 meters Centerline goodness : 0.878063 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.03, Z:-0.59 [[ 0.9981866 0.05882831 -0.01275663 4.22484715] [-0.05836411 0.99771168 0.03413254 -0.03463323] [ 0.0147354 -0.03332611 0.9993359 -0.58656998] [ 0. 0. 0. 1. ]] SLAMing on 34.431193817 meters Centerline goodness : 0.877452 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.04, Z:-0.59 [[ 0.99859988 0.0511916 -0.01333015 4.22536136] [-0.05081116 0.99833053 0.02746603 -0.03811938] [ 0.01471393 -0.02675025 0.99953385 -0.58716475] [ 0. 0. 0. 1. ]] SLAMing on 34.461193817 meters Centerline goodness : 0.877622 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.04, Z:-0.59 [[ 0.99877477 0.04749011 -0.01391577 4.22633603] [-0.04715456 0.99861059 0.02352298 -0.03791433] [ 0.01501355 -0.02283797 0.99962644 -0.58734363] [ 0. 0. 0. 1. ]] SLAMing on 34.491193817 meters Centerline goodness : 0.878704 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.04, Z:-0.59 [[ 0.99892809 0.04396863 -0.01447175 4.22726237] [-0.04368742 0.99886062 0.01920598 -0.03601902] [ 0.01529972 -0.01855316 0.99971081 -0.58735212] [ 0. 0. 0. 1. ]] SLAMing on 34.521193817 meters Centerline goodness : 0.880873 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.04, Z:-0.59 [[ 0.99892943 0.04385885 -0.01471018 4.22765417] [-0.04358055 0.99887425 0.01873409 -0.03508062] [ 0.01551528 -0.01807295 0.99971628 -0.5870332 ] [ 0. 0. 0. 1. ]] SLAMing on 34.551193817 meters Centerline goodness : 0.880643 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.03, Z:-0.59 [[ 0.99892088 0.0440054 -0.01485258 4.22763444] [-0.04373393 0.99887864 0.01813312 -0.03363813] [ 0.01563388 -0.01746399 0.99972526 -0.58628078] [ 0. 0. 0. 1. ]] SLAMing on 34.581193817 meters Centerline goodness : 0.878937 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.03, Z:-0.58 [[ 0.99882896 0.04628052 -0.01410045 4.22426706] [-0.0460125 0.99876444 0.01877357 -0.03224667] [ 0.01495188 -0.01810279 0.99972433 -0.58278483] [ 0. 0. 0. 1. ]] SLAMing on 34.611193817 meters Centerline goodness : 0.881863 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.03, Z:-0.58 [[ 0.99880733 0.04673875 -0.01412083 4.22392005] [-0.04647707 0.99875128 0.01832379 -0.03088947] [ 0.01495963 -0.01764564 0.99973238 -0.58190857] [ 0. 0. 0. 1. ]] SLAMing on 34.641193817 meters Centerline goodness : 0.882143 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.03, Z:-0.58 [[ 0.99871544 0.04816548 -0.01573404 4.22615858] [-0.04788343 0.99869367 0.01783651 -0.02978792] [ 0.01657259 -0.0170602 0.99971711 -0.58033138] [ 0. 0. 0. 1. ]] SLAMing on 34.671193817 meters Centerline goodness : 0.882863 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.03, Z:-0.58 [[ 0.99868527 0.04875212 -0.01584166 4.22641681] [-0.04847407 0.99867137 0.01748607 -0.02810263] [ 0.0166731 -0.01669518 0.9997216 -0.58004359] [ 0. 0. 0. 1. ]] SLAMing on 34.701193817 meters Centerline goodness : 0.883904 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.03, Z:-0.58 [[ 0.998471 0.05295975 -0.01584072 4.2281334 ] [-0.05261626 0.99838618 0.02136728 -0.02700647] [ 0.01694676 -0.02050113 0.99964619 -0.58178686] [ 0. 0. 0. 1. ]] SLAMing on 34.731193817 meters Centerline goodness : 0.882305 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.03, Z:-0.58 [[ 0.99849359 0.05235501 -0.01641642 4.23067806] [-0.0520073 0.9984272 0.02093711 -0.02700585] [ 0.01748676 -0.02005179 0.99964601 -0.58370504] [ 0. 0. 0. 1. ]] SLAMing on 34.761193817 meters Centerline goodness : 0.882842 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.03, Z:-0.59 [[ 0.9986663 0.04874679 -0.01701078 4.23249082] [-0.04845246 0.99867555 0.01730621 -0.02745831] [ 0.01783187 -0.01645891 0.99970552 -0.58512589] [ 0. 0. 0. 1. ]] SLAMing on 34.791193817 meters Centerline goodness : 0.883478 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.03, Z:-0.59 [[ 0.9988264 0.04511587 -0.01761779 4.23407288] [-0.04487277 0.99889519 0.01395817 -0.02929394] [ 0.01822806 -0.01315123 0.99974736 -0.5862342 ] [ 0. 0. 0. 1. ]] SLAMing on 34.821193817 meters Centerline goodness : 0.883055 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.03, Z:-0.59 [[ 0.99894906 0.0420676 -0.01819575 4.23606147] [-0.04185663 0.99905365 0.01182445 -0.03368443] [ 0.01867596 -0.01105041 0.99976452 -0.5881166 ] [ 0. 0. 0. 1. ]] SLAMing on 34.851193817 meters Centerline goodness : 0.884228 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.03, Z:-0.59 [[ 0.99891837 0.0425495 -0.01875187 4.23768047] [-0.04232103 0.9990269 0.01241722 -0.03488707] [ 0.01926197 -0.01161019 0.99974706 -0.58886158] [ 0. 0. 0. 1. ]] SLAMing on 34.881193816999996 meters Centerline goodness : 0.883129 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.04, Z:-0.59 [[ 0.99886848 0.04344525 -0.01934615 4.2392061 ] [-0.04319474 0.99897968 0.013184 -0.03622764] [ 0.0198992 -0.01233343 0.99972592 -0.58930456] [ 0. 0. 0. 1. ]] SLAMing on 34.911193817 meters Centerline goodness : 0.884731 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.04, Z:-0.59 [[ 0.99881593 0.04437526 -0.01993919 4.24073342] [-0.04410257 0.99893011 0.01391386 -0.03749 ] [ 0.02053529 -0.01301801 0.99970437 -0.58974177] [ 0. 0. 0. 1. ]] SLAMing on 34.941193817 meters Centerline goodness : 0.886966 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.04, Z:-0.59 [[ 0.99873165 0.04599043 -0.02049341 4.24268405] [-0.04567432 0.99883402 0.01563493 -0.040331 ] [ 0.02118857 -0.01467908 0.99966773 -0.59089338] [ 0. 0. 0. 1. ]] SLAMing on 34.971193817 meters Centerline goodness : 0.886090 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.04, Z:-0.59 [[ 0.99886085 0.04283176 -0.02103415 4.24398376] [-0.04258688 0.99902124 0.01195503 -0.03959672] [ 0.02152562 -0.01104563 0.99970728 -0.59152462] [ 0. 0. 0. 1. ]] SLAMing on 35.001193817 meters Centerline goodness : 0.886781 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.04, Z:-0.59 [[ 0.99900712 0.03909625 -0.02136015 4.24428194] [-0.03892689 0.99920769 0.00828785 -0.04015534] [ 0.02166725 -0.00744814 0.99973749 -0.59150102] [ 0. 0. 0. 1. ]] SLAMing on 35.031193817 meters Centerline goodness : 0.887932 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.04, Z:-0.59 [[ 0.99914364 0.03525171 -0.02166365 4.24425477] [-0.03514769 0.99936879 0.00516353 -0.04296036] [ 0.021832 -0.00439768 0.99975198 -0.59117033] [ 0. 0. 0. 1. ]] SLAMing on 35.061193817 meters Centerline goodness : 0.892916 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.05, Z:-0.59 [[ 9.99379524e-01 2.78790432e-02 -2.15249900e-02 4.24255162e+00] [-2.78806859e-02 9.99611233e-01 2.23839649e-04 -5.08887740e-02] [ 2.15228623e-02 3.76430725e-04 9.99768286e-01 -5.90464141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.091193817 meters Centerline goodness : 0.894661 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.05, Z:-0.59 [[ 9.99473857e-01 2.38505244e-02 -2.19809441e-02 4.24332076e+00] [-2.39175705e-02 9.99710034e-01 -2.79231856e-03 -5.34818506e-02] [ 2.19079722e-02 3.31658018e-03 9.99754490e-01 -5.90871507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.121193817 meters Centerline goodness : 0.894801 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.05, Z:-0.59 [[ 0.99955385 0.01994821 -0.02223005 4.24362973] [-0.0200903 0.99977903 -0.00618689 -0.05454489] [ 0.02210172 0.00663074 0.99973374 -0.59099156] [ 0. 0. 0. 1. ]] SLAMing on 35.151193817 meters Centerline goodness : 0.894990 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.06, Z:-0.59 [[ 0.99956951 0.01933053 -0.0220709 4.24341339] [-0.01945834 0.99979504 -0.00559082 -0.05643131] [ 0.02195831 0.00601787 0.99974078 -0.59148918] [ 0. 0. 0. 1. ]] SLAMing on 35.181193817 meters Centerline goodness : 0.894735 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.06, Z:-0.59 [[ 0.99963264 0.0154467 -0.02227055 4.24377589] [-0.01564704 0.99983841 -0.00884975 -0.05799114] [ 0.02213025 0.00919497 0.99971281 -0.59181575] [ 0. 0. 0. 1. ]] SLAMing on 35.211193817 meters Centerline goodness : 0.893683 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.06, Z:-0.59 [[ 9.99765910e-01 1.18466638e-02 -1.81047439e-02 4.25462748e+00] [-1.18995458e-02 9.99925233e-01 -2.81595798e-03 -6.06576937e-02] [ 1.80700305e-02 3.03073702e-03 9.99832130e-01 -5.94091156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.241193817 meters Centerline goodness : 0.894580 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.06, Z:-0.60 [[ 0.9998531 0.01191278 -0.01232346 4.26644299] [-0.01205561 0.99986025 -0.01158193 -0.06021273] [ 0.01218377 0.01172879 0.99985699 -0.59745605] [ 0. 0. 0. 1. ]] SLAMing on 35.271193817 meters Centerline goodness : 0.895537 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.06, Z:-0.60 [[ 0.99985316 0.01169001 -0.01253019 4.26661126] [-0.01183659 0.99986163 -0.01168849 -0.06055014] [ 0.01239181 0.01183509 0.99985318 -0.59710153] [ 0. 0. 0. 1. ]] SLAMing on 35.301193817 meters Centerline goodness : 0.895537 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.06, Z:-0.60 [[ 0.99985316 0.01169001 -0.01253019 4.26661126] [-0.01183659 0.99986163 -0.01168849 -0.06055014] [ 0.01239181 0.01183509 0.99985318 -0.59710153] [ 0. 0. 0. 1. ]] SLAMing on 35.331193817 meters Centerline goodness : 0.896270 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.06, Z:-0.60 [[ 0.99993846 0.00981575 -0.00517047 4.2768704 ] [-0.00984719 0.99993297 -0.00609081 -0.06154356] [ 0.00511033 0.00614135 0.99996808 -0.60034315] [ 0. 0. 0. 1. ]] SLAMing on 35.361193817 meters Centerline goodness : 0.899864 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.06, Z:-0.60 [[ 0.99994051 0.00945531 -0.00543877 4.27727018] [-0.00949133 0.99993294 -0.00663588 -0.06030649] [ 0.00537566 0.00668711 0.99996319 -0.60013498] [ 0. 0. 0. 1. ]] SLAMing on 35.391193817 meters Centerline goodness : 0.898154 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.06, Z:-0.60 [[ 0.99992949 0.01035888 -0.00580506 4.27974255] [-0.0103934 0.9999283 -0.00594703 -0.05803749] [ 0.00574304 0.00600694 0.99996547 -0.60214381] [ 0. 0. 0. 1. ]] SLAMing on 35.421193817 meters Centerline goodness : 0.899233 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.06, Z:-0.60 [[ 0.99992435 0.01066916 -0.0061213 4.28096328] [-0.01070523 0.99992535 -0.00589019 -0.05724286] [ 0.006058 0.00595527 0.99996392 -0.60288388] [ 0. 0. 0. 1. ]] SLAMing on 35.451193817 meters Centerline goodness : 0.898059 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.06, Z:-0.60 [[ 0.99992019 0.01088579 -0.00641195 4.28189397] [-0.0109243 0.99992232 -0.0060016 -0.05671949] [ 0.00634612 0.00607116 0.99996143 -0.60333495] [ 0. 0. 0. 1. ]] SLAMing on 35.481193817 meters Centerline goodness : 0.901813 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.06, Z:-0.61 [[ 9.99885710e-01 1.50421983e-02 -1.51623350e-03 4.29374524e+00] [-1.50598695e-02 9.99809598e-01 -1.24084074e-02 -5.67388700e-02] [ 1.32929508e-03 1.24298235e-02 9.99921863e-01 -6.07625951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.511193817 meters Centerline goodness : 0.901583 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-0.61 [[ 9.99837199e-01 1.79246932e-02 -2.06890862e-03 4.29592437e+00] [-1.79431182e-02 9.99796127e-01 -9.26004915e-03 -5.73420126e-02] [ 1.90250329e-03 9.29566428e-03 9.99954985e-01 -6.08778089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.541193817 meters Centerline goodness : 0.901641 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-0.61 [[ 9.99777786e-01 2.09250175e-02 -2.55399752e-03 4.29803207e+00] [-2.09400093e-02 9.99762780e-01 -5.99158018e-03 -5.77311700e-02] [ 2.42801774e-03 6.04372949e-03 9.99978789e-01 -6.09999063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.571193817 meters Centerline goodness : 0.902698 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-0.61 [[ 9.99753570e-01 2.19680599e-02 -3.19444825e-03 4.30028405e+00] [-2.19842620e-02 9.99745163e-01 -5.12852194e-03 -5.78859299e-02] [ 3.08097051e-03 5.19748570e-03 9.99981747e-01 -6.11226375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.601193817 meters Centerline goodness : 0.904731 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-0.61 [[ 9.99741319e-01 2.24066922e-02 -3.90316096e-03 4.30349130e+00] [-2.24243608e-02 9.99738219e-01 -4.54337129e-03 -5.99372845e-02] [ 3.80033726e-03 4.62972190e-03 9.99982061e-01 -6.13696720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.631193816999996 meters Centerline goodness : 0.903598 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.06, Z:-0.61 [[ 9.99790430e-01 2.03749751e-02 -1.98921663e-03 4.32278056e+00] [-2.03942416e-02 9.99739982e-01 -1.02001357e-02 -5.93662838e-02] [ 1.78087188e-03 1.02385666e-02 9.99945999e-01 -6.14740595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.661193817 meters Centerline goodness : 0.903716 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.06, Z:-0.62 [[ 9.99824495e-01 1.86843633e-02 1.36902218e-03 4.34096915e+00] [-1.86616517e-02 9.99712462e-01 -1.50577577e-02 -5.84191832e-02] [-1.64997314e-03 1.50295667e-02 9.99885688e-01 -6.15758953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.691193817 meters Centerline goodness : 0.905780 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.06, Z:-0.62 [[ 0.9998325 0.01684186 0.0071641 4.35138428] [-0.01678727 0.9998301 -0.00761302 -0.06061403] [-0.0072911 0.00749148 0.99994536 -0.61878043] [ 0. 0. 0. 1. ]] SLAMing on 35.721193817 meters Centerline goodness : 0.903779 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.06, Z:-0.62 [[ 0.99983883 0.01661584 0.00679983 4.35194466] [-0.01656416 0.99983401 -0.00758817 -0.0611994 ] [-0.00692479 0.00747431 0.99994809 -0.61854614] [ 0. 0. 0. 1. ]] SLAMing on 35.751193817 meters Centerline goodness : 0.906290 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.06, Z:-0.62 [[ 0.9998811 0.01420697 0.00599536 4.35446434] [-0.01414561 0.99984838 -0.01015475 -0.0621965 ] [-0.00613872 0.01006873 0.99993047 -0.61992255] [ 0. 0. 0. 1. ]] SLAMing on 35.781193817 meters Centerline goodness : 0.904470 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.06, Z:-0.62 [[ 0.99991176 0.0122656 0.00510193 4.37683936] [-0.01218885 0.999816 -0.0148118 -0.06166958] [-0.00528267 0.0147483 0.99987728 -0.62161094] [ 0. 0. 0. 1. ]] SLAMing on 35.811193817 meters Centerline goodness : 0.906321 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.06, Z:-0.62 [[ 0.9999225 0.01149927 0.00477125 4.37781853] [-0.01142549 0.99981899 -0.01521317 -0.06214031] [-0.00494532 0.01515748 0.99987289 -0.62198915] [ 0. 0. 0. 1. ]] SLAMing on 35.841193817 meters Centerline goodness : 0.906716 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.06, Z:-0.62 [[ 0.99993163 0.01078842 0.0045102 4.37827079] [-0.01071779 0.99982395 -0.01540131 -0.06293401] [-0.00467556 0.01535191 0.99987122 -0.62183695] [ 0. 0. 0. 1. ]] SLAMing on 35.871193817 meters Centerline goodness : 0.905980 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.06, Z:-0.62 [[ 9.99971589e-01 6.18562095e-03 4.30809318e-03 4.37846558e+00] [-6.10126022e-03 9.99794595e-01 -1.93272340e-02 -6.45378000e-02] [-4.42675922e-03 1.93004001e-02 9.99803930e-01 -6.21613446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.901193817 meters Centerline goodness : 0.906291 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.07, Z:-0.62 [[ 9.99983040e-01 4.57349606e-03 3.60581733e-03 4.38119289e+00] [-4.49910108e-03 9.99782246e-01 -2.03769018e-02 -6.57219971e-02] [-3.69822583e-03 2.03603333e-02 9.99785867e-01 -6.23280124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.931193817 meters Centerline goodness : 0.904803 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.07, Z:-0.62 [[ 9.99990079e-01 3.44126304e-03 2.82818991e-03 4.38384247e+00] [-3.38083753e-03 9.99771665e-01 -2.10994664e-02 -6.59847862e-02] [-2.90015295e-03 2.10896954e-02 9.99773381e-01 -6.24678324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.961193817 meters Centerline goodness : 0.910227 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99993077e-01 2.85109127e-03 2.39113791e-03 4.38544882e+00] [-2.79908222e-03 9.99765379e-01 -2.14791034e-02 -6.57498092e-02] [-2.45181578e-03 2.14722617e-02 9.99766438e-01 -6.25625143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.991193817 meters Centerline goodness : 0.905598 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99995212e-01 2.49325742e-03 1.83314297e-03 4.38684542e+00] [-2.45288264e-03 9.99761372e-01 -2.17067403e-02 -6.56381348e-02] [-1.88682602e-03 2.17021398e-02 9.99762700e-01 -6.25951068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.021193817 meters Centerline goodness : 0.908961 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99995836e-01 2.45629820e-03 1.51461163e-03 4.38769712e+00] [-2.42304644e-03 9.99764225e-01 -2.15782821e-02 -6.63909395e-02] [-1.56725722e-03 2.15745223e-02 9.99766014e-01 -6.26209943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.051193817 meters Centerline goodness : 0.907121 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99985357e-01 5.26536474e-03 1.24955328e-03 4.38823719e+00] [-5.24214150e-03 9.99825813e-01 -1.79126717e-02 -6.89707292e-02] [-1.34365237e-03 1.79058591e-02 9.99838774e-01 -6.26073418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.081193817 meters Centerline goodness : 0.910969 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99985999e-01 5.21839468e-03 8.77033939e-04 4.38945338e+00] [-5.20190651e-03 9.99827072e-01 -1.78540288e-02 -6.90823578e-02] [-9.70051643e-04 1.78492165e-02 9.99840219e-01 -6.26673853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.111193817 meters Centerline goodness : 0.908454 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99987496e-01 4.99097420e-03 3.14163998e-04 4.39116902e+00] [-4.98455192e-03 9.99827383e-01 -1.78985493e-02 -6.92894763e-02] [-4.03440966e-04 1.78967595e-02 9.99839759e-01 -6.27482609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.141193817 meters Centerline goodness : 0.909972 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99989035e-01 4.68010977e-03 -1.64316531e-04 4.39283397e+00] [-4.68230201e-03 9.99828646e-01 -1.79096423e-02 -7.01296665e-02] [ 8.04692824e-05 1.79102153e-02 9.99839596e-01 -6.28435635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.171193817 meters Centerline goodness : 0.911189 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99988665e-01 4.73432450e-03 -5.05216028e-04 4.39367812e+00] [-4.74245263e-03 9.99835146e-01 -1.75268624e-02 -7.13826521e-02] [ 4.22154887e-04 1.75290597e-02 9.99846265e-01 -6.28670124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.201193817 meters Centerline goodness : 0.909898 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99965793e-01 8.23735625e-03 -7.48162882e-04 4.39400896e+00] [-8.24679337e-03 9.99873037e-01 -1.36345377e-02 -7.20395930e-02] [ 6.35755348e-04 1.36402412e-02 9.99906765e-01 -6.28240644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.231193817 meters Centerline goodness : 0.909938 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99927170e-01 1.20176710e-02 -1.10879135e-03 4.39487128e+00] [-1.20280223e-02 9.99879084e-01 -9.85617633e-03 -7.17514065e-02] [ 9.90208993e-04 9.86879508e-03 9.99950812e-01 -6.28257194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.261193817 meters Centerline goodness : 0.908276 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.07, Z:-0.63 [[ 9.99870689e-01 1.60078136e-02 -1.53452142e-03 4.39606166e+00] [-1.60167531e-02 9.99853709e-01 -6.00203298e-03 -7.14887943e-02] [ 1.43821751e-03 6.02583490e-03 9.99980810e-01 -6.28552803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.291193817 meters Centerline goodness : 0.911985 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.07, Z:-0.63 [[ 9.99800205e-01 1.99079079e-02 -1.79607147e-03 4.39728311e+00] [-1.99120247e-02 9.99799081e-01 -2.30412535e-03 -7.07022364e-02] [ 1.74984029e-03 2.33942841e-03 9.99995733e-01 -6.29270745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.321193817 meters Centerline goodness : 0.911512 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.07, Z:-0.63 [[ 9.99768974e-01 2.12877654e-02 2.97154608e-03 4.40992271e+00] [-2.12517646e-02 9.99706134e-01 -1.16622165e-02 -6.56014822e-02] [-3.21893538e-03 1.15963716e-02 9.99927579e-01 -6.33612157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.351193817 meters Centerline goodness : 0.911241 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.06, Z:-0.63 [[ 0.99977159 0.02012187 0.00720308 4.42636104] [-0.02000291 0.99966831 -0.0162223 -0.06297157] [-0.00752711 0.01607451 0.99984246 -0.63308238] [ 0. 0. 0. 1. ]] SLAMing on 36.381193816999996 meters Centerline goodness : 0.911822 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.06, Z:-0.63 [[ 0.99978988 0.0193382 0.00679917 4.42648707] [-0.01922423 0.99967993 -0.01644575 -0.06410781] [-0.00711502 0.01631159 0.99984164 -0.63209819] [ 0. 0. 0. 1. ]] SLAMing on 36.411193817 meters Centerline goodness : 0.912869 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.07, Z:-0.63 [[ 0.99984047 0.01478985 0.01001428 4.43513795] [-0.01468709 0.99983952 -0.01025766 -0.06585069] [-0.01016438 0.01010894 0.99989724 -0.63202246] [ 0. 0. 0. 1. ]] SLAMing on 36.441193817 meters Centerline goodness : 0.912389 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.06, Z:-0.63 [[ 0.99990574 0.00956711 0.00984776 4.43537813] [-0.00941353 0.99983517 -0.01552485 -0.06356063] [-0.00999466 0.01543068 0.99983099 -0.63190112] [ 0. 0. 0. 1. ]] SLAMing on 36.471193817 meters Centerline goodness : 0.911031 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.06, Z:-0.63 [[ 0.99992685 0.00782469 0.00922327 4.43752257] [-0.00766833 0.99982833 -0.01686754 -0.06326853] [-0.00935367 0.01679558 0.99981519 -0.63305571] [ 0. 0. 0. 1. ]] SLAMing on 36.501193817 meters Centerline goodness : 0.913304 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.06, Z:-0.63 [[ 0.99994412 0.00616883 0.00858481 4.43991183] [-0.00601348 0.99981979 -0.0180063 -0.06379087] [-0.00869434 0.01795367 0.99980102 -0.63447 ] [ 0. 0. 0. 1. ]] SLAMing on 36.531193817 meters Centerline goodness : 0.913183 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.06, Z:-0.64 [[ 0.99995353 0.00512679 0.00816417 4.44181528] [-0.00497379 0.99981366 -0.01865231 -0.06495704] [-0.00825827 0.01861084 0.9997927 -0.63582927] [ 0. 0. 0. 1. ]] SLAMing on 36.561193817 meters Centerline goodness : 0.911868 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.07, Z:-0.64 [[ 0.99995685 0.00490448 0.00788963 4.44244934] [-0.00475692 0.99981542 -0.01861436 -0.06608758] [-0.00797946 0.01857603 0.99979561 -0.63593701] [ 0. 0. 0. 1. ]] SLAMing on 36.591193817 meters Centerline goodness : 0.912723 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.07, Z:-0.64 [[ 0.99995918 0.00488107 0.00760348 4.44329623] [-0.00473762 0.99981259 -0.01877065 -0.06568282] [-0.00769367 0.01873386 0.9997949 -0.63631474] [ 0. 0. 0. 1. ]] SLAMing on 36.621193817 meters Centerline goodness : 0.914517 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.06, Z:-0.64 [[ 0.99996827 0.00515488 0.00607384 4.46640313] [-0.00503136 0.99978374 -0.02017794 -0.06499373] [-0.00617654 0.02014674 0.99977795 -0.63817405] [ 0. 0. 0. 1. ]] SLAMing on 36.651193817 meters Centerline goodness : 0.911744 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.06, Z:-0.64 [[ 0.99997215 0.00494388 0.00558995 4.46800386] [-0.00482896 0.99978049 -0.02038735 -0.06444004] [-0.00568951 0.02035979 0.99977653 -0.63903905] [ 0. 0. 0. 1. ]] SLAMing on 36.681193817 meters Centerline goodness : 0.912147 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.06, Z:-0.64 [[ 9.99978603e-01 4.28557772e-03 4.94235894e-03 4.47047987e+00] [-4.18173522e-03 9.99774223e-01 -2.08330462e-02 -6.44431990e-02] [-5.03052471e-03 2.08119328e-02 9.99770752e-01 -6.40596138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.711193817 meters Centerline goodness : 0.913479 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.07, Z:-0.64 [[ 9.99990322e-01 -7.69073439e-04 4.33189896e-03 4.47346896e+00] [ 8.78963587e-04 9.99676393e-01 -2.54231504e-02 -6.51694637e-02] [-4.31094486e-03 2.54267120e-02 9.99667394e-01 -6.42921281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.741193817 meters Centerline goodness : 0.913493 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.07, Z:-0.64 [[ 9.99990422e-01 -2.23772758e-03 3.76137948e-03 4.47610633e+00] [ 2.33528240e-03 9.99655700e-01 -2.61348018e-02 -6.63678754e-02] [-3.70160188e-03 2.61433354e-02 9.99651351e-01 -6.44776791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.771193817 meters Centerline goodness : 0.913926 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.07, Z:-0.65 [[ 9.99988713e-01 -3.61497776e-03 3.08311838e-03 4.47886287e+00] [ 3.69725090e-03 9.99625606e-01 -2.71104880e-02 -6.62052519e-02] [-2.98396027e-03 2.71215811e-02 9.99627689e-01 -6.46519423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.801193817 meters Centerline goodness : 0.915355 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.07, Z:-0.65 [[ 9.99988980e-01 -3.73522464e-03 2.84410746e-03 4.47979161e+00] [ 3.81136191e-03 9.99621309e-01 -2.72527576e-02 -6.54284248e-02] [-2.74123525e-03 2.72632971e-02 9.99624529e-01 -6.47034566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.831193817 meters Centerline goodness : 0.911962 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.06, Z:-0.65 [[ 9.99996686e-01 -6.77659542e-04 2.48361300e-03 4.48047780e+00] [ 7.36790113e-04 9.99714436e-01 -2.38852204e-02 -6.49247379e-02] [-2.46671772e-03 2.38869712e-02 9.99711622e-01 -6.46835559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.861193817 meters Centerline goodness : 0.912324 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.06, Z:-0.65 [[ 0.99996708 0.00536849 0.0060841 4.49736405] [-0.00523276 0.99974188 -0.02210863 -0.06036927] [-0.00620122 0.02207607 0.99973706 -0.64617781] [ 0. 0. 0. 1. ]] SLAMing on 36.891193817 meters Centerline goodness : 0.912898 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.06, Z:-0.65 [[ 0.99993757 0.00961475 0.00569253 4.49810559] [-0.0095092 0.99978755 -0.01828766 -0.05918633] [-0.00586715 0.01823239 0.99981656 -0.64597153] [ 0. 0. 0. 1. ]] SLAMing on 36.921193817 meters Centerline goodness : 0.914980 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.06, Z:-0.65 [[ 0.9999112 0.01172103 0.00634071 4.5196975 ] [-0.01158458 0.99970932 -0.02114405 -0.0553379 ] [-0.00658669 0.02106872 0.99975633 -0.64807335] [ 0. 0. 0. 1. ]] SLAMing on 36.951193817 meters Centerline goodness : 0.916333 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.05, Z:-0.65 [[ 9.99843004e-01 1.72249957e-02 4.15541482e-03 4.54855186e+00] [-1.71071869e-02 9.99491976e-01 -2.68911558e-02 -5.21948792e-02] [-4.61650381e-03 2.68158465e-02 9.99629731e-01 -6.47969194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.981193817 meters Centerline goodness : 0.912965 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.05, Z:-0.65 [[ 9.99762136e-01 2.13992944e-02 4.21199399e-03 4.54889692e+00] [-2.12952586e-02 9.99500210e-01 -2.33632746e-02 -5.00122756e-02] [-4.70984647e-03 2.32680219e-02 9.99718169e-01 -6.48103113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.011193817 meters Centerline goodness : 0.913845 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.05, Z:-0.65 [[ 9.99670286e-01 2.53755004e-02 3.92461281e-03 4.55050422e+00] [-2.52897970e-02 9.99469316e-01 -2.05307867e-02 -4.59325340e-02] [-4.44350907e-03 2.04247648e-02 9.99781518e-01 -6.48878004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.041193817 meters Centerline goodness : 0.913334 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.04, Z:-0.65 [[ 9.99672899e-01 2.53406297e-02 3.45646356e-03 4.55184361e+00] [-2.52620526e-02 9.99457218e-01 -2.11447038e-02 -4.40698411e-02] [-3.99040757e-03 2.10504700e-02 9.99770451e-01 -6.49184518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.071193817 meters Centerline goodness : 0.912632 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.04, Z:-0.65 [[ 9.99679691e-01 2.50953257e-02 3.27712561e-03 4.55180492e+00] [-2.50183544e-02 9.99450848e-01 -2.17275191e-02 -4.28921780e-02] [-3.82058514e-03 2.16385713e-02 9.99758559e-01 -6.48335842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.101193817 meters Centerline goodness : 0.913827 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.04, Z:-0.64 [[ 0.99973132 0.02266906 0.00483766 4.55114979] [-0.02259905 0.99964566 -0.01406554 -0.04379034] [-0.0051548 0.01395244 0.99988937 -0.63991841] [ 0. 0. 0. 1. ]] SLAMing on 37.131193816999996 meters Centerline goodness : 0.911322 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.04, Z:-0.64 [[ 9.99743766e-01 2.21837737e-02 4.50366007e-03 4.55135321e+00] [-2.21142356e-02 9.99643758e-01 -1.49437935e-02 -4.22439414e-02] [-4.83356541e-03 1.48403694e-02 9.99878193e-01 -6.39026739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.161193817 meters Centerline goodness : 0.912213 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.04, Z:-0.64 [[ 9.99753441e-01 2.18355332e-02 4.03315579e-03 4.55257803e+00] [-2.17697296e-02 9.99639787e-01 -1.56963233e-02 -4.04106695e-02] [-4.37444059e-03 1.56046525e-02 9.99868671e-01 -6.39176816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.191193817 meters Centerline goodness : 0.914463 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.04, Z:-0.64 [[ 9.99754406e-01 2.18658270e-02 3.60744490e-03 4.55395563e+00] [-2.18042975e-02 9.99629458e-01 -1.62947370e-02 -3.82727181e-02] [-3.96240609e-03 1.62120773e-02 9.99860724e-01 -6.39703263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.221193817 meters Centerline goodness : 0.914463 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.04, Z:-0.64 [[ 9.99754406e-01 2.18658270e-02 3.60744490e-03 4.55395563e+00] [-2.18042975e-02 9.99629458e-01 -1.62947370e-02 -3.82727181e-02] [-3.96240609e-03 1.62120773e-02 9.99860724e-01 -6.39703263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.251193817 meters Centerline goodness : 0.913300 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.04, Z:-0.64 [[ 9.99677433e-01 2.52405025e-02 2.81895619e-03 4.55746228e+00] [-2.52015517e-02 9.99596685e-01 -1.30900064e-02 -3.59615466e-02] [-3.14821761e-03 1.30147419e-02 9.99910349e-01 -6.42158067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.281193817 meters Centerline goodness : 0.912150 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:-0.64 [[ 9.99671932e-01 2.55141769e-02 2.24837186e-03 4.55943044e+00] [-2.54823079e-02 9.99587908e-01 -1.32160950e-02 -3.49891798e-02] [-2.58464311e-03 1.31544655e-02 9.99910136e-01 -6.43145146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.311193817 meters Centerline goodness : 0.909349 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:-0.64 [[ 9.99660767e-01 2.59650264e-02 2.04151535e-03 4.55976156e+00] [-2.59360256e-02 9.99577260e-01 -1.31386165e-02 -3.44303881e-02] [-2.38179684e-03 1.30812106e-02 9.99911601e-01 -6.42868928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.341193817 meters Centerline goodness : 0.907642 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:-0.64 [[ 9.99651972e-01 2.63210472e-02 1.77100384e-03 4.56016155e+00] [-2.62955771e-02 9.99567997e-01 -1.31286670e-02 -3.39158343e-02] [-2.11579902e-03 1.30775283e-02 9.99912247e-01 -6.42459956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.371193817 meters Centerline goodness : 0.908740 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:-0.64 [[ 9.99651097e-01 2.63856200e-02 1.21811197e-03 4.56121166e+00] [-2.63665894e-02 9.99559398e-01 -1.36313289e-02 -3.32181308e-02] [-1.57724633e-03 1.35944554e-02 9.99906347e-01 -6.42135010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.401193817 meters Centerline goodness : 0.907510 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:-0.64 [[ 9.99536444e-01 3.04187054e-02 1.26443289e-03 4.56130259e+00] [-3.04055758e-02 9.99493868e-01 -9.35466614e-03 -3.43023394e-02] [-1.54834976e-03 9.31188392e-03 9.99955445e-01 -6.42123693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.431193817 meters Centerline goodness : 0.908860 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:-0.64 [[ 9.99536294e-01 3.04337837e-02 9.90930404e-04 4.56183689e+00] [-3.04226271e-02 9.99489055e-01 -9.80268981e-03 -3.31717240e-02] [-1.28875703e-03 9.76799754e-03 9.99951461e-01 -6.41829788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.461193817 meters Centerline goodness : 0.910427 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:-0.64 [[ 9.99539934e-01 3.03200393e-02 7.84078171e-04 4.56184909e+00] [-3.03107752e-02 9.99491231e-01 -9.92652049e-03 -3.30586381e-02] [-1.08465175e-03 9.89818762e-03 9.99950423e-01 -6.41165101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.491193817 meters Centerline goodness : 0.910523 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:-0.64 [[ 9.99547711e-01 3.00651530e-02 6.78668499e-04 4.56182604e+00] [-3.00570807e-02 9.99500266e-01 -9.78721611e-03 -3.42277442e-02] [-9.72583496e-04 9.76239066e-03 9.99951874e-01 -6.40828829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.521193817 meters Centerline goodness : 0.909952 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.04, Z:-0.64 [[ 9.99557084e-01 2.97541432e-02 5.71166278e-04 4.56207199e+00] [-2.97481883e-02 9.99520951e-01 -8.53893204e-03 -3.91429465e-02] [-8.24961268e-04 8.51815885e-03 9.99963380e-01 -6.41399133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.551193817 meters Centerline goodness : 0.908686 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.04, Z:-0.64 [[ 9.99554504e-01 2.98443426e-02 3.29520331e-04 4.56304183e+00] [-2.98409031e-02 9.99524724e-01 -7.73602213e-03 -4.12832529e-02] [-5.60240213e-04 7.72274258e-03 9.99970022e-01 -6.42276299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.581193817 meters Centerline goodness : 0.909446 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.04, Z:-0.64 [[ 9.99571243e-01 2.92774959e-02 -3.96915931e-04 4.56611012e+00] [-2.92796874e-02 9.99541502e-01 -7.71272298e-03 -4.25688683e-02] [ 1.70924731e-04 7.72103767e-03 9.99970178e-01 -6.44663027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.611193817 meters Centerline goodness : 0.909129 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.05, Z:-0.65 [[ 9.99547685e-01 3.00596699e-02 -9.16943064e-04 4.56828414e+00] [-3.00645896e-02 9.99530363e-01 -5.93075669e-03 -4.59713533e-02] [ 7.38235845e-04 5.95564163e-03 9.99981993e-01 -6.46523545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.641193817 meters Centerline goodness : 0.906329 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.05, Z:-0.65 [[ 9.99601327e-01 2.81701106e-02 -1.90550801e-03 4.57109789e+00] [-2.81842314e-02 9.99571990e-01 -7.84130773e-03 -4.96891296e-02] [ 1.68380193e-03 7.89188690e-03 9.99967441e-01 -6.48180408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.671193817 meters Centerline goodness : 0.908685 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.05, Z:-0.65 [[ 9.99659453e-01 2.59513971e-02 -2.73928731e-03 4.57264948e+00] [-2.59807339e-02 9.99598793e-01 -1.12806743e-02 -4.95204361e-02] [ 2.44543903e-03 1.13480013e-02 9.99932619e-01 -6.48005384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.701193817 meters Centerline goodness : 0.908503 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.05, Z:-0.65 [[ 9.99628528e-01 2.70556745e-02 -3.28589684e-03 4.57348959e+00] [-2.70880949e-02 9.99580405e-01 -1.02590984e-02 -5.11920025e-02] [ 3.00695127e-03 1.03442961e-02 9.99941975e-01 -6.47525726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.731193817 meters Centerline goodness : 0.908463 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.05, Z:-0.65 [[ 9.99600569e-01 2.80165777e-02 -3.71136086e-03 4.57410705e+00] [-2.80517921e-02 9.99558404e-01 -9.80277826e-03 -5.18495974e-02] [ 3.43508164e-03 9.90297305e-03 9.99945064e-01 -6.46945536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.761193817 meters Centerline goodness : 0.908502 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.05, Z:-0.65 [[ 9.99569998e-01 2.90116633e-02 -4.25935580e-03 4.57507911e+00] [-2.90502764e-02 9.99534667e-01 -9.30223164e-03 -5.24160058e-02] [ 3.98750057e-03 9.42196713e-03 9.99947662e-01 -6.46543375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.791193817 meters Centerline goodness : 0.910727 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.06, Z:-0.65 [[ 9.99519268e-01 3.06399385e-02 -4.73578943e-03 4.57522221e+00] [-3.06759217e-02 9.99499554e-01 -7.72202346e-03 -5.50455679e-02] [ 4.49681710e-03 7.86358594e-03 9.99958970e-01 -6.45383273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.821193817 meters Centerline goodness : 0.911203 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.06, Z:-0.64 [[ 0.99951743 0.03065586 -0.00501303 4.57491375] [-0.03068986 0.99950547 -0.00685163 -0.05819101] [ 0.0048005 0.00700217 0.99996396 -0.64427125] [ 0. 0. 0. 1. ]] SLAMing on 37.851193817 meters Centerline goodness : 0.911662 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.06, Z:-0.64 [[ 0.99959266 0.02806647 -0.0051764 4.57360674] [-0.02811198 0.9995648 -0.00894029 -0.06186244] [ 0.00492322 0.00908217 0.99994664 -0.64244919] [ 0. 0. 0. 1. ]] SLAMing on 37.881193816999996 meters Centerline goodness : 0.911571 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.07, Z:-0.64 [[ 0.99967756 0.02474591 -0.00569272 4.57363117] [-0.02480858 0.99962931 -0.01121485 -0.06636969] [ 0.00541309 0.01135246 0.99992091 -0.64163597] [ 0. 0. 0. 1. ]] SLAMing on 37.911193817 meters Centerline goodness : 0.911890 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.08, Z:-0.64 [[ 0.99982292 0.01793616 -0.00569394 4.57307029] [-0.01802191 0.99971924 -0.01538329 -0.0752116 ] [ 0.00541642 0.01548318 0.99986546 -0.64223113] [ 0. 0. 0. 1. ]] SLAMing on 37.941193817 meters Centerline goodness : 0.915786 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.08, Z:-0.64 [[ 0.99986678 0.01513536 -0.00611011 4.57534688] [-0.01523984 0.99973193 -0.01743019 -0.07880272] [ 0.00584466 0.01752098 0.99982941 -0.64410573] [ 0. 0. 0. 1. ]] SLAMing on 37.971193817 meters Centerline goodness : 0.914198 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.08, Z:-0.65 [[ 0.99987558 0.01420171 -0.00686512 4.57815488] [-0.0143178 0.99975009 -0.01716861 -0.08261346] [ 0.00661958 0.01726476 0.99982904 -0.64572624] [ 0. 0. 0. 1. ]] SLAMing on 38.001193817 meters Centerline goodness : 0.914717 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.09, Z:-0.65 [[ 0.99990127 0.01216934 -0.00702542 4.57819929] [-0.0122914 0.99976955 -0.01760011 -0.09165269] [ 0.00680962 0.01768473 0.99982042 -0.64556007] [ 0. 0. 0. 1. ]] SLAMing on 38.031193817 meters Centerline goodness : 0.914414 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.10, Z:-0.65 [[ 9.99960428e-01 7.95619575e-03 -3.98010270e-03 4.58822716e+00] [-8.00084188e-03 9.99903803e-01 -1.13300794e-02 -9.80224208e-02] [ 3.88957550e-03 1.13614752e-02 9.99927891e-01 -6.46718224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.061193817 meters Centerline goodness : 0.913458 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.10, Z:-0.65 [[ 9.99975363e-01 5.42634967e-03 -4.45281031e-03 4.58994091e+00] [-5.48449354e-03 9.99898478e-01 -1.31511635e-02 -1.02858085e-01] [ 4.38099544e-03 1.31752609e-02 9.99903605e-01 -6.47719695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.091193817 meters Centerline goodness : 0.915032 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.11, Z:-0.65 [[ 9.99977605e-01 4.37182992e-03 -5.06725504e-03 4.59274362e+00] [-4.43817413e-03 9.99903603e-01 -1.31562839e-02 -1.07306855e-01] [ 5.00924954e-03 1.31784786e-02 9.99900613e-01 -6.49597523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.121193817 meters Centerline goodness : 0.913140 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.11, Z:-0.65 [[ 9.99978915e-01 3.04326896e-03 -5.73660710e-03 4.59578792e+00] [-3.12098426e-03 9.99902817e-01 -1.35873420e-02 -1.10514210e-01] [ 5.69469966e-03 1.36049594e-02 9.99891232e-01 -6.51617211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.151193817 meters Centerline goodness : 0.916160 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.12, Z:-0.65 [[ 9.99983597e-01 -4.35443993e-05 -5.72753500e-03 4.59494539e+00] [-4.41770710e-05 9.99882722e-01 -1.53147277e-02 -1.15785863e-01] [ 5.72753015e-03 1.53147295e-02 9.99866318e-01 -6.50430908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.181193817 meters Centerline goodness : 0.914573 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.12, Z:-0.65 [[ 9.99997603e-01 -2.18865176e-03 6.72313651e-05 4.60633042e+00] [ 2.18913973e-03 9.99962248e-01 -8.40897663e-03 -1.21332284e-01] [-4.88245054e-05 8.40910365e-03 9.99964642e-01 -6.53589448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.211193817 meters Centerline goodness : 0.917833 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.13, Z:-0.65 [[ 9.99997715e-01 -2.10468927e-03 -3.74826577e-04 4.60703032e+00] [ 2.10194641e-03 9.99972060e-01 -7.17360216e-03 -1.25885335e-01] [ 3.89914308e-04 7.17279790e-03 9.99974199e-01 -6.53101510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.241193817 meters Centerline goodness : 0.914194 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.13, Z:-0.65 [[ 9.99997277e-01 -2.20611341e-03 -7.60407479e-04 4.60781520e+00] [ 2.20140687e-03 9.99978753e-01 -6.13573536e-03 -1.30096788e-01] [ 7.73927450e-04 6.13404469e-03 9.99980887e-01 -6.52876857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.271193817 meters Centerline goodness : 0.916208 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.13, Z:-0.65 [[ 9.99997035e-01 -2.14420466e-03 -1.15468037e-03 4.60859897e+00] [ 2.13811451e-03 9.99983933e-01 -5.24997291e-03 -1.32914820e-01] [ 1.16591884e-03 5.24748850e-03 9.99985552e-01 -6.52708243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.301193817 meters Centerline goodness : 0.915307 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.13, Z:-0.65 [[ 9.99996792e-01 -2.03266754e-03 -1.51168194e-03 4.60962266e+00] [ 2.02526263e-03 9.99986023e-01 -4.88396137e-03 -1.33645925e-01] [ 1.52158828e-03 4.88088415e-03 9.99986931e-01 -6.53057188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.331193817 meters Centerline goodness : 0.912871 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.13, Z:-0.65 [[ 9.99996678e-01 1.74124035e-03 -1.90075143e-03 4.61071215e+00] [-1.74247620e-03 9.99998271e-01 -6.48725132e-04 -1.34957029e-01] [ 1.89961856e-03 6.52034991e-04 9.99997983e-01 -6.53351883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.361193817 meters Centerline goodness : 0.910783 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.13, Z:-0.65 [[ 9.99994965e-01 2.26777649e-03 -2.21973551e-03 4.61159594e+00] [-2.26932755e-03 9.99997183e-01 -6.96493862e-04 -1.33602422e-01] [ 2.21814976e-03 7.01527662e-04 9.99997294e-01 -6.53735167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.391193817 meters Centerline goodness : 0.911648 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.13, Z:-0.66 [[ 9.99975151e-01 6.81005194e-03 1.82245079e-03 4.62347339e+00] [-6.79538470e-03 9.99945414e-01 -7.93676701e-03 -1.29964349e-01] [-1.87640110e-03 7.92418553e-03 9.99966843e-01 -6.57549114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.421193817 meters Centerline goodness : 0.909008 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.13, Z:-0.66 [[ 9.99976939e-01 6.63712106e-03 1.43904226e-03 4.62435520e+00] [-6.62499026e-03 9.99943801e-01 -8.27674152e-03 -1.29208529e-01] [-1.49389512e-03 8.26701701e-03 9.99964712e-01 -6.57673913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.451193817 meters Centerline goodness : 0.906331 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.13, Z:-0.66 [[ 9.99979888e-01 6.27291692e-03 9.35282967e-04 4.62541498e+00] [-6.26456596e-03 9.99942711e-01 -8.67928664e-03 -1.28727570e-01] [-9.89673830e-04 8.67325293e-03 9.99961897e-01 -6.57682375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.481193817 meters Centerline goodness : 0.908188 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.13, Z:-0.66 [[ 9.99982456e-01 5.89110902e-03 6.18951739e-04 4.62613593e+00] [-5.88524445e-03 9.99941418e-01 -9.08425539e-03 -1.28203741e-01] [-6.72431818e-04 9.08045333e-03 9.99958546e-01 -6.57677421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.511193817 meters Centerline goodness : 0.904822 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.13, Z:-0.66 [[ 9.99981751e-01 6.04137876e-03 -8.06757313e-06 4.62754678e+00] [-6.04118753e-03 9.99937540e-01 -9.40317358e-03 -1.26795788e-01] [-4.87410639e-05 9.40305071e-03 9.99955789e-01 -6.58061326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.541193817 meters Centerline goodness : 0.904588 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.13, Z:-0.66 [[ 9.99976239e-01 6.80666083e-03 -1.09096278e-03 4.63246034e+00] [-6.81590403e-03 9.99938878e-01 -8.70542057e-03 -1.26183816e-01] [ 1.03164125e-03 8.71264962e-03 9.99961512e-01 -6.61451166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.571193817 meters Centerline goodness : 0.902142 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-0.66 [[ 9.99971338e-01 7.27047436e-03 -2.11253892e-03 4.63717058e+00] [-7.28794078e-03 9.99938317e-01 -8.38138446e-03 -1.25317176e-01] [ 2.05147197e-03 8.39654029e-03 9.99962644e-01 -6.64747997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.601193817 meters Centerline goodness : 0.900572 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.12, Z:-0.67 [[ 9.99970085e-01 7.29979375e-03 -2.55764985e-03 4.63879898e+00] [-7.32139876e-03 9.99936712e-01 -8.54220919e-03 -1.24431419e-01] [ 2.49513162e-03 8.56067922e-03 9.99960244e-01 -6.65753055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.631193817 meters Centerline goodness : 0.896524 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-0.67 [[ 9.99970637e-01 7.00864627e-03 -3.09888846e-03 4.63997329e+00] [-7.03379517e-03 9.99941801e-01 -8.18043668e-03 -1.26895666e-01] [ 3.04137433e-03 8.20199343e-03 9.99961738e-01 -6.65792163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.661193817 meters Centerline goodness : 0.895686 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-0.67 [[ 9.99972522e-01 6.56275444e-03 -3.44749938e-03 4.64107635e+00] [-6.59060553e-03 9.99945229e-01 -8.13037057e-03 -1.28571924e-01] [ 3.39395293e-03 8.15286827e-03 9.99961005e-01 -6.66200506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.691193817 meters Centerline goodness : 0.892390 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-0.67 [[ 9.99973849e-01 6.14936973e-03 -3.80620779e-03 4.64208864e+00] [-6.18069130e-03 9.99946679e-01 -8.27275642e-03 -1.29221551e-01] [ 3.75513260e-03 8.29606507e-03 9.99958536e-01 -6.66498770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.721193817 meters Centerline goodness : 0.890779 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-0.67 [[ 9.99971176e-01 6.35369004e-03 -4.15674868e-03 4.64272803e+00] [-6.38693214e-03 9.99947335e-01 -8.03335221e-03 -1.29175072e-01] [ 4.10548833e-03 8.05966953e-03 9.99959093e-01 -6.66354795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.751193817 meters Centerline goodness : 0.888847 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-0.67 [[ 9.99969751e-01 6.32292355e-03 -4.52974777e-03 4.64357325e+00] [-6.35937374e-03 9.99947150e-01 -8.07815326e-03 -1.29139998e-01] [ 4.47843082e-03 8.10671526e-03 9.99957111e-01 -6.66400787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.781193817 meters Centerline goodness : 0.885732 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-0.67 [[ 0.99996653 0.00665499 -0.00475877 4.6435129 ] [-0.00668857 0.99995259 -0.00707644 -0.13229048] [ 0.00471145 0.00710803 0.99996364 -0.6655412 ] [ 0. 0. 0. 1. ]] SLAMing on 38.811193817 meters Centerline goodness : 0.880026 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-0.67 [[ 0.99996646 0.00647501 -0.00501548 4.64403826] [-0.00650866 0.99995623 -0.0067214 -0.13439453] [ 0.00497174 0.00675381 0.99996483 -0.66540933] [ 0. 0. 0. 1. ]] SLAMing on 38.841193817 meters Centerline goodness : 0.880261 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.14, Z:-0.67 [[ 0.99996799 0.00608608 -0.00519439 4.64433769] [-0.00612039 0.9999594 -0.00661418 -0.13599924] [ 0.00515392 0.00664576 0.99996463 -0.6651252 ] [ 0. 0. 0. 1. ]] SLAMing on 38.871193817 meters Centerline goodness : 0.879328 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.14, Z:-0.66 [[ 0.99996803 0.00569079 -0.00561688 4.64518031] [-0.00572733 0.99996241 -0.00650979 -0.13742501] [ 0.00557962 0.00654175 0.99996304 -0.66497857] [ 0. 0. 0. 1. ]] SLAMing on 38.901193817 meters Centerline goodness : 0.873937 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.14, Z:-0.67 [[ 0.99996663 0.00550187 -0.00603864 4.64623484] [-0.00553991 0.9999648 -0.00630113 -0.13880238] [ 0.00600376 0.00633437 0.99996191 -0.6651912 ] [ 0. 0. 0. 1. ]] SLAMing on 38.931193817 meters Centerline goodness : 0.871918 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.14, Z:-0.67 [[ 0.99995812 0.00612605 -0.00679915 4.64968212] [-0.00616426 0.99996524 -0.00561395 -0.13929851] [ 0.00676452 0.00565563 0.99996113 -0.66752813] [ 0. 0. 0. 1. ]] SLAMing on 38.961193817 meters Centerline goodness : 0.870764 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.14, Z:-0.67 [[ 0.99995072 0.00644266 -0.00755371 4.6532574 ] [-0.00648243 0.9999652 -0.00525155 -0.1398372 ] [ 0.00751961 0.00530026 0.99995768 -0.67002227] [ 0. 0. 0. 1. ]] SLAMing on 38.991193817 meters Centerline goodness : 0.869504 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.14, Z:-0.67 [[ 0.9999463 0.0065018 -0.00807023 4.65463684] [-0.0065426 0.9999659 -0.00503941 -0.14099447] [ 0.00803719 0.00509193 0.99995474 -0.67045321] [ 0. 0. 0. 1. ]] SLAMing on 39.021193817 meters Centerline goodness : 0.867275 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.14, Z:-0.67 [[ 0.99994325 0.00659625 -0.00836526 4.65534061] [-0.00663552 0.99996706 -0.00467522 -0.14270801] [ 0.00833414 0.00473047 0.99995408 -0.67055836] [ 0. 0. 0. 1. ]] SLAMing on 39.051193817 meters Centerline goodness : 0.867274 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.15, Z:-0.67 [[ 9.99940557e-01 6.84987528e-03 -8.48303326e-03 4.65560034e+00] [-6.88096593e-03 9.99969696e-01 -3.64129144e-03 -1.46444455e-01] [ 8.45783380e-03 3.69944645e-03 9.99957389e-01 -6.70405429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.081193817 meters Centerline goodness : 0.863583 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.15, Z:-0.67 [[ 9.99939332e-01 6.70568511e-03 -8.73882540e-03 4.65603032e+00] [-6.73437603e-03 9.99972017e-01 -3.25787569e-03 -1.48087976e-01] [ 8.71673457e-03 3.31652858e-03 9.99956509e-01 -6.70132047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.111193817 meters Centerline goodness : 0.863583 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.15, Z:-0.67 [[ 9.99939332e-01 6.70568511e-03 -8.73882540e-03 4.65603032e+00] [-6.73437603e-03 9.99972017e-01 -3.25787569e-03 -1.48087976e-01] [ 8.71673457e-03 3.31652858e-03 9.99956509e-01 -6.70132047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.141193817 meters Centerline goodness : 0.863238 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.15, Z:-0.67 [[ 9.99970857e-01 7.40171701e-03 -1.87084360e-03 4.66839070e+00] [-7.41957071e-03 9.99925199e-01 -9.72348982e-03 -1.48369295e-01] [ 1.79873314e-03 9.73708731e-03 9.99950976e-01 -6.73715849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.171193817 meters Centerline goodness : 0.862935 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.15, Z:-0.67 [[ 9.99970268e-01 7.39278071e-03 -2.19310816e-03 4.66887164e+00] [-7.41261664e-03 9.99930399e-01 -9.17879265e-03 -1.50754749e-01] [ 2.12509872e-03 9.19477641e-03 9.99955469e-01 -6.73359400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.201193817 meters Centerline goodness : 0.862766 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.15, Z:-0.67 [[ 9.99967394e-01 7.68500236e-03 -2.48023522e-03 4.66922504e+00] [-7.70522861e-03 9.99936272e-01 -8.25114054e-03 -1.54450717e-01] [ 2.41666713e-03 8.26998229e-03 9.99962883e-01 -6.72950137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.231193817 meters Centerline goodness : 0.862989 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.16, Z:-0.67 [[ 9.99965447e-01 7.80620129e-03 -2.85782485e-03 4.66985757e+00] [-7.82860017e-03 9.99938052e-01 -7.91229803e-03 -1.55832141e-01] [ 2.79588282e-03 7.93439741e-03 9.99964614e-01 -6.72709205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.261193817 meters Centerline goodness : 0.862480 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.16, Z:-0.67 [[ 9.99963370e-01 7.93144889e-03 -3.21720684e-03 4.67061336e+00] [-7.95515666e-03 9.99940795e-01 -7.42443750e-03 -1.57725131e-01] [ 3.15812981e-03 7.44975893e-03 9.99967263e-01 -6.72653952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.291193817 meters Centerline goodness : 0.859602 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.16, Z:-0.67 [[ 9.99972774e-01 6.28839146e-03 -3.86111450e-03 4.67308705e+00] [-6.32148806e-03 9.99942863e-01 -8.62025292e-03 -1.62113238e-01] [ 3.80668637e-03 8.64442621e-03 9.99955391e-01 -6.74189280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.321193817 meters Centerline goodness : 0.858278 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.16, Z:-0.68 [[ 9.99975265e-01 5.45432877e-03 -4.44061490e-03 4.67573516e+00] [-5.49302168e-03 9.99946645e-01 -8.74834886e-03 -1.64969109e-01] [ 4.39266160e-03 8.77252487e-03 9.99951873e-01 -6.75933786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.351193817 meters Centerline goodness : 0.858474 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.17, Z:-0.68 [[ 9.99979815e-01 3.85335721e-03 -5.05178287e-03 4.67888331e+00] [-3.90226698e-03 9.99945264e-01 -9.70784570e-03 -1.68390702e-01] [ 5.01409855e-03 9.72736316e-03 9.99940117e-01 -6.78255046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.381193817 meters Centerline goodness : 0.855482 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.17, Z:-0.68 [[ 9.99981730e-01 2.42724212e-03 -5.53601229e-03 4.68200627e+00] [-2.48404230e-03 9.99944111e-01 -1.02764319e-02 -1.71857693e-01] [ 5.51075949e-03 1.02899959e-02 9.99931871e-01 -6.80766441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.411193817 meters Centerline goodness : 0.853170 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.17, Z:-0.68 [[ 9.99981181e-01 1.28793230e-03 -5.99831913e-03 4.68456771e+00] [-1.35070979e-03 9.99944238e-01 -1.04735819e-02 -1.74899389e-01] [ 5.98449538e-03 1.04814867e-02 9.99927159e-01 -6.82562332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.441193817 meters Centerline goodness : 0.853881 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.18, Z:-0.68 [[ 9.99980427e-01 1.02544725e-03 -6.17202470e-03 4.68525813e+00] [-1.08613390e-03 9.99951023e-01 -9.83722789e-03 -1.77478003e-01] [ 6.16163486e-03 9.84373900e-03 9.99932565e-01 -6.82766828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.471193817 meters Centerline goodness : 0.850714 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.18, Z:-0.68 [[ 9.99976582e-01 -2.69521889e-03 -6.29052433e-03 4.68531303e+00] [ 2.61389781e-03 9.99913373e-01 -1.29001654e-02 -1.80032790e-01] [ 6.32474817e-03 1.28834205e-02 9.99897002e-01 -6.82280466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.501193817 meters Centerline goodness : 0.850740 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.18, Z:-0.68 [[ 9.99974611e-01 -2.67299968e-03 -6.60547832e-03 4.68569583e+00] [ 2.59172359e-03 9.99921209e-01 -1.22824233e-02 -1.82665954e-01] [ 6.63778878e-03 1.22649919e-02 9.99902750e-01 -6.81672634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.531193817 meters Centerline goodness : 0.849842 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.19, Z:-0.68 [[ 9.99973682e-01 -2.51900713e-03 -6.80362705e-03 4.68583662e+00] [ 2.44015624e-03 9.99930052e-01 -1.15730781e-02 -1.85281581e-01] [ 6.83230382e-03 1.15561717e-02 9.99909883e-01 -6.81135399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.561193817 meters Centerline goodness : 0.849281 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-0.68 [[ 9.99989279e-01 -4.47406572e-03 -1.19338063e-03 4.69615561e+00] [ 4.46834961e-03 9.99978734e-01 -4.75026089e-03 -1.88559146e-01] [ 1.21460823e-03 4.74487752e-03 9.99988005e-01 -6.84232231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.591193817 meters Centerline goodness : 0.848168 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-0.68 [[ 9.99984855e-01 -5.41164465e-03 -1.00180523e-03 4.69573052e+00] [ 5.40712176e-03 9.99975419e-01 -4.46369499e-03 -1.90450258e-01] [ 1.02593654e-03 4.45821051e-03 9.99989536e-01 -6.83507940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.621193817 meters Centerline goodness : 0.846831 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-0.68 [[ 9.99980345e-01 -6.13253811e-03 -1.30482057e-03 4.69674290e+00] [ 6.12623537e-03 9.99969806e-01 -4.78072488e-03 -1.90319078e-01] [ 1.33409915e-03 4.77263728e-03 9.99987721e-01 -6.83872391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.651193817 meters Centerline goodness : 0.847871 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-0.68 [[ 9.99974610e-01 -6.94583275e-03 -1.59232842e-03 4.69795566e+00] [ 6.93759954e-03 9.99962832e-01 -5.11903804e-03 -1.90413598e-01] [ 1.62782522e-03 5.10786113e-03 9.99985630e-01 -6.84531993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.681193817 meters Centerline goodness : 0.846402 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-0.69 [[ 9.99961796e-01 -8.49245806e-03 -2.06992736e-03 4.70027464e+00] [ 8.47958216e-03 9.99945124e-01 -6.15182391e-03 -1.90686772e-01] [ 2.12205788e-03 6.13403677e-03 9.99978935e-01 -6.86037218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.711193817 meters Centerline goodness : 0.844144 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-0.69 [[ 9.99902525e-01 -1.37902282e-02 -2.18392043e-03 4.70129167e+00] [ 1.37642213e-02 9.99839061e-01 -1.15064531e-02 -1.88145589e-01] [ 2.34224557e-03 1.14752716e-02 9.99931414e-01 -6.86830116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.741193817 meters Centerline goodness : 0.845953 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-0.69 [[ 9.99895180e-01 -1.42924673e-02 -2.31377255e-03 4.70170472e+00] [ 1.42634595e-02 9.99825028e-01 -1.21023435e-02 -1.86913303e-01] [ 2.48634005e-03 1.20680725e-02 9.99924087e-01 -6.86870228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.771193817 meters Centerline goodness : 0.850236 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-0.69 [[ 9.99892046e-01 -1.44697600e-02 -2.55398898e-03 4.70210570e+00] [ 1.44363065e-02 9.99815591e-01 -1.26639717e-02 -1.85172662e-01] [ 2.73676263e-03 1.26257344e-02 9.99916547e-01 -6.86671785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.801193817 meters Centerline goodness : 0.848669 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.18, Z:-0.69 [[ 9.99930243e-01 -1.14412100e-02 -2.93401031e-03 4.70292887e+00] [ 1.14123409e-02 9.99888076e-01 -9.67434988e-03 -1.83995736e-01] [ 3.04436819e-03 9.64019110e-03 9.99948898e-01 -6.86663807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.831193817 meters Centerline goodness : 0.848990 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.18, Z:-0.69 [[ 9.99964590e-01 -7.80064257e-03 -3.15733615e-03 4.70350826e+00] [ 7.78025570e-03 9.99949134e-01 -6.41856783e-03 -1.81525882e-01] [ 3.20724450e-03 6.39377566e-03 9.99974416e-01 -6.86831290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.861193817 meters Centerline goodness : 0.851135 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.18, Z:-0.69 [[ 9.99993896e-01 -3.21659281e-03 1.36447864e-03 4.71915940e+00] [ 3.23162336e-03 9.99932500e-01 -1.11602615e-02 -1.76407655e-01] [-1.32848852e-03 1.11646028e-02 9.99936791e-01 -6.92814817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.891193817 meters Centerline goodness : 0.852962 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.17, Z:-0.69 [[ 9.99995281e-01 2.93054996e-03 9.22060606e-04 4.72069390e+00] [-2.92481166e-03 9.99976723e-01 -6.16434084e-03 -1.68910787e-01] [-9.40104052e-04 6.16161490e-03 9.99980575e-01 -6.93497645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.921193817 meters Centerline goodness : 0.851602 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.17, Z:-0.69 [[ 9.99980517e-01 6.19785419e-03 7.43178199e-04 4.72142488e+00] [-6.19527989e-03 9.99974969e-01 -3.41757557e-03 -1.65894859e-01] [-7.64341232e-04 3.41290479e-03 9.99993884e-01 -6.93810976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.951193817 meters Centerline goodness : 0.853170 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.16, Z:-0.70 [[ 0.9999508 0.00867046 0.00481956 4.73661352] [-0.00862162 0.99991219 -0.01006346 -0.16003807] [-0.00490639 0.01002141 0.99993775 -0.69786177] [ 0. 0. 0. 1. ]] SLAMing on 39.981193817 meters Centerline goodness : 0.852511 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.15, Z:-0.70 [[ 9.99869837e-01 1.54273356e-02 4.72302824e-03 4.73714713e+00] [-1.54059260e-02 9.99871031e-01 -4.53632250e-03 -1.53728420e-01] [-4.79240249e-03 4.46296941e-03 9.99978557e-01 -6.97781450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.011193817 meters Centerline goodness : 0.853437 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.15, Z:-0.70 [[ 9.99867755e-01 1.56446928e-02 4.44038078e-03 4.73799309e+00] [-1.56197368e-02 9.99862321e-01 -5.60034520e-03 -1.49234400e-01] [-4.52738511e-03 5.53024700e-03 9.99974459e-01 -6.98122966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.041193817 meters Centerline goodness : 0.853289 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.15, Z:-0.70 [[ 9.99869030e-01 1.56139369e-02 4.25777676e-03 4.73870295e+00] [-1.55854538e-02 9.99856473e-01 -6.64276053e-03 -1.45432246e-01] [-4.36088530e-03 6.57553115e-03 9.99968872e-01 -6.98598392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.071193817 meters Centerline goodness : 0.853160 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.14, Z:-0.70 [[ 9.99874016e-01 1.53457408e-02 4.05715156e-03 4.73946890e+00] [-1.53148299e-02 9.99854267e-01 -7.54321340e-03 -1.42683283e-01] [-4.17231650e-03 7.48012849e-03 9.99963319e-01 -6.99051746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.101193817 meters Centerline goodness : 0.854463 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.14, Z:-0.70 [[ 9.99883020e-01 1.48001078e-02 3.86045379e-03 4.74027562e+00] [-1.47670176e-02 9.99855140e-01 -8.46368785e-03 -1.40390391e-01] [-3.98515806e-03 8.40569038e-03 9.99956731e-01 -6.99518667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.131193817 meters Centerline goodness : 0.854382 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.13, Z:-0.70 [[ 9.99893614e-01 1.41019112e-02 3.72781856e-03 4.74120837e+00] [-1.40634134e-02 9.99849495e-01 -1.01591685e-02 -1.34090102e-01] [-3.87052119e-03 1.01056618e-02 9.99941446e-01 -7.00267188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.161193817 meters Centerline goodness : 0.856287 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.13, Z:-0.70 [[ 9.99860650e-01 1.63763738e-02 3.23961265e-03 4.74334011e+00] [-1.63501372e-02 9.99834596e-01 -7.96583132e-03 -1.31701514e-01] [-3.36952824e-03 7.91175317e-03 9.99963025e-01 -7.01466406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.191193817 meters Centerline goodness : 0.856156 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.13, Z:-0.70 [[ 9.99862170e-01 1.63503935e-02 2.88192318e-03 4.74428063e+00] [-1.63242527e-02 9.99827388e-01 -8.87202470e-03 -1.28484684e-01] [-3.02648682e-03 8.82375663e-03 9.99956490e-01 -7.01814103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.221193817 meters Centerline goodness : 0.858630 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.13, Z:-0.70 [[ 9.99861448e-01 1.64500925e-02 2.54558684e-03 4.74521391e+00] [-1.64254552e-02 9.99820772e-01 -9.41425079e-03 -1.26410274e-01] [-2.69999590e-03 9.37113400e-03 9.99952445e-01 -7.02094297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.251193817 meters Centerline goodness : 0.859352 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.12, Z:-0.70 [[ 9.99864572e-01 1.62828777e-02 2.38882371e-03 4.74590890e+00] [-1.62563309e-02 9.99810168e-01 -1.07405585e-02 -1.22803853e-01] [-2.56325744e-03 1.07002705e-02 9.99939465e-01 -7.02695818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.281193817 meters Centerline goodness : 0.860508 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.12, Z:-0.70 [[ 9.99874775e-01 1.56700602e-02 2.21009592e-03 4.74690460e+00] [-1.56429373e-02 9.99808039e-01 -1.17975910e-02 -1.20331082e-01] [-2.39454063e-03 1.17615413e-02 9.99927964e-01 -7.03480620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.311193817 meters Centerline goodness : 0.860577 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.12, Z:-0.70 [[ 9.99885033e-01 1.50264426e-02 2.03134912e-03 4.74781222e+00] [-1.49993132e-02 9.99805969e-01 -1.27689322e-02 -1.18015382e-01] [-2.22282660e-03 1.27369954e-02 9.99916411e-01 -7.04129676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.341193817 meters Centerline goodness : 0.861342 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.12, Z:-0.70 [[ 9.99893886e-01 1.44580948e-02 1.78316017e-03 4.74872721e+00] [-1.44323300e-02 9.99801961e-01 -1.37020671e-02 -1.15525262e-01] [-1.98091282e-03 1.36748780e-02 9.99904532e-01 -7.04589002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.371193817 meters Centerline goodness : 0.861064 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.11, Z:-0.71 [[ 9.99890069e-01 1.47788123e-02 1.19855733e-03 4.75197166e+00] [-1.47609906e-02 9.99796928e-01 -1.37191755e-02 -1.12641908e-01] [-1.40106706e-03 1.36999755e-02 9.99905169e-01 -7.07026304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.401193817 meters Centerline goodness : 0.859731 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.11, Z:-0.71 [[ 9.99893112e-01 1.45973119e-02 8.26980448e-04 4.75336031e+00] [-1.45841141e-02 9.99792960e-01 -1.41894535e-02 -1.11304971e-01] [-1.03393711e-03 1.41758761e-02 9.99898983e-01 -7.07848571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.431193817 meters Centerline goodness : 0.861863 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.11, Z:-0.71 [[ 9.99895461e-01 1.44517173e-02 4.63701411e-04 4.75462207e+00] [-1.44433993e-02 9.99788879e-01 -1.46145897e-02 -1.09980249e-01] [-6.74809434e-04 1.46063645e-02 9.99893094e-01 -7.08525611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.461193817 meters Centerline goodness : 0.861253 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99899637e-01 1.41652767e-02 2.46995445e-04 4.75521148e+00] [-1.41599387e-02 9.99785910e-01 -1.50873921e-02 -1.08908244e-01] [-4.60659650e-04 1.50823805e-02 9.99886148e-01 -7.08686383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.491193817 meters Centerline goodness : 0.859187 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99911046e-01 1.33378020e-02 4.66364710e-05 4.75516111e+00] [-1.33354228e-02 9.99787621e-01 -1.57124248e-02 -1.08449841e-01] [-2.56195777e-04 1.57104052e-02 9.99876551e-01 -7.07957338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.521193817 meters Centerline goodness : 0.858347 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99920035e-01 1.26420002e-02 -3.20546707e-04 4.75593266e+00] [-1.26455296e-02 9.99789459e-01 -1.61594789e-02 -1.08475734e-01] [ 1.16191082e-04 1.61622402e-02 9.99869376e-01 -7.07963197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.551193817 meters Centerline goodness : 0.859416 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99925578e-01 1.21909872e-02 -4.67680276e-04 4.75603571e+00] [-1.21969609e-02 9.99794597e-01 -1.61863265e-02 -1.08926981e-01] [ 2.70256915e-04 1.61908261e-02 9.99868883e-01 -7.07607370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.581193817 meters Centerline goodness : 0.860683 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99969151e-01 7.82012672e-03 -7.36830453e-04 4.75647912e+00] [-7.83354867e-03 9.99760632e-01 -2.04282812e-02 -1.08536808e-01] [ 5.76902331e-04 2.04334230e-02 9.99791049e-01 -7.07583996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.611193817 meters Centerline goodness : 0.861958 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99976500e-01 6.73867562e-03 -1.26089497e-03 4.75852553e+00] [-6.76381737e-03 9.99753880e-01 -2.11288969e-02 -1.08793661e-01] [ 1.11820386e-03 2.11369289e-02 9.99775965e-01 -7.08806295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.641193817 meters Centerline goodness : 0.862170 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99978739e-01 6.34004804e-03 -1.52477541e-03 4.75940996e+00] [-6.37111598e-03 9.99752494e-01 -2.13157192e-02 -1.08820163e-01] [ 1.38925533e-03 2.13249805e-02 9.99771632e-01 -7.09280651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.671193817 meters Centerline goodness : 0.864128 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99979727e-01 6.11343499e-03 -1.78085588e-03 4.76007666e+00] [-6.15044185e-03 9.99748329e-01 -2.15743173e-02 -1.07732535e-01] [ 1.64851450e-03 2.15848330e-02 9.99765661e-01 -7.09432510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.701193817 meters Centerline goodness : 0.864874 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99963301e-01 8.21502740e-03 -2.43095644e-03 4.76225163e+00] [-8.25995225e-03 9.99783716e-01 -1.90865240e-02 -1.06562788e-01] [ 2.27363435e-03 1.91059031e-02 9.99814880e-01 -7.10351158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.731193817 meters Centerline goodness : 0.863869 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.10, Z:-0.71 [[ 9.99923956e-01 1.20811672e-02 -2.47548894e-03 4.76177025e+00] [-1.21195718e-02 9.99796361e-01 -1.61354641e-02 -1.02772554e-01] [ 2.28004960e-03 1.61642390e-02 9.99866750e-01 -7.09129456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.761193817 meters Centerline goodness : 0.867775 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.10, Z:-0.71 [[ 9.99871545e-01 1.57999510e-02 -2.69347029e-03 4.76216392e+00] [-1.58329333e-02 9.99794012e-01 -1.26985144e-02 -1.01674211e-01] [ 2.49227956e-03 1.27395288e-02 9.99915743e-01 -7.08797201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.791193817 meters Centerline goodness : 0.869018 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.10, Z:-0.71 [[ 9.99803382e-01 1.96130549e-02 -2.91999511e-03 4.76268031e+00] [-1.96397504e-02 9.99762809e-01 -9.41303080e-03 -9.98641006e-02] [ 2.73468423e-03 9.46852800e-03 9.99951433e-01 -7.08556247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.821193817 meters Centerline goodness : 0.868473 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.10, Z:-0.71 [[ 9.99721277e-01 2.33997044e-02 -3.13400591e-03 4.76356829e+00] [-2.34187999e-02 9.99706507e-01 -6.20156509e-03 -9.76468508e-02] [ 2.98797131e-03 6.27323123e-03 9.99975859e-01 -7.08866543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.851193817 meters Centerline goodness : 0.867501 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.09, Z:-0.71 [[ 9.99560725e-01 2.96370026e-02 -7.69654815e-05 4.78060279e+00] [-2.96362935e-02 9.99510882e-01 -9.98435878e-03 -9.09257528e-02] [-2.18978630e-04 9.98225387e-03 9.99950152e-01 -7.14628155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.881193817 meters Centerline goodness : 0.868251 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.09, Z:-0.71 [[ 9.99541190e-01 3.02765042e-02 -8.62240797e-04 4.78239948e+00] [-3.02841784e-02 9.99480499e-01 -1.10272812e-02 -8.80027189e-02] [ 5.27925336e-04 1.10483341e-02 9.99938826e-01 -7.14443717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.911193817 meters Centerline goodness : 0.868492 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.09, Z:-0.71 [[ 9.99529131e-01 3.06462710e-02 -1.52418394e-03 4.78346867e+00] [-3.06620955e-02 9.99460704e-01 -1.17531688e-02 -8.59137475e-02] [ 1.16317116e-03 1.17943693e-02 9.99929767e-01 -7.13768282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.941193817 meters Centerline goodness : 0.871729 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.08, Z:-0.71 [[ 9.99522430e-01 3.08321860e-02 -2.07094731e-03 4.78436939e+00] [-3.08557108e-02 9.99445736e-01 -1.24958387e-02 -8.41570180e-02] [ 1.68452543e-03 1.25537716e-02 9.99919779e-01 -7.13202251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.971193817 meters Centerline goodness : 0.871901 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-0.71 [[ 9.99498661e-01 3.15425873e-02 -2.73703494e-03 4.78628343e+00] [-3.15757101e-02 9.99416222e-01 -1.30457119e-02 -8.23744834e-02] [ 2.32394161e-03 1.31255954e-02 9.99911155e-01 -7.13740079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.001193817 meters Centerline goodness : 0.871340 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-0.72 [[ 9.99417026e-01 3.39791320e-02 -3.32062934e-03 4.78880428e+00] [-3.40115310e-02 9.99368947e-01 -1.02432008e-02 -8.33294648e-02] [ 2.97047877e-03 1.03501690e-02 9.99942023e-01 -7.15419185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.031193817 meters Centerline goodness : 0.873067 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-0.72 [[ 9.99402775e-01 3.43507238e-02 -3.75785703e-03 4.78959279e+00] [-3.43885421e-02 9.99353272e-01 -1.05102808e-02 -8.29028052e-02] [ 3.39439096e-03 1.06332311e-02 9.99937704e-01 -7.15096383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.061193817 meters Centerline goodness : 0.873067 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-0.72 [[ 9.99402775e-01 3.43507238e-02 -3.75785703e-03 4.78959279e+00] [-3.43885421e-02 9.99353272e-01 -1.05102808e-02 -8.29028052e-02] [ 3.39439096e-03 1.06332311e-02 9.99937704e-01 -7.15096383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.091193817 meters Centerline goodness : 0.875426 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.09, Z:-0.71 [[ 9.99352321e-01 3.58111834e-02 -3.53509184e-03 4.78730822e+00] [-3.58392687e-02 9.99323681e-01 -8.22971075e-03 -8.72846185e-02] [ 3.23798531e-03 8.35107565e-03 9.99959887e-01 -7.12689240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.121193817 meters Centerline goodness : 0.876917 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.09, Z:-0.71 [[ 9.99372598e-01 3.52434904e-02 -3.50808107e-03 4.78711613e+00] [-3.52682410e-02 9.99351490e-01 -7.26291648e-03 -9.11751928e-02] [ 3.24983552e-03 7.38208356e-03 9.99967471e-01 -7.12963381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.151193817 meters Centerline goodness : 0.877120 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.09, Z:-0.71 [[ 9.99489410e-01 3.17262117e-02 -3.79036398e-03 4.78717083e+00] [-3.17625190e-02 9.99446047e-01 -9.93692565e-03 -9.40157616e-02] [ 3.47300329e-03 1.00522435e-02 9.99943444e-01 -7.12980030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.181193817 meters Centerline goodness : 0.876767 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.10, Z:-0.71 [[ 9.99597084e-01 2.80876618e-02 -4.09298731e-03 4.78773515e+00] [-2.81350632e-02 9.99531806e-01 -1.20244225e-02 -9.82963579e-02] [ 3.75333308e-03 1.21347341e-02 9.99919327e-01 -7.13959991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.211193817 meters Centerline goodness : 0.877025 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.11, Z:-0.71 [[ 9.99854010e-01 1.64453916e-02 -4.63763844e-03 4.77989362e+00] [-1.64543510e-02 9.99862812e-01 -1.90041079e-03 -1.11228407e-01] [ 4.60574921e-03 1.97644268e-03 9.99987440e-01 -7.13602061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.241193817 meters Centerline goodness : 0.877661 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.11, Z:-0.71 [[ 0.99991228 0.01228367 -0.00495417 4.78051474] [-0.01231005 0.99991002 -0.00533002 -0.11391203] [ 0.00488825 0.00539054 0.99997352 -0.71371931] [ 0. 0. 0. 1. ]] SLAMing on 41.271193817 meters Centerline goodness : 0.877789 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-0.71 [[ 0.99991882 0.01161381 -0.00524187 4.78116178] [-0.01163978 0.99991999 -0.00495192 -0.11668039] [ 0.00518394 0.00501253 0.999974 -0.71374883] [ 0. 0. 0. 1. ]] SLAMing on 41.301193817 meters Centerline goodness : 0.879693 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-0.71 [[ 9.99920652e-01 1.13163772e-02 -5.53436420e-03 4.78173335e+00] [-1.13425858e-02 9.99924496e-01 -4.72736184e-03 -1.18362296e-01] [ 5.48044973e-03 4.78976073e-03 9.99973511e-01 -7.13671810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.331193817 meters Centerline goodness : 0.878530 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-0.71 [[ 0.99994897 0.00845051 -0.00553557 4.78167337] [-0.00849525 0.99993103 -0.00811004 -0.11753632] [ 0.00546665 0.00815666 0.99995179 -0.71363235] [ 0. 0. 0. 1. ]] SLAMing on 41.361193817 meters Centerline goodness : 0.879219 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-0.71 [[ 0.99994426 0.00880354 -0.00582895 4.78248548] [-0.00884927 0.99992989 -0.00786758 -0.11804845] [ 0.00575928 0.00791872 0.99995206 -0.71392529] [ 0. 0. 0. 1. ]] SLAMing on 41.391193817 meters Centerline goodness : 0.879818 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-0.71 [[ 9.99894112e-01 1.32251653e-02 -6.07116410e-03 4.78270948e+00] [-1.32484774e-02 9.99904954e-01 -3.81578046e-03 -1.17895846e-01] [ 6.02012274e-03 3.89581010e-03 9.99974290e-01 -7.13389993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.421193817 meters Centerline goodness : 0.883429 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.12, Z:-0.72 [[ 9.99866177e-01 1.63521653e-02 4.83677214e-04 4.79321317e+00] [-1.63464172e-02 9.99814885e-01 -1.01483780e-02 -1.15169884e-01] [-6.49535633e-04 1.01391136e-02 9.99948387e-01 -7.16563190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.451193817 meters Centerline goodness : 0.884398 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.12, Z:-0.72 [[ 9.99795020e-01 2.02414212e-02 4.50331868e-04 4.79313128e+00] [-2.02382558e-02 9.99776102e-01 -6.17724063e-03 -1.15338913e-01] [-5.75267169e-04 6.16686049e-03 9.99980819e-01 -7.16052265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.481193817 meters Centerline goodness : 0.885578 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.12, Z:-0.72 [[ 9.99703462e-01 2.43476434e-02 4.24569851e-04 4.79328681e+00] [-2.43467411e-02 9.99701544e-01 -2.01449453e-03 -1.16042721e-01] [-4.73491330e-04 2.00356026e-03 9.99997881e-01 -7.15823859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.511193817 meters Centerline goodness : 0.887167 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.12, Z:-0.72 [[ 9.99567905e-01 2.93924399e-02 2.97797712e-04 4.79397628e+00] [-2.93931243e-02 9.99564446e-01 2.63883933e-03 -1.17673077e-01] [-2.20106079e-04 -2.64645230e-03 9.99996474e-01 -7.16118183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.541193817 meters Centerline goodness : 0.887283 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.12, Z:-0.72 [[ 9.99529408e-01 3.06629344e-02 -8.64442012e-04 4.79668322e+00] [-3.06601268e-02 9.99525082e-01 3.09293965e-03 -1.18591787e-01] [ 9.58870080e-04 -3.06498024e-03 9.99994843e-01 -7.16612236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.571193817 meters Centerline goodness : 0.886753 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.12, Z:-0.72 [[ 9.99488134e-01 3.19292201e-02 -1.99885902e-03 4.79931283e+00] [-3.19217238e-02 9.99483611e-01 3.67613869e-03 -1.19895354e-01] [ 2.11520308e-03 -3.61044998e-03 9.99991245e-01 -7.17094863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.601193817 meters Centerline goodness : 0.886521 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.12, Z:-0.72 [[ 9.99353954e-01 3.44230614e-02 -1.03309466e-02 4.78938245e+00] [-3.43901114e-02 9.99402869e-01 3.35037714e-03 -1.21774107e-01] [ 1.04401079e-02 -2.99293024e-03 9.99941022e-01 -7.16094254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.631193817 meters Centerline goodness : 0.887324 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.12, Z:-0.72 [[ 9.99308391e-01 3.54969168e-02 -1.10773809e-02 4.79138133e+00] [-3.54487449e-02 9.99361296e-01 4.51519237e-03 -1.23940384e-01] [ 1.12305812e-02 -4.11939037e-03 9.99928450e-01 -7.16959080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.661193817 meters Centerline goodness : 0.883825 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-0.72 [[ 0.99926068 0.03657926 -0.01183418 4.79338934] [-0.03651256 0.99931634 0.0058036 -0.12657837] [ 0.01203838 -0.00536721 0.99991313 -0.71786127] [ 0. 0. 0. 1. ]] SLAMing on 41.691193817 meters Centerline goodness : 0.882507 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.13, Z:-0.72 [[ 0.99920974 0.03771851 -0.01253823 4.79509536] [-0.03762453 0.99926267 0.00764877 -0.13078272] [ 0.01281748 -0.00717099 0.99989214 -0.71862543] [ 0. 0. 0. 1. ]] SLAMing on 41.721193817 meters Centerline goodness : 0.884842 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.13, Z:-0.72 [[ 9.99281843e-01 3.53176796e-02 -1.37280373e-02 4.79708474e+00] [-3.52500248e-02 9.99365310e-01 5.13941335e-03 -1.34545956e-01] [ 1.39008364e-02 -4.65180879e-03 9.99892558e-01 -7.18626228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.751193817 meters Centerline goodness : 0.886804 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.15, Z:-0.72 [[ 9.99467511e-01 2.97400330e-02 -1.34247746e-02 4.79454368e+00] [-2.97293830e-02 9.99557492e-01 9.92223866e-04 -1.46923432e-01] [ 1.34483428e-02 -5.92585251e-04 9.99909391e-01 -7.17028351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.781193817 meters Centerline goodness : 0.889481 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.15, Z:-0.72 [[ 0.99967698 0.02388941 -0.00867419 4.80411926] [-0.02384551 0.99970249 0.00513004 -0.15382189] [ 0.00879417 -0.00492154 0.99994922 -0.71884605] [ 0. 0. 0. 1. ]] SLAMing on 41.811193817 meters Centerline goodness : 0.890298 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.16, Z:-0.72 [[ 9.99822408e-01 1.66345055e-02 -8.85697052e-03 4.80410718e+00] [-1.66499393e-02 9.99859983e-01 -1.67167898e-03 -1.56834709e-01] [ 8.82792284e-03 1.81885013e-03 9.99959379e-01 -7.18811506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.841193817 meters Centerline goodness : 0.891528 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.16, Z:-0.72 [[ 9.99879067e-01 1.26944743e-02 -8.98342746e-03 4.80432305e+00] [-1.27337563e-02 9.99909551e-01 -4.32911094e-03 -1.62091053e-01] [ 8.92765913e-03 4.44298018e-03 9.99950277e-01 -7.18769799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.871193817 meters Centerline goodness : 0.891825 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.17, Z:-0.72 [[ 0.99994465 0.00585372 -0.00874279 4.80324064] [-0.00592667 0.99994764 -0.00834205 -0.17302955] [ 0.0086935 0.0083934 0.99992698 -0.71762627] [ 0. 0. 0. 1. ]] SLAMing on 41.901193817 meters Centerline goodness : 0.892373 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.18, Z:-0.72 [[ 9.99987611e-01 5.71323454e-04 -4.94484868e-03 4.81250834e+00] [-5.87506553e-04 9.99994475e-01 -3.27188518e-03 -1.78936309e-01] [ 4.94295206e-03 3.27474978e-03 9.99982421e-01 -7.18924393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.931193817 meters Centerline goodness : 0.893303 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.18, Z:-0.72 [[ 9.99981723e-01 -3.19317414e-03 -5.13384696e-03 4.81317119e+00] [ 3.16124024e-03 9.99975681e-01 -6.21639622e-03 -1.82504027e-01] [ 5.15357215e-03 6.20005329e-03 9.99967499e-01 -7.19202401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.961193817 meters Centerline goodness : 0.892328 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.19, Z:-0.72 [[ 0.99996084 -0.00709463 -0.00529045 4.81391041] [ 0.007045 0.99993155 -0.00934182 -0.18555405] [ 0.00535636 0.00930418 0.99994237 -0.71964628] [ 0. 0. 0. 1. ]] SLAMing on 41.991193817 meters Centerline goodness : 0.894108 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.19, Z:-0.72 [[ 0.99986894 -0.01526671 -0.0053884 4.81430133] [ 0.015178 0.99975461 -0.0161355 -0.19061067] [ 0.00563342 0.0160516 0.99985529 -0.7194741 ] [ 0. 0. 0. 1. ]] SLAMing on 42.021193817 meters Centerline goodness : 0.894728 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.19, Z:-0.72 [[ 0.99985618 -0.01597067 -0.00570545 4.8152069 ] [ 0.01587927 0.99975032 -0.01572068 -0.19423999] [ 0.00595509 0.01562782 0.99986014 -0.71946171] [ 0. 0. 0. 1. ]] SLAMing on 42.051193817 meters Centerline goodness : 0.895996 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.20, Z:-0.72 [[ 0.99985208 -0.01614553 -0.00592731 4.81546204] [ 0.01605397 0.99975584 -0.01518331 -0.19685473] [ 0.00617101 0.01508591 0.99986716 -0.71901538] [ 0. 0. 0. 1. ]] SLAMing on 42.081193817 meters Centerline goodness : 0.895602 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.20, Z:-0.72 [[ 0.99985101 -0.01611064 -0.00619753 4.81575377] [ 0.01601816 0.99976373 -0.01469341 -0.19880542] [ 0.00643278 0.01459195 0.99987284 -0.71856719] [ 0. 0. 0. 1. ]] SLAMing on 42.111193817 meters Centerline goodness : 0.897713 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.20, Z:-0.72 [[ 0.99985526 -0.01576278 -0.00640331 4.81627909] [ 0.0156701 0.99977532 -0.01427431 -0.19981831] [ 0.00662688 0.0141719 0.99987761 -0.71867412] [ 0. 0. 0. 1. ]] SLAMing on 42.141193817 meters Centerline goodness : 0.897780 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.20, Z:-0.72 [[ 0.99990632 -0.01185617 -0.00683967 4.81747363] [ 0.01178746 0.99988051 -0.01000116 -0.20088736] [ 0.00695743 0.0099196 0.9999266 -0.71913048] [ 0. 0. 0. 1. ]] SLAMing on 42.171193817 meters Centerline goodness : 0.892400 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.20, Z:-0.72 [[ 0.99993463 -0.00869748 -0.00742226 4.82024793] [ 0.00864832 0.99994062 -0.00662984 -0.20116447] [ 0.00747948 0.00656522 0.99995048 -0.72110499] [ 0. 0. 0. 1. ]] SLAMing on 42.201193817000004 meters Centerline goodness : 0.892247 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.20, Z:-0.72 [[ 9.99950173e-01 -5.87115022e-03 -8.07343398e-03 4.82306409e+00] [ 5.84231493e-03 9.99976487e-01 -3.59058468e-03 -2.01890063e-01] [ 8.09432501e-03 3.54323823e-03 9.99960963e-01 -7.22912569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.231193817 meters Centerline goodness : 0.893124 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.20, Z:-0.72 [[ 9.99954433e-01 -3.86705987e-03 -8.72802268e-03 4.82568374e+00] [ 3.85219113e-03 9.99991102e-01 -1.71973138e-03 -2.02808655e-01] [ 8.73459532e-03 1.68603101e-03 9.99960431e-01 -7.24543974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.261193817 meters Centerline goodness : 0.891862 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.20, Z:-0.73 [[ 9.99986313e-01 1.65129233e-03 -4.96460785e-03 4.83810712e+00] [-1.69110174e-03 9.99966368e-01 -8.02516487e-03 -2.01267390e-01] [ 4.95118898e-03 8.03345069e-03 9.99955474e-01 -7.29008482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.291193817 meters Centerline goodness : 0.891228 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.20, Z:-0.73 [[ 9.99978454e-01 3.45270015e-03 -5.58309882e-03 4.84092803e+00] [-3.48745651e-03 9.99974527e-01 -6.22757553e-03 -2.02080855e-01] [ 5.56145465e-03 6.24691216e-03 9.99965023e-01 -7.30906831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.321193817 meters Centerline goodness : 0.890700 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.20, Z:-0.73 [[ 9.99976482e-01 3.52944100e-03 -5.88041151e-03 4.84201258e+00] [-3.56485965e-03 9.99975504e-01 -6.02360255e-03 -2.02980048e-01] [ 5.85900751e-03 6.04442373e-03 9.99964568e-01 -7.31501618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.351193817 meters Centerline goodness : 0.890224 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-0.73 [[ 9.99977540e-01 3.27291471e-03 -5.84866365e-03 4.84244214e+00] [-3.30462036e-03 9.99979854e-01 -5.41959212e-03 -2.05815606e-01] [ 5.83080796e-03 5.43879801e-03 9.99968210e-01 -7.31916552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.381193817 meters Centerline goodness : 0.891964 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-0.73 [[ 9.99977217e-01 2.88085148e-03 -6.10459872e-03 4.84288502e+00] [-2.91311306e-03 9.99981804e-01 -5.28251568e-03 -2.07109630e-01] [ 6.08926950e-03 5.30017872e-03 9.99967414e-01 -7.31677503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.411193817 meters Centerline goodness : 0.892671 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-0.73 [[ 9.99976167e-01 2.68445640e-03 -6.36082011e-03 4.84314695e+00] [-2.71698640e-03 9.99983248e-01 -5.11101109e-03 -2.08435353e-01] [ 6.34699326e-03 5.12817154e-03 9.99966708e-01 -7.31201439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.441193817 meters Centerline goodness : 0.892568 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.21, Z:-0.73 [[ 9.99991702e-01 4.06006611e-03 -3.33259593e-04 4.85517454e+00] [-4.06392467e-03 9.99913178e-01 -1.25347962e-02 -2.08234032e-01] [ 2.82338557e-04 1.25360465e-02 9.99921381e-01 -7.34596380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.471193817 meters Centerline goodness : 0.898062 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.21, Z:-0.73 [[ 9.99983786e-01 5.69359066e-03 -1.02044614e-04 4.85241767e+00] [-5.69438473e-03 9.99918580e-01 -1.14196028e-02 -2.08188519e-01] [ 3.70177619e-05 1.14199987e-02 9.99934789e-01 -7.31559309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.501193817 meters Centerline goodness : 0.899851 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.21, Z:-0.73 [[ 9.99956541e-01 9.32132362e-03 -1.71052738e-04 4.85240871e+00] [-9.32236814e-03 9.99926614e-01 -7.73694573e-03 -2.07603052e-01] [ 9.89216101e-05 7.73820410e-03 9.99970055e-01 -7.31018358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.531193817 meters Centerline goodness : 0.899760 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.21, Z:-0.73 [[ 9.99915012e-01 1.30332322e-02 -3.22375271e-04 4.85269376e+00] [-1.30344621e-02 9.99906379e-01 -4.16357443e-03 -2.06336885e-01] [ 2.68080258e-04 4.16742256e-03 9.99991280e-01 -7.30719875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.561193817 meters Centerline goodness : 0.900814 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.20, Z:-0.74 [[ 9.99865055e-01 1.58156698e-02 4.44251750e-03 4.86723038e+00] [-1.57662406e-02 9.99815752e-01 -1.09493574e-02 -2.01830591e-01] [-4.61487040e-03 1.08778380e-02 9.99930185e-01 -7.35283937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.591193817 meters Centerline goodness : 0.896919 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.20, Z:-0.74 [[ 0.99977355 0.01981105 0.00777003 4.88399924] [-0.01967256 0.99965308 -0.0175129 -0.19542353] [-0.00811428 0.01735608 0.99981645 -0.74150016] [ 0. 0. 0. 1. ]] SLAMing on 42.621193817 meters Centerline goodness : 0.898811 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.19, Z:-0.74 [[ 0.99975183 0.02112327 0.00707648 4.88796628] [-0.02100475 0.99964446 -0.01642421 -0.19467297] [-0.0074209 0.01627149 0.99984007 -0.74463472] [ 0. 0. 0. 1. ]] SLAMing on 42.651193817 meters Centerline goodness : 0.895535 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.19, Z:-0.75 [[ 0.99975542 0.02104914 0.00678524 4.88942519] [-0.02093313 0.99964077 -0.01673701 -0.19409075] [-0.0071351 0.01659088 0.9998369 -0.74583317] [ 0. 0. 0. 1. ]] SLAMing on 42.681193817 meters Centerline goodness : 0.894391 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.19, Z:-0.75 [[ 0.99977611 0.02015582 0.00643953 4.89128223] [-0.02004045 0.99964591 -0.01750509 -0.1941932 ] [-0.00679008 0.01737212 0.99982604 -0.74732352] [ 0. 0. 0. 1. ]] SLAMing on 42.711193817 meters Centerline goodness : 0.896739 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.20, Z:-0.75 [[ 0.99979884 0.01918058 0.00586301 4.89312292] [-0.01907294 0.99965794 -0.01789488 -0.19552364] [-0.00620424 0.01777945 0.99982268 -0.74815472] [ 0. 0. 0. 1. ]] SLAMing on 42.741193817 meters Centerline goodness : 0.896266 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.20, Z:-0.75 [[ 0.9998268 0.01789035 0.00512794 4.89556142] [-0.01779314 0.99967211 -0.01841416 -0.19746565] [-0.00545569 0.01831973 0.99981729 -0.74932937] [ 0. 0. 0. 1. ]] SLAMing on 42.771193817 meters Centerline goodness : 0.895659 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.20, Z:-0.75 [[ 9.99845548e-01 1.69960153e-02 4.47398693e-03 4.89791084e+00] [-1.69101401e-02 9.99684382e-01 -1.85791369e-02 -1.99692377e-01] [-4.78834616e-03 1.85006116e-02 9.99817383e-01 -7.50686615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.801193817 meters Centerline goodness : 0.894474 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.20, Z:-0.75 [[ 9.99862871e-01 1.61216963e-02 3.78563964e-03 4.90075126e+00] [-1.60480901e-02 9.99695789e-01 -1.87293425e-02 -2.02435999e-01] [-4.08643678e-03 1.86660218e-02 9.99817424e-01 -7.52549702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.831193817 meters Centerline goodness : 0.892879 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.21, Z:-0.75 [[ 9.99860678e-01 1.63315413e-02 3.45037071e-03 4.90209645e+00] [-1.62681501e-02 9.99711621e-01 -1.76641758e-02 -2.06092832e-01] [-3.73785891e-03 1.76055837e-02 9.99838023e-01 -7.53405552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.861193817 meters Centerline goodness : 0.894686 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.21, Z:-0.76 [[ 9.99856421e-01 1.67143631e-02 2.78686538e-03 4.90587837e+00] [-1.66678699e-02 9.99733920e-01 -1.59458642e-02 -2.12187860e-01] [-3.05264882e-03 1.58971236e-02 9.99868973e-01 -7.56519234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.891193817 meters Centerline goodness : 0.895741 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.22, Z:-0.76 [[ 9.99849113e-01 1.71791251e-02 2.57483916e-03 4.90639894e+00] [-1.71392475e-02 9.99743827e-01 -1.47826134e-02 -2.15182339e-01] [-2.82813192e-03 1.47362521e-02 9.99887416e-01 -7.56598731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.921193817 meters Centerline goodness : 0.897430 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.22, Z:-0.76 [[ 9.99845727e-01 1.74160169e-02 2.28130631e-03 4.90678653e+00] [-1.73831541e-02 9.99754905e-01 -1.37096699e-02 -2.18841859e-01] [-2.51951502e-03 1.36678985e-02 9.99903416e-01 -7.56248763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.951193817000004 meters Centerline goodness : 0.897430 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.22, Z:-0.76 [[ 9.99845727e-01 1.74160169e-02 2.28130631e-03 4.90678653e+00] [-1.73831541e-02 9.99754905e-01 -1.37096699e-02 -2.18841859e-01] [-2.51951502e-03 1.36678985e-02 9.99903416e-01 -7.56248763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.981193817 meters Centerline goodness : 0.897767 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.22, Z:-0.76 [[ 9.99841513e-01 1.76577769e-02 2.26964736e-03 4.90632441e+00] [-1.76280016e-02 9.99766098e-01 -1.25301024e-02 -2.22548225e-01] [-2.49037024e-03 1.24881071e-02 9.99918919e-01 -7.55426449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.011193817 meters Centerline goodness : 0.901076 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.75 [[ 9.99853056e-01 1.70202070e-02 2.04445898e-03 4.90673039e+00] [-1.69956909e-02 9.99789846e-01 -1.14634648e-02 -2.28260445e-01] [-2.23913987e-03 1.14270333e-02 9.99932202e-01 -7.54976136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.041193817 meters Centerline goodness : 0.901930 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.76 [[ 9.99862856e-01 1.64815889e-02 1.62038983e-03 4.90787615e+00] [-1.64621689e-02 9.99800123e-01 -1.13450894e-02 -2.30109334e-01] [-1.80705105e-03 1.13168583e-02 9.99934329e-01 -7.55218869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.071193817 meters Centerline goodness : 0.905119 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.75 [[ 9.99870837e-01 1.60230942e-02 1.25284098e-03 4.90854989e+00] [-1.60082100e-02 9.99810208e-01 -1.11034170e-02 -2.32249948e-01] [-1.43051430e-03 1.10819271e-02 9.99937570e-01 -7.54954810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.101193817 meters Centerline goodness : 0.905462 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.75 [[ 9.99908643e-01 1.34406636e-02 1.43290871e-03 4.90638130e+00] [-1.34197222e-02 9.99815545e-01 -1.37399864e-02 -2.33314718e-01] [-1.61731894e-03 1.37195019e-02 9.99904575e-01 -7.52774002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.131193817 meters Centerline goodness : 0.911767 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.24, Z:-0.75 [[ 9.99899624e-01 1.40512465e-02 1.81806464e-03 4.90349237e+00] [-1.40276652e-02 9.99824827e-01 -1.23911319e-02 -2.36081224e-01] [-1.99185702e-03 1.23643849e-02 9.99921574e-01 -7.49497272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.161193817 meters Centerline goodness : 0.914187 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.23, Z:-0.75 [[ 9.99905538e-01 1.36453037e-02 1.64953280e-03 4.90415379e+00] [-1.36225012e-02 9.99821082e-01 -1.31237043e-02 -2.34253204e-01] [-1.82831460e-03 1.30999938e-02 9.99912520e-01 -7.49888894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.191193817 meters Centerline goodness : 0.911513 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.75 [[ 9.99883927e-01 1.51964088e-02 1.09600822e-03 4.90741463e+00] [-1.51829021e-02 9.99819426e-01 -1.14277911e-02 -2.33001067e-01] [-1.26947169e-03 1.14098240e-02 9.99934100e-01 -7.52336545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.221193817 meters Centerline goodness : 0.907341 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.76 [[ 9.99853029e-01 1.71359890e-02 5.28377731e-04 4.91114463e+00] [-1.71299541e-02 9.99804720e-01 -9.85321821e-03 -2.29711733e-01] [-6.97119188e-04 9.84271898e-03 9.99951316e-01 -7.55528143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.251193817 meters Centerline goodness : 0.909792 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.76 [[ 9.99854329e-01 1.70645522e-02 3.49701172e-04 4.91166511e+00] [-1.70600555e-02 9.99801585e-01 -1.02831989e-02 -2.28629414e-01] [-5.25109971e-04 1.02757350e-02 9.99947065e-01 -7.55724144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.281193817 meters Centerline goodness : 0.909224 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.76 [[ 9.99855907e-01 1.69750202e-02 1.13894685e-04 4.91188173e+00] [-1.69728386e-02 9.99799005e-01 -1.06710776e-02 -2.27949613e-01] [-2.95013550e-04 1.06676068e-02 9.99943056e-01 -7.55345540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.311193817 meters Centerline goodness : 0.909015 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.76 [[ 9.99859742e-01 1.67480463e-02 9.02180446e-06 4.91194412e+00] [-1.67469114e-02 9.99797980e-01 -1.11148883e-02 -2.27249520e-01] [-1.95172646e-04 1.11131783e-02 9.99938228e-01 -7.55065481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.341193817 meters Centerline goodness : 0.909953 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.76 [[ 9.99865684e-01 1.63886126e-02 -1.66992526e-04 4.91235372e+00] [-1.63894479e-02 9.99798833e-01 -1.15619671e-02 -2.26531404e-01] [-2.25256673e-05 1.15631511e-02 9.99933144e-01 -7.55050557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.371193817 meters Centerline goodness : 0.907715 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.23, Z:-0.76 [[ 9.99884506e-01 1.51824141e-02 -6.85322325e-04 4.91501502e+00] [-1.51898232e-02 9.99805829e-01 -1.25528139e-02 -2.25627358e-01] [ 4.94607236e-04 1.25617740e-02 9.99920975e-01 -7.57165130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.401193817 meters Centerline goodness : 0.907401 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.23, Z:-0.76 [[ 9.99904619e-01 1.37436590e-02 -1.36555570e-03 4.91806180e+00] [-1.37608146e-02 9.99814612e-01 -1.34677917e-02 -2.26413032e-01] [ 1.18020581e-03 1.34852983e-02 9.99908373e-01 -7.59305408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.431193817 meters Centerline goodness : 0.907743 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.23, Z:-0.76 [[ 9.99927630e-01 1.18695018e-02 -1.96210759e-03 4.92100242e+00] [-1.18966027e-02 9.99825087e-01 -1.44314294e-02 -2.28479967e-01] [ 1.79047052e-03 1.44537274e-02 9.99893936e-01 -7.61357523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.461193817 meters Centerline goodness : 0.905666 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.23, Z:-0.76 [[ 9.99968719e-01 7.57684357e-03 -2.26985069e-03 4.92237498e+00] [-7.61723250e-03 9.99802655e-01 -1.83474216e-02 -2.29598968e-01] [ 2.13038721e-03 1.83641377e-02 9.99829095e-01 -7.62468602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.491193817 meters Centerline goodness : 0.905249 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.23, Z:-0.76 [[ 9.99981205e-01 -2.85674325e-03 -5.42488938e-03 4.92180003e+00] [ 2.80221755e-03 9.99945750e-01 -1.00321662e-02 -2.34303135e-01] [ 5.45325440e-03 1.00167759e-02 9.99934961e-01 -7.61249563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.521193817 meters Centerline goodness : 0.903428 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.24, Z:-0.76 [[ 9.99976511e-01 -3.73331433e-03 -5.74807496e-03 4.92276696e+00] [ 3.67471078e-03 9.99941508e-01 -1.01723625e-02 -2.35894485e-01] [ 5.78571537e-03 1.01510011e-02 9.99931739e-01 -7.61385348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.551193817 meters Centerline goodness : 0.905938 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.24, Z:-0.76 [[ 9.99973383e-01 -4.12249584e-03 -6.01977081e-03 4.92322934e+00] [ 4.06055228e-03 9.99939056e-01 -1.02662382e-02 -2.36120051e-01] [ 6.06172646e-03 1.02415213e-02 9.99929181e-01 -7.61103022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.581193817 meters Centerline goodness : 0.903182 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.24, Z:-0.76 [[ 9.99977464e-01 -1.87016497e-03 -6.44778953e-03 4.92508662e+00] [ 1.82129304e-03 9.99969634e-01 -7.57719999e-03 -2.36247931e-01] [ 6.46176435e-03 7.56528592e-03 9.99950505e-01 -7.61973578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.611193817 meters Centerline goodness : 0.906506 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.23, Z:-0.76 [[ 9.99998225e-01 1.63122585e-03 -9.43364021e-04 4.93755119e+00] [-1.64373177e-03 9.99908711e-01 -1.34114843e-02 -2.28799243e-01] [ 9.21400743e-04 1.34130111e-02 9.99909617e-01 -7.64847815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.641193817 meters Centerline goodness : 0.902477 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.23, Z:-0.76 [[ 9.99988283e-01 4.68174021e-03 -1.23119047e-03 4.93835298e+00] [-4.69459271e-03 9.99932245e-01 -1.06520479e-02 -2.25830316e-01] [ 1.18123693e-03 1.06577030e-02 9.99942507e-01 -7.64933011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.671193817 meters Centerline goodness : 0.904204 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.22, Z:-0.76 [[ 9.99968730e-01 7.77595118e-03 -1.44028390e-03 4.93895526e+00] [-7.78736835e-03 9.99936882e-01 -8.09872368e-03 -2.22078237e-01] [ 1.37721771e-03 8.10968645e-03 9.99966168e-01 -7.64960465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.701193817000004 meters Centerline goodness : 0.901015 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.21, Z:-0.77 [[ 9.99917670e-01 1.23945306e-02 3.32111352e-03 4.95306459e+00] [-1.23493366e-02 9.99835295e-01 -1.32995253e-02 -2.10787118e-01] [-3.48540789e-03 1.32574168e-02 9.99906042e-01 -7.67601044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.731193817 meters Centerline goodness : 0.901753 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.21, Z:-0.77 [[ 9.99869730e-01 1.58273633e-02 3.16515939e-03 4.95306113e+00] [-1.57929026e-02 9.99818764e-01 -1.06312371e-02 -2.07310715e-01] [-3.33285020e-03 1.05798652e-02 9.99938477e-01 -7.66787582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.761193817 meters Centerline goodness : 0.898689 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.20, Z:-0.77 [[ 0.99979991 0.01870442 0.00709091 4.96897811] [-0.01858836 0.99969768 -0.01609444 -0.20113688] [-0.0073898 0.01595942 0.99984533 -0.76936042] [ 0. 0. 0. 1. ]] SLAMing on 43.791193817 meters Centerline goodness : 0.900298 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.19, Z:-0.77 [[ 0.99970902 0.02183867 0.01024455 4.98637754] [-0.02162163 0.99954903 -0.02083833 -0.19474489] [-0.01069501 0.02061076 0.99973037 -0.77206284] [ 0. 0. 0. 1. ]] SLAMing on 43.821193817 meters Centerline goodness : 0.896519 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.18, Z:-0.77 [[ 0.99943422 0.03286253 0.00716157 5.01615028] [-0.03264728 0.99906494 -0.02834445 -0.18476803] [-0.00808634 0.02809461 0.99957256 -0.773397 ] [ 0. 0. 0. 1. ]] SLAMing on 43.851193817 meters Centerline goodness : 0.896143 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.18, Z:-0.78 [[ 0.99927167 0.03728877 0.00810422 5.0375407 ] [-0.03702633 0.99885106 -0.03042378 -0.18052461] [-0.00922937 0.03010155 0.99950423 -0.7773482 ] [ 0. 0. 0. 1. ]] SLAMing on 43.881193817 meters Centerline goodness : 0.893443 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.18, Z:-0.78 [[ 0.99906751 0.04250026 0.00760559 5.04104293] [-0.04229458 0.99878173 -0.02542084 -0.17897444] [-0.00867671 0.02507546 0.99964791 -0.77992418] [ 0. 0. 0. 1. ]] SLAMing on 43.911193817 meters Centerline goodness : 0.892478 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.18, Z:-0.78 [[ 0.99892977 0.04533006 0.00919224 5.06063024] [-0.04504397 0.9985567 -0.02924985 -0.17607296] [-0.01050487 0.0288045 0.99952986 -0.78322461] [ 0. 0. 0. 1. ]] SLAMing on 43.941193817 meters Centerline goodness : 0.889535 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.18, Z:-0.78 [[ 0.99872334 0.04975831 0.00870691 5.06181486] [-0.04953218 0.99847196 -0.02450138 -0.17884549] [-0.00991275 0.02403882 0.99966188 -0.78330695] [ 0. 0. 0. 1. ]] SLAMing on 43.971193817 meters Centerline goodness : 0.884965 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.18, Z:-0.78 [[ 0.99860315 0.05231281 0.00742407 5.06377093] [-0.05213355 0.99838495 -0.02257379 -0.18379103] [-0.00859297 0.02215522 0.99971761 -0.78257908] [ 0. 0. 0. 1. ]] SLAMing on 44.001193817 meters Centerline goodness : 0.888737 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.19, Z:-0.78 [[ 9.98594304e-01 5.28192835e-02 4.42043268e-03 5.07092020e+00] [-5.27379250e-02 9.98466236e-01 -1.68489528e-02 -1.87413370e-01] [-5.30360240e-03 1.65921439e-02 9.99848275e-01 -7.80695047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.031193817 meters Centerline goodness : 0.885605 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.19, Z:-0.78 [[ 9.98560356e-01 5.34655110e-02 4.31913163e-03 5.07132329e+00] [-5.33928921e-02 9.98453752e-01 -1.54694660e-02 -1.89509261e-01] [-5.13953608e-03 1.52165845e-02 9.99871012e-01 -7.81309427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.061193817 meters Centerline goodness : 0.884272 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.19, Z:-0.78 [[ 9.98535622e-01 5.39316658e-02 4.24107823e-03 5.07172129e+00] [-5.38694383e-02 9.98455014e-01 -1.36260263e-02 -1.92780809e-01] [-4.96940012e-03 1.33776081e-02 9.99898167e-01 -7.82316090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.091193817 meters Centerline goodness : 0.883004 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.20, Z:-0.78 [[ 9.98953209e-01 4.55300641e-02 -4.41585378e-03 5.06931356e+00] [-4.55566752e-02 9.98942975e-01 -6.12545679e-03 -2.01501491e-01] [ 4.13229367e-03 6.32021633e-03 9.99971489e-01 -7.78146830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.121193817 meters Centerline goodness : 0.882731 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.21, Z:-0.78 [[ 9.99148475e-01 4.09310976e-02 -5.19322438e-03 5.07188673e+00] [-4.09815404e-02 9.99109760e-01 -1.00100755e-02 -2.05134744e-01] [ 4.77887779e-03 1.02143780e-02 9.99936412e-01 -7.80010967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.151193817 meters Centerline goodness : 0.882755 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.21, Z:-0.78 [[ 0.9993296 0.03611427 -0.00600887 5.07444869] [-0.03619457 0.99924894 -0.01383897 -0.20913627] [ 0.00550457 0.01404718 0.99988618 -0.78168264] [ 0. 0. 0. 1. ]] SLAMing on 44.181193817 meters Centerline goodness : 0.879834 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.21, Z:-0.78 [[ 0.99949008 0.03122665 -0.00666904 5.07641142] [-0.03133961 0.99935443 -0.01756577 -0.21314448] [ 0.00611622 0.01776582 0.99982347 -0.78287136] [ 0. 0. 0. 1. ]] SLAMing on 44.211193817 meters Centerline goodness : 0.882368 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.22, Z:-0.78 [[ 0.99988224 0.01428637 -0.00560346 5.08615786] [-0.01433432 0.99986016 -0.00861303 -0.22144766] [ 0.00547962 0.00869234 0.99994721 -0.78321113] [ 0. 0. 0. 1. ]] SLAMing on 44.241193817 meters Centerline goodness : 0.881978 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.22, Z:-0.78 [[ 0.99994202 0.00916215 -0.00565765 5.08679326] [-0.00923366 0.99987615 -0.01274432 -0.22312232] [ 0.00554019 0.01279582 0.99990278 -0.78372064] [ 0. 0. 0. 1. ]] SLAMing on 44.271193817 meters Centerline goodness : 0.882848 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.22, Z:-0.78 [[ 9.99973245e-01 4.13482315e-03 -6.03420670e-03 5.08786456e+00] [-4.23701246e-03 9.99846144e-01 -1.70216442e-02 -2.24233176e-01] [ 5.96289682e-03 1.70467558e-02 9.99836913e-01 -7.84064449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.301193817 meters Centerline goodness : 0.881352 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.22, Z:-0.78 [[ 0.99996404 -0.00549315 -0.00646135 5.08820935] [ 0.00532456 0.99965228 -0.02582559 -0.22473931] [ 0.00660097 0.02579026 0.99964558 -0.78297987] [ 0. 0. 0. 1. ]] SLAMing on 44.331193817 meters Centerline goodness : 0.881681 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.22, Z:-0.78 [[ 0.99995772 -0.00641223 -0.00659154 5.08791041] [ 0.00623685 0.99963485 -0.02629206 -0.22467945] [ 0.00675772 0.02624984 0.99963257 -0.78188401] [ 0. 0. 0. 1. ]] SLAMing on 44.361193817 meters Centerline goodness : 0.882176 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.22, Z:-0.78 [[ 0.99995415 -0.00689339 -0.00664732 5.08730207] [ 0.00671142 0.9996124 -0.0270188 -0.22236596] [ 0.00683099 0.02697295 0.99961282 -0.78075866] [ 0. 0. 0. 1. ]] SLAMing on 44.391193817 meters Centerline goodness : 0.883036 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.22, Z:-0.78 [[ 9.99966384e-01 -4.20034925e-03 -7.04187227e-03 5.08796526e+00] [ 4.02876850e-03 9.99698888e-01 -2.42054096e-02 -2.20486357e-01] [ 7.14142305e-03 2.41762258e-02 9.99682205e-01 -7.80295361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.421193817 meters Centerline goodness : 0.879877 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.21, Z:-0.78 [[ 9.99971176e-01 -1.14348665e-03 -7.50594694e-03 5.08840984e+00] [ 9.77048902e-04 9.99754393e-01 -2.21404519e-02 -2.14432745e-01] [ 7.52942074e-03 2.21324800e-02 9.99726693e-01 -7.79472459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.451193817000004 meters Centerline goodness : 0.876034 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.21, Z:-0.78 [[ 9.99968008e-01 2.36797982e-03 -7.64034013e-03 5.08861848e+00] [-2.51098467e-03 9.99820823e-01 -1.87620974e-02 -2.12802525e-01] [ 7.59454289e-03 1.87806820e-02 9.99794783e-01 -7.79170511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.481193817 meters Centerline goodness : 0.878786 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.21, Z:-0.78 [[ 9.99955558e-01 5.00817173e-03 -7.98749573e-03 5.09007923e+00] [-5.13867526e-03 9.99852265e-01 -1.64025180e-02 -2.10255508e-01] [ 7.90416907e-03 1.64428341e-02 9.99833565e-01 -7.79884695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.511193817 meters Centerline goodness : 0.877783 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.21, Z:-0.78 [[ 0.99993494 0.00784524 -0.00828099 5.09140762] [-0.0079599 0.99987163 -0.01390552 -0.20751678] [ 0.00817084 0.01397053 0.99986902 -0.78060258] [ 0. 0. 0. 1. ]] SLAMing on 44.541193817 meters Centerline goodness : 0.874990 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.20, Z:-0.78 [[ 0.99987755 0.01304945 -0.0086374 5.09360617] [-0.01312941 0.99987087 -0.00926588 -0.20119682] [ 0.00851537 0.00937815 0.99991977 -0.78193532] [ 0. 0. 0. 1. ]] SLAMing on 44.571193817 meters Centerline goodness : 0.870956 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.20, Z:-0.78 [[ 0.99982847 0.01625057 -0.00888545 5.09460666] [-0.01630701 0.99984708 -0.00631681 -0.1989916 ] [ 0.00878144 0.00646062 0.99994057 -0.78226283] [ 0. 0. 0. 1. ]] SLAMing on 44.601193817 meters Centerline goodness : 0.872609 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.20, Z:-0.78 [[ 0.99982618 0.01611401 -0.00937833 5.09560486] [-0.01618355 0.99984175 -0.00738732 -0.19534362] [ 0.00925781 0.00753781 0.99992873 -0.78232775] [ 0. 0. 0. 1. ]] SLAMing on 44.631193817 meters Centerline goodness : 0.873244 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.19, Z:-0.78 [[ 9.99771598e-01 1.89063235e-02 -9.96502776e-03 5.09779391e+00] [-1.89555812e-02 9.99808456e-01 -4.87199417e-03 -1.93431101e-01] [ 9.87100752e-03 5.05977429e-03 9.99938479e-01 -7.83272417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.661193817 meters Centerline goodness : 0.872128 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.19, Z:-0.78 [[ 0.99976194 0.01913766 -0.01047964 5.09945598] [-0.01920028 0.9997982 -0.00590775 -0.18897208] [ 0.01036447 0.00610755 0.99992764 -0.7841911 ] [ 0. 0. 0. 1. ]] SLAMing on 44.691193817 meters Centerline goodness : 0.872122 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.19, Z:-0.79 [[ 9.99696269e-01 2.20251699e-02 -1.10571746e-02 5.10211438e+00] [-2.20667474e-02 9.99749828e-01 -3.65239576e-03 -1.85577481e-01] [ 1.09739638e-02 3.89528229e-03 9.99932197e-01 -7.85826569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.721193817 meters Centerline goodness : 0.867728 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.18, Z:-0.79 [[ 0.99957996 0.02761354 -0.00879771 5.12113869] [-0.02768162 0.99958703 -0.00771331 -0.17580839] [ 0.00858108 0.00795361 0.99993155 -0.79144395] [ 0. 0. 0. 1. ]] SLAMing on 44.751193817 meters Centerline goodness : 0.864477 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.17, Z:-0.79 [[ 9.99477026e-01 3.10636427e-02 -8.98470757e-03 5.12194489e+00] [-3.11085271e-02 9.99504003e-01 -4.89976697e-03 -1.72424093e-01] [ 8.82804657e-03 5.17670554e-03 9.99947632e-01 -7.91520830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.781193817 meters Centerline goodness : 0.864829 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.16, Z:-0.79 [[ 9.99414239e-01 3.39352798e-02 -4.42436785e-03 5.13614581e+00] [-3.39845459e-02 9.99355257e-01 -1.15810530e-02 -1.63419733e-01] [ 4.02850900e-03 1.17246294e-02 9.99923149e-01 -7.93930842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.811193817 meters Centerline goodness : 0.864991 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.16, Z:-0.79 [[ 9.99418243e-01 3.37842446e-02 -4.66901244e-03 5.13660434e+00] [-3.38406880e-02 9.99347928e-01 -1.25906997e-02 -1.60117919e-01] [ 4.24060063e-03 1.27413776e-02 9.99909833e-01 -7.93732573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.841193817 meters Centerline goodness : 0.864991 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.16, Z:-0.79 [[ 9.99418243e-01 3.37842446e-02 -4.66901244e-03 5.13660434e+00] [-3.38406880e-02 9.99347928e-01 -1.25906997e-02 -1.60117919e-01] [ 4.24060063e-03 1.27413776e-02 9.99909833e-01 -7.93732573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.871193817 meters Centerline goodness : 0.864567 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.16, Z:-0.79 [[ 9.99434254e-01 3.32661004e-02 -4.95362703e-03 5.13753985e+00] [-3.33323297e-02 9.99346986e-01 -1.39483575e-02 -1.56410751e-01] [ 4.48638479e-03 1.41055822e-02 9.99890446e-01 -7.94121545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.901193817 meters Centerline goodness : 0.862933 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.15, Z:-0.80 [[ 9.99401416e-01 3.41777976e-02 -5.35606488e-03 5.14050121e+00] [-3.42465603e-02 9.99324640e-01 -1.33205130e-02 -1.53658475e-01] [ 4.89718182e-03 1.34959663e-02 9.99896933e-01 -7.96412455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.931193817 meters Centerline goodness : 0.861866 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.15, Z:-0.80 [[ 0.99933685 0.0359556 -0.00574999 5.14298499] [-0.03602432 0.99927483 -0.0123314 -0.14748663] [ 0.00530244 0.01253036 0.99990743 -0.79793871] [ 0. 0. 0. 1. ]] SLAMing on 44.961193817 meters Centerline goodness : 0.861769 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.15, Z:-0.80 [[ 0.99926857 0.03774265 -0.00614929 5.14545385] [-0.03780732 0.99922707 -0.01076399 -0.14531349] [ 0.00573828 0.01098861 0.99992316 -0.79948484] [ 0. 0. 0. 1. ]] SLAMing on 44.991193817 meters Centerline goodness : 0.862212 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.14, Z:-0.80 [[ 9.99250775e-01 3.86013650e-02 -2.79702091e-03 5.16308436e+00] [-3.86411793e-02 9.99125887e-01 -1.59474570e-02 -1.41567164e-01] [ 2.17898239e-03 1.60435890e-02 9.99868919e-01 -8.01528335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.021193817 meters Centerline goodness : 0.863121 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.14, Z:-0.80 [[ 9.99107818e-01 4.21298147e-02 -2.94049387e-03 5.16389354e+00] [-4.21638080e-02 9.99030532e-01 -1.26573998e-02 -1.40301425e-01] [ 2.40438925e-03 1.27700895e-02 9.99915568e-01 -8.01631619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.051193817 meters Centerline goodness : 0.861182 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.14, Z:-0.80 [[ 9.99074527e-01 4.28312148e-02 -3.94664246e-03 5.16600231e+00] [-4.28832830e-02 9.98978907e-01 -1.42185385e-02 -1.37065988e-01] [ 3.33361530e-03 1.43746246e-02 9.99891123e-01 -8.00946672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.081193817 meters Centerline goodness : 0.862394 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.14, Z:-0.80 [[ 9.99020624e-01 4.39986952e-02 -4.68065983e-03 5.16643373e+00] [-4.40653598e-02 9.98912297e-01 -1.52468923e-02 -1.35016004e-01] [ 4.00472530e-03 1.54382148e-02 9.99872804e-01 -7.98532275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.111193817 meters Centerline goodness : 0.862023 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.14, Z:-0.80 [[ 9.99024776e-01 4.38908955e-02 -4.80489291e-03 5.16602804e+00] [-4.39605325e-02 9.98913027e-01 -1.54995681e-02 -1.35120368e-01] [ 4.11938019e-03 1.56956782e-02 9.99868330e-01 -7.97449499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.141193817 meters Centerline goodness : 0.863749 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.14, Z:-0.80 [[ 9.99048923e-01 4.33525798e-02 -4.66939036e-03 5.16542702e+00] [-4.34201165e-02 9.98936796e-01 -1.54909822e-02 -1.36151643e-01] [ 3.99285181e-03 1.56789945e-02 9.99869105e-01 -7.97069917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.171193817 meters Centerline goodness : 0.864446 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.14, Z:-0.80 [[ 9.99252641e-01 3.84413242e-02 -4.05273707e-03 5.16376626e+00] [-3.85077484e-02 9.99099153e-01 -1.78335735e-02 -1.39596291e-01] [ 3.36353999e-03 1.79763072e-02 9.99832756e-01 -7.97656815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.201193817000004 meters Centerline goodness : 0.864137 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.14, Z:-0.80 [[ 9.99400293e-01 3.43458943e-02 -4.40622008e-03 5.16466491e+00] [-3.44320730e-02 9.99180966e-01 -2.12563016e-02 -1.41437452e-01] [ 3.67254455e-03 2.13952693e-02 9.99764350e-01 -7.98371408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.231193817 meters Centerline goodness : 0.863577 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.15, Z:-0.80 [[ 9.99651215e-01 2.61319332e-02 -3.81721196e-03 5.16265451e+00] [-2.61715964e-02 9.99599780e-01 -1.07390979e-02 -1.46357462e-01] [ 3.53505085e-03 1.08352547e-02 9.99935048e-01 -7.97461546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.261193817 meters Centerline goodness : 0.864937 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.15, Z:-0.80 [[ 9.99757906e-01 2.16083136e-02 -4.14846931e-03 5.16348491e+00] [-2.16655481e-02 9.99663193e-01 -1.42865319e-02 -1.49395135e-01] [ 3.83836421e-03 1.43729521e-02 9.99889336e-01 -7.97931686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.291193817 meters Centerline goodness : 0.865585 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.15, Z:-0.80 [[ 9.99840139e-01 1.73251986e-02 -4.41966927e-03 5.16407708e+00] [-1.74004912e-02 9.99693548e-01 -1.76077267e-02 -1.52500567e-01] [ 4.11325750e-03 1.76818164e-02 9.99835204e-01 -7.98228453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.321193817 meters Centerline goodness : 0.865409 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.16, Z:-0.80 [[ 9.99962807e-01 7.82984426e-03 -3.61627046e-03 5.16374094e+00] [-7.85848736e-03 9.99937316e-01 -7.97551721e-03 -1.57244141e-01] [ 3.55359672e-03 8.00363899e-03 9.99961656e-01 -7.98672357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.351193817 meters Centerline goodness : 0.867264 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.16, Z:-0.80 [[ 9.99966507e-01 7.20239244e-03 -3.88709157e-03 5.16561789e+00] [-7.23590138e-03 9.99936178e-01 -8.67647515e-03 -1.55934549e-01] [ 3.82435211e-03 8.70431116e-03 9.99954804e-01 -8.00330338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.381193817 meters Centerline goodness : 0.865868 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.15, Z:-0.80 [[ 9.99949805e-01 9.00392400e-03 -4.39518997e-03 5.16872213e+00] [-9.03421836e-03 9.99935231e-01 -6.92212568e-03 -1.54450091e-01] [ 4.33257901e-03 6.96148533e-03 9.99966383e-01 -8.02794315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.411193817 meters Centerline goodness : 0.865540 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.15, Z:-0.81 [[ 9.99868978e-01 1.54028210e-02 -4.97794325e-03 5.17211560e+00] [-1.54100710e-02 9.99880248e-01 -1.42138129e-03 -1.50381458e-01] [ 4.95545385e-03 1.49790551e-03 9.99986600e-01 -8.05352033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.441193817 meters Centerline goodness : 0.863736 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.15, Z:-0.81 [[ 9.99805696e-01 1.90218928e-02 -5.17079810e-03 5.17319450e+00] [-1.90148690e-02 9.99818215e-01 1.40414567e-03 -1.47241164e-01] [ 5.19656763e-03 -1.30555079e-03 9.99985646e-01 -8.05982702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.471193817 meters Centerline goodness : 0.862172 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.14, Z:-0.81 [[ 9.99727834e-01 2.27089946e-02 -5.34411665e-03 5.17394928e+00] [-2.26866968e-02 9.99733815e-01 4.19668234e-03 -1.43754451e-01] [ 5.43799657e-03 -4.07429979e-03 9.99976914e-01 -8.06240008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.501193817 meters Centerline goodness : 0.864063 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.14, Z:-0.81 [[ 9.99669815e-01 2.56921152e-02 -4.18757061e-04 5.18488878e+00] [-2.56937143e-02 9.99660126e-01 -4.41192683e-03 -1.38281181e-01] [ 3.05263005e-04 4.42122951e-03 9.99990180e-01 -8.09713212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.531193817 meters Centerline goodness : 0.863996 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.13, Z:-0.81 [[ 0.99952341 0.03038418 0.0054546 5.19617291] [-0.0303241 0.999482 -0.01077878 -0.1306108 ] [-0.00577928 0.01060824 0.99992703 -0.81305333] [ 0. 0. 0. 1. ]] SLAMing on 45.561193817 meters Centerline goodness : 0.861526 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.13, Z:-0.81 [[ 0.99941456 0.03376464 0.00552163 5.19636997] [-0.03372192 0.99940194 -0.00765494 -0.12859904] [-0.00577679 0.00746426 0.99995546 -0.81297661] [ 0. 0. 0. 1. ]] SLAMing on 45.591193817 meters Centerline goodness : 0.862657 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.12, Z:-0.81 [[ 0.99940635 0.03404011 0.0053125 5.19671693] [-0.03398673 0.99937389 -0.0098348 -0.12342477] [-0.00564395 0.00964841 0.99993753 -0.81169161] [ 0. 0. 0. 1. ]] SLAMing on 45.621193817 meters Centerline goodness : 0.862363 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.12, Z:-0.81 [[ 9.99396344e-01 3.43589437e-02 5.13906267e-03 5.19687678e+00] [-3.42970067e-02 9.99343310e-01 -1.16903381e-02 -1.18855827e-01] [-5.53735557e-03 1.15070267e-02 9.99918460e-01 -8.10333783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.651193817 meters Centerline goodness : 0.859328 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.12, Z:-0.81 [[ 9.99235400e-01 3.87684430e-02 5.06184646e-03 5.19622970e+00] [-3.87242833e-02 9.99213366e-01 -8.54860154e-03 -1.17984634e-01] [-5.38928061e-03 8.34604891e-03 9.99950648e-01 -8.08085678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.681193817 meters Centerline goodness : 0.860371 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.12, Z:-0.81 [[ 9.99197163e-01 3.98194457e-02 4.40929169e-03 5.19718068e+00] [-3.97827751e-02 9.99175411e-01 -8.11353989e-03 -1.19241272e-01] [-4.72873250e-03 7.93161217e-03 9.99957363e-01 -8.07494324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.711193817 meters Centerline goodness : 0.858869 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.12, Z:-0.81 [[ 9.99169633e-01 4.05609960e-02 3.85361371e-03 5.19853403e+00] [-4.05321301e-02 9.99151607e-01 -7.29466036e-03 -1.21410466e-01] [-4.14622302e-03 7.13240794e-03 9.99965968e-01 -8.07995119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.741193817 meters Centerline goodness : 0.859369 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.13, Z:-0.81 [[ 9.99327394e-01 3.66465980e-02 -1.33663096e-03 5.19228689e+00] [-3.66460682e-02 9.99328220e-01 4.18746788e-04 -1.26905674e-01] [ 1.35107868e-03 -3.69482867e-04 9.99999019e-01 -8.07675876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.771193817000004 meters Centerline goodness : 0.856554 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.13, Z:-0.81 [[ 9.99336548e-01 3.63915442e-02 -1.45602132e-03 5.19298374e+00] [-3.63891572e-02 9.99336360e-01 1.63361795e-03 -1.29992189e-01] [ 1.51450493e-03 -1.57955074e-03 9.99997606e-01 -8.08963099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.801193817 meters Centerline goodness : 0.857557 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.13, Z:-0.81 [[ 9.99453218e-01 3.30037500e-02 -2.00427858e-03 5.19384336e+00] [-3.30063746e-02 9.99454308e-01 -1.29080275e-03 -1.32044129e-01] [ 1.96058353e-03 1.35625093e-03 9.99997158e-01 -8.09314437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.831193817 meters Centerline goodness : 0.857832 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.14, Z:-0.81 [[ 9.99565302e-01 2.93986322e-02 -2.21969976e-03 5.19390752e+00] [-2.94077963e-02 9.99558609e-01 -4.21539662e-03 -1.35235522e-01] [ 2.09479311e-03 4.27884067e-03 9.99988652e-01 -8.09204124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.861193817 meters Centerline goodness : 0.859450 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.14, Z:-0.81 [[ 9.99749123e-01 2.23001213e-02 -2.09669561e-03 5.19265373e+00] [-2.23179006e-02 9.99711508e-01 -8.87760287e-03 -1.44969913e-01] [ 1.89811911e-03 8.92216952e-03 9.99958395e-01 -8.08171973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.891193817 meters Centerline goodness : 0.860982 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.15, Z:-0.81 [[ 9.99826988e-01 1.84516506e-02 -2.35165531e-03 5.19342337e+00] [-1.84781017e-02 9.99759963e-01 -1.17718124e-02 -1.48891780e-01] [ 2.13388146e-03 1.18132298e-02 9.99927944e-01 -8.08774870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.921193817 meters Centerline goodness : 0.860033 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.15, Z:-0.81 [[ 9.99877281e-01 1.54682030e-02 -2.48157075e-03 5.19501481e+00] [-1.55014211e-02 9.99782147e-01 -1.39772491e-02 -1.52408512e-01] [ 2.26482720e-03 1.40140017e-02 9.99899234e-01 -8.10559903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.951193817000004 meters Centerline goodness : 0.859031 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.16, Z:-0.81 [[ 9.99914965e-01 1.27269846e-02 -2.84376117e-03 5.19732500e+00] [-1.27708599e-02 9.99790695e-01 -1.59834535e-02 -1.55474772e-01] [ 2.63974479e-03 1.60184116e-02 9.99868212e-01 -8.12605787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.981193817 meters Centerline goodness : 0.859895 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.16, Z:-0.81 [[ 9.99980893e-01 5.40295906e-03 -3.00365433e-03 5.19844374e+00] [-5.46848284e-03 9.99737433e-01 -2.22522057e-02 -1.59161955e-01] [ 2.88263792e-03 2.22682059e-02 9.99747877e-01 -8.13634213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.011193817 meters Centerline goodness : 0.860757 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.16, Z:-0.81 [[ 9.99985105e-01 4.44700238e-03 -3.16440004e-03 5.19883318e+00] [-4.51640882e-03 9.99741673e-01 -2.22752983e-02 -1.61100405e-01] [ 3.06452429e-03 2.22892583e-02 9.99746867e-01 -8.13527091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.041193817 meters Centerline goodness : 0.861039 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.16, Z:-0.81 [[ 9.99988217e-01 3.42950586e-03 -3.43560707e-03 5.19964045e+00] [-3.50673117e-03 9.99735491e-01 -2.27299346e-02 -1.61624871e-01] [ 3.35674588e-03 2.27417145e-02 9.99735738e-01 -8.13745619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.071193817 meters Centerline goodness : 0.863537 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.16, Z:-0.82 [[ 9.99990115e-01 1.96957422e-03 -3.98619492e-03 5.20176937e+00] [-2.06439123e-03 9.99711656e-01 -2.39236957e-02 -1.61132741e-01] [ 3.93792603e-03 2.39316883e-02 9.99705840e-01 -8.15018193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.101193817 meters Centerline goodness : 0.862589 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.16, Z:-0.82 [[ 9.99989255e-01 4.55337759e-04 -4.61324723e-03 5.20474800e+00] [-5.72062069e-04 9.99678921e-01 -2.53323434e-02 -1.60349847e-01] [ 4.60023124e-03 2.53347103e-02 9.99668440e-01 -8.17131367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.131193817 meters Centerline goodness : 0.862168 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.16, Z:-0.82 [[ 9.99984206e-01 -1.87721684e-03 -5.29752337e-03 5.20866289e+00] [ 1.72833014e-03 9.99607243e-01 -2.79709400e-02 -1.56943575e-01] [ 5.34795025e-03 2.79613424e-02 9.99594699e-01 -8.20313611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.161193817 meters Centerline goodness : 0.858794 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.15, Z:-0.82 [[ 9.99983637e-01 1.54576947e-04 -5.71851307e-03 5.21069882e+00] [-3.01663416e-04 9.99668904e-01 -2.57291905e-02 -1.54950840e-01] [ 5.71264256e-03 2.57304946e-02 9.99652593e-01 -8.21640914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.191193817 meters Centerline goodness : 0.860291 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.15, Z:-0.82 [[ 9.99978258e-01 2.83025870e-03 -5.95592995e-03 5.21171020e+00] [-2.96671666e-03 9.99730406e-01 -2.30285585e-02 -1.52579655e-01] [ 5.88914748e-03 2.30457273e-02 9.99717066e-01 -8.22076592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.221193817 meters Centerline goodness : 0.861537 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.15, Z:-0.82 [[ 0.99996533 0.00562098 -0.00614304 5.21217296] [-0.00574723 0.99976858 -0.02073075 -0.14825463] [ 0.00602509 0.02076533 0.99976622 -0.82188448] [ 0. 0. 0. 1. ]] SLAMing on 46.251193817 meters Centerline goodness : 0.859456 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.15, Z:-0.82 [[ 0.99994906 0.00761245 -0.00662808 5.2143936 ] [-0.00773347 0.99980025 -0.0184296 -0.14775935] [ 0.00648646 0.01847992 0.99980819 -0.82327552] [ 0. 0. 0. 1. ]] SLAMing on 46.281193817 meters Centerline goodness : 0.860202 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.15, Z:-0.82 [[ 0.99995092 0.00722135 -0.00678302 5.21511773] [-0.00734998 0.9997899 -0.01913439 -0.14566635] [ 0.00664342 0.01918331 0.99979391 -0.82378839] [ 0. 0. 0. 1. ]] SLAMing on 46.311193817 meters Centerline goodness : 0.863046 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.14, Z:-0.83 [[ 0.99993782 0.008503 -0.00721495 5.217718 ] [-0.00862849 0.99980885 -0.01754468 -0.14439133] [ 0.00706439 0.01760585 0.99982005 -0.82571259] [ 0. 0. 0. 1. ]] SLAMing on 46.341193817 meters Centerline goodness : 0.861833 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.14, Z:-0.83 [[ 0.99993942 0.008107 -0.00744493 5.21852044] [-0.00824155 0.99979997 -0.01822335 -0.14223804] [ 0.00729571 0.0182836 0.99980622 -0.82612291] [ 0. 0. 0. 1. ]] SLAMing on 46.371193817 meters Centerline goodness : 0.858081 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.14, Z:-0.83 [[ 0.99994456 0.00740914 -0.00748197 5.21842087] [-0.00755454 0.99977943 -0.01959631 -0.13771882] [ 0.00733513 0.01965175 0.99977998 -0.82568576] [ 0. 0. 0. 1. ]] SLAMing on 46.401193817 meters Centerline goodness : 0.858334 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.14, Z:-0.83 [[ 9.99982588e-01 5.49568999e-03 -2.14964437e-03 5.22748415e+00] [-5.52143524e-03 9.99910823e-01 -1.21597791e-02 -1.37550715e-01] [ 2.08262629e-03 1.21714365e-02 9.99923756e-01 -8.27461950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.431193817 meters Centerline goodness : 0.859884 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.13, Z:-0.83 [[ 9.99985512e-01 4.90398862e-03 -2.21958975e-03 5.22771399e+00] [-4.93279453e-03 9.99901181e-01 -1.31641675e-02 -1.34880942e-01] [ 2.15481349e-03 1.31749255e-02 9.99910885e-01 -8.27475513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.461193817 meters Centerline goodness : 0.858579 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.13, Z:-0.83 [[ 9.99992023e-01 3.19510166e-03 -2.39700157e-03 5.22885695e+00] [-3.23290811e-03 9.99867757e-01 -1.59379111e-02 -1.27502300e-01] [ 2.34576133e-03 1.59455333e-02 9.99870110e-01 -8.28188363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.491193817 meters Centerline goodness : 0.859226 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.12, Z:-0.83 [[ 9.99989443e-01 3.62551911e-03 -2.82287766e-03 5.23182573e+00] [-3.66978989e-03 9.99867822e-01 -1.58388923e-02 -1.23427466e-01] [ 2.76508033e-03 1.58490845e-02 9.99870572e-01 -8.30614154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.521193817000004 meters Centerline goodness : 0.857446 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.12, Z:-0.83 [[ 9.99982531e-01 4.85032952e-03 -3.37818295e-03 5.23492646e+00] [-4.90013962e-03 9.99877044e-01 -1.48958418e-02 -1.18830208e-01] [ 3.30551784e-03 1.49121351e-02 9.99883344e-01 -8.32950116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.551193817 meters Centerline goodness : 0.857550 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.11, Z:-0.83 [[ 9.99975736e-01 5.77249494e-03 -3.89938040e-03 5.23781528e+00] [-5.83156206e-03 9.99865786e-01 -1.53102192e-02 -1.08249888e-01] [ 3.81047888e-03 1.53325872e-02 9.99875188e-01 -8.34882600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.581193817 meters Centerline goodness : 0.854540 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.10, Z:-0.84 [[ 9.99957912e-01 8.25520845e-03 -4.00331992e-03 5.23840627e+00] [-8.30846167e-03 9.99874712e-01 -1.34732688e-02 -1.03861005e-01] [ 3.89159371e-03 1.35059632e-02 9.99901217e-01 -8.35081687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.611193817 meters Centerline goodness : 0.855522 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.10, Z:-0.84 [[ 9.99931258e-01 1.09854844e-02 -4.09861750e-03 5.23896482e+00] [-1.10325762e-02 9.99871275e-01 -1.16496688e-02 -9.87763922e-02] [ 3.97011265e-03 1.16940863e-02 9.99923740e-01 -8.35231102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.641193817 meters Centerline goodness : 0.857394 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.09, Z:-0.84 [[ 9.99896218e-01 1.37516871e-02 -4.29465634e-03 5.23994212e+00] [-1.37941267e-02 9.99854712e-01 -1.00138382e-02 -9.28929557e-02] [ 4.15632521e-03 1.00720399e-02 9.99940638e-01 -8.35603628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.671193817 meters Centerline goodness : 0.857155 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.09, Z:-0.84 [[ 9.99857135e-01 1.62830318e-02 -4.53560208e-03 5.24132299e+00] [-1.63224907e-02 9.99828026e-01 -8.80309242e-03 -8.60750290e-02] [ 4.39148104e-03 8.87586710e-03 9.99950966e-01 -8.36363421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.701193817000004 meters Centerline goodness : 0.856458 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.07, Z:-0.84 [[ 9.99800219e-01 1.98376365e-02 -2.44742346e-03 5.26103661e+00] [-1.98683660e-02 9.99714866e-01 -1.32451889e-02 -6.97629438e-02] [ 2.18397237e-03 1.32911691e-02 9.99909283e-01 -8.40766382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.731193817 meters Centerline goodness : 0.856458 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.07, Z:-0.84 [[ 9.99800219e-01 1.98376365e-02 -2.44742346e-03 5.26103661e+00] [-1.98683660e-02 9.99714866e-01 -1.32451889e-02 -6.97629438e-02] [ 2.18397237e-03 1.32911691e-02 9.99909283e-01 -8.40766382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.761193817 meters Centerline goodness : 0.856391 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.06, Z:-0.84 [[ 9.99737399e-01 2.27454780e-02 -2.78873978e-03 5.26267185e+00] [-2.27776272e-02 9.99667374e-01 -1.20962995e-02 -6.35797433e-02] [ 2.51267606e-03 1.21566439e-02 9.99922948e-01 -8.41120405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.791193817 meters Centerline goodness : 0.855023 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.06, Z:-0.84 [[ 9.99667364e-01 2.56177773e-02 -2.98180733e-03 5.26373657e+00] [-2.56475383e-02 9.99616826e-01 -1.04117254e-02 -5.85110287e-02] [ 2.71393952e-03 1.04847381e-02 9.99941351e-01 -8.41272577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.821193817 meters Centerline goodness : 0.856844 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.05, Z:-0.84 [[ 9.99585849e-01 2.86087164e-02 -3.10984927e-03 5.26445178e+00] [-2.86338308e-02 9.99555043e-01 -8.35583393e-03 -5.41644051e-02] [ 2.86941584e-03 8.44142025e-03 9.99960254e-01 -8.41157929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.851193817 meters Centerline goodness : 0.857629 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.04, Z:-0.84 [[ 9.99515657e-01 3.09658455e-02 -3.09318850e-03 5.26415713e+00] [-3.09908755e-02 9.99484358e-01 -8.40136833e-03 -4.44708452e-02] [ 2.83143805e-03 8.49315980e-03 9.99959924e-01 -8.39560081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.881193817 meters Centerline goodness : 0.859481 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.04, Z:-0.84 [[ 9.99525215e-01 3.06365234e-02 -3.27839060e-03 5.26457411e+00] [-3.06671073e-02 9.99482341e-01 -9.72515372e-03 -4.00868767e-02] [ 2.97874861e-03 9.82107512e-03 9.99947335e-01 -8.39308663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.911193817 meters Centerline goodness : 0.857753 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.04, Z:-0.84 [[ 9.99537536e-01 3.02159563e-02 -3.42200881e-03 5.26504556e+00] [-3.02512819e-02 9.99484082e-01 -1.07902925e-02 -3.66489884e-02] [ 3.09420433e-03 1.08888225e-02 9.99935928e-01 -8.39353426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.941193817 meters Centerline goodness : 0.861872 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.03, Z:-0.84 [[ 9.99520203e-01 3.08065735e-02 -3.21235442e-03 5.26457975e+00] [-3.08392540e-02 9.99467346e-01 -1.06754138e-02 -3.10079178e-02] [ 2.88177042e-03 1.07693584e-02 9.99937856e-01 -8.38811372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.971193817 meters Centerline goodness : 0.860578 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.03, Z:-0.84 [[ 9.99511574e-01 3.10821628e-02 -3.24237507e-03 5.26429229e+00] [-3.11171436e-02 9.99451158e-01 -1.13625260e-02 -2.74231142e-02] [ 2.88742364e-03 1.14578696e-02 9.99930188e-01 -8.38000382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.001193817 meters Centerline goodness : 0.862462 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.02, Z:-0.84 [[ 9.99391526e-01 3.47403163e-02 -3.11250714e-03 5.26364346e+00] [-3.47648578e-02 9.99361780e-01 -8.21198230e-03 -2.48105937e-02] [ 2.82523381e-03 8.31519139e-03 9.99961437e-01 -8.36947524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.031193817 meters Centerline goodness : 0.864696 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.02, Z:-0.84 [[ 9.99250719e-01 3.85589747e-02 -3.34762518e-03 5.26443888e+00] [-3.85755715e-02 9.99242958e-01 -5.04346112e-03 -2.20275724e-02] [ 3.15062019e-03 5.16881871e-03 9.99981678e-01 -8.36898931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.061193817 meters Centerline goodness : 0.865024 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.02, Z:-0.84 [[ 9.98783052e-01 4.91967290e-02 -3.47805454e-03 5.26800089e+00] [-4.91819171e-02 9.98780909e-01 4.22318208e-03 -1.68768781e-02] [ 3.68158122e-03 -4.04698530e-03 9.99985034e-01 -8.39715455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.091193817 meters Centerline goodness : 0.864574 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.01, Z:-0.84 [[ 9.98587522e-01 5.30176520e-02 -3.47691064e-03 5.26916007e+00] [-5.29923337e-02 9.98570320e-01 7.00922725e-03 -1.29230270e-02] [ 3.84355254e-03 -6.81507726e-03 9.99969390e-01 -8.40582262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.121193817 meters Centerline goodness : 0.862997 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.01, Z:-0.84 [[ 9.98374859e-01 5.68799351e-02 -3.50921926e-03 5.27009370e+00] [-5.68415530e-02 9.98331014e-01 1.02090529e-02 -9.96692040e-03] [ 4.08405268e-03 -9.99299224e-03 9.99941729e-01 -8.41143743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.151193817 meters Centerline goodness : 0.865257 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.01, Z:-0.84 [[ 9.98199682e-01 5.98762635e-02 -3.49685350e-03 5.27158426e+00] [-5.98295654e-02 9.98133985e-01 1.22053563e-02 -5.28807562e-03] [ 4.22113945e-03 -1.19741676e-02 9.99919397e-01 -8.42527018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.181193817 meters Centerline goodness : 0.865707 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.84 [[ 9.98289589e-01 5.80509927e-02 -6.92665661e-03 5.28116131e+00] [-5.79231748e-02 9.98169181e-01 1.74123809e-02 -3.48615020e-03] [ 7.92478115e-03 -1.69813846e-02 9.99824400e-01 -8.40534543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.211193817 meters Centerline goodness : 0.865403 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.84 [[ 9.98315407e-01 5.75726645e-02 -7.19277264e-03 5.28166003e+00] [-5.74454070e-02 9.98207328e-01 1.67975155e-02 -1.88086654e-03] [ 8.14695609e-03 -1.63560268e-02 9.99833040e-01 -8.40433648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.241193817 meters Centerline goodness : 0.867875 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.84 [[ 9.98341804e-01 5.70737292e-02 -7.49874896e-03 5.28231270e+00] [-5.69466197e-02 9.98245901e-01 1.61927230e-02 -5.59685991e-04] [ 8.40977450e-03 -1.57388439e-02 9.99840770e-01 -8.40298506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.271193817000004 meters Centerline goodness : 0.865872 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.84 [[ 9.98452140e-01 5.50629866e-02 -7.83532086e-03 5.28287621e+00] [-5.47583109e-02 9.97890346e-01 3.48767001e-02 -3.55455851e-03] [ 9.73920632e-03 -3.43936669e-02 9.99360908e-01 -8.38480940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.301193817 meters Centerline goodness : 0.869344 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.84 [[ 9.98617175e-01 5.19596248e-02 -7.99591665e-03 5.28249007e+00] [-5.16943655e-02 9.98199676e-01 3.04154493e-02 -1.07297021e-03] [ 9.56189675e-03 -2.99600462e-02 9.99505361e-01 -8.37913219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.331193817 meters Centerline goodness : 0.866962 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.84 [[ 9.98610866e-01 5.20578288e-02 -8.14371513e-03 5.28263269e+00] [-5.17897374e-02 9.98199852e-01 3.02469451e-02 -1.97712576e-04] [ 9.70364553e-03 -2.97831672e-02 9.99509281e-01 -8.37677491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.361193817 meters Centerline goodness : 0.868358 Centerline is valid? [False, False] Translation: X:5.28, Y:0.00, Z:-0.84 [[ 9.98605299e-01 5.21326960e-02 -8.34498032e-03 5.28296671e+00] [-5.18601148e-02 9.98200880e-01 3.00920464e-02 4.67491879e-04] [ 9.89874621e-03 -2.96173053e-02 9.99512296e-01 -8.37571507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.391193817 meters Centerline goodness : 0.869048 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.84 [[ 9.98769800e-01 4.90717510e-02 -7.13093957e-03 5.28235710e+00] [-4.87059038e-02 9.97814041e-01 4.46640144e-02 -1.29121790e-03] [ 9.30709303e-03 -4.42617499e-02 9.98976614e-01 -8.35780834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.421193817 meters Centerline goodness : 0.868905 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.83 [[ 9.98932826e-01 4.55491886e-02 -7.64724890e-03 5.28242593e+00] [-4.51947824e-02 9.98118198e-01 4.14426699e-02 -2.56982009e-03] [ 9.52053828e-03 -4.10528277e-02 9.99111618e-01 -8.34861195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.451193817000004 meters Centerline goodness : 0.871381 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.83 [[ 9.99103131e-01 4.15753508e-02 -8.02643334e-03 5.28205385e+00] [-4.12432709e-02 9.98431651e-01 3.78580486e-02 -3.27104649e-03] [ 9.58780675e-03 -3.74930586e-02 9.99250892e-01 -8.33600542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.481193817 meters Centerline goodness : 0.873633 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.83 [[ 9.99257532e-01 3.76616256e-02 -8.12318756e-03 5.28136228e+00] [-3.73628242e-02 9.98714964e-01 3.42409249e-02 -4.21671694e-03] [ 9.40231786e-03 -3.39119969e-02 9.99380595e-01 -8.32705260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.511193817 meters Centerline goodness : 0.872277 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.01, Z:-0.83 [[ 9.99396711e-01 3.37030579e-02 -8.38563123e-03 5.28110084e+00] [-3.34313858e-02 9.98970479e-01 3.06647081e-02 -5.26235550e-03] [ 9.41049248e-03 -3.03658651e-02 9.99494551e-01 -8.32081064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.541193817 meters Centerline goodness : 0.873628 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.01, Z:-0.83 [[ 0.99953046 0.02939959 -0.00863271 5.28121848] [-0.02915931 0.9992167 0.0267529 -0.00613869] [ 0.00941247 -0.02648861 0.9996048 -0.83196479] [ 0. 0. 0. 1. ]] SLAMing on 47.571193817 meters Centerline goodness : 0.871901 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.01, Z:-0.83 [[ 0.99981099 0.01733008 -0.0088117 5.26590262] [-0.01704219 0.99935027 0.03175863 -0.0081754 ] [ 0.00935635 -0.03160246 0.99945672 -0.83491972] [ 0. 0. 0. 1. ]] SLAMing on 47.601193817 meters Centerline goodness : 0.873306 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.01, Z:-0.84 [[ 0.99987123 0.01317969 -0.00915564 5.26703807] [-0.01292069 0.99953017 0.02779396 -0.00870123] [ 0.00951765 -0.02767208 0.99957174 -0.83566709] [ 0. 0. 0. 1. ]] SLAMing on 47.631193817 meters Centerline goodness : 0.871876 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.01, Z:-0.84 [[ 0.99991427 0.00904981 -0.00946306 5.26814065] [-0.00882446 0.99968276 0.02359044 -0.00843839] [ 0.00967355 -0.02350492 0.99967692 -0.83640048] [ 0. 0. 0. 1. ]] SLAMing on 47.661193817 meters Centerline goodness : 0.872728 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.01, Z:-0.84 [[ 0.99989752 0.00558722 -0.0131804 5.25107615] [-0.00534886 0.99982277 0.01805047 -0.00533648] [ 0.01327892 -0.01797812 0.9997502 -0.83684487] [ 0. 0. 0. 1. ]] SLAMing on 47.691193817 meters Centerline goodness : 0.872804 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.00, Z:-0.84 [[ 9.99891920e-01 5.04357803e-03 -1.38097968e-02 5.25362743e+00] [-4.80820252e-03 9.99843510e-01 1.70245744e-02 -3.71395942e-03] [ 1.38935005e-02 -1.69563340e-02 9.99759698e-01 -8.38456143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.721193817 meters Centerline goodness : 0.871296 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.00, Z:-0.84 [[ 9.99886013e-01 5.27315315e-03 -1.41476432e-02 5.25469783e+00] [-5.04040657e-03 9.99852202e-01 1.64367844e-02 -1.55317776e-03] [ 1.42322259e-02 -1.63636009e-02 9.99764810e-01 -8.38958700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.751193817 meters Centerline goodness : 0.872831 Centerline is valid? [False, False] Translation: X:5.25, Y:0.00, Z:-0.84 [[ 9.99880869e-01 6.22003311e-03 -1.41265109e-02 5.25443865e+00] [-5.99117571e-03 9.99851057e-01 1.61855035e-02 1.44457451e-03] [ 1.42250812e-02 -1.60989409e-02 9.99769209e-01 -8.38534260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.781193817 meters Centerline goodness : 0.875275 Centerline is valid? [False, False] Translation: X:5.25, Y:0.01, Z:-0.84 [[ 0.99981705 0.01334749 -0.01370087 5.25159464] [-0.01304367 0.99967221 0.02203034 0.00567668] [ 0.01399043 -0.0218476 0.99966342 -0.83556085] [ 0. 0. 0. 1. ]] SLAMing on 47.811193817 meters Centerline goodness : 0.874855 Centerline is valid? [False, False] Translation: X:5.25, Y:0.01, Z:-0.83 [[ 0.99981027 0.01377797 -0.01376928 5.25136411] [-0.01348136 0.99967994 0.02140743 0.00863042] [ 0.01405982 -0.02121774 0.99967601 -0.83495808] [ 0. 0. 0. 1. ]] SLAMing on 47.841193817 meters Centerline goodness : 0.876747 Centerline is valid? [False, False] Translation: X:5.25, Y:0.01, Z:-0.83 [[ 0.99978853 0.01547199 -0.01354664 5.24970501] [-0.01516633 0.99963442 0.02238312 0.0102696 ] [ 0.013888 -0.02217293 0.99965768 -0.83337411] [ 0. 0. 0. 1. ]] SLAMing on 47.871193817 meters Centerline goodness : 0.880014 Centerline is valid? [False, False] Translation: X:5.25, Y:0.01, Z:-0.83 [[ 0.99976486 0.01713768 -0.01328589 5.24773901] [-0.01682322 0.99958391 0.02343038 0.01194484] [ 0.01368191 -0.02320136 0.99963719 -0.83151267] [ 0. 0. 0. 1. ]] SLAMing on 47.901193817 meters Centerline goodness : 0.878310 Centerline is valid? [False, False] Translation: X:5.23, Y:0.01, Z:-0.83 [[ 0.99976052 0.01993888 -0.0090191 5.22606596] [-0.01970424 0.99948325 0.02539634 0.01361335] [ 0.00952081 -0.02521254 0.99963677 -0.83263174] [ 0. 0. 0. 1. ]] SLAMing on 47.931193817 meters Centerline goodness : 0.880087 Centerline is valid? [False, False] Translation: X:5.22, Y:0.01, Z:-0.83 [[ 0.99969332 0.02313314 -0.00883837 5.22415663] [-0.02287527 0.99933936 0.02824115 0.01433851] [ 0.00948584 -0.0280303 0.99956206 -0.83040887] [ 0. 0. 0. 1. ]] SLAMing on 47.961193817 meters Centerline goodness : 0.879647 Centerline is valid? [False, False] Translation: X:5.22, Y:0.01, Z:-0.83 [[ 0.99967889 0.02372462 -0.00890247 5.22412277] [-0.02345932 0.99930966 0.02880732 0.01342188] [ 0.00957977 -0.02858923 0.99954534 -0.83012199] [ 0. 0. 0. 1. ]] SLAMing on 47.991193817 meters Centerline goodness : 0.878937 Centerline is valid? [False, False] Translation: X:5.22, Y:0.01, Z:-0.83 [[ 0.99966526 0.02425729 -0.00899775 5.22414116] [-0.0239804 0.99927113 0.02970095 0.01167304] [ 0.00971166 -0.02947524 0.99951833 -0.82980513] [ 0. 0. 0. 1. ]] SLAMing on 48.021193817000004 meters Centerline goodness : 0.880788 Centerline is valid? [False, False] Translation: X:5.21, Y:0.00, Z:-0.83 [[ 9.99725250e-01 2.26686572e-02 -5.96295731e-03 5.20511457e+00] [-2.23489674e-02 9.98543527e-01 4.91054864e-02 3.98335732e-03] [ 7.06742786e-03 -4.89587287e-02 9.98775798e-01 -8.29654782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.051193817 meters Centerline goodness : 0.879850 Centerline is valid? [False, False] Translation: X:5.20, Y:0.00, Z:-0.83 [[ 9.99756964e-01 2.12621113e-02 -5.82545693e-03 5.20323398e+00] [-2.09562075e-02 9.98612044e-01 4.83199963e-02 3.38310173e-03] [ 6.84475660e-03 -4.81861733e-02 9.98814919e-01 -8.27606144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.081193817 meters Centerline goodness : 0.878764 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.01, Z:-0.81 [[ 0.99974389 0.01874754 -0.01267643 5.21300201] [-0.01759598 0.99617877 0.08554677 -0.00719967] [ 0.01423178 -0.0853018 0.99625351 -0.81139944] [ 0. 0. 0. 1. ]] SLAMing on 48.111193817 meters Centerline goodness : 0.879932 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.01, Z:-0.81 [[ 0.99976382 0.01614389 -0.01454915 5.22887999] [-0.015159 0.99774172 0.06543444 -0.00600265] [ 0.01557266 -0.06519843 0.9977508 -0.80858521] [ 0. 0. 0. 1. ]] SLAMing on 48.141193817 meters Centerline goodness : 0.878880 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.01, Z:-0.81 [[ 0.99978273 0.01451456 -0.01496048 5.21562637] [-0.01376665 0.99870698 0.04893726 -0.01190644] [ 0.01565144 -0.04872067 0.99868981 -0.81136427] [ 0. 0. 0. 1. ]] SLAMing on 48.171193817 meters Centerline goodness : 0.880311 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.01, Z:-0.81 [[ 0.99972604 0.01363417 -0.0190253 5.22461033] [-0.01277504 0.99892456 0.04457052 -0.01491245] [ 0.01961253 -0.04431526 0.99882506 -0.81131477] [ 0. 0. 0. 1. ]] SLAMing on 48.201193817000004 meters Centerline goodness : 0.878134 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.02, Z:-0.81 [[ 0.9997321 0.01234092 -0.01958118 5.227817 ] [-0.01148182 0.99899201 0.0433951 -0.01746987] [ 0.02009698 -0.04315864 0.99886608 -0.81380741] [ 0. 0. 0. 1. ]] SLAMing on 48.231193817 meters Centerline goodness : 0.878932 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.02, Z:-0.81 [[ 0.99964722 0.01234687 -0.0235156 5.2356867 ] [-0.01140405 0.99914203 0.03981405 -0.01982652] [ 0.02398701 -0.03953183 0.99893036 -0.81275211] [ 0. 0. 0. 1. ]] SLAMing on 48.261193817 meters Centerline goodness : 0.879833 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.02, Z:-0.81 [[ 0.99965067 0.01115432 -0.02396088 5.23787648] [-0.01022132 0.99919804 0.0387144 -0.02182888] [ 0.0243735 -0.03845596 0.998963 -0.81424819] [ 0. 0. 0. 1. ]] SLAMing on 48.291193817 meters Centerline goodness : 0.879339 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.03, Z:-0.82 [[ 0.99965563 0.00943298 -0.02448741 5.24007527] [-0.00851089 0.99926075 0.03749034 -0.02582056] [ 0.02482295 -0.03726902 0.99899692 -0.8156577 ] [ 0. 0. 0. 1. ]] SLAMing on 48.321193817 meters Centerline goodness : 0.876138 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.03, Z:-0.82 [[ 9.99675087e-01 5.75713354e-03 -2.48309284e-02 5.24126004e+00] [-4.91571869e-03 9.99416031e-01 3.38146855e-02 -2.66883103e-02] [ 2.50111035e-02 -3.36816369e-02 9.99119608e-01 -8.16374599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.351193817 meters Centerline goodness : 0.876204 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.03, Z:-0.82 [[ 9.99670140e-01 3.21321973e-03 -2.54810967e-02 5.24423471e+00] [-2.40898627e-03 9.99499900e-01 3.15300854e-02 -2.91970258e-02] [ 2.55696667e-02 -3.14583013e-02 9.99177946e-01 -8.18331727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.381193817 meters Centerline goodness : 0.875191 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.03, Z:-0.82 [[ 9.99651922e-01 -3.11259445e-03 -2.61982252e-02 5.24718201e+00] [ 3.78420039e-03 9.99664460e-01 2.56251382e-02 -3.25183522e-02] [ 2.61096740e-02 -2.57153579e-02 9.99328277e-01 -8.20033850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.411193817 meters Centerline goodness : 0.878660 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.03, Z:-0.82 [[ 0.99970152 -0.00544428 -0.0238167 5.25664408] [ 0.00574132 0.99990637 0.01242117 -0.03125739] [ 0.02374685 -0.0125542 0.99963917 -0.82054756] [ 0. 0. 0. 1. ]] SLAMing on 48.441193817 meters Centerline goodness : 0.875567 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.03, Z:-0.82 [[ 9.99753741e-01 -7.90494076e-03 -2.07356908e-02 5.26659406e+00] [ 7.88868707e-03 9.99968509e-01 -8.65532888e-04 -2.95961014e-02] [ 2.07418798e-02 7.01742367e-04 9.99784618e-01 -8.22066799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.471193817 meters Centerline goodness : 0.876005 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.03, Z:-0.83 [[ 0.99981378 -0.00894054 -0.01710194 5.27974272] [ 0.00875941 0.99990506 -0.01063695 -0.02959528] [ 0.01719541 0.01048516 0.99979717 -0.82593195] [ 0. 0. 0. 1. ]] SLAMing on 48.501193817 meters Centerline goodness : 0.875285 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.03, Z:-0.83 [[ 0.99979998 -0.01655516 -0.0112215 5.28706054] [ 0.01647725 0.99983973 -0.00700035 -0.03474444] [ 0.01133559 0.00681405 0.99991253 -0.8265968 ] [ 0. 0. 0. 1. ]] SLAMing on 48.531193817 meters Centerline goodness : 0.879833 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.04, Z:-0.83 [[ 0.99978051 -0.02006689 -0.00602161 5.302758 ] [ 0.02000429 0.99974701 -0.01028309 -0.03535891] [ 0.00622644 0.01016037 0.999929 -0.82567263] [ 0. 0. 0. 1. ]] SLAMing on 48.561193817 meters Centerline goodness : 0.880100 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.04, Z:-0.82 [[ 9.99752781e-01 -2.22325369e-02 -3.02647310e-04 5.31777931e+00] [ 2.22273921e-02 9.99682725e-01 -1.18486903e-02 -3.57673943e-02] [ 5.65977731e-04 1.18390340e-02 9.99929756e-01 -8.24768186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.591193817 meters Centerline goodness : 0.881902 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.04, Z:-0.82 [[ 9.99743294e-01 -2.26554898e-02 -2.74795574e-04 5.31732406e+00] [ 2.26506483e-02 9.99673292e-01 -1.18430095e-02 -3.59088040e-02] [ 5.43014978e-04 1.18337451e-02 9.99929831e-01 -8.24059122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.621193817 meters Centerline goodness : 0.883522 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.82 [[ 9.99726525e-01 -2.33845153e-02 -2.00307779e-04 5.31723241e+00] [ 2.33802774e-02 9.99650819e-01 -1.23127260e-02 -3.49436390e-02] [ 4.88164965e-04 1.23046756e-02 9.99924175e-01 -8.23961219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.651193817 meters Centerline goodness : 0.883522 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.82 [[ 9.99726525e-01 -2.33845153e-02 -2.00307779e-04 5.31723241e+00] [ 2.33802774e-02 9.99650819e-01 -1.23127260e-02 -3.49436390e-02] [ 4.88164965e-04 1.23046756e-02 9.99924175e-01 -8.23961219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.681193817 meters Centerline goodness : 0.882274 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.82 [[ 9.99712908e-01 -2.39581351e-02 -3.31986002e-04 5.31823123e+00] [ 2.39519017e-02 9.99630688e-01 -1.28371785e-02 -3.42465578e-02] [ 6.39418254e-04 1.28255414e-02 9.99917545e-01 -8.24887039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.711193817 meters Centerline goodness : 0.882843 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.83 [[ 9.99696393e-01 -2.46350785e-02 -4.85213970e-04 5.31921953e+00] [ 2.46262353e-02 9.99604700e-01 -1.35643965e-02 -3.30803541e-02] [ 8.19182139e-04 1.35483293e-02 9.99907882e-01 -8.25710699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.741193817 meters Centerline goodness : 0.882812 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.83 [[ 9.99685803e-01 -2.50583459e-02 -6.12202514e-04 5.31983530e+00] [ 2.50471437e-02 9.99585564e-01 -1.41894732e-02 -3.12862215e-02] [ 9.67513524e-04 1.41696810e-02 9.99899137e-01 -8.26121448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.771193817000004 meters Centerline goodness : 0.883087 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.83 [[ 9.99676548e-01 -2.54224157e-02 -7.06761346e-04 5.32023528e+00] [ 2.54090914e-02 9.99566349e-01 -1.48826097e-02 -2.92584501e-02] [ 1.08480675e-03 1.48598378e-02 9.99888998e-01 -8.26302087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.801193817 meters Centerline goodness : 0.882251 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.83 [[ 9.99664910e-01 -2.58713597e-02 -8.60508221e-04 5.32087438e+00] [ 2.58544755e-02 9.99539940e-01 -1.58573360e-02 -2.65792705e-02] [ 1.27036318e-03 1.58297744e-02 9.99873894e-01 -8.26660161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.831193817 meters Centerline goodness : 0.885418 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.02, Z:-0.83 [[ 9.99698111e-01 -2.45328121e-02 -1.35186805e-03 5.34325061e+00] [ 2.45064750e-02 9.99556659e-01 -1.69091038e-02 -1.93979118e-02] [ 1.76609658e-03 1.68708696e-02 9.99856117e-01 -8.29046247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.861193817 meters Centerline goodness : 0.883493 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.02, Z:-0.83 [[ 9.99793039e-01 -2.03436774e-02 -1.18628924e-04 5.35435951e+00] [ 2.03355443e-02 9.99527691e-01 -2.30404185e-02 -1.53516451e-02] [ 5.87299737e-04 2.30332377e-02 9.99734527e-01 -8.30551859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.891193817 meters Centerline goodness : 0.882753 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.01, Z:-0.83 [[ 9.99860334e-01 -1.61906978e-02 4.14400932e-03 5.37012813e+00] [ 1.62905971e-02 9.99546398e-01 -2.53301082e-02 -6.33180574e-03] [-3.73201746e-03 2.53940788e-02 9.99670552e-01 -8.33548019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.921193817 meters Centerline goodness : 0.881886 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.00, Z:-0.83 [[ 9.99906404e-01 -1.30992342e-02 3.94889462e-03 5.37128818e+00] [ 1.31867000e-02 9.99648421e-01 -2.30031384e-02 -2.14339938e-03] [-3.64618277e-03 2.30530583e-02 9.99727594e-01 -8.34499863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.951193817000004 meters Centerline goodness : 0.883168 Centerline is valid? [False, False] Translation: X:5.39, Y:0.00, Z:-0.84 [[ 9.99950384e-01 -9.23681556e-03 3.72971809e-03 5.39325803e+00] [ 9.31649337e-03 9.99715818e-01 -2.19428131e-02 2.97678182e-03] [-3.52597645e-03 2.19764723e-02 9.99752270e-01 -8.37108289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.981193817 meters Centerline goodness : 0.884728 Centerline is valid? [False, False] Translation: X:5.41, Y:0.01, Z:-0.84 [[ 9.99974170e-01 -6.04642182e-03 3.88594421e-03 5.41463594e+00] [ 6.13218899e-03 9.99729119e-01 -2.24518511e-02 9.94763597e-03] [-3.74913821e-03 2.24751005e-02 9.99740373e-01 -8.39168643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.011193817 meters Centerline goodness : 0.885986 Centerline is valid? [False, False] Translation: X:5.42, Y:0.01, Z:-0.84 [[ 9.99994176e-01 -4.25793736e-05 3.41254979e-03 5.41684541e+00] [ 1.00899576e-04 9.99853923e-01 -1.70915705e-02 1.45153305e-02] [-3.41132354e-03 1.70918153e-02 9.99848105e-01 -8.40562215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.041193817 meters Centerline goodness : 0.885696 Centerline is valid? [False, False] Translation: X:5.42, Y:0.02, Z:-0.84 [[ 9.99963931e-01 7.91998405e-03 3.06777398e-03 5.41839707e+00] [-7.88495621e-03 9.99905441e-01 -1.12665870e-02 2.29790403e-02] [-3.15671509e-03 1.12419913e-02 9.99931824e-01 -8.41357326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.071193817 meters Centerline goodness : 0.885366 Centerline is valid? [False, False] Translation: X:5.42, Y:0.03, Z:-0.84 [[ 9.99927640e-01 1.16316647e-02 3.06893570e-03 5.41845381e+00] [-1.16063508e-02 9.99899502e-01 -8.14120430e-03 2.56149535e-02] [-3.16332304e-03 8.10499606e-03 9.99962150e-01 -8.41256871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.101193817 meters Centerline goodness : 0.885300 Centerline is valid? [False, False] Translation: X:5.42, Y:0.03, Z:-0.84 [[ 9.99881854e-01 1.50956619e-02 2.89805522e-03 5.41893569e+00] [-1.50809878e-02 9.99873673e-01 -5.02022711e-03 2.79541265e-02] [-2.97347277e-03 4.97592845e-03 9.99983199e-01 -8.41271385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.131193817 meters Centerline goodness : 0.888323 Centerline is valid? [False, False] Translation: X:5.42, Y:0.03, Z:-0.84 [[ 9.99828680e-01 1.83090439e-02 2.71835181e-03 5.41977517e+00] [-1.83040581e-02 9.99830759e-01 -1.84781251e-03 2.97528352e-02] [-2.75172344e-03 1.79773907e-03 9.99994598e-01 -8.41800971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.161193817 meters Centerline goodness : 0.887140 Centerline is valid? [False, False] Translation: X:5.40, Y:0.03, Z:-0.84 [[ 9.99878151e-01 1.56038332e-02 -4.50641520e-04 5.39962374e+00] [-1.55976785e-02 9.99813257e-01 1.14089579e-02 3.20106929e-02] [ 6.28580843e-04 -1.14005388e-02 9.99934814e-01 -8.39849573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.191193817 meters Centerline goodness : 0.885347 Centerline is valid? [False, False] Translation: X:5.38, Y:0.03, Z:-0.84 [[ 9.99923695e-01 1.19397314e-02 -3.16972989e-03 5.37935505e+00] [-1.18602042e-02 9.99641051e-01 2.40230223e-02 3.42090643e-02] [ 3.45542055e-03 -2.39835955e-02 9.99706381e-01 -8.37802034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.221193817 meters Centerline goodness : 0.886698 Centerline is valid? [False, False] Translation: X:5.38, Y:0.04, Z:-0.84 [[ 9.99933483e-01 1.10544409e-02 -3.29081373e-03 5.37874808e+00] [-1.09768333e-02 9.99681279e-01 2.27343310e-02 3.73214717e-02] [ 3.54108020e-03 -2.26966960e-02 9.99736126e-01 -8.36573101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.251193817 meters Centerline goodness : 0.888012 Centerline is valid? [False, False] Translation: X:5.38, Y:0.04, Z:-0.83 [[ 9.99945890e-01 9.92165899e-03 -3.12685658e-03 5.37679161e+00] [-9.85195285e-03 9.99718779e-01 2.15708795e-02 3.83498081e-02] [ 3.33999615e-03 -2.15389067e-02 9.99762432e-01 -8.34396570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.281193817 meters Centerline goodness : 0.888916 Centerline is valid? [False, False] Translation: X:5.37, Y:0.04, Z:-0.83 [[ 9.99956391e-01 8.77237852e-03 -3.20347282e-03 5.37462939e+00] [-8.70298696e-03 9.99740159e-01 2.10682829e-02 3.83324861e-02] [ 3.38745938e-03 -2.10394844e-02 9.99772907e-01 -8.31149495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.311193817 meters Centerline goodness : 0.891439 Centerline is valid? [False, False] Translation: X:5.34, Y:0.04, Z:-0.83 [[ 9.99984014e-01 4.97629210e-03 2.68492534e-03 5.34370010e+00] [-5.03517724e-03 9.99736635e-01 2.23899083e-02 3.94436388e-02] [-2.57279950e-03 -2.24030695e-02 9.99745709e-01 -8.30780972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.341193817000004 meters Centerline goodness : 0.892417 Centerline is valid? [False, False] Translation: X:5.34, Y:0.04, Z:-0.83 [[ 9.99984471e-01 4.91863485e-03 2.62007531e-03 5.34360716e+00] [-4.97514323e-03 9.99745234e-01 2.20162484e-02 4.12747571e-02] [-2.51111792e-03 -2.20289418e-02 9.99754180e-01 -8.30401757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.371193817 meters Centerline goodness : 0.891356 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.83 [[ 9.99979277e-01 5.93899905e-03 -2.48468615e-03 5.33170811e+00] [-5.90744782e-03 9.99904190e-01 1.25185365e-02 4.65670392e-02] [ 2.55879567e-03 -1.25035990e-02 9.99918553e-01 -8.26108082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.401193817 meters Centerline goodness : 0.892989 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.82 [[ 9.99967312e-01 7.79226071e-03 -2.15779863e-03 5.32990002e+00] [-7.76043608e-03 9.99866431e-01 1.43838747e-02 4.80901023e-02] [ 2.26959332e-03 -1.43666591e-02 9.99894218e-01 -8.24662509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.431193817 meters Centerline goodness : 0.891540 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.83 [[ 9.99967196e-01 7.77011861e-03 -2.28739142e-03 5.33043849e+00] [-7.73800230e-03 9.99875802e-01 1.37296623e-02 5.04847206e-02] [ 2.39378843e-03 -1.37115121e-02 9.99903127e-01 -8.25032300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.461193817 meters Centerline goodness : 0.890559 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.83 [[ 9.99945013e-01 1.01857086e-02 -2.49427256e-03 5.33174718e+00] [-1.01426438e-02 9.99808952e-01 1.67088961e-02 4.95499166e-02] [ 2.66398798e-03 -1.66826788e-02 9.99857286e-01 -8.26159394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.491193817 meters Centerline goodness : 0.889361 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.83 [[ 0.99992764 0.00937153 -0.0075429 5.32581343] [-0.00916429 0.99959193 0.02705537 0.04883855] [ 0.00779337 -0.02698429 0.99960548 -0.82569197] [ 0. 0. 0. 1. ]] SLAMing on 49.521193817000004 meters Centerline goodness : 0.888687 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.83 [[ 0.99992933 0.00892953 -0.00784875 5.3280967 ] [-0.0087208 0.99961767 0.02623855 0.05052386] [ 0.00808005 -0.02616825 0.9996249 -0.82785363] [ 0. 0. 0. 1. ]] SLAMing on 49.551193817 meters Centerline goodness : 0.887825 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.83 [[ 0.99992825 0.00870048 -0.00823385 5.32976615] [-0.0084882 0.99963946 0.02547363 0.05286887] [ 0.00845251 -0.02540191 0.99964158 -0.82912618] [ 0. 0. 0. 1. ]] SLAMing on 49.581193817 meters Centerline goodness : 0.886691 Centerline is valid? [False, False] Translation: X:5.33, Y:0.06, Z:-0.83 [[ 0.99992798 0.00838699 -0.00858427 5.33071235] [-0.00817484 0.99966744 0.02445765 0.05636384] [ 0.00878654 -0.02438571 0.99966401 -0.82950743] [ 0. 0. 0. 1. ]] SLAMing on 49.611193817 meters Centerline goodness : 0.886166 Centerline is valid? [False, False] Translation: X:5.33, Y:0.06, Z:-0.83 [[ 9.99949663e-01 4.60345829e-03 -8.91516550e-03 5.33116587e+00] [-4.42534576e-03 9.99792255e-01 1.98963153e-02 5.87787437e-02] [ 9.00490527e-03 -1.98558611e-02 9.99762300e-01 -8.29212100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.641193817 meters Centerline goodness : 0.885008 Centerline is valid? [False, False] Translation: X:5.32, Y:0.06, Z:-0.83 [[ 9.99979127e-01 2.98886342e-03 -5.72815670e-03 5.32460844e+00] [-2.85882365e-03 9.99741016e-01 2.25771365e-02 5.81151834e-02] [ 5.79415318e-03 -2.25602895e-02 9.99728694e-01 -8.30759822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.671193817 meters Centerline goodness : 0.884798 Centerline is valid? [False, False] Translation: X:5.32, Y:0.06, Z:-0.83 [[ 9.99980503e-01 2.33679211e-03 -5.79075710e-03 5.32446423e+00] [-2.20633013e-03 9.99745886e-01 2.24342326e-02 5.73128516e-02] [ 5.84170972e-03 -2.24210188e-02 9.99731550e-01 -8.30393486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.701193817000004 meters Centerline goodness : 0.884819 Centerline is valid? [False, False] Translation: X:5.30, Y:0.06, Z:-0.83 [[ 9.99990259e-01 -1.74806502e-03 -4.05285815e-03 5.30347577e+00] [ 1.81647039e-03 9.99854917e-01 1.69365152e-02 5.94449977e-02] [ 4.02266401e-03 -1.69437121e-02 9.99848353e-01 -8.30603768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.731193817 meters Centerline goodness : 0.884793 Centerline is valid? [False, False] Translation: X:5.28, Y:0.06, Z:-0.83 [[ 9.99986555e-01 -1.97624516e-03 -4.79409583e-03 5.28213636e+00] [ 2.06185647e-03 9.99837317e-01 1.79189339e-02 5.89023581e-02] [ 4.75790370e-03 -1.79285777e-02 9.99827949e-01 -8.28784905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.761193817 meters Centerline goodness : 0.884233 Centerline is valid? [False, False] Translation: X:5.26, Y:0.06, Z:-0.83 [[ 9.99989080e-01 -2.98099408e-03 -3.59897835e-03 5.26056056e+00] [ 3.04255393e-03 9.99847057e-01 1.72222634e-02 5.87375481e-02] [ 3.54708844e-03 -1.72330255e-02 9.99845209e-01 -8.28152414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.791193817 meters Centerline goodness : 0.883662 Centerline is valid? [False, False] Translation: X:5.24, Y:0.06, Z:-0.83 [[ 9.99973607e-01 -6.68830705e-03 -2.83770032e-03 5.23908552e+00] [ 6.72749499e-03 9.99878906e-01 1.40325940e-02 5.84240144e-02] [ 2.74350239e-03 -1.40513143e-02 9.99897512e-01 -8.27368866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.821193817 meters Centerline goodness : 0.884179 Centerline is valid? [False, False] Translation: X:5.24, Y:0.06, Z:-0.83 [[ 9.99969724e-01 -7.21888089e-03 -2.90500228e-03 5.23925647e+00] [ 7.25848915e-03 9.99877557e-01 1.38631221e-02 5.80876745e-02] [ 2.80457036e-03 -1.38837883e-02 9.99899682e-01 -8.27421164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.851193817 meters Centerline goodness : 0.886351 Centerline is valid? [False, False] Translation: X:5.24, Y:0.06, Z:-0.83 [[ 9.99966125e-01 -7.67903916e-03 -2.96347292e-03 5.23936998e+00] [ 7.71785118e-03 9.99881559e-01 1.33154873e-02 5.91990803e-02] [ 2.86087177e-03 -1.33379079e-02 9.99906953e-01 -8.27370679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.881193817 meters Centerline goodness : 0.883854 Centerline is valid? [False, False] Translation: X:5.24, Y:0.06, Z:-0.83 [[ 9.99965787e-01 -7.68134438e-03 -3.06939248e-03 5.23941451e+00] [ 7.72004560e-03 9.99888244e-01 1.28023808e-02 6.13231462e-02] [ 2.97070996e-03 -1.28256386e-02 9.99913335e-01 -8.27088531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.911193817 meters Centerline goodness : 0.885454 Centerline is valid? [False, False] Translation: X:5.24, Y:0.06, Z:-0.83 [[ 9.99986529e-01 -4.11084566e-03 -3.16894967e-03 5.23910302e+00] [ 4.16160092e-03 9.99860438e-01 1.61797809e-02 6.27675730e-02] [ 3.10199483e-03 -1.61927508e-02 9.99864077e-01 -8.26424723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.941193817 meters Centerline goodness : 0.885203 Centerline is valid? [False, False] Translation: X:5.24, Y:0.07, Z:-0.82 [[ 9.99994876e-01 -6.32025606e-04 -3.13830190e-03 5.23774248e+00] [ 6.91597735e-04 9.99818909e-01 1.90176220e-02 6.51296252e-02] [ 3.12571396e-03 -1.90196950e-02 9.99814223e-01 -8.24706761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.971193817 meters Centerline goodness : 0.886320 Centerline is valid? [False, False] Translation: X:5.24, Y:0.07, Z:-0.82 [[ 9.99959566e-01 8.12230994e-03 -3.85926369e-03 5.24147652e+00] [-8.05638963e-03 9.99826410e-01 1.68001253e-02 7.07989375e-02] [ 3.99504959e-03 -1.67683542e-02 9.99851420e-01 -8.17704391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.001193817 meters Centerline goodness : 0.886496 Centerline is valid? [False, False] Translation: X:5.24, Y:0.07, Z:-0.82 [[ 9.99918738e-01 1.21741645e-02 -3.78236865e-03 5.24088097e+00] [-1.20954218e-02 9.99723058e-01 2.01868286e-02 7.25322199e-02] [ 4.02707893e-03 -2.01394388e-02 9.99789071e-01 -8.16949777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.031193817 meters Centerline goodness : 0.888589 Centerline is valid? [False, False] Translation: X:5.24, Y:0.08, Z:-0.82 [[ 9.99911731e-01 1.27517647e-02 -3.73132120e-03 5.24071705e+00] [-1.26774547e-02 9.99733291e-01 1.93036186e-02 7.65889654e-02] [ 3.97648122e-03 -1.92546110e-02 9.99806705e-01 -8.16634891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.061193817 meters Centerline goodness : 0.887412 Centerline is valid? [False, False] Translation: X:5.24, Y:0.08, Z:-0.82 [[ 9.99860158e-01 1.63238547e-02 -3.63276967e-03 5.24055586e+00] [-1.62381932e-02 9.99615470e-01 2.24773991e-02 7.84323190e-02] [ 3.99829056e-03 -2.24152662e-02 9.99740751e-01 -8.16612835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.091193817000004 meters Centerline goodness : 0.885540 Centerline is valid? [False, False] Translation: X:5.24, Y:0.08, Z:-0.82 [[ 9.99808855e-01 1.91982413e-02 -3.69868653e-03 5.24137151e+00] [-1.91004201e-02 9.99507944e-01 2.48806031e-02 8.18251272e-02] [ 4.17453040e-03 -2.48052009e-02 9.99683588e-01 -8.17430343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.121193817 meters Centerline goodness : 0.885601 Centerline is valid? [False, False] Translation: X:5.24, Y:0.08, Z:-0.82 [[ 9.99756521e-01 2.16450172e-02 -4.28850337e-03 5.24289878e+00] [-2.15147205e-02 9.99365085e-01 2.83997253e-02 8.14052517e-02] [ 4.90049307e-03 -2.83005446e-02 9.99587447e-01 -8.17394525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.151193817 meters Centerline goodness : 0.882682 Centerline is valid? [False, False] Translation: X:5.24, Y:0.08, Z:-0.82 [[ 9.99756351e-01 2.15749483e-02 -4.66474299e-03 5.24397218e+00] [-2.14340447e-02 9.99366884e-01 2.83973950e-02 8.09449109e-02] [ 5.27446200e-03 -2.82904917e-02 9.99585828e-01 -8.17723995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.181193817 meters Centerline goodness : 0.880918 Centerline is valid? [False, False] Translation: X:5.25, Y:0.08, Z:-0.82 [[ 0.99973989 0.0220555 -0.00580603 5.24794741] [-0.02187549 0.99932747 0.02942896 0.07703482] [ 0.0064512 -0.0292943 0.99955001 -0.81993796] [ 0. 0. 0. 1. ]] SLAMing on 50.211193817 meters Centerline goodness : 0.880263 Centerline is valid? [False, False] Translation: X:5.25, Y:0.08, Z:-0.82 [[ 0.99969153 0.02398963 -0.00642975 5.25089684] [-0.02377568 0.99922069 0.0315076 0.07576357] [ 0.0071806 -0.03134501 0.99948283 -0.82171778] [ 0. 0. 0. 1. ]] SLAMing on 50.241193817 meters Centerline goodness : 0.880538 Centerline is valid? [False, False] Translation: X:5.25, Y:0.08, Z:-0.82 [[ 0.99967741 0.0244474 -0.00688518 5.25251051] [-0.02421752 0.99920414 0.03169537 0.07584877] [ 0.00765457 -0.03151841 0.99947386 -0.82273457] [ 0. 0. 0. 1. ]] SLAMing on 50.271193817000004 meters Centerline goodness : 0.879030 Centerline is valid? [False, False] Translation: X:5.27, Y:0.08, Z:-0.82 [[ 0.99964164 0.02524329 -0.00890918 5.2743883 ] [-0.02493202 0.9991286 0.03347282 0.07505449] [ 0.00974638 -0.03323871 0.99939992 -0.82344533] [ 0. 0. 0. 1. ]] SLAMing on 50.301193817 meters Centerline goodness : 0.877605 Centerline is valid? [False, False] Translation: X:5.28, Y:0.07, Z:-0.82 [[ 0.99962771 0.02568023 -0.00921739 5.27532018] [-0.02535322 0.99910037 0.03399517 0.07418239] [ 0.0100821 -0.03374882 0.99937949 -0.82381974] [ 0. 0. 0. 1. ]] SLAMing on 50.331193817 meters Centerline goodness : 0.876720 Centerline is valid? [False, False] Translation: X:5.30, Y:0.07, Z:-0.82 [[ 0.99967885 0.02401791 -0.00808298 5.29547388] [-0.02372701 0.99912843 0.03434246 0.06921727] [ 0.00890077 -0.03413965 0.99937744 -0.82478697] [ 0. 0. 0. 1. ]] SLAMing on 50.361193817 meters Centerline goodness : 0.876049 Centerline is valid? [False, False] Translation: X:5.32, Y:0.06, Z:-0.83 [[ 0.99969014 0.02408589 -0.00628365 5.31521434] [-0.02382893 0.99898655 0.03818453 0.06400976] [ 0.00719699 -0.03802297 0.99925095 -0.82634666] [ 0. 0. 0. 1. ]] SLAMing on 50.391193817 meters Centerline goodness : 0.877231 Centerline is valid? [False, False] Translation: X:5.33, Y:0.06, Z:-0.83 [[ 9.99716530e-01 2.33786313e-02 -4.50542748e-03 5.33474033e+00] [-2.31748624e-02 9.98892797e-01 4.09402685e-02 5.90632146e-02] [ 5.45756649e-03 -4.08242505e-02 9.99151438e-01 -8.27018120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.421193817 meters Centerline goodness : 0.877354 Centerline is valid? [False, False] Translation: X:5.36, Y:0.05, Z:-0.83 [[ 9.99809327e-01 1.94480610e-02 -1.75560635e-03 5.35688043e+00] [-1.93231415e-02 9.98319367e-01 5.46356896e-02 5.30667601e-02] [ 2.81521404e-03 -5.45913482e-02 9.98504812e-01 -8.27852912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.451193817000004 meters Centerline goodness : 0.878226 Centerline is valid? [False, False] Translation: X:5.36, Y:0.05, Z:-0.83 [[ 9.99866001e-01 1.62510822e-02 -1.97027818e-03 5.35700219e+00] [-1.61282727e-02 9.98546066e-01 5.14357121e-02 5.26684205e-02] [ 2.80329951e-03 -5.13970426e-02 9.98674364e-01 -8.27074528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.481193817 meters Centerline goodness : 0.879337 Centerline is valid? [False, False] Translation: X:5.36, Y:0.05, Z:-0.83 [[ 9.99874373e-01 1.57199777e-02 -2.02973813e-03 5.35742811e+00] [-1.55938742e-02 9.98537480e-01 5.17661382e-02 5.08454723e-02] [ 2.84053214e-03 -5.17279835e-02 9.98657172e-01 -8.27180601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.511193817 meters Centerline goodness : 0.879002 Centerline is valid? [False, False] Translation: X:5.36, Y:0.05, Z:-0.83 [[ 9.99878594e-01 1.53718320e-02 -2.55018716e-03 5.35875217e+00] [-1.52189975e-02 9.98538984e-01 5.18486292e-02 5.04124535e-02] [ 3.34346971e-03 -5.18035232e-02 9.98651699e-01 -8.27582886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.541193817 meters Centerline goodness : 0.879002 Centerline is valid? [False, False] Translation: X:5.36, Y:0.05, Z:-0.83 [[ 9.99878713e-01 1.53681439e-02 -2.52571278e-03 5.35869889e+00] [-1.52170427e-02 9.98546202e-01 5.17100083e-02 5.07355366e-02] [ 3.31672775e-03 -5.16653027e-02 9.98658949e-01 -8.27592843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.571193817 meters Centerline goodness : 0.878088 Centerline is valid? [False, False] Translation: X:5.36, Y:0.05, Z:-0.83 [[ 9.99886543e-01 1.47674016e-02 -2.97068419e-03 5.35984483e+00] [-1.45939679e-02 9.98553507e-01 5.17485181e-02 4.94665532e-02] [ 3.73057827e-03 -5.16992928e-02 9.98655729e-01 -8.27968384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.601193817 meters Centerline goodness : 0.878052 Centerline is valid? [False, False] Translation: X:5.35, Y:0.05, Z:-0.83 [[ 0.99990966 0.01223909 -0.00555673 5.35148397] [-0.01202156 0.99921964 0.03762434 0.05052043] [ 0.00601288 -0.03755414 0.9992765 -0.82817537] [ 0. 0. 0. 1. ]] SLAMing on 50.631193817 meters Centerline goodness : 0.876929 Centerline is valid? [False, False] Translation: X:5.35, Y:0.05, Z:-0.83 [[ 9.99955332e-01 7.91219653e-03 -5.17025599e-03 5.35090591e+00] [-7.72872129e-03 9.99371638e-01 3.45918555e-02 4.65929384e-02] [ 5.44070475e-03 -3.45503509e-02 9.99388149e-01 -8.28501455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.661193817 meters Centerline goodness : 0.877356 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.83 [[ 9.99972827e-01 3.13529505e-03 -6.67199515e-03 5.33127861e+00] [-2.95649872e-03 9.99640688e-01 2.66412244e-02 5.02117826e-02] [ 6.75312592e-03 -2.66207747e-02 9.99622794e-01 -8.28022088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.691193817 meters Centerline goodness : 0.875482 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.83 [[ 9.99972992e-01 -1.74755693e-03 -7.13871653e-03 5.33353109e+00] [ 1.90780211e-03 9.99744965e-01 2.25025523e-02 4.90753013e-02] [ 7.09757142e-03 -2.25155638e-02 9.99721298e-01 -8.29990976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.721193817 meters Centerline goodness : 0.874170 Centerline is valid? [False, False] Translation: X:5.31, Y:0.05, Z:-0.83 [[ 9.99986131e-01 -4.62045665e-03 -2.52767674e-03 5.31450156e+00] [ 4.66537656e-03 9.99825952e-01 1.80637757e-02 4.84487648e-02] [ 2.44377391e-03 -1.80753178e-02 9.99833642e-01 -8.33391678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.751193817 meters Centerline goodness : 0.873754 Centerline is valid? [False, False] Translation: X:5.31, Y:0.05, Z:-0.83 [[ 9.99962925e-01 -8.22210459e-03 -2.55839693e-03 5.31482084e+00] [ 8.25820574e-03 9.99861698e-01 1.44356454e-02 4.79499339e-02] [ 2.43935171e-03 -1.44562379e-02 9.99892528e-01 -8.33669158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.781193817 meters Centerline goodness : 0.875432 Centerline is valid? [False, False] Translation: X:5.32, Y:0.05, Z:-0.83 [[ 9.99962304e-01 -8.26512969e-03 -2.66049763e-03 5.31531120e+00] [ 8.30341213e-03 9.99857251e-01 1.47150204e-02 4.65954055e-02] [ 2.53849630e-03 -1.47365569e-02 9.99888189e-01 -8.33986800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.811193817 meters Centerline goodness : 0.874858 Centerline is valid? [False, False] Translation: X:5.32, Y:0.05, Z:-0.83 [[ 9.99963856e-01 -7.99896642e-03 -2.88136093e-03 5.31572882e+00] [ 8.04065186e-03 9.99858757e-01 1.47585196e-02 4.69377546e-02] [ 2.76290105e-03 -1.47811542e-02 9.99886936e-01 -8.33958700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.841193817000004 meters Centerline goodness : 0.876880 Centerline is valid? [False, False] Translation: X:5.32, Y:0.05, Z:-0.83 [[ 9.99987260e-01 -4.14469406e-03 -2.88116252e-03 5.31533614e+00] [ 4.19818524e-03 9.99814176e-01 1.88145867e-02 4.64627570e-02] [ 2.80264643e-03 -1.88264427e-02 9.99818839e-01 -8.33459838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.871193817 meters Centerline goodness : 0.878775 Centerline is valid? [False, False] Translation: X:5.31, Y:0.05, Z:-0.83 [[ 9.99996188e-01 1.49504228e-03 -2.32144687e-03 5.31260823e+00] [-1.43951497e-03 9.99717143e-01 2.37394666e-02 4.78056221e-02] [ 2.35628174e-03 -2.37360343e-02 9.99715484e-01 -8.31284413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.901193817 meters Centerline goodness : 0.876552 Centerline is valid? [False, False] Translation: X:5.31, Y:0.05, Z:-0.83 [[ 9.99995379e-01 1.98040767e-03 -2.30652323e-03 5.31229424e+00] [-1.92637203e-03 9.99729022e-01 2.31985076e-02 5.05719648e-02] [ 2.35184071e-03 -2.31939572e-02 9.99728218e-01 -8.30780576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.931193817 meters Centerline goodness : 0.877015 Centerline is valid? [False, False] Translation: X:5.28, Y:0.05, Z:-0.83 [[ 9.99995198e-01 3.09591127e-03 1.39791614e-04 5.28327309e+00] [-3.09873500e-03 9.99529697e-01 3.05087440e-02 5.13705414e-02] [-4.52735049e-05 -3.05090307e-02 9.99534490e-01 -8.31929648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.961193817 meters Centerline goodness : 0.879922 Centerline is valid? [False, False] Translation: X:5.27, Y:0.05, Z:-0.83 [[ 9.99972027e-01 4.41249151e-03 -6.03954625e-03 5.27220649e+00] [-4.27838612e-03 9.99747931e-01 2.20402022e-02 5.46229292e-02] [ 6.13527607e-03 -2.20137461e-02 9.99738843e-01 -8.28025345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.991193817 meters Centerline goodness : 0.879965 Centerline is valid? [False, False] Translation: X:5.27, Y:0.05, Z:-0.83 [[ 9.99973938e-01 4.20294377e-03 -5.87020020e-03 5.27151177e+00] [-4.07289843e-03 9.99749841e-01 2.19924490e-02 5.45381782e-02] [ 5.96116474e-03 -2.19679671e-02 9.99740903e-01 -8.27443988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.021193817000004 meters Centerline goodness : 0.883882 Centerline is valid? [False, False] Translation: X:5.27, Y:0.06, Z:-0.83 [[ 9.99974012e-01 4.18915545e-03 -5.86738225e-03 5.27099031e+00] [-4.06014938e-03 9.99753475e-01 2.18289616e-02 5.53586388e-02] [ 5.95738071e-03 -2.18045718e-02 9.99744502e-01 -8.26716117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.051193817 meters Centerline goodness : 0.881581 Centerline is valid? [False, False] Translation: X:5.27, Y:0.06, Z:-0.83 [[ 9.99973259e-01 4.24701958e-03 -5.95354441e-03 5.27085070e+00] [-4.11692792e-03 9.99756145e-01 2.16956628e-02 5.63344821e-02] [ 6.04423451e-03 -2.16705723e-02 9.99746895e-01 -8.26314632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.081193817 meters Centerline goodness : 0.882037 Centerline is valid? [False, False] Translation: X:5.27, Y:0.06, Z:-0.83 [[ 9.99972501e-01 4.31004108e-03 -6.03496318e-03 5.27081051e+00] [-4.17976749e-03 9.99761503e-01 2.14351929e-02 5.76807371e-02] [ 6.12591042e-03 -2.14093787e-02 9.99752025e-01 -8.26081746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.111193817 meters Centerline goodness : 0.884081 Centerline is valid? [False, False] Translation: X:5.27, Y:0.06, Z:-0.83 [[ 0.99995327 0.00765109 -0.00590892 5.27026503] [-0.00749999 0.99965472 0.02518315 0.05714246] [ 0.00609955 -0.02513765 0.99966539 -0.82564997] [ 0. 0. 0. 1. ]] SLAMing on 51.141193817 meters Centerline goodness : 0.882013 Centerline is valid? [False, False] Translation: X:5.27, Y:0.06, Z:-0.83 [[ 0.99991998 0.01088942 -0.00643901 5.2714425 ] [-0.01069824 0.99952174 0.02901433 0.05613828] [ 0.00675188 -0.02894312 0.99955826 -0.82574884] [ 0. 0. 0. 1. ]] SLAMing on 51.171193817 meters Centerline goodness : 0.885263 Centerline is valid? [False, False] Translation: X:5.27, Y:0.06, Z:-0.83 [[ 0.99991352 0.01144874 -0.00647105 5.27124926] [-0.01125693 0.99951779 0.02893914 0.05713261] [ 0.00679925 -0.02886379 0.99956023 -0.8253978 ] [ 0. 0. 0. 1. ]] SLAMing on 51.201193817000004 meters Centerline goodness : 0.886037 Centerline is valid? [False, False] Translation: X:5.28, Y:0.05, Z:-0.82 [[ 9.99857271e-01 1.60906918e-02 -5.15045298e-03 5.27783496e+00] [-1.58423392e-02 9.98857356e-01 4.50888329e-02 5.36750357e-02] [ 5.87007836e-03 -4.50008022e-02 9.98969704e-01 -8.22255678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.231193817 meters Centerline goodness : 0.886505 Centerline is valid? [False, False] Translation: X:5.30, Y:0.05, Z:-0.82 [[ 9.99873729e-01 1.56651944e-02 -2.66990797e-03 5.29599233e+00] [-1.55372213e-02 9.98970320e-01 4.26250391e-02 5.46656630e-02] [ 3.33488835e-03 -4.25781739e-02 9.99087573e-01 -8.22105789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.261193817 meters Centerline goodness : 0.883355 Centerline is valid? [False, False] Translation: X:5.32, Y:0.05, Z:-0.82 [[ 9.99823538e-01 1.86178248e-02 -2.50379764e-03 5.31681054e+00] [-1.84742488e-02 9.98647885e-01 4.85911828e-02 5.03424886e-02] [ 3.40507435e-03 -4.85363525e-02 9.98815613e-01 -8.22922718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.291193817 meters Centerline goodness : 0.885809 Centerline is valid? [False, False] Translation: X:5.32, Y:0.04, Z:-0.82 [[ 9.99802733e-01 1.97464130e-02 -2.13897287e-03 5.31647399e+00] [-1.96064236e-02 9.98419683e-01 5.26661639e-02 4.32834047e-02] [ 3.17556044e-03 -5.26138370e-02 9.98609884e-01 -8.21072344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.321193817 meters Centerline goodness : 0.885809 Centerline is valid? [False, False] Translation: X:5.32, Y:0.04, Z:-0.82 [[ 9.99801726e-01 1.98094073e-02 -2.02376386e-03 5.31634986e+00] [-1.96758217e-02 9.98425690e-01 5.25262162e-02 4.36348297e-02] [ 3.06109103e-03 -5.24759824e-02 9.98617495e-01 -8.21103729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.351193817 meters Centerline goodness : 0.881529 Centerline is valid? [False, False] Translation: X:5.34, Y:0.02, Z:-0.81 [[ 9.99875028e-01 1.55467984e-02 -2.86785736e-03 5.34163025e+00] [-1.51977447e-02 9.95220417e-01 9.64642454e-02 2.37983759e-02] [ 4.35386037e-03 -9.64086051e-02 9.95332319e-01 -8.13800213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.381193817 meters Centerline goodness : 0.881916 Centerline is valid? [False, False] Translation: X:5.35, Y:0.02, Z:-0.81 [[ 9.99901851e-01 1.36965987e-02 -2.94830631e-03 5.34872664e+00] [-1.32942054e-02 9.93964982e-01 1.08889292e-01 1.66882603e-02] [ 4.42192617e-03 -1.08839409e-01 9.94049511e-01 -8.08202470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.411193817 meters Centerline goodness : 0.881030 Centerline is valid? [False, False] Translation: X:5.35, Y:0.01, Z:-0.80 [[ 9.99904875e-01 1.34039436e-02 -3.25194365e-03 5.35433409e+00] [-1.29005364e-02 9.92278860e-01 1.23354127e-01 8.59882823e-03] [ 4.88026670e-03 -1.23300441e-01 9.92357387e-01 -7.99975097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.441193817 meters Centerline goodness : 0.880596 Centerline is valid? [False, False] Translation: X:5.35, Y:0.00, Z:-0.80 [[ 9.99890029e-01 1.44245335e-02 -3.44431942e-03 5.35377735e+00] [-1.38645132e-02 9.91662156e-01 1.28116911e-01 2.71129997e-03] [ 5.26362791e-03 -1.28055068e-01 9.91753091e-01 -7.95724116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.471193817 meters Centerline goodness : 0.880476 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.01, Z:-0.79 [[ 9.99809089e-01 1.71022112e-02 -9.44987049e-03 5.36382938e+00] [-1.59262370e-02 9.93472765e-01 1.12952290e-01 -5.06205992e-03] [ 1.13199229e-02 -1.12780225e-01 9.93555474e-01 -7.93885886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.501193817 meters Centerline goodness : 0.876589 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.01, Z:-0.79 [[ 0.99978812 0.01638993 -0.01245299 5.36330279] [-0.01516629 0.99557858 0.09269991 -0.00549606] [ 0.01391727 -0.09249141 0.99561622 -0.79322628] [ 0. 0. 0. 1. ]] SLAMing on 51.531193817 meters Centerline goodness : 0.878311 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.01, Z:-0.79 [[ 0.9997141 0.01485832 -0.0187336 5.36324943] [-0.01340683 0.99706635 0.07535877 -0.00665893] [ 0.01979835 -0.07508607 0.9969805 -0.79179207] [ 0. 0. 0. 1. ]] SLAMing on 51.561193817 meters Centerline goodness : 0.878489 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.01, Z:-0.79 [[ 0.99965946 0.01250333 -0.02290481 5.37178653] [-0.0109205 0.99762746 0.06797201 -0.0100519 ] [ 0.02370034 -0.06769873 0.99742427 -0.78952092] [ 0. 0. 0. 1. ]] SLAMing on 51.591193817000004 meters Centerline goodness : 0.879264 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.02, Z:-0.79 [[ 0.99970623 0.00763113 -0.02300493 5.37947198] [-0.00638346 0.99852979 0.05382847 -0.01586876] [ 0.02338188 -0.05366581 0.99828516 -0.78628381] [ 0. 0. 0. 1. ]] SLAMing on 51.621193817 meters Centerline goodness : 0.877943 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.02, Z:-0.79 [[ 9.99756611e-01 5.12078967e-03 -2.14591545e-02 5.38805295e+00] [-4.24835472e-03 9.99170272e-01 4.05057934e-02 -1.71648000e-02] [ 2.16487709e-02 -4.04047687e-02 9.98948840e-01 -7.85303678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.651193817 meters Centerline goodness : 0.879575 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.02, Z:-0.78 [[ 9.99754958e-01 4.72255106e-03 -2.16268507e-02 5.40530162e+00] [-4.20297885e-03 9.99702951e-01 2.40071611e-02 -1.94494393e-02] [ 2.17338015e-02 -2.39103811e-02 9.99477831e-01 -7.83970289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.681193817 meters Centerline goodness : 0.880150 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.02, Z:-0.78 [[ 9.99815807e-01 2.07718111e-03 -1.90797582e-02 5.41367171e+00] [-1.88002198e-03 9.99944716e-01 1.03455492e-02 -2.12720011e-02] [ 1.91001930e-02 -1.03077733e-02 9.99764438e-01 -7.83871460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.711193817 meters Centerline goodness : 0.879408 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.03, Z:-0.78 [[ 9.99802333e-01 -3.89838488e-03 -1.94960851e-02 5.41443415e+00] [ 4.00431259e-03 9.99977418e-01 5.39719718e-03 -2.78389042e-02] [ 1.94746045e-02 -5.47419875e-03 9.99795366e-01 -7.83669359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.741193817 meters Centerline goodness : 0.878235 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.03, Z:-0.79 [[ 9.99880792e-01 -4.62633703e-03 -1.47308581e-02 5.42531045e+00] [ 4.55531272e-03 9.99977856e-01 -4.85137349e-03 -2.91375934e-02] [ 1.47529760e-02 4.78369150e-03 9.99879726e-01 -7.87031438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.771193817000004 meters Centerline goodness : 0.878191 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.03, Z:-0.79 [[ 9.99865615e-01 -5.98183553e-03 -1.52633539e-02 5.42772214e+00] [ 5.89922364e-03 9.99967738e-01 -5.45172889e-03 -3.24354759e-02] [ 1.52954728e-02 5.36095432e-03 9.99868646e-01 -7.88521122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.801193817 meters Centerline goodness : 0.877140 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.03, Z:-0.79 [[ 0.99983472 -0.00943852 -0.01553837 5.42834568] [ 0.00930588 0.99991983 -0.00858672 -0.03461882] [ 0.01561817 0.0084407 0.9998424 -0.78852387] [ 0. 0. 0. 1. ]] SLAMing on 51.831193817 meters Centerline goodness : 0.875544 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.04, Z:-0.79 [[ 0.99979941 -0.01217604 -0.01590245 5.42990028] [ 0.01201745 0.99987748 -0.01003071 -0.04175994] [ 0.01602263 0.00983759 0.99982323 -0.78942579] [ 0. 0. 0. 1. ]] SLAMing on 51.861193817 meters Centerline goodness : 0.877997 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.04, Z:-0.79 [[ 0.99979713 -0.0120557 -0.01613541 5.43076196] [ 0.01190351 0.99988407 -0.00949517 -0.04353351] [ 0.01624801 0.00930117 0.99982473 -0.78987136] [ 0. 0. 0. 1. ]] SLAMing on 51.891193817 meters Centerline goodness : 0.876639 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.04, Z:-0.79 [[ 0.99990258 -0.00773927 -0.01161595 5.44224546] [ 0.00757 0.99986554 -0.01454637 -0.04395039] [ 0.01172697 0.01445702 0.99982672 -0.7935548 ] [ 0. 0. 0. 1. ]] SLAMing on 51.921193817 meters Centerline goodness : 0.872207 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.04, Z:-0.80 [[ 9.99973031e-01 -3.82369207e-03 -6.27036483e-03 5.45524184e+00] [ 3.70234092e-03 9.99807811e-01 -1.92518506e-02 -4.26385876e-02] [ 6.34277289e-03 1.92281163e-02 9.99795003e-01 -7.97848199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.951193817000004 meters Centerline goodness : 0.871163 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.05, Z:-0.80 [[ 9.99998181e-01 1.46792285e-03 -1.21803816e-03 5.46983719e+00] [-1.48614555e-03 9.99884927e-01 -1.50971553e-02 -4.62622371e-02] [ 1.19573653e-03 1.50989380e-02 9.99885290e-01 -7.96009280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.981193817 meters Centerline goodness : 0.873880 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.05, Z:-0.80 [[ 9.99995530e-01 2.94408559e-03 -5.22357706e-04 5.49055728e+00] [-2.95090479e-03 9.99903527e-01 -1.35731268e-02 -4.98171953e-02] [ 4.82346866e-04 1.35746075e-02 9.99907744e-01 -7.96828501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.011193817 meters Centerline goodness : 0.872774 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.05, Z:-0.80 [[ 9.99995567e-01 2.88107044e-03 -7.51386711e-04 5.49111436e+00] [-2.89071373e-03 9.99909156e-01 -1.31652586e-02 -5.18600999e-02] [ 7.13388414e-04 1.31673723e-02 9.99913052e-01 -7.96999094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.041193817 meters Centerline goodness : 0.872521 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.05, Z:-0.80 [[ 9.99997550e-01 2.11631797e-03 -6.48947400e-04 5.51279252e+00] [-2.12584764e-03 9.99884427e-01 -1.50536869e-02 -5.33038135e-02] [ 6.17014011e-04 1.50550296e-02 9.99886476e-01 -7.98729197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.071193817 meters Centerline goodness : 0.869578 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.06, Z:-0.80 [[ 9.99998620e-01 1.21209711e-03 -1.13615627e-03 5.51482729e+00] [-1.22921089e-03 9.99883943e-01 -1.51851919e-02 -5.63311078e-02] [ 1.11761849e-03 1.51865676e-02 9.99884053e-01 -8.00081460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.101193817 meters Centerline goodness : 0.870294 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.06, Z:-0.80 [[ 9.99995806e-01 2.49885450e-03 -1.46402808e-03 5.53653500e+00] [-2.51910279e-03 9.99898879e-01 -1.39959126e-02 -5.88982647e-02] [ 1.42890629e-03 1.39995419e-02 9.99900981e-01 -8.01889305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.131193817 meters Centerline goodness : 0.868310 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.06, Z:-0.80 [[ 9.99994994e-01 2.72676826e-03 -1.60552314e-03 5.53699533e+00] [-2.74865528e-03 9.99901112e-01 -1.37917076e-02 -5.88251288e-02] [ 1.56775759e-03 1.37960516e-02 9.99903601e-01 -8.02121794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.161193817 meters Centerline goodness : 0.867395 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.06, Z:-0.80 [[ 9.99987145e-01 5.03841979e-03 -5.68553695e-04 5.55790597e+00] [-5.04675345e-03 9.99863122e-01 -1.57565343e-02 -5.59479651e-02] [ 4.89087838e-04 1.57592011e-02 9.99875696e-01 -8.04758802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.191193817 meters Centerline goodness : 0.866595 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.06, Z:-0.81 [[ 9.99975554e-01 6.88988754e-03 -1.19222689e-03 5.56050052e+00] [-6.90583608e-03 9.99879064e-01 -1.39343903e-02 -5.59421737e-02] [ 1.09607632e-03 1.39422830e-02 9.99902201e-01 -8.06326212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.221193817 meters Centerline goodness : 0.868205 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.06, Z:-0.81 [[ 9.99970651e-01 7.63980751e-03 -5.74308560e-04 5.58113331e+00] [-7.64769811e-03 9.99853803e-01 -1.52932870e-02 -5.59415422e-02] [ 4.57386829e-04 1.52972303e-02 9.99882886e-01 -8.07196439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.251193817 meters Centerline goodness : 0.865237 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.06, Z:-0.81 [[ 9.99971408e-01 7.56094802e-03 -1.21594519e-04 5.60188872e+00] [-7.56189632e-03 9.99793424e-01 -1.88660234e-02 -5.50829487e-02] [-2.10756222e-05 1.88664035e-02 9.99822013e-01 -8.08891374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.281193817 meters Centerline goodness : 0.863434 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.06, Z:-0.81 [[ 9.99966736e-01 8.14445201e-03 -4.41083409e-04 5.60282810e+00] [-8.15125495e-03 9.99793313e-01 -1.86249556e-02 -5.52923635e-02] [ 2.89302185e-04 1.86279314e-02 9.99826443e-01 -8.09353123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.311193817 meters Centerline goodness : 0.868136 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.06, Z:-0.81 [[ 9.99964800e-01 8.30633268e-03 -1.18499322e-03 5.62450804e+00] [-8.32878871e-03 9.99757091e-01 -2.04056317e-02 -5.53287204e-02] [ 1.01520941e-03 2.04147830e-02 9.99791081e-01 -8.10669253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.341193817000004 meters Centerline goodness : 0.867881 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.06, Z:-0.81 [[ 9.99956677e-01 9.16810154e-03 -1.60917582e-03 5.62607639e+00] [-9.19737683e-03 9.99772573e-01 -1.92408543e-02 -5.65149018e-02] [ 1.43240774e-03 1.92548209e-02 9.99813583e-01 -8.11504520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.371193817 meters Centerline goodness : 0.870235 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.06, Z:-0.81 [[ 9.99957393e-01 9.07282949e-03 -1.70179811e-03 5.62629185e+00] [-9.10381556e-03 9.99774564e-01 -1.91817829e-02 -5.65854602e-02] [ 1.52738141e-03 1.91964585e-02 9.99814564e-01 -8.11511284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.401193817 meters Centerline goodness : 0.869812 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.06, Z:-0.82 [[ 9.99963585e-01 6.67437182e-03 5.31793699e-03 5.63624399e+00] [-6.60705006e-03 9.99899066e-01 -1.25779384e-02 -5.88471232e-02] [-5.40135006e-03 1.25423445e-02 9.99906753e-01 -8.15210515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.431193817 meters Centerline goodness : 0.870004 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.06, Z:-0.82 [[ 9.99965168e-01 6.55720162e-03 5.16391068e-03 5.63653055e+00] [-6.49473247e-03 9.99906635e-01 -1.20225079e-02 -6.11243369e-02] [-5.24226256e-03 1.19885510e-02 9.99914393e-01 -8.15146494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.461193817 meters Centerline goodness : 0.874270 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.06, Z:-0.82 [[ 9.99975116e-01 5.30710017e-03 4.64776603e-03 5.63862424e+00] [-5.24724749e-03 9.99904352e-01 -1.27966069e-02 -6.32356273e-02] [-4.71523435e-03 1.27719005e-02 9.99907318e-01 -8.16441780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.491193817 meters Centerline goodness : 0.874270 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.06, Z:-0.82 [[ 9.99975116e-01 5.30710017e-03 4.64776603e-03 5.63862424e+00] [-5.24724749e-03 9.99904352e-01 -1.27966069e-02 -6.32356273e-02] [-4.71523435e-03 1.27719005e-02 9.99907318e-01 -8.16441780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.521193817000004 meters Centerline goodness : 0.876803 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.07, Z:-0.82 [[ 9.99984081e-01 3.90414082e-03 4.07384799e-03 5.64128848e+00] [-3.84785934e-03 9.99898296e-01 -1.37328808e-02 -6.54456438e-02] [-4.12704876e-03 1.37169866e-02 9.99897401e-01 -8.18393115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.551193817 meters Centerline goodness : 0.871679 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.07, Z:-0.82 [[ 9.99992226e-01 1.63840759e-03 3.58670635e-03 5.64462076e+00] [-1.58366941e-03 9.99883046e-01 -1.52114146e-02 -6.94646852e-02] [-3.61120936e-03 1.52056162e-02 9.99877867e-01 -8.21546982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.581193817 meters Centerline goodness : 0.871187 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.07, Z:-0.82 [[ 9.99995060e-01 8.46752911e-04 3.02700245e-03 5.64766448e+00] [-7.99638715e-04 9.99879050e-01 -1.55321089e-02 -7.12069428e-02] [-3.03978819e-03 1.55296117e-02 9.99874788e-01 -8.23996565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.611193817 meters Centerline goodness : 0.871889 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.07, Z:-0.83 [[ 9.99996951e-01 1.76840974e-04 2.46304254e-03 5.65057542e+00] [-1.37879286e-04 9.99875009e-01 -1.58097168e-02 -7.31170276e-02] [-2.46553049e-03 1.58093290e-02 9.99871985e-01 -8.26243523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.641193817 meters Centerline goodness : 0.873407 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.08, Z:-0.83 [[ 9.99997575e-01 3.93132916e-04 2.16698607e-03 5.65151818e+00] [-3.60206739e-04 9.99884804e-01 -1.51739612e-02 -7.52427878e-02] [-2.17270182e-03 1.51731438e-02 9.99882521e-01 -8.26745826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.671193817 meters Centerline goodness : 0.872805 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.08, Z:-0.83 [[ 9.99997786e-01 7.03788530e-04 1.98298984e-03 5.65200103e+00] [-6.74677139e-04 9.99892555e-01 -1.46431743e-02 -7.67015210e-02] [-1.99308248e-03 1.46418040e-02 9.99890817e-01 -8.26886822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.701193817000004 meters Centerline goodness : 0.874943 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.08, Z:-0.83 [[ 9.99993118e-01 2.84111135e-03 2.38587046e-03 5.67312027e+00] [-2.80226067e-03 9.99865942e-01 -1.61320978e-02 -7.74331198e-02] [-2.43138370e-03 1.61253009e-02 9.99867023e-01 -8.28472300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.731193817 meters Centerline goodness : 0.874216 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.08, Z:-0.83 [[ 9.99987775e-01 4.74105803e-03 1.40410979e-03 5.69499787e+00] [-4.71678824e-03 9.99847557e-01 -1.68111537e-02 -7.81006352e-02] [-1.48359840e-03 1.68043253e-02 9.99857697e-01 -8.30022415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.761193817 meters Centerline goodness : 0.875700 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.08, Z:-0.83 [[ 9.99972130e-01 7.46538196e-03 -8.25662143e-05 5.71680518e+00] [-7.46576946e-03 9.99854154e-01 -1.53601352e-02 -8.01819788e-02] [-3.21151042e-05 1.53603236e-02 9.99882023e-01 -8.31006976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.791193817 meters Centerline goodness : 0.877462 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.08, Z:-0.83 [[ 9.99966466e-01 8.18683419e-03 -2.07159155e-04 5.71677462e+00] [-8.18898518e-03 9.99860048e-01 -1.45884976e-02 -8.12879733e-02] [ 8.76965520e-05 1.45897048e-02 9.99893561e-01 -8.30628619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.821193817 meters Centerline goodness : 0.879603 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.08, Z:-0.83 [[ 9.99926198e-01 1.09458183e-02 5.27138523e-03 5.73094920e+00] [-1.08703907e-02 9.99841061e-01 -1.41310534e-02 -8.37293674e-02] [-5.42522334e-03 1.40727085e-02 9.99886256e-01 -8.28969545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.851193817 meters Centerline goodness : 0.883779 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.08, Z:-0.83 [[ 0.99990679 0.01130877 0.0076506 5.74985524] [-0.01117146 0.9997799 -0.01775802 -0.08333693] [-0.00784974 0.01767089 0.99981304 -0.83027995] [ 0. 0. 0. 1. ]] SLAMing on 52.881193817 meters Centerline goodness : 0.883476 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.08, Z:-0.83 [[ 0.99988666 0.01076709 0.01052282 5.76798886] [-0.01052118 0.9996766 -0.02315176 -0.08292759] [-0.01076869 0.02303842 0.99967658 -0.83245386] [ 0. 0. 0. 1. ]] SLAMing on 52.911193817000004 meters Centerline goodness : 0.885437 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.09, Z:-0.83 [[ 0.99986351 0.01247198 0.0108356 5.78881408] [-0.01222262 0.99966573 -0.02278252 -0.08640765] [-0.01111612 0.02264697 0.99968172 -0.8335973 ] [ 0. 0. 0. 1. ]] SLAMing on 52.941193817 meters Centerline goodness : 0.890002 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.09, Z:-0.83 [[ 0.99984162 0.01410291 0.0108558 5.78849682] [-0.01387777 0.99969266 -0.02054252 -0.09178559] [-0.01114217 0.02038861 0.99973004 -0.83327956] [ 0. 0. 0. 1. ]] SLAMing on 52.971193817 meters Centerline goodness : 0.890820 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.09, Z:-0.84 [[ 0.99982643 0.01520389 0.01076788 5.81022458] [-0.01497211 0.99966127 -0.02128823 -0.09431167] [-0.0110879 0.02112332 0.99971539 -0.83512189] [ 0. 0. 0. 1. ]] SLAMing on 53.001193817 meters Centerline goodness : 0.894829 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.10, Z:-0.84 [[ 0.99982252 0.01557018 0.01060671 5.81054169] [-0.01535306 0.99967701 -0.02025255 -0.0973595 ] [-0.01091862 0.02008611 0.99973863 -0.83516129] [ 0. 0. 0. 1. ]] SLAMing on 53.031193817 meters Centerline goodness : 0.893719 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.10, Z:-0.83 [[ 0.99981732 0.01598807 0.01047441 5.81051972] [-0.01578674 0.99969428 -0.01902951 -0.10122403] [-0.01077545 0.01886068 0.99976405 -0.83480238] [ 0. 0. 0. 1. ]] SLAMing on 53.061193817 meters Centerline goodness : 0.899090 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.11, Z:-0.83 [[ 0.99983966 0.01423591 0.01086283 5.80798648] [-0.01402918 0.99972342 -0.01887502 -0.11088712] [-0.01112853 0.01871959 0.99976284 -0.83255121] [ 0. 0. 0. 1. ]] SLAMing on 53.091193817000004 meters Centerline goodness : 0.896535 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.12, Z:-0.83 [[ 0.99987881 0.01127334 0.01073713 5.8080609 ] [-0.01104416 0.99971488 -0.02117056 -0.11511003] [-0.01097273 0.02104942 0.99971822 -0.83253803] [ 0. 0. 0. 1. ]] SLAMing on 53.121193817 meters Centerline goodness : 0.898534 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.12, Z:-0.83 [[ 0.99991108 0.00819633 0.0105195 5.8083335 ] [-0.00794869 0.99969528 -0.02337035 -0.12020049] [-0.01070785 0.02328465 0.99967153 -0.8325357 ] [ 0. 0. 0. 1. ]] SLAMing on 53.151193817 meters Centerline goodness : 0.899143 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.13, Z:-0.83 [[ 9.99932540e-01 5.18353127e-03 1.03945596e-02 5.80832394e+00] [-4.91877238e-03 9.99666873e-01 -2.53367094e-02 -1.25882097e-01] [-1.05224305e-02 2.52838717e-02 9.99624932e-01 -8.32272598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.181193817 meters Centerline goodness : 0.899472 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.13, Z:-0.83 [[ 9.99943300e-01 2.30264794e-03 1.03968158e-02 5.80751878e+00] [-2.02101232e-03 9.99632895e-01 -2.70183583e-02 -1.32071226e-01] [-1.04552129e-02 2.69958142e-02 9.99580869e-01 -8.31382046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.211193817 meters Centerline goodness : 0.900990 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.14, Z:-0.83 [[ 9.99938106e-01 -3.44249646e-03 1.05798559e-02 5.80734276e+00] [ 3.76521987e-03 9.99523498e-01 -3.06365920e-02 -1.42869357e-01] [-1.04693482e-02 3.06745313e-02 9.99474595e-01 -8.31604717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.241193817 meters Centerline goodness : 0.902152 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.15, Z:-0.83 [[ 9.99941188e-01 -3.39026733e-03 1.03018115e-02 5.80847641e+00] [ 3.68883341e-03 9.99569627e-01 -2.91024756e-02 -1.48768959e-01] [-1.01987127e-02 2.91387656e-02 9.99523346e-01 -8.32440671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.271193817000004 meters Centerline goodness : 0.901487 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.15, Z:-0.83 [[ 9.99943488e-01 -3.42564505e-03 1.00641118e-02 5.81014218e+00] [ 3.70625295e-03 9.99601137e-01 -2.79969880e-02 -1.53468207e-01] [-9.96418990e-03 2.80327060e-02 9.99557343e-01 -8.34017734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.301193817 meters Centerline goodness : 0.899504 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.16, Z:-0.83 [[ 9.99947009e-01 -3.01166672e-03 9.84425555e-03 5.81122824e+00] [ 3.27279262e-03 9.99640317e-01 -2.66181347e-02 -1.57598550e-01] [-9.76054979e-03 2.66489424e-02 9.99597202e-01 -8.34913097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.331193817 meters Centerline goodness : 0.901910 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.16, Z:-0.84 [[ 9.99957293e-01 -5.75040271e-04 9.22395151e-03 5.81375673e+00] [ 7.88974871e-04 9.99730381e-01 -2.32065344e-02 -1.64898020e-01] [-9.20811986e-03 2.32128208e-02 9.99688139e-01 -8.36812152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.361193817 meters Centerline goodness : 0.899859 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.17, Z:-0.84 [[ 9.99958109e-01 3.09631813e-03 8.61355272e-03 5.81606283e+00] [-2.93299512e-03 9.99816895e-01 -1.89096097e-02 -1.68753225e-01] [-8.67052570e-03 1.88835541e-02 9.99784093e-01 -8.38229147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.391193817 meters Centerline goodness : 0.898595 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.17, Z:-0.84 [[ 0.99995078 0.00612535 0.0078051 5.81934785] [-0.00600248 0.9998592 -0.01566974 -0.17175616] [-0.00789999 0.01562212 0.99984676 -0.84044033] [ 0. 0. 0. 1. ]] SLAMing on 53.421193817 meters Centerline goodness : 0.895785 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.18, Z:-0.84 [[ 9.99868917e-01 1.60988878e-02 1.72491863e-03 5.83131341e+00] [-1.60743810e-02 9.99781180e-01 -1.33867850e-02 -1.77239757e-01] [-1.94005354e-03 1.33573032e-02 9.99908905e-01 -8.39346509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.451193817000004 meters Centerline goodness : 0.896290 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.18, Z:-0.84 [[ 0.9997497 0.02127679 0.00691673 5.84409063] [-0.02115075 0.99961763 -0.01781146 -0.1763639 ] [-0.00729306 0.0176607 0.99981744 -0.84332687] [ 0. 0. 0. 1. ]] SLAMing on 53.481193817 meters Centerline goodness : 0.897612 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.18, Z:-0.84 [[ 0.9996433 0.02580072 0.00689901 5.84391733] [-0.0257108 0.99958722 -0.01281965 -0.17854215] [-0.00722692 0.0126377 0.99989402 -0.84263082] [ 0. 0. 0. 1. ]] SLAMing on 53.511193817 meters Centerline goodness : 0.898555 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.18, Z:-0.84 [[ 0.99952526 0.03004109 0.00684028 5.84408939] [-0.02998709 0.99951934 -0.00786478 -0.18168725] [-0.00707326 0.00765593 0.99994568 -0.84225421] [ 0. 0. 0. 1. ]] SLAMing on 53.541193817 meters Centerline goodness : 0.898216 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.18, Z:-0.84 [[ 0.99949944 0.03087778 0.00688739 5.84383356] [-0.03083122 0.9995017 -0.00676642 -0.18429624] [-0.0070929 0.00655069 0.99995339 -0.84197462] [ 0. 0. 0. 1. ]] SLAMing on 53.571193817 meters Centerline goodness : 0.893633 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.19, Z:-0.84 [[ 0.99950185 0.03087797 0.0065265 5.8446799 ] [-0.03083714 0.99950478 -0.00626573 -0.19257699] [-0.00671674 0.00606135 0.99995907 -0.84277878] [ 0. 0. 0. 1. ]] SLAMing on 53.601193817 meters Centerline goodness : 0.898473 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.20, Z:-0.84 [[ 0.99952641 0.03015601 0.00612898 5.84648715] [-0.03011676 0.99952591 -0.00639869 -0.19710994] [-0.00631904 0.00621107 0.99996075 -0.84430513] [ 0. 0. 0. 1. ]] SLAMing on 53.631193817 meters Centerline goodness : 0.896171 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.20, Z:-0.84 [[ 0.99962076 0.02684074 0.00615696 5.84634183] [-0.02678339 0.99959878 -0.00921542 -0.20060489] [-0.00640184 0.00904702 0.99993858 -0.84451677] [ 0. 0. 0. 1. ]] SLAMing on 53.661193817000004 meters Centerline goodness : 0.895949 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.21, Z:-0.84 [[ 0.99970538 0.02350805 0.0060438 5.84622909] [-0.02343619 0.99965691 -0.01169688 -0.20526112] [-0.0063167 0.01155179 0.99991332 -0.84430448] [ 0. 0. 0. 1. ]] SLAMing on 53.691193817 meters Centerline goodness : 0.897383 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.22, Z:-0.84 [[ 0.99982388 0.01775445 0.00608148 5.84567604] [-0.01765979 0.99972727 -0.0152811 -0.21708468] [-0.00635113 0.01517101 0.99986474 -0.84387411] [ 0. 0. 0. 1. ]] SLAMing on 53.721193817 meters Centerline goodness : 0.894354 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.22, Z:-0.84 [[ 0.99987561 0.01462965 0.00589368 5.8461152 ] [-0.01452333 0.99973795 -0.01769502 -0.22163096] [-0.00615101 0.01760722 0.99982606 -0.84414057] [ 0. 0. 0. 1. ]] SLAMing on 53.751193817 meters Centerline goodness : 0.896615 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.23, Z:-0.85 [[ 9.99883731e-01 1.42923828e-02 5.31527285e-03 5.84824764e+00] [-1.42002171e-02 9.99754798e-01 -1.69910793e-02 -2.26539649e-01] [-5.55681255e-03 1.69136257e-02 9.99841513e-01 -8.45419715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.781193817 meters Centerline goodness : 0.897547 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.23, Z:-0.85 [[ 9.99891127e-01 1.39574881e-02 4.78777546e-03 5.85032045e+00] [-1.38770387e-02 9.99768489e-01 -1.64437216e-02 -2.30775033e-01] [-5.01618009e-03 1.63754912e-02 9.99853330e-01 -8.46707100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.811193817 meters Centerline goodness : 0.894876 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.24, Z:-0.85 [[ 9.99882698e-01 1.45616789e-02 4.74846815e-03 5.85036294e+00] [-1.44896785e-02 9.99784588e-01 -1.48602311e-02 -2.35781369e-01] [-4.96383519e-03 1.47896842e-02 9.99878305e-01 -8.46582980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.841193817000004 meters Centerline goodness : 0.895621 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.25, Z:-0.85 [[ 9.99869291e-01 1.55968520e-02 4.25910136e-03 5.85183206e+00] [-1.55420842e-02 9.99799786e-01 -1.26027999e-02 -2.45965908e-01] [-4.45481264e-03 1.25349573e-02 9.99911511e-01 -8.47344549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.871193817 meters Centerline goodness : 0.894416 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.25, Z:-0.85 [[ 9.99869063e-01 1.56934908e-02 3.94593855e-03 5.85316622e+00] [-1.56457184e-02 9.99807265e-01 -1.18593612e-02 -2.50778773e-01] [-4.13129281e-03 1.17960713e-02 9.99921890e-01 -8.48254466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.901193817 meters Centerline goodness : 0.895357 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.26, Z:-0.85 [[ 9.99871124e-01 1.56456209e-02 3.59865858e-03 5.85469847e+00] [-1.56039956e-02 9.99814193e-01 -1.13178871e-02 -2.55454312e-01] [-3.77506530e-03 1.12602751e-02 9.99929475e-01 -8.49350864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.931193817 meters Centerline goodness : 0.896646 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.27, Z:-0.85 [[ 9.99845476e-01 1.72517178e-02 3.37686068e-03 5.85523003e+00] [-1.72242235e-02 9.99819579e-01 -8.00841369e-03 -2.66458753e-01] [-3.51441032e-03 7.94901239e-03 9.99962230e-01 -8.49431084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.961193817 meters Centerline goodness : 0.896000 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.27, Z:-0.85 [[ 9.99856175e-01 1.67206982e-02 2.83666783e-03 5.85787856e+00] [-1.66981488e-02 9.99830191e-01 -7.79495172e-03 -2.71282403e-01] [-2.96652317e-03 7.74646351e-03 9.99965595e-01 -8.51557563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.991193817 meters Centerline goodness : 0.897571 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.28, Z:-0.85 [[ 9.99883942e-01 1.50753670e-02 2.19920487e-03 5.86083863e+00] [-1.50559539e-02 9.99849738e-01 -8.59181989e-03 -2.76917365e-01] [-2.32839925e-03 8.55771161e-03 9.99960671e-01 -8.53875717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.021193817000004 meters Centerline goodness : 0.895852 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.28, Z:-0.86 [[ 9.99924096e-01 1.22116149e-02 1.63666651e-03 5.86368278e+00] [-1.21939903e-02 9.99871799e-01 -1.03775178e-02 -2.82905999e-01] [-1.76318293e-03 1.03567726e-02 9.99944813e-01 -8.56049029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.051193817 meters Centerline goodness : 0.897311 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.29, Z:-0.86 [[ 9.99959899e-01 8.84978991e-03 1.37170296e-03 5.86451751e+00] [-8.83198054e-03 9.99883029e-01 -1.24869441e-02 -2.89116254e-01] [-1.48204934e-03 1.24743285e-02 9.99921094e-01 -8.56419355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.081193817 meters Centerline goodness : 0.897146 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.30, Z:-0.85 [[ 9.99998749e-01 1.38226497e-03 7.69352363e-04 5.86631091e+00] [-1.37067635e-03 9.99888572e-01 -1.48648567e-02 -3.04629804e-01] [-7.89813807e-04 1.48637836e-02 9.99889216e-01 -8.54656784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.111193817 meters Centerline goodness : 0.896473 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.31, Z:-0.85 [[ 9.99997543e-01 -2.14467303e-03 5.61097847e-04 5.86669137e+00] [ 2.15392533e-03 9.99852415e-01 -1.70443269e-02 -3.11280918e-01] [-5.24460529e-04 1.70454936e-02 9.99854577e-01 -8.54404905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.141193817 meters Centerline goodness : 0.898113 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.32, Z:-0.85 [[ 9.99985126e-01 -5.43775121e-03 4.23315839e-04 5.86665877e+00] [ 5.44483722e-03 9.99803214e-01 -1.90758409e-02 -3.17366842e-01] [-3.19502859e-04 1.90778621e-02 9.99817950e-01 -8.53726007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.171193817 meters Centerline goodness : 0.898438 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.32, Z:-0.85 [[ 9.99961580e-01 -8.75677803e-03 3.96073988e-04 5.86647933e+00] [ 8.76326484e-03 9.99730958e-01 -2.14759520e-02 -3.22225834e-01] [-2.07907284e-04 2.14785978e-02 9.99769287e-01 -8.53231574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.201193817000004 meters Centerline goodness : 0.902255 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.33, Z:-0.85 [[ 9.99920831e-01 -1.25776112e-02 3.67756591e-04 5.86683336e+00] [ 1.25827592e-02 9.99651285e-01 -2.32160127e-02 -3.30534213e-01] [-7.56263674e-05 2.32188021e-02 9.99730404e-01 -8.52899322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.231193817 meters Centerline goodness : 0.899973 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.33, Z:-0.85 [[ 9.99914829e-01 -1.30511847e-02 4.10926911e-05 5.86822468e+00] [ 1.30487918e-02 9.99660494e-01 -2.25527424e-02 -3.34592173e-01] [ 2.53261265e-04 2.25513577e-02 9.99745654e-01 -8.53510580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.261193817 meters Centerline goodness : 0.903224 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.34, Z:-0.85 [[ 9.99908086e-01 -1.35571921e-02 -1.51774772e-04 5.86908686e+00] [ 1.35506799e-02 9.99671383e-01 -2.17601800e-02 -3.39138860e-01] [ 4.46731837e-04 2.17561232e-02 9.99763208e-01 -8.53534088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.291193817 meters Centerline goodness : 0.901767 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.34, Z:-0.85 [[ 9.99850843e-01 -1.72700608e-02 -1.90030246e-04 5.86905001e+00] [ 1.72599750e-02 9.99540919e-01 -2.49006772e-02 -3.42172547e-01] [ 6.19979215e-04 2.48936832e-02 9.99689912e-01 -8.53123451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.321193817 meters Centerline goodness : 0.901980 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.85 [[ 9.99832291e-01 -1.83101611e-02 -3.58374550e-04 5.87009452e+00] [ 1.82957141e-02 9.99527125e-01 -2.47142343e-02 -3.46595812e-01] [ 8.10726695e-04 2.47035328e-02 9.99694492e-01 -8.53330534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.351193817 meters Centerline goodness : 0.902726 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.85 [[ 9.99822491e-01 -1.88319745e-02 -5.86219381e-04 5.87072524e+00] [ 1.88123472e-02 9.99531711e-01 -2.41341018e-02 -3.49979770e-01] [ 1.04043765e-03 2.41187896e-02 9.99708558e-01 -8.53096613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.381193817 meters Centerline goodness : 0.902726 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.85 [[ 9.99822491e-01 -1.88319745e-02 -5.86219381e-04 5.87072524e+00] [ 1.88123472e-02 9.99531711e-01 -2.41341018e-02 -3.49979770e-01] [ 1.04043765e-03 2.41187896e-02 9.99708558e-01 -8.53096613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.411193817000004 meters Centerline goodness : 0.901917 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.85 [[ 9.99719756e-01 -2.36631807e-02 -6.81327140e-04 5.87218296e+00] [ 2.36346608e-02 9.99324806e-01 -2.81306626e-02 -3.51524717e-01] [ 1.34652807e-03 2.81066762e-02 9.99604022e-01 -8.54278928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.441193817 meters Centerline goodness : 0.901097 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.85 [[ 9.99711212e-01 -2.40116029e-02 -9.66957325e-04 5.87312824e+00] [ 2.39753340e-02 9.99323797e-01 -2.78770977e-02 -3.53169660e-01] [ 1.63567727e-03 2.78458640e-02 9.99610891e-01 -8.54498669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.471193817 meters Centerline goodness : 0.901598 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.85 [[ 9.99708156e-01 -2.41292356e-02 -1.17569665e-03 5.87382007e+00] [ 2.40874960e-02 9.99326925e-01 -2.76674730e-02 -3.54050864e-01] [ 1.84250029e-03 2.76310788e-02 9.99616491e-01 -8.54683187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.501193817 meters Centerline goodness : 0.899837 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.36, Z:-0.85 [[ 9.99782425e-01 -2.08164409e-02 -1.33389400e-03 5.87448235e+00] [ 2.07793478e-02 9.99507565e-01 -2.35126909e-02 -3.55671952e-01] [ 1.82268768e-03 2.34798577e-02 9.99722649e-01 -8.54787140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.531193817 meters Centerline goodness : 0.899171 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.36, Z:-0.85 [[ 9.99899500e-01 -1.40963636e-02 -1.51055100e-03 5.87501941e+00] [ 1.40703773e-02 9.99772696e-01 -1.60181466e-02 -3.55485806e-01] [ 1.73600526e-03 1.59952828e-02 9.99870560e-01 -8.54435068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.561193817 meters Centerline goodness : 0.898937 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.85 [[ 9.99944932e-01 -1.03029009e-02 -1.99582740e-03 5.87595955e+00] [ 1.02775249e-02 9.99871128e-01 -1.23328387e-02 -3.54651063e-01] [ 2.12263421e-03 1.23116474e-02 9.99921956e-01 -8.54401173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.591193817000004 meters Centerline goodness : 0.899180 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.86 [[ 9.99973386e-01 -6.83552328e-03 -2.54990955e-03 5.87764082e+00] [ 6.81136800e-03 9.99932955e-01 -9.36436022e-03 -3.52513908e-01] [ 2.61374889e-03 9.34674263e-03 9.99952902e-01 -8.55220546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.621193817 meters Centerline goodness : 0.897197 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.86 [[ 9.99990120e-01 -3.22659996e-03 -3.05773959e-03 5.87906925e+00] [ 3.20723016e-03 9.99974894e-01 -6.31855217e-03 -3.50015470e-01] [ 3.07805026e-03 6.30868287e-03 9.99975363e-01 -8.55817569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.651193817 meters Centerline goodness : 0.899107 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.86 [[ 9.99994056e-01 4.78172536e-04 -3.41461591e-03 5.88012067e+00] [-4.89361118e-04 9.99994512e-01 -3.27659014e-03 -3.47231966e-01] [ 3.41303040e-03 3.27824165e-03 9.99988802e-01 -8.56322951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.681193817 meters Centerline goodness : 0.895137 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.34, Z:-0.86 [[ 9.99961359e-01 8.66823732e-03 1.46352060e-03 5.89186485e+00] [-8.65629781e-03 9.99930721e-01 -7.97629730e-03 -3.39787133e-01] [-1.53255965e-03 7.96332041e-03 9.99967118e-01 -8.60932419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.711193817 meters Centerline goodness : 0.898402 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.34, Z:-0.86 [[ 9.99920602e-01 1.25387060e-02 1.25286510e-03 5.89207591e+00] [-1.25330737e-02 9.99911748e-01 -4.40654931e-03 -3.38445820e-01] [-1.30800696e-03 4.39049719e-03 9.99989506e-01 -8.60414106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.741193817 meters Centerline goodness : 0.896911 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.34, Z:-0.86 [[ 9.99867530e-01 1.62446346e-02 1.01666562e-03 5.89266447e+00] [-1.62439211e-02 9.99867809e-01 -7.06161923e-04 -3.37786240e-01] [-1.02800257e-03 6.89553741e-04 9.99999234e-01 -8.60219333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.771193817000004 meters Centerline goodness : 0.894480 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.34, Z:-0.86 [[ 9.99871769e-01 1.59923931e-02 8.30517880e-04 5.89353145e+00] [-1.59911666e-02 9.99871063e-01 -1.46301978e-03 -3.35667511e-01] [-8.53807983e-04 1.44955123e-03 9.99998585e-01 -8.60971913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.801193817 meters Centerline goodness : 0.895496 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.33, Z:-0.86 [[ 9.99886489e-01 1.50622376e-02 3.71725875e-04 5.89604856e+00] [-1.50611409e-02 9.99882668e-01 -2.79519423e-03 -3.33406067e-01] [-4.13784139e-04 2.78927833e-03 9.99996024e-01 -8.63235747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.831193817 meters Centerline goodness : 0.892881 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.33, Z:-0.86 [[ 9.99900215e-01 1.41257558e-02 -1.51895673e-04 5.89840636e+00] [-1.41262266e-02 9.99893174e-01 -3.75364541e-03 -3.32708266e-01] [ 9.88563677e-05 3.75541656e-03 9.99992944e-01 -8.64974820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.861193817 meters Centerline goodness : 0.894249 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.33, Z:-0.87 [[ 9.99916788e-01 1.28770253e-02 -7.74524742e-04 5.90119667e+00] [-1.28805931e-02 9.99905555e-01 -4.79285666e-03 -3.32763133e-01] [ 7.12733856e-04 4.80243418e-03 9.99988214e-01 -8.66885895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.891193817 meters Centerline goodness : 0.893420 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.33, Z:-0.87 [[ 9.99936398e-01 1.11847646e-02 -1.44924551e-03 5.90391729e+00] [-1.11932769e-02 9.99919322e-01 -6.00501229e-03 -3.33804434e-01] [ 1.38196393e-03 6.02085217e-03 9.99980920e-01 -8.68401468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.921193817 meters Centerline goodness : 0.896573 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.34, Z:-0.87 [[ 9.99981798e-01 5.86310343e-03 -1.42399625e-03 5.90391042e+00] [-5.87737667e-03 9.99930348e-01 -1.02350313e-02 -3.36132151e-01] [ 1.36388801e-03 1.02432144e-02 9.99946607e-01 -8.67917106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.951193817000004 meters Centerline goodness : 0.897409 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.34, Z:-0.87 [[ 9.99986840e-01 4.82466145e-03 -1.74452184e-03 5.90498515e+00] [-4.84274338e-03 9.99933002e-01 -1.05137301e-02 -3.37479865e-01] [ 1.69367978e-03 1.05220400e-02 9.99943207e-01 -8.68085049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.981193817 meters Centerline goodness : 0.896354 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.34, Z:-0.87 [[ 9.99989258e-01 4.18781062e-03 -1.98657016e-03 5.90549358e+00] [-4.20844614e-03 9.99936021e-01 -1.04996259e-02 -3.38258161e-01] [ 1.94247261e-03 1.05078735e-02 9.99942904e-01 -8.67659439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.011193817 meters Centerline goodness : 0.896567 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.34, Z:-0.87 [[ 9.99991367e-01 3.53534510e-03 -2.18349570e-03 5.90591453e+00] [-3.55867208e-03 9.99935632e-01 -1.07734652e-02 -3.38010911e-01] [ 2.14526724e-03 1.07811425e-02 9.99939581e-01 -8.67415482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.041193817 meters Centerline goodness : 0.898839 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.34, Z:-0.87 [[ 9.99993029e-01 2.77730283e-03 -2.49587894e-03 5.90678668e+00] [-2.80541704e-03 9.99931853e-01 -1.13322498e-02 -3.37214632e-01] [ 2.46423576e-03 1.13391728e-02 9.99932673e-01 -8.67506301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.071193817 meters Centerline goodness : 0.895804 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.33, Z:-0.87 [[ 9.99995381e-01 1.40105419e-03 -2.69739665e-03 5.90738965e+00] [-1.43521171e-03 9.99918282e-01 -1.27031306e-02 -3.34446568e-01] [ 2.67937845e-03 1.27069433e-02 9.99915674e-01 -8.67334339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.101193817 meters Centerline goodness : 0.898121 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.33, Z:-0.87 [[ 9.99995414e-01 1.05601089e-03 -2.83829273e-03 5.90753826e+00] [-1.09319454e-03 9.99913184e-01 -1.31312455e-02 -3.33597195e-01] [ 2.82417958e-03 1.31342881e-02 9.99909753e-01 -8.67018672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.131193817 meters Centerline goodness : 0.897543 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.33, Z:-0.87 [[ 9.99995131e-01 6.41089960e-04 -3.05389451e-03 5.90792157e+00] [-6.82777305e-04 9.99906340e-01 -1.36691246e-02 -3.32390438e-01] [ 3.04484534e-03 1.36711432e-02 9.99901910e-01 -8.66822707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.161193817000004 meters Centerline goodness : 0.899308 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.33, Z:-0.87 [[ 9.99990759e-01 2.02501285e-03 -3.79222515e-03 5.91092829e+00] [-2.07178874e-03 9.99921322e-01 -1.23716468e-02 -3.27438167e-01] [ 3.76687404e-03 1.23793892e-02 9.99916277e-01 -8.68305982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.191193817 meters Centerline goodness : 0.897523 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.32, Z:-0.87 [[ 9.99982155e-01 4.19172841e-03 -4.25667657e-03 5.91339918e+00] [-4.23518534e-03 9.99938478e-01 -1.02519501e-02 -3.24762879e-01] [ 4.21344130e-03 1.02697950e-02 9.99938387e-01 -8.69971538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.221193817 meters Centerline goodness : 0.899893 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.32, Z:-0.87 [[ 9.99967335e-01 6.52260592e-03 -4.77333025e-03 5.91551852e+00] [-6.56026566e-03 9.99947141e-01 -7.91695241e-03 -3.22229135e-01] [ 4.72143877e-03 7.94800812e-03 9.99957268e-01 -8.70970374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.251193817 meters Centerline goodness : 0.897715 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.32, Z:-0.87 [[ 9.99969380e-01 5.98758788e-03 -5.03854305e-03 5.91645856e+00] [-6.03463754e-03 9.99937843e-01 -9.37514129e-03 -3.17724974e-01] [ 4.98209538e-03 9.40526001e-03 9.99943358e-01 -8.71611363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.281193817 meters Centerline goodness : 0.899820 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.32, Z:-0.87 [[ 9.99946622e-01 8.75477560e-03 -5.48689909e-03 5.91817345e+00] [-8.79244294e-03 9.99937685e-01 -6.87885275e-03 -3.15334684e-01] [ 5.42633436e-03 6.92672883e-03 9.99961287e-01 -8.72317123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.311193817 meters Centerline goodness : 0.896330 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-0.87 [[ 9.99947830e-01 8.40772392e-03 -5.80066058e-03 5.91904108e+00] [-8.45580972e-03 9.99929673e-01 -8.31559618e-03 -3.11085174e-01] [ 5.73033740e-03 8.36421164e-03 9.99948600e-01 -8.72834522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.341193817000004 meters Centerline goodness : 0.894856 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.30, Z:-0.87 [[ 0.99991825 0.01104619 -0.00643988 5.92157758] [-0.01109414 0.99991065 -0.00745785 -0.302644 ] [ 0.00635692 0.00752869 0.99995145 -0.8746844 ] [ 0. 0. 0. 1. ]] SLAMing on 55.371193817 meters Centerline goodness : 0.892825 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.30, Z:-0.88 [[ 0.99992228 0.01054199 -0.00665574 5.92299914] [-0.01060386 0.99990025 -0.0093296 -0.29664303] [ 0.00655672 0.00939945 0.99993433 -0.87620037] [ 0. 0. 0. 1. ]] SLAMing on 55.401193817 meters Centerline goodness : 0.890761 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.29, Z:-0.88 [[ 0.99988826 0.01312051 -0.00716331 5.92533713] [-0.0131718 0.99988761 -0.00716048 -0.29335484] [ 0.00706855 0.00725404 0.99994871 -0.87762552] [ 0. 0. 0. 1. ]] SLAMing on 55.431193817 meters Centerline goodness : 0.889482 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.29, Z:-0.88 [[ 0.99985344 0.01526371 -0.00775296 5.92737284] [-0.01531001 0.9998651 -0.00594817 -0.28678998] [ 0.00766112 0.00606599 0.99995225 -0.8784719 ] [ 0. 0. 0. 1. ]] SLAMing on 55.461193817 meters Centerline goodness : 0.889635 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.28, Z:-0.88 [[ 0.99985894 0.01477447 -0.00798891 5.92781338] [-0.0148321 0.99986405 -0.00720415 -0.28305926] [ 0.00788139 0.00732163 0.99994214 -0.87838092] [ 0. 0. 0. 1. ]] SLAMing on 55.491193817 meters Centerline goodness : 0.889916 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.28, Z:-0.88 [[ 0.99986476 0.01419473 -0.00830528 5.92852872] [-0.01426632 0.99986103 -0.00862482 -0.27918597] [ 0.0081817 0.00874214 0.99992831 -0.8784876 ] [ 0. 0. 0. 1. ]] SLAMing on 55.521193817000004 meters Centerline goodness : 0.887164 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.28, Z:-0.88 [[ 0.99982012 0.01677246 -0.00885484 5.93051554] [-0.01682761 0.99983924 -0.00619075 -0.27716631] [ 0.00874958 0.00633865 0.99994163 -0.87926752] [ 0. 0. 0. 1. ]] SLAMing on 55.551193817 meters Centerline goodness : 0.886335 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.27, Z:-0.88 [[ 9.99755347e-01 2.01594909e-02 -9.10171789e-03 5.93094095e+00] [-2.01967332e-02 9.99787949e-01 -4.01857137e-03 -2.71681847e-01] [ 9.01877551e-03 4.20141318e-03 9.99950504e-01 -8.78945199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.581193817 meters Centerline goodness : 0.887559 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.27, Z:-0.88 [[ 9.99721343e-01 2.33519649e-02 -3.45286244e-03 5.94368021e+00] [-2.33884917e-02 9.99666520e-01 -1.09465457e-02 -2.67344452e-01] [ 3.19608763e-03 1.10242526e-02 9.99934123e-01 -8.83547725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.611193817 meters Centerline goodness : 0.885445 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.26, Z:-0.88 [[ 9.99723479e-01 2.32354892e-02 -3.61621491e-03 5.94428019e+00] [-2.32772642e-02 9.99657339e-01 -1.19738981e-02 -2.63494265e-01] [ 3.33675639e-03 1.20547626e-02 9.99921771e-01 -8.83962330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.641193817 meters Centerline goodness : 0.885660 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.26, Z:-0.89 [[ 9.99658136e-01 2.58223395e-02 -4.10084573e-03 5.94668170e+00] [-2.58599164e-02 9.99621465e-01 -9.39099200e-03 -2.61989267e-01] [ 3.85679604e-03 9.49382909e-03 9.99947495e-01 -8.85449306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.671193817 meters Centerline goodness : 0.884893 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.26, Z:-0.89 [[ 9.99663261e-01 2.55755320e-02 -4.38833422e-03 5.94696799e+00] [-2.56205777e-02 9.99616220e-01 -1.05355719e-02 -2.57877998e-01] [ 4.11719721e-03 1.06444558e-02 9.99934870e-01 -8.85131681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.701193817000004 meters Centerline goodness : 0.885330 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.26, Z:-0.88 [[ 9.99663309e-01 2.55444455e-02 -4.55524302e-03 5.94679886e+00] [-2.55921274e-02 9.99614818e-01 -1.07358920e-02 -2.57079731e-01] [ 4.27924601e-03 1.08488557e-02 9.99931993e-01 -8.84337081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.731193817 meters Centerline goodness : 0.885777 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.26, Z:-0.88 [[ 9.99667878e-01 2.53269306e-02 -4.76245059e-03 5.94682853e+00] [-2.53785487e-02 9.99616176e-01 -1.11099080e-02 -2.56342040e-01] [ 4.47924278e-03 1.12270822e-02 9.99926942e-01 -8.83723604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.761193817 meters Centerline goodness : 0.885364 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.26, Z:-0.88 [[ 9.99671663e-01 2.51288617e-02 -5.01072990e-03 5.94701071e+00] [-2.51853097e-02 9.99616192e-01 -1.15399087e-02 -2.55223605e-01] [ 4.71882197e-03 1.16623165e-02 9.99920858e-01 -8.83250620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.791193817 meters Centerline goodness : 0.886028 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.25, Z:-0.88 [[ 9.99621711e-01 2.69374000e-02 -5.55082497e-03 5.94948862e+00] [-2.69896525e-02 9.99589960e-01 -9.56398452e-03 -2.54820187e-01] [ 5.29092003e-03 9.71018141e-03 9.99938857e-01 -8.84561865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.821193817 meters Centerline goodness : 0.884978 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.25, Z:-0.89 [[ 9.99624214e-01 2.67633698e-02 -5.92903755e-03 5.95087371e+00] [-2.68259265e-02 9.99582474e-01 -1.07353566e-02 -2.50438447e-01] [ 5.63924770e-03 1.08903744e-02 9.99924796e-01 -8.85561386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.851193817 meters Centerline goodness : 0.884478 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.25, Z:-0.89 [[ 9.99631917e-01 2.64160459e-02 -6.18240970e-03 5.95190260e+00] [-2.64851746e-02 9.99584426e-01 -1.13803260e-02 -2.48894412e-01] [ 5.87921723e-03 1.15398793e-02 9.99916129e-01 -8.86262046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.881193817 meters Centerline goodness : 0.884983 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.25, Z:-0.89 [[ 0.99965448 0.02540782 -0.0067356 5.95422518] [-0.02549044 0.99959718 -0.01247865 -0.2477723 ] [ 0.00641583 0.01264603 0.99989945 -0.88779127] [ 0. 0. 0. 1. ]] SLAMing on 55.911193817000004 meters Centerline goodness : 0.884160 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.25, Z:-0.89 [[ 0.99968229 0.02410425 -0.00736905 5.95698704] [-0.02420395 0.99961242 -0.01375421 -0.24699792] [ 0.00703465 0.0139282 0.99987825 -0.88971922] [ 0. 0. 0. 1. ]] SLAMing on 55.941193817 meters Centerline goodness : 0.882048 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.25, Z:-0.89 [[ 0.99971078 0.02265387 -0.00807233 5.95994466] [-0.0227727 0.99962893 -0.01494699 -0.24688822] [ 0.00773073 0.01512649 0.9998557 -0.89166084] [ 0. 0. 0. 1. ]] SLAMing on 55.971193817 meters Centerline goodness : 0.875923 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.25, Z:-0.89 [[ 0.9998281 0.0126192 -0.01358392 5.9602219 ] [-0.0127435 0.99987736 -0.0091028 -0.24823699] [ 0.01346738 0.00927434 0.9998663 -0.89184728] [ 0. 0. 0. 1. ]] SLAMing on 56.001193817 meters Centerline goodness : 0.875351 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.25, Z:-0.89 [[ 0.99987188 0.00736354 -0.01421308 5.96283002] [-0.00756414 0.99987181 -0.01411169 -0.24782063] [ 0.01410734 0.01421739 0.9997994 -0.89367716] [ 0. 0. 0. 1. ]] SLAMing on 56.031193817 meters Centerline goodness : 0.874912 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.25, Z:-0.89 [[ 9.99889786e-01 2.48857680e-03 -1.46363723e-02 5.96432587e+00] [-2.76066193e-03 9.99823214e-01 -1.85989266e-02 -2.47861830e-01] [ 1.45874999e-02 1.86372828e-02 9.99719889e-01 -8.94508348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.061193817 meters Centerline goodness : 0.874429 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.25, Z:-0.90 [[ 0.99993706 -0.00827373 -0.00757801 5.96513201] [ 0.00817652 0.99988504 -0.01276926 -0.24796841] [ 0.00768279 0.01270649 0.99988975 -0.89634381] [ 0. 0. 0. 1. ]] SLAMing on 56.091193817000004 meters Centerline goodness : 0.874108 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.25, Z:-0.90 [[ 0.99993013 -0.0088711 -0.00781336 5.96605065] [ 0.0087668 0.99987334 -0.01328354 -0.24673206] [ 0.00793021 0.01321411 0.99988124 -0.89681097] [ 0. 0. 0. 1. ]] SLAMing on 56.121193817 meters Centerline goodness : 0.872773 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.25, Z:-0.90 [[ 0.99994419 -0.00653992 -0.00829678 5.96842258] [ 0.0064521 0.99992334 -0.01056786 -0.24667562] [ 0.00836525 0.01051374 0.99990974 -0.89828504] [ 0. 0. 0. 1. ]] SLAMing on 56.151193817 meters Centerline goodness : 0.871355 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.25, Z:-0.90 [[ 9.99958157e-01 -3.02584270e-03 -8.63299724e-03 5.96920882e+00] [ 2.96467697e-03 9.99970477e-01 -7.08913143e-03 -2.46201068e-01] [ 8.65419297e-03 7.06324075e-03 9.99937606e-01 -8.98295495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.181193817 meters Centerline goodness : 0.872198 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.24, Z:-0.90 [[ 9.99978693e-01 5.76361370e-03 -3.06502149e-03 5.98101398e+00] [-5.79336322e-03 9.99935319e-01 -9.78749398e-03 -2.40072867e-01] [ 3.00841190e-03 9.80504222e-03 9.99947404e-01 -9.01991088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.211193817 meters Centerline goodness : 0.870336 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.24, Z:-0.90 [[ 9.99945076e-01 1.00395176e-02 -3.00870123e-03 5.98068687e+00] [-1.00590178e-02 9.99928034e-01 -6.53777180e-03 -2.36730876e-01] [ 2.94284864e-03 6.56767730e-03 9.99974102e-01 -9.01535384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.241193817 meters Centerline goodness : 0.870440 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.23, Z:-0.90 [[ 9.99893193e-01 1.42937306e-02 -3.04838474e-03 5.98019857e+00] [-1.43036038e-02 9.99892442e-01 -3.24199709e-03 -2.33497751e-01] [ 3.00171663e-03 3.28525371e-03 9.99990098e-01 -9.00563384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.271193817000004 meters Centerline goodness : 0.869860 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.23, Z:-0.90 [[ 9.99825492e-01 1.84458061e-02 -2.95602770e-03 5.97958284e+00] [-1.84453561e-02 9.99829854e-01 1.79421676e-04 -2.30932934e-01] [ 2.95883432e-03 -1.24865382e-04 9.99995615e-01 -8.99594016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.301193817 meters Centerline goodness : 0.869860 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.23, Z:-0.90 [[ 9.99825492e-01 1.84458061e-02 -2.95602770e-03 5.97958284e+00] [-1.84453561e-02 9.99829854e-01 1.79421676e-04 -2.30932934e-01] [ 2.95883432e-03 -1.24865382e-04 9.99995615e-01 -8.99594016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.331193817 meters Centerline goodness : 0.871739 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.23, Z:-0.90 [[ 9.99743026e-01 2.24750509e-02 -2.95869692e-03 5.97937553e+00] [-2.24642081e-02 9.99740991e-01 3.64833100e-03 -2.28754474e-01] [ 3.03992702e-03 -3.58092869e-03 9.99988968e-01 -8.98940479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.361193817 meters Centerline goodness : 0.871170 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.22, Z:-0.90 [[ 9.99525414e-01 3.06732853e-02 2.84558095e-03 5.98865895e+00] [-3.06726659e-02 9.99529449e-01 -2.61052913e-04 -2.22205313e-01] [-2.85224931e-03 1.73647467e-04 9.99995917e-01 -9.01380737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.391193817 meters Centerline goodness : 0.870446 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.22, Z:-0.90 [[ 9.99491848e-01 3.17526179e-02 2.79603029e-03 5.98842631e+00] [-3.17515993e-02 9.99495708e-01 -4.07964164e-04 -2.18887868e-01] [-2.80757420e-03 3.18978423e-04 9.99996008e-01 -9.01086148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.421193817 meters Centerline goodness : 0.871708 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.22, Z:-0.90 [[ 9.99468411e-01 3.24790816e-02 2.82921754e-03 5.98836962e+00] [-3.24770857e-02 9.99472200e-01 -7.48595986e-04 -2.16390685e-01] [-2.85203799e-03 6.56313301e-04 9.99995718e-01 -9.01095848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.451193817000004 meters Centerline goodness : 0.873301 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.22, Z:-0.90 [[ 9.99314611e-01 3.68740539e-02 3.25771446e-03 5.98798200e+00] [-3.68842863e-02 9.99314614e-01 3.13878876e-03 -2.15697683e-01] [-3.13974180e-03 -3.25679594e-03 9.99989768e-01 -9.01253486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.481193817000005 meters Centerline goodness : 0.873461 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.21, Z:-0.90 [[ 9.99412466e-01 3.41387555e-02 3.04426689e-03 5.98847037e+00] [-3.41374654e-02 9.99417034e-01 -4.74768096e-04 -2.13912652e-01] [-3.05870018e-03 3.70565598e-04 9.99995254e-01 -9.01859142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.511193817 meters Centerline goodness : 0.872502 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.21, Z:-0.90 [[ 9.99533953e-01 3.03910788e-02 2.87389879e-03 5.98913527e+00] [-3.03776563e-02 9.99527888e-01 -4.60417677e-03 -2.13513564e-01] [-3.01246789e-03 4.51472870e-03 9.99985271e-01 -9.02776927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.541193817 meters Centerline goodness : 0.871511 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.22, Z:-0.91 [[ 9.99604907e-01 2.80124098e-02 2.30977712e-03 5.99183246e+00] [-2.79962087e-02 9.99585096e-01 -6.77109986e-03 -2.15438700e-01] [-2.49849361e-03 6.70375965e-03 9.99974408e-01 -9.05044046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.571193817 meters Centerline goodness : 0.872590 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.22, Z:-0.91 [[ 9.99724464e-01 2.33805894e-02 2.08437421e-03 5.99369859e+00] [-2.33573484e-02 9.99671483e-01 -1.05527622e-02 -2.19009697e-01] [-2.33041926e-03 1.05011691e-02 9.99942146e-01 -9.07077804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.601193817 meters Centerline goodness : 0.870084 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.22, Z:-0.91 [[ 9.99750780e-01 2.22640315e-02 1.64038523e-03 5.99577760e+00] [-2.22448840e-02 9.99693252e-01 -1.08888393e-02 -2.21623766e-01] [-1.88231151e-03 1.08496355e-02 9.99939369e-01 -9.08557358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.631193817 meters Centerline goodness : 0.869208 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.23, Z:-0.91 [[ 9.99785975e-01 2.06608791e-02 1.06403851e-03 5.99834123e+00] [-2.06468630e-02 9.99716865e-01 -1.18277711e-02 -2.25240455e-01] [-1.30810939e-03 1.18032706e-02 9.99929483e-01 -9.10422341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.661193817000004 meters Centerline goodness : 0.869339 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.23, Z:-0.91 [[ 9.99836071e-01 1.80920346e-02 7.14425824e-04 6.00032551e+00] [-1.80804511e-02 9.99741181e-01 -1.38082357e-02 -2.28983861e-01] [-9.64059996e-04 1.37930550e-02 9.99904407e-01 -9.12198582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.691193817 meters Centerline goodness : 0.872772 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.24, Z:-0.91 [[ 9.99970751e-01 7.62600607e-03 5.84446429e-04 6.00245142e+00] [-7.62215032e-03 9.99950867e-01 -6.33762268e-03 -2.36430528e-01] [-6.32748463e-04 6.33298257e-03 9.99979746e-01 -9.14291451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.721193817 meters Centerline goodness : 0.873796 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.24, Z:-0.92 [[ 9.99986775e-01 5.13185097e-03 3.39012150e-04 6.00473947e+00] [-5.12888688e-03 9.99952968e-01 -8.23146531e-03 -2.38888323e-01] [-3.81238858e-04 8.22961769e-03 9.99966063e-01 -9.16421690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.751193817 meters Centerline goodness : 0.873764 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.24, Z:-0.92 [[ 9.99993633e-01 3.56731567e-03 -8.51871111e-05 6.00719134e+00] [-3.56793716e-03 9.99953257e-01 -8.98634884e-03 -2.41065380e-01] [ 5.31259861e-05 8.98659557e-03 9.99959618e-01 -9.18263332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.781193817 meters Centerline goodness : 0.873590 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.24, Z:-0.92 [[ 9.99997232e-01 2.30144058e-03 -4.88260349e-04 6.00927777e+00] [-2.30604286e-03 9.99950831e-01 -9.64455836e-03 -2.42677645e-01] [ 4.66039964e-04 9.64565762e-03 9.99953371e-01 -9.19724229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.811193817 meters Centerline goodness : 0.874696 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.24, Z:-0.92 [[ 9.99998266e-01 1.75677594e-03 -6.17604775e-04 6.00973420e+00] [-1.76261561e-03 9.99952505e-01 -9.58550567e-03 -2.44382467e-01] [ 6.00735855e-04 9.58657765e-03 9.99953867e-01 -9.19804393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.841193817000004 meters Centerline goodness : 0.875178 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.25, Z:-0.92 [[ 9.99998986e-01 1.22252617e-03 -7.30105601e-04 6.01008693e+00] [-1.22943234e-03 9.99953787e-01 -9.53481673e-03 -2.45979122e-01] [ 7.18415297e-04 9.53570468e-03 9.99954276e-01 -9.19758437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.871193817 meters Centerline goodness : 0.875462 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.25, Z:-0.92 [[ 9.99999439e-01 -5.49103824e-04 -9.06269921e-04 6.01155762e+00] [ 5.39568346e-04 9.99944848e-01 -1.04885930e-02 -2.48608202e-01] [ 9.11979265e-04 1.04880981e-02 9.99944583e-01 -9.20767922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.901193817 meters Centerline goodness : 0.876265 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.25, Z:-0.92 [[ 9.99998322e-01 -1.39148097e-03 -1.19174805e-03 6.01324271e+00] [ 1.37804870e-03 9.99936343e-01 -1.11986823e-02 -2.48920064e-01] [ 1.20725495e-03 1.11970212e-02 9.99936583e-01 -9.22090340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.931193817 meters Centerline goodness : 0.876834 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.25, Z:-0.92 [[ 9.99997666e-01 -1.72435638e-03 -1.30169973e-03 6.01416501e+00] [ 1.70923864e-03 9.99932102e-01 -1.15269584e-02 -2.48735530e-01] [ 1.32148793e-03 1.15247066e-02 9.99932715e-01 -9.22985558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.961193817 meters Centerline goodness : 0.877796 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.25, Z:-0.93 [[ 9.99998579e-01 4.50279913e-04 -1.62475745e-03 6.01672847e+00] [-4.65780775e-04 9.99954264e-01 -9.55268339e-03 -2.45671433e-01] [ 1.62038176e-03 9.55342660e-03 9.99953052e-01 -9.25276726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.991193817 meters Centerline goodness : 0.878551 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.24, Z:-0.93 [[ 9.99993217e-01 3.08564152e-03 -2.01127555e-03 6.01875958e+00] [-3.09958251e-03 9.99970936e-01 -6.96555130e-03 -2.43786126e-01] [ 1.98972390e-03 6.97173816e-03 9.99973718e-01 -9.26710594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.021193817000004 meters Centerline goodness : 0.879106 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.24, Z:-0.93 [[ 9.99977015e-01 6.40760115e-03 -2.21654561e-03 6.01945779e+00] [-6.41557529e-03 9.99972906e-01 -3.60934498e-03 -2.43027990e-01] [ 2.19335831e-03 3.62348244e-03 9.99991030e-01 -9.26877174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.051193817 meters Centerline goodness : 0.878337 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.24, Z:-0.93 [[ 9.99977445e-01 6.29183268e-03 -2.35014705e-03 6.01993915e+00] [-6.30178143e-03 9.99971112e-01 -4.25010455e-03 -2.41376777e-01] [ 2.32333822e-03 4.26481880e-03 9.99988207e-01 -9.27174008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.081193817 meters Centerline goodness : 0.878405 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.24, Z:-0.93 [[ 9.99983749e-01 5.13049186e-03 -2.48595023e-03 6.02120619e+00] [-5.14391414e-03 9.99972064e-01 -5.42328431e-03 -2.41350982e-01] [ 2.45805666e-03 5.43598369e-03 9.99982204e-01 -9.28361554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.111193817 meters Centerline goodness : 0.881121 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.24, Z:-0.93 [[ 9.99988759e-01 3.65442066e-03 -3.02112716e-03 6.02376311e+00] [-3.67446880e-03 9.99971089e-01 -6.65727862e-03 -2.41048350e-01] [ 2.99671132e-03 6.66830482e-03 9.99973276e-01 -9.30176848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.141193817 meters Centerline goodness : 0.881917 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.24, Z:-0.93 [[ 9.99991776e-01 1.90129982e-03 -3.58224721e-03 6.02673371e+00] [-1.93027541e-03 9.99965310e-01 -8.10264479e-03 -2.40367259e-01] [ 3.56671738e-03 8.10949288e-03 9.99960757e-01 -9.32428565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.171193817 meters Centerline goodness : 0.879826 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.24, Z:-0.93 [[ 9.99991357e-01 2.16909655e-04 -4.15197360e-03 6.02971521e+00] [-2.56492415e-04 9.99954505e-01 -9.53532330e-03 -2.38963630e-01] [ 4.14971640e-03 9.53630584e-03 9.99945918e-01 -9.34633742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.201193817000004 meters Centerline goodness : 0.881052 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.24, Z:-0.94 [[ 9.99988111e-01 -1.81876830e-03 -4.52429259e-03 6.03207241e+00] [ 1.76716653e-03 9.99933645e-01 -1.13834582e-02 -2.35490558e-01] [ 4.54469625e-03 1.13753277e-02 9.99924971e-01 -9.36403047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.231193817000005 meters Centerline goodness : 0.879142 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.23, Z:-0.94 [[ 9.99985825e-01 -2.28601457e-03 -4.80880883e-03 6.03293946e+00] [ 2.22878541e-03 9.99927032e-01 -1.18727839e-02 -2.34661634e-01] [ 4.83559929e-03 1.18618977e-02 9.99917953e-01 -9.36672366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.261193817 meters Centerline goodness : 0.881868 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.23, Z:-0.94 [[ 9.99983260e-01 -2.65296886e-03 -5.14210291e-03 6.03381887e+00] [ 2.58891727e-03 9.99919478e-01 -1.24231880e-02 -2.33933329e-01] [ 5.17464718e-03 1.24096675e-02 9.99909608e-01 -9.36778832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.291193817 meters Centerline goodness : 0.882629 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.23, Z:-0.94 [[ 9.99983528e-01 -5.95373761e-04 -5.70861312e-03 6.03594878e+00] [ 5.33010043e-04 9.99940235e-01 -1.09198002e-02 -2.30406638e-01] [ 5.71477331e-03 1.09165776e-02 9.99924082e-01 -9.37903548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.321193817 meters Centerline goodness : 0.885797 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.23, Z:-0.94 [[ 9.99978131e-01 1.70163741e-03 -6.39073986e-03 6.03878298e+00] [-1.75876701e-03 9.99958451e-01 -8.94447968e-03 -2.26822542e-01] [ 6.37525407e-03 8.95552390e-03 9.99939576e-01 -9.39604536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.351193817 meters Centerline goodness : 0.885865 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.22, Z:-0.94 [[ 9.99967510e-01 3.95304845e-03 -7.02512839e-03 6.04177686e+00] [-4.00330267e-03 9.99966397e-01 -7.15388829e-03 -2.22566665e-01] [ 6.99661266e-03 7.18177958e-03 9.99949733e-01 -9.41633480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.381193817 meters Centerline goodness : 0.885658 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.22, Z:-0.94 [[ 9.99951463e-01 6.19237623e-03 -7.66330657e-03 6.04451964e+00] [-6.23275652e-03 9.99966759e-01 -5.25668753e-03 -2.18720814e-01] [ 7.63050045e-03 5.30419591e-03 9.99956820e-01 -9.43298904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.411193817000004 meters Centerline goodness : 0.885681 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.21, Z:-0.95 [[ 9.99970907e-01 6.82464697e-03 -3.40717286e-03 6.06084053e+00] [-6.87013099e-03 9.99884982e-01 -1.35212113e-02 -2.07939495e-01] [ 3.31450348e-03 1.35442256e-02 9.99902779e-01 -9.47314692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.441193817 meters Centerline goodness : 0.886924 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.20, Z:-0.95 [[ 9.99974724e-01 6.07601695e-03 -3.69234279e-03 6.06173170e+00] [-6.13017667e-03 9.99871115e-01 -1.48382449e-02 -2.03960148e-01] [ 3.60170948e-03 1.48605046e-02 9.99883090e-01 -9.47575560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.471193817 meters Centerline goodness : 0.886596 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.20, Z:-0.95 [[ 9.99978216e-01 5.14739914e-03 -4.13186516e-03 6.06287753e+00] [-5.21398745e-03 9.99854038e-01 -1.62701477e-02 -1.99927455e-01] [ 4.04751312e-03 1.62913368e-02 9.99859095e-01 -9.47782547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.501193817 meters Centerline goodness : 0.887963 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.20, Z:-0.95 [[ 9.99981898e-01 4.05214370e-03 -4.44796030e-03 6.06414376e+00] [-4.13142607e-03 9.99830128e-01 -1.79623744e-02 -1.95149784e-01] [ 4.37441859e-03 1.79804257e-02 9.99828770e-01 -9.48386950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.531193817 meters Centerline goodness : 0.891098 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.19, Z:-0.95 [[ 9.99984044e-01 2.84503223e-03 -4.88022233e-03 6.06593264e+00] [-2.93902920e-03 9.99808200e-01 -1.93630015e-02 -1.86004122e-01] [ 4.82419794e-03 1.93770356e-02 9.99800609e-01 -9.48815996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.561193817 meters Centerline goodness : 0.891387 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.18, Z:-0.95 [[ 9.99975153e-01 4.29098050e-03 -5.59296553e-03 6.06871392e+00] [-4.39012307e-03 9.99831284e-01 -1.78362350e-02 -1.83087503e-01] [ 5.51548697e-03 1.78603457e-02 9.99825278e-01 -9.50143600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.591193817000004 meters Centerline goodness : 0.892415 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.18, Z:-0.95 [[ 9.99958523e-01 6.71794831e-03 -6.14990001e-03 6.07040110e+00] [-6.81271440e-03 9.99856342e-01 -1.55203508e-02 -1.80570566e-01] [ 6.04475162e-03 1.55616046e-02 9.99860639e-01 -9.50545746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.621193817 meters Centerline goodness : 0.892086 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.18, Z:-0.95 [[ 0.99993097 0.00968908 -0.00664657 6.07168758] [-0.00977473 0.99986801 -0.01297743 -0.17747847] [ 0.00651996 0.0130415 0.9998937 -0.9506189 ] [ 0. 0. 0. 1. ]] SLAMing on 57.651193817 meters Centerline goodness : 0.896555 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.17, Z:-0.95 [[ 0.99989537 0.0125953 -0.00711421 6.07343695] [-0.01267167 0.99986145 -0.01079361 -0.17318589] [ 0.00697727 0.01088263 0.99991644 -0.95132875] [ 0. 0. 0. 1. ]] SLAMing on 57.681193817 meters Centerline goodness : 0.893707 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.16, Z:-0.96 [[ 9.99847042e-01 1.70536276e-02 -3.88143819e-03 6.09145444e+00] [-1.71118981e-02 9.99733273e-01 -1.55101880e-02 -1.59025167e-01] [ 3.61589794e-03 1.55742344e-02 9.99872176e-01 -9.55786538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.711193817 meters Centerline goodness : 0.894746 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.15, Z:-0.96 [[ 9.99793186e-01 1.98673011e-02 -4.34466917e-03 6.09324255e+00] [-1.99241078e-02 9.99711050e-01 -1.34479075e-02 -1.54145841e-01] [ 4.07624015e-03 1.35316899e-02 9.99900134e-01 -9.56477815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.741193817 meters Centerline goodness : 0.895408 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.15, Z:-0.96 [[ 9.99734446e-01 2.25156458e-02 -4.90742898e-03 6.09534364e+00] [-2.25698520e-02 9.99681570e-01 -1.12854028e-02 -1.50564554e-01] [ 4.65176818e-03 1.13931659e-02 9.99924276e-01 -9.57312562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.771193817000004 meters Centerline goodness : 0.891755 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.15, Z:-0.96 [[ 9.99683216e-01 2.45337634e-02 -5.61799194e-03 6.09851614e+00] [-2.45869590e-02 9.99651561e-01 -9.60403124e-03 -1.47852512e-01] [ 5.38041139e-03 9.73911818e-03 9.99938098e-01 -9.59153075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.801193817 meters Centerline goodness : 0.890643 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:-0.96 [[ 0.99961915 0.0268103 -0.00653984 6.10186489] [-0.02686634 0.99960172 -0.00863676 -0.14058711] [ 0.00630568 0.00880917 0.99994132 -0.96077774] [ 0. 0. 0. 1. ]] SLAMing on 57.831193817 meters Centerline goodness : 0.892427 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:-0.96 [[ 0.99954651 0.02924484 -0.00717777 6.10433461] [-0.029292 0.9995494 -0.00655598 -0.13691493] [ 0.00698281 0.00676326 0.99995275 -0.96180694] [ 0. 0. 0. 1. ]] SLAMing on 57.861193817 meters Centerline goodness : 0.891787 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.13, Z:-0.96 [[ 0.99956327 0.02853511 -0.00768211 6.10622778] [-0.02859912 0.99955604 -0.00835564 -0.13096786] [ 0.00744027 0.00857169 0.99993558 -0.9627431 ] [ 0. 0. 0. 1. ]] SLAMing on 57.891193817 meters Centerline goodness : 0.891078 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.13, Z:-0.96 [[ 0.99949864 0.03052662 -0.0084021 6.10935637] [-0.03058247 0.99951045 -0.00660168 -0.1272697 ] [ 0.00819646 0.00685533 0.99994291 -0.96439622] [ 0. 0. 0. 1. ]] SLAMing on 57.921193817 meters Centerline goodness : 0.891327 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.12, Z:-0.97 [[ 9.99435216e-01 3.23111724e-02 -9.23234840e-03 6.11291030e+00] [-3.23659743e-02 9.99458968e-01 -5.84937945e-03 -1.20061261e-01] [ 9.03835309e-03 6.14488977e-03 9.99940272e-01 -9.66300314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.951193817000004 meters Centerline goodness : 0.889149 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.12, Z:-0.97 [[ 0.99944754 0.03173824 -0.00986371 6.11470285] [-0.0318177 0.99946162 -0.0080059 -0.11560904] [ 0.00960431 0.00831531 0.9999193 -0.9663408 ] [ 0. 0. 0. 1. ]] SLAMing on 57.981193817000005 meters Centerline goodness : 0.893151 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.11, Z:-0.97 [[ 0.99945686 0.0312368 -0.01050012 6.11630145] [-0.0313463 0.99945415 -0.01043082 -0.11044961] [ 0.01016856 0.0107543 0.99989047 -0.96597398] [ 0. 0. 0. 1. ]] SLAMing on 58.011193817 meters Centerline goodness : 0.891092 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.10, Z:-0.97 [[ 0.99946386 0.03084921 -0.01096913 6.11740797] [-0.03099096 0.99943517 -0.01299654 -0.1044651 ] [ 0.010562 0.01332952 0.99985537 -0.96527398] [ 0. 0. 0. 1. ]] SLAMing on 58.041193817 meters Centerline goodness : 0.891901 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.09, Z:-0.96 [[ 0.99937787 0.03361401 -0.01067609 6.11677565] [-0.03375693 0.99933887 -0.01350168 -0.0945132 ] [ 0.01021519 0.01385367 0.99985185 -0.9632274 ] [ 0. 0. 0. 1. ]] SLAMing on 58.071193817 meters Centerline goodness : 0.890951 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.09, Z:-0.96 [[ 0.99927436 0.03659756 -0.0105534 6.11685889] [-0.03671735 0.99926078 -0.01138992 -0.09112436] [ 0.01012876 0.01176914 0.99987944 -0.96271541] [ 0. 0. 0. 1. ]] SLAMing on 58.101193817 meters Centerline goodness : 0.894938 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.09, Z:-0.96 [[ 0.99926157 0.0367399 -0.01124677 6.11808836] [-0.03689307 0.99922491 -0.01372904 -0.08563853] [ 0.01073365 0.01413383 0.9998425 -0.96143235] [ 0. 0. 0. 1. ]] SLAMing on 58.131193817 meters Centerline goodness : 0.890455 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.08, Z:-0.96 [[ 0.99923043 0.03735316 -0.01197045 6.11928224] [-0.03753453 0.99917815 -0.01530303 -0.08089841] [ 0.011389 0.01574056 0.99981124 -0.96011036] [ 0. 0. 0. 1. ]] SLAMing on 58.161193817000004 meters Centerline goodness : 0.893751 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.08, Z:-0.96 [[ 0.99906478 0.04145117 -0.012303 6.11984121] [-0.04161825 0.99904033 -0.0136504 -0.07539573] [ 0.01172537 0.01414966 0.99983114 -0.95841518] [ 0. 0. 0. 1. ]] SLAMing on 58.191193817 meters Centerline goodness : 0.893751 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.08, Z:-0.96 [[ 0.99906478 0.04145117 -0.012303 6.11984121] [-0.04161825 0.99904033 -0.0136504 -0.07539573] [ 0.01172537 0.01414966 0.99983114 -0.95841518] [ 0. 0. 0. 1. ]] SLAMing on 58.221193817 meters Centerline goodness : 0.894593 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.07, Z:-0.96 [[ 0.99899518 0.04304682 -0.0124737 6.11969114] [-0.04321337 0.99897593 -0.01340509 -0.07274887] [ 0.01188388 0.01393065 0.99983234 -0.95711825] [ 0. 0. 0. 1. ]] SLAMing on 58.251193817 meters Centerline goodness : 0.893325 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.07, Z:-0.96 [[ 0.99882579 0.0468031 -0.01251017 6.12011075] [-0.04692669 0.99885051 -0.00977507 -0.07223737] [ 0.01203828 0.01035065 0.99987396 -0.95696249] [ 0. 0. 0. 1. ]] SLAMing on 58.281193817 meters Centerline goodness : 0.894619 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.07, Z:-0.96 [[ 0.9987915 0.0473186 -0.0132849 6.12156147] [-0.04746314 0.99881478 -0.01078355 -0.06955791] [ 0.01275889 0.01140106 0.9998536 -0.95618201] [ 0. 0. 0. 1. ]] SLAMing on 58.311193817 meters Centerline goodness : 0.895750 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.07, Z:-0.96 [[ 0.99852262 0.05257867 -0.01371351 6.12300595] [-0.05266918 0.99859199 -0.00632366 -0.07035251] [ 0.01336171 0.0070366 0.99988597 -0.95618552] [ 0. 0. 0. 1. ]] SLAMing on 58.341193817000004 meters Centerline goodness : 0.896159 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.07, Z:-0.96 [[ 0.9984529 0.0536446 -0.01463109 6.12531261] [-0.05374133 0.99853502 -0.00629977 -0.06995938] [ 0.01427171 0.00707632 0.99987311 -0.95651693] [ 0. 0. 0. 1. ]] SLAMing on 58.371193817 meters Centerline goodness : 0.897476 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.07, Z:-0.96 [[ 9.98372000e-01 5.48841165e-02 -1.55268337e-02 6.12787625e+00] [-5.49826910e-02 9.98469314e-01 -5.99433392e-03 -6.96777996e-02] [ 1.51740733e-02 6.83828224e-03 9.99861483e-01 -9.57274578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.401193817 meters Centerline goodness : 0.895388 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.07, Z:-0.96 [[ 9.98090441e-01 5.95535664e-02 -1.63964749e-02 6.13206476e+00] [-5.95822296e-02 9.98222600e-01 -1.26477985e-03 -7.14985897e-02] [ 1.62920096e-02 2.23930321e-03 9.99864769e-01 -9.59999529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.431193817 meters Centerline goodness : 0.896550 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.07, Z:-0.96 [[ 9.98048191e-01 6.01679734e-02 -1.67219596e-02 6.13335254e+00] [-6.01804184e-02 9.98187487e-01 -2.41574538e-04 -7.34334977e-02] [ 1.66771158e-02 1.24743756e-03 9.99860149e-01 -9.60990058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.461193817 meters Centerline goodness : 0.895726 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.07, Z:-0.96 [[ 9.98204997e-01 5.71707133e-02 -1.78408014e-02 6.13603361e+00] [-5.72438054e-02 9.98353691e-01 -3.61305868e-03 -7.40588307e-02] [ 1.76048688e-02 4.62784859e-03 9.99834312e-01 -9.62169081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.491193817 meters Centerline goodness : 0.896925 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.08, Z:-0.96 [[ 9.98236571e-01 5.63361193e-02 -1.87080225e-02 6.13958361e+00] [-5.64121668e-02 9.98401212e-01 -3.56200823e-03 -7.69154200e-02] [ 1.84774426e-02 4.61108696e-03 9.99818645e-01 -9.64954314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.521193817000004 meters Centerline goodness : 0.897844 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.08, Z:-0.97 [[ 9.98372263e-01 5.36163769e-02 -1.94450373e-02 6.14125378e+00] [-5.37187813e-02 9.98544651e-01 -4.78244666e-03 -8.27113423e-02] [ 1.91603205e-02 5.81922580e-03 9.99799489e-01 -9.66334008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.551193817 meters Centerline goodness : 0.900990 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.09, Z:-0.97 [[ 0.99852511 0.05043078 -0.02010848 6.14176027] [-0.05059329 0.99868999 -0.0076563 -0.08512643] [ 0.01969603 0.00866237 0.99976849 -0.96593273] [ 0. 0. 0. 1. ]] SLAMing on 58.581193817 meters Centerline goodness : 0.899490 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.09, Z:-0.97 [[ 0.99867433 0.0471432 -0.02066648 6.14206781] [-0.04736813 0.99882197 -0.01053251 -0.08763268] [ 0.0201456 0.01149748 0.99973095 -0.96550415] [ 0. 0. 0. 1. ]] SLAMing on 58.611193817 meters Centerline goodness : 0.904483 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.09, Z:-0.97 [[ 0.99870313 0.04650523 -0.02071986 6.14175802] [-0.04671348 0.9988614 -0.00968246 -0.09156265] [ 0.02024598 0.0106378 0.99973843 -0.96540403] [ 0. 0. 0. 1. ]] SLAMing on 58.641193817 meters Centerline goodness : 0.907360 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.10, Z:-0.96 [[ 0.99887634 0.04290208 -0.02013612 6.13793231] [-0.04314014 0.99900237 -0.01154062 -0.09688786] [ 0.01962091 0.01239632 0.99973064 -0.96262981] [ 0. 0. 0. 1. ]] SLAMing on 58.671193817 meters Centerline goodness : 0.908743 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.10, Z:-0.96 [[ 0.99890897 0.04208428 -0.02024286 6.13744336] [-0.04231311 0.99904371 -0.01101191 -0.10040889] [ 0.01976008 0.01185643 0.99973445 -0.96208609] [ 0. 0. 0. 1. ]] SLAMing on 58.701193817000004 meters Centerline goodness : 0.907466 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.10, Z:-0.96 [[ 0.99892512 0.04159428 -0.02045772 6.13748517] [-0.0418048 0.99907603 -0.00997223 -0.10440357] [ 0.02002403 0.01081674 0.99974098 -0.96210127] [ 0. 0. 0. 1. ]] SLAMing on 58.731193817000005 meters Centerline goodness : 0.913185 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.11, Z:-0.96 [[ 0.99906912 0.0381005 -0.02022992 6.1352416 ] [-0.03833368 0.99920148 -0.01126648 -0.11117114] [ 0.0197845 0.01203148 0.99973187 -0.96076342] [ 0. 0. 0. 1. ]] SLAMing on 58.761193817 meters Centerline goodness : 0.913937 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.12, Z:-0.96 [[ 0.99910046 0.03734567 -0.02008929 6.13483864] [-0.0375499 0.99924585 -0.00988646 -0.11600174] [ 0.01970492 0.01063192 0.99974931 -0.961357 ] [ 0. 0. 0. 1. ]] SLAMing on 58.791193817 meters Centerline goodness : 0.915236 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.12, Z:-0.96 [[ 0.99922496 0.03370436 -0.02033465 6.13495694] [-0.03396655 0.99934242 -0.01268878 -0.11849394] [ 0.01989362 0.01336964 0.99971271 -0.96152028] [ 0. 0. 0. 1. ]] SLAMing on 58.821193817 meters Centerline goodness : 0.913315 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.12, Z:-0.96 [[ 0.99925194 0.03280037 -0.02048628 6.13528561] [-0.0330388 0.99938893 -0.01141073 -0.12348276] [ 0.02009948 0.01207904 0.99972502 -0.96238458] [ 0. 0. 0. 1. ]] SLAMing on 58.851193817 meters Centerline goodness : 0.916915 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.13, Z:-0.96 [[ 0.99928346 0.03135712 -0.02119665 6.13796532] [-0.03161663 0.99942778 -0.01202074 -0.12705864] [ 0.02080758 0.01268229 0.99970306 -0.96390289] [ 0. 0. 0. 1. ]] SLAMing on 58.881193817 meters Centerline goodness : 0.919543 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.13, Z:-0.96 [[ 0.99935277 0.02889661 -0.02142491 6.13900778] [-0.02919073 0.99948209 -0.01354466 -0.13203337] [ 0.02102242 0.01416131 0.99967871 -0.96487463] [ 0. 0. 0. 1. ]] SLAMing on 58.911193817000004 meters Centerline goodness : 0.919626 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.13, Z:-0.96 [[ 0.99933277 0.02933152 -0.02176398 6.13968089] [-0.02961013 0.99948221 -0.0125915 -0.13424893] [ 0.02138338 0.01322754 0.99968384 -0.96478754] [ 0. 0. 0. 1. ]] SLAMing on 58.941193817 meters Centerline goodness : 0.921007 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.14, Z:-0.96 [[ 0.99930934 0.02991778 -0.02204037 6.14030317] [-0.03018048 0.99947617 -0.01168446 -0.13624557] [ 0.02167926 0.01234158 0.9996888 -0.96479733] [ 0. 0. 0. 1. ]] SLAMing on 58.971193817 meters Centerline goodness : 0.924071 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.14, Z:-0.96 [[ 0.99927531 0.03080428 -0.02235971 6.14086549] [-0.03104753 0.99946155 -0.01061441 -0.13844549] [ 0.0220207 0.01130093 0.99969364 -0.96467262] [ 0. 0. 0. 1. ]] SLAMing on 59.001193817 meters Centerline goodness : 0.924573 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.14, Z:-0.97 [[ 0.99912484 0.03474594 -0.0232867 6.16244679] [-0.03501307 0.9993245 -0.01116356 -0.14225676] [ 0.02288308 0.01196913 0.9996665 -0.96617455] [ 0. 0. 0. 1. ]] SLAMing on 59.031193817 meters Centerline goodness : 0.924701 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.14, Z:-0.97 [[ 0.99899241 0.03816007 -0.02362132 6.16431987] [-0.03834897 0.99923554 -0.00759599 -0.14368457] [ 0.0233134 0.00849419 0.99969212 -0.96723226] [ 0. 0. 0. 1. ]] SLAMing on 59.061193817 meters Centerline goodness : 0.927497 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.14, Z:-0.97 [[ 9.98859451e-01 4.12952280e-02 -2.39687431e-02 6.16633195e+00] [-4.14075751e-02 9.99133470e-01 -4.20978867e-03 -1.44639806e-01] [ 2.37741292e-02 5.19747473e-03 9.99703845e-01 -9.68370840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.091193817000004 meters Centerline goodness : 0.928336 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.14, Z:-0.97 [[ 9.98817600e-01 4.18943764e-02 -2.46629806e-02 6.16769859e+00] [-4.20135077e-02 9.99107652e-01 -4.33195441e-03 -1.44271422e-01] [ 2.44594881e-02 5.36301063e-03 9.99686437e-01 -9.68095195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.121193817 meters Centerline goodness : 0.930685 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.15, Z:-0.97 [[ 0.99885409 0.04012473 -0.02608661 6.16996057] [-0.04032949 0.99915925 -0.00737064 -0.14545745] [ 0.02576893 0.00841425 0.99963251 -0.96751149] [ 0. 0. 0. 1. ]] SLAMing on 59.151193817 meters Centerline goodness : 0.931457 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.15, Z:-0.97 [[ 0.99883526 0.04024352 -0.02661927 6.17105646] [-0.0404389 0.99915859 -0.00684231 -0.14735597] [ 0.02632151 0.00791079 0.99962223 -0.96777784] [ 0. 0. 0. 1. ]] SLAMing on 59.181193817 meters Centerline goodness : 0.929713 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.15, Z:-0.97 [[ 0.99890678 0.03780245 -0.02749932 6.17265747] [-0.03809843 0.9992207 -0.01031969 -0.14730061] [ 0.02708778 0.01135609 0.99956855 -0.96760521] [ 0. 0. 0. 1. ]] SLAMing on 59.211193817 meters Centerline goodness : 0.930620 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.15, Z:-0.97 [[ 0.99888724 0.03829252 -0.02753129 6.1719801 ] [-0.03853432 0.99922275 -0.00830634 -0.15279643] [ 0.02719182 0.00935799 0.99958643 -0.96714825] [ 0. 0. 0. 1. ]] SLAMing on 59.241193817 meters Centerline goodness : 0.930539 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.16, Z:-0.97 [[ 0.99887118 0.03840324 -0.02795626 6.17270272] [-0.03863175 0.999224 -0.00768009 -0.15535901] [ 0.02763963 0.00875142 0.99957964 -0.96692827] [ 0. 0. 0. 1. ]] SLAMing on 59.271193817000004 meters Centerline goodness : 0.931756 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.16, Z:-0.97 [[ 0.9988628 0.03843248 -0.02821447 6.17310282] [-0.03865076 0.99922661 -0.00723209 -0.15720376] [ 0.0279147 0.00831438 0.99957573 -0.96666965] [ 0. 0. 0. 1. ]] SLAMing on 59.301193817 meters Centerline goodness : 0.936092 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.16, Z:-0.97 [[ 0.99886026 0.03814237 -0.02869375 6.17408072] [-0.03835949 0.9992391 -0.00705478 -0.15827215] [ 0.02840283 0.00814741 0.99956335 -0.9666731 ] [ 0. 0. 0. 1. ]] SLAMing on 59.331193817 meters Centerline goodness : 0.933264 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.16, Z:-0.97 [[ 0.99887095 0.03791972 -0.0286167 6.17371285] [-0.03812613 0.99925046 -0.00670188 -0.15883278] [ 0.02834111 0.00778536 0.99956799 -0.96649516] [ 0. 0. 0. 1. ]] SLAMing on 59.361193817 meters Centerline goodness : 0.935501 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.16, Z:-0.97 [[ 0.99886513 0.03763586 -0.02918885 6.17501628] [-0.03784474 0.99926159 -0.00663687 -0.15954124] [ 0.02891751 0.00773398 0.99955188 -0.96664665] [ 0. 0. 0. 1. ]] SLAMing on 59.391193817 meters Centerline goodness : 0.935997 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.16, Z:-0.97 [[ 9.98848660e-01 3.77673352e-02 -2.95800992e-02 6.17535352e+00] [-3.79549482e-02 9.99262580e-01 -5.80675422e-03 -1.63714040e-01] [ 2.93389806e-02 6.92277981e-03 9.99545546e-01 -9.66093386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.421193817 meters Centerline goodness : 0.934371 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.17, Z:-0.97 [[ 0.99883528 0.0373927 -0.03049387 6.19677495] [-0.03767977 0.99925028 -0.00889416 -0.16714894] [ 0.03013843 0.0100328 0.99949538 -0.96660628] [ 0. 0. 0. 1. ]] SLAMing on 59.451193817000004 meters Centerline goodness : 0.935515 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.17, Z:-0.97 [[ 0.99885047 0.03647927 -0.03109656 6.19932731] [-0.03678995 0.99927807 -0.00947802 -0.16955423] [ 0.03072836 0.01061116 0.99947145 -0.96825525] [ 0. 0. 0. 1. ]] SLAMing on 59.481193817000005 meters Centerline goodness : 0.934001 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.17, Z:-0.97 [[ 0.99883659 0.0363554 -0.03168193 6.2013396 ] [-0.03664964 0.99928981 -0.00875635 -0.17295395] [ 0.03134109 0.0099073 0.99945964 -0.96934842] [ 0. 0. 0. 1. ]] SLAMing on 59.511193817 meters Centerline goodness : 0.939142 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.18, Z:-0.97 [[ 9.99086364e-01 3.50846300e-02 -2.44029732e-02 6.21174024e+00] [-3.51514158e-02 9.99379321e-01 -2.31310075e-03 -1.76813661e-01] [ 2.43066725e-02 3.16878648e-03 9.99699527e-01 -9.72765859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.541193817 meters Centerline goodness : 0.936564 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.18, Z:-0.98 [[ 0.99920758 0.03490579 -0.01912586 6.2249638 ] [-0.03512616 0.99931889 -0.01130971 -0.17683537] [ 0.01871806 0.01197257 0.99975312 -0.9774976 ] [ 0. 0. 0. 1. ]] SLAMing on 59.571193817 meters Centerline goodness : 0.939785 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.18, Z:-0.98 [[ 0.99921308 0.03448991 -0.01958717 6.22667783] [-0.03470988 0.99933685 -0.01100354 -0.17954744] [ 0.01919467 0.01167475 0.9997476 -0.97844952] [ 0. 0. 0. 1. ]] SLAMing on 59.601193817 meters Centerline goodness : 0.936483 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.18, Z:-0.98 [[ 0.99922575 0.0336984 -0.02030584 6.22937722] [-0.03392871 0.99936255 -0.01110603 -0.18240471] [ 0.01991864 0.01178639 0.99973213 -0.98003481] [ 0. 0. 0. 1. ]] SLAMing on 59.631193817 meters Centerline goodness : 0.939677 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.19, Z:-0.98 [[ 0.99931796 0.03032763 -0.02106787 6.23176102] [-0.03061273 0.99944224 -0.01334413 -0.18909881] [ 0.02065142 0.01397997 0.99968899 -0.98151607] [ 0. 0. 0. 1. ]] SLAMing on 59.661193817000004 meters Centerline goodness : 0.941425 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.19, Z:-0.98 [[ 0.99933483 0.02922046 -0.02181903 6.23450722] [-0.02952352 0.9994702 -0.01369956 -0.19186664] [ 0.02140716 0.01433462 0.99966807 -0.98296482] [ 0. 0. 0. 1. ]] SLAMing on 59.691193817 meters Centerline goodness : 0.941044 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.19, Z:-0.98 [[ 0.9993337 0.02882649 -0.02238732 6.23621615] [-0.02913508 0.9994832 -0.01358259 -0.19335158] [ 0.02198421 0.0142258 0.9996571 -0.98361773] [ 0. 0. 0. 1. ]] SLAMing on 59.721193817 meters Centerline goodness : 0.938213 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.19, Z:-0.98 [[ 0.99933099 0.02860006 -0.02279472 6.23773178] [-0.02891429 0.99948968 -0.01357701 -0.19387761] [ 0.02239479 0.01422702 0.99964797 -0.98440823] [ 0. 0. 0. 1. ]] SLAMing on 59.751193817 meters Centerline goodness : 0.939941 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.19, Z:-0.99 [[ 0.99932287 0.02866225 -0.0230711 6.23899068] [-0.02898097 0.99948743 -0.01360102 -0.19335229] [ 0.02266944 0.01426043 0.9996413 -0.9852226 ] [ 0. 0. 0. 1. ]] SLAMing on 59.781193817 meters Centerline goodness : 0.938428 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.19, Z:-0.99 [[ 0.99931406 0.02875359 -0.02333773 6.23984173] [-0.02907857 0.99948314 -0.01370734 -0.19259431] [ 0.02293153 0.01437657 0.99963366 -0.98553249] [ 0. 0. 0. 1. ]] SLAMing on 59.811193817 meters Centerline goodness : 0.940992 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.19, Z:-0.98 [[ 0.99922158 0.03168659 -0.02349861 6.23947841] [-0.03193864 0.99943542 -0.01042932 -0.19272958] [ 0.02315487 0.01117172 0.99966947 -0.984039 ] [ 0. 0. 0. 1. ]] SLAMing on 59.841193817000004 meters Centerline goodness : 0.940248 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.19, Z:-0.99 [[ 9.99440173e-01 2.93016469e-02 -1.61478693e-02 6.24871869e+00] [-2.93977017e-02 9.99551293e-01 -5.74348061e-03 -1.93245846e-01] [ 1.59723302e-02 6.21497550e-03 9.99853119e-01 -9.86660982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.871193817 meters Centerline goodness : 0.939453 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.19, Z:-0.99 [[ 0.99945244 0.02878542 -0.0163163 6.24875913] [-0.02889146 0.9995627 -0.0063007 -0.19240522] [ 0.0161278 0.00676865 0.99984703 -0.98610991] [ 0. 0. 0. 1. ]] SLAMing on 59.901193817 meters Centerline goodness : 0.943043 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.19, Z:-0.99 [[ 0.99945903 0.02829725 -0.01676042 6.24954036] [-0.02841543 0.99957269 -0.00685517 -0.19125025] [ 0.01655928 0.00732771 0.99983603 -0.98582867] [ 0. 0. 0. 1. ]] SLAMing on 59.931193817 meters Centerline goodness : 0.943995 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.19, Z:-0.99 [[ 0.99946829 0.02779587 -0.01704491 6.25047238] [-0.02792641 0.99958208 -0.00746898 -0.18972876] [ 0.01683018 0.00794101 0.99982683 -0.98615639] [ 0. 0. 0. 1. ]] SLAMing on 59.961193817 meters Centerline goodness : 0.940134 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.19, Z:-0.99 [[ 0.99950638 0.02601697 -0.01760999 6.25277248] [-0.02618222 0.99961467 -0.00921947 -0.187488 ] [ 0.01736335 0.00967598 0.99980243 -0.98754231] [ 0. 0. 0. 1. ]] SLAMing on 59.991193817 meters Centerline goodness : 0.938286 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.19, Z:-0.99 [[ 0.99951925 0.02507673 -0.01823248 6.25477084] [-0.02526037 0.99963176 -0.00991257 -0.18745062] [ 0.01797719 0.01036836 0.99978464 -0.98834227] [ 0. 0. 0. 1. ]] SLAMing on 60.021193817000004 meters Centerline goodness : 0.939464 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.19, Z:-0.99 [[ 0.99952288 0.02461771 -0.01865398 6.25582639] [-0.02480883 0.99964135 -0.01008391 -0.18813505] [ 0.01839905 0.01054188 0.99977515 -0.98847513] [ 0. 0. 0. 1. ]] SLAMing on 60.051193817000005 meters Centerline goodness : 0.940522 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.19, Z:-0.99 [[ 0.99952648 0.02416882 -0.01904441 6.25681599] [-0.02436748 0.99965033 -0.01026906 -0.18886817] [ 0.01878956 0.01072826 0.9997659 -0.98863225] [ 0. 0. 0. 1. ]] SLAMing on 60.081193817 meters Centerline goodness : 0.940522 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.19, Z:-0.99 [[ 0.99952648 0.02416882 -0.01904441 6.25681599] [-0.02436748 0.99965033 -0.01026906 -0.18886817] [ 0.01878956 0.01072826 0.9997659 -0.98863225] [ 0. 0. 0. 1. ]] SLAMing on 60.111193817 meters Centerline goodness : 0.939781 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.19, Z:-0.99 [[ 0.99952403 0.02403571 -0.01933926 6.25742008] [-0.02423386 0.99965552 -0.01007765 -0.19014872] [ 0.01909037 0.01054151 0.99976219 -0.98860678] [ 0. 0. 0. 1. ]] SLAMing on 60.141193817 meters Centerline goodness : 0.939808 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.19, Z:-0.99 [[ 0.99951734 0.02404627 -0.01966879 6.25839022] [-0.02425009 0.99965398 -0.01019055 -0.18968371] [ 0.01941694 0.0106626 0.99975462 -0.98887309] [ 0. 0. 0. 1. ]] SLAMing on 60.171193817 meters Centerline goodness : 0.938609 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.19, Z:-0.99 [[ 0.99944228 0.02656062 -0.02024004 6.26091117] [-0.02671338 0.99961637 -0.00731458 -0.19119094] [ 0.020038 0.00785118 0.99976839 -0.99013497] [ 0. 0. 0. 1. ]] SLAMing on 60.201193817000004 meters Centerline goodness : 0.939201 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.19, Z:-0.99 [[ 0.99943006 0.02678447 -0.02054635 6.26206436] [-0.02693996 0.99961019 -0.00732879 -0.19100463] [ 0.02034205 0.00787813 0.99976204 -0.99076492] [ 0. 0. 0. 1. ]] SLAMing on 60.231193817000005 meters Centerline goodness : 0.936258 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.19, Z:-0.99 [[ 9.99314438e-01 3.04698010e-02 -2.10296212e-02 6.26481368e+00] [-3.05561625e-02 9.99525837e-01 -3.79754976e-03 -1.91387886e-01] [ 2.09039392e-02 4.43753083e-03 9.99771641e-01 -9.92812040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.261193817 meters Centerline goodness : 0.932972 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.19, Z:-0.99 [[ 9.99239793e-01 3.24350199e-02 -2.16288071e-02 6.26774646e+00] [-3.24824225e-02 9.99470606e-01 -1.84384522e-03 -1.91928499e-01] [ 2.15575518e-02 2.54499956e-03 9.99764370e-01 -9.94536797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.291193817 meters Centerline goodness : 0.933829 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.19, Z:-0.99 [[ 9.99232958e-01 3.25717710e-02 -2.17387796e-02 6.26796059e+00] [-3.26214337e-02 9.99465909e-01 -1.93373405e-03 -1.91463711e-01] [ 2.16641840e-02 2.64140095e-03 9.99761815e-01 -9.94456587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.321193817 meters Centerline goodness : 0.931927 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.19, Z:-1.00 [[ 0.99928636 0.03427858 -0.01586633 6.28119356] [-0.03439024 0.99938522 -0.00681871 -0.19190209] [ 0.01562284 0.00735949 0.99985087 -0.99624351] [ 0. 0. 0. 1. ]] SLAMing on 60.351193817 meters Centerline goodness : 0.933533 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.19, Z:-1.00 [[ 0.99929939 0.03375194 -0.01617199 6.281837 ] [-0.03386806 0.99940207 -0.00696098 -0.19277713] [ 0.01592738 0.00750381 0.99984499 -0.99618366] [ 0. 0. 0. 1. ]] SLAMing on 60.381193817 meters Centerline goodness : 0.932555 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.19, Z:-1.00 [[ 0.99934054 0.03218368 -0.01681366 6.28419372] [-0.03232317 0.99944472 -0.00809145 -0.19306587] [ 0.01654391 0.00862958 0.9998259 -0.99736702] [ 0. 0. 0. 1. ]] SLAMing on 60.411193817000004 meters Centerline goodness : 0.930905 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.19, Z:-1.00 [[ 0.99938059 0.03058124 -0.0174135 6.28691764] [-0.03074782 0.99948316 -0.00938014 -0.19313352] [ 0.01711764 0.00990976 0.99980437 -0.99915845] [ 0. 0. 0. 1. ]] SLAMing on 60.441193817 meters Centerline goodness : 0.931753 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.19, Z:-1.00 [[ 0.99942721 0.02855991 -0.0181546 6.29058735] [-0.02876912 0.99952143 -0.0113688 -0.1908869 ] [ 0.01782122 0.01188458 0.99977055 -1.00190419] [ 0. 0. 0. 1. ]] SLAMing on 60.471193817 meters Centerline goodness : 0.929795 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.19, Z:-1.00 [[ 0.99943221 0.02813445 -0.01853916 6.29221897] [-0.02836142 0.99952455 -0.01209562 -0.18904547] [ 0.01819005 0.01261455 0.99975497 -1.00292627] [ 0. 0. 0. 1. ]] SLAMing on 60.501193817 meters Centerline goodness : 0.925057 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.19, Z:-1.00 [[ 0.99944364 0.02744103 -0.01895795 6.29393731] [-0.02769373 0.99952933 -0.01319793 -0.18678722] [ 0.01858686 0.0137156 0.99973317 -1.00396719] [ 0. 0. 0. 1. ]] SLAMing on 60.531193817 meters Centerline goodness : 0.927400 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.19, Z:-1.00 [[ 0.99943822 0.02729464 -0.01944834 6.29532939] [-0.02756405 0.99952585 -0.01372196 -0.18505004] [ 0.01906458 0.01425032 0.99971669 -1.00442463] [ 0. 0. 0. 1. ]] SLAMing on 60.561193817 meters Centerline goodness : 0.925682 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.00 [[ 0.9994344 0.02712329 -0.01987968 6.29621716] [-0.02741 0.99952207 -0.0142945 -0.18330623] [ 0.01948247 0.01483132 0.99970019 -1.00432868] [ 0. 0. 0. 1. ]] SLAMing on 60.591193817000004 meters Centerline goodness : 0.928103 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.00 [[ 0.99943465 0.02684883 -0.02023652 6.29630955] [-0.02716018 0.99951444 -0.01527094 -0.18062792] [ 0.01981669 0.01581193 0.99967859 -1.00340728] [ 0. 0. 0. 1. ]] SLAMing on 60.621193817 meters Centerline goodness : 0.927740 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.00 [[ 0.99943183 0.02675 -0.02050507 6.29688374] [-0.02707214 0.99951179 -0.01559747 -0.17940895] [ 0.02007783 0.01614373 0.99966808 -1.00335154] [ 0. 0. 0. 1. ]] SLAMing on 60.651193817 meters Centerline goodness : 0.927813 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.00 [[ 0.99936508 0.02904069 -0.02064139 6.29748834] [-0.02931221 0.99948608 -0.01297555 -0.17714898] [ 0.02025397 0.01357236 0.99970274 -1.00308777] [ 0. 0. 0. 1. ]] SLAMing on 60.681193817 meters Centerline goodness : 0.927192 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.00 [[ 0.99935648 0.02907512 -0.02100648 6.29814313] [-0.02935592 0.99948206 -0.01318475 -0.17549314] [ 0.02061225 0.01379293 0.9996924 -1.00290303] [ 0. 0. 0. 1. ]] SLAMing on 60.711193817 meters Centerline goodness : 0.927609 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.00 [[ 0.99927388 0.03142505 -0.02154468 6.30023726] [-0.03165365 0.99944528 -0.01035246 -0.17598356] [ 0.0212074 0.01102691 0.99971429 -1.00361202] [ 0. 0. 0. 1. ]] SLAMing on 60.741193817 meters Centerline goodness : 0.925281 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.00 [[ 0.99919162 0.03371418 -0.02189661 6.30233048] [-0.03389291 0.9993947 -0.00784307 -0.17616567] [ 0.02161893 0.00857887 0.99972948 -1.00480346] [ 0. 0. 0. 1. ]] SLAMing on 60.771193817000004 meters Centerline goodness : 0.922552 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.17, Z:-1.01 [[ 0.99917554 0.03697814 -0.01675862 6.31503951] [-0.0372352 0.99918946 -0.01529609 -0.17347085] [ 0.01617942 0.01590749 0.99974256 -1.00935846] [ 0. 0. 0. 1. ]] SLAMing on 60.801193817000005 meters Centerline goodness : 0.922842 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.17, Z:-1.01 [[ 0.9991049 0.03856151 -0.01738966 6.31806267] [-0.03880495 0.99915032 -0.01388603 -0.17392739] [ 0.01683941 0.0145484 0.99975236 -1.01131517] [ 0. 0. 0. 1. ]] SLAMing on 60.831193817 meters Centerline goodness : 0.924340 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.17, Z:-1.01 [[ 0.99898808 0.04131206 -0.01778011 6.32059672] [-0.04151204 0.99907713 -0.011029 -0.17398442] [ 0.01730807 0.01175593 0.99978109 -1.01298644] [ 0. 0. 0. 1. ]] SLAMing on 60.861193817 meters Centerline goodness : 0.924441 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.17, Z:-1.01 [[ 0.99886827 0.04385509 -0.01840939 6.32364797] [-0.0440149 0.99899583 -0.00836746 -0.173154 ] [ 0.01802394 0.00916827 0.99979552 -1.01474875] [ 0. 0. 0. 1. ]] SLAMing on 60.891193817 meters Centerline goodness : 0.921847 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.17, Z:-1.02 [[ 9.98758396e-01 4.60588082e-02 -1.89803362e-02 6.32672612e+00] [-4.61798797e-02 9.98915178e-01 -5.99040937e-03 -1.72088063e-01] [ 1.86838348e-02 6.85948129e-03 9.99801911e-01 -1.01663601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.921193817 meters Centerline goodness : 0.917910 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.17, Z:-1.02 [[ 0.99871401 0.04664306 -0.01986832 6.32898728] [-0.0467937 0.99887873 -0.00718515 -0.16925997] [ 0.0195109 0.00810562 0.99977679 -1.0167329 ] [ 0. 0. 0. 1. ]] SLAMing on 60.951193817000004 meters Centerline goodness : 0.918176 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.17, Z:-1.02 [[ 0.9986684 0.04725318 -0.02070166 6.33040325] [-0.04741758 0.99884682 -0.00752378 -0.16927155] [ 0.02032227 0.00849538 0.99975739 -1.01613728] [ 0. 0. 0. 1. ]] SLAMing on 60.981193817000005 meters Centerline goodness : 0.917124 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.17, Z:-1.02 [[ 0.9986499 0.0474428 -0.02115557 6.33147223] [-0.04761371 0.99883653 -0.0076493 -0.16904594] [ 0.02076806 0.00864627 0.99974693 -1.01634348] [ 0. 0. 0. 1. ]] SLAMing on 61.011193817 meters Centerline goodness : 0.916942 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.17, Z:-1.02 [[ 0.99859791 0.04807226 -0.02216466 6.3338866 ] [-0.04825764 0.99880363 -0.00790587 -0.16911441] [ 0.02175809 0.0089644 0.99972307 -1.01663607] [ 0. 0. 0. 1. ]] SLAMing on 61.041193817 meters Centerline goodness : 0.918186 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.17, Z:-1.02 [[ 0.99858792 0.04812252 -0.02250322 6.3352662 ] [-0.04831494 0.99879942 -0.0080862 -0.16836144] [ 0.02208708 0.00916203 0.99971407 -1.01749218] [ 0. 0. 0. 1. ]] SLAMing on 61.071193817 meters Centerline goodness : 0.914483 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.17, Z:-1.02 [[ 9.98444818e-01 5.11963773e-02 -2.20652964e-02 6.33517967e+00] [-5.12987094e-02 9.98674953e-01 -4.09652076e-03 -1.68843677e-01] [ 2.18263319e-02 5.22207116e-03 9.99748139e-01 -1.01828730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.101193817 meters Centerline goodness : 0.911634 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.17, Z:-1.02 [[ 9.98440672e-01 5.10834566e-02 -2.25101271e-02 6.33605169e+00] [-5.11946020e-02 9.98679053e-01 -4.38890478e-03 -1.68876924e-01] [ 2.22561920e-02 5.53445803e-03 9.99736981e-01 -1.01818545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.131193817 meters Centerline goodness : 0.915161 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.17, Z:-1.02 [[ 0.99854299 0.04835253 -0.02395696 6.33830711] [-0.04857196 0.99878212 -0.00866319 -0.16821188] [ 0.0235089 0.0098142 0.99967545 -1.01738623] [ 0. 0. 0. 1. ]] SLAMing on 61.161193817000004 meters Centerline goodness : 0.914767 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.17, Z:-1.02 [[ 0.99866322 0.04533014 -0.02483861 6.33880495] [-0.04563205 0.99888949 -0.01172576 -0.17092079] [ 0.0242795 0.01284352 0.9996227 -1.01624656] [ 0. 0. 0. 1. ]] SLAMing on 61.191193817 meters Centerline goodness : 0.914578 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.17, Z:-1.02 [[ 0.9986894 0.04440409 -0.02545107 6.34110695] [-0.04472296 0.99892615 -0.01209943 -0.17254104] [ 0.02488648 0.01322182 0.99960284 -1.01755864] [ 0. 0. 0. 1. ]] SLAMing on 61.221193817 meters Centerline goodness : 0.912159 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.17, Z:-1.02 [[ 0.99869674 0.04400758 -0.02584859 6.34224661] [-0.04432762 0.99894568 -0.01194107 -0.17439688] [ 0.02529584 0.01307131 0.99959455 -1.01798304] [ 0. 0. 0. 1. ]] SLAMing on 61.251193817 meters Centerline goodness : 0.911413 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.18, Z:-1.02 [[ 0.9986743 0.04444389 -0.02596887 6.34160963] [-0.04472959 0.99894367 -0.01052631 -0.17872432] [ 0.02547361 0.01167393 0.99960733 -1.016735 ] [ 0. 0. 0. 1. ]] SLAMing on 61.281193817 meters Centerline goodness : 0.911413 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.18, Z:-1.02 [[ 0.99895125 0.04201762 -0.01819107 6.35142394] [-0.04214449 0.99908941 -0.00664789 -0.18173957] [ 0.01789518 0.00740757 0.99981243 -1.01982905] [ 0. 0. 0. 1. ]] SLAMing on 61.311193817 meters Centerline goodness : 0.912491 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.18, Z:-1.02 [[ 0.99903492 0.04210717 -0.01249897 6.36342581] [-0.04229845 0.99898548 -0.01545507 -0.18198009] [ 0.01183552 0.01596885 0.99980244 -1.02328326] [ 0. 0. 0. 1. ]] SLAMing on 61.341193817000004 meters Centerline goodness : 0.911753 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.18, Z:-1.02 [[ 0.99903238 0.04209408 -0.01274306 6.3636973 ] [-0.04228253 0.9989946 -0.0148988 -0.1842786 ] [ 0.0121031 0.01542319 0.9998078 -1.02294128] [ 0. 0. 0. 1. ]] SLAMing on 61.371193817 meters Centerline goodness : 0.914237 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.19, Z:-1.02 [[ 0.99904477 0.04172097 -0.01299662 6.36424005] [-0.04191096 0.99901311 -0.01470607 -0.18586758] [ 0.01237024 0.01523673 0.99980739 -1.02288485] [ 0. 0. 0. 1. ]] SLAMing on 61.401193817 meters Centerline goodness : 0.910671 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.19, Z:-1.02 [[ 0.99909032 0.04051767 -0.01329873 6.36489443] [-0.04070949 0.99906602 -0.01448514 -0.18953703] [ 0.0126994 0.01501335 0.99980664 -1.0228259 ] [ 0. 0. 0. 1. ]] SLAMing on 61.431193817 meters Centerline goodness : 0.910226 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.19, Z:-1.02 [[ 0.99914054 0.03903862 -0.01393473 6.36723208] [-0.03924989 0.99911344 -0.01522437 -0.19160863] [ 0.01332804 0.01575823 0.999787 -1.02417345] [ 0. 0. 0. 1. ]] SLAMing on 61.461193817 meters Centerline goodness : 0.909739 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.19, Z:-1.03 [[ 0.99922545 0.03654453 -0.01459436 6.36972301] [-0.03679446 0.99917412 -0.01724059 -0.19366466] [ 0.01395226 0.01776423 0.99974485 -1.02582817] [ 0. 0. 0. 1. ]] SLAMing on 61.491193817 meters Centerline goodness : 0.910407 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.20, Z:-1.03 [[ 0.99928785 0.03459359 -0.01506922 6.37182313] [-0.03486691 0.99922497 -0.01826925 -0.19581095] [ 0.01442554 0.01878166 0.99971954 -1.02724004] [ 0. 0. 0. 1. ]] SLAMing on 61.521193817000004 meters Centerline goodness : 0.909157 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.20, Z:-1.03 [[ 0.99939089 0.02972242 -0.01828713 6.37941809] [-0.03006702 0.99936981 -0.01886706 -0.19735245] [ 0.01771483 0.01940541 0.99965475 -1.02647558] [ 0. 0. 0. 1. ]] SLAMing on 61.551193817000005 meters Centerline goodness : 0.903442 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.20, Z:-1.03 [[ 0.9996392 0.01647124 -0.02121693 6.3812686 ] [-0.01673791 0.99978236 -0.01245291 -0.20022201] [ 0.0210072 0.01280354 0.99969734 -1.02626153] [ 0. 0. 0. 1. ]] SLAMing on 61.581193817 meters Centerline goodness : 0.900600 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.20, Z:-1.03 [[ 0.99970031 0.01098781 -0.02187582 6.38404508] [-0.01137415 0.99978014 -0.01761509 -0.19949018] [ 0.02167746 0.01785863 0.9996055 -1.02819068] [ 0. 0. 0. 1. ]] SLAMing on 61.611193817 meters Centerline goodness : 0.904561 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.20, Z:-1.03 [[ 0.99971012 0.00843339 -0.02255098 6.38719725] [-0.00887493 0.99976945 -0.01955198 -0.19919121] [ 0.02238089 0.01974645 0.99955449 -1.03021919] [ 0. 0. 0. 1. ]] SLAMing on 61.641193817 meters Centerline goodness : 0.901366 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.20, Z:-1.03 [[ 0.99971122 0.0065784 -0.02311288 6.38957402] [-0.00706939 0.99974971 -0.02122572 -0.19718338] [ 0.02296746 0.02138299 0.99950751 -1.03164534] [ 0. 0. 0. 1. ]] SLAMing on 61.671193817 meters Centerline goodness : 0.901579 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.19, Z:-1.03 [[ 0.99970273 0.00708962 -0.02332777 6.39082996] [-0.00758609 0.99974513 -0.0212633 -0.18922832] [ 0.02317108 0.02143395 0.99950172 -1.03201829] [ 0. 0. 0. 1. ]] SLAMing on 61.701193817000004 meters Centerline goodness : 0.901093 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.18, Z:-1.03 [[ 0.99967466 0.00985193 -0.02352707 6.39171187] [-0.01030459 0.99976262 -0.01919679 -0.1843717 ] [ 0.02333235 0.01943298 0.99953887 -1.03225563] [ 0. 0. 0. 1. ]] SLAMing on 61.731193817000005 meters Centerline goodness : 0.899249 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.18, Z:-1.03 [[ 0.99963894 0.01271069 -0.02367327 6.39286962] [-0.01312523 0.99976179 -0.01743834 -0.17825019] [ 0.02344598 0.01774276 0.99956765 -1.03295959] [ 0. 0. 0. 1. ]] SLAMing on 61.761193817 meters Centerline goodness : 0.898747 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.16, Z:-1.04 [[ 0.99964808 0.01669194 -0.02061799 6.41248365] [-0.0171353 0.99962162 -0.02151756 -0.16302388] [ 0.02025102 0.02186328 0.99955585 -1.03725678] [ 0. 0. 0. 1. ]] SLAMing on 61.791193817 meters Centerline goodness : 0.894750 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.16, Z:-1.04 [[ 0.99959581 0.0191213 -0.02103809 6.41450259] [-0.01954525 0.99960622 -0.02013401 -0.15688809] [ 0.02064482 0.02053707 0.99957592 -1.03832857] [ 0. 0. 0. 1. ]] SLAMing on 61.821193817 meters Centerline goodness : 0.895262 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.15, Z:-1.04 [[ 0.99953803 0.02157263 -0.02140927 6.41665855] [-0.02197339 0.99958434 -0.0186635 -0.1512464 ] [ 0.02099775 0.01912531 0.99959658 -1.03966666] [ 0. 0. 0. 1. ]] SLAMing on 61.851193817 meters Centerline goodness : 0.890740 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.15, Z:-1.04 [[ 0.99947555 0.02389259 -0.02185783 6.41878265] [-0.0242695 0.99955844 -0.01714394 -0.14618919] [ 0.02143857 0.01766543 0.99961409 -1.04068182] [ 0. 0. 0. 1. ]] SLAMing on 61.881193817 meters Centerline goodness : 0.888081 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.13, Z:-1.04 [[ 0.99947087 0.02718171 -0.01786456 6.43485348] [-0.02757302 0.99937689 -0.02203554 -0.13095846] [ 0.01725447 0.02251646 0.99959757 -1.04278976] [ 0. 0. 0. 1. ]] SLAMing on 61.911193817000004 meters Centerline goodness : 0.887811 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.12, Z:-1.04 [[ 0.99941344 0.03126177 -0.01398169 6.4527051 ] [-0.0315681 0.99925384 -0.0222533 -0.12400184] [ 0.01327558 0.02268163 0.99965459 -1.04309898] [ 0. 0. 0. 1. ]] SLAMing on 61.941193817 meters Centerline goodness : 0.887938 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.12, Z:-1.04 [[ 0.99929405 0.03479631 -0.01416411 6.45302055] [-0.03507522 0.99918565 -0.01994397 -0.11759593] [ 0.0134586 0.0204267 0.99970076 -1.04234184] [ 0. 0. 0. 1. ]] SLAMing on 61.971193817 meters Centerline goodness : 0.887938 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.12, Z:-1.04 [[ 0.99929405 0.03479631 -0.01416411 6.45302055] [-0.03507522 0.99918565 -0.01994397 -0.11759593] [ 0.0134586 0.0204267 0.99970076 -1.04234184] [ 0. 0. 0. 1. ]] SLAMing on 62.001193817 meters Centerline goodness : 0.885216 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.11, Z:-1.04 [[ 0.9991711 0.03807911 -0.01439073 6.45379266] [-0.03834737 0.99908668 -0.01884902 -0.11146206] [ 0.01365984 0.01938524 0.99971877 -1.04132369] [ 0. 0. 0. 1. ]] SLAMing on 62.031193817 meters Centerline goodness : 0.884196 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.11, Z:-1.04 [[ 0.99903898 0.04131314 -0.01464011 6.45442701] [-0.04156553 0.99898467 -0.01737622 -0.10631909] [ 0.01390738 0.01796805 0.99974183 -1.04028609] [ 0. 0. 0. 1. ]] SLAMing on 62.061193817 meters Centerline goodness : 0.882946 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.10, Z:-1.04 [[ 0.99890848 0.04438094 -0.0145662 6.45447036] [-0.0446094 0.99888029 -0.01575307 -0.10171392] [ 0.01385075 0.01638566 0.99976981 -1.03935829] [ 0. 0. 0. 1. ]] SLAMing on 62.091193817000004 meters Centerline goodness : 0.878912 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.09, Z:-1.04 [[ 0.99880558 0.04670582 -0.01435182 6.45391922] [-0.04694082 0.99876142 -0.01649816 -0.09126451] [ 0.01356348 0.01715214 0.99976089 -1.03717919] [ 0. 0. 0. 1. ]] SLAMing on 62.121193817 meters Centerline goodness : 0.879521 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.09, Z:-1.04 [[ 0.9986644 0.04969558 -0.01413416 6.45379769] [-0.04989646 0.99865297 -0.01423311 -0.08794018] [ 0.0134078 0.01491934 0.9997988 -1.03672959] [ 0. 0. 0. 1. ]] SLAMing on 62.151193817 meters Centerline goodness : 0.876112 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.08, Z:-1.04 [[ 0.99854676 0.05186527 -0.01464083 6.45656096] [-0.05205083 0.99856506 -0.01259088 -0.08451052] [ 0.0139668 0.01333466 0.99981354 -1.03834757] [ 0. 0. 0. 1. ]] SLAMing on 62.181193817 meters Centerline goodness : 0.875462 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.08, Z:-1.04 [[ 0.99844089 0.05371716 -0.01517402 6.45972196] [-0.05388647 0.99848671 -0.01097873 -0.08177451] [ 0.01456132 0.01177929 0.99982459 -1.04050613] [ 0. 0. 0. 1. ]] SLAMing on 62.211193817 meters Centerline goodness : 0.872106 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.08, Z:-1.04 [[ 0.99827853 0.05658508 -0.0154308 6.46202033] [-0.05672471 0.99835137 -0.00876615 -0.07779511] [ 0.01490932 0.00962636 0.99984251 -1.0420962 ] [ 0. 0. 0. 1. ]] SLAMing on 62.241193817 meters Centerline goodness : 0.871309 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.08, Z:-1.04 [[ 0.9982805 0.05641059 -0.0159341 6.46333497] [-0.05657223 0.9983496 -0.00988187 -0.07522757] [ 0.01535036 0.01076631 0.99982421 -1.04216848] [ 0. 0. 0. 1. ]] SLAMing on 62.271193817000004 meters Centerline goodness : 0.870523 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.07, Z:-1.04 [[ 0.99807185 0.05990317 -0.01625391 6.46502717] [-0.06003642 0.99816542 -0.00783678 -0.07023078] [ 0.01575464 0.0087975 0.99983718 -1.04247366] [ 0. 0. 0. 1. ]] SLAMing on 62.301193817000005 meters Centerline goodness : 0.869339 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.07, Z:-1.04 [[ 0.99806463 0.05983236 -0.01694354 6.46672367] [-0.05999612 0.99815503 -0.00932694 -0.06608831] [ 0.01635423 0.01032544 0.99981294 -1.04238001] [ 0. 0. 0. 1. ]] SLAMing on 62.331193817 meters Centerline goodness : 0.868441 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 0.99806463 0.05969696 -0.01741436 6.4679289 ] [-0.05988416 0.9981508 -0.01043379 -0.06282376] [ 0.01675929 0.01145644 0.99979392 -1.04236144] [ 0. 0. 0. 1. ]] SLAMing on 62.361193817 meters Centerline goodness : 0.870668 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 0.99807541 0.05938312 -0.01786391 6.46888971] [-0.05959174 0.99815794 -0.01138194 -0.06078729] [ 0.01715511 0.01242458 0.99977564 -1.04226399] [ 0. 0. 0. 1. ]] SLAMing on 62.391193817 meters Centerline goodness : 0.867633 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 0.99809331 0.05898691 -0.01817389 6.46904536] [-0.05920451 0.99817757 -0.0116772 -0.06167286] [ 0.01745196 0.01273091 0.99976665 -1.04177871] [ 0. 0. 0. 1. ]] SLAMing on 62.421193817 meters Centerline goodness : 0.869054 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 0.99808574 0.05905157 -0.01837859 6.46950895] [-0.05927272 0.99817291 -0.01172962 -0.06149894] [ 0.01765235 0.01279652 0.99976229 -1.0417492 ] [ 0. 0. 0. 1. ]] SLAMing on 62.451193817000004 meters Centerline goodness : 0.867515 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 0.99808428 0.05904547 -0.0184771 6.46948313] [-0.05928282 0.99816205 -0.01257246 -0.05924925] [ 0.01770079 0.01364375 0.99975023 -1.04103482] [ 0. 0. 0. 1. ]] SLAMing on 62.481193817000005 meters Centerline goodness : 0.868846 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 0.99785046 0.06289037 -0.01841916 6.46961053] [-0.06306167 0.9979702 -0.00887127 -0.05847911] [ 0.01782385 0.01001374 0.999791 -1.04057396] [ 0. 0. 0. 1. ]] SLAMing on 62.511193817 meters Centerline goodness : 0.869891 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 9.97570787e-01 6.73399927e-02 -1.78283822e-02 6.46761254e+00] [-6.74506148e-02 9.97706461e-01 -5.67729980e-03 -5.64420152e-02] [ 1.74051828e-02 6.86604377e-03 9.99824943e-01 -1.03802231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.541193817 meters Centerline goodness : 0.866152 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 9.97503336e-01 6.82504910e-02 -1.81373885e-02 6.46802533e+00] [-6.83559555e-02 9.97647134e-01 -5.25912628e-03 -5.67668958e-02] [ 1.77357757e-02 6.48579453e-03 9.99821672e-01 -1.03758202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.571193817 meters Centerline goodness : 0.866402 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 9.97443207e-01 6.90355583e-02 -1.84700099e-02 6.46848721e+00] [-6.91337513e-02 9.97596182e-01 -4.73098173e-03 -5.81409726e-02] [ 1.80990054e-02 5.99578666e-03 9.99818222e-01 -1.03730700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.601193817 meters Centerline goodness : 0.865385 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 9.97345314e-01 7.04246805e-02 -1.85118557e-02 6.46849010e+00] [-7.04973265e-02 9.97506508e-01 -3.30065151e-03 -6.11952961e-02] [ 1.82332492e-02 4.59692565e-03 9.99823193e-01 -1.03723511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.631193817 meters Centerline goodness : 0.864533 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 0.99753514 0.06754622 -0.01900414 6.46890953] [-0.06768438 0.99768414 -0.00672223 -0.06107354] [ 0.01850607 0.00799194 0.99979681 -1.03705438] [ 0. 0. 0. 1. ]] SLAMing on 62.661193817000004 meters Centerline goodness : 0.865234 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 9.97523002e-01 6.77620395e-02 -1.88723852e-02 6.46833493e+00] [-6.78798117e-02 9.97677390e-01 -5.67065775e-03 -6.38265218e-02] [ 1.84442967e-02 6.93766550e-03 9.99805820e-01 -1.03684825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.691193817 meters Centerline goodness : 0.864612 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.07, Z:-1.04 [[ 0.99764308 0.06599052 -0.01880251 6.46700848] [-0.06613153 0.99778651 -0.0069788 -0.06578897] [ 0.01830036 0.00820579 0.99979886 -1.03587898] [ 0. 0. 0. 1. ]] SLAMing on 62.721193817 meters Centerline goodness : 0.863708 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.07, Z:-1.04 [[ 0.99783518 0.06286775 -0.01930306 6.467949 ] [-0.06306083 0.99796388 -0.00956145 -0.06835233] [ 0.01866265 0.01075802 0.99976796 -1.0365489 ] [ 0. 0. 0. 1. ]] SLAMing on 62.751193817 meters Centerline goodness : 0.862732 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.08, Z:-1.04 [[ 0.99818601 0.05686966 -0.01976165 6.46750892] [-0.05714059 0.99827585 -0.01342652 -0.07781209] [ 0.01896402 0.01453136 0.99971456 -1.03684073] [ 0. 0. 0. 1. ]] SLAMing on 62.781193817 meters Centerline goodness : 0.862242 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.08, Z:-1.04 [[ 0.9981751 0.05702269 -0.01987143 6.46740994] [-0.05725726 0.99829389 -0.01144217 -0.08446862] [ 0.01918506 0.01255907 0.99973707 -1.03717368] [ 0. 0. 0. 1. ]] SLAMing on 62.811193817 meters Centerline goodness : 0.863222 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.09, Z:-1.04 [[ 0.99831749 0.05427258 -0.02041285 6.46789398] [-0.05456672 0.99841001 -0.01413928 -0.08661271] [ 0.01961302 0.01522935 0.99969165 -1.03699524] [ 0. 0. 0. 1. ]] SLAMing on 62.841193817000004 meters Centerline goodness : 0.864121 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.09, Z:-1.04 [[ 0.99824868 0.05533975 -0.02090673 6.46868514] [-0.05560958 0.99837368 -0.01255264 -0.08947423] [ 0.02017807 0.01369327 0.99970263 -1.03696407] [ 0. 0. 0. 1. ]] SLAMing on 62.871193817 meters Centerline goodness : 0.862468 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.10, Z:-1.04 [[ 0.99805624 0.05830269 -0.02201202 6.47159835] [-0.05851205 0.99824623 -0.00898938 -0.0954633 ] [ 0.02144931 0.01025988 0.99971729 -1.03820593] [ 0. 0. 0. 1. ]] SLAMing on 62.901193817 meters Centerline goodness : 0.860820 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.10, Z:-1.04 [[ 0.99794944 0.05991522 -0.02251827 6.47272208] [-0.06008068 0.99817074 -0.00674403 -0.09983392] [ 0.02207301 0.00808312 0.99972368 -1.03864572] [ 0. 0. 0. 1. ]] SLAMing on 62.931193817 meters Centerline goodness : 0.861339 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.10, Z:-1.04 [[ 9.97861033e-01 6.11688627e-02 -2.30592653e-02 6.47397547e+00] [-6.12945422e-02 9.98108263e-01 -4.78279836e-03 -1.04682355e-01] [ 2.27230848e-02 6.18597522e-03 9.99722659e-01 -1.03924463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.961193817 meters Centerline goodness : 0.861087 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.11, Z:-1.04 [[ 0.99792897 0.05952353 -0.02438696 6.47616048] [-0.05970318 0.99819365 -0.00670531 -0.10833729] [ 0.02394379 0.0081474 0.99968011 -1.03929868] [ 0. 0. 0. 1. ]] SLAMing on 62.991193817 meters Centerline goodness : 0.864203 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.12, Z:-1.04 [[ 0.99795638 0.05853972 -0.02561553 6.47719409] [-0.05872871 0.99825158 -0.00668809 -0.11806565] [ 0.02517923 0.00817879 0.9996495 -1.03864686] [ 0. 0. 0. 1. ]] SLAMing on 63.021193817000004 meters Centerline goodness : 0.862845 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.12, Z:-1.04 [[ 9.97922660e-01 5.90039923e-02 -2.58629591e-02 6.47651333e+00] [-5.91471590e-02 9.98237708e-01 -4.80533678e-03 -1.24535563e-01] [ 2.55338469e-02 6.32507501e-03 9.99653948e-01 -1.03785434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.051193817000005 meters Centerline goodness : 0.864988 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.13, Z:-1.04 [[ 0.99809069 0.05581515 -0.02645059 6.47693846] [-0.05601173 0.9984073 -0.00674946 -0.12966562] [ 0.02603174 0.00821811 0.99962734 -1.03798176] [ 0. 0. 0. 1. ]] SLAMing on 63.081193817 meters Centerline goodness : 0.865525 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.14, Z:-1.04 [[ 9.98386765e-01 4.83793652e-02 -2.97204484e-02 6.46740807e+00] [-4.84508926e-02 9.98824135e-01 -1.69083185e-03 -1.35702971e-01] [ 2.96036998e-02 3.12808640e-03 9.99556820e-01 -1.03683225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.111193817 meters Centerline goodness : 0.869433 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.15, Z:-1.04 [[ 9.98693040e-01 4.14448798e-02 -2.99087522e-02 6.46803167e+00] [-4.15727105e-02 9.99128760e-01 -3.66465505e-03 -1.47663513e-01] [ 2.97308133e-02 4.90325339e-03 9.99545915e-01 -1.03964942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.141193817 meters Centerline goodness : 0.869370 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.15, Z:-1.04 [[ 9.98833170e-01 3.78530054e-02 -2.99907975e-02 6.46794629e+00] [-3.80482103e-02 9.99258102e-01 -5.96490437e-03 -1.52797209e-01] [ 2.97427578e-02 7.09904052e-03 9.99532377e-01 -1.03968392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.171193817 meters Centerline goodness : 0.869022 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.16, Z:-1.04 [[ 0.99895161 0.03446617 -0.03012905 6.46739043] [-0.03470298 0.99937048 -0.00737238 -0.15869864] [ 0.02985599 0.00841022 0.99951883 -1.03968976] [ 0. 0. 0. 1. ]] SLAMing on 63.201193817000004 meters Centerline goodness : 0.870153 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.17, Z:-1.04 [[ 0.99922897 0.02515098 -0.03014778 6.46568455] [-0.02560835 0.99956127 -0.01488211 -0.17025759] [ 0.02976025 0.01564267 0.99943466 -1.03852828] [ 0. 0. 0. 1. ]] SLAMing on 63.231193817000005 meters Centerline goodness : 0.873411 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.17, Z:-1.04 [[ 0.99930427 0.02173922 -0.03030493 6.46559944] [-0.02227226 0.99960114 -0.01736425 -0.17489957] [ 0.02991535 0.01802713 0.99938986 -1.03826111] [ 0. 0. 0. 1. ]] SLAMing on 63.261193817 meters Centerline goodness : 0.873486 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.18, Z:-1.04 [[ 0.99937397 0.01800439 -0.03045489 6.46593777] [-0.01863294 0.99961657 -0.02048245 -0.17733841] [ 0.03007444 0.0210371 0.99932626 -1.03851109] [ 0. 0. 0. 1. ]] SLAMing on 63.291193817 meters Centerline goodness : 0.878345 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.18, Z:-1.04 [[ 0.999385 0.01657663 -0.03090059 6.46762272] [-0.01722282 0.99963604 -0.02076455 -0.17988424] [ 0.03054514 0.02128397 0.99930675 -1.03929949] [ 0. 0. 0. 1. ]] SLAMing on 63.321193817 meters Centerline goodness : 0.877416 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.18, Z:-1.04 [[ 0.99939695 0.01490163 -0.03136376 6.46936947] [-0.01557619 0.9996502 -0.0213745 -0.18223921] [ 0.03103427 0.02185014 0.99927946 -1.04005057] [ 0. 0. 0. 1. ]] SLAMing on 63.351193817 meters Centerline goodness : 0.879536 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.19, Z:-1.04 [[ 9.99669430e-01 4.03592968e-03 -2.53917514e-02 6.46791096e+00] [-4.40309224e-03 9.99886322e-01 -1.44206606e-02 -1.87233331e-01] [ 2.53306641e-02 1.45276958e-02 9.99573561e-01 -1.04007673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.381193817 meters Centerline goodness : 0.881877 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.19, Z:-1.04 [[ 9.99671742e-01 -6.75644809e-04 -2.56115368e-02 6.46871784e+00] [ 1.99561038e-04 9.99827233e-01 -1.85866453e-02 -1.87991842e-01] [ 2.56196699e-02 1.85754330e-02 9.99499167e-01 -1.04047135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.411193817000004 meters Centerline goodness : 0.885304 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.19, Z:-1.04 [[ 9.99730786e-01 -6.12937933e-03 -2.23782503e-02 6.47784842e+00] [ 5.82809100e-03 9.99891833e-01 -1.35039308e-02 -1.90013740e-01] [ 2.24586004e-02 1.33698728e-02 9.99658371e-01 -1.04042811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.441193817 meters Centerline goodness : 0.885572 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.19, Z:-1.04 [[ 0.99968566 -0.01097078 -0.02254365 6.47898831] [ 0.01056281 0.99977972 -0.01813688 -0.18898578] [ 0.02273766 0.01789306 0.99958133 -1.04124778] [ 0. 0. 0. 1. ]] SLAMing on 63.471193817 meters Centerline goodness : 0.888589 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.19, Z:-1.04 [[ 0.99954106 -0.01892764 -0.023652 6.48327635] [ 0.01833577 0.9995194 -0.02499524 -0.18623543] [ 0.02411373 0.02455009 0.99940774 -1.04309111] [ 0. 0. 0. 1. ]] SLAMing on 63.501193817 meters Centerline goodness : 0.889039 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.18, Z:-1.04 [[ 0.99949919 -0.02054542 -0.02406773 6.48497654] [ 0.01990754 0.99945189 -0.02644997 -0.18429653] [ 0.02459797 0.02595759 0.99936037 -1.04393701] [ 0. 0. 0. 1. ]] SLAMing on 63.531193817 meters Centerline goodness : 0.893845 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.18, Z:-1.04 [[ 0.99947487 -0.02152102 -0.02422441 6.48571438] [ 0.02084723 0.99939799 -0.02773169 -0.1808755 ] [ 0.02480664 0.02721211 0.99932184 -1.04427629] [ 0. 0. 0. 1. ]] SLAMing on 63.561193817 meters Centerline goodness : 0.898092 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.18, Z:-1.04 [[ 0.99950333 -0.01950931 -0.0247485 6.48733127] [ 0.01886785 0.99948664 -0.02589328 -0.17690687] [ 0.02524095 0.02541347 0.99935832 -1.04483029] [ 0. 0. 0. 1. ]] SLAMing on 63.591193817000004 meters Centerline goodness : 0.897574 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.17, Z:-1.05 [[ 0.99954546 -0.0167264 -0.02508175 6.48822164] [ 0.01612873 0.99958556 -0.0238448 -0.17172605] [ 0.0254702 0.02342942 0.99940099 -1.04502214] [ 0. 0. 0. 1. ]] SLAMing on 63.621193817000005 meters Centerline goodness : 0.899373 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.16, Z:-1.05 [[ 0.99972891 -0.00956254 -0.02122867 6.50507889] [ 0.00904108 0.99965832 -0.02452564 -0.15701854] [ 0.02145595 0.02432706 0.99947378 -1.0474852 ] [ 0. 0. 0. 1. ]] SLAMing on 63.651193817 meters Centerline goodness : 0.899033 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.15, Z:-1.05 [[ 9.99758099e-01 -3.65457694e-03 -2.16884395e-02 6.50670878e+00] [ 3.22833444e-03 9.99801599e-01 -1.96555572e-02 -1.50759245e-01] [ 2.17559692e-02 1.95807850e-02 9.99571544e-01 -1.04810793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.681193817 meters Centerline goodness : 0.898618 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.13, Z:-1.05 [[ 9.99841879e-01 4.92701079e-03 -1.70862750e-02 6.52140193e+00] [-5.30925987e-03 9.99735014e-01 -2.23989816e-02 -1.33151726e-01] [ 1.69713873e-02 2.24861553e-02 9.99603094e-01 -1.05226423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.711193817 meters Centerline goodness : 0.895728 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.12, Z:-1.05 [[ 0.99984674 0.00985826 -0.01446726 6.53983156] [-0.01019444 0.99967535 -0.02335083 -0.12484446] [ 0.01423236 0.02349474 0.99962265 -1.05376789] [ 0. 0. 0. 1. ]] SLAMing on 63.741193817 meters Centerline goodness : 0.898970 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.12, Z:-1.05 [[ 0.99976327 0.01603841 -0.01470255 6.54102652] [-0.01630442 0.99970224 -0.018155 -0.11814615] [ 0.01440699 0.01839041 0.99972708 -1.05404921] [ 0. 0. 0. 1. ]] SLAMing on 63.771193817000004 meters Centerline goodness : 0.899151 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.11, Z:-1.06 [[ 0.99976523 0.01915363 -0.01013019 6.5564331 ] [-0.01937535 0.9995644 -0.02226208 -0.10819883] [ 0.00969938 0.02245313 0.99970084 -1.05670455] [ 0. 0. 0. 1. ]] SLAMing on 63.801193817000005 meters Centerline goodness : 0.897469 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.09, Z:-1.06 [[ 0.99968423 0.02401398 -0.00740097 6.57576642] [-0.02418454 0.99942204 -0.0238892 -0.09260536] [ 0.00682301 0.02406065 0.99968722 -1.05887741] [ 0. 0. 0. 1. ]] SLAMing on 63.831193817 meters Centerline goodness : 0.896306 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.09, Z:-1.06 [[ 0.99961245 0.02672911 -0.00777806 6.57770746] [-0.02689561 0.99939273 -0.02215407 -0.08697889] [ 0.00718118 0.02235468 0.99972431 -1.05984699] [ 0. 0. 0. 1. ]] SLAMing on 63.861193817 meters Centerline goodness : 0.899664 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.08, Z:-1.06 [[ 0.99952431 0.02968892 -0.00835036 6.57970258] [-0.02985598 0.99934091 -0.02064874 -0.0821695 ] [ 0.00773182 0.02088822 0.99975192 -1.06007673] [ 0. 0. 0. 1. ]] SLAMing on 63.891193817 meters Centerline goodness : 0.898798 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.08, Z:-1.06 [[ 0.99943455 0.03243941 -0.00884659 6.58208895] [-0.03260229 0.99928904 -0.0189343 -0.0782231 ] [ 0.00822608 0.01921202 0.99978159 -1.06116755] [ 0. 0. 0. 1. ]] SLAMing on 63.921193817 meters Centerline goodness : 0.898798 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.08, Z:-1.06 [[ 0.99943455 0.03243941 -0.00884659 6.58208895] [-0.03260229 0.99928904 -0.0189343 -0.0782231 ] [ 0.00822608 0.01921202 0.99978159 -1.06116755] [ 0. 0. 0. 1. ]] SLAMing on 63.951193817000004 meters Centerline goodness : 0.903208 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.07, Z:-1.06 [[ 0.99931675 0.03580806 -0.00915465 6.58346061] [-0.03596944 0.99918866 -0.01811706 -0.07014419] [ 0.00849849 0.01843397 0.99979396 -1.06066041] [ 0. 0. 0. 1. ]] SLAMing on 63.981193817000005 meters Centerline goodness : 0.905734 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.07, Z:-1.06 [[ 0.9991965 0.03900574 -0.00921476 6.58370583] [-0.03914885 0.99910692 -0.01589772 -0.06641357] [ 0.00858643 0.01624569 0.99983116 -1.05986344] [ 0. 0. 0. 1. ]] SLAMing on 64.011193817 meters Centerline goodness : 0.903135 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.06, Z:-1.06 [[ 0.99905534 0.04240534 -0.00949803 6.58446894] [-0.04253244 0.99900245 -0.01360504 -0.0626597 ] [ 0.00891163 0.01399616 0.99986234 -1.05912455] [ 0. 0. 0. 1. ]] SLAMing on 64.041193817 meters Centerline goodness : 0.907984 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.06, Z:-1.06 [[ 0.99874049 0.04909287 -0.01036001 6.58807344] [-0.04918045 0.99875479 -0.00837521 -0.05763334] [ 0.00993594 0.00887417 0.99991126 -1.06014646] [ 0. 0. 0. 1. ]] SLAMing on 64.07119381700001 meters Centerline goodness : 0.906701 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.05, Z:-1.06 [[ 0.99870936 0.04962539 -0.01081322 6.58933366] [-0.04972671 0.99871945 -0.00931173 -0.05428775] [ 0.01033728 0.00983742 0.99989818 -1.0600774 ] [ 0. 0. 0. 1. ]] SLAMing on 64.101193817 meters Centerline goodness : 0.910046 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.05, Z:-1.06 [[ 9.98516737e-01 5.33450789e-02 -1.08916365e-02 6.58971612e+00] [-5.34116251e-02 9.98555073e-01 -5.91302030e-03 -5.33433239e-02] [ 1.05604683e-02 6.48598974e-03 9.99923201e-01 -1.05963288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.131193817 meters Centerline goodness : 0.910397 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.05, Z:-1.06 [[ 0.99849502 0.05374131 -0.01093419 6.58938561] [-0.05381541 0.99852909 -0.00659923 -0.05097519] [ 0.01056345 0.00717773 0.99991844 -1.05846551] [ 0. 0. 0. 1. ]] SLAMing on 64.161193817 meters Centerline goodness : 0.914691 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.05, Z:-1.06 [[ 9.98264372e-01 5.79098277e-02 -1.07096310e-02 6.58849862e+00] [-5.79434378e-02 9.98315786e-01 -2.85485395e-03 -4.95669442e-02] [ 1.05262695e-02 3.47045182e-03 9.99938575e-01 -1.05686141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.191193817 meters Centerline goodness : 0.913555 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.05, Z:-1.06 [[ 9.98252915e-01 5.81026416e-02 -1.07331789e-02 6.58782781e+00] [-5.81388051e-02 9.98303732e-01 -3.08833879e-03 -4.91415408e-02] [ 1.05355319e-02 3.70695740e-03 9.99937629e-01 -1.05556228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.221193817 meters Centerline goodness : 0.919293 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.05, Z:-1.05 [[ 9.98246477e-01 5.82033965e-02 -1.07859402e-02 6.58719897e+00] [-5.82377148e-02 9.98298546e-01 -2.89520502e-03 -5.05472120e-02] [ 1.05990776e-02 3.51827672e-03 9.99937639e-01 -1.05459390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.251193817 meters Centerline goodness : 0.920554 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.05, Z:-1.05 [[ 9.98384064e-01 5.58419116e-02 -1.05329246e-02 6.58469770e+00] [-5.58946726e-02 9.98425215e-01 -4.78289043e-03 -5.43730208e-02] [ 1.02492518e-02 5.36389596e-03 9.99933088e-01 -1.05254798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.281193817 meters Centerline goodness : 0.924718 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.06, Z:-1.05 [[ 9.98376148e-01 5.59535441e-02 -1.06896424e-02 6.58500564e+00] [-5.60012164e-02 9.98421810e-01 -4.21342093e-03 -5.63880758e-02] [ 1.04370163e-02 4.80521193e-03 9.99933987e-01 -1.05257168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.311193817 meters Centerline goodness : 0.924019 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.06, Z:-1.05 [[ 9.98367984e-01 5.60874432e-02 -1.07502008e-02 6.58499274e+00] [-5.61312679e-02 9.98416094e-01 -3.81898780e-03 -5.76806082e-02] [ 1.05189763e-02 4.41617755e-03 9.99934922e-01 -1.05240701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.341193817 meters Centerline goodness : 0.923087 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.06, Z:-1.05 [[ 9.98355088e-01 5.62508896e-02 -1.10885620e-02 6.58591102e+00] [-5.62914881e-02 9.98408644e-01 -3.38359251e-03 -5.91279510e-02] [ 1.08805861e-02 4.00221846e-03 9.99932795e-01 -1.05276464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.371193817 meters Centerline goodness : 0.926786 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.07, Z:-1.05 [[ 9.98293605e-01 5.72990680e-02 -1.12558774e-02 6.58719405e+00] [-5.73112715e-02 9.98356066e-01 -7.64377457e-04 -6.58449884e-02] [ 1.11935754e-02 1.40816177e-03 9.99936358e-01 -1.05437843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.401193817 meters Centerline goodness : 0.923254 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.07, Z:-1.05 [[ 9.98456171e-01 5.42068473e-02 -1.21199475e-02 6.58882268e+00] [-5.42565610e-02 9.98519755e-01 -3.81109663e-03 -6.82682965e-02] [ 1.18954195e-02 4.46279962e-03 9.99919288e-01 -1.05493419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43119381700001 meters Centerline goodness : 0.924616 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.07, Z:-1.06 [[ 9.98455211e-01 5.41481251e-02 -1.24567742e-02 6.58971965e+00] [-5.41796001e-02 9.98528776e-01 -2.20305296e-03 -7.36255763e-02] [ 1.23191564e-02 2.87455276e-03 9.99919984e-01 -1.05585984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46119381700001 meters Centerline goodness : 0.926636 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.08, Z:-1.06 [[ 9.98600777e-01 5.12815798e-02 -1.29107361e-02 6.59046507e+00] [-5.13422051e-02 9.98671388e-01 -4.40869609e-03 -7.68993793e-02] [ 1.26674979e-02 5.06539300e-03 9.99906934e-01 -1.05643424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.491193817 meters Centerline goodness : 0.926053 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.09, Z:-1.06 [[ 9.98740351e-01 4.82706341e-02 -1.36987976e-02 6.59294966e+00] [-4.83391146e-02 9.98819865e-01 -4.71253913e-03 -8.56906457e-02] [ 1.34551539e-02 5.36879073e-03 9.99895062e-01 -1.05920538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.521193817 meters Centerline goodness : 0.925854 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.09, Z:-1.06 [[ 0.99886555 0.0454287 -0.01427721 6.59440787] [-0.04552673 0.9989412 -0.00661764 -0.08941746] [ 0.01396147 0.00726013 0.99987618 -1.06035649] [ 0. 0. 0. 1. ]] SLAMing on 64.551193817 meters Centerline goodness : 0.928787 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.09, Z:-1.06 [[ 0.99899308 0.04235504 -0.01479477 6.59501481] [-0.04249326 0.9990548 -0.00915609 -0.0922367 ] [ 0.01439298 0.00977555 0.99984863 -1.06042116] [ 0. 0. 0. 1. ]] SLAMing on 64.581193817 meters Centerline goodness : 0.930098 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.10, Z:-1.06 [[ 9.98960477e-01 4.32026944e-02 -1.45427660e-02 6.59229136e+00] [-4.32968825e-02 9.99042856e-01 -6.22517093e-03 -1.00843273e-01] [ 1.42599023e-02 6.84835616e-03 9.99874870e-01 -1.05816268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.611193817 meters Centerline goodness : 0.930040 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.10, Z:-1.06 [[ 0.99906983 0.04032288 -0.01528178 6.59293144] [-0.04046266 0.99914096 -0.00895042 -0.10351385] [ 0.01490774 0.00956044 0.99984317 -1.05745268] [ 0. 0. 0. 1. ]] SLAMing on 64.641193817 meters Centerline goodness : 0.933862 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.11, Z:-1.06 [[ 0.99917622 0.0374818 -0.01555648 6.59232911] [-0.03765768 0.99922825 -0.01117135 -0.10718807] [ 0.01512576 0.01174796 0.99981658 -1.05653954] [ 0. 0. 0. 1. ]] SLAMing on 64.671193817 meters Centerline goodness : 0.934844 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.11, Z:-1.06 [[ 0.99928811 0.03416218 -0.01600667 6.59252757] [-0.03438117 0.9993161 -0.01361156 -0.11096017] [ 0.01553072 0.0141522 0.99977923 -1.05634755] [ 0. 0. 0. 1. ]] SLAMing on 64.701193817 meters Centerline goodness : 0.931789 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.12, Z:-1.06 [[ 0.99932251 0.03332475 -0.01561987 6.59125498] [-0.03351359 0.99936637 -0.01198755 -0.1168302 ] [ 0.0152105 0.0125029 0.99980614 -1.0564032 ] [ 0. 0. 0. 1. ]] SLAMing on 64.731193817 meters Centerline goodness : 0.934620 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.12, Z:-1.06 [[ 0.99949277 0.02815944 -0.0148746 6.58875171] [-0.02836271 0.99950468 -0.01363609 -0.12412966] [ 0.01448325 0.01405106 0.99979638 -1.0560104 ] [ 0. 0. 0. 1. ]] SLAMing on 64.761193817 meters Centerline goodness : 0.933844 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.13, Z:-1.06 [[ 0.99959387 0.02412679 -0.01516558 6.58926412] [-0.02438583 0.99955577 -0.01713449 -0.12576044] [ 0.01474544 0.01749735 0.99973817 -1.05612668] [ 0. 0. 0. 1. ]] SLAMing on 64.791193817 meters Centerline goodness : 0.934143 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.13, Z:-1.06 [[ 0.99976227 0.01890758 -0.01085853 6.59948461] [-0.01904312 0.9997403 -0.01251787 -0.12884744] [ 0.01061903 0.01272167 0.99986269 -1.05826291] [ 0. 0. 0. 1. ]] SLAMing on 64.82119381700001 meters Centerline goodness : 0.934457 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.13, Z:-1.06 [[ 0.99982616 0.01496511 -0.0111217 6.60021168] [-0.01514508 0.9997528 -0.01627746 -0.12941082] [ 0.01087536 0.01644307 0.99980566 -1.05866106] [ 0. 0. 0. 1. ]] SLAMing on 64.851193817 meters Centerline goodness : 0.933476 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.13, Z:-1.06 [[ 0.99983851 0.01362469 -0.01171821 6.60218272] [-0.01382353 0.99975892 -0.01705884 -0.13035502] [ 0.01148296 0.01721807 0.99978582 -1.05956338] [ 0. 0. 0. 1. ]] SLAMing on 64.881193817 meters Centerline goodness : 0.931589 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.13, Z:-1.06 [[ 0.99992865 0.00957532 -0.00714154 6.61405109] [-0.00966345 0.9998763 -0.01240969 -0.13093965] [ 0.00702183 0.01247782 0.99989749 -1.06293655] [ 0. 0. 0. 1. ]] SLAMing on 64.911193817 meters Centerline goodness : 0.929430 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.13, Z:-1.06 [[ 0.9999282 0.0093985 -0.0074344 6.61502315] [-0.00949282 0.99987358 -0.01275585 -0.12996936] [ 0.00731357 0.01282551 0.999891 -1.06334625] [ 0. 0. 0. 1. ]] SLAMing on 64.941193817 meters Centerline goodness : 0.928800 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.13, Z:-1.07 [[ 0.99991298 0.01053404 -0.00794114 6.61754848] [-0.01062764 0.99987345 -0.01183807 -0.12901132] [ 0.00781544 0.01192143 0.99989839 -1.06502349] [ 0. 0. 0. 1. ]] SLAMing on 64.971193817 meters Centerline goodness : 0.923471 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.12, Z:-1.07 [[ 9.99870213e-01 1.58092157e-02 -3.10239963e-03 6.63128556e+00] [-1.58572155e-02 9.99744466e-01 -1.61106150e-02 -1.21461298e-01] [ 2.84691067e-03 1.61577195e-02 9.99865403e-01 -1.06869675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.001193817 meters Centerline goodness : 0.921228 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.12, Z:-1.07 [[ 9.99796122e-01 1.99366233e-02 -3.20093262e-03 6.63172828e+00] [-1.99753652e-02 9.99721507e-01 -1.25655938e-02 -1.18749121e-01] [ 2.94952567e-03 1.26269718e-02 9.99915926e-01 -1.06861449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.031193817 meters Centerline goodness : 0.919645 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.12, Z:-1.07 [[ 9.99711057e-01 2.38086659e-02 -3.30892626e-03 6.63206995e+00] [-2.38383514e-02 9.99673107e-01 -9.24181777e-03 -1.16536327e-01] [ 3.08780924e-03 9.31802676e-03 9.99951819e-01 -1.06832992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.061193817 meters Centerline goodness : 0.915627 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.11, Z:-1.07 [[ 9.99539712e-01 3.03233230e-02 9.27563083e-04 6.64554437e+00] [-3.03075581e-02 9.99444367e-01 -1.38711973e-02 -1.11366688e-01] [-1.34766849e-03 1.38367004e-02 9.99903360e-01 -1.07268379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.091193817 meters Centerline goodness : 0.914867 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.11, Z:-1.07 [[ 9.99456612e-01 3.29576422e-02 5.24537839e-04 6.64781540e+00] [-3.29497054e-02 9.99394223e-01 -1.12028413e-02 -1.11469629e-01] [-8.93439322e-04 1.11794705e-02 9.99937109e-01 -1.07433939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.121193817 meters Centerline goodness : 0.914824 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.11, Z:-1.08 [[ 9.99440007e-01 3.34614954e-02 1.71644452e-05 6.64950205e+00] [-3.34590891e-02 9.99374031e-01 -1.14906994e-02 -1.10041621e-01] [-4.01649685e-04 1.14836904e-02 9.99933980e-01 -1.07500745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.151193817 meters Centerline goodness : 0.912647 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.11, Z:-1.08 [[ 9.99427851e-01 3.38214608e-02 -2.82646559e-04 6.65080658e+00] [-3.38224471e-02 9.99358846e-01 -1.17447791e-02 -1.08434117e-01] [-1.14760246e-04 1.17476191e-02 9.99930988e-01 -1.07571783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18119381700001 meters Centerline goodness : 0.908476 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.11, Z:-1.08 [[ 9.99406479e-01 3.44411353e-02 -7.05139472e-04 6.65263418e+00] [-3.44471510e-02 9.99333211e-01 -1.21048005e-02 -1.05984174e-01] [ 2.87766224e-04 1.21219061e-02 9.99926486e-01 -1.07666527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21119381700001 meters Centerline goodness : 0.904077 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.11, Z:-1.08 [[ 9.99279599e-01 3.79482449e-02 -4.62570009e-04 6.65271505e+00] [-3.79505917e-02 9.99253746e-01 -7.19050596e-03 -1.08957956e-01] [ 1.89357733e-04 7.20288072e-03 9.99974041e-01 -1.07749974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.241193817 meters Centerline goodness : 0.905509 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.11, Z:-1.08 [[ 9.99272515e-01 3.81278065e-02 -8.43597218e-04 6.65393261e+00] [-3.81327311e-02 9.99248836e-01 -6.90354904e-03 -1.09885581e-01] [ 5.79746356e-04 6.93069548e-03 9.99975814e-01 -1.07822215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.271193817 meters Centerline goodness : 0.900383 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.11, Z:-1.08 [[ 9.99267834e-01 3.82404155e-02 -1.21133201e-03 6.65473622e+00] [-3.82478011e-02 9.99245072e-01 -6.81114205e-03 -1.10644965e-01] [ 9.49956640e-04 6.85248595e-03 9.99976070e-01 -1.07825319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.301193817 meters Centerline goodness : 0.898442 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.11, Z:-1.08 [[ 9.99356376e-01 3.58188107e-02 -1.96149076e-03 6.65521396e+00] [-3.58364639e-02 9.99309040e-01 -9.85853314e-03 -1.12236396e-01] [ 1.60701452e-03 9.92248084e-03 9.99949480e-01 -1.07694586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.331193817 meters Centerline goodness : 0.899560 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.11, Z:-1.08 [[ 9.99351544e-01 3.59469858e-02 -2.07505676e-03 6.65554345e+00] [-3.59640001e-02 9.99313938e-01 -8.84554924e-03 -1.14567393e-01] [ 1.75566231e-03 8.91444063e-03 9.99958724e-01 -1.07738681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.361193817 meters Centerline goodness : 0.894152 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.12, Z:-1.08 [[ 9.99375443e-01 3.52725512e-02 -2.13819667e-03 6.65606246e+00] [-3.52897678e-02 9.99339821e-01 -8.63451368e-03 -1.15981763e-01] [ 1.83222375e-03 8.70457739e-03 9.99960436e-01 -1.07815394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.391193817 meters Centerline goodness : 0.896125 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.12, Z:-1.08 [[ 9.99509117e-01 3.13147025e-02 -9.55885672e-04 6.65184263e+00] [-3.13240310e-02 9.99435066e-01 -1.21800966e-02 -1.15179213e-01] [ 5.73929557e-04 1.22040598e-02 9.99925363e-01 -1.07533261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.421193817 meters Centerline goodness : 0.894799 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.12, Z:-1.07 [[ 9.99554227e-01 2.98455046e-02 -7.70346272e-04 6.65093746e+00] [-2.98528612e-02 9.99474406e-01 -1.26379499e-02 -1.16586213e-01] [ 3.92755390e-04 1.26553133e-02 9.99919841e-01 -1.07459850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.451193817 meters Centerline goodness : 0.894893 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.12, Z:-1.07 [[ 9.99669091e-01 2.57007700e-02 -1.08582197e-03 6.65102225e+00] [-2.57152537e-02 9.99531695e-01 -1.65866266e-02 -1.17403253e-01] [ 6.59024403e-04 1.66090601e-02 9.99861843e-01 -1.07410263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.481193817 meters Centerline goodness : 0.895875 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.12, Z:-1.07 [[ 9.99868402e-01 1.61971571e-02 9.11926820e-04 6.65847920e+00] [-1.61814630e-02 9.99753922e-01 -1.51742100e-02 -1.22177145e-01] [-1.15748148e-03 1.51574568e-02 9.99884449e-01 -1.07277103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.511193817 meters Centerline goodness : 0.896014 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.12, Z:-1.08 [[ 9.99923704e-01 1.23446811e-02 4.40528541e-04 6.66192351e+00] [-1.23343118e-02 9.99749761e-01 -1.86622735e-02 -1.22420212e-01] [-6.70798118e-04 1.86554160e-02 9.99825748e-01 -1.07583438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.541193817 meters Centerline goodness : 0.895270 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.12, Z:-1.08 [[ 9.99987462e-01 4.95847647e-03 6.98980143e-04 6.66714241e+00] [-4.95153214e-03 9.99941570e-01 -9.60927106e-03 -1.22872192e-01] [-7.46586646e-04 9.60568956e-03 9.99953586e-01 -1.07876533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57119381700001 meters Centerline goodness : 0.894561 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.12, Z:-1.08 [[ 9.99994265e-01 3.38271162e-03 1.65535172e-04 6.66981692e+00] [-3.38070447e-03 9.99934775e-01 -1.09094762e-02 -1.21915841e-01] [-2.02427987e-04 1.09088540e-02 9.99940476e-01 -1.08072532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.601193817 meters Centerline goodness : 0.893033 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.12, Z:-1.08 [[ 9.99996954e-01 2.46834543e-03 -1.01299762e-05 6.67090626e+00] [-2.46829460e-03 9.99928261e-01 -1.17209567e-02 -1.21109098e-01] [-1.88021204e-05 1.17209460e-02 9.99931307e-01 -1.08146159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.631193817 meters Centerline goodness : 0.895498 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.12, Z:-1.08 [[ 9.99996731e-01 2.53845133e-03 -3.08562745e-04 6.67213979e+00] [-2.54195878e-03 9.99925310e-01 -1.19545947e-02 -1.20222882e-01] [ 2.78193542e-04 1.19553400e-02 9.99928494e-01 -1.08222899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.661193817 meters Centerline goodness : 0.895762 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.12, Z:-1.08 [[ 9.99988204e-01 4.82150858e-03 -5.87923159e-04 6.67424396e+00] [-4.82685653e-03 9.99943583e-01 -9.46217157e-03 -1.20142478e-01] [ 5.42268049e-04 9.46489777e-03 9.99955060e-01 -1.08401116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.691193817 meters Centerline goodness : 0.891433 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.12, Z:-1.08 [[ 9.99988660e-01 4.70055281e-03 -7.65213637e-04 6.67512757e+00] [-4.70800565e-03 9.99938435e-01 -1.00479621e-02 -1.17805574e-01] [ 7.17935550e-04 1.00514508e-02 9.99949225e-01 -1.08463418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.721193817 meters Centerline goodness : 0.892196 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.11, Z:-1.08 [[ 9.99969820e-01 7.73782038e-03 -6.96898782e-04 6.67517447e+00] [-7.74299451e-03 9.99939943e-01 -7.75601969e-03 -1.12971680e-01] [ 6.36842241e-04 7.76118170e-03 9.99969679e-01 -1.08440307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.751193817 meters Centerline goodness : 0.888758 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.11, Z:-1.08 [[ 9.99935058e-01 1.13653903e-02 -8.40854830e-04 6.67564876e+00] [-1.13689788e-02 9.99925718e-01 -4.39365399e-03 -1.11451933e-01] [ 7.90856777e-04 4.40292832e-03 9.99989994e-01 -1.08434034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.781193817 meters Centerline goodness : 0.888758 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.11, Z:-1.08 [[ 9.99935058e-01 1.13653903e-02 -8.40854830e-04 6.67564876e+00] [-1.13689788e-02 9.99925718e-01 -4.39365399e-03 -1.11451933e-01] [ 7.90856777e-04 4.40292832e-03 9.99989994e-01 -1.08434034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.811193817 meters Centerline goodness : 0.891020 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.11, Z:-1.08 [[ 9.99927008e-01 1.20368408e-02 -1.04597570e-03 6.67657236e+00] [-1.20419140e-02 9.99915056e-01 -4.98733524e-03 -1.07858456e-01] [ 9.85855088e-04 4.99956675e-03 9.99987016e-01 -1.08494493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.841193817 meters Centerline goodness : 0.891765 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.10, Z:-1.09 [[ 9.99869021e-01 1.57939804e-02 3.53433914e-03 6.69102658e+00] [-1.57547800e-02 9.99816938e-01 -1.08571210e-02 -1.03825091e-01] [-3.70516929e-03 1.08000162e-02 9.99934814e-01 -1.08998205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.871193817 meters Centerline goodness : 0.891043 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.10, Z:-1.09 [[ 0.99977093 0.01994555 0.00776308 6.70668449] [-0.01982078 0.99967821 -0.01583076 -0.09603536] [-0.00807633 0.01567326 0.99984455 -1.09458684] [ 0. 0. 0. 1. ]] SLAMing on 65.901193817 meters Centerline goodness : 0.892487 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.09, Z:-1.09 [[ 0.99970126 0.02323376 0.00758896 6.70739747] [-0.02313689 0.99965275 -0.01261193 -0.09437682] [-0.00787935 0.01243257 0.99989167 -1.09468215] [ 0. 0. 0. 1. ]] SLAMing on 65.93119381700001 meters Centerline goodness : 0.887520 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.09, Z:-1.09 [[ 0.99969379 0.02357549 0.00751817 6.70745757] [-0.0234729 0.99963394 -0.01345376 -0.09111624] [-0.00783259 0.01327317 0.99988123 -1.09395912] [ 0. 0. 0. 1. ]] SLAMing on 65.96119381700001 meters Centerline goodness : 0.889285 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.09, Z:-1.09 [[ 0.99970353 0.02321552 0.00734113 6.70771542] [-0.0231059 0.99962524 -0.0146799 -0.08847115] [-0.00767918 0.01450592 0.9998653 -1.09334517] [ 0. 0. 0. 1. ]] SLAMing on 65.991193817 meters Centerline goodness : 0.893828 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.09, Z:-1.09 [[ 0.99972213 0.02237355 0.00742179 6.70749706] [-0.02225663 0.99963245 -0.01547932 -0.08832962] [-0.00776539 0.01530984 0.99985264 -1.09302085] [ 0. 0. 0. 1. ]] SLAMing on 66.021193817 meters Centerline goodness : 0.893260 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.09, Z:-1.09 [[ 0.99973419 0.02188756 0.00724477 6.70819115] [-0.02176988 0.9996359 -0.0159415 -0.08814608] [-0.00759105 0.01577954 0.99984668 -1.09342949] [ 0. 0. 0. 1. ]] SLAMing on 66.051193817 meters Centerline goodness : 0.890845 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.09, Z:-1.09 [[ 0.99973901 0.02176288 0.00694947 6.70938018] [-0.02164704 0.99963229 -0.0163305 -0.08683748] [-0.00730231 0.01617581 0.9998425 -1.09417315] [ 0. 0. 0. 1. ]] SLAMing on 66.081193817 meters Centerline goodness : 0.892182 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.08, Z:-1.10 [[ 9.99732015e-01 2.23043409e-02 6.19795109e-03 6.73157267e+00] [-2.21828986e-02 9.99573052e-01 -1.90166458e-02 -8.46482188e-02] [-6.61945863e-03 1.88740611e-02 9.99799956e-01 -1.09629777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.111193817 meters Centerline goodness : 0.893284 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.08, Z:-1.10 [[ 9.99668828e-01 2.51045072e-02 5.65672956e-03 6.73460097e+00] [-2.50095067e-02 9.99554614e-01 -1.62818133e-02 -8.33340322e-02] [-6.06295703e-03 1.61349492e-02 9.99851441e-01 -1.09850559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.141193817 meters Centerline goodness : 0.890356 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.08, Z:-1.10 [[ 9.99462974e-01 3.23481418e-02 5.23085496e-03 6.73762115e+00] [-3.22964411e-02 9.99431424e-01 -9.68338446e-03 -8.20252999e-02] [-5.54112031e-03 9.50924623e-03 9.99939433e-01 -1.10058976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.171193817 meters Centerline goodness : 0.890256 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.08, Z:-1.10 [[ 9.99330828e-01 3.61994947e-02 5.24340928e-03 6.73806513e+00] [-3.61691373e-02 9.99329007e-01 -5.77318138e-03 -8.21914207e-02] [-5.44887723e-03 5.57966854e-03 9.99969588e-01 -1.10081232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.201193817 meters Centerline goodness : 0.891852 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.08, Z:-1.10 [[ 9.99320191e-01 3.65313748e-02 4.96131322e-03 6.73869111e+00] [-3.65016833e-02 9.99315885e-01 -5.94883064e-03 -8.16072449e-02] [-5.17523807e-03 5.76369029e-03 9.99969998e-01 -1.10068521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.231193817 meters Centerline goodness : 0.887916 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.08, Z:-1.10 [[ 9.99387197e-01 3.46420441e-02 5.01598935e-03 6.73701870e+00] [-3.45991447e-02 9.99365963e-01 -8.40064145e-03 -8.18257606e-02] [-5.30382442e-03 8.22194457e-03 9.99952133e-01 -1.09867997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.261193817 meters Centerline goodness : 0.890112 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.09, Z:-1.10 [[ 9.99528405e-01 3.02343405e-02 5.37138816e-03 6.73537886e+00] [-3.01756567e-02 9.99487450e-01 -1.06895724e-02 -8.75845995e-02] [-5.69182722e-03 1.05224461e-02 9.99928438e-01 -1.09812553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.291193817 meters Centerline goodness : 0.890418 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.09, Z:-1.10 [[ 9.99642837e-01 2.62153384e-02 5.19170833e-03 6.73601511e+00] [-2.61420335e-02 9.99564123e-01 -1.37170947e-02 -8.98224540e-02] [-5.54904366e-03 1.35764736e-02 9.99892438e-01 -1.09924943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32119381700001 meters Centerline goodness : 0.892213 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.10, Z:-1.10 [[ 9.99889505e-01 1.48646832e-02 1.35917731e-04 6.73561906e+00] [-1.48637107e-02 9.99874394e-01 -5.50141246e-03 -9.74507740e-02] [-2.17677412e-04 5.49878434e-03 9.99984858e-01 -1.10078522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.351193817 meters Centerline goodness : 0.892216 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.10, Z:-1.10 [[ 9.99942452e-01 1.07101530e-02 -6.20528399e-04 6.73925396e+00] [-1.07153286e-02 9.99901693e-01 -9.04351379e-03 -9.91715999e-02] [ 5.23609981e-04 9.04964252e-03 9.99958914e-01 -1.10363158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.381193817 meters Centerline goodness : 0.889716 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.10, Z:-1.11 [[ 9.99970183e-01 7.65136319e-03 -1.04423076e-03 6.74196791e+00] [-7.66307419e-03 9.99902025e-01 -1.17140337e-02 -1.00534644e-01] [ 9.54500127e-04 1.17216865e-02 9.99930843e-01 -1.10598356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.411193817 meters Centerline goodness : 0.890917 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.10, Z:-1.11 [[ 9.99982174e-01 5.72584718e-03 -1.69312510e-03 6.74491281e+00] [-5.74768680e-03 9.99896509e-01 -1.31884720e-02 -1.01446847e-01] [ 1.61743470e-03 1.31979684e-02 9.99911595e-01 -1.10797427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.441193817 meters Centerline goodness : 0.892607 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.10, Z:-1.11 [[ 9.99984086e-01 5.28275908e-03 -1.97992907e-03 6.74605710e+00] [-5.30893606e-03 9.99895347e-01 -1.34577274e-02 -1.01594595e-01] [ 1.90862793e-03 1.34680245e-02 9.99907480e-01 -1.10867199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.471193817 meters Centerline goodness : 0.891463 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.10, Z:-1.11 [[ 9.99977421e-01 6.40680496e-03 -2.02722848e-03 6.76829608e+00] [-6.43981163e-03 9.99839520e-01 -1.67171256e-02 -9.82214939e-02] [ 1.91979979e-03 1.67298032e-02 9.99858204e-01 -1.11082126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.501193817 meters Centerline goodness : 0.888332 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.10, Z:-1.11 [[ 9.99961149e-01 8.37918838e-03 -2.73663170e-03 6.79028719e+00] [-8.42861083e-03 9.99791903e-01 -1.85770965e-02 -9.56278139e-02] [ 2.58040123e-03 1.85994408e-02 9.99823686e-01 -1.11245146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.531193817 meters Centerline goodness : 0.890829 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.09, Z:-1.12 [[ 9.99945598e-01 1.04073011e-02 -6.99562264e-04 6.80963790e+00] [-1.04204229e-02 9.99691824e-01 -2.25315867e-02 -9.09508198e-02] [ 4.64853669e-04 2.25376507e-02 9.99745887e-01 -1.11538880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.561193817 meters Centerline goodness : 0.889316 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.08, Z:-1.12 [[ 9.99778767e-01 2.08196512e-02 2.99309911e-03 6.84766546e+00] [-2.06932424e-02 9.99085920e-01 -3.74047242e-02 -8.16346219e-02] [-3.76911649e-03 3.73345121e-02 9.99295716e-01 -1.11662100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.591193817 meters Centerline goodness : 0.889410 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.08, Z:-1.12 [[ 9.99680583e-01 2.50833499e-02 3.09136545e-03 6.84703960e+00] [-2.49638321e-02 9.99109479e-01 -3.40155288e-02 -7.96506888e-02] [-3.94183593e-03 3.39274913e-02 9.99416523e-01 -1.11517606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.621193817 meters Centerline goodness : 0.886295 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.08, Z:-1.11 [[ 9.99578335e-01 2.88755143e-02 3.05875656e-03 6.84683947e+00] [-2.87683521e-02 9.99115945e-01 -3.06546830e-02 -7.89232706e-02] [-3.94122219e-03 3.05537616e-02 9.99525355e-01 -1.11410874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.651193817 meters Centerline goodness : 0.890356 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.08, Z:-1.11 [[ 9.99524594e-01 3.04822774e-02 4.62793119e-03 6.85253111e+00] [-3.03966921e-02 9.99383715e-01 -1.75565063e-02 -8.12190004e-02] [-5.16024136e-03 1.74074860e-02 9.99835162e-01 -1.11086688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68119381700001 meters Centerline goodness : 0.891551 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.08, Z:-1.11 [[ 9.99518619e-01 3.06901470e-02 4.54360574e-03 6.85217622e+00] [-3.06062666e-02 9.99378238e-01 -1.75040994e-02 -8.10765863e-02] [-5.07798409e-03 1.73566105e-02 9.99836468e-01 -1.11002882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71119381700001 meters Centerline goodness : 0.889989 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.08, Z:-1.11 [[ 9.99512128e-01 3.09456442e-02 4.22765572e-03 6.85289237e+00] [-3.08679056e-02 9.99372727e-01 -1.73587412e-02 -8.08581565e-02] [-4.76218125e-03 1.72197735e-02 9.99840388e-01 -1.11009964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.741193817 meters Centerline goodness : 0.890534 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.08, Z:-1.11 [[ 9.99502207e-01 3.13209498e-02 3.78627091e-03 6.85420103e+00] [-3.12524611e-02 9.99367526e-01 -1.69655968e-02 -8.12285021e-02] [-4.31525479e-03 1.68388211e-02 9.99848905e-01 -1.11075067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.771193817 meters Centerline goodness : 0.891661 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.08, Z:-1.11 [[ 9.99437663e-01 3.33903869e-02 3.07229850e-03 6.85772101e+00] [-3.33431952e-02 9.99341551e-01 -1.43071833e-02 -8.36274420e-02] [-3.54799794e-03 1.41966976e-02 9.99892927e-01 -1.11372804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.801193817 meters Centerline goodness : 0.891139 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.08, Z:-1.11 [[ 9.99419444e-01 3.39840590e-02 2.42047098e-03 6.85935577e+00] [-3.39480193e-02 9.99330605e-01 -1.36335567e-02 -8.47806565e-02] [-2.88217432e-03 1.35434715e-02 9.99904129e-01 -1.11430979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.831193817 meters Centerline goodness : 0.891861 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.09, Z:-1.11 [[ 9.99389768e-01 3.48794761e-02 1.87452877e-03 6.86065196e+00] [-3.48530250e-02 9.99312259e-01 -1.26599650e-02 -8.65469151e-02] [-2.31481253e-03 1.25869065e-02 9.99918102e-01 -1.11470688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.861193817 meters Centerline goodness : 0.891636 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.09, Z:-1.11 [[ 9.99365821e-01 3.55882057e-02 1.19806503e-03 6.86202322e+00] [-3.55714036e-02 9.99295846e-01 -1.19368406e-02 -8.84774110e-02] [-1.62203214e-03 1.18866537e-02 9.99928036e-01 -1.11483183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.891193817 meters Centerline goodness : 0.894737 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.09, Z:-1.11 [[ 9.99275430e-01 3.80585919e-02 3.98396531e-04 6.86321623e+00] [-3.80526980e-02 9.99225531e-01 -1.00165417e-02 -9.18648777e-02] [-7.79303459e-04 9.99412398e-03 9.99949754e-01 -1.11417203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.921193817 meters Centerline goodness : 0.892095 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.09, Z:-1.11 [[ 9.99229234e-01 3.92539617e-02 2.53170845e-04 6.86323960e+00] [-3.92502444e-02 9.99191067e-01 -8.75390010e-03 -9.39349591e-02] [-5.96591306e-04 8.73721587e-03 9.99961652e-01 -1.11380204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.951193817 meters Centerline goodness : 0.896788 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.10, Z:-1.11 [[ 9.99193368e-01 4.01563043e-02 -2.92145126e-04 6.86408928e+00] [-4.01573625e-02 9.99163362e-01 -7.74353155e-03 -9.61098489e-02] [-1.90509026e-05 7.74901714e-03 9.99969976e-01 -1.11354952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.981193817 meters Centerline goodness : 0.896521 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.10, Z:-1.11 [[ 9.99144004e-01 4.13647677e-02 -4.64691182e-04 6.86433660e+00] [-4.13665603e-02 9.99131838e-01 -4.93744790e-03 -1.03148980e-01] [ 2.60051369e-04 4.95244414e-03 9.99987703e-01 -1.11404777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.011193817 meters Centerline goodness : 0.896996 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.11, Z:-1.11 [[ 9.99262694e-01 3.83698353e-02 -1.35088745e-03 6.86618051e+00] [-3.83793819e-02 9.99231672e-01 -7.94283397e-03 -1.05246778e-01] [ 1.04508430e-03 7.98882390e-03 9.99967543e-01 -1.11472601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.041193817 meters Centerline goodness : 0.897801 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.11, Z:-1.12 [[ 9.99239150e-01 3.89779696e-02 -1.35590669e-03 6.86665162e+00] [-3.89849384e-02 9.99224318e-01 -5.56202257e-03 -1.10721247e-01] [ 1.13805859e-03 5.61065065e-03 9.99983613e-01 -1.11600679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07119381700001 meters Centerline goodness : 0.900438 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.12, Z:-1.12 [[ 9.99293311e-01 3.75185635e-02 -2.28817075e-03 6.86935978e+00] [-3.75279193e-02 9.99286783e-01 -4.19291523e-03 -1.21584730e-01] [ 2.12922664e-03 4.27582243e-03 9.99988592e-01 -1.11874496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.101193817 meters Centerline goodness : 0.901789 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.13, Z:-1.12 [[ 9.99374943e-01 3.52128942e-02 -3.12653372e-03 6.87178985e+00] [-3.52284720e-02 9.99366396e-01 -5.07559244e-03 -1.27698315e-01] [ 2.94582644e-03 5.18256291e-03 9.99982231e-01 -1.12077162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.131193817 meters Centerline goodness : 0.903693 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.13, Z:-1.12 [[ 9.99457330e-01 3.26663695e-02 -4.23722378e-03 6.87457942e+00] [-3.26938787e-02 9.99443659e-01 -6.59413374e-03 -1.33204256e-01] [ 4.01946003e-03 6.72908658e-03 9.99969281e-01 -1.12257544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.161193817 meters Centerline goodness : 0.903641 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.14, Z:-1.12 [[ 9.99535149e-01 3.00820808e-02 -4.95516685e-03 6.87653474e+00] [-3.01195565e-02 9.99516872e-01 -7.67039344e-03 -1.39061779e-01] [ 4.72203148e-03 7.81607528e-03 9.99958305e-01 -1.12431974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.191193817 meters Centerline goodness : 0.907792 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.15, Z:-1.12 [[ 9.99723821e-01 2.06633954e-02 -1.11939675e-02 6.87164674e+00] [-2.06409858e-02 9.99784718e-01 2.11379352e-03 -1.52850565e-01] [ 1.12352358e-02 -1.88215521e-03 9.99935111e-01 -1.12074978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.221193817 meters Centerline goodness : 0.908761 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.16, Z:-1.13 [[ 9.99856119e-01 1.66720294e-02 -3.12797397e-03 6.88040026e+00] [-1.66815048e-02 9.99856269e-01 -3.02799620e-03 -1.57085642e-01] [ 3.07704154e-03 3.07973984e-03 9.99990523e-01 -1.12854922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.251193817 meters Centerline goodness : 0.909318 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.16, Z:-1.13 [[ 9.99904140e-01 1.33907222e-02 -3.52130623e-03 6.88051759e+00] [-1.34094800e-02 9.99895731e-01 -5.35841386e-03 -1.62296391e-01] [ 3.44918603e-03 5.40511909e-03 9.99979444e-01 -1.12773915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.281193817 meters Centerline goodness : 0.908955 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.17, Z:-1.13 [[ 9.99941270e-01 1.01440398e-02 -3.81512470e-03 6.88047314e+00] [-1.01732552e-02 9.99918466e-01 -7.71795307e-03 -1.67323680e-01] [ 3.73652241e-03 7.75631203e-03 9.99962938e-01 -1.12696501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.311193817 meters Centerline goodness : 0.911726 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.18, Z:-1.13 [[ 9.99986156e-01 4.57143566e-03 2.60561659e-03 6.88709140e+00] [-4.56229361e-03 9.99983454e-01 -3.50380614e-03 -1.79203793e-01] [-2.62159090e-03 3.49187005e-03 9.99990467e-01 -1.12711673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.341193817 meters Centerline goodness : 0.913812 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.18, Z:-1.13 [[ 9.99995779e-01 1.51022557e-03 2.48210838e-03 6.88681174e+00] [-1.49440818e-03 9.99978645e-01 -6.36210757e-03 -1.81711609e-01] [-2.49166359e-03 6.35837144e-03 9.99976681e-01 -1.12640063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.371193817 meters Centerline goodness : 0.914885 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.18, Z:-1.13 [[ 9.99995991e-01 1.57648602e-03 2.35211285e-03 6.88682096e+00] [-1.56347654e-03 9.99983528e-01 -5.52259926e-03 -1.84862007e-01] [-2.36078041e-03 5.51889965e-03 9.99981984e-01 -1.12587803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.401193817 meters Centerline goodness : 0.915421 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.19, Z:-1.13 [[ 9.99996436e-01 -1.44896566e-03 2.24248874e-03 6.88682178e+00] [ 1.46705328e-03 9.99966237e-01 -8.08535414e-03 -1.87645973e-01] [-2.23069762e-03 8.08861518e-03 9.99964799e-01 -1.12561754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43119381700001 meters Centerline goodness : 0.916592 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.19, Z:-1.13 [[ 9.99995488e-01 -2.50346293e-03 1.66036497e-03 6.88941607e+00] [ 2.51747789e-03 9.99960763e-01 -8.49320883e-03 -1.89812066e-01] [-1.63903739e-03 8.49735044e-03 9.99962554e-01 -1.12734298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46119381700001 meters Centerline goodness : 0.917145 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.19, Z:-1.13 [[ 9.99992727e-01 -3.63342752e-03 1.15940628e-03 6.89197352e+00] [ 3.64347603e-03 9.99954766e-01 -8.78584360e-03 -1.92484477e-01] [-1.12743111e-03 8.79000397e-03 9.99960732e-01 -1.12919403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.491193817 meters Centerline goodness : 0.917598 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.19, Z:-1.13 [[ 9.99986304e-01 -5.20117374e-03 5.82316874e-04 6.89473254e+00] [ 5.20654282e-03 9.99940044e-01 -9.63326430e-03 -1.94386807e-01] [-5.32177679e-04 9.63616422e-03 9.99953429e-01 -1.13104459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.521193817 meters Centerline goodness : 0.918935 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.20, Z:-1.13 [[ 9.99949601e-01 -1.00363546e-02 2.57372083e-04 6.89588106e+00] [ 1.00389167e-02 9.99858254e-01 -1.35163320e-02 -1.97009998e-01] [-1.21680901e-04 1.35182345e-02 9.99908617e-01 -1.13152555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.551193817 meters Centerline goodness : 0.918197 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.20, Z:-1.13 [[ 9.99928855e-01 -1.19223287e-02 -3.78800906e-04 6.89872152e+00] [ 1.19154076e-02 9.99819200e-01 -1.48185702e-02 -1.98800455e-01] [ 5.55404285e-04 1.48130024e-02 9.99890127e-01 -1.13324078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.581193817 meters Centerline goodness : 0.919637 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.20, Z:-1.13 [[ 9.99921378e-01 -1.25198917e-02 -6.99768043e-04 6.89983471e+00] [ 1.25081272e-02 9.99811556e-01 -1.48458820e-02 -1.99902561e-01] [ 8.85505010e-04 1.48359620e-02 9.99889549e-01 -1.13367888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.611193817 meters Centerline goodness : 0.919218 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.20, Z:-1.13 [[ 9.99912976e-01 -1.31554941e-02 -9.86575067e-04 6.90106081e+00] [ 1.31386994e-02 9.99794450e-01 -1.54412520e-02 -1.98828434e-01] [ 1.18950958e-03 1.54269460e-02 9.99880290e-01 -1.13442877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.641193817 meters Centerline goodness : 0.919163 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.20, Z:-1.14 [[ 9.99940956e-01 -1.08385221e-02 -7.81020586e-04 6.92187877e+00] [ 1.08235693e-02 9.99794903e-01 -1.71173240e-02 -1.95016845e-01] [ 9.66386896e-04 1.71078599e-02 9.99853183e-01 -1.13575497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.671193817 meters Centerline goodness : 0.919163 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.19, Z:-1.14 [[ 9.99939603e-01 -1.09205648e-02 -1.23755241e-03 6.92327503e+00] [ 1.08968199e-02 9.99782236e-01 -1.77972114e-02 -1.92574439e-01] [ 1.43163852e-03 1.77826511e-02 9.99840851e-01 -1.13640153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.701193817 meters Centerline goodness : 0.917689 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.19, Z:-1.14 [[ 9.99967798e-01 -7.80058960e-03 -1.88507616e-03 6.92574810e+00] [ 7.77246601e-03 9.99864772e-01 -1.44922649e-02 -1.92240944e-01] [ 1.99786946e-03 1.44771466e-02 9.99893205e-01 -1.13782843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.731193817 meters Centerline goodness : 0.917689 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.19, Z:-1.14 [[ 9.99967798e-01 -7.80058960e-03 -1.88507616e-03 6.92574810e+00] [ 7.77246601e-03 9.99864772e-01 -1.44922649e-02 -1.92240944e-01] [ 1.99786946e-03 1.44771466e-02 9.99893205e-01 -1.13782843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.761193817 meters Centerline goodness : 0.920484 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.19, Z:-1.14 [[ 9.99984396e-01 -5.00713314e-03 -2.47699408e-03 6.92853956e+00] [ 4.97760867e-03 9.99918161e-01 -1.17853973e-02 -1.90900384e-01] [ 2.53580242e-03 1.17728839e-02 9.99927482e-01 -1.13978674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.791193817 meters Centerline goodness : 0.919370 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.19, Z:-1.14 [[ 9.99997606e-01 2.03725215e-03 -7.98224116e-04 6.94576617e+00] [-2.04829486e-03 9.99898682e-01 -1.40865496e-02 -1.85884941e-01] [ 7.69445388e-04 1.40881509e-02 9.99900461e-01 -1.14472636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82119381700001 meters Centerline goodness : 0.919839 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.18, Z:-1.14 [[ 9.99984087e-01 5.53174723e-03 -1.10694489e-03 6.94658875e+00] [-5.54323488e-03 9.99927829e-01 -1.06587783e-02 -1.84754499e-01] [ 1.04790334e-03 1.06647448e-02 9.99942581e-01 -1.14484053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.851193817 meters Centerline goodness : 0.921499 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.18, Z:-1.14 [[ 9.99959909e-01 8.84793236e-03 -1.37617065e-03 6.94731149e+00] [-8.85780931e-03 9.99933795e-01 -7.34473906e-03 -1.83598462e-01] [ 1.31109379e-03 7.35663446e-03 9.99972080e-01 -1.14481801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.881193817 meters Centerline goodness : 0.921938 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.18, Z:-1.14 [[ 9.99959301e-01 8.87385804e-03 -1.62798197e-03 6.94779214e+00] [-8.88686724e-03 9.99927169e-01 -8.16581719e-03 -1.80228418e-01] [ 1.55540110e-03 8.17995252e-03 9.99965334e-01 -1.14473502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.911193817 meters Centerline goodness : 0.920929 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.18, Z:-1.14 [[ 9.99922055e-01 1.23564471e-02 -1.78925530e-03 6.94753858e+00] [-1.23650738e-02 9.99911576e-01 -4.89342989e-03 -1.78492691e-01] [ 1.72863167e-03 4.91517274e-03 9.99986426e-01 -1.14360643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.941193817 meters Centerline goodness : 0.921690 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.18, Z:-1.14 [[ 9.99918490e-01 1.25917271e-02 -2.11234384e-03 6.94854990e+00] [-1.26021862e-02 9.99908021e-01 -5.01341907e-03 -1.77803871e-01] [ 2.04902194e-03 5.03963058e-03 9.99985202e-01 -1.14402975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.971193817 meters Centerline goodness : 0.923714 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.18, Z:-1.15 [[ 9.99899486e-01 1.39079959e-02 -2.75435488e-03 6.95101111e+00] [-1.39191350e-02 9.99894852e-01 -4.06718035e-03 -1.77566561e-01] [ 2.69749894e-03 4.10510978e-03 9.99987936e-01 -1.14545305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.001193817 meters Centerline goodness : 0.922924 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.18, Z:-1.15 [[ 9.99841742e-01 1.75225527e-02 -3.07440355e-03 6.95225272e+00] [-1.75238284e-02 9.99846370e-01 -3.88496855e-04 -1.77471973e-01] [ 3.06712377e-03 4.42310692e-04 9.99995199e-01 -1.14596771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.031193817 meters Centerline goodness : 0.921798 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.17, Z:-1.15 [[ 9.99713234e-01 2.38753816e-02 1.84843192e-03 6.96497544e+00] [-2.38652975e-02 9.99701146e-01 -5.29777433e-03 -1.72949092e-01] [-1.97436589e-03 5.25214173e-03 9.99984258e-01 -1.15062358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.061193817 meters Centerline goodness : 0.922100 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.17, Z:-1.16 [[ 9.99593320e-01 2.77557426e-02 6.54313901e-03 6.97777606e+00] [-2.76766078e-02 9.99546218e-01 -1.18895957e-02 -1.70568171e-01] [-6.87017441e-03 1.17036685e-02 9.99907908e-01 -1.15506796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.091193817 meters Centerline goodness : 0.923104 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.17, Z:-1.16 [[ 9.99471904e-01 3.18717633e-02 6.33281178e-03 6.97871774e+00] [-3.18227546e-02 9.99463910e-01 -7.69453388e-03 -1.71384205e-01] [-6.57465519e-03 7.48894291e-03 9.99950344e-01 -1.15537944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.121193817 meters Centerline goodness : 0.919797 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.17, Z:-1.16 [[ 9.99183151e-01 4.01831476e-02 4.28316088e-03 7.00800208e+00] [-4.01204900e-02 9.99099150e-01 -1.38287811e-02 -1.70735339e-01] [-4.83498635e-03 1.36456426e-02 9.99895204e-01 -1.15625577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.151193817 meters Centerline goodness : 0.921952 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.17, Z:-1.16 [[ 0.99914324 0.04076897 0.00711838 7.0253052 ] [-0.0406182 0.99897103 -0.02017532 -0.16961073] [-0.00793358 0.01986889 0.99977112 -1.15963771] [ 0. 0. 0. 1. ]] SLAMing on 68.18119381700001 meters Centerline goodness : 0.919647 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.17, Z:-1.16 [[ 9.99096020e-01 4.20125518e-02 6.48761294e-03 7.02632283e+00] [-4.18842816e-02 9.98945922e-01 -1.87816795e-02 -1.72585621e-01] [-7.26984077e-03 1.84929722e-02 9.99802560e-01 -1.15949374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21119381700001 meters Centerline goodness : 0.921333 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.18, Z:-1.16 [[ 9.99062090e-01 4.29197386e-02 5.73033131e-03 7.02773311e+00] [-4.28166232e-02 9.98937540e-01 -1.70449067e-02 -1.76878418e-01] [-6.45580600e-03 1.67835667e-02 9.99838304e-01 -1.15984211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.241193817 meters Centerline goodness : 0.921541 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.19, Z:-1.16 [[ 9.99215099e-01 3.95884103e-02 -1.39435071e-03 7.01765668e+00] [-3.96004066e-02 9.99165509e-01 -1.00046653e-02 -1.87483502e-01] [ 9.97118345e-04 1.00520295e-02 9.99948980e-01 -1.15542850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.271193817 meters Centerline goodness : 0.920015 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.19, Z:-1.16 [[ 9.99342482e-01 3.62165552e-02 -1.72182192e-03 7.01815161e+00] [-3.62355628e-02 9.99262354e-01 -1.27173967e-02 -1.91199581e-01] [ 1.25997153e-03 1.27714259e-02 9.99917648e-01 -1.15560758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.301193817 meters Centerline goodness : 0.923439 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.20, Z:-1.16 [[ 9.99450753e-01 3.30806835e-02 -1.96476078e-03 7.01807310e+00] [-3.31064856e-02 9.99339214e-01 -1.50031741e-02 -1.95665980e-01] [ 1.46714724e-03 1.50599800e-02 9.99885516e-01 -1.15520985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.331193817 meters Centerline goodness : 0.921239 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.21, Z:-1.15 [[ 9.99558192e-01 2.96594224e-02 -1.93391085e-03 7.01761734e+00] [-2.96866702e-02 9.99430529e-01 -1.60411676e-02 -2.06044899e-01] [ 1.45703778e-03 1.60914919e-02 9.99869462e-01 -1.15476528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.361193817 meters Centerline goodness : 0.923923 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.21, Z:-1.16 [[ 9.99649666e-01 2.63894585e-02 -2.03507090e-03 7.01791222e+00] [-2.64227447e-02 9.99478314e-01 -1.85725323e-02 -2.09749462e-01] [ 1.54389016e-03 1.86197979e-02 9.99825445e-01 -1.15517811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.391193817 meters Centerline goodness : 0.922274 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.21, Z:-1.16 [[ 9.99729725e-01 2.31395454e-02 -2.24477902e-03 7.01834006e+00] [-2.31814151e-02 9.99513234e-01 -2.08786207e-02 -2.14329612e-01] [ 1.76056455e-03 2.09250149e-02 9.99779498e-01 -1.15541615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.421193817 meters Centerline goodness : 0.921619 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.22, Z:-1.16 [[ 9.99801574e-01 1.97781495e-02 -2.37439886e-03 7.01815221e+00] [-1.98277197e-02 9.99537071e-01 -2.30760649e-02 -2.19955801e-01] [ 1.91689782e-03 2.31185649e-02 9.99730893e-01 -1.15502776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.451193817 meters Centerline goodness : 0.921151 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.23, Z:-1.15 [[ 9.99935164e-01 1.11250257e-02 -2.42941668e-03 7.01650481e+00] [-1.11925757e-02 9.99492280e-01 -2.98313467e-02 -2.31861897e-01] [ 2.09630871e-03 2.98566039e-02 9.99551994e-01 -1.15319847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.481193817 meters Centerline goodness : 0.922722 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.24, Z:-1.15 [[ 9.99966078e-01 7.76975545e-03 -2.73388432e-03 7.01725997e+00] [-7.85448999e-03 9.99441381e-01 -3.24843400e-02 -2.35606871e-01] [ 2.47996174e-03 3.25047113e-02 9.99468506e-01 -1.15352894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.511193817 meters Centerline goodness : 0.923264 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.24, Z:-1.15 [[ 9.99968530e-01 7.17986787e-03 -3.37466084e-03 7.01971610e+00] [-7.28468246e-03 9.99456588e-01 -3.21475177e-02 -2.38546968e-01] [ 3.14201208e-03 3.21710894e-02 9.99477438e-01 -1.15494522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.541193817 meters Centerline goodness : 0.926120 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.24, Z:-1.16 [[ 9.99992008e-01 3.86439743e-03 -1.02488224e-03 7.02103747e+00] [-3.88195445e-03 9.99835435e-01 -1.77210012e-02 -2.43288079e-01] [ 9.56232586e-04 1.77248381e-02 9.99842445e-01 -1.15582121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57119381700001 meters Centerline goodness : 0.923356 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.25, Z:-1.16 [[ 9.99970855e-01 5.37931341e-03 5.41777340e-03 7.03261235e+00] [-5.32731223e-03 9.99940041e-01 -9.56738277e-03 -2.50556688e-01] [-5.46891451e-03 9.53824176e-03 9.99939555e-01 -1.15914578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.601193817 meters Centerline goodness : 0.922597 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.25, Z:-1.16 [[ 9.99968122e-01 6.07006893e-03 5.18747170e-03 7.03256767e+00] [-6.02493192e-03 9.99944239e-01 -8.67293393e-03 -2.53011448e-01] [-5.23982775e-03 8.64140329e-03 9.99948934e-01 -1.15839716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.631193817 meters Centerline goodness : 0.921869 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.25, Z:-1.16 [[ 9.99964206e-01 6.81881428e-03 5.00898219e-03 7.03266096e+00] [-6.77916652e-03 9.99945893e-01 -7.89011979e-03 -2.54951086e-01] [-5.06251243e-03 7.85588064e-03 9.99956327e-01 -1.15799432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.661193817 meters Centerline goodness : 0.921124 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.26, Z:-1.16 [[ 9.99918202e-01 1.18743336e-02 4.75289497e-03 7.03349190e+00] [-1.18626677e-02 9.99926573e-01 -2.47519881e-03 -2.59159087e-01] [-4.78193732e-03 2.41861432e-03 9.99985642e-01 -1.15837137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.691193817 meters Centerline goodness : 0.921351 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.26, Z:-1.16 [[ 9.99914886e-01 1.22666500e-02 4.44399235e-03 7.03491786e+00] [-1.22572774e-02 9.99922608e-01 -2.13019213e-03 -2.59707399e-01] [-4.46977874e-03 2.07553958e-03 9.99987857e-01 -1.15953937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.721193817 meters Centerline goodness : 0.922532 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.26, Z:-1.16 [[ 9.99914488e-01 1.24419182e-02 4.02681191e-03 7.03646214e+00] [-1.24343003e-02 9.99920864e-01 -1.91131717e-03 -2.60416748e-01] [-4.05027370e-03 1.86108314e-03 9.99990066e-01 -1.16054292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.751193817 meters Centerline goodness : 0.921826 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.26, Z:-1.16 [[ 9.99916530e-01 1.23658187e-02 3.74419771e-03 7.03781435e+00] [-1.23595738e-02 9.99922195e-01 -1.68646917e-03 -2.61891349e-01] [-3.76476096e-03 1.64005171e-03 9.99991568e-01 -1.16154866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.781193817 meters Centerline goodness : 0.921471 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.27, Z:-1.16 [[ 9.99951899e-01 9.18878440e-03 3.43011769e-03 7.03794148e+00] [-9.17466685e-03 9.99949469e-01 -4.10905544e-03 -2.66121229e-01] [-3.46770159e-03 4.07738761e-03 9.99985675e-01 -1.16094281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.811193817 meters Centerline goodness : 0.920619 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.27, Z:-1.16 [[ 9.99978133e-01 5.80152983e-03 3.17427887e-03 7.03825187e+00] [-5.77853771e-03 9.99957347e-01 -7.20511001e-03 -2.68670904e-01] [-3.21594414e-03 7.18660977e-03 9.99969005e-01 -1.16071683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.841193817 meters Centerline goodness : 0.919821 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.27, Z:-1.16 [[ 9.99992000e-01 2.73975559e-03 2.91442254e-03 7.03834897e+00] [-2.71089768e-03 9.99947714e-01 -9.86004874e-03 -2.72165057e-01] [-2.94128428e-03 9.85206916e-03 9.99947141e-01 -1.16016250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.871193817 meters Centerline goodness : 0.921931 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.28, Z:-1.16 [[ 9.99995550e-01 8.85883415e-04 2.84884625e-03 7.03828645e+00] [-8.55042210e-04 9.99941216e-01 -1.08089142e-02 -2.79304811e-01] [-2.85825422e-03 1.08064302e-02 9.99937524e-01 -1.15988432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.901193817 meters Centerline goodness : 0.922332 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.28, Z:-1.16 [[ 9.99989369e-01 3.78116733e-03 2.63903523e-03 7.05932211e+00] [-3.75327280e-03 9.99937871e-01 -1.04960724e-02 -2.82473916e-01] [-2.67855867e-03 1.04860558e-02 9.99941432e-01 -1.16116940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93119381700001 meters Centerline goodness : 0.921933 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.28, Z:-1.16 [[ 9.99988763e-01 4.07137664e-03 2.42864814e-03 7.05973736e+00] [-4.04733931e-03 9.99943576e-01 -9.82155173e-03 -2.84426209e-01] [-2.46849834e-03 9.81161180e-03 9.99948818e-01 -1.16109483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96119381700001 meters Centerline goodness : 0.924294 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.29, Z:-1.16 [[ 9.99980369e-01 5.71273187e-03 2.57408457e-03 7.05833976e+00] [-5.69432103e-03 9.99958554e-01 -7.10382813e-03 -2.90614550e-01] [-2.61456015e-03 7.08903101e-03 9.99971454e-01 -1.15941805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.991193817 meters Centerline goodness : 0.925843 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.29, Z:-1.16 [[ 9.99977265e-01 6.24310031e-03 2.54822710e-03 7.05836602e+00] [-6.22770009e-03 9.99962563e-01 -6.00734759e-03 -2.94263372e-01] [-2.58563618e-03 5.99134141e-03 9.99978709e-01 -1.15924266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.021193817 meters Centerline goodness : 0.925375 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.30, Z:-1.16 [[ 9.99976211e-01 6.49890441e-03 2.31123157e-03 7.05880240e+00] [-6.48710138e-03 9.99966064e-01 -5.07816449e-03 -2.97796208e-01] [-2.34415564e-03 5.06305049e-03 9.99984435e-01 -1.15901851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.051193817 meters Centerline goodness : 0.925442 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.30, Z:-1.16 [[ 9.99980589e-01 5.95309436e-03 1.83935816e-03 7.06067845e+00] [-5.94373540e-03 9.99969572e-01 -5.05241476e-03 -3.00755457e-01] [-1.86937969e-03 5.04138403e-03 9.99985545e-01 -1.16011142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.081193817 meters Centerline goodness : 0.925278 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.31, Z:-1.16 [[ 9.99991594e-01 3.87207081e-03 1.34898605e-03 7.06350834e+00] [-3.86338192e-03 9.99972151e-01 -6.38519200e-03 -3.05733555e-01] [-1.37367240e-03 6.37992668e-03 9.99978705e-01 -1.16249831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.111193817 meters Centerline goodness : 0.926570 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.31, Z:-1.16 [[ 9.99995083e-01 3.03230091e-03 7.99529386e-04 7.06598012e+00] [-3.02689109e-03 9.99973089e-01 -6.68280449e-03 -3.07752460e-01] [-8.19772144e-04 6.68035154e-03 9.99977350e-01 -1.16409486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.141193817 meters Centerline goodness : 0.928421 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.31, Z:-1.17 [[ 9.99997322e-01 2.31052873e-03 1.30335461e-04 7.06837531e+00] [-2.30958061e-03 9.99973818e-01 -6.85781713e-03 -3.09932928e-01] [-1.46177232e-04 6.85749775e-03 9.99976476e-01 -1.16528654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.171193817 meters Centerline goodness : 0.923718 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.32, Z:-1.17 [[ 9.99999513e-01 7.85364921e-04 -5.97360396e-04 7.07161759e+00] [-7.89983706e-04 9.99969490e-01 -7.77146058e-03 -3.15010188e-01] [ 5.91238737e-04 7.77192870e-03 9.99969623e-01 -1.16756315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.201193817 meters Centerline goodness : 0.925375 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.32, Z:-1.17 [[ 9.99998883e-01 1.08682478e-03 -1.02586132e-03 7.07290450e+00] [-1.09381712e-03 9.99976007e-01 -6.84030125e-03 -3.18250293e-01] [ 1.01840250e-03 6.84141572e-03 9.99976079e-01 -1.16805628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.231193817 meters Centerline goodness : 0.924469 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.32, Z:-1.17 [[ 9.99998463e-01 5.06668694e-05 -1.75231185e-03 7.07602932e+00] [-6.36909730e-05 9.99972371e-01 -7.43326917e-03 -3.20557801e-01] [ 1.75188681e-03 7.43336936e-03 9.99970838e-01 -1.17012025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.261193817 meters Centerline goodness : 0.925932 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.32, Z:-1.17 [[ 9.99991066e-01 1.09999965e-03 -4.08130023e-03 7.09796617e+00] [-1.13977227e-03 9.99951764e-01 -9.75559073e-03 -3.24479952e-01] [ 4.07037221e-03 9.76015533e-03 9.99944084e-01 -1.17176531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.291193817 meters Centerline goodness : 0.926209 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.33, Z:-1.17 [[ 9.99990533e-01 -1.90786443e-03 -3.91087625e-03 7.09695745e+00] [ 1.86405386e-03 9.99935815e-01 -1.11754399e-02 -3.31865888e-01] [ 3.93194645e-03 1.11680440e-02 9.99929905e-01 -1.17046836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32119381700001 meters Centerline goodness : 0.925463 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.34, Z:-1.17 [[ 9.99989310e-01 -1.99014046e-03 -4.17366217e-03 7.09728464e+00] [ 1.94869144e-03 9.99948979e-01 -9.91175455e-03 -3.36319650e-01] [ 4.19317500e-03 9.90351541e-03 9.99942167e-01 -1.16957333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35119381700001 meters Centerline goodness : 0.925373 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.34, Z:-1.17 [[ 9.99989508e-01 -1.79536520e-03 -4.21425455e-03 7.09730662e+00] [ 1.75922183e-03 9.99961776e-01 -8.56455204e-03 -3.40555774e-01] [ 4.22946997e-03 8.55704837e-03 9.99954443e-01 -1.16905149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.381193817 meters Centerline goodness : 0.929135 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.35, Z:-1.17 [[ 9.99986563e-01 -2.50890456e-03 -4.53652964e-03 7.09915379e+00] [ 2.47455509e-03 9.99968349e-01 -7.56157453e-03 -3.46880452e-01] [ 4.55535732e-03 7.55024703e-03 9.99961120e-01 -1.17003600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.411193817 meters Centerline goodness : 0.927958 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.35, Z:-1.17 [[ 9.99981462e-01 -3.11333932e-03 -5.23276634e-03 7.10193286e+00] [ 3.07380658e-03 9.99966804e-01 -7.54598457e-03 -3.49436453e-01] [ 5.25608585e-03 7.52976017e-03 9.99957837e-01 -1.17168546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.441193817 meters Centerline goodness : 0.927943 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.35, Z:-1.17 [[ 9.99973823e-01 -4.10859300e-03 -5.95596147e-03 7.10502258e+00] [ 4.06121700e-03 9.99960193e-01 -7.94477249e-03 -3.52275807e-01] [ 5.98836622e-03 7.92037607e-03 9.99950702e-01 -1.17362975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.471193817 meters Centerline goodness : 0.930051 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.36, Z:-1.17 [[ 9.99953662e-01 -7.53066585e-03 -5.99692180e-03 7.10491132e+00] [ 7.46928576e-03 9.99920156e-01 -1.01927177e-02 -3.57779053e-01] [ 6.07320093e-03 1.01474527e-02 9.99930070e-01 -1.17300802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.501193817 meters Centerline goodness : 0.931065 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.36, Z:-1.17 [[ 9.99953691e-01 -7.47873704e-03 -6.05676949e-03 7.10453996e+00] [ 7.42270397e-03 9.99929931e-01 -9.22154557e-03 -3.60681227e-01] [ 6.12531061e-03 9.17616093e-03 9.99939137e-01 -1.17189263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.531193817 meters Centerline goodness : 0.930448 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.36, Z:-1.17 [[ 9.99950311e-01 -7.69191381e-03 -6.34119336e-03 7.10507380e+00] [ 7.63650691e-03 9.99932855e-01 -8.71600568e-03 -3.62566480e-01] [ 6.40781034e-03 8.66714802e-03 9.99941909e-01 -1.17155175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.561193817 meters Centerline goodness : 0.929441 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.36, Z:-1.17 [[ 9.99937313e-01 -8.74562527e-03 -6.99177017e-03 7.10751431e+00] [ 8.68037885e-03 9.99918999e-01 -9.30839633e-03 -3.63074806e-01] [ 7.07261158e-03 9.24712160e-03 9.99932232e-01 -1.17283586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.591193817 meters Centerline goodness : 0.930489 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.36, Z:-1.17 [[ 0.9999203 -0.0100873 -0.00759222 7.10989284] [ 0.01001181 0.99990072 -0.00991581 -0.36410599] [ 0.00769149 0.00983901 0.99992201 -1.17404057] [ 0. 0. 0. 1. ]] SLAMing on 69.621193817 meters Centerline goodness : 0.930489 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.36, Z:-1.17 [[ 0.9999203 -0.0100873 -0.00759222 7.10989284] [ 0.01001181 0.99990072 -0.00991581 -0.36410599] [ 0.00769149 0.00983901 0.99992201 -1.17404057] [ 0. 0. 0. 1. ]] SLAMing on 69.651193817 meters Centerline goodness : 0.930274 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.36, Z:-1.17 [[ 0.99990826 -0.01082852 -0.00813762 7.11157183] [ 0.01074214 0.99988628 -0.01058453 -0.36406985] [ 0.00825131 0.01049614 0.99991087 -1.17463685] [ 0. 0. 0. 1. ]] SLAMing on 69.68119381700001 meters Centerline goodness : 0.928229 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.36, Z:-1.17 [[ 0.99990146 -0.01118397 -0.00848494 7.11255304] [ 0.01109086 0.99987862 -0.01094257 -0.36356058] [ 0.00860629 0.01084739 0.99990413 -1.17485823] [ 0. 0. 0. 1. ]] SLAMing on 69.71119381700001 meters Centerline goodness : 0.925650 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.36, Z:-1.18 [[ 0.99991615 -0.00918129 -0.00913185 7.11542481] [ 0.00910287 0.99992165 -0.00859268 -0.36348572] [ 0.00921003 0.00850883 0.99992138 -1.17655304] [ 0. 0. 0. 1. ]] SLAMing on 69.741193817 meters Centerline goodness : 0.924056 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.36, Z:-1.18 [[ 9.99923383e-01 -7.54324068e-03 -9.81469357e-03 7.11884923e+00] [ 7.47309544e-03 9.99946413e-01 -7.16411458e-03 -3.58201634e-01] [ 9.86820827e-03 7.09021954e-03 9.99926171e-01 -1.17902789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.771193817 meters Centerline goodness : 0.925603 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.35, Z:-1.18 [[ 9.99961742e-01 -5.54360329e-03 -6.76628394e-03 7.13653975e+00] [ 5.45689841e-03 9.99903619e-01 -1.27661437e-02 -3.54144020e-01] [ 6.83640224e-03 1.27287324e-02 9.99895616e-01 -1.18267152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.801193817 meters Centerline goodness : 0.924988 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.35, Z:-1.18 [[ 9.99966126e-01 -3.44836597e-03 -7.47368361e-03 7.13937039e+00] [ 3.37084368e-03 9.99940646e-01 -1.03605941e-02 -3.53229172e-01] [ 7.50896714e-03 1.03350505e-02 9.99918398e-01 -1.18407444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.831193817 meters Centerline goodness : 0.924233 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.35, Z:-1.18 [[ 9.99961819e-01 -3.87093424e-03 -7.83424684e-03 7.14029800e+00] [ 3.78423358e-03 9.99931768e-01 -1.10516069e-02 -3.51675038e-01] [ 7.87649234e-03 1.10215383e-02 9.99908239e-01 -1.18429226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.861193817 meters Centerline goodness : 0.922054 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.35, Z:-1.19 [[ 9.99985946e-01 -2.42283196e-03 -4.71564090e-03 7.15736534e+00] [ 2.34565312e-03 9.99864332e-01 -1.63038486e-02 -3.49327397e-01] [ 4.75450262e-03 1.62925583e-02 9.99855963e-01 -1.18512903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.891193817 meters Centerline goodness : 0.919694 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.35, Z:-1.19 [[ 9.99986005e-01 2.42373478e-04 -5.28505870e-03 7.15921836e+00] [-3.12569239e-04 9.99911700e-01 -1.32851483e-02 -3.49015825e-01] [ 5.28137206e-03 1.32866143e-02 9.99897781e-01 -1.18558977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.921193817 meters Centerline goodness : 0.919133 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.35, Z:-1.19 [[ 9.99977763e-01 3.13882747e-03 -5.88391567e-03 7.16099120e+00] [-3.19989375e-03 9.99940820e-01 -1.03979885e-02 -3.47510102e-01] [ 5.85092996e-03 1.04165852e-02 9.99928628e-01 -1.18607256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.951193817 meters Centerline goodness : 0.915581 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.34, Z:-1.19 [[ 9.99950885e-01 9.65959263e-03 -2.21809906e-03 7.17788502e+00] [-9.68877913e-03 9.99861281e-01 -1.35479071e-02 -3.38564323e-01] [ 2.08692410e-03 1.35687324e-02 9.99905763e-01 -1.19026451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.981193817 meters Centerline goodness : 0.915030 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.34, Z:-1.19 [[ 9.99906944e-01 1.33923715e-02 -2.59750506e-03 7.17862985e+00] [-1.34184517e-02 9.99856945e-01 -1.02973364e-02 -3.36105918e-01] [ 2.45922772e-03 1.03312327e-02 9.99943607e-01 -1.19002984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.011193817 meters Centerline goodness : 0.913007 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.33, Z:-1.19 [[ 9.99847114e-01 1.72573195e-02 -2.81648292e-03 7.17902347e+00] [-1.72760222e-02 9.99827926e-01 -6.75699018e-03 -3.34816804e-01] [ 2.69939074e-03 6.80461476e-03 9.99973205e-01 -1.18966593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.041193817 meters Centerline goodness : 0.912669 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.33, Z:-1.19 [[ 9.99729119e-01 2.31985160e-02 1.87568538e-03 7.19193447e+00] [-2.31735109e-02 9.99654497e-01 -1.24046604e-02 -3.29978315e-01] [-2.16280704e-03 1.23578340e-02 9.99921300e-01 -1.19380419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07119381700001 meters Centerline goodness : 0.910849 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.33, Z:-1.20 [[ 9.99652535e-01 2.63235085e-02 1.37219552e-03 7.19428208e+00] [-2.63095898e-02 9.99610305e-01 -9.32971066e-03 -3.29250520e-01] [-1.61725150e-03 9.29036700e-03 9.99955536e-01 -1.19523044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10119381700001 meters Centerline goodness : 0.907204 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.33, Z:-1.20 [[ 9.99577893e-01 2.90404471e-02 8.29319093e-04 7.19701601e+00] [-2.90345671e-02 9.99557983e-01 -6.38996843e-03 -3.29018478e-01] [-1.01452006e-03 6.36319226e-03 9.99979240e-01 -1.19696631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.131193817 meters Centerline goodness : 0.909236 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.33, Z:-1.20 [[ 9.99580577e-01 2.89554281e-02 5.03648887e-04 7.19824081e+00] [-2.89512518e-02 9.99556843e-01 -6.92402178e-03 -3.27210748e-01] [-7.03913706e-04 6.90653642e-03 9.99975902e-01 -1.19782494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.161193817 meters Centerline goodness : 0.907723 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.33, Z:-1.20 [[ 9.99581547e-01 2.89259957e-02 1.35392162e-04 7.19920729e+00] [-2.89242668e-02 9.99555570e-01 -7.21455443e-03 -3.26124103e-01] [-3.44020160e-04 7.20761936e-03 9.99973966e-01 -1.19814066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.191193817 meters Centerline goodness : 0.908272 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.33, Z:-1.20 [[ 9.99585216e-01 2.87992219e-02 -5.89362124e-06 7.19955065e+00] [-2.87985338e-02 9.99559876e-01 -7.12035340e-03 -3.26915070e-01] [-1.99169610e-04 7.11756972e-03 9.99974650e-01 -1.19815883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.221193817 meters Centerline goodness : 0.908265 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.33, Z:-1.20 [[ 9.99599390e-01 2.83002039e-02 -3.96422157e-04 7.20054989e+00] [-2.83023093e-02 9.99574084e-01 -7.11553115e-03 -3.28176269e-01] [ 1.94882332e-04 7.12390027e-03 9.99974606e-01 -1.19824496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.251193817 meters Centerline goodness : 0.906525 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.33, Z:-1.20 [[ 9.99632557e-01 2.70872863e-02 -1.01519310e-03 7.20259236e+00] [-2.70943575e-02 9.99602782e-01 -7.75719238e-03 -3.29856254e-01] [ 8.04668561e-04 7.78184805e-03 9.99969397e-01 -1.19905167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.281193817 meters Centerline goodness : 0.909209 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.33, Z:-1.20 [[ 9.99673655e-01 2.54847636e-02 -1.76366240e-03 7.20546539e+00] [-2.54992735e-02 9.99636439e-01 -8.76224415e-03 -3.31931422e-01] [ 1.53971748e-03 8.80435675e-03 9.99960055e-01 -1.20060200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.311193817 meters Centerline goodness : 0.908824 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.34, Z:-1.20 [[ 9.99771266e-01 2.12237353e-02 -2.63984956e-03 7.20944802e+00] [-2.12551240e-02 9.99696033e-01 -1.24924544e-02 -3.35026585e-01] [ 2.37391058e-03 1.25457072e-02 9.99918482e-01 -1.20374552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.341193817 meters Centerline goodness : 0.910351 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.34, Z:-1.21 [[ 9.99791000e-01 2.01747783e-02 -3.30680252e-03 7.21238279e+00] [-2.02165687e-02 9.99709363e-01 -1.31331316e-02 -3.36091539e-01] [ 3.04088343e-03 1.31972390e-02 9.99908289e-01 -1.20573549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.371193817 meters Centerline goodness : 0.910045 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.34, Z:-1.21 [[ 9.99803151e-01 1.94710660e-02 -3.81264910e-03 7.21441244e+00] [-1.95208390e-02 9.99718515e-01 -1.34843462e-02 -3.37354460e-01] [ 3.54902130e-03 1.35561180e-02 9.99901813e-01 -1.20689567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.401193817 meters Centerline goodness : 0.911295 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.34, Z:-1.21 [[ 9.99813720e-01 1.88860773e-02 -3.98007087e-03 7.21532997e+00] [-1.89368450e-02 9.99734476e-01 -1.31291147e-02 -3.41319946e-01] [ 3.73105659e-03 1.32020390e-02 9.99905888e-01 -1.20738337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43119381700001 meters Centerline goodness : 0.907695 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.34, Z:-1.21 [[ 9.99823151e-01 1.82227339e-02 -4.64750217e-03 7.21723469e+00] [-1.82829237e-02 9.99744985e-01 -1.32551979e-02 -3.42918458e-01] [ 4.40477104e-03 1.33378237e-02 9.99901345e-01 -1.20791844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46119381700001 meters Centerline goodness : 0.909057 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.35, Z:-1.21 [[ 9.99831302e-01 1.76352483e-02 -5.13465822e-03 7.21875895e+00] [-1.77011070e-02 9.99757808e-01 -1.30765512e-02 -3.45026945e-01] [ 4.90280642e-03 1.31652344e-02 9.99901315e-01 -1.20840585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.491193817 meters Centerline goodness : 0.911230 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.35, Z:-1.21 [[ 9.99845052e-01 1.65838405e-02 -5.90322763e-03 7.22110797e+00] [-1.66608170e-02 9.99773553e-01 -1.32385856e-02 -3.47370695e-01] [ 5.68234427e-03 1.33348869e-02 9.99894940e-01 -1.20915035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.521193817 meters Centerline goodness : 0.911957 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.35, Z:-1.21 [[ 9.99904046e-01 1.24168705e-02 -6.14167945e-03 7.22168914e+00] [-1.25139831e-02 9.99793121e-01 -1.60348061e-02 -3.52499082e-01] [ 5.94130675e-03 1.61101244e-02 9.99852572e-01 -1.20909955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.551193817 meters Centerline goodness : 0.913800 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.36, Z:-1.21 [[ 9.99902857e-01 1.24178288e-02 -6.33046751e-03 7.22204647e+00] [-1.25127448e-02 9.99806463e-01 -1.51811423e-02 -3.55774889e-01] [ 6.14072551e-03 1.52588791e-02 9.99864720e-01 -1.20876706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.581193817 meters Centerline goodness : 0.914049 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.36, Z:-1.21 [[ 9.99903713e-01 1.20587152e-02 -6.86677761e-03 7.22388723e+00] [-1.21619319e-02 9.99810606e-01 -1.51933747e-02 -3.56911137e-01] [ 6.68226451e-03 1.52754251e-02 9.99860995e-01 -1.20968076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.611193817 meters Centerline goodness : 0.910257 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 9.99859955e-01 1.50591328e-02 -7.30020301e-03 7.22667208e+00] [-1.51441998e-02 9.99816385e-01 -1.17409262e-02 -3.58353468e-01] [ 7.12205442e-03 1.18498376e-02 9.99904424e-01 -1.21193900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.641193817 meters Centerline goodness : 0.911134 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 0.99985415 0.01525174 -0.00768521 7.22769608] [-0.01534094 0.99981404 -0.01168536 -0.35844748] [ 0.00750556 0.01180155 0.99990219 -1.21238454] [ 0. 0. 0. 1. ]] SLAMing on 70.671193817 meters Centerline goodness : 0.910759 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 0.99984103 0.01597194 -0.00792519 7.22789959] [-0.01605859 0.99981062 -0.01099274 -0.35940692] [ 0.00774811 0.01111826 0.99990817 -1.21206257] [ 0. 0. 0. 1. ]] SLAMing on 70.701193817 meters Centerline goodness : 0.907944 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 0.99983018 0.01652003 -0.00816751 7.22791235] [-0.01660568 0.99980664 -0.01053265 -0.35996908] [ 0.00799193 0.01066648 0.99991117 -1.21141824] [ 0. 0. 0. 1. ]] SLAMing on 70.731193817 meters Centerline goodness : 0.909449 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 0.9998057 0.01795421 -0.00813741 7.22630756] [-0.01803018 0.99979363 -0.00935987 -0.36085442] [ 0.00796768 0.00950477 0.99992308 -1.20948671] [ 0. 0. 0. 1. ]] SLAMing on 70.761193817 meters Centerline goodness : 0.911138 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 9.99761305e-01 2.00284761e-02 -8.72890936e-03 7.22870196e+00] [-2.00914691e-02 9.99772295e-01 -7.18965433e-03 -3.62070354e-01] [ 8.58292393e-03 7.36331480e-03 9.99936055e-01 -1.21074150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.791193817 meters Centerline goodness : 0.911449 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 0.99975694 0.02011472 -0.00902517 7.22959533] [-0.02018195 0.99976878 -0.00742074 -0.36127899] [ 0.00887381 0.00760109 0.99993174 -1.21120925] [ 0. 0. 0. 1. ]] SLAMing on 70.82119381700001 meters Centerline goodness : 0.912745 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 9.99661694e-01 2.43282708e-02 -9.19965151e-03 7.23011731e+00] [-2.43578129e-02 9.99698458e-01 -3.11290778e-03 -3.62098457e-01] [ 9.12114577e-03 3.33593806e-03 9.99952837e-01 -1.21110864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85119381700001 meters Centerline goodness : 0.911501 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 9.99578514e-01 2.73847609e-02 -9.63688363e-03 7.23209870e+00] [-2.73832589e-02 9.99624967e-01 2.87794369e-04 -3.63089826e-01] [ 9.64115066e-03 -2.37837875e-05 9.99953523e-01 -1.21199614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.881193817 meters Centerline goodness : 0.912287 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 9.99565174e-01 2.77965996e-02 -9.83929695e-03 7.23253522e+00] [-2.77962761e-02 9.99613594e-01 1.69655772e-04 -3.62186255e-01] [ 9.84021084e-03 1.03913813e-04 9.99951579e-01 -1.21217759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.911193817 meters Centerline goodness : 0.910317 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 9.99545062e-01 2.84665870e-02 -9.96603728e-03 7.23253903e+00] [-2.84637524e-02 9.99594734e-01 4.26180653e-04 -3.62036408e-01] [ 9.97413029e-03 -1.42315951e-04 9.99950247e-01 -1.21194141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.941193817 meters Centerline goodness : 0.914131 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.36, Z:-1.22 [[ 9.99430891e-01 3.33761222e-02 -4.89169762e-03 7.24301366e+00] [-3.34095929e-02 9.99417730e-01 -6.92825142e-03 -3.61921774e-01] [ 4.65761117e-03 7.08773811e-03 9.99964035e-01 -1.21597678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.971193817 meters Centerline goodness : 0.913840 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.36, Z:-1.22 [[ 9.99410064e-01 3.39621609e-02 -5.10843442e-03 7.24353405e+00] [-3.39955805e-02 9.99400164e-01 -6.60400396e-03 -3.62156653e-01] [ 4.88108396e-03 6.77377221e-03 9.99965145e-01 -1.21621423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.001193817 meters Centerline goodness : 0.916053 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.36, Z:-1.22 [[ 9.99346054e-01 3.57042603e-02 -5.71578491e-03 7.24596408e+00] [-3.57323529e-02 9.99349429e-01 -4.89061262e-03 -3.63839876e-01] [ 5.53745068e-03 5.09165286e-03 9.99971705e-01 -1.21776810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.031193817 meters Centerline goodness : 0.918757 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.37, Z:-1.22 [[ 9.99351014e-01 3.54744549e-02 -6.25409840e-03 7.24836894e+00] [-3.55023374e-02 9.99359885e-01 -4.40506218e-03 -3.69983741e-01] [ 6.09382788e-03 4.62423846e-03 9.99970740e-01 -1.21980085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.061193817 meters Centerline goodness : 0.916053 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.37, Z:-1.22 [[ 9.99474963e-01 3.17358031e-02 -6.52975499e-03 7.24936442e+00] [-3.17864133e-02 9.99464259e-01 -7.79865937e-03 -3.73173794e-01] [ 6.27876001e-03 8.00212227e-03 9.99948270e-01 -1.22083944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.091193817 meters Centerline goodness : 0.918814 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.38, Z:-1.22 [[ 9.99574303e-01 2.83812153e-02 -6.76155005e-03 7.25023231e+00] [-2.84516786e-02 9.99539352e-01 -1.05634351e-02 -3.77040890e-01] [ 6.45863222e-03 1.07513157e-02 9.99921345e-01 -1.22170259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.121193817 meters Centerline goodness : 0.921297 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.38, Z:-1.22 [[ 9.99599536e-01 2.73424629e-02 -7.29090675e-03 7.25222475e+00] [-2.74179068e-02 9.99569365e-01 -1.04566722e-02 -3.82734346e-01] [ 7.00185587e-03 1.06523861e-02 9.99918747e-01 -1.22265175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.151193817 meters Centerline goodness : 0.922178 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.39, Z:-1.22 [[ 9.99684838e-01 2.41027976e-02 -7.02001025e-03 7.25114206e+00] [-2.41800987e-02 9.99645515e-01 -1.11430766e-02 -3.92932091e-01] [ 6.74894244e-03 1.13093093e-02 9.99913272e-01 -1.22119818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18119381700001 meters Centerline goodness : 0.924831 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.40, Z:-1.22 [[ 0.99969517 0.02348776 -0.00760852 7.25298242] [-0.02356653 0.99966782 -0.01043447 -0.39824312] [ 0.00736091 0.0106106 0.99991661 -1.22168136] [ 0. 0. 0. 1. ]] SLAMing on 71.21119381700001 meters Centerline goodness : 0.924151 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.40, Z:-1.22 [[ 0.99971233 0.02255414 -0.00815917 7.25524556] [-0.02263638 0.99969242 -0.01013172 -0.40333404] [ 0.00792814 0.0103135 0.99991538 -1.22280169] [ 0. 0. 0. 1. ]] SLAMing on 71.241193817 meters Centerline goodness : 0.927578 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.41, Z:-1.22 [[ 0.99975598 0.02046625 -0.00831387 7.25690599] [-0.02055954 0.99972482 -0.01129567 -0.40790117] [ 0.0080804 0.01146385 0.99990164 -1.22432812] [ 0. 0. 0. 1. ]] SLAMing on 71.271193817 meters Centerline goodness : 0.927808 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.42, Z:-1.23 [[ 0.99983184 0.01617155 -0.00864666 7.25877767] [-0.01628657 0.99977755 -0.01340143 -0.41683739] [ 0.00842801 0.01354 0.99987281 -1.22549317] [ 0. 0. 0. 1. ]] SLAMing on 71.301193817 meters Centerline goodness : 0.928129 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.42, Z:-1.23 [[ 0.99984748 0.01481012 -0.00925586 7.26145323] [-0.01493534 0.99979584 -0.01360935 -0.42130967] [ 0.00905242 0.01374551 0.99986455 -1.22694574] [ 0. 0. 0. 1. ]] SLAMing on 71.331193817 meters Centerline goodness : 0.930151 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.43, Z:-1.23 [[ 0.9998641 0.01324746 -0.00981282 7.26410149] [-0.01338429 0.99981225 -0.01401187 -0.42563541] [ 0.00962536 0.0141413 0.99985368 -1.22848636] [ 0. 0. 0. 1. ]] SLAMing on 71.361193817 meters Centerline goodness : 0.929387 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.43, Z:-1.23 [[ 9.99923520e-01 1.11543218e-03 -1.23170302e-02 7.26099307e+00] [-1.20801224e-03 9.99971058e-01 -7.51154787e-03 -4.34073025e-01] [ 1.23082951e-02 7.52585251e-03 9.99895928e-01 -1.22613470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.391193817 meters Centerline goodness : 0.927498 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.44, Z:-1.23 [[ 9.99912189e-01 -3.75037327e-03 -1.27101575e-02 7.26306147e+00] [ 3.60263912e-03 9.99925922e-01 -1.16263449e-02 -4.36148162e-01] [ 1.27528190e-02 1.15795338e-02 9.99851629e-01 -1.22752761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.421193817 meters Centerline goodness : 0.926493 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.44, Z:-1.23 [[ 9.99894858e-01 -6.25375746e-03 -1.30829694e-02 7.26577632e+00] [ 6.08438756e-03 9.99897688e-01 -1.29458219e-02 -4.38316680e-01] [ 1.31625909e-02 1.28648589e-02 9.99830606e-01 -1.22913559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.451193817 meters Centerline goodness : 0.927004 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.44, Z:-1.23 [[ 0.9998853 -0.00753475 -0.01313824 7.26670751] [ 0.00736406 0.99988848 -0.01299202 -0.44024787] [ 0.01323467 0.01289378 0.99982928 -1.22935556] [ 0. 0. 0. 1. ]] SLAMing on 71.481193817 meters Centerline goodness : 0.925702 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.44, Z:-1.23 [[ 9.99762733e-01 -2.07593890e-02 -6.59739686e-03 7.26370948e+00] [ 2.07017585e-02 9.99747957e-01 -8.68676399e-03 -4.40959980e-01] [ 6.77606595e-03 8.54812519e-03 9.99940505e-01 -1.22888474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.511193817 meters Centerline goodness : 0.925809 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.44, Z:-1.23 [[ 9.99734444e-01 -2.21080484e-02 -6.50199898e-03 7.26397520e+00] [ 2.20494654e-02 9.99716839e-01 -8.94773735e-03 -4.42147404e-01] [ 6.69797488e-03 8.80199562e-03 9.99938829e-01 -1.22845943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.541193817 meters Centerline goodness : 0.925809 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.44, Z:-1.23 [[ 9.99734444e-01 -2.21080484e-02 -6.50199898e-03 7.26397520e+00] [ 2.20494654e-02 9.99716839e-01 -8.94773735e-03 -4.42147404e-01] [ 6.69797488e-03 8.80199562e-03 9.99938829e-01 -1.22845943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57119381700001 meters Centerline goodness : 0.925350 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.44, Z:-1.23 [[ 9.99710545e-01 -2.31724011e-02 -6.47037825e-03 7.26395171e+00] [ 2.31119153e-02 9.99689892e-01 -9.27143521e-03 -4.42459702e-01] [ 6.68321315e-03 9.11920871e-03 9.99936085e-01 -1.22775183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60119381700001 meters Centerline goodness : 0.919016 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.44, Z:-1.23 [[ 9.99652220e-01 -2.55825588e-02 -6.40087019e-03 7.26407058e+00] [ 2.55073642e-02 9.99607728e-01 -1.15656541e-02 -4.37608816e-01] [ 6.69423833e-03 1.13983625e-02 9.99912628e-01 -1.22719868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.631193817 meters Centerline goodness : 0.915476 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.43, Z:-1.23 [[ 9.99717147e-01 -2.36327292e-02 -2.66823392e-03 7.28113829e+00] [ 2.35841685e-02 9.99577956e-01 -1.69616080e-02 -4.32691030e-01] [ 3.06795690e-03 1.68938823e-02 9.99852581e-01 -1.22979099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.661193817 meters Centerline goodness : 0.914739 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.43, Z:-1.23 [[ 9.99778686e-01 -2.10243477e-02 7.45719017e-04 7.29890526e+00] [ 2.10356487e-02 9.99538080e-01 -2.19346343e-02 -4.26464683e-01] [-2.84213178e-04 2.19454665e-02 9.99759129e-01 -1.23311214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.691193817 meters Centerline goodness : 0.909534 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.41, Z:-1.23 [[ 9.99835226e-01 -1.81027920e-02 -1.34550896e-03 7.30480671e+00] [ 1.80748163e-02 9.99665402e-01 -1.85036591e-02 -4.14052089e-01] [ 1.68002665e-03 1.84762903e-02 9.99827887e-01 -1.23366094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.721193817 meters Centerline goodness : 0.908525 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.41, Z:-1.23 [[ 9.99873289e-01 -1.58013895e-02 -1.92921176e-03 7.30672971e+00] [ 1.57672576e-02 9.99738162e-01 -1.65831379e-02 -4.08896908e-01] [ 2.19074324e-03 1.65506182e-02 9.99860629e-01 -1.23444064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.751193817 meters Centerline goodness : 0.904306 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.40, Z:-1.24 [[ 9.99900864e-01 -1.38326243e-02 -2.63070812e-03 7.30897326e+00] [ 1.37914982e-02 9.99791525e-01 -1.50565965e-02 -4.03577857e-01] [ 2.83843193e-03 1.50188225e-02 9.99883182e-01 -1.23532569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.781193817 meters Centerline goodness : 0.905664 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.40, Z:-1.24 [[ 9.99928012e-01 -1.15485657e-02 -3.25596595e-03 7.31082302e+00] [ 1.15043959e-02 9.99845727e-01 -1.32729525e-02 -3.98122717e-01] [ 3.40874720e-03 1.32345391e-02 9.99906609e-01 -1.23589233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.811193817 meters Centerline goodness : 0.902223 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.38, Z:-1.24 [[ 9.99956572e-01 -9.29592384e-03 -6.63919960e-04 7.33249293e+00] [ 9.28135135e-03 9.99769971e-01 -1.93355099e-02 -3.79761458e-01] [ 8.43508666e-04 1.93285081e-02 9.99812831e-01 -1.24176542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.841193817 meters Centerline goodness : 0.902359 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.37, Z:-1.24 [[ 9.99977668e-01 -6.60318768e-03 -1.03058951e-03 7.33361996e+00] [ 6.58415141e-03 9.99825281e-01 -1.74944634e-02 -3.71087654e-01] [ 1.14592867e-03 1.74872871e-02 9.99846429e-01 -1.24201202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.871193817 meters Centerline goodness : 0.900402 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.36, Z:-1.24 [[ 9.99996976e-01 -1.50612589e-03 -1.94413899e-03 7.33675771e+00] [ 1.48103493e-03 9.99916422e-01 -1.28435066e-02 -3.64222039e-01] [ 1.96332044e-03 1.28405884e-02 9.99915629e-01 -1.24327030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.901193817 meters Centerline goodness : 0.899669 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.36, Z:-1.24 [[ 9.99995652e-01 7.26425662e-04 -2.85795110e-03 7.33954171e+00] [-7.60303466e-04 9.99929252e-01 -1.18707042e-02 -3.56073987e-01] [ 2.84912572e-03 1.18728255e-02 9.99925456e-01 -1.24450634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93119381700001 meters Centerline goodness : 0.895518 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.34, Z:-1.25 [[ 9.99986493e-01 5.09964927e-03 -1.00360830e-03 7.36020812e+00] [-5.11776274e-03 9.99807157e-01 -1.89593627e-02 -3.37271752e-01] [ 9.06728659e-04 1.89642428e-02 9.99819751e-01 -1.25112860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96119381700001 meters Centerline goodness : 0.896560 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.33, Z:-1.25 [[ 9.99940923e-01 1.07626691e-02 -1.52189481e-03 7.36209905e+00] [-1.07828921e-02 9.99844260e-01 -1.39708664e-02 -3.30346521e-01] [ 1.37129398e-03 1.39864514e-02 9.99901244e-01 -1.25165003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.991193817 meters Centerline goodness : 0.895492 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.32, Z:-1.25 [[ 9.99871472e-01 1.59414095e-02 -1.70620894e-03 7.36325405e+00] [-1.59572444e-02 9.99825538e-01 -9.70871118e-03 -3.22329183e-01] [ 1.55114073e-03 9.73468974e-03 9.99951414e-01 -1.25201689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.021193817 meters Centerline goodness : 0.892754 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.30, Z:-1.26 [[ 9.99746533e-01 2.24907017e-02 1.01929739e-03 7.38099558e+00] [-2.24733068e-02 9.99639403e-01 -1.46973974e-02 -3.02410740e-01] [-1.34948461e-03 1.46707651e-02 9.99891468e-01 -1.25681910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.051193817 meters Centerline goodness : 0.892833 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.29, Z:-1.26 [[ 9.99653892e-01 2.60760653e-02 3.48350996e-03 7.40046894e+00] [-2.60039299e-02 9.99474413e-01 -1.93569835e-02 -2.93180236e-01] [-3.98643304e-03 1.92596989e-02 9.99806567e-01 -1.26054398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.081193817 meters Centerline goodness : 0.892253 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.28, Z:-1.26 [[ 9.99578130e-01 2.88805531e-02 3.07821103e-03 7.40179143e+00] [-2.88200846e-02 9.99419815e-01 -1.81503854e-02 -2.84562201e-01] [-3.60061826e-03 1.80540140e-02 9.99830530e-01 -1.26068342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.111193817 meters Centerline goodness : 0.891435 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.28, Z:-1.26 [[ 9.99499975e-01 3.15092621e-02 2.63946324e-03 7.40342638e+00] [-3.14602187e-02 9.99361755e-01 -1.69215220e-02 -2.76545576e-01] [-3.17096329e-03 1.68300228e-02 9.99853337e-01 -1.26116717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.141193817 meters Centerline goodness : 0.894893 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.26, Z:-1.26 [[ 9.99457429e-01 3.27149337e-02 3.81846105e-03 7.42921394e+00] [-3.26304708e-02 9.99259100e-01 -2.04084163e-02 -2.59497390e-01] [-4.48329194e-03 2.02727451e-02 9.99784435e-01 -1.26383486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.171193817 meters Centerline goodness : 0.894433 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.25, Z:-1.26 [[ 9.99374819e-01 3.51813079e-02 3.49960354e-03 7.43089937e+00] [-3.51088115e-02 9.99203282e-01 -1.89782059e-02 -2.52899080e-01] [-4.16449345e-03 1.88434742e-02 9.99813773e-01 -1.26457627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.201193817 meters Centerline goodness : 0.894907 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.25, Z:-1.26 [[ 9.99280348e-01 3.77959230e-02 3.20218879e-03 7.43220945e+00] [-3.77347317e-02 9.99136363e-01 -1.73959506e-02 -2.45872668e-01] [-3.85691927e-03 1.72625979e-02 9.99843551e-01 -1.26479532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.231193817 meters Centerline goodness : 0.896673 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.23, Z:-1.27 [[ 9.99180738e-01 3.99489553e-02 6.47556057e-03 7.44972372e+00] [-3.97863510e-02 9.98930711e-01 -2.35474169e-02 -2.31677105e-01] [-7.40933103e-03 2.32704865e-02 9.99701749e-01 -1.26670743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.261193817 meters Centerline goodness : 0.894426 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.23, Z:-1.27 [[ 9.99093330e-01 4.20293888e-02 6.78591265e-03 7.44918679e+00] [-4.18716695e-02 9.98882603e-01 -2.19159287e-02 -2.28233461e-01] [-7.69944319e-03 2.16119207e-02 9.99736787e-01 -1.26587673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.291193817 meters Centerline goodness : 0.894508 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.23, Z:-1.27 [[ 9.98994229e-01 4.43714992e-02 6.45755437e-03 7.45082958e+00] [-4.42360453e-02 9.98825028e-01 -1.97923132e-02 -2.25479793e-01] [-7.32818154e-03 1.94867500e-02 9.99783259e-01 -1.26652123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32119381700001 meters Centerline goodness : 0.895064 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.22, Z:-1.27 [[ 9.98913587e-01 4.61106093e-02 6.74224282e-03 7.45174625e+00] [-4.59680315e-02 9.98743469e-01 -1.99605205e-02 -2.15887089e-01] [-7.65416275e-03 1.96289075e-02 9.99778035e-01 -1.26697141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35119381700001 meters Centerline goodness : 0.892478 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.21, Z:-1.27 [[ 9.98802634e-01 4.83857106e-02 7.21951096e-03 7.45193373e+00] [-4.82512327e-02 9.98677248e-01 -1.77643708e-02 -2.12251616e-01] [-8.06950304e-03 1.73947500e-02 9.99816136e-01 -1.26775142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.381193817 meters Centerline goodness : 0.894682 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.21, Z:-1.27 [[ 9.98793347e-01 4.86609923e-02 6.63010156e-03 7.45346649e+00] [-4.85245113e-02 9.98633784e-01 -1.93891061e-02 -2.07943179e-01] [-7.56453656e-03 1.90439878e-02 9.99790030e-01 -1.26736368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.411193817 meters Centerline goodness : 0.892112 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.21, Z:-1.27 [[ 9.98650686e-01 5.14791028e-02 6.83435248e-03 7.45384332e+00] [-5.13620556e-02 9.98546739e-01 -1.63202267e-02 -2.06773711e-01] [-7.66457100e-03 1.59471792e-02 9.99843459e-01 -1.26785021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.441193817 meters Centerline goodness : 0.892544 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.20, Z:-1.27 [[ 9.98483535e-01 5.46205560e-02 6.87207178e-03 7.45417832e+00] [-5.45170405e-02 9.98408379e-01 -1.44430174e-02 -2.02863953e-01] [-7.65001969e-03 1.40464700e-02 9.99872079e-01 -1.26718941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.471193817 meters Centerline goodness : 0.889715 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.20, Z:-1.27 [[ 9.98479673e-01 5.47636229e-02 6.26809232e-03 7.45527430e+00] [-5.46595252e-02 9.98381260e-01 -1.57224843e-02 -2.00242741e-01] [-7.11896611e-03 1.53559700e-02 9.99856747e-01 -1.26640874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.501193817 meters Centerline goodness : 0.890468 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.20, Z:-1.26 [[ 9.98326244e-01 5.74618408e-02 6.54584533e-03 7.45365044e+00] [-5.73711289e-02 9.98264430e-01 -1.32921210e-02 -1.99872095e-01] [-7.29827430e-03 1.28943307e-02 9.99890230e-01 -1.26439126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.531193817 meters Centerline goodness : 0.891721 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.20, Z:-1.26 [[ 9.98135113e-01 6.06673680e-02 6.76507759e-03 7.45330985e+00] [-6.05940545e-02 9.98106617e-01 -1.05612919e-02 -1.97620006e-01] [-7.39299449e-03 1.01316728e-02 9.99921343e-01 -1.26352286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.561193817 meters Centerline goodness : 0.891995 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.20, Z:-1.26 [[ 9.98133946e-01 6.07521234e-02 6.14857016e-03 7.45443507e+00] [-6.06774102e-02 9.98089032e-01 -1.16848583e-02 -1.95182770e-01] [-6.84670039e-03 1.12899744e-02 9.99912826e-01 -1.26280951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.591193817 meters Centerline goodness : 0.893480 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.19, Z:-1.26 [[ 9.98118838e-01 6.10114687e-02 6.03203619e-03 7.45449465e+00] [-6.09354672e-02 9.98068737e-01 -1.20691907e-02 -1.93802741e-01] [-6.75674579e-03 1.16789217e-02 9.99908970e-01 -1.26223163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.621193817 meters Centerline goodness : 0.893027 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.19, Z:-1.26 [[ 9.98131986e-01 6.08349301e-02 5.62583686e-03 7.45537618e+00] [-6.07606501e-02 9.98073510e-01 -1.25463729e-02 -1.93158863e-01] [-6.37825646e-03 1.21811066e-02 9.99905465e-01 -1.26220516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.651193817 meters Centerline goodness : 0.891748 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.19, Z:-1.26 [[ 9.98453181e-01 5.54985025e-02 -3.34100247e-03 7.44767645e+00] [-5.55350442e-02 9.98383732e-01 -1.20740564e-02 -1.91186890e-01] [ 2.66551046e-03 1.22409228e-02 9.99921524e-01 -1.25750088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68119381700001 meters Centerline goodness : 0.891586 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.19, Z:-1.26 [[ 9.98488780e-01 5.48437508e-02 -3.50976658e-03 7.44864407e+00] [-5.48836068e-02 9.98414528e-01 -1.24988368e-02 -1.90660463e-01] [ 2.81871885e-03 1.26725770e-02 9.99915727e-01 -1.25846108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71119381700001 meters Centerline goodness : 0.891340 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.19, Z:-1.25 [[ 0.99864986 0.04997334 -0.01418189 7.44306687] [-0.05015512 0.99865986 -0.01276497 -0.18717718] [ 0.01352498 0.01345903 0.99981795 -1.25350153] [ 0. 0. 0. 1. ]] SLAMing on 72.741193817 meters Centerline goodness : 0.892373 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.18, Z:-1.25 [[ 0.99872427 0.04847325 -0.01414838 7.44376877] [-0.04868114 0.99870562 -0.01473882 -0.18310782] [ 0.01341562 0.01540878 0.99979127 -1.25419979] [ 0. 0. 0. 1. ]] SLAMing on 72.771193817 meters Centerline goodness : 0.889241 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.18, Z:-1.25 [[ 0.99874487 0.04810236 -0.01395897 7.44303544] [-0.04831857 0.99871033 -0.01558853 -0.1810603 ] [ 0.01319112 0.01624344 0.99978105 -1.25338274] [ 0. 0. 0. 1. ]] SLAMing on 72.801193817 meters Centerline goodness : 0.889080 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.18, Z:-1.25 [[ 0.9987598 0.04770991 -0.01423487 7.44332079] [-0.04794463 0.99871154 -0.01663023 -0.17955669] [ 0.0134231 0.01729209 0.99976037 -1.25265562] [ 0. 0. 0. 1. ]] SLAMing on 72.831193817 meters Centerline goodness : 0.887621 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.18, Z:-1.25 [[ 0.99877434 0.0472455 -0.01475372 7.44367724] [-0.04750693 0.99871046 -0.01790254 -0.17809609] [ 0.01388888 0.0185815 0.99973088 -1.25136241] [ 0. 0. 0. 1. ]] SLAMing on 72.861193817 meters Centerline goodness : 0.888800 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.18, Z:-1.25 [[ 0.99873815 0.04779667 -0.01541386 7.44421123] [-0.04809092 0.99865609 -0.01932035 -0.17543024] [ 0.0144697 0.02003724 0.99969452 -1.24950579] [ 0. 0. 0. 1. ]] SLAMing on 72.891193817 meters Centerline goodness : 0.888360 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.17, Z:-1.25 [[ 0.99855168 0.05156934 -0.01533458 7.44476095] [-0.05181112 0.99853173 -0.01581102 -0.1747337 ] [ 0.01449671 0.01658262 0.9997574 -1.24972649] [ 0. 0. 0. 1. ]] SLAMing on 72.921193817 meters Centerline goodness : 0.887522 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.17, Z:-1.25 [[ 0.99832721 0.05570704 -0.01547602 7.4458226 ] [-0.05590169 0.99835874 -0.01244264 -0.17315181] [ 0.01475748 0.01328696 0.99980282 -1.24982145] [ 0. 0. 0. 1. ]] SLAMing on 72.951193817 meters Centerline goodness : 0.886343 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.17, Z:-1.25 [[ 0.99805666 0.06026272 -0.01585287 7.44709117] [-0.06041394 0.99813065 -0.00923945 -0.17125687] [ 0.01526644 0.01017923 0.99983165 -1.24929899] [ 0. 0. 0. 1. ]] SLAMing on 72.981193817 meters Centerline goodness : 0.886472 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.17, Z:-1.25 [[ 9.97405784e-01 7.01488763e-02 -1.61504318e-02 7.44825267e+00] [-7.01712135e-02 9.97534625e-01 -8.19864966e-04 -1.71689276e-01] [ 1.60531023e-02 1.95103346e-03 9.99869237e-01 -1.24814288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.011193817 meters Centerline goodness : 0.887820 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.17, Z:-1.25 [[ 9.97297125e-01 7.14359483e-02 -1.71857467e-02 7.45036725e+00] [-7.14576224e-02 9.97443425e-01 -6.49633965e-04 -1.71854780e-01] [ 1.70954028e-02 1.87593068e-03 9.99852103e-01 -1.24779102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.041193817 meters Centerline goodness : 0.886337 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.17, Z:-1.25 [[ 9.97194316e-01 7.26331556e-02 -1.81086059e-02 7.45204936e+00] [-7.26420475e-02 9.97358063e-01 1.67133412e-04 -1.73859835e-01] [ 1.80729035e-02 1.14878172e-03 9.99836012e-01 -1.24750157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07119381700001 meters Centerline goodness : 0.888501 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.18, Z:-1.25 [[ 9.97285795e-01 7.09276378e-02 -1.97563592e-02 7.45494213e+00] [-7.09946984e-02 9.97473003e-01 -2.71306874e-03 -1.75340935e-01] [ 1.95140034e-02 4.10830168e-03 9.99801143e-01 -1.24737046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10119381700001 meters Centerline goodness : 0.887336 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.19, Z:-1.24 [[ 9.97176016e-01 6.99435870e-02 -2.73475281e-02 7.44428229e+00] [-6.98522051e-02 9.97548153e-01 4.28384187e-03 -1.85782377e-01] [ 2.75801034e-02 -2.36145923e-03 9.99616807e-01 -1.24335418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.131193817 meters Centerline goodness : 0.888132 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.19, Z:-1.24 [[ 9.97318888e-01 6.73187900e-02 -2.86917493e-02 7.44636611e+00] [-6.73001049e-02 9.97731467e-01 1.61751601e-03 -1.88410413e-01] [ 2.87355504e-02 3.17778473e-04 9.99586998e-01 -1.24334304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.161193817 meters Centerline goodness : 0.890012 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.19, Z:-1.24 [[ 9.97441719e-01 6.48676948e-02 -3.00366229e-02 7.44886660e+00] [-6.49310984e-02 9.97889099e-01 -1.13930671e-03 -1.90986060e-01] [ 2.98993144e-02 3.08670297e-03 9.99548150e-01 -1.24380542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.191193817 meters Centerline goodness : 0.890494 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.19, Z:-1.24 [[ 9.97533330e-01 6.26856717e-02 -3.15873607e-02 7.45190187e+00] [-6.28339733e-02 9.98017048e-01 -3.72343770e-03 -1.93860510e-01] [ 3.12913182e-02 5.69901259e-03 9.99494059e-01 -1.24434853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.221193817 meters Centerline goodness : 0.891166 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.21, Z:-1.24 [[ 9.97318098e-01 6.22542769e-02 -3.84839669e-02 7.44035466e+00] [-6.20951529e-02 9.98056069e-01 5.31751540e-03 -2.07022487e-01] [ 3.87401947e-02 -2.91358654e-03 9.99245069e-01 -1.24024307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.251193817 meters Centerline goodness : 0.889800 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.21, Z:-1.24 [[ 9.97449461e-01 5.94226636e-02 -3.95413664e-02 7.44206701e+00] [-5.93511220e-02 9.98232715e-01 2.98174343e-03 -2.11049717e-01] [ 3.96486687e-02 -6.27313916e-04 9.99213485e-01 -1.24058465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.281193817 meters Centerline goodness : 0.889055 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.22, Z:-1.24 [[ 9.97576388e-01 5.66398734e-02 -4.04138047e-02 7.44342456e+00] [-5.66494501e-02 9.98393717e-01 9.09095312e-04 -2.15133664e-01] [ 4.04003797e-02 1.38252779e-03 9.99182615e-01 -1.24097717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.311193817 meters Centerline goodness : 0.891618 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.23, Z:-1.24 [[ 9.97720991e-01 5.27559424e-02 -4.20670248e-02 7.44760188e+00] [-5.28189914e-02 9.98604027e-01 -3.87950210e-04 -2.25816084e-01] [ 4.19878337e-02 2.60900389e-03 9.99114716e-01 -1.24407342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.341193817 meters Centerline goodness : 0.888325 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.23, Z:-1.24 [[ 9.97857227e-01 4.96518691e-02 -4.26104010e-02 7.44845803e+00] [-4.97849122e-02 9.98757825e-01 -2.06620137e-03 -2.30942568e-01] [ 4.24548806e-02 4.18312904e-03 9.99089628e-01 -1.24487214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.371193817 meters Centerline goodness : 0.892804 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.24, Z:-1.25 [[ 9.98358693e-01 4.47689396e-02 -3.57164053e-02 7.45938518e+00] [-4.47815352e-02 9.98996704e-01 4.47638927e-04 -2.37390841e-01] [ 3.57006115e-02 1.15253125e-03 9.99361865e-01 -1.24827965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.401193817 meters Centerline goodness : 0.891509 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.25, Z:-1.25 [[ 9.99062375e-01 3.54710082e-02 -2.48229255e-02 7.46244072e+00] [-3.55678295e-02 9.99361241e-01 -3.46975380e-03 -2.48276046e-01] [ 2.46839940e-02 4.34939806e-03 9.99685842e-01 -1.24970166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43119381700001 meters Centerline goodness : 0.891509 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.25, Z:-1.25 [[ 9.99062375e-01 3.54710082e-02 -2.48229255e-02 7.46244072e+00] [-3.55678295e-02 9.99361241e-01 -3.46975380e-03 -2.48276046e-01] [ 2.46839940e-02 4.34939806e-03 9.99685842e-01 -1.24970166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46119381700001 meters Centerline goodness : 0.895844 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.25, Z:-1.25 [[ 9.99402724e-01 2.92874139e-02 -1.83423801e-02 7.47115889e+00] [-2.93108076e-02 9.99569838e-01 -1.00779737e-03 -2.54333928e-01] [ 1.83049741e-02 1.54482541e-03 9.99831256e-01 -1.25183677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.491193817 meters Centerline goodness : 0.896520 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.26, Z:-1.25 [[ 9.99606706e-01 2.50393402e-02 -1.26279707e-02 7.48167177e+00] [-2.49952292e-02 9.99680947e-01 3.63895419e-03 -2.60570811e-01] [ 1.27150588e-02 -3.32188398e-03 9.99913642e-01 -1.25465009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.521193817 meters Centerline goodness : 0.894364 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.26, Z:-1.26 [[ 9.99692134e-01 2.11876568e-02 -1.29120043e-02 7.48243811e+00] [-2.11872657e-02 9.99775511e-01 1.67099929e-04 -2.62473559e-01] [ 1.29126461e-02 1.06521581e-04 9.99916623e-01 -1.25513236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.551193817 meters Centerline goodness : 0.895123 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.27, Z:-1.26 [[ 9.99718073e-01 1.96239420e-02 -1.33669283e-02 7.48401976e+00] [-1.96337154e-02 9.99807060e-01 -6.00318392e-04 -2.67904510e-01] [ 1.33525687e-02 8.62591613e-04 9.99910478e-01 -1.25606314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.581193817 meters Centerline goodness : 0.896160 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.27, Z:-1.26 [[ 0.99975084 0.02068559 -0.0083884 7.4965024 ] [-0.02076807 0.99973563 -0.00986733 -0.26888671] [ 0.00818207 0.01003908 0.99991613 -1.2608436 ] [ 0. 0. 0. 1. ]] SLAMing on 73.611193817 meters Centerline goodness : 0.893254 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.27, Z:-1.26 [[ 0.99973738 0.02117548 -0.008762 7.49746105] [-0.021254 0.99973388 -0.0089682 -0.27199601] [ 0.00856976 0.00915207 0.9999214 -1.26108761] [ 0. 0. 0. 1. ]] SLAMing on 73.641193817 meters Centerline goodness : 0.896961 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.28, Z:-1.26 [[ 9.99703629e-01 2.27234996e-02 -8.73474958e-03 7.49761537e+00] [-2.27847489e-02 9.99716043e-01 -6.97777265e-03 -2.77402269e-01] [ 8.57370987e-03 7.17472372e-03 9.99937505e-01 -1.26153550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.671193817 meters Centerline goodness : 0.896986 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.28, Z:-1.26 [[ 9.99687128e-01 2.33233832e-02 -9.03695475e-03 7.49843931e+00] [-2.33778087e-02 9.99708909e-01 -5.96444498e-03 -2.80404253e-01] [ 8.89521314e-03 6.17384307e-03 9.99941378e-01 -1.26181167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.701193817 meters Centerline goodness : 0.897356 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.28, Z:-1.26 [[ 9.99677673e-01 2.35891230e-02 -9.38637939e-03 7.49955288e+00] [-2.36380239e-02 9.99707403e-01 -5.13337672e-03 -2.83546797e-01] [ 9.26254111e-03 5.35359755e-03 9.99942771e-01 -1.26229043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.731193817 meters Centerline goodness : 0.896492 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.29, Z:-1.26 [[ 9.99670462e-01 2.37324082e-02 -9.78465484e-03 7.50073791e+00] [-2.37760168e-02 9.99707782e-01 -4.36484194e-03 -2.86598395e-01] [ 9.67820737e-03 4.59604368e-03 9.99942603e-01 -1.26268271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.761193817 meters Centerline goodness : 0.898952 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.29, Z:-1.26 [[ 9.99676719e-01 2.33757111e-02 -1.00016727e-02 7.50174885e+00] [-2.34117965e-02 9.99719758e-01 -3.50618644e-03 -2.92448306e-01] [ 9.91691017e-03 3.73921008e-03 9.99943835e-01 -1.26319921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.791193817 meters Centerline goodness : 0.898273 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.30, Z:-1.26 [[ 9.99695310e-01 2.23185982e-02 -1.05435463e-02 7.50366643e+00] [-2.23604743e-02 9.99742480e-01 -3.87066597e-03 -2.95844699e-01] [ 1.04544433e-02 4.10524531e-03 9.99936924e-01 -1.26408554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82119381700001 meters Centerline goodness : 0.897971 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.30, Z:-1.27 [[ 9.99728730e-01 2.02951110e-02 -1.14269026e-02 7.50658248e+00] [-2.03594484e-02 9.99777362e-01 -5.54244221e-03 -2.99059927e-01] [ 1.13118740e-02 5.77358415e-03 9.99919350e-01 -1.26560323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85119381700001 meters Centerline goodness : 0.900327 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.30, Z:-1.27 [[ 9.99760255e-01 1.82039564e-02 -1.21674970e-02 7.50974208e+00] [-1.82953161e-02 9.99804946e-01 -7.43983889e-03 -3.01666325e-01] [ 1.20296892e-02 7.66066343e-03 9.99898295e-01 -1.26780797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.881193817 meters Centerline goodness : 0.900662 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.30, Z:-1.27 [[ 9.99738267e-01 1.87495277e-02 -1.31092776e-02 7.51447920e+00] [-1.88370247e-02 9.99800895e-01 -6.58311760e-03 -3.04952688e-01] [ 1.29832371e-02 6.82833436e-03 9.99892399e-01 -1.27151942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.911193817 meters Centerline goodness : 0.899556 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.31, Z:-1.27 [[ 9.99723850e-01 1.92293243e-02 -1.35076680e-02 7.51574012e+00] [-1.93143856e-02 9.99794265e-01 -6.19528040e-03 -3.05573144e-01] [ 1.33857579e-02 6.45446188e-03 9.99889575e-01 -1.27214124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.941193817 meters Centerline goodness : 0.898376 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.30, Z:-1.28 [[ 0.99972801 0.0216915 -0.00856663 7.52967447] [-0.02180567 0.99967152 -0.01346704 -0.3048656 ] [ 0.0082717 0.01365017 0.99987262 -1.27716311] [ 0. 0. 0. 1. ]] SLAMing on 73.971193817 meters Centerline goodness : 0.900214 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.31, Z:-1.28 [[ 0.99969274 0.0232034 -0.00871937 7.52983216] [-0.02330927 0.99965334 -0.01224225 -0.30695752] [ 0.00843229 0.01244173 0.99988704 -1.27727345] [ 0. 0. 0. 1. ]] SLAMing on 74.001193817 meters Centerline goodness : 0.900559 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.31, Z:-1.28 [[ 0.99967388 0.02394566 -0.00887306 7.52983332] [-0.02404577 0.99964639 -0.01135283 -0.30822113] [ 0.00859807 0.01156248 0.99989619 -1.27682668] [ 0. 0. 0. 1. ]] SLAMing on 74.031193817 meters Centerline goodness : 0.899905 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.31, Z:-1.28 [[ 0.99965911 0.02449148 -0.00904641 7.52969965] [-0.02458577 0.99964296 -0.01046357 -0.31022675] [ 0.00878691 0.01068242 0.99990433 -1.27607851] [ 0. 0. 0. 1. ]] SLAMing on 74.061193817 meters Centerline goodness : 0.901169 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.31, Z:-1.28 [[ 0.99964674 0.02493263 -0.00920605 7.52935542] [-0.0250197 0.99964214 -0.00946637 -0.31302786] [ 0.00896673 0.00969336 0.99991281 -1.27501649] [ 0. 0. 0. 1. ]] SLAMing on 74.091193817 meters Centerline goodness : 0.903218 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.32, Z:-1.27 [[ 0.9996922 0.02315551 -0.00890665 7.5270262 ] [-0.02324758 0.99967589 -0.01037652 -0.31954324] [ 0.00866349 0.01058039 0.9999065 -1.27295327] [ 0. 0. 0. 1. ]] SLAMing on 74.121193817 meters Centerline goodness : 0.906206 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.32, Z:-1.27 [[ 0.99970526 0.02235756 -0.00946181 7.52898471] [-0.02245534 0.99969419 -0.01035764 -0.32349405] [ 0.00922735 0.01056705 0.99990159 -1.27387333] [ 0. 0. 0. 1. ]] SLAMing on 74.151193817 meters Centerline goodness : 0.906584 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.33, Z:-1.27 [[ 0.99970443 0.02215004 -0.01002114 7.53052208] [-0.02224407 0.99970865 -0.00937152 -0.32806044] [ 0.00981064 0.00959166 0.99990587 -1.27409791] [ 0. 0. 0. 1. ]] SLAMing on 74.18119381700001 meters Centerline goodness : 0.908862 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.33, Z:-1.27 [[ 0.99976782 0.01890161 -0.01034548 7.53112473] [-0.0190269 0.99974514 -0.01215004 -0.33090932] [ 0.01011319 0.01234406 0.99987267 -1.2742166 ] [ 0. 0. 0. 1. ]] SLAMing on 74.21119381700001 meters Centerline goodness : 0.911463 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.34, Z:-1.27 [[ 0.99979956 0.01699642 -0.01058151 7.53106744] [-0.01712578 0.9997782 -0.01225769 -0.34211548] [ 0.01037083 0.01243645 0.99986888 -1.27347786] [ 0. 0. 0. 1. ]] SLAMing on 74.241193817 meters Centerline goodness : 0.910371 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.35, Z:-1.27 [[ 0.9997885 0.01754262 -0.01073401 7.53093239] [-0.01765525 0.9997891 -0.01049014 -0.34854083] [ 0.01054772 0.01067744 0.99988736 -1.27263477] [ 0. 0. 0. 1. ]] SLAMing on 74.271193817 meters Centerline goodness : 0.913339 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.35, Z:-1.27 [[ 0.9997851 0.01728752 -0.01144064 7.5329103 ] [-0.01739695 0.99980318 -0.00953623 -0.35390616] [ 0.01127353 0.00973321 0.99988908 -1.27300444] [ 0. 0. 0. 1. ]] SLAMing on 74.301193817 meters Centerline goodness : 0.912661 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.36, Z:-1.27 [[ 0.99982843 0.01447953 -0.0115526 7.53417536] [-0.01460097 0.99983829 -0.01049803 -0.36197315] [ 0.01139873 0.0106649 0.99987816 -1.27410362] [ 0. 0. 0. 1. ]] SLAMing on 74.331193817 meters Centerline goodness : 0.916004 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.37, Z:-1.27 [[ 0.99982969 0.01387049 -0.01217366 7.53641324] [-0.01398971 0.99985447 -0.00976309 -0.36707026] [ 0.01203647 0.00993173 0.99987823 -1.27495751] [ 0. 0. 0. 1. ]] SLAMing on 74.361193817 meters Centerline goodness : 0.913083 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.37, Z:-1.28 [[ 0.99986939 0.01014695 -0.01257909 7.53765679] [-0.01030705 0.99986586 -0.01272872 -0.37075416] [ 0.01244824 0.01285671 0.99983986 -1.27552419] [ 0. 0. 0. 1. ]] SLAMing on 74.391193817 meters Centerline goodness : 0.916150 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.38, Z:-1.28 [[ 9.99896798e-01 6.69502852e-03 -1.27110067e-02 7.53760506e+00] [-6.88856124e-03 9.99860084e-01 -1.52433678e-02 -3.75265239e-01] [ 1.26071734e-02 1.53293552e-02 9.99803016e-01 -1.27501959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.421193817 meters Centerline goodness : 0.917899 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.38, Z:-1.27 [[ 9.99912066e-01 3.07957224e-03 -1.28986766e-02 7.53797316e+00] [-3.31131983e-03 9.99832789e-01 -1.79841200e-02 -3.79401392e-01] [ 1.28411364e-02 1.80252502e-02 9.99755068e-01 -1.27487703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.451193817 meters Centerline goodness : 0.920689 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.39, Z:-1.28 [[ 9.99911617e-01 -1.83232772e-03 -1.31681900e-02 7.54040681e+00] [ 1.55327120e-03 9.99774667e-01 -2.11707846e-02 -3.85434903e-01] [ 1.32040146e-02 2.11484597e-02 9.99689150e-01 -1.27685127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.481193817 meters Centerline goodness : 0.918567 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.39, Z:-1.28 [[ 9.99894351e-01 -3.64961921e-03 -1.40701047e-02 7.54447178e+00] [ 3.34210752e-03 9.99756382e-01 -2.18175823e-02 -3.88134341e-01] [ 1.41463028e-02 2.17682535e-02 9.99662956e-01 -1.27920648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.511193817 meters Centerline goodness : 0.921279 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.39, Z:-1.28 [[ 9.99872697e-01 -5.99527753e-03 -1.47866862e-02 7.54836996e+00] [ 5.65379670e-03 9.99718822e-01 -2.30284753e-02 -3.90774960e-01] [ 1.49205906e-02 2.29419428e-02 9.99625451e-01 -1.28175597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.541193817 meters Centerline goodness : 0.919788 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.39, Z:-1.28 [[ 9.99852851e-01 -7.63662128e-03 -1.53609156e-02 7.55114863e+00] [ 7.27594014e-03 9.99699685e-01 -2.34008445e-02 -3.93946544e-01] [ 1.55350059e-02 2.32856359e-02 9.99608145e-01 -1.28315680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57119381700001 meters Centerline goodness : 0.921798 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.40, Z:-1.28 [[ 0.99978059 -0.01402677 -0.01555689 7.55306086] [ 0.01358251 0.99950707 -0.02830442 -0.39620023] [ 0.01594624 0.02808691 0.99947829 -1.28382872] [ 0. 0. 0. 1. ]] SLAMing on 74.60119381700001 meters Centerline goodness : 0.923353 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.40, Z:-1.28 [[ 0.9997598 -0.0150971 -0.01588782 7.55417837] [ 0.01463489 0.99947758 -0.02881641 -0.39640589] [ 0.01631457 0.02857697 0.99945845 -1.28387994] [ 0. 0. 0. 1. ]] SLAMing on 74.631193817 meters Centerline goodness : 0.919723 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.40, Z:-1.28 [[ 0.99974396 -0.01579885 -0.0161988 7.55490806] [ 0.01532091 0.9994557 -0.02921588 -0.3955783 ] [ 0.01665156 0.02896022 0.99944186 -1.28364932] [ 0. 0. 0. 1. ]] SLAMing on 74.661193817 meters Centerline goodness : 0.920200 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.39, Z:-1.28 [[ 0.99968045 -0.01692947 -0.01877191 7.56206608] [ 0.01640451 0.99947959 -0.02777475 -0.39011661] [ 0.01923235 0.02745793 0.99943793 -1.28312074] [ 0. 0. 0. 1. ]] SLAMing on 74.691193817 meters Centerline goodness : 0.918182 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.39, Z:-1.28 [[ 0.99969919 -0.01477073 -0.01957939 7.56481617] [ 0.01426858 0.99957188 -0.02554335 -0.38727579] [ 0.0199483 0.02525629 0.99948196 -1.28417438] [ 0. 0. 0. 1. ]] SLAMing on 74.721193817 meters Centerline goodness : 0.916713 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.38, Z:-1.29 [[ 0.99971021 -0.01256627 -0.0205325 7.56789783] [ 0.01208378 0.99965184 -0.02345601 -0.38364568] [ 0.02082011 0.0232011 0.999514 -1.2853479 ] [ 0. 0. 0. 1. ]] SLAMing on 74.751193817 meters Centerline goodness : 0.914700 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.38, Z:-1.29 [[ 0.99971689 -0.01035251 -0.02142352 7.57109242] [ 0.0098926 0.99972069 -0.0214634 -0.38014597] [ 0.02163973 0.02124539 0.99954007 -1.28687138] [ 0. 0. 0. 1. ]] SLAMing on 74.781193817 meters Centerline goodness : 0.912574 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.37, Z:-1.29 [[ 9.99729040e-01 -7.67932762e-03 -2.19744094e-02 7.57213263e+00] [ 7.24232208e-03 9.99775785e-01 -1.98979682e-02 -3.73237900e-01] [ 2.21222854e-02 1.97334309e-02 9.99560502e-01 -1.28664415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.811193817 meters Centerline goodness : 0.912887 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.37, Z:-1.29 [[ 9.99735329e-01 -4.72068177e-03 -2.25163745e-02 7.57300634e+00] [ 4.33689138e-03 9.99845003e-01 -1.70634288e-02 -3.71003597e-01] [ 2.25934356e-02 1.69612615e-02 9.99600846e-01 -1.28605281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.841193817 meters Centerline goodness : 0.913398 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.37, Z:-1.29 [[ 9.99732935e-01 -1.91863561e-03 -2.30299083e-02 7.57410112e+00] [ 1.58647689e-03 9.99894587e-01 -1.44325439e-02 -3.68476980e-01] [ 2.30551714e-02 1.43921530e-02 9.99630594e-01 -1.28581173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.871193817 meters Centerline goodness : 0.914583 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.36, Z:-1.29 [[ 9.99814853e-01 2.94745742e-03 -1.90150386e-02 7.59140491e+00] [-3.30174871e-03 9.99821037e-01 -1.86277544e-02 -3.57455367e-01] [ 1.89567311e-02 1.86870884e-02 9.99645655e-01 -1.29002094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.901193817 meters Centerline goodness : 0.912165 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.35, Z:-1.29 [[ 9.99789978e-01 5.91114099e-03 -1.96229153e-02 7.59333049e+00] [-6.23212970e-03 9.99847117e-01 -1.63372021e-02 -3.52776298e-01] [ 1.95233438e-02 1.64560635e-02 9.99673965e-01 -1.29070992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93119381700001 meters Centerline goodness : 0.912558 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.35, Z:-1.30 [[ 9.99914383e-01 6.50889251e-03 -1.13516600e-02 7.60369233e+00] [-6.67231298e-03 9.99873790e-01 -1.44182166e-02 -3.47965976e-01] [ 1.12563807e-02 1.44927240e-02 9.99831613e-01 -1.29809403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96119381700001 meters Centerline goodness : 0.913563 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.35, Z:-1.30 [[ 0.99988111 0.00992725 -0.0117993 7.60461878] [-0.0100629 0.99988332 -0.01149315 -0.34550889] [ 0.01168383 0.01161052 0.99986433 -1.29792044] [ 0. 0. 0. 1. ]] SLAMing on 74.991193817 meters Centerline goodness : 0.910101 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.34, Z:-1.30 [[ 0.99984829 0.01529092 -0.00834219 7.62082253] [-0.01542774 0.99974333 -0.01659106 -0.33596083] [ 0.00808635 0.01671724 0.99982756 -1.30134061] [ 0. 0. 0. 1. ]] SLAMing on 75.021193817 meters Centerline goodness : 0.909380 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.33, Z:-1.30 [[ 0.99978891 0.01865755 -0.00860453 7.62197319] [-0.01877681 0.99972576 -0.01399394 -0.33222307] [ 0.00834108 0.01415255 0.99986506 -1.30186638] [ 0. 0. 0. 1. ]] SLAMing on 75.051193817 meters Centerline goodness : 0.907775 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.33, Z:-1.30 [[ 0.99972375 0.0216954 -0.00904045 7.62369686] [-0.02179888 0.99969613 -0.0115094 -0.32868595] [ 0.008788 0.01170329 0.9998929 -1.30266259] [ 0. 0. 0. 1. ]] SLAMing on 75.081193817 meters Centerline goodness : 0.907863 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.33, Z:-1.30 [[ 0.99964816 0.02478747 -0.00944131 7.62502206] [-0.02486943 0.99965316 -0.00866437 -0.32609154] [ 0.00922326 0.00889612 0.99991789 -1.3028887 ] [ 0. 0. 0. 1. ]] SLAMing on 75.111193817 meters Centerline goodness : 0.906242 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.32, Z:-1.31 [[ 9.99628549e-01 2.67293942e-02 -5.32003112e-03 7.64118710e+00] [-2.68093846e-02 9.99519148e-01 -1.55797886e-02 -3.17470711e-01] [ 4.90103466e-03 1.57166282e-02 9.99864475e-01 -1.30652105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.141193817 meters Centerline goodness : 0.905444 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.32, Z:-1.31 [[ 9.99559332e-01 2.90951171e-02 -5.88357792e-03 7.64343054e+00] [-2.91706919e-02 9.99487345e-01 -1.31953587e-02 -3.15060884e-01] [ 5.49664117e-03 1.33611720e-02 9.99895628e-01 -1.30737757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.171193817 meters Centerline goodness : 0.903940 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.31, Z:-1.31 [[ 9.99480785e-01 3.15690607e-02 -6.44630600e-03 7.64570605e+00] [-3.16379070e-02 9.99440255e-01 -1.08729019e-02 -3.12411366e-01] [ 6.09945041e-03 1.10712042e-02 9.99920109e-01 -1.30840191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.201193817 meters Centerline goodness : 0.903126 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.31, Z:-1.31 [[ 9.99404834e-01 3.37586307e-02 -7.09452745e-03 7.64823631e+00] [-3.38259789e-02 9.99381653e-01 -9.59763913e-03 -3.06602535e-01] [ 6.76613742e-03 9.83190628e-03 9.99928774e-01 -1.30963301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.231193817 meters Centerline goodness : 0.905614 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.30, Z:-1.31 [[ 9.99421657e-01 3.31050388e-02 -7.77229004e-03 7.65011533e+00] [-3.31889225e-02 9.99389396e-01 -1.09238289e-02 -3.03461351e-01] [ 7.40591048e-03 1.11754651e-02 9.99910127e-01 -1.31031396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.261193817 meters Centerline goodness : 0.901512 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.30, Z:-1.31 [[ 0.99944899 0.03214039 -0.00828964 7.65212302] [-0.03224305 0.99940111 -0.01256234 -0.30008867] [ 0.00788091 0.01282271 0.99988673 -1.31155934] [ 0. 0. 0. 1. ]] SLAMing on 75.291193817 meters Centerline goodness : 0.902226 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.30, Z:-1.31 [[ 0.99941134 0.03308838 -0.00906308 7.65597696] [-0.03319353 0.99938036 -0.01170798 -0.29763694] [ 0.00867006 0.01200192 0.99989039 -1.31399901] [ 0. 0. 0. 1. ]] SLAMing on 75.32119381700001 meters Centerline goodness : 0.901483 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.29, Z:-1.32 [[ 0.9994539 0.03153659 -0.00986586 7.65897848] [-0.03167644 0.99939508 -0.01435536 -0.29136364] [ 0.00940718 0.01466003 0.99984828 -1.3159403 ] [ 0. 0. 0. 1. ]] SLAMing on 75.35119381700001 meters Centerline goodness : 0.901483 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.29, Z:-1.32 [[ 0.9994539 0.03153659 -0.00986586 7.65897848] [-0.03167644 0.99939508 -0.01435536 -0.29136364] [ 0.00940718 0.01466003 0.99984828 -1.3159403 ] [ 0. 0. 0. 1. ]] SLAMing on 75.381193817 meters Centerline goodness : 0.901662 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.29, Z:-1.32 [[ 0.9994842 0.03035422 -0.01048643 7.66145417] [-0.03051718 0.99941021 -0.01574587 -0.28947462] [ 0.01000229 0.01605776 0.99982104 -1.31747587] [ 0. 0. 0. 1. ]] SLAMing on 75.411193817 meters Centerline goodness : 0.899475 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.29, Z:-1.32 [[ 0.99950817 0.02930227 -0.01117134 7.66396456] [-0.0294869 0.99942502 -0.0167377 -0.28877477] [ 0.01067447 0.01705887 0.9997975 -1.31887598] [ 0. 0. 0. 1. ]] SLAMing on 75.441193817 meters Centerline goodness : 0.897409 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99951969 0.02874159 -0.01158937 7.66525556] [-0.02893797 0.99943408 -0.01714951 -0.28856141] [ 0.01108991 0.01747664 0.99978577 -1.31934256] [ 0. 0. 0. 1. ]] SLAMing on 75.471193817 meters Centerline goodness : 0.901445 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99953306 0.02814857 -0.0118878 7.66528107] [-0.02835037 0.99945069 -0.0171629 -0.28882291] [ 0.01139815 0.01749191 0.99978203 -1.31832358] [ 0. 0. 0. 1. ]] SLAMing on 75.501193817 meters Centerline goodness : 0.902623 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99953883 0.0277854 -0.01225136 7.66594998] [-0.02799442 0.99945952 -0.01723284 -0.28903347] [ 0.01176592 0.01756786 0.99977644 -1.3180799 ] [ 0. 0. 0. 1. ]] SLAMing on 75.531193817 meters Centerline goodness : 0.900380 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99953768 0.02759938 -0.01275506 7.66690531] [-0.02781646 0.99946562 -0.01716742 -0.28953755] [ 0.01227444 0.01751429 0.99977127 -1.31792024] [ 0. 0. 0. 1. ]] SLAMing on 75.561193817 meters Centerline goodness : 0.900025 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99954226 0.02726529 -0.01310979 7.6674689 ] [-0.02748462 0.99948017 -0.01685187 -0.29153356] [ 0.01264351 0.01720447 0.99977205 -1.31757037] [ 0. 0. 0. 1. ]] SLAMing on 75.591193817 meters Centerline goodness : 0.902316 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.9995381 0.02724404 -0.01346683 7.66842855] [-0.02746752 0.99948323 -0.01669754 -0.29231798] [ 0.01300496 0.01705973 0.99976989 -1.31781301] [ 0. 0. 0. 1. ]] SLAMing on 75.621193817 meters Centerline goodness : 0.899784 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99953274 0.02725172 -0.01384341 7.66921259] [-0.027482 0.99948235 -0.01672622 -0.2922357 ] [ 0.01338042 0.01709885 0.99976427 -1.3178263 ] [ 0. 0. 0. 1. ]] SLAMing on 75.651193817 meters Centerline goodness : 0.898759 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99945978 0.02955086 -0.01438413 7.67135543] [-0.0297526 0.99945898 -0.01401917 -0.29268524] [ 0.01396207 0.01443956 0.99979826 -1.31865001] [ 0. 0. 0. 1. ]] SLAMing on 75.68119381700001 meters Centerline goodness : 0.898401 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99934818 0.03305976 -0.01450057 7.67164023] [-0.03321633 0.99939099 -0.01069238 -0.28981343] [ 0.01413825 0.01116707 0.99983769 -1.31812727] [ 0. 0. 0. 1. ]] SLAMing on 75.71119381700001 meters Centerline goodness : 0.897372 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99935554 0.03263059 -0.01495841 7.67246705] [-0.03280213 0.99939719 -0.01136964 -0.28797135] [ 0.0145784 0.01185298 0.99982347 -1.31792347] [ 0. 0. 0. 1. ]] SLAMing on 75.741193817 meters Centerline goodness : 0.898605 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99935882 0.03227392 -0.0155033 7.67313692] [-0.03245475 0.99940638 -0.01155786 -0.28807047] [ 0.01512108 0.0120536 0.99981301 -1.31728613] [ 0. 0. 0. 1. ]] SLAMing on 75.771193817 meters Centerline goodness : 0.899807 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99937514 0.03154294 -0.01594887 7.67398005] [-0.03173614 0.99942413 -0.01200953 -0.28849985] [ 0.01556087 0.01250818 0.99980068 -1.3170748 ] [ 0. 0. 0. 1. ]] SLAMing on 75.801193817 meters Centerline goodness : 0.899475 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.29, Z:-1.32 [[ 0.99945092 0.02878106 -0.01641679 7.67519771] [-0.02901501 0.99947818 -0.01419509 -0.28743212] [ 0.01599967 0.01466363 0.99976447 -1.31706833] [ 0. 0. 0. 1. ]] SLAMing on 75.831193817 meters Centerline goodness : 0.900684 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.29, Z:-1.32 [[ 0.99948306 0.0273099 -0.01696438 7.67698121] [-0.02757433 0.99949874 -0.015554 -0.28536655] [ 0.01653109 0.01601374 0.99973511 -1.31781873] [ 0. 0. 0. 1. ]] SLAMing on 75.861193817 meters Centerline goodness : 0.900755 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.28, Z:-1.32 [[ 0.99954755 0.02421052 -0.01784775 7.67991947] [-0.02453973 0.99952834 -0.01846357 -0.28034132] [ 0.01739232 0.0188932 0.99967022 -1.31896606] [ 0. 0. 0. 1. ]] SLAMing on 75.891193817 meters Centerline goodness : 0.898615 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.28, Z:-1.32 [[ 0.99957357 0.02253951 -0.0185646 7.68233102] [-0.02291164 0.99953577 -0.02008258 -0.27808545] [ 0.01810333 0.02049936 0.99962595 -1.32004098] [ 0. 0. 0. 1. ]] SLAMing on 75.921193817 meters Centerline goodness : 0.898780 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.28, Z:-1.32 [[ 0.99959678 0.02077307 -0.01935851 7.6851175 ] [-0.02119493 0.99953662 -0.02184748 -0.27571638] [ 0.0188957 0.02224898 0.99957388 -1.32145062] [ 0. 0. 0. 1. ]] SLAMing on 75.951193817 meters Centerline goodness : 0.900316 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.27, Z:-1.32 [[ 0.99962127 0.01880247 -0.02009444 7.68782419] [-0.01927983 0.99953005 -0.02383203 -0.27288765] [ 0.0196369 0.02421042 0.99951401 -1.32281041] [ 0. 0. 0. 1. ]] SLAMing on 75.981193817 meters Centerline goodness : 0.897919 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.27, Z:-1.32 [[ 0.99965872 0.01548389 -0.02104024 7.69108349] [-0.01605895 0.99949437 -0.02744297 -0.26627246] [ 0.02060467 0.02777149 0.99940192 -1.32409432] [ 0. 0. 0. 1. ]] SLAMing on 76.011193817 meters Centerline goodness : 0.897414 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.26, Z:-1.33 [[ 0.99962788 0.01649827 -0.02172355 7.69414289] [-0.01706685 0.99950961 -0.02625369 -0.26283723] [ 0.02127976 0.02661467 0.99941925 -1.32557032] [ 0. 0. 0. 1. ]] SLAMing on 76.041193817 meters Centerline goodness : 0.899612 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.26, Z:-1.33 [[ 0.99957908 0.01860486 -0.0222603 7.69650784] [-0.0191521 0.99951321 -0.02462815 -0.25806989] [ 0.02179126 0.02504412 0.99944881 -1.32661844] [ 0. 0. 0. 1. ]] SLAMing on 76.07119381700001 meters Centerline goodness : 0.898578 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.25, Z:-1.33 [[ 0.9995125 0.02146687 -0.02267019 7.69762518] [-0.02197768 0.9995046 -0.02252842 -0.25274455] [ 0.02217534 0.02301567 0.99948914 -1.32646246] [ 0. 0. 0. 1. ]] SLAMing on 76.10119381700001 meters Centerline goodness : 0.894933 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.24, Z:-1.33 [[ 0.99946794 0.02774855 -0.01714226 7.71054852] [-0.02817198 0.99929107 -0.02497408 -0.2395627 ] [ 0.01643711 0.02544373 0.99954111 -1.32713511] [ 0. 0. 0. 1. ]] SLAMing on 76.131193817 meters Centerline goodness : 0.893250 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.23, Z:-1.33 [[ 0.99936519 0.03113888 -0.01730864 7.71104735] [-0.03152726 0.99924649 -0.02263793 -0.23418618] [ 0.01659068 0.02316925 0.99959389 -1.32669637] [ 0. 0. 0. 1. ]] SLAMing on 76.161193817 meters Centerline goodness : 0.893329 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.23, Z:-1.33 [[ 0.99925701 0.03432046 -0.01753669 7.71197283] [-0.03467552 0.9991912 -0.02036062 -0.22886141] [ 0.01682372 0.02095359 0.99963889 -1.32666091] [ 0. 0. 0. 1. ]] SLAMing on 76.191193817 meters Centerline goodness : 0.890988 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.22, Z:-1.33 [[ 0.99904447 0.0398106 -0.01803494 7.71445097] [-0.04010699 0.99906109 -0.01638165 -0.21803995] [ 0.01736585 0.01708932 0.99970315 -1.3272725 ] [ 0. 0. 0. 1. ]] SLAMing on 76.221193817 meters Centerline goodness : 0.888248 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.21, Z:-1.33 [[ 0.99892953 0.0424691 -0.01833487 7.71670601] [-0.0427368 0.99898166 -0.01446394 -0.21342975] [ 0.01770193 0.01523203 0.99972728 -1.32874386] [ 0. 0. 0. 1. ]] SLAMing on 76.251193817 meters Centerline goodness : 0.891350 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.21, Z:-1.33 [[ 0.99879666 0.04544248 -0.0184448 7.71828258] [-0.04568018 0.99887568 -0.01267687 -0.20891386] [ 0.01784799 0.01350418 0.99974951 -1.32944714] [ 0. 0. 0. 1. ]] SLAMing on 76.281193817 meters Centerline goodness : 0.888206 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.20, Z:-1.33 [[ 0.9986314 0.04876387 -0.01890529 7.72030557] [-0.04897503 0.99874083 -0.01087208 -0.20452273] [ 0.01835132 0.01178309 0.99976217 -1.32974432] [ 0. 0. 0. 1. ]] SLAMing on 76.311193817 meters Centerline goodness : 0.885569 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.19, Z:-1.33 [[ 0.99820759 0.05477333 -0.02411393 7.72945127] [-0.05513886 0.99836954 -0.01476342 -0.19161313] [ 0.02326597 0.01606657 0.9996002 -1.32990257] [ 0. 0. 0. 1. ]] SLAMing on 76.341193817 meters Centerline goodness : 0.882688 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.19, Z:-1.33 [[ 0.99794027 0.05894663 -0.02530829 7.73364288] [-0.05928531 0.99815842 -0.0128464 -0.18704841] [ 0.02450443 0.01432035 0.99959715 -1.33091084] [ 0. 0. 0. 1. ]] SLAMing on 76.371193817 meters Centerline goodness : 0.883560 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.18, Z:-1.33 [[ 0.99767283 0.0628829 -0.02635661 7.73768413] [-0.06317857 0.99794659 -0.01053862 -0.18381279] [ 0.02563979 0.01217927 0.99959705 -1.33220638] [ 0. 0. 0. 1. ]] SLAMing on 76.401193817 meters Centerline goodness : 0.880089 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.18, Z:-1.33 [[ 0.99723995 0.06365779 -0.03821221 7.73308859] [-0.06408183 0.99789479 -0.00997557 -0.17782502] [ 0.03749674 0.01239674 0.99921985 -1.32829539] [ 0. 0. 0. 1. ]] SLAMing on 76.43119381700001 meters Centerline goodness : 0.879830 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.17, Z:-1.33 [[ 9.96904553e-01 6.83721305e-02 -3.88144810e-02 7.73805970e+00] [-6.86850334e-02 9.97615325e-01 -6.78451038e-03 -1.71144347e-01] [ 3.82580497e-02 9.42948322e-03 9.99223402e-01 -1.33146701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46119381700001 meters Centerline goodness : 0.878688 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.17, Z:-1.33 [[ 0.99689034 0.06811132 -0.03962953 7.74022829] [-0.06850279 0.99761382 -0.008604 -0.16692837] [ 0.03894894 0.01129198 0.9991774 -1.33151788] [ 0. 0. 0. 1. ]] SLAMing on 76.49119381700001 meters Centerline goodness : 0.873979 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.33 [[ 0.99687519 0.0680115 -0.04017823 7.74131442] [-0.06844545 0.9976094 -0.0095239 -0.16488146] [ 0.03943445 0.01224416 0.99914714 -1.33111587] [ 0. 0. 0. 1. ]] SLAMing on 76.521193817 meters Centerline goodness : 0.874175 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.33 [[ 0.99706066 0.06487717 -0.04075532 7.73999545] [-0.06549843 0.9977531 -0.01409664 -0.16352559] [ 0.03974919 0.01672462 0.99906971 -1.32794158] [ 0. 0. 0. 1. ]] SLAMing on 76.551193817 meters Centerline goodness : 0.875508 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.33 [[ 0.99708721 0.06430491 -0.04101194 7.73972843] [-0.06495614 0.99777913 -0.01474796 -0.16336206] [ 0.03997249 0.01736898 0.99904981 -1.32681988] [ 0. 0. 0. 1. ]] SLAMing on 76.581193817 meters Centerline goodness : 0.874570 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.33 [[ 0.99711095 0.06374923 -0.04130125 7.73955855] [-0.0644412 0.99779888 -0.01564378 -0.16223713] [ 0.04021306 0.01826008 0.99902426 -1.32557628] [ 0. 0. 0. 1. ]] SLAMing on 76.611193817 meters Centerline goodness : 0.878426 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.32 [[ 0.99716825 0.06277074 -0.04141625 7.73839167] [-0.06353475 0.99782801 -0.01739506 -0.15903365] [ 0.0402344 0.01997718 0.99899054 -1.32326845] [ 0. 0. 0. 1. ]] SLAMing on 76.641193817 meters Centerline goodness : 0.878122 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.32 [[ 0.99716324 0.06272102 -0.04161191 7.738363 ] [-0.06349701 0.99782691 -0.01759525 -0.15874901] [ 0.04041789 0.02018756 0.99897891 -1.32256216] [ 0. 0. 0. 1. ]] SLAMing on 76.671193817 meters Centerline goodness : 0.877836 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.32 [[ 0.99715751 0.06279177 -0.04164245 7.7379058 ] [-0.06355243 0.99783027 -0.01720026 -0.16000834] [ 0.04047206 0.01979785 0.99898451 -1.32195219] [ 0. 0. 0. 1. ]] SLAMing on 76.701193817 meters Centerline goodness : 0.877762 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.32 [[ 0.99715857 0.06268304 -0.04178066 7.7376271 ] [-0.06342443 0.99784756 -0.01666071 -0.16200459] [ 0.04064638 0.01926328 0.99898789 -1.32142997] [ 0. 0. 0. 1. ]] SLAMing on 76.731193817 meters Centerline goodness : 0.884074 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.16, Z:-1.32 [[ 0.99740299 0.05910278 -0.04115991 7.73412252] [-0.059953 0.99800606 -0.0197367 -0.16311604] [ 0.03991135 0.0221531 0.99895762 -1.31905719] [ 0. 0. 0. 1. ]] SLAMing on 76.761193817 meters Centerline goodness : 0.881105 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 0.99745344 0.05846593 -0.04084572 7.73295003] [-0.05928404 0.99805817 -0.0191126 -0.1652757 ] [ 0.03964897 0.02148543 0.99898265 -1.31872913] [ 0. 0. 0. 1. ]] SLAMing on 76.791193817 meters Centerline goodness : 0.883781 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 0.99753076 0.05724509 -0.04068635 7.73236337] [-0.05804058 0.99814008 -0.0186462 -0.16792984] [ 0.03954327 0.02096162 0.99899797 -1.31898138] [ 0. 0. 0. 1. ]] SLAMing on 76.82119381700001 meters Centerline goodness : 0.887994 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 0.99762153 0.055806 -0.04045948 7.73196209] [-0.05657568 0.99823362 -0.01813385 -0.17059907] [ 0.03937604 0.02037974 0.99901661 -1.31978512] [ 0. 0. 0. 1. ]] SLAMing on 76.85119381700001 meters Centerline goodness : 0.885529 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 0.9981825 0.04550206 -0.03951285 7.72960252] [-0.04588381 0.99890795 -0.00880861 -0.17383978] [ 0.03906889 0.0106056 0.99918024 -1.31987658] [ 0. 0. 0. 1. ]] SLAMing on 76.881193817 meters Centerline goodness : 0.888647 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 0.99823396 0.04441722 -0.03944697 7.72947243] [-0.04480757 0.99895449 -0.00906671 -0.17429677] [ 0.03900301 0.01081822 0.99918053 -1.32013146] [ 0. 0. 0. 1. ]] SLAMing on 76.911193817 meters Centerline goodness : 0.887070 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 0.99826696 0.04397225 -0.03910917 7.72890806] [-0.04435648 0.99897513 -0.00901119 -0.17445839] [ 0.03867285 0.01073032 0.99919431 -1.32034852] [ 0. 0. 0. 1. ]] SLAMing on 76.941193817 meters Centerline goodness : 0.885397 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 0.99828941 0.04333956 -0.03924202 7.7295303 ] [-0.04375194 0.99899523 -0.009711 -0.17328876] [ 0.03878172 0.0114113 0.99918255 -1.3207161 ] [ 0. 0. 0. 1. ]] SLAMing on 76.971193817 meters Centerline goodness : 0.882792 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 9.98221951e-01 4.50213629e-02 -3.90642176e-02 7.73120974e+00] [-4.53515520e-02 9.98942122e-01 -7.60744533e-03 -1.71015670e-01] [ 3.86803948e-02 9.36554181e-03 9.99207743e-01 -1.32295272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.001193817 meters Centerline goodness : 0.883946 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 0.99821338 0.04462642 -0.03973063 7.7339872 ] [-0.04501593 0.99894606 -0.00896315 -0.16805225] [ 0.03928876 0.01073565 0.99917023 -1.32446508] [ 0. 0. 0. 1. ]] SLAMing on 77.031193817 meters Centerline goodness : 0.884356 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.17, Z:-1.33 [[ 0.99818331 0.04534735 -0.03966993 7.73556102] [-0.04572339 0.99891692 -0.00862347 -0.16504559] [ 0.03923591 0.01042165 0.99917563 -1.32598585] [ 0. 0. 0. 1. ]] SLAMing on 77.061193817 meters Centerline goodness : 0.882585 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.33 [[ 0.99817411 0.04524626 -0.0400152 7.7369239 ] [-0.04569095 0.99890284 -0.01026859 -0.16069399] [ 0.03950669 0.01207818 0.99914631 -1.32615221] [ 0. 0. 0. 1. ]] SLAMing on 77.091193817 meters Centerline goodness : 0.882447 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.33 [[ 0.99814758 0.0455897 -0.04028623 7.73748435] [-0.04610342 0.9988656 -0.01191553 -0.15574417] [ 0.0396973 0.01375079 0.99911713 -1.32525769] [ 0. 0. 0. 1. ]] SLAMing on 77.121193817 meters Centerline goodness : 0.879540 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.15, Z:-1.33 [[ 0.99792495 0.04958303 -0.04107698 7.74055159] [-0.05008063 0.99868267 -0.0111742 -0.14774953] [ 0.04046882 0.01320817 0.9990935 -1.32558425] [ 0. 0. 0. 1. ]] SLAMing on 77.151193817 meters Centerline goodness : 0.878195 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.14, Z:-1.33 [[ 0.9977178 0.05325765 -0.04150675 7.74235004] [-0.05367284 0.99851844 -0.00895291 -0.14421251] [ 0.04096845 0.01116027 0.99909811 -1.32571243] [ 0. 0. 0. 1. ]] SLAMing on 77.18119381700001 meters Centerline goodness : 0.877916 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.14, Z:-1.32 [[ 0.99763913 0.05424276 -0.04211761 7.74381648] [-0.05473337 0.99844492 -0.01058338 -0.13822127] [ 0.04147804 0.01286363 0.9990566 -1.32482785] [ 0. 0. 0. 1. ]] SLAMing on 77.21119381700001 meters Centerline goodness : 0.878282 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.13, Z:-1.32 [[ 0.99757712 0.05507018 -0.04251065 7.74428223] [-0.05563575 0.99837614 -0.01223678 -0.13225265] [ 0.04176774 0.01457224 0.99902107 -1.32325889] [ 0. 0. 0. 1. ]] SLAMing on 77.24119381700001 meters Centerline goodness : 0.878282 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.13, Z:-1.32 [[ 0.99757712 0.05507018 -0.04251065 7.74428223] [-0.05563575 0.99837614 -0.01223678 -0.13225265] [ 0.04176774 0.01457224 0.99902107 -1.32325889] [ 0. 0. 0. 1. ]] SLAMing on 77.271193817 meters Centerline goodness : 0.880221 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.12, Z:-1.32 [[ 0.99761713 0.06031625 -0.03349633 7.75225184] [-0.06079074 0.9980615 -0.0133316 -0.12329109] [ 0.03262729 0.0153361 0.99934992 -1.32398957] [ 0. 0. 0. 1. ]] SLAMing on 77.301193817 meters Centerline goodness : 0.881506 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.12, Z:-1.32 [[ 0.99762558 0.06013085 -0.03357816 7.75182062] [-0.06065914 0.9980467 -0.01494181 -0.1189235 ] [ 0.0326141 0.01694316 0.9993244 -1.32251785] [ 0. 0. 0. 1. ]] SLAMing on 77.331193817 meters Centerline goodness : 0.881142 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.12, Z:-1.32 [[ 0.99743872 0.06320017 -0.0334923 7.75168136] [-0.06362644 0.99790382 -0.01181702 -0.11801513] [ 0.03267526 0.01391775 0.99936911 -1.32189141] [ 0. 0. 0. 1. ]] SLAMing on 77.361193817 meters Centerline goodness : 0.878806 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.12, Z:-1.32 [[ 0.99744763 0.06298392 -0.03363422 7.75165832] [-0.06344468 0.99790312 -0.01281134 -0.11561223] [ 0.03275678 0.01491255 0.99935209 -1.32110905] [ 0. 0. 0. 1. ]] SLAMing on 77.391193817 meters Centerline goodness : 0.879553 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.11, Z:-1.32 [[ 0.99740238 0.06361937 -0.03377977 7.7514882 ] [-0.06409127 0.99785839 -0.01307463 -0.11441708] [ 0.03287563 0.01520565 0.99934378 -1.32002167] [ 0. 0. 0. 1. ]] SLAMing on 77.421193817 meters Centerline goodness : 0.880156 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.11, Z:-1.32 [[ 0.99738071 0.06387961 -0.03392816 7.75149961] [-0.06436322 0.99783714 -0.01335728 -0.11411002] [ 0.03300152 0.01550602 0.99933501 -1.31932248] [ 0. 0. 0. 1. ]] SLAMing on 77.451193817 meters Centerline goodness : 0.878565 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.11, Z:-1.32 [[ 0.99707157 0.06856598 -0.03386732 7.75261709] [-0.06891135 0.99758095 -0.00913666 -0.11394098] [ 0.03315893 0.01144375 0.99938457 -1.3201235 ] [ 0. 0. 0. 1. ]] SLAMing on 77.481193817 meters Centerline goodness : 0.877548 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.11, Z:-1.32 [[ 9.96882146e-01 7.11035393e-02 -3.42092759e-02 7.75538305e+00] [-7.13640150e-02 9.97429465e-01 -6.45284595e-03 -1.14112074e-01] [ 3.36625195e-02 8.87403819e-03 9.99393859e-01 -1.32223348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.511193817 meters Centerline goodness : 0.875756 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.11, Z:-1.32 [[ 9.96843277e-01 7.14597821e-02 -3.45974027e-02 7.75654364e+00] [-7.17204895e-02 9.97404541e-01 -6.35240484e-03 -1.13774315e-01] [ 3.40536651e-02 8.81369472e-03 9.99381142e-01 -1.32263375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.541193817 meters Centerline goodness : 0.873545 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.11, Z:-1.32 [[ 9.96831238e-01 7.15227420e-02 -3.48135054e-02 7.75706362e+00] [-7.17761394e-02 9.97402220e-01 -6.08259011e-03 -1.14625106e-01] [ 3.42880240e-02 8.56209485e-03 9.99375316e-01 -1.32282760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57119381700001 meters Centerline goodness : 0.873890 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.12, Z:-1.32 [[ 0.99698277 0.06918397 -0.03519863 7.75725031] [-0.06950204 0.99755058 -0.00789311 -0.1192494 ] [ 0.03456634 0.01031567 0.99934917 -1.32301077] [ 0. 0. 0. 1. ]] SLAMing on 77.60119381700001 meters Centerline goodness : 0.872298 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.12, Z:-1.32 [[ 9.96921655e-01 6.98959291e-02 -3.55214333e-02 7.75835426e+00] [-7.01677544e-02 9.97514270e-01 -6.46277923e-03 -1.23039912e-01] [ 3.49814147e-02 8.93534378e-03 9.99348018e-01 -1.32393070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.631193817 meters Centerline goodness : 0.871635 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.13, Z:-1.32 [[ 9.96841366e-01 7.08006118e-02 -3.59800483e-02 7.75981037e+00] [-7.10245328e-02 9.97462126e-01 -4.98230376e-03 -1.26366772e-01] [ 3.55359853e-02 7.52203260e-03 9.99340089e-01 -1.32491113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.661193817 meters Centerline goodness : 0.872104 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.13, Z:-1.32 [[ 0.99697567 0.06856169 -0.03658964 7.76069659] [-0.06888905 0.99759414 -0.00776083 -0.12700732] [ 0.03596951 0.01025798 0.99930024 -1.32496813] [ 0. 0. 0. 1. ]] SLAMing on 77.691193817 meters Centerline goodness : 0.870196 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.13, Z:-1.32 [[ 9.96967871e-01 6.90171612e-02 -3.59401813e-02 7.75835551e+00] [-6.92332695e-02 9.97588940e-01 -4.80210424e-03 -1.34839112e-01] [ 3.55220997e-02 7.27579989e-03 9.99342405e-01 -1.32420601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.721193817 meters Centerline goodness : 0.869466 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.14, Z:-1.32 [[ 9.97189479e-01 6.55960200e-02 -3.61981311e-02 7.75791055e+00] [-6.59074716e-02 9.97797720e-01 -7.47767995e-03 -1.37630269e-01] [ 3.56279066e-02 9.84239107e-03 9.99316656e-01 -1.32386273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.751193817 meters Centerline goodness : 0.872130 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.14, Z:-1.32 [[ 0.99740667 0.06208684 -0.03640275 7.75762 ] [-0.06247713 0.99799943 -0.00968265 -0.14186596] [ 0.03572876 0.01193188 0.99929029 -1.32404897] [ 0. 0. 0. 1. ]] SLAMing on 77.781193817 meters Centerline goodness : 0.868694 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.15, Z:-1.33 [[ 0.99780747 0.05502776 -0.03677227 7.75769934] [-0.05556434 0.99836067 -0.01373213 -0.15107594] [ 0.03595633 0.01574525 0.99922932 -1.32553497] [ 0. 0. 0. 1. ]] SLAMing on 77.811193817 meters Centerline goodness : 0.870969 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.15, Z:-1.33 [[ 0.99798455 0.05152648 -0.03703874 7.75798687] [-0.05214924 0.99851035 -0.01604828 -0.15472603] [ 0.03615665 0.01794747 0.99918496 -1.32617698] [ 0. 0. 0. 1. ]] SLAMing on 77.841193817 meters Centerline goodness : 0.871025 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.16, Z:-1.33 [[ 0.99801373 0.05131918 -0.03653675 7.75700221] [-0.05186197 0.9985552 -0.01406588 -0.15976165] [ 0.03576211 0.01593281 0.99923331 -1.32696612] [ 0. 0. 0. 1. ]] SLAMing on 77.871193817 meters Centerline goodness : 0.872129 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.16, Z:-1.33 [[ 0.99804469 0.05075391 -0.03648054 7.7571272 ] [-0.0512535 0.99860246 -0.01289193 -0.16341452] [ 0.03577525 0.01473647 0.9992512 -1.32796263] [ 0. 0. 0. 1. ]] SLAMing on 77.901193817 meters Centerline goodness : 0.871827 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.17, Z:-1.33 [[ 0.99821812 0.04710597 -0.03662805 7.75669986] [-0.04768278 0.99874935 -0.01503648 -0.16761251] [ 0.03587393 0.01675622 0.99921584 -1.32808801] [ 0. 0. 0. 1. ]] SLAMing on 77.93119381700001 meters Centerline goodness : 0.873009 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.17, Z:-1.33 [[ 0.99822053 0.04686192 -0.03687447 7.75676515] [-0.04741911 0.99877152 -0.01438341 -0.17037372] [ 0.03615513 0.01610637 0.99921639 -1.32787979] [ 0. 0. 0. 1. ]] SLAMing on 77.96119381700001 meters Centerline goodness : 0.872291 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.17, Z:-1.33 [[ 0.99819906 0.04724381 -0.03696823 7.75623472] [-0.04776399 0.99876988 -0.01331633 -0.17335818] [ 0.03629364 0.0150581 0.99922771 -1.32720377] [ 0. 0. 0. 1. ]] SLAMing on 77.99119381700001 meters Centerline goodness : 0.876645 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.33 [[ 0.99816792 0.0475901 -0.03736285 7.75578312] [-0.04809603 0.9987612 -0.01276041 -0.176156 ] [ 0.0367093 0.01453404 0.99922029 -1.32565377] [ 0. 0. 0. 1. ]] SLAMing on 78.021193817 meters Centerline goodness : 0.874886 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.32 [[ 0.99815376 0.04768151 -0.03762369 7.75550548] [-0.04820461 0.9987513 -0.01312065 -0.17596696] [ 0.0369511 0.01491006 0.99920584 -1.32440423] [ 0. 0. 0. 1. ]] SLAMing on 78.051193817 meters Centerline goodness : 0.878468 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.32 [[ 0.99814694 0.04762807 -0.03787159 7.75559503] [-0.04816585 0.99874924 -0.01341631 -0.17560814] [ 0.03718523 0.01521556 0.99919255 -1.32375764] [ 0. 0. 0. 1. ]] SLAMing on 78.081193817 meters Centerline goodness : 0.875913 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.32 [[ 0.99814261 0.04772943 -0.03785793 7.75515285] [-0.04826922 0.99874347 -0.01347425 -0.17546717] [ 0.03716724 0.01527659 0.99919228 -1.32308408] [ 0. 0. 0. 1. ]] SLAMing on 78.111193817 meters Centerline goodness : 0.878297 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.32 [[ 0.99812771 0.04795183 -0.03796975 7.75532198] [-0.04848178 0.99873735 -0.01316119 -0.17602268] [ 0.03729071 0.01497739 0.99919221 -1.32303198] [ 0. 0. 0. 1. ]] SLAMing on 78.141193817 meters Centerline goodness : 0.878594 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.32 [[ 0.99812386 0.04811473 -0.03786469 7.75554493] [-0.04859545 0.9987479 -0.01187907 -0.17858798] [ 0.03724572 0.01369683 0.99921227 -1.32406269] [ 0. 0. 0. 1. ]] SLAMing on 78.171193817 meters Centerline goodness : 0.879056 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.32 [[ 0.99814712 0.04763934 -0.03785249 7.75578052] [-0.04810277 0.99877702 -0.0114275 -0.18028506] [ 0.0372618 0.01322713 0.99921799 -1.32480413] [ 0. 0. 0. 1. ]] SLAMing on 78.201193817 meters Centerline goodness : 0.877470 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.33 [[ 0.99815713 0.04737862 -0.03791592 7.75617263] [-0.04781398 0.99879939 -0.01065849 -0.1822466 ] [ 0.03736541 0.01245176 0.99922409 -1.32555901] [ 0. 0. 0. 1. ]] SLAMing on 78.231193817 meters Centerline goodness : 0.877673 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.33 [[ 0.99817861 0.04638345 -0.03857516 7.75906578] [-0.04683701 0.99884266 -0.01093785 -0.18345213] [ 0.03802318 0.01272468 0.99919584 -1.32794831] [ 0. 0. 0. 1. ]] SLAMing on 78.261193817 meters Centerline goodness : 0.876487 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.19, Z:-1.33 [[ 0.9981647 0.04620783 -0.03914162 7.76369585] [-0.04660289 0.99887075 -0.00924113 -0.18654998] [ 0.03867041 0.01104828 0.99919094 -1.33326482] [ 0. 0. 0. 1. ]] SLAMing on 78.291193817 meters Centerline goodness : 0.874515 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.19, Z:-1.33 [[ 0.99817113 0.04616366 -0.03902957 7.76423206] [-0.04653039 0.99888037 -0.00854023 -0.1874967 ] [ 0.03859163 0.01034067 0.99920156 -1.33455586] [ 0. 0. 0. 1. ]] SLAMing on 78.32119381700001 meters Centerline goodness : 0.874031 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.19, Z:-1.34 [[ 0.9981885 0.04577265 -0.03904587 7.76475116] [-0.04614094 0.99889806 -0.00858353 -0.187659 ] [ 0.03860995 0.0103696 0.99920055 -1.33532046] [ 0. 0. 0. 1. ]] SLAMing on 78.35119381700001 meters Centerline goodness : 0.873552 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.19, Z:-1.33 [[ 0.99812864 0.04651798 -0.0396901 7.76590941] [-0.04690169 0.99886082 -0.00879162 -0.1872325 ] [ 0.03923592 0.0106367 0.99917336 -1.33481426] [ 0. 0. 0. 1. ]] SLAMing on 78.381193817 meters Centerline goodness : 0.873181 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.19, Z:-1.33 [[ 0.99807754 0.04712211 -0.04025824 7.76709088] [-0.04754559 0.99882268 -0.00962668 -0.18518884] [ 0.03975722 0.01152227 0.99914293 -1.33431633] [ 0. 0. 0. 1. ]] SLAMing on 78.411193817 meters Centerline goodness : 0.872618 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.18, Z:-1.33 [[ 0.99801936 0.04790998 -0.04076759 7.76834962] [-0.04836264 0.99877786 -0.01018991 -0.18292907] [ 0.04022957 0.01214135 0.99911669 -1.33403566] [ 0. 0. 0. 1. ]] SLAMing on 78.441193817 meters Centerline goodness : 0.871890 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.18, Z:-1.33 [[ 0.99799237 0.04832003 -0.04094383 7.76860767] [-0.04880403 0.99874885 -0.01090454 -0.18067173] [ 0.04036569 0.01288087 0.99910194 -1.33339271] [ 0. 0. 0. 1. ]] SLAMing on 78.471193817 meters Centerline goodness : 0.871896 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.18, Z:-1.33 [[ 0.99798887 0.04821681 -0.04115044 7.76888439] [-0.04873626 0.99874299 -0.01171434 -0.17902676] [ 0.04053389 0.0136963 0.99908429 -1.33285227] [ 0. 0. 0. 1. ]] SLAMing on 78.501193817 meters Centerline goodness : 0.870111 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.18, Z:-1.33 [[ 0.99807666 0.04672185 -0.04074376 7.76662532] [-0.04730607 0.99878929 -0.01349404 -0.17710294] [ 0.04006396 0.01539551 0.9990785 -1.3307675 ] [ 0. 0. 0. 1. ]] SLAMing on 78.531193817 meters Centerline goodness : 0.872277 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.18, Z:-1.33 [[ 0.998119 0.04608795 -0.04042735 7.765291 ] [-0.04669347 0.99880885 -0.01416327 -0.1760586 ] [ 0.03972644 0.01602432 0.99908209 -1.32967458] [ 0. 0. 0. 1. ]] SLAMing on 78.561193817 meters Centerline goodness : 0.871526 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.33 [[ 0.99815049 0.0456927 -0.04009719 7.76445079] [-0.04629673 0.99882585 -0.0142667 -0.17576719] [ 0.03939822 0.01609669 0.99909393 -1.32941657] [ 0. 0. 0. 1. ]] SLAMing on 78.591193817 meters Centerline goodness : 0.870243 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.33 [[ 0.99819112 0.04513124 -0.03971983 7.76378883] [-0.04573992 0.9988474 -0.01455088 -0.17519812] [ 0.03901735 0.01634134 0.9991049 -1.32955389] [ 0. 0. 0. 1. ]] SLAMing on 78.621193817 meters Centerline goodness : 0.866733 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.17, Z:-1.33 [[ 0.99829333 0.04270324 -0.03983535 7.76557056] [-0.04337242 0.99892943 -0.01608807 -0.17365511] [ 0.03910569 0.01778836 0.99907673 -1.33182328] [ 0. 0. 0. 1. ]] SLAMing on 78.651193817 meters Centerline goodness : 0.870648 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.17, Z:-1.33 [[ 0.99834211 0.04176015 -0.03961218 7.76526415] [-0.04245198 0.99895746 -0.01678747 -0.17255108] [ 0.03886984 0.01844126 0.9990741 -1.33199968] [ 0. 0. 0. 1. ]] SLAMing on 78.68119381700001 meters Centerline goodness : 0.871123 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.17, Z:-1.33 [[ 0.99838066 0.04098397 -0.03945099 7.76454276] [-0.04171177 0.99897102 -0.01780516 -0.17078006] [ 0.03868067 0.0194219 0.99906286 -1.33125827] [ 0. 0. 0. 1. ]] SLAMing on 78.71119381700001 meters Centerline goodness : 0.867979 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.17, Z:-1.33 [[ 0.99832778 0.04269521 -0.03897119 7.76290938] [-0.04337569 0.99891781 -0.0167856 -0.16693539] [ 0.03821235 0.01844793 0.99909934 -1.32958636] [ 0. 0. 0. 1. ]] SLAMing on 78.74119381700001 meters Centerline goodness : 0.867083 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.17, Z:-1.33 [[ 0.99819076 0.04596095 -0.03876598 7.76313595] [-0.04652073 0.99882388 -0.01366317 -0.16574004] [ 0.03809242 0.01544187 0.9991549 -1.32991916] [ 0. 0. 0. 1. ]] SLAMing on 78.771193817 meters Centerline goodness : 0.865751 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.16, Z:-1.33 [[ 0.99805016 0.0485013 -0.03928755 7.76624542] [-0.04899351 0.998731 -0.01166331 -0.16301204] [ 0.03867201 0.0135654 0.99915987 -1.3318792 ] [ 0. 0. 0. 1. ]] SLAMing on 78.801193817 meters Centerline goodness : 0.865342 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.16, Z:-1.33 [[ 0.99786112 0.05182565 -0.03984076 7.76926938] [-0.05223438 0.99859167 -0.00928677 -0.15961654] [ 0.03930335 0.01134797 0.99916288 -1.33347159] [ 0. 0. 0. 1. ]] SLAMing on 78.831193817 meters Centerline goodness : 0.860279 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.15, Z:-1.34 [[ 9.97407925e-01 5.91476145e-02 -4.09754806e-02 7.77461139e+00] [-5.93799908e-02 9.98225415e-01 -4.47636866e-03 -1.52994419e-01] [ 4.06379996e-02 6.89788924e-03 9.99150125e-01 -1.33580062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.861193817 meters Centerline goodness : 0.860287 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.15, Z:-1.34 [[ 9.97340199e-01 5.95946660e-02 -4.19643174e-02 7.77718478e+00] [-5.98956697e-02 9.98186901e-01 -5.95134512e-03 -1.49045986e-01] [ 4.15335635e-02 8.44899662e-03 9.99101385e-01 -1.33586683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.891193817 meters Centerline goodness : 0.858278 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.15, Z:-1.34 [[ 9.97321779e-01 5.95694563e-02 -4.24352327e-02 7.77841050e+00] [-5.99258712e-02 9.98177036e-01 -7.17595141e-03 -1.46128036e-01] [ 4.19304073e-02 9.69970092e-03 9.99073449e-01 -1.33573580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.921193817 meters Centerline goodness : 0.857096 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.15, Z:-1.34 [[ 9.97192400e-01 6.17398259e-02 -4.23734751e-02 7.77889469e+00] [-6.19947171e-02 9.98065285e-01 -4.72662880e-03 -1.45355036e-01] [ 4.19996733e-02 7.34028992e-03 9.99090660e-01 -1.33599605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.951193817 meters Centerline goodness : 0.857131 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.14, Z:-1.34 [[ 9.97211607e-01 6.13120679e-02 -4.25422232e-02 7.77885195e+00] [-6.16273664e-02 9.98080349e-01 -6.13872492e-03 -1.42475709e-01] [ 4.20841791e-02 8.74337292e-03 9.99075811e-01 -1.33509856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.981193817 meters Centerline goodness : 0.858268 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.14, Z:-1.33 [[ 9.97042009e-01 6.42132280e-02 -4.22361612e-02 7.77806705e+00] [-6.44772764e-02 9.97907057e-01 -4.91805638e-03 -1.36936783e-01] [ 4.18319590e-02 7.62678145e-03 9.99095551e-01 -1.33343398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.011193817 meters Centerline goodness : 0.854370 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 9.97019158e-01 6.43679531e-02 -4.25389814e-02 7.77891924e+00] [-6.46790180e-02 9.97888228e-01 -5.97563418e-03 -1.33537402e-01] [ 4.20645094e-02 8.70920130e-03 9.99076937e-01 -1.33324363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.041193817 meters Centerline goodness : 0.856992 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 9.96980283e-01 6.45836702e-02 -4.31191870e-02 7.78049825e+00] [-6.49148736e-02 9.97870765e-01 -6.32416110e-03 -1.32548571e-01] [ 4.26189386e-02 9.10414050e-03 9.99049919e-01 -1.33360196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07119381700001 meters Centerline goodness : 0.854704 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 9.96945502e-01 6.49162524e-02 -4.34228873e-02 7.78153026e+00] [-6.52306621e-02 9.97852995e-01 -5.86184539e-03 -1.33560991e-01] [ 4.29491291e-02 8.67644408e-03 9.99039585e-01 -1.33421734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10119381700001 meters Centerline goodness : 0.851968 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 9.97003406e-01 6.43912164e-02 -4.28716763e-02 7.77956635e+00] [-6.47027344e-02 9.97887038e-01 -5.91734120e-03 -1.34399849e-01] [ 4.24000653e-02 8.67352401e-03 9.99063063e-01 -1.33314538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.131193817 meters Centerline goodness : 0.851968 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 9.97003406e-01 6.43912164e-02 -4.28716763e-02 7.77956635e+00] [-6.47027344e-02 9.97887038e-01 -5.91734120e-03 -1.34399849e-01] [ 4.24000653e-02 8.67352401e-03 9.99063063e-01 -1.33314538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.161193817 meters Centerline goodness : 0.855841 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 9.97047322e-01 6.37062730e-02 -4.28736286e-02 7.77866120e+00] [-6.40687614e-02 9.97919993e-01 -7.13313693e-03 -1.32620026e-01] [ 4.23300256e-02 9.85893536e-03 9.99055039e-01 -1.33172745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.191193817 meters Centerline goodness : 0.853145 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 0.99704844 0.06348155 -0.04317984 7.77880027] [-0.06387871 0.99792656 -0.00787973 -0.13078202] [ 0.04259009 0.01061474 0.99903624 -1.33084258] [ 0. 0. 0. 1. ]] SLAMing on 79.221193817 meters Centerline goodness : 0.853799 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 0.99711353 0.06244904 -0.04318247 7.77773244] [-0.06291798 0.99797267 -0.00958576 -0.12791387] [ 0.0424963 0.01227504 0.99902121 -1.32920639] [ 0. 0. 0. 1. ]] SLAMing on 79.251193817 meters Centerline goodness : 0.857181 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 9.97357830e-01 6.06598430e-02 -3.99717797e-02 7.78407656e+00] [-6.06769699e-02 9.98157146e-01 7.85671633e-04 -1.31797527e-01] [ 3.99457763e-02 1.64177072e-03 9.99200500e-01 -1.32808971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.281193817 meters Centerline goodness : 0.854672 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 9.97593285e-01 5.64394849e-02 -4.02768092e-02 7.78400290e+00] [-5.66493941e-02 9.98385762e-01 -4.08863212e-03 -1.29992904e-01] [ 3.99810325e-02 6.36044879e-03 9.99180195e-01 -1.32749591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.311193817 meters Centerline goodness : 0.855034 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 0.99779353 0.05251679 -0.04062094 7.78464208] [-0.0529002 0.99856429 -0.00842143 -0.12890479] [ 0.04012035 0.0105517 0.99913914 -1.32771916] [ 0. 0. 0. 1. ]] SLAMing on 79.341193817 meters Centerline goodness : 0.856213 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.13, Z:-1.33 [[ 0.99798704 0.04851485 -0.04084342 7.78620592] [-0.04904119 0.99872485 -0.0119844 -0.12904447] [ 0.04020992 0.01396329 0.99909368 -1.32962559] [ 0. 0. 0. 1. ]] SLAMing on 79.371193817 meters Centerline goodness : 0.854672 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.13, Z:-1.33 [[ 0.99800636 0.04825635 -0.04067711 7.78638931] [-0.04877979 0.99873777 -0.01197466 -0.1292847 ] [ 0.04004791 0.01393501 0.99910059 -1.33027795] [ 0. 0. 0. 1. ]] SLAMing on 79.401193817 meters Centerline goodness : 0.857498 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.13, Z:-1.33 [[ 0.99800598 0.04816708 -0.04079207 7.78751695] [-0.04869898 0.99873964 -0.01214689 -0.12821739] [ 0.04015558 0.0141092 0.99909382 -1.33132369] [ 0. 0. 0. 1. ]] SLAMing on 79.43119381700001 meters Centerline goodness : 0.855633 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.13, Z:-1.33 [[ 0.99799959 0.04811866 -0.04100514 7.78877054] [-0.04866894 0.99873639 -0.0125283 -0.12652078] [ 0.04035048 0.01449891 0.99908039 -1.3321553 ] [ 0. 0. 0. 1. ]] SLAMing on 79.46119381700001 meters Centerline goodness : 0.855678 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.13, Z:-1.33 [[ 0.9979425 0.04885447 -0.04152119 7.79174067] [-0.04937869 0.99871166 -0.01169451 -0.12636332] [ 0.04089637 0.01372071 0.99906918 -1.33444593] [ 0. 0. 0. 1. ]] SLAMing on 79.49119381700001 meters Centerline goodness : 0.852858 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.13, Z:-1.34 [[ 0.99789275 0.04953989 -0.04190303 7.79338845] [-0.05004138 0.99868652 -0.01100423 -0.12728392] [ 0.04130285 0.01307792 0.99906108 -1.33551812] [ 0. 0. 0. 1. ]] SLAMing on 79.521193817 meters Centerline goodness : 0.854923 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.13, Z:-1.34 [[ 0.99783663 0.050242 -0.04240048 7.79513732] [-0.05076017 0.99864769 -0.01123335 -0.12610823] [ 0.04177875 0.0133613 0.99903754 -1.33605173] [ 0. 0. 0. 1. ]] SLAMing on 79.551193817 meters Centerline goodness : 0.856448 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.12, Z:-1.34 [[ 9.97343152e-01 5.88347953e-02 -4.29546800e-02 7.79828534e+00] [-5.90700208e-02 9.98244895e-01 -4.22647143e-03 -1.23172754e-01] [ 4.26306264e-02 6.75257618e-03 9.99068082e-01 -1.33706990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.581193817 meters Centerline goodness : 0.857184 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.12, Z:-1.34 [[ 9.97053440e-01 6.33679078e-02 -4.32313139e-02 7.79960037e+00] [-6.34661284e-02 9.97983586e-01 -9.01886318e-04 -1.20835651e-01] [ 4.30869910e-02 3.64295297e-03 9.99064683e-01 -1.33688861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.611193817 meters Centerline goodness : 0.857759 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.12, Z:-1.34 [[ 9.96963676e-01 6.45608440e-02 -4.35353458e-02 7.79993406e+00] [-6.46898071e-02 9.97904204e-01 -1.55851034e-03 -1.17352399e-01] [ 4.33434859e-02 4.37007133e-03 9.99050672e-01 -1.33567940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.641193817 meters Centerline goodness : 0.857495 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.12, Z:-1.33 [[ 9.96919475e-01 6.51249430e-02 -4.37070122e-02 7.79975386e+00] [-6.52805108e-02 9.97864658e-01 -2.14001281e-03 -1.15345604e-01] [ 4.34743146e-02 4.98663653e-03 9.99042100e-01 -1.33440164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.671193817 meters Centerline goodness : 0.858475 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.12, Z:-1.33 [[ 9.97134027e-01 6.60489607e-02 -3.68953588e-02 7.81094537e+00] [-6.61557382e-02 9.97807896e-01 -1.67942781e-03 -1.17449134e-01] [ 3.67035559e-02 4.11545431e-03 9.99317723e-01 -1.33062981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.701193817 meters Centerline goodness : 0.860673 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.12, Z:-1.33 [[ 9.97158174e-01 6.57106430e-02 -3.68468212e-02 7.81044387e+00] [-6.58287123e-02 9.97828936e-01 -1.99902325e-03 -1.17519709e-01] [ 3.66354673e-02 4.41892117e-03 9.99318926e-01 -1.33013723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.731193817 meters Centerline goodness : 0.864872 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.12, Z:-1.33 [[ 9.97167329e-01 6.54271209e-02 -3.71027047e-02 7.81113738e+00] [-6.55620431e-02 9.97845535e-01 -2.43019900e-03 -1.16802459e-01] [ 3.68637673e-02 4.85584417e-03 9.99308503e-01 -1.33023765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.761193817 meters Centerline goodness : 0.866737 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.11, Z:-1.33 [[ 9.97196723e-01 6.48830010e-02 -3.72678363e-02 7.81122356e+00] [-6.50597290e-02 9.97875065e-01 -3.54782490e-03 -1.14233272e-01] [ 3.69584511e-02 5.96251470e-03 9.99299015e-01 -1.32970642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.791193817 meters Centerline goodness : 0.863908 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.12, Z:-1.33 [[ 9.97166953e-01 6.52297312e-02 -3.74586529e-02 7.81158297e+00] [-6.53928219e-02 9.97854646e-01 -3.14401835e-03 -1.15177300e-01] [ 3.71732074e-02 5.58463821e-03 9.99293232e-01 -1.32962771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82119381700001 meters Centerline goodness : 0.864918 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.11, Z:-1.33 [[ 9.97322622e-01 6.24204514e-02 -3.80956089e-02 7.81267066e+00] [-6.27364186e-02 9.98004486e-01 -7.15460409e-03 -1.14193097e-01] [ 3.75729949e-02 9.52543058e-03 9.99248486e-01 -1.32949649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85119381700001 meters Centerline goodness : 0.866527 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.12, Z:-1.33 [[ 9.97258404e-01 6.30822776e-02 -3.86820517e-02 7.81437491e+00] [-6.33871183e-02 9.97966495e-01 -6.70432366e-03 -1.15148219e-01] [ 3.81804676e-02 9.13788691e-03 9.99229078e-01 -1.33006263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.881193817 meters Centerline goodness : 0.868303 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.12, Z:-1.33 [[ 9.97100996e-01 6.51055698e-02 -3.93810759e-02 7.81743804e+00] [-6.53609523e-02 9.97847975e-01 -5.23118263e-03 -1.16228992e-01] [ 3.89557477e-02 7.79000203e-03 9.99210571e-01 -1.33184698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.911193817 meters Centerline goodness : 0.873196 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.12, Z:-1.33 [[ 9.97062544e-01 6.54906400e-02 -3.97147213e-02 7.81847745e+00] [-6.57417086e-02 9.97823906e-01 -5.04772527e-03 -1.16391793e-01] [ 3.92977196e-02 7.64381143e-03 9.99198309e-01 -1.33216571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.941193817 meters Centerline goodness : 0.871890 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.12, Z:-1.33 [[ 9.97015296e-01 6.61646243e-02 -3.97836915e-02 7.81866051e+00] [-6.63805647e-02 9.97785830e-01 -4.13017944e-03 -1.17997628e-01] [ 3.94223319e-02 6.75871598e-03 9.99199780e-01 -1.33215254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.971193817 meters Centerline goodness : 0.872280 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.12, Z:-1.33 [[ 9.97149940e-01 6.40915522e-02 -3.98028976e-02 7.81696213e+00] [-6.43652002e-02 9.97910525e-01 -5.63077285e-03 -1.22849927e-01] [ 3.93588455e-02 8.17664628e-03 9.99191685e-01 -1.33072796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.001193817 meters Centerline goodness : 0.873961 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.13, Z:-1.33 [[ 0.99727966 0.06140759 -0.04077234 7.81835035] [-0.06180329 0.99805202 -0.00851533 -0.12504938] [ 0.04017001 0.01101203 0.99913218 -1.33053555] [ 0. 0. 0. 1. ]] SLAMing on 80.031193817 meters Centerline goodness : 0.875515 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.13, Z:-1.33 [[ 9.97229870e-01 6.20738609e-02 -4.09807561e-02 7.81847619e+00] [-6.24135466e-02 9.98025397e-01 -7.06095540e-03 -1.29046124e-01] [ 4.04615346e-02 9.59914997e-03 9.99134986e-01 -1.33043509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.061193817 meters Centerline goodness : 0.878129 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.13, Z:-1.33 [[ 9.97174013e-01 6.27655899e-02 -4.12852188e-02 7.81937515e+00] [-6.30463673e-02 9.97995260e-01 -5.53316299e-03 -1.33016405e-01] [ 4.08551605e-02 8.12040941e-03 9.99132081e-01 -1.33109447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.091193817 meters Centerline goodness : 0.880053 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.14, Z:-1.33 [[ 9.97127341e-01 6.32220192e-02 -4.17138185e-02 7.82157884e+00] [-6.33839407e-02 9.97985909e-01 -2.56931448e-03 -1.43039883e-01] [ 4.14673658e-02 5.20591991e-03 9.99126296e-01 -1.33402239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.121193817 meters Centerline goodness : 0.877806 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.15, Z:-1.34 [[ 9.97263576e-01 6.06631953e-02 -4.22532457e-02 7.82302271e+00] [-6.08837386e-02 9.98137044e-01 -3.95123465e-03 -1.48107483e-01] [ 4.19348353e-02 6.51295796e-03 9.99099120e-01 -1.33548643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.151193817 meters Centerline goodness : 0.880320 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.15, Z:-1.34 [[ 9.97389462e-01 5.81889488e-02 -4.27587192e-02 7.82423085e+00] [-5.84485915e-02 9.98278656e-01 -4.84634771e-03 -1.54628296e-01] [ 4.24031129e-02 7.33288304e-03 9.99073673e-01 -1.33691438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18119381700001 meters Centerline goodness : 0.879385 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.16, Z:-1.34 [[ 9.97523368e-01 5.54511185e-02 -4.32701173e-02 7.82507246e+00] [-5.57533456e-02 9.98427677e-01 -5.80848015e-03 -1.61490439e-01] [ 4.28799960e-02 8.20654849e-03 9.99046525e-01 -1.33790977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21119381700001 meters Centerline goodness : 0.885627 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.17, Z:-1.34 [[ 9.97769309e-01 5.16101984e-02 -4.23413820e-02 7.82191954e+00] [-5.18576926e-02 9.98643107e-01 -4.76709097e-03 -1.73447645e-01] [ 4.20378988e-02 6.95218344e-03 9.99091829e-01 -1.33757005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24119381700001 meters Centerline goodness : 0.888276 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.18, Z:-1.34 [[ 9.97807264e-01 5.07125605e-02 -4.25311606e-02 7.82232919e+00] [-5.09007410e-02 9.98698090e-01 -3.35264452e-03 -1.78792745e-01] [ 4.23057676e-02 5.51016065e-03 9.99089516e-01 -1.33851608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.271193817 meters Centerline goodness : 0.886762 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.18, Z:-1.34 [[ 9.97841207e-01 4.97019151e-02 -4.29260528e-02 7.82402478e+00] [-4.98504204e-02 9.98753822e-01 -2.39542048e-03 -1.84006047e-01] [ 4.27535023e-02 4.53013104e-03 9.99075381e-01 -1.34049034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.301193817 meters Centerline goodness : 0.890678 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.19, Z:-1.34 [[ 9.97992404e-01 4.57595507e-02 -4.37861325e-02 7.82675412e+00] [-4.59548619e-02 9.98937512e-01 -3.46391345e-03 -1.92653871e-01] [ 4.35811031e-02 5.46914498e-03 9.99034922e-01 -1.34354579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.331193817 meters Centerline goodness : 0.893554 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.19, Z:-1.34 [[ 9.98149259e-01 4.19657730e-02 -4.40105640e-02 7.82630571e+00] [-4.23040722e-02 9.99081754e-01 -6.78337767e-03 -1.94645130e-01] [ 4.36854818e-02 8.63264947e-03 9.99008036e-01 -1.34290020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.361193817 meters Centerline goodness : 0.892918 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.20, Z:-1.34 [[ 9.98224657e-01 4.07696908e-02 -4.34208051e-02 7.82384376e+00] [-4.10806815e-02 9.99136009e-01 -6.29382718e-03 -1.97811496e-01] [ 4.31266926e-02 8.06640975e-03 9.99037047e-01 -1.34178575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.391193817 meters Centerline goodness : 0.895287 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.20, Z:-1.34 [[ 9.98243136e-01 3.99731927e-02 -4.37353917e-02 7.82404700e+00] [-4.02736515e-02 9.99170612e-01 -6.01016101e-03 -2.01093488e-01] [ 4.34588727e-02 7.76098590e-03 9.99025071e-01 -1.34118887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.421193817 meters Centerline goodness : 0.897051 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.20, Z:-1.34 [[ 0.9984602 0.03351612 -0.04420283 7.82560721] [-0.03404039 0.99935813 -0.01116155 -0.20396907] [ 0.04380037 0.01264905 0.99896022 -1.3421634 ] [ 0. 0. 0. 1. ]] SLAMing on 80.451193817 meters Centerline goodness : 0.895053 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.21, Z:-1.34 [[ 0.99849368 0.03165014 -0.04481788 7.82832873] [-0.03222602 0.99940632 -0.01218546 -0.20545903] [ 0.0444056 0.0136114 0.99892085 -1.34377728] [ 0. 0. 0. 1. ]] SLAMing on 80.481193817 meters Centerline goodness : 0.896322 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.21, Z:-1.34 [[ 0.99851543 0.03010604 -0.04539334 7.83040217] [-0.03072527 0.99944325 -0.01300572 -0.20628787] [ 0.04497652 0.01438113 0.99888453 -1.34471031] [ 0. 0. 0. 1. ]] SLAMing on 80.511193817 meters Centerline goodness : 0.898801 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.21, Z:-1.34 [[ 0.99853349 0.02955365 -0.04535915 7.83030674] [-0.03017235 0.99945995 -0.01301654 -0.20740363] [ 0.04494997 0.01436604 0.99888594 -1.34456294] [ 0. 0. 0. 1. ]] SLAMing on 80.541193817 meters Centerline goodness : 0.898775 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.21, Z:-1.35 [[ 9.98766518e-01 2.78554088e-02 -4.11037620e-02 7.84040861e+00] [-2.81090925e-02 9.99589138e-01 -5.60669787e-03 -2.08503258e-01] [ 4.09306971e-02 6.75517156e-03 9.99139152e-01 -1.34586129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57119381700001 meters Centerline goodness : 0.901348 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.21, Z:-1.35 [[ 0.99891951 0.03090817 -0.034706 7.85138695] [-0.03134328 0.99943588 -0.01206355 -0.20645369] [ 0.03431356 0.01313832 0.99932475 -1.34912313] [ 0. 0. 0. 1. ]] SLAMing on 80.60119381700001 meters Centerline goodness : 0.897881 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.20, Z:-1.35 [[ 0.99895618 0.03521144 -0.02909828 7.86367849] [-0.03572452 0.99921184 -0.01730475 -0.20446254] [ 0.02846602 0.01832621 0.99942675 -1.35263778] [ 0. 0. 0. 1. ]] SLAMing on 80.631193817 meters Centerline goodness : 0.899973 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.20, Z:-1.35 [[ 0.99880838 0.0391349 -0.02915946 7.86445707] [-0.03954778 0.99912348 -0.0137199 -0.20345145] [ 0.02859697 0.01485675 0.99948061 -1.35292667] [ 0. 0. 0. 1. ]] SLAMing on 80.661193817 meters Centerline goodness : 0.898777 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.20, Z:-1.36 [[ 0.99877471 0.04323222 -0.02408449 7.87823068] [-0.04369273 0.99886558 -0.01893403 -0.20125717] [ 0.02323861 0.01996314 0.99953061 -1.35721869] [ 0. 0. 0. 1. ]] SLAMing on 80.691193817 meters Centerline goodness : 0.898191 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.20, Z:-1.36 [[ 0.99856535 0.04763072 -0.02446523 7.87917456] [-0.0480354 0.99871379 -0.01622851 -0.19889787] [ 0.02366079 0.01738043 0.99956895 -1.35628584] [ 0. 0. 0. 1. ]] SLAMing on 80.721193817 meters Centerline goodness : 0.900811 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.20, Z:-1.36 [[ 0.99836837 0.05153976 -0.02458144 7.88037551] [-0.05185748 0.99857667 -0.01246731 -0.198443 ] [ 0.02390389 0.0137217 0.99962009 -1.35698862] [ 0. 0. 0. 1. ]] SLAMing on 80.751193817 meters Centerline goodness : 0.900771 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.20, Z:-1.36 [[ 0.99829559 0.052672 -0.0251311 7.88308585] [-0.05299603 0.99851766 -0.01240591 -0.19535129] [ 0.0244404 0.01371661 0.99960718 -1.35838078] [ 0. 0. 0. 1. ]] SLAMing on 80.781193817 meters Centerline goodness : 0.897886 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.19, Z:-1.36 [[ 0.99808245 0.05645948 -0.02537211 7.88465564] [-0.0567221 0.99834237 -0.00975266 -0.19189864] [ 0.02477942 0.01117312 0.9996305 -1.35873918] [ 0. 0. 0. 1. ]] SLAMing on 80.811193817 meters Centerline goodness : 0.899332 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.19, Z:-1.36 [[ 0.99806839 0.05645176 -0.02593638 7.88596964] [-0.0567441 0.99833166 -0.01067683 -0.19028971] [ 0.02529038 0.01212794 0.99960658 -1.35858859] [ 0. 0. 0. 1. ]] SLAMing on 80.841193817 meters Centerline goodness : 0.897477 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.19, Z:-1.36 [[ 0.99804111 0.05664125 -0.02656516 7.88704574] [-0.05695631 0.99831321 -0.01125668 -0.18926768] [ 0.02588276 0.01274769 0.9995837 -1.35804598] [ 0. 0. 0. 1. ]] SLAMing on 80.871193817 meters Centerline goodness : 0.897318 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.19, Z:-1.36 [[ 0.9980262 0.05667624 -0.02704635 7.88795271] [-0.05701751 0.99830085 -0.01201758 -0.18762491] [ 0.02631928 0.01353598 0.99956194 -1.35760872] [ 0. 0. 0. 1. ]] SLAMing on 80.901193817 meters Centerline goodness : 0.896551 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.36 [[ 0.99802593 0.05646295 -0.02749867 7.88892215] [-0.05686182 0.99828466 -0.01394513 -0.18335089] [ 0.02666411 0.01548123 0.99952457 -1.35689436] [ 0. 0. 0. 1. ]] SLAMing on 80.93119381700001 meters Centerline goodness : 0.896669 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.36 [[ 0.99802604 0.05623035 -0.0279673 7.88959345] [-0.05666552 0.99828026 -0.01501816 -0.18163492] [ 0.02707473 0.01657329 0.99949602 -1.35621042] [ 0. 0. 0. 1. ]] SLAMing on 80.96119381700001 meters Centerline goodness : 0.895673 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.36 [[ 0.99801875 0.05608559 -0.02851283 7.89067767] [-0.05655942 0.99826955 -0.01609179 -0.17936849] [ 0.02756097 0.01767258 0.99946389 -1.35577465] [ 0. 0. 0. 1. ]] SLAMing on 80.99119381700001 meters Centerline goodness : 0.894909 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.36 [[ 0.9978217 0.05932762 -0.028846 7.89284019] [-0.05974637 0.99811712 -0.01387784 -0.17572684] [ 0.02796835 0.01557106 0.99948753 -1.35666342] [ 0. 0. 0. 1. ]] SLAMing on 81.021193817 meters Centerline goodness : 0.894909 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.36 [[ 0.9978217 0.05932762 -0.028846 7.89284019] [-0.05974637 0.99811712 -0.01387784 -0.17572684] [ 0.02796835 0.01557106 0.99948753 -1.35666342] [ 0. 0. 0. 1. ]] SLAMing on 81.051193817 meters Centerline goodness : 0.894988 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.17, Z:-1.36 [[ 0.99775568 0.06008896 -0.02954525 7.89472343] [-0.06052397 0.99806778 -0.01405576 -0.17434347] [ 0.02864357 0.01581241 0.99946461 -1.35693916] [ 0. 0. 0. 1. ]] SLAMing on 81.081193817 meters Centerline goodness : 0.895068 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.17, Z:-1.36 [[ 0.99772574 0.06026236 -0.03019581 7.89647501] [-0.06072522 0.99804697 -0.01465246 -0.17313478] [ 0.02925384 0.01645278 0.9994366 -1.35725598] [ 0. 0. 0. 1. ]] SLAMing on 81.111193817 meters Centerline goodness : 0.892899 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.17, Z:-1.36 [[ 0.99769879 0.06042457 -0.0307571 7.89759431] [-0.06090253 0.99803329 -0.01484722 -0.17318373] [ 0.02979947 0.01668624 0.99941661 -1.35708719] [ 0. 0. 0. 1. ]] SLAMing on 81.141193817 meters Centerline goodness : 0.895825 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.17, Z:-1.35 [[ 0.9978239 0.05832771 -0.03074638 7.89556435] [-0.05888303 0.99811192 -0.01747538 -0.17195609] [ 0.02966903 0.01924779 0.99937444 -1.35453007] [ 0. 0. 0. 1. ]] SLAMing on 81.171193817 meters Centerline goodness : 0.892425 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.17, Z:-1.35 [[ 0.99787604 0.05746623 -0.03067656 7.8950385 ] [-0.0580344 0.99815296 -0.01796341 -0.17158742] [ 0.02958761 0.01970555 0.99936793 -1.35406729] [ 0. 0. 0. 1. ]] SLAMing on 81.201193817 meters Centerline goodness : 0.892017 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.17, Z:-1.35 [[ 0.99791644 0.05688289 -0.03044841 7.89423274] [-0.05744034 0.99819102 -0.01775675 -0.17231225] [ 0.02938328 0.01946872 0.9993786 -1.35383918] [ 0. 0. 0. 1. ]] SLAMing on 81.231193817 meters Centerline goodness : 0.894496 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.17, Z:-1.35 [[ 0.99798672 0.05543342 -0.03081633 7.89545027] [-0.05600725 0.99826665 -0.01808001 -0.17367288] [ 0.02976068 0.01976954 0.99936153 -1.35493106] [ 0. 0. 0. 1. ]] SLAMing on 81.261193817 meters Centerline goodness : 0.893453 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.18, Z:-1.36 [[ 0.99823134 0.05078258 -0.03090815 7.89528134] [-0.05145703 0.99844523 -0.02143128 -0.17580157] [ 0.02977176 0.02298382 0.99929244 -1.35556559] [ 0. 0. 0. 1. ]] SLAMing on 81.291193817 meters Centerline goodness : 0.893072 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.36 [[ 0.99828536 0.04994195 -0.03053084 7.89418765] [-0.05060012 0.99849441 -0.0211786 -0.17717426] [ 0.02942717 0.02268715 0.99930943 -1.35544504] [ 0. 0. 0. 1. ]] SLAMing on 81.32119381700001 meters Centerline goodness : 0.892252 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.36 [[ 0.99835176 0.04868181 -0.0303949 7.89354086] [-0.0493554 0.99854293 -0.02181862 -0.17676481] [ 0.02928844 0.02328281 0.9992998 -1.35502273] [ 0. 0. 0. 1. ]] SLAMing on 81.35119381700001 meters Centerline goodness : 0.889878 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.35 [[ 0.99840265 0.04773132 -0.03023018 7.89279746] [-0.04841196 0.99858076 -0.02219801 -0.17650641] [ 0.02912774 0.02362606 0.99929644 -1.3545562 ] [ 0. 0. 0. 1. ]] SLAMing on 81.381193817 meters Centerline goodness : 0.888415 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.35 [[ 0.99877383 0.03979382 -0.02944972 7.89100072] [-0.040123 0.99913775 -0.01067238 -0.18016068] [ 0.02899963 0.0118409 0.99950929 -1.35410941] [ 0. 0. 0. 1. ]] SLAMing on 81.411193817 meters Centerline goodness : 0.887626 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.36 [[ 0.99882591 0.03782097 -0.03027163 7.8940452 ] [-0.03820613 0.99919482 -0.01224768 -0.18027429] [ 0.02978404 0.01338986 0.99946667 -1.35577161] [ 0. 0. 0. 1. ]] SLAMing on 81.441193817 meters Centerline goodness : 0.887385 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.18, Z:-1.36 [[ 0.99886696 0.03623173 -0.03085558 7.89657777] [-0.03666962 0.9992329 -0.01374595 -0.17899104] [ 0.03033387 0.01486184 0.99942933 -1.35737554] [ 0. 0. 0. 1. ]] SLAMing on 81.471193817 meters Centerline goodness : 0.885316 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.18, Z:-1.36 [[ 0.9988876 0.03534583 -0.03121283 7.89816353] [-0.03582084 0.99924874 -0.01479246 -0.17706124] [ 0.03066653 0.01589408 0.99940329 -1.35832794] [ 0. 0. 0. 1. ]] SLAMing on 81.501193817 meters Centerline goodness : 0.882714 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.17, Z:-1.36 [[ 0.998877 0.03523965 -0.03166861 7.90179966] [-0.03573931 0.99924322 -0.01535244 -0.17121391] [ 0.03110363 0.01646701 0.99938051 -1.36102977] [ 0. 0. 0. 1. ]] SLAMing on 81.531193817 meters Centerline goodness : 0.881765 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.17, Z:-1.36 [[ 0.99878606 0.03783559 -0.03154151 7.90253102] [-0.03825656 0.99918531 -0.0128514 -0.16898062] [ 0.03102958 0.01404247 0.99941982 -1.36171558] [ 0. 0. 0. 1. ]] SLAMing on 81.561193817 meters Centerline goodness : 0.880600 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.16, Z:-1.36 [[ 0.99877621 0.03779318 -0.03190222 7.90352048] [-0.03827415 0.99916057 -0.01460282 -0.16459619] [ 0.03132355 0.01580598 0.99938431 -1.36127352] [ 0. 0. 0. 1. ]] SLAMing on 81.591193817 meters Centerline goodness : 0.878590 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.16, Z:-1.36 [[ 0.99865255 0.04104403 -0.03175651 7.90362586] [-0.04143988 0.99907003 -0.01190882 -0.16229377] [ 0.03123819 0.01320876 0.99942469 -1.36101574] [ 0. 0. 0. 1. ]] SLAMing on 81.621193817 meters Centerline goodness : 0.877451 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.15, Z:-1.36 [[ 0.9984413 0.04543952 -0.03240724 7.90542474] [-0.04582661 0.99888546 -0.01130313 -0.15321692] [ 0.03185752 0.01277063 0.99941083 -1.35970601] [ 0. 0. 0. 1. ]] SLAMing on 81.651193817 meters Centerline goodness : 0.876905 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.15, Z:-1.36 [[ 0.99824412 0.04917265 -0.03302602 7.90784833] [-0.04950412 0.99873067 -0.00929463 -0.14905443] [ 0.03252706 0.01091324 0.99941127 -1.36001443] [ 0. 0. 0. 1. ]] SLAMing on 81.68119381700001 meters Centerline goodness : 0.875272 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.15, Z:-1.36 [[ 9.98016163e-01 5.32899673e-02 -3.35248794e-02 7.90970212e+00] [-5.35301296e-02 9.98546318e-01 -6.30677616e-03 -1.46413964e-01] [ 3.31400570e-02 8.08885569e-03 9.99417984e-01 -1.36018507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71119381700001 meters Centerline goodness : 0.872806 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.14, Z:-1.36 [[ 9.97954845e-01 5.39529322e-02 -3.42813169e-02 7.91191764e+00] [-5.42398661e-02 9.98499804e-01 -7.49518871e-03 -1.42531288e-01] [ 3.38255008e-02 9.33927393e-03 9.99384117e-01 -1.36036783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74119381700001 meters Centerline goodness : 0.869021 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.14, Z:-1.36 [[ 0.9978872 0.05488464 -0.03476799 7.91329395] [-0.05522141 0.99843535 -0.00880031 -0.13733177] [ 0.03423059 0.01070165 0.99935666 -1.35987881] [ 0. 0. 0. 1. ]] SLAMing on 81.771193817 meters Centerline goodness : 0.870546 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.14, Z:-1.36 [[ 0.9978766 0.05491216 -0.03502786 7.9133213 ] [-0.05527981 0.99842461 -0.00961471 -0.13523521] [ 0.03444471 0.01153062 0.99934009 -1.35878265] [ 0. 0. 0. 1. ]] SLAMing on 81.801193817 meters Centerline goodness : 0.871498 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.13, Z:-1.36 [[ 0.99789183 0.05452676 -0.03519566 7.91303567] [-0.05494402 0.99842886 -0.01099837 -0.13246466] [ 0.03454066 0.01290898 0.99931992 -1.35740057] [ 0. 0. 0. 1. ]] SLAMing on 81.831193817 meters Centerline goodness : 0.870360 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.13, Z:-1.36 [[ 0.9976952 0.05814873 -0.03497173 7.91246055] [-0.05849213 0.9982484 -0.0088768 -0.12740058] [ 0.0343943 0.01090191 0.99934888 -1.35585741] [ 0. 0. 0. 1. ]] SLAMing on 81.861193817 meters Centerline goodness : 0.869255 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.12, Z:-1.35 [[ 0.99766493 0.05852831 -0.03520133 7.91252006] [-0.05891159 0.99821361 -0.00995053 -0.1241414 ] [ 0.03455606 0.01200106 0.9993307 -1.35461266] [ 0. 0. 0. 1. ]] SLAMing on 81.891193817 meters Centerline goodness : 0.871015 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.12, Z:-1.35 [[ 0.99764888 0.05872914 -0.03532148 7.91213344] [-0.05913882 0.99819277 -0.01066714 -0.12267427] [ 0.03463118 0.01273093 0.99931907 -1.3533174 ] [ 0. 0. 0. 1. ]] SLAMing on 81.921193817 meters Centerline goodness : 0.867582 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.12, Z:-1.35 [[ 0.99760839 0.05931936 -0.03547832 7.91222907] [-0.05972064 0.99816138 -0.01035908 -0.12304763] [ 0.03479859 0.01245309 0.99931676 -1.35286066] [ 0. 0. 0. 1. ]] SLAMing on 81.951193817 meters Centerline goodness : 0.869391 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.12, Z:-1.35 [[ 0.99756227 0.05985134 -0.03587936 7.91364259] [-0.06025912 0.99812866 -0.01039265 -0.12235651] [ 0.03519021 0.01252937 0.99930209 -1.35349948] [ 0. 0. 0. 1. ]] SLAMing on 81.981193817 meters Centerline goodness : 0.865908 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.12, Z:-1.35 [[ 0.99754824 0.06005386 -0.03593107 7.9141329 ] [-0.06045674 0.99811837 -0.01023204 -0.12212451] [ 0.03524899 0.01237923 0.99930189 -1.35391587] [ 0. 0. 0. 1. ]] SLAMing on 82.011193817 meters Centerline goodness : 0.867475 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.12, Z:-1.35 [[ 0.99755245 0.05988973 -0.03608775 7.91464845] [-0.06028514 0.99813141 -0.00996927 -0.12318406] [ 0.03542326 0.01212043 0.9992989 -1.35430969] [ 0. 0. 0. 1. ]] SLAMing on 82.041193817 meters Centerline goodness : 0.862469 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.13, Z:-1.35 [[ 0.99756173 0.05960779 -0.03629745 7.91510185] [-0.05998892 0.99815381 -0.00950228 -0.12547883] [ 0.03566403 0.01165655 0.99929585 -1.3546208 ] [ 0. 0. 0. 1. ]] SLAMing on 82.07119381700001 meters Centerline goodness : 0.863889 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.13, Z:-1.36 [[ 0.997642 0.05815368 -0.03644982 7.91549027] [-0.05852532 0.99824341 -0.00921258 -0.12909241] [ 0.03585005 0.0113241 0.99929302 -1.35545663] [ 0. 0. 0. 1. ]] SLAMing on 82.10119381700001 meters Centerline goodness : 0.863824 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.13, Z:-1.36 [[ 0.99765556 0.05783315 -0.03658837 7.91572805] [-0.05818381 0.99826891 -0.00859192 -0.1312453 ] [ 0.03602814 0.01070063 0.99929349 -1.35575863] [ 0. 0. 0. 1. ]] SLAMing on 82.131193817 meters Centerline goodness : 0.864509 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.13, Z:-1.36 [[ 0.99770635 0.0565697 -0.03717411 7.91756587] [-0.05693796 0.99833784 -0.0089229 -0.13305566] [ 0.03660755 0.01101906 0.99926897 -1.35698142] [ 0. 0. 0. 1. ]] SLAMing on 82.161193817 meters Centerline goodness : 0.861407 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.14, Z:-1.36 [[ 0.99774705 0.05588107 -0.03712318 7.91812766] [-0.05622522 0.99838368 -0.00829124 -0.13545735] [ 0.03659986 0.01035982 0.9992763 -1.35842484] [ 0. 0. 0. 1. ]] SLAMing on 82.191193817 meters Centerline goodness : 0.860574 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.14, Z:-1.36 [[ 0.99776785 0.05551127 -0.03711896 7.91865895] [-0.05585766 0.99840374 -0.00836016 -0.1351211 ] [ 0.03659563 0.01041488 0.99927588 -1.3591727 ] [ 0. 0. 0. 1. ]] SLAMing on 82.221193817 meters Centerline goodness : 0.860352 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.13, Z:-1.36 [[ 0.99781503 0.05425273 -0.03770685 7.92080788] [-0.05464271 0.99846182 -0.00938934 -0.13404142] [ 0.03713945 0.01142923 0.99924473 -1.36050379] [ 0. 0. 0. 1. ]] SLAMing on 82.251193817 meters Centerline goodness : 0.858398 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.13, Z:-1.36 [[ 0.99782919 0.05392695 -0.03779939 7.92164439] [-0.05431143 0.99848149 -0.00921896 -0.13459564] [ 0.03724484 0.01125189 0.99924282 -1.36157447] [ 0. 0. 0. 1. ]] SLAMing on 82.281193817 meters Centerline goodness : 0.857208 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.14, Z:-1.36 [[ 0.99798892 0.05044919 -0.03837972 7.92440827] [-0.05094564 0.99862851 -0.01206854 -0.13568053] [ 0.03771823 0.01399954 0.99919035 -1.364251 ] [ 0. 0. 0. 1. ]] SLAMing on 82.311193817 meters Centerline goodness : 0.856279 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.14, Z:-1.36 [[ 0.9980015 0.05003756 -0.03859079 7.92513941] [-0.0505411 0.99864765 -0.01218443 -0.13616761] [ 0.03792892 0.0141105 0.99918081 -1.36477713] [ 0. 0. 0. 1. ]] SLAMing on 82.341193817 meters Centerline goodness : 0.856947 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.14, Z:-1.37 [[ 0.99800986 0.04973154 -0.0387698 7.92578732] [-0.05025682 0.99865566 -0.01269316 -0.13532124] [ 0.03808643 0.01461634 0.99916755 -1.3650241 ] [ 0. 0. 0. 1. ]] SLAMing on 82.371193817 meters Centerline goodness : 0.857060 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.13, Z:-1.36 [[ 0.99801604 0.04959116 -0.03879055 7.92604324] [-0.05014269 0.99865248 -0.01337632 -0.13333594] [ 0.03807493 0.01529485 0.99915783 -1.36494312] [ 0. 0. 0. 1. ]] SLAMing on 82.401193817 meters Centerline goodness : 0.855906 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.13, Z:-1.36 [[ 0.99788302 0.052484 -0.03840463 7.92473526] [-0.05297562 0.99852494 -0.0118966 -0.1281201 ] [ 0.0377236 0.01390592 0.99919145 -1.36311871] [ 0. 0. 0. 1. ]] SLAMing on 82.43119381700001 meters Centerline goodness : 0.857433 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.13, Z:-1.36 [[ 0.99769735 0.05592499 -0.03837171 7.92506415] [-0.05630143 0.99837503 -0.00880007 -0.12644902] [ 0.03781721 0.01094019 0.99922478 -1.362863 ] [ 0. 0. 0. 1. ]] SLAMing on 82.46119381700001 meters Centerline goodness : 0.856730 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.13, Z:-1.36 [[ 9.97479222e-01 5.97544226e-02 -3.82702358e-02 7.92512911e+00] [-5.99978582e-02 9.98184735e-01 -5.24335759e-03 -1.25597842e-01] [ 3.78874514e-02 7.52627243e-03 9.99253670e-01 -1.36249898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49119381700001 meters Centerline goodness : 0.855579 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.12, Z:-1.36 [[ 9.97438040e-01 6.00899250e-02 -3.88144006e-02 7.92609313e+00] [-6.03857356e-02 9.98153997e-01 -6.49323173e-03 -1.23175089e-01] [ 3.83525712e-02 8.82043246e-03 9.99225340e-01 -1.36151271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.521193817 meters Centerline goodness : 0.853904 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.12, Z:-1.36 [[ 9.97393127e-01 6.06912046e-02 -3.90324066e-02 7.92678235e+00] [-6.10033319e-02 9.98114024e-01 -6.85485606e-03 -1.21169784e-01] [ 3.85427630e-02 9.21809318e-03 9.99214433e-01 -1.36134265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.551193817 meters Centerline goodness : 0.851534 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.12, Z:-1.36 [[ 9.97157324e-01 6.45542964e-02 -3.88589026e-02 7.92700484e+00] [-6.47721818e-02 9.97890495e-01 -4.37317016e-03 -1.16985988e-01] [ 3.84946227e-02 6.87771456e-03 9.99235138e-01 -1.36089442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.581193817 meters Centerline goodness : 0.854784 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.12, Z:-1.36 [[ 9.96937377e-01 6.79341297e-02 -3.87404185e-02 7.92735960e+00] [-6.80272776e-02 9.97682866e-01 -1.08978037e-03 -1.15611698e-01] [ 3.85766185e-02 3.72184799e-03 9.99248714e-01 -1.36091240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.611193817 meters Centerline goodness : 0.853638 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.11, Z:-1.36 [[ 9.96961953e-01 6.74849553e-02 -3.88927431e-02 7.92748795e+00] [-6.76220151e-02 9.97708547e-01 -2.21788359e-03 -1.13085956e-01] [ 3.86539484e-02 4.84115122e-03 9.99240930e-01 -1.36014872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.641193817 meters Centerline goodness : 0.852094 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.11, Z:-1.36 [[ 9.97035000e-01 6.65212809e-02 -3.86798221e-02 7.92547045e+00] [-6.67006338e-02 9.97767363e-01 -3.36359873e-03 -1.11718780e-01] [ 3.83697133e-02 5.93359432e-03 9.99245995e-01 -1.35817043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.671193817 meters Centerline goodness : 0.855691 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.11, Z:-1.36 [[ 9.97813711e-01 5.94933868e-02 -2.87808108e-02 7.92860020e+00] [-5.96180778e-02 9.98215149e-01 -3.49314288e-03 -1.10520168e-01] [ 2.85216224e-02 5.20136248e-03 9.99579643e-01 -1.35699841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.701193817 meters Centerline goodness : 0.855725 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.11, Z:-1.36 [[ 9.97931166e-01 5.76217447e-02 -2.85152929e-02 7.92661200e+00] [-5.78050432e-02 9.98311929e-01 -5.64536007e-03 -1.07781707e-01] [ 2.81418616e-02 7.28200850e-03 9.99577415e-01 -1.35516511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.731193817 meters Centerline goodness : 0.857084 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.11, Z:-1.35 [[ 9.97959691e-01 5.70659831e-02 -2.86343837e-02 7.92677895e+00] [-5.72762448e-02 9.98336707e-01 -6.57663729e-03 -1.05170957e-01] [ 2.82114540e-02 8.20328889e-03 9.99568317e-01 -1.35487193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.761193817 meters Centerline goodness : 0.858537 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.10, Z:-1.35 [[ 9.97890983e-01 5.85525311e-02 -2.80211893e-02 7.92485236e+00] [-5.87450401e-02 9.98254405e-01 -6.09623537e-03 -9.92148286e-02] [ 2.76153257e-02 7.72948420e-03 9.99588740e-01 -1.35319378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.791193817 meters Centerline goodness : 0.854913 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.10, Z:-1.35 [[ 9.97889727e-01 5.84525179e-02 -2.82735855e-02 7.92567500e+00] [-5.86805305e-02 9.98250104e-01 -7.30245014e-03 -9.51160400e-02] [ 2.77972631e-02 8.94614898e-03 9.99573548e-01 -1.35325522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82119381700001 meters Centerline goodness : 0.855266 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.09, Z:-1.35 [[ 9.97681692e-01 6.19241772e-02 -2.82247601e-02 7.92631352e+00] [-6.20698580e-02 9.98062484e-01 -4.31404543e-03 -9.24247773e-02] [ 2.79029305e-02 6.05595100e-03 9.99592293e-01 -1.35348078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85119381700001 meters Centerline goodness : 0.854931 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.09, Z:-1.35 [[ 9.97473850e-01 6.51991371e-02 -2.81956005e-02 7.92754775e+00] [-6.52736154e-02 9.97865907e-01 -1.72822454e-03 -8.87248953e-02] [ 2.80227497e-02 3.56428757e-03 9.99600931e-01 -1.35434959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.881193817 meters Centerline goodness : 0.850154 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.08, Z:-1.36 [[ 9.97125812e-01 7.02295412e-02 -2.84240418e-02 7.93166887e+00] [-7.01942872e-02 9.97530830e-01 2.23743068e-03 -8.23779217e-02] [ 2.85109917e-02 -2.35794529e-04 9.99593451e-01 -1.35759958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.911193817 meters Centerline goodness : 0.849756 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.08, Z:-1.36 [[ 9.97122589e-01 7.02116908e-02 -2.85807832e-02 7.93318459e+00] [-7.02042860e-02 9.97531835e-01 1.26369059e-03 -7.88752072e-02] [ 2.85989669e-02 7.46439041e-04 9.99590687e-01 -1.35890621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.941193817 meters Centerline goodness : 0.849756 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.08, Z:-1.36 [[ 9.97123144e-01 7.01995211e-02 -2.85913166e-02 7.93319635e+00] [-7.01922074e-02 9.97532689e-01 1.26061170e-03 -7.88385989e-02] [ 2.86092673e-02 7.49902523e-04 9.99590390e-01 -1.35888737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.971193817 meters Centerline goodness : 0.850327 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.08, Z:-1.36 [[ 9.96889466e-01 7.34253262e-02 -2.86376464e-02 7.93443427e+00] [-7.33257512e-02 9.97297831e-01 4.51327970e-03 -7.82626061e-02] [ 2.88916517e-02 -2.39936405e-03 9.99579669e-01 -1.35975917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.001193817 meters Centerline goodness : 0.853598 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.08, Z:-1.36 [[ 9.96900016e-01 7.31872095e-02 -2.88789090e-02 7.93548753e+00] [-7.31112826e-02 9.97317008e-01 3.67777304e-03 -7.57571575e-02] [ 2.90705931e-02 -1.55499792e-03 9.99576151e-01 -1.36038798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.031193817 meters Centerline goodness : 0.851795 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.07, Z:-1.36 [[ 9.96754639e-01 7.53045360e-02 -2.84502623e-02 7.93408670e+00] [-7.51703556e-02 9.97154080e-01 5.75828517e-03 -7.41529849e-02] [ 2.88029201e-02 -3.60098112e-03 9.99578624e-01 -1.35926301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.061193817 meters Centerline goodness : 0.851493 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.07, Z:-1.36 [[ 9.96476957e-01 7.89338521e-02 -2.83393921e-02 7.93392530e+00] [-7.87208907e-02 9.96859986e-01 8.55505773e-03 -7.05452275e-02] [ 2.89256897e-02 -6.29401571e-03 9.99561749e-01 -1.35837326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.091193817 meters Centerline goodness : 0.850414 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.07, Z:-1.36 [[ 0.99617275 0.08270518 -0.02827909 7.93430077] [-0.08239154 0.99652678 0.01208386 -0.06948982] [ 0.02918026 -0.00970765 0.99952702 -1.35816405] [ 0. 0. 0. 1. ]] SLAMing on 83.121193817 meters Centerline goodness : 0.849868 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.07, Z:-1.36 [[ 0.99585847 0.08633767 -0.02849075 7.9356692 ] [-0.0859227 0.99618148 0.01548357 -0.06864524] [ 0.02971877 -0.01297144 0.99947413 -1.35860688] [ 0. 0. 0. 1. ]] SLAMing on 83.151193817 meters Centerline goodness : 0.848908 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.07, Z:-1.36 [[ 0.99560166 0.08909688 -0.02896686 7.93793292] [-0.08858977 0.99589925 0.01834468 -0.06807562] [ 0.03048252 -0.01569783 0.99941202 -1.35956562] [ 0. 0. 0. 1. ]] SLAMing on 83.18119381700001 meters Centerline goodness : 0.851379 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.07, Z:-1.36 [[ 0.99564616 0.08838261 -0.02961817 7.93916933] [-0.08787418 0.995968 0.0180517 -0.06847356] [ 0.0310942 -0.01537044 0.99939827 -1.35954958] [ 0. 0. 0. 1. ]] SLAMing on 83.21119381700001 meters Centerline goodness : 0.851173 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.07, Z:-1.36 [[ 0.99577624 0.08664024 -0.03038341 7.94100605] [-0.08615208 0.9961365 0.01702603 -0.06927144] [ 0.03174116 -0.01433652 0.9993933 -1.36009448] [ 0. 0. 0. 1. ]] SLAMing on 83.24119381700001 meters Centerline goodness : 0.848792 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.07, Z:-1.36 [[ 0.99611933 0.08236246 -0.03102748 7.94179976] [-0.08200134 0.9965508 0.01273913 -0.06853719] [ 0.03196969 -0.0101454 0.99943735 -1.36028877] [ 0. 0. 0. 1. ]] SLAMing on 83.271193817 meters Centerline goodness : 0.849437 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.07, Z:-1.36 [[ 0.99699293 0.07242794 -0.02755517 7.92133425] [-0.07185252 0.99718716 0.02133015 -0.06764895] [ 0.02902256 -0.0192861 0.99939268 -1.3621109 ] [ 0. 0. 0. 1. ]] SLAMing on 83.301193817 meters Centerline goodness : 0.850877 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.07, Z:-1.36 [[ 0.99728298 0.06813256 -0.02801082 7.92163507] [-0.06767414 0.99756261 0.01700172 -0.06657327] [ 0.02910091 -0.01505992 0.99946302 -1.36198788] [ 0. 0. 0. 1. ]] SLAMing on 83.331193817 meters Centerline goodness : 0.848341 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.07, Z:-1.36 [[ 0.99743174 0.06595559 -0.02792479 7.92016756] [-0.06555068 0.99773383 0.01517607 -0.06653972] [ 0.02886246 -0.0133066 0.99949482 -1.36080722] [ 0. 0. 0. 1. ]] SLAMing on 83.361193817 meters Centerline goodness : 0.849066 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.07, Z:-1.36 [[ 0.99746914 0.06531712 -0.02808908 7.92053991] [-0.06491969 0.9977802 0.01483621 -0.06687051] [ 0.02899579 -0.01297513 0.99949532 -1.36092943] [ 0. 0. 0. 1. ]] SLAMing on 83.391193817 meters Centerline goodness : 0.847891 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.06, Z:-1.36 [[ 0.99751153 0.06458939 -0.02826577 7.92094822] [-0.06423359 0.99784598 0.01332084 -0.06243251] [ 0.02906527 -0.01147208 0.99951168 -1.36085468] [ 0. 0. 0. 1. ]] SLAMing on 83.421193817 meters Centerline goodness : 0.848180 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.06, Z:-1.36 [[ 0.99750835 0.06452514 -0.02852376 7.92175204] [-0.06419477 0.99786095 0.01235113 -0.05878756] [ 0.02925971 -0.01048928 0.99951681 -1.36101479] [ 0. 0. 0. 1. ]] SLAMing on 83.451193817 meters Centerline goodness : 0.845787 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.06, Z:-1.36 [[ 0.9972584 0.06829715 -0.02848134 7.92241268] [-0.06786535 0.99756838 0.01586235 -0.05786797] [ 0.02949543 -0.01388596 0.99946846 -1.36130751] [ 0. 0. 0. 1. ]] SLAMing on 83.481193817 meters Centerline goodness : 0.844411 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.06, Z:-1.36 [[ 0.99722079 0.06873988 -0.02873186 7.92311593] [-0.06832399 0.99754715 0.01521549 -0.05523706] [ 0.0297073 -0.01321013 0.99947134 -1.36136193] [ 0. 0. 0. 1. ]] SLAMing on 83.511193817 meters Centerline goodness : 0.850183 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.05, Z:-1.36 [[ 0.99689855 0.07335817 -0.02849315 7.92304269] [-0.07285128 0.99717234 0.01843947 -0.05198564] [ 0.02976527 -0.01630652 0.9994239 -1.36088171] [ 0. 0. 0. 1. ]] SLAMing on 83.541193817 meters Centerline goodness : 0.846763 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.05, Z:-1.36 [[ 0.99661252 0.0771817 -0.02839828 7.92291608] [-0.07657057 0.99682111 0.02201398 -0.05080859] [ 0.03000709 -0.01976494 0.99935425 -1.36009432] [ 0. 0. 0. 1. ]] SLAMing on 83.57119381700001 meters Centerline goodness : 0.849104 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.05, Z:-1.36 [[ 0.99631807 0.08095341 -0.02822845 7.92260858] [-0.08024064 0.99644849 0.02553129 -0.04985881] [ 0.03019504 -0.02317222 0.99927539 -1.35926931] [ 0. 0. 0. 1. ]] SLAMing on 83.60119381700001 meters Centerline goodness : 0.852714 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.05, Z:-1.36 [[ 0.99591109 0.08594089 -0.02784356 7.92157393] [-0.08512292 0.99593834 0.02934132 -0.04769639] [ 0.03025208 -0.02685122 0.99918158 -1.35769207] [ 0. 0. 0. 1. ]] SLAMing on 83.63119381700001 meters Centerline goodness : 0.851247 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.05, Z:-1.36 [[ 0.99555749 0.09009357 -0.02735748 7.92079732] [-0.08916173 0.99545157 0.03356136 -0.04877342] [ 0.03025671 -0.03097303 0.99906216 -1.35699061] [ 0. 0. 0. 1. ]] SLAMing on 83.661193817 meters Centerline goodness : 0.853288 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.05, Z:-1.36 [[ 0.9957091 0.0897848 -0.02240729 7.93078777] [-0.08877961 0.99514768 0.04241791 -0.05148838] [ 0.02610704 -0.04024658 0.99884865 -1.359395 ] [ 0. 0. 0. 1. ]] SLAMing on 83.691193817 meters Centerline goodness : 0.851141 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.05, Z:-1.36 [[ 0.99552939 0.09167027 -0.02275511 7.93277738] [-0.09060977 0.9949171 0.04392996 -0.05287075] [ 0.02666652 -0.04167173 0.99877543 -1.36062369] [ 0. 0. 0. 1. ]] SLAMing on 83.721193817 meters Centerline goodness : 0.854740 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.06, Z:-1.36 [[ 0.99512334 0.09656548 -0.0201159 7.94547363] [-0.09575861 0.994686 0.03781614 -0.05521527] [ 0.02366073 -0.03570545 0.99908222 -1.36433898] [ 0. 0. 0. 1. ]] SLAMing on 83.751193817 meters Centerline goodness : 0.853139 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.06, Z:-1.37 [[ 0.9949464 0.09815157 -0.02116444 7.94829523] [-0.09727288 0.99448648 0.03917438 -0.05725383] [ 0.02489277 -0.03691768 0.99900823 -1.36520264] [ 0. 0. 0. 1. ]] SLAMing on 83.781193817 meters Centerline goodness : 0.852408 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.06, Z:-1.37 [[ 0.99486726 0.09886809 -0.02154632 7.9498433 ] [-0.09795052 0.99438151 0.04013871 -0.05945459] [ 0.0253937 -0.03782222 0.99896178 -1.36605063] [ 0. 0. 0. 1. ]] SLAMing on 83.811193817 meters Centerline goodness : 0.854204 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.06, Z:-1.37 [[ 0.99487537 0.09846647 -0.02296413 7.9539168 ] [-0.09751405 0.99445208 0.03944705 -0.06163227] [ 0.02672094 -0.03700558 0.99895775 -1.36787268] [ 0. 0. 0. 1. ]] SLAMing on 83.841193817 meters Centerline goodness : 0.854746 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.07, Z:-1.37 [[ 0.99515268 0.09546117 -0.02362851 7.95551197] [-0.09453818 0.99481444 0.03750682 -0.06747337] [ 0.02708643 -0.03509122 0.99901698 -1.36900759] [ 0. 0. 0. 1. ]] SLAMing on 83.871193817 meters Centerline goodness : 0.855388 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.07, Z:-1.37 [[ 0.99561995 0.09079723 -0.02228855 7.97523912] [-0.090018 0.99536717 0.03377811 -0.07234884] [ 0.02525225 -0.03162379 0.99918079 -1.36915188] [ 0. 0. 0. 1. ]] SLAMing on 83.901193817 meters Centerline goodness : 0.857169 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.08, Z:-1.37 [[ 0.99619106 0.08510869 -0.01897072 7.98468495] [-0.0842979 0.99563427 0.04007826 -0.07852128] [ 0.0222989 -0.03832641 0.99901644 -1.36849294] [ 0. 0. 0. 1. ]] SLAMing on 83.93119381700001 meters Centerline goodness : 0.862141 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.10, Z:-1.35 [[ 0.99762694 0.06774496 -0.0122924 7.97215128] [-0.06621348 0.99293716 0.0984458 -0.10184203] [ 0.01887479 -0.09739826 0.99506649 -1.35053366] [ 0. 0. 0. 1. ]] SLAMing on 83.96119381700001 meters Centerline goodness : 0.863437 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.10, Z:-1.35 [[ 0.99803145 0.06143021 -0.01263115 7.9783673 ] [-0.0601957 0.99481927 0.0819213 -0.10174717] [ 0.01759815 -0.08099969 0.99655876 -1.34678304] [ 0. 0. 0. 1. ]] SLAMing on 83.99119381700001 meters Centerline goodness : 0.866133 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.10, Z:-1.34 [[ 0.99830818 0.0558876 -0.01604208 7.98602938] [-0.05466581 0.99615106 0.06851798 -0.10197413] [ 0.01980964 -0.06752511 0.9975209 -1.34285088] [ 0. 0. 0. 1. ]] SLAMing on 84.021193817 meters Centerline goodness : 0.866220 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.10, Z:-1.34 [[ 0.99844199 0.05207881 -0.02003478 7.9941387 ] [-0.05084287 0.99702611 0.05791318 -0.10256086] [ 0.02299124 -0.05680433 0.99812057 -1.33933984] [ 0. 0. 0. 1. ]] SLAMing on 84.051193817 meters Centerline goodness : 0.867416 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.10, Z:-1.34 [[ 0.99853799 0.04863194 -0.0235968 8.00031052] [-0.04735245 0.99752129 0.05204833 -0.10401529] [ 0.02606952 -0.05085487 0.99836575 -1.33815364] [ 0. 0. 0. 1. ]] SLAMing on 84.081193817 meters Centerline goodness : 0.867323 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.11, Z:-1.34 [[ 0.99868176 0.04532508 -0.02409104 8.00210908] [-0.04408715 0.99779335 0.0496463 -0.10894528] [ 0.0262881 -0.04851875 0.99847627 -1.33972937] [ 0. 0. 0. 1. ]] SLAMing on 84.111193817 meters Centerline goodness : 0.867610 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.11, Z:-1.34 [[ 0.99856168 0.04650462 -0.02668112 8.01337807] [-0.0453638 0.99809234 0.04187836 -0.11024484] [ 0.02857776 -0.04060777 0.9987664 -1.33943223] [ 0. 0. 0. 1. ]] SLAMing on 84.141193817 meters Centerline goodness : 0.868946 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.11, Z:-1.34 [[ 0.99854084 0.04675205 -0.02702647 8.01487654] [-0.04559362 0.99807686 0.04199763 -0.11044182] [ 0.02893797 -0.04070411 0.99875211 -1.34045526] [ 0. 0. 0. 1. ]] SLAMing on 84.171193817 meters Centerline goodness : 0.868593 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.11, Z:-1.34 [[ 0.9981691 0.05114901 -0.03228338 8.02164399] [-0.05015709 0.99826562 0.03082229 -0.10802514] [ 0.03380392 -0.02914662 0.99900339 -1.34471754] [ 0. 0. 0. 1. ]] SLAMing on 84.201193817 meters Centerline goodness : 0.866744 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.10, Z:-1.35 [[ 0.99777522 0.05650431 -0.03538188 8.0243305 ] [-0.05561843 0.99812536 0.02554121 -0.104199 ] [ 0.03675874 -0.0235165 0.99904743 -1.35382971] [ 0. 0. 0. 1. ]] SLAMing on 84.231193817 meters Centerline goodness : 0.864304 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.10, Z:-1.35 [[ 0.99771721 0.05730443 -0.03572912 8.02529269] [-0.05641217 0.99808184 0.02550096 -0.10286124] [ 0.03712191 -0.02342719 0.9990361 -1.35390248] [ 0. 0. 0. 1. ]] SLAMing on 84.261193817 meters Centerline goodness : 0.869495 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.10, Z:-1.35 [[ 0.9976601 0.05824948 -0.03579568 8.02454245] [-0.0573503 0.99802446 0.02565402 -0.10197363] [ 0.03721929 -0.0235411 0.9990298 -1.35246052] [ 0. 0. 0. 1. ]] SLAMing on 84.291193817 meters Centerline goodness : 0.871648 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.10, Z:-1.35 [[ 0.99759328 0.0604548 -0.03395386 8.03036277] [-0.05993908 0.99807367 0.01600786 -0.09995447] [ 0.03485621 -0.01393417 0.99929519 -1.3489885 ] [ 0. 0. 0. 1. ]] SLAMing on 84.32119381700001 meters Centerline goodness : 0.877845 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.10, Z:-1.35 [[ 9.97631493e-01 6.31752033e-02 -2.72084126e-02 8.03405462e+00] [-6.29764374e-02 9.97982126e-01 8.10214007e-03 -9.97415204e-02] [ 2.76653638e-02 -6.36946120e-03 9.99596948e-01 -1.34681528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35119381700001 meters Centerline goodness : 0.880297 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.10, Z:-1.34 [[ 9.97728802e-01 6.17177719e-02 -2.69843230e-02 8.03118441e+00] [-6.15586927e-02 9.98081061e-01 6.68753118e-03 -9.99413083e-02] [ 2.73452812e-02 -5.01122283e-03 9.99613487e-01 -1.34403149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38119381700001 meters Centerline goodness : 0.881807 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.10, Z:-1.34 [[ 9.97964102e-01 5.77629802e-02 -2.70386581e-02 8.02993975e+00] [-5.77169570e-02 9.98329906e-01 2.48012972e-03 -9.94842822e-02] [ 2.71367607e-02 -9.14491355e-04 9.99631312e-01 -1.34271914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.411193817 meters Centerline goodness : 0.885449 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.10, Z:-1.34 [[ 9.98010168e-01 5.69196140e-02 -2.71267743e-02 8.02961272e+00] [-5.68674462e-02 9.98378110e-01 2.69132795e-03 -1.01820830e-01] [ 2.72359670e-02 -1.14334228e-03 9.99628378e-01 -1.34229198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.441193817 meters Centerline goodness : 0.886372 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.11, Z:-1.34 [[ 9.98716635e-01 4.43593268e-02 -2.44403997e-02 8.02619617e+00] [-4.42043777e-02 9.98999063e-01 6.84434755e-03 -1.05862437e-01] [ 2.47195471e-02 -5.75519109e-03 9.99677859e-01 -1.34059278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.471193817 meters Centerline goodness : 0.891091 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.11, Z:-1.34 [[ 9.98906790e-01 3.98305260e-02 -2.44694651e-02 8.02582842e+00] [-3.97789707e-02 9.99205146e-01 2.59027377e-03 -1.05930627e-01] [ 2.45531874e-02 -1.61407192e-03 9.99697222e-01 -1.34052588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.501193817 meters Centerline goodness : 0.888739 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.11, Z:-1.34 [[ 0.99914199 0.03031565 -0.02821773 8.02844572] [-0.03002659 0.99949277 0.01061209 -0.10742937] [ 0.02852513 -0.0097557 0.99954547 -1.34232278] [ 0. 0. 0. 1. ]] SLAMing on 84.531193817 meters Centerline goodness : 0.889340 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.11, Z:-1.35 [[ 9.99214110e-01 2.69828103e-02 -2.90360054e-02 8.03242669e+00] [-2.67884174e-02 9.99616172e-01 7.06326099e-03 -1.05511828e-01] [ 2.92154472e-02 -6.27988142e-03 9.99553411e-01 -1.34535022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.561193817 meters Centerline goodness : 0.887830 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.10, Z:-1.35 [[ 9.99228031e-01 2.55528905e-02 -2.98394376e-02 8.03622281e+00] [-2.54043978e-02 9.99662967e-01 5.34500629e-03 -1.03191977e-01] [ 2.99659611e-02 -4.58282717e-03 9.99540414e-01 -1.34814717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.591193817 meters Centerline goodness : 0.887284 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.10, Z:-1.35 [[ 9.99238507e-01 2.44003093e-02 -3.04471730e-02 8.03918017e+00] [-2.43044189e-02 9.99698422e-01 3.51557960e-03 -9.98203327e-02] [ 3.05237721e-02 -2.77290167e-03 9.99530195e-01 -1.35022532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.621193817 meters Centerline goodness : 0.887577 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.10, Z:-1.35 [[ 9.99234718e-01 2.40823963e-02 -3.08223347e-02 8.04076707e+00] [-2.40276362e-02 9.99708992e-01 2.14584228e-03 -9.60940209e-02] [ 3.08650422e-02 -1.40361226e-03 9.99522576e-01 -1.35099274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.651193817 meters Centerline goodness : 0.887352 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.09, Z:-1.35 [[ 9.99222935e-01 2.98132626e-02 -2.57816915e-02 8.04942062e+00] [-2.99311328e-02 9.99543148e-01 -4.19801782e-03 -8.65668030e-02] [ 2.56447564e-02 4.96643091e-03 9.99658782e-01 -1.35156680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68119381700001 meters Centerline goodness : 0.891224 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.08, Z:-1.35 [[ 9.99118460e-01 3.32367051e-02 -2.56442008e-02 8.04796091e+00] [-3.32899222e-02 9.99444373e-01 -1.65097564e-03 -8.24431732e-02] [ 2.55750792e-02 2.50321369e-03 9.99669770e-01 -1.34959216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71119381700001 meters Centerline goodness : 0.895552 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.08, Z:-1.35 [[ 9.99136379e-01 3.68551913e-02 -1.91882939e-02 8.05894593e+00] [-3.69902713e-02 9.99292944e-01 -6.73291566e-03 -7.75294564e-02] [ 1.89265838e-02 7.43688118e-03 9.99793217e-01 -1.35188137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74119381700001 meters Centerline goodness : 0.897904 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.07, Z:-1.35 [[ 9.99045398e-01 3.93555118e-02 -1.89588050e-02 8.05716026e+00] [-3.94526062e-02 9.99210035e-01 -4.77468684e-03 -7.42452545e-02] [ 1.87559179e-02 5.51810318e-03 9.99808865e-01 -1.34981805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.771193817 meters Centerline goodness : 0.897683 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.07, Z:-1.35 [[ 9.98964462e-01 4.15432947e-02 -1.85514891e-02 8.05518081e+00] [-4.16010288e-02 9.99130554e-01 -2.73693950e-03 -7.17388234e-02] [ 1.84216581e-02 3.50586633e-03 9.99824160e-01 -1.34796383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.801193817 meters Centerline goodness : 0.900365 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.07, Z:-1.35 [[ 9.98900367e-01 4.33133234e-02 -1.79447029e-02 8.05356803e+00] [-4.33463007e-02 9.99059051e-01 -1.45268478e-03 -6.70691012e-02] [ 1.78648973e-02 2.22892385e-03 9.99837926e-01 -1.34700654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.831193817 meters Centerline goodness : 0.900365 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.07, Z:-1.35 [[ 9.98900367e-01 4.33133234e-02 -1.79447029e-02 8.05356803e+00] [-4.33463007e-02 9.99059051e-01 -1.45268478e-03 -6.70691012e-02] [ 1.78648973e-02 2.22892385e-03 9.99837926e-01 -1.34700654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.861193817 meters Centerline goodness : 0.899414 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.07, Z:-1.35 [[ 9.98804984e-01 4.56047705e-02 -1.75729806e-02 8.05248472e+00] [-4.55926581e-02 9.98959520e-01 1.08948781e-03 -6.64498525e-02] [ 1.76043821e-02 -2.86986951e-04 9.99844990e-01 -1.34633201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.891193817 meters Centerline goodness : 0.897595 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.07, Z:-1.35 [[ 9.98758311e-01 4.64955636e-02 -1.78884998e-02 8.05481254e+00] [-4.64719804e-02 9.98918092e-01 1.73200904e-03 -6.60103334e-02] [ 1.79496769e-02 -8.98544415e-04 9.99838488e-01 -1.34832681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.921193817 meters Centerline goodness : 0.893827 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.07, Z:-1.35 [[ 0.99858405 0.04763725 -0.0236769 8.04769056] [-0.04732604 0.99878778 0.0135354 -0.06667623] [ 0.02429299 -0.0123957 0.99962803 -1.34689091] [ 0. 0. 0. 1. ]] SLAMing on 84.951193817 meters Centerline goodness : 0.891056 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.06, Z:-1.35 [[ 0.99836977 0.05140096 -0.02481436 8.05426393] [-0.0509949 0.99855879 0.01672885 -0.06341989] [ 0.02563848 -0.01543617 0.9995521 -1.35187215] [ 0. 0. 0. 1. ]] SLAMing on 84.981193817 meters Centerline goodness : 0.890495 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.06, Z:-1.35 [[ 0.99836947 0.05113923 -0.02536112 8.05678943] [-0.05074765 0.99858571 0.01585087 -0.06062804] [ 0.02613585 -0.01453801 0.99955268 -1.35359648] [ 0. 0. 0. 1. ]] SLAMing on 85.011193817 meters Centerline goodness : 0.884059 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.06, Z:-1.35 [[ 0.99835927 0.05109414 -0.02584863 8.05869463] [-0.05070559 0.99859382 0.01547045 -0.05913581] [ 0.02660273 -0.0141344 0.99954615 -1.35471881] [ 0. 0. 0. 1. ]] SLAMing on 85.041193817 meters Centerline goodness : 0.885401 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.06, Z:-1.35 [[ 0.99826842 0.04995543 -0.03105842 8.04745844] [-0.04922963 0.99850601 0.02371043 -0.05916472] [ 0.03219649 -0.02214038 0.9992363 -1.35044741] [ 0. 0. 0. 1. ]] SLAMing on 85.07119381700001 meters Centerline goodness : 0.886388 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.06, Z:-1.35 [[ 0.9982874 0.04950873 -0.03116337 8.04674634] [-0.04880354 0.99854361 0.02299727 -0.05758275] [ 0.03225655 -0.021437 0.9992497 -1.34917436] [ 0. 0. 0. 1. ]] SLAMing on 85.10119381700001 meters Centerline goodness : 0.887676 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.06, Z:-1.35 [[ 0.99833516 0.04861825 -0.03103511 8.04464782] [-0.04795544 0.99861252 0.02175587 -0.05504807] [ 0.03204978 -0.02023135 0.99928149 -1.34678018] [ 0. 0. 0. 1. ]] SLAMing on 85.13119381700001 meters Centerline goodness : 0.891641 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.05, Z:-1.34 [[ 0.9984069 0.04718593 -0.030938 8.04250038] [-0.04657711 0.99871219 0.02011282 -0.05258774] [ 0.0318472 -0.01863977 0.99931893 -1.34441582] [ 0. 0. 0. 1. ]] SLAMing on 85.161193817 meters Centerline goodness : 0.895158 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.05, Z:-1.34 [[ 0.99852665 0.04494132 -0.03041069 8.0384144 ] [-0.04442486 0.9988603 0.01745083 -0.04853058] [ 0.03116029 -0.01607413 0.99938514 -1.340637 ] [ 0. 0. 0. 1. ]] SLAMing on 85.191193817 meters Centerline goodness : 0.897038 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.05, Z:-1.34 [[ 0.99858309 0.04380453 -0.0302154 8.03656258] [-0.04333981 0.99893437 0.0158676 -0.04561176] [ 0.03087827 -0.01453559 0.99941745 -1.33874613] [ 0. 0. 0. 1. ]] SLAMing on 85.221193817 meters Centerline goodness : 0.898626 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.04, Z:-1.34 [[ 0.99863149 0.04277643 -0.03008856 8.03485799] [-0.04235643 0.99899791 0.01446074 -0.04335556] [ 0.03067698 -0.01316651 0.99944263 -1.33693637] [ 0. 0. 0. 1. ]] SLAMing on 85.251193817 meters Centerline goodness : 0.901186 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.04, Z:-1.34 [[ 0.99865701 0.04209832 -0.03019783 8.03465844] [-0.04170127 0.99903674 0.01365996 -0.04219182] [ 0.0307438 -0.01238233 0.9994506 -1.33642846] [ 0. 0. 0. 1. ]] SLAMing on 85.281193817 meters Centerline goodness : 0.902077 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.04, Z:-1.34 [[ 0.99870314 0.041036 -0.03013455 8.03513649] [-0.0406889 0.99909929 0.01204286 -0.03857073] [ 0.0306016 -0.01080111 0.9994733 -1.33717626] [ 0. 0. 0. 1. ]] SLAMing on 85.311193817 meters Centerline goodness : 0.902047 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.04, Z:-1.34 [[ 0.99871477 0.04055624 -0.03039734 8.03634867] [-0.04023746 0.9991293 0.01102669 -0.03567509] [ 0.03081808 -0.00978941 0.99947707 -1.33795979] [ 0. 0. 0. 1. ]] SLAMing on 85.341193817 meters Centerline goodness : 0.900149 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.03, Z:-1.34 [[ 0.9987073 0.04044873 -0.03078373 8.03810066] [-0.0401396 0.99913791 0.01059484 -0.03389324] [ 0.03118574 -0.00934549 0.99946992 -1.33911566] [ 0. 0. 0. 1. ]] SLAMing on 85.371193817 meters Centerline goodness : 0.896001 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.03, Z:-1.34 [[ 0.99857633 0.03794892 -0.03748587 8.0304518 ] [-0.03730566 0.9991469 0.01771308 -0.03380536] [ 0.03812608 -0.01628943 0.99914016 -1.33738794] [ 0. 0. 0. 1. ]] SLAMing on 85.401193817 meters Centerline goodness : 0.896585 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.03, Z:-1.34 [[ 0.99857536 0.03769241 -0.03776948 8.03097289] [-0.03705 0.999159 0.01756671 -0.03382889] [ 0.03839985 -0.01614232 0.99913206 -1.33733951] [ 0. 0. 0. 1. ]] SLAMing on 85.43119381700001 meters Centerline goodness : 0.896272 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.03, Z:-1.34 [[ 0.99857956 0.03743395 -0.03791529 8.03142083] [-0.03680259 0.99917426 0.01721534 -0.03314172] [ 0.03852842 -0.0157955 0.99913266 -1.33754795] [ 0. 0. 0. 1. ]] SLAMing on 85.46119381700001 meters Centerline goodness : 0.893818 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.03, Z:-1.34 [[ 0.99858406 0.03716717 -0.03805886 8.03219345] [-0.03655129 0.99919135 0.01675243 -0.03071289] [ 0.03865072 -0.01533761 0.99913507 -1.3381349 ] [ 0. 0. 0. 1. ]] SLAMing on 85.49119381700001 meters Centerline goodness : 0.893162 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.03, Z:-1.34 [[ 0.998591 0.03679656 -0.03823634 8.03247843] [-0.03619259 0.99921075 0.01636991 -0.03003344] [ 0.03880852 -0.01496297 0.99913463 -1.33802868] [ 0. 0. 0. 1. ]] SLAMing on 85.521193817 meters Centerline goodness : 0.893031 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.03, Z:-1.34 [[ 0.99858795 0.03680149 -0.03831136 8.03249028] [-0.03619648 0.99921064 0.01636781 -0.03023187] [ 0.03888348 -0.01495796 0.99913179 -1.33784676] [ 0. 0. 0. 1. ]] SLAMing on 85.551193817 meters Centerline goodness : 0.892226 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.03, Z:-1.34 [[ 0.99859061 0.03773122 -0.03732503 8.00974402] [-0.03711484 0.99916518 0.01707146 -0.02951825] [ 0.037938 -0.01566209 0.99915735 -1.3378134 ] [ 0. 0. 0. 1. ]] SLAMing on 85.581193817 meters Centerline goodness : 0.892603 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.03, Z:-1.34 [[ 0.99856138 0.03845062 -0.03737273 8.00995304] [-0.03784226 0.99914162 0.01685169 -0.02744052] [ 0.0379886 -0.01541317 0.9991593 -1.33777734] [ 0. 0. 0. 1. ]] SLAMing on 85.611193817 meters Centerline goodness : 0.893270 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.03, Z:-1.34 [[ 0.99839752 0.04242768 -0.03744719 8.01037286] [-0.04168379 0.99892201 0.02042747 -0.02624069] [ 0.03827351 -0.0188338 0.9990898 -1.33766853] [ 0. 0. 0. 1. ]] SLAMing on 85.641193817 meters Centerline goodness : 0.891190 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.03, Z:-1.34 [[ 0.99819764 0.04679491 -0.03757257 8.01107801] [-0.04590359 0.9986516 0.02424533 -0.0252687 ] [ 0.03865647 -0.02247691 0.99899973 -1.33772061] [ 0. 0. 0. 1. ]] SLAMing on 85.671193817 meters Centerline goodness : 0.892411 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.02, Z:-1.34 [[ 0.99796476 0.05140399 -0.03773561 8.01201177] [-0.0503538 0.99833118 0.02827263 -0.0247154 ] [ 0.03912597 -0.02631496 0.99888772 -1.33788169] [ 0. 0. 0. 1. ]] SLAMing on 85.701193817 meters Centerline goodness : 0.891447 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.02, Z:-1.33 [[ 0.99731987 0.0601231 -0.04169271 8.01931502] [-0.05886893 0.99779402 0.03068443 -0.02475061] [ 0.04344558 -0.02814778 0.99865919 -1.33305633] [ 0. 0. 0. 1. ]] SLAMing on 85.731193817 meters Centerline goodness : 0.892826 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.02, Z:-1.33 [[ 0.99738147 0.06143198 -0.03816172 8.02747557] [-0.06066411 0.99793805 0.02096473 -0.02319685] [ 0.03937093 -0.01859479 0.99905163 -1.33279567] [ 0. 0. 0. 1. ]] SLAMing on 85.761193817 meters Centerline goodness : 0.896557 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.02, Z:-1.33 [[ 0.99759361 0.06179674 -0.0314349 8.03559774] [-0.06143751 0.99803552 0.01226919 -0.02350421] [ 0.03213134 -0.01030839 0.99943049 -1.33432718] [ 0. 0. 0. 1. ]] SLAMing on 85.791193817 meters Centerline goodness : 0.897508 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.03, Z:-1.33 [[ 0.99789878 0.05936429 -0.02595953 8.04969448] [-0.05912456 0.99820145 0.00990734 -0.02670209] [ 0.02650099 -0.00835168 0.9996139 -1.33189675] [ 0. 0. 0. 1. ]] SLAMing on 85.82119381700001 meters Centerline goodness : 0.903128 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.04, Z:-1.33 [[ 0.99825999 0.05597153 -0.01855215 8.05888571] [-0.05569229 0.99833164 0.01524177 -0.03712475] [ 0.0193743 -0.01418204 0.99971171 -1.33375871] [ 0. 0. 0. 1. ]] SLAMing on 85.85119381700001 meters Centerline goodness : 0.907740 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.04, Z:-1.33 [[ 0.99857221 0.05150198 -0.01418059 8.06702409] [-0.05118978 0.99845613 0.0215628 -0.04160409] [ 0.01526923 -0.02080611 0.99966692 -1.33419925] [ 0. 0. 0. 1. ]] SLAMing on 85.88119381700001 meters Centerline goodness : 0.908555 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.05, Z:-1.33 [[ 0.99870704 0.04922723 -0.01268552 8.07356875] [-0.04881068 0.998318 0.03128405 -0.04658549] [ 0.01420421 -0.03062442 0.99943003 -1.33078891] [ 0. 0. 0. 1. ]] SLAMing on 85.911193817 meters Centerline goodness : 0.908125 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.05, Z:-1.33 [[ 0.99873906 0.04799383 -0.01472671 8.0803608 ] [-0.04737539 0.9980837 0.03980584 -0.05181007] [ 0.01660892 -0.03905797 0.9990989 -1.32610369] [ 0. 0. 0. 1. ]] SLAMing on 85.941193817 meters Centerline goodness : 0.905439 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.06, Z:-1.33 [[ 0.99870501 0.04858201 -0.01510253 8.08141042] [-0.04792013 0.99799 0.04146835 -0.05604978] [ 0.01708679 -0.04069093 0.99902567 -1.32604107] [ 0. 0. 0. 1. ]] SLAMing on 85.971193817 meters Centerline goodness : 0.905259 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.07, Z:-1.32 [[ 0.99864349 0.04995832 -0.01467463 8.08078919] [-0.04884816 0.99647691 0.06817343 -0.07124138] [ 0.01802876 -0.06736412 0.99756556 -1.31983425] [ 0. 0. 0. 1. ]] SLAMing on 86.001193817 meters Centerline goodness : 0.903234 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.07, Z:-1.32 [[ 0.99876708 0.04729951 -0.01506908 8.08177657] [-0.04621673 0.99677986 0.06552806 -0.07269616] [ 0.01812 -0.06475083 0.99773694 -1.31993079] [ 0. 0. 0. 1. ]] SLAMing on 86.031193817 meters Centerline goodness : 0.901555 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.08, Z:-1.32 [[ 0.99856347 0.04924497 -0.02111722 8.08465643] [-0.04807022 0.99744051 0.05293099 -0.07567674] [ 0.02366976 -0.05183984 0.99837487 -1.32159962] [ 0. 0. 0. 1. ]] SLAMing on 86.061193817 meters Centerline goodness : 0.898229 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.08, Z:-1.32 [[ 0.99856381 0.04747205 -0.02483405 8.07819355] [-0.04642974 0.99808035 0.04098651 -0.0830166 ] [ 0.02673209 -0.03977461 0.99885103 -1.3230612 ] [ 0. 0. 0. 1. ]] SLAMing on 86.091193817 meters Centerline goodness : 0.897022 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.09, Z:-1.32 [[ 0.99859756 0.04622584 -0.02580869 8.08110035] [-0.04516756 0.99817092 0.04018334 -0.08837804] [ 0.027619 -0.03896127 0.99885895 -1.32436826] [ 0. 0. 0. 1. ]] SLAMing on 86.121193817 meters Centerline goodness : 0.896493 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.09, Z:-1.33 [[ 0.99863873 0.04488395 -0.02657296 8.08352932] [-0.04382002 0.99826415 0.03935083 -0.09394042] [ 0.02829305 -0.03813283 0.99887206 -1.32556937] [ 0. 0. 0. 1. ]] SLAMing on 86.151193817 meters Centerline goodness : 0.896009 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.10, Z:-1.33 [[ 0.9987215 0.04284753 -0.02682284 8.08396675] [-0.0418159 0.99840595 0.03790768 -0.09908211] [ 0.02840433 -0.0367376 0.99892119 -1.32579769] [ 0. 0. 0. 1. ]] SLAMing on 86.18119381700001 meters Centerline goodness : 0.895505 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.10, Z:-1.33 [[ 0.99881555 0.04047801 -0.02700043 8.08434895] [-0.03949193 0.99856737 0.03610537 -0.10345118] [ 0.02842322 -0.0349963 0.99898317 -1.32618161] [ 0. 0. 0. 1. ]] SLAMing on 86.21119381700001 meters Centerline goodness : 0.895457 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.11, Z:-1.33 [[ 0.9988848 0.03864139 -0.02712949 8.08375185] [-0.0376295 0.99861144 0.03686758 -0.11478108] [ 0.02851643 -0.03580559 0.99895184 -1.3258044 ] [ 0. 0. 0. 1. ]] SLAMing on 86.24119381700001 meters Centerline goodness : 0.893967 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.12, Z:-1.32 [[ 0.99899853 0.03534647 -0.02743301 8.08329489] [-0.03438762 0.998807 0.03467072 -0.11965874] [ 0.02862577 -0.03369264 0.99902221 -1.32492551] [ 0. 0. 0. 1. ]] SLAMing on 86.271193817 meters Centerline goodness : 0.897706 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.12, Z:-1.32 [[ 0.99920662 0.02830345 -0.02801878 8.08328177] [-0.02752055 0.99923057 0.02794423 -0.12259259] [ 0.02878814 -0.02715097 0.99921673 -1.32401127] [ 0. 0. 0. 1. ]] SLAMing on 86.301193817 meters Centerline goodness : 0.901663 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.13, Z:-1.32 [[ 0.99945778 0.0174354 -0.02793129 8.08164248] [-0.01687317 0.99965276 0.02023999 -0.13289093] [ 0.02827449 -0.01975773 0.99940492 -1.32333211] [ 0. 0. 0. 1. ]] SLAMing on 86.331193817 meters Centerline goodness : 0.901586 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.14, Z:-1.32 [[ 0.99953806 0.01063963 -0.02846877 8.0835546 ] [-0.01023242 0.99984379 0.01441141 -0.13762651] [ 0.02861765 -0.01411345 0.99949079 -1.32440058] [ 0. 0. 0. 1. ]] SLAMing on 86.361193817 meters Centerline goodness : 0.901894 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.14, Z:-1.33 [[ 9.99579198e-01 2.90575335e-03 -2.88614395e-02 8.08508825e+00] [-2.69175875e-03 9.99968621e-01 7.45063726e-03 -1.40927762e-01] [ 2.88821835e-02 -7.36981399e-03 9.99555654e-01 -1.32539342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.391193817 meters Centerline goodness : 0.902018 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.14, Z:-1.33 [[ 9.99555878e-01 -3.38493786e-03 -2.96072613e-02 8.08886029e+00] [ 3.44230286e-03 9.99992295e-01 1.88677623e-03 -1.44403773e-01] [ 2.96006466e-02 -1.98785543e-03 9.99559828e-01 -1.32803944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.421193817 meters Centerline goodness : 0.903102 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.15, Z:-1.33 [[ 9.99488809e-01 -9.95035692e-03 -3.03827393e-02 8.09336961e+00] [ 9.84678681e-03 9.99945194e-01 -3.55657087e-03 -1.48749748e-01] [ 3.04164633e-02 3.25558043e-03 9.99532010e-01 -1.33147186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.451193817 meters Centerline goodness : 0.900838 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.15, Z:-1.34 [[ 9.99596463e-01 -7.75512754e-03 -2.73270908e-02 8.10803937e+00] [ 7.47492700e-03 9.99918593e-01 -1.03408603e-02 -1.48700630e-01] [ 2.74050609e-02 1.01324194e-02 9.99573057e-01 -1.33619930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.481193817 meters Centerline goodness : 0.901189 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.15, Z:-1.34 [[ 9.99720209e-01 -3.50649679e-03 -2.33924868e-02 8.12095162e+00] [ 3.13416500e-03 9.99868127e-01 -1.59344445e-02 -1.48054200e-01] [ 2.34452760e-02 1.58566703e-02 9.99599362e-01 -1.34008313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.511193817 meters Centerline goodness : 0.900273 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.15, Z:-1.34 [[ 9.99831827e-01 1.14835983e-03 -1.83029824e-02 8.13400643e+00] [-1.52671354e-03 9.99785163e-01 -2.06711486e-02 -1.46781421e-01] [ 1.82753123e-02 2.06956157e-02 9.99618780e-01 -1.34434821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.541193817 meters Centerline goodness : 0.902917 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.15, Z:-1.35 [[ 0.99988614 0.00829118 -0.01260807 8.14544788] [-0.00858447 0.99968959 -0.02338877 -0.14518521] [ 0.01241023 0.02349434 0.99964694 -1.3473125 ] [ 0. 0. 0. 1. ]] SLAMing on 86.57119381700001 meters Centerline goodness : 0.901880 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.15, Z:-1.35 [[ 0.99984637 0.01183 -0.01293363 8.14628232] [-0.01208263 0.99973427 -0.01963174 -0.14598969] [ 0.01269795 0.01978499 0.99972362 -1.34731327] [ 0. 0. 0. 1. ]] SLAMing on 86.60119381700001 meters Centerline goodness : 0.902924 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.15, Z:-1.35 [[ 0.9997921 0.01518536 -0.01360758 8.14783447] [-0.01540115 0.99975503 -0.01589635 -0.14682498] [ 0.01336285 0.01610261 0.99978105 -1.34741873] [ 0. 0. 0. 1. ]] SLAMing on 86.63119381700001 meters Centerline goodness : 0.902317 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.15, Z:-1.35 [[ 0.99980698 0.01711091 -0.00965508 8.16520126] [-0.01726976 0.9997128 -0.01661538 -0.14612041] [ 0.009368 0.01677891 0.99981534 -1.34742981] [ 0. 0. 0. 1. ]] SLAMing on 86.661193817 meters Centerline goodness : 0.902117 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.15, Z:-1.35 [[ 9.99798282e-01 1.95470536e-02 -4.61604235e-03 8.18067108e+00] [-1.96207804e-02 9.99671223e-01 -1.65066743e-02 -1.45893339e-01] [ 4.29186786e-03 1.65939149e-02 9.99853100e-01 -1.34613982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.691193817 meters Centerline goodness : 0.900897 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.15, Z:-1.35 [[ 9.99798038e-01 1.94986982e-02 -4.86665441e-03 8.18090447e+00] [-1.95751339e-02 9.99677356e-01 -1.61863512e-02 -1.47443103e-01] [ 4.54947144e-03 1.62783476e-02 9.99857149e-01 -1.34575233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.721193817 meters Centerline goodness : 0.904332 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.15, Z:-1.35 [[ 9.99823404e-01 1.79841044e-02 -5.45282568e-03 8.18270107e+00] [-1.80745904e-02 9.99691667e-01 -1.70258789e-02 -1.49279190e-01] [ 5.14494921e-03 1.71214298e-02 9.99840180e-01 -1.34648622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.751193817 meters Centerline goodness : 0.904332 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.15, Z:-1.35 [[ 9.99823404e-01 1.79841044e-02 -5.45282568e-03 8.18270107e+00] [-1.80745904e-02 9.99691667e-01 -1.70258789e-02 -1.49279190e-01] [ 5.14494921e-03 1.71214298e-02 9.99840180e-01 -1.34648622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.781193817 meters Centerline goodness : 0.903227 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.15, Z:-1.34 [[ 0.99991549 0.00906771 -0.00931565 8.19080292] [-0.00924179 0.99978022 -0.01881774 -0.15229495] [ 0.00914296 0.01890225 0.99977953 -1.34341291] [ 0. 0. 0. 1. ]] SLAMing on 86.811193817 meters Centerline goodness : 0.902406 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.15, Z:-1.34 [[ 9.99942855e-01 4.12980345e-03 -9.86061780e-03 8.19304069e+00] [-4.35781349e-03 9.99721000e-01 -2.32148969e-02 -1.52682168e-01] [ 9.76199373e-03 2.32565410e-02 9.99681868e-01 -1.34487029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.841193817 meters Centerline goodness : 0.900120 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.15, Z:-1.35 [[ 9.99946333e-01 -4.52751074e-04 -1.03501499e-02 8.19477917e+00] [ 1.68718556e-04 9.99623801e-01 -2.74267765e-02 -1.52683878e-01] [ 1.03586737e-02 2.74235584e-02 9.99570231e-01 -1.34578530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.871193817 meters Centerline goodness : 0.900145 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.15, Z:-1.35 [[ 9.99937467e-01 -2.29684369e-03 -1.09446955e-02 8.19688570e+00] [ 1.98344008e-03 9.99590097e-01 -2.85605171e-02 -1.53366873e-01] [ 1.10058083e-02 2.85370229e-02 9.99532146e-01 -1.34674154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.901193817 meters Centerline goodness : 0.899136 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.15, Z:-1.35 [[ 9.99961798e-01 -4.96317022e-03 -7.19507155e-03 8.20367547e+00] [ 4.81617570e-03 9.99782227e-01 -2.03052409e-02 -1.53779239e-01] [ 7.29428302e-03 2.02698124e-02 9.99767937e-01 -1.34522041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93119381700001 meters Centerline goodness : 0.897136 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.15, Z:-1.35 [[ 9.99964027e-01 -3.33313971e-03 -7.79969174e-03 8.20622956e+00] [ 3.18632593e-03 9.99818932e-01 -1.87603407e-02 -1.51770531e-01] [ 7.86081030e-03 1.87348135e-02 9.99793586e-01 -1.34661662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96119381700001 meters Centerline goodness : 0.898640 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.15, Z:-1.35 [[ 9.99966640e-01 -9.59443241e-05 -8.16764059e-03 8.20731125e+00] [-3.44275343e-05 9.99872625e-01 -1.59603606e-02 -1.49138819e-01] [ 8.16813154e-03 1.59601093e-02 9.99839265e-01 -1.34691711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99119381700001 meters Centerline goodness : 0.898912 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.14, Z:-1.35 [[ 9.99976776e-01 3.11405120e-03 -6.06222258e-03 8.22707382e+00] [-3.22065408e-03 9.99838948e-01 -1.76551767e-02 -1.44286909e-01] [ 6.00626712e-03 1.76742909e-02 9.99825757e-01 -1.34896578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.021193817 meters Centerline goodness : 0.895690 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.13, Z:-1.35 [[ 9.99954711e-01 8.98343845e-03 -3.14228971e-03 8.24529348e+00] [-9.04544128e-03 9.99752853e-01 -2.03079290e-02 -1.31167904e-01] [ 2.95907807e-03 2.03354326e-02 9.99788835e-01 -1.35239381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.051193817 meters Centerline goodness : 0.893525 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.13, Z:-1.35 [[ 9.99907522e-01 1.35219549e-02 -1.45040124e-03 8.26488789e+00] [-1.35488390e-02 9.99698376e-01 -2.04838007e-02 -1.25576717e-01] [ 1.17298274e-03 2.05015577e-02 9.99789133e-01 -1.35398297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.081193817 meters Centerline goodness : 0.894577 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.12, Z:-1.36 [[ 9.99864036e-01 1.64749306e-02 6.97325081e-04 8.28486616e+00] [-1.64540069e-02 9.99588574e-01 -2.34935736e-02 -1.19377792e-01] [-1.08409318e-03 2.34789055e-02 9.99723745e-01 -1.35686237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.111193817 meters Centerline goodness : 0.892189 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.11, Z:-1.36 [[ 9.99820993e-01 1.85522756e-02 3.71411065e-03 8.30261354e+00] [-1.84391297e-02 9.99424360e-01 -2.84771238e-02 -1.12716226e-01] [-4.24028811e-03 2.84035412e-02 9.99587544e-01 -1.35934762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.141193817 meters Centerline goodness : 0.889862 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.11, Z:-1.36 [[ 9.99637798e-01 2.67078634e-02 3.31100873e-03 8.30381154e+00] [-2.66253710e-02 9.99384087e-01 -2.28590398e-02 -1.06806088e-01] [-3.91948555e-03 2.27626034e-02 9.99733215e-01 -1.35825389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.171193817 meters Centerline goodness : 0.890154 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.11, Z:-1.36 [[ 9.99519188e-01 3.08636204e-02 2.97140237e-03 8.30462980e+00] [-3.08011220e-02 9.99341533e-01 -1.91778975e-02 -1.05628416e-01] [-3.56134515e-03 1.90771541e-02 9.99811672e-01 -1.35790729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.201193817 meters Centerline goodness : 0.889705 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.10, Z:-1.36 [[ 9.99487566e-01 3.19199697e-02 2.39185531e-03 8.30606051e+00] [-3.18676999e-02 9.99303962e-01 -1.93917917e-02 -1.03819901e-01] [-3.00917589e-03 1.93056318e-02 9.99809101e-01 -1.35778885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.231193817 meters Centerline goodness : 0.886700 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.11, Z:-1.36 [[ 9.99323225e-01 3.67208340e-02 2.16154101e-03 8.30648009e+00] [-3.66857914e-02 9.99221936e-01 -1.44801730e-02 -1.05847190e-01] [-2.69158322e-03 1.43910753e-02 9.99892820e-01 -1.35740002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.261193817 meters Centerline goodness : 0.887396 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.11, Z:-1.36 [[ 9.99291677e-01 3.75922108e-02 1.72343222e-03 8.30748525e+00] [-3.75642828e-02 9.99194962e-01 -1.40837732e-02 -1.06092979e-01] [-2.25148496e-03 1.40090578e-02 9.99899333e-01 -1.35737810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.291193817 meters Centerline goodness : 0.886542 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.11, Z:-1.36 [[ 9.99223001e-01 3.93695473e-02 1.85291471e-03 8.30636442e+00] [-3.93436652e-02 9.99148985e-01 -1.23847698e-02 -1.07713198e-01] [-2.33892063e-03 1.23022464e-02 9.99921589e-01 -1.35612887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32119381700001 meters Centerline goodness : 0.888806 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.11, Z:-1.36 [[ 9.99196428e-01 4.00498904e-02 1.58230463e-03 8.30659033e+00] [-4.00289219e-02 9.99131276e-01 -1.15921459e-02 -1.09232445e-01] [-2.04519422e-03 1.15194928e-02 9.99931557e-01 -1.35566370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35119381700001 meters Centerline goodness : 0.887999 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.12, Z:-1.35 [[ 9.99115285e-01 4.20065580e-02 2.02385351e-03 8.30449886e+00] [-4.19894647e-02 9.99087175e-01 -7.85502838e-03 -1.16755446e-01] [-2.35196879e-03 7.76309840e-03 9.99967101e-01 -1.35444567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38119381700001 meters Centerline goodness : 0.888868 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.12, Z:-1.35 [[ 9.99208210e-01 3.97609882e-02 1.42026387e-03 8.30539848e+00] [-3.97448874e-02 9.99160032e-01 -9.97871043e-03 -1.19912393e-01] [-1.81583428e-03 9.91436115e-03 9.99949203e-01 -1.35457963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.411193817 meters Centerline goodness : 0.888501 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.13, Z:-1.36 [[ 9.99212890e-01 3.96610670e-02 7.74968284e-04 8.30756394e+00] [-3.96531177e-02 9.99177761e-01 -8.45173273e-03 -1.26385533e-01] [-1.10953581e-03 8.41435038e-03 9.99963983e-01 -1.35652677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.441193817 meters Centerline goodness : 0.886405 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.13, Z:-1.36 [[ 9.99320444e-01 3.68597707e-02 8.22187661e-05 8.30936452e+00] [-3.68569672e-02 9.99267422e-01 -1.03045343e-02 -1.31042675e-01] [-4.61981304e-04 1.02945014e-02 9.99946903e-01 -1.35799392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.471193817 meters Centerline goodness : 0.886577 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.15, Z:-1.36 [[ 9.99604704e-01 2.77427812e-02 -4.55773185e-03 8.30291450e+00] [-2.77446269e-02 9.99614985e-01 -3.42223576e-04 -1.45028262e-01] [ 4.54648282e-03 4.68540867e-04 9.99989555e-01 -1.35564942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.501193817 meters Centerline goodness : 0.886566 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.15, Z:-1.36 [[ 9.99705478e-01 2.37945202e-02 -4.77273064e-03 8.30292218e+00] [-2.38054273e-02 9.99714097e-01 -2.24164353e-03 -1.50237456e-01] [ 4.71802727e-03 2.35460021e-03 9.99986098e-01 -1.35603410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.531193817 meters Centerline goodness : 0.883640 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.16, Z:-1.36 [[ 9.99795588e-01 1.96132103e-02 -4.90970196e-03 8.30257145e+00] [-1.96338693e-02 9.99798434e-01 -4.19555855e-03 -1.55682889e-01] [ 4.82642396e-03 4.29109738e-03 9.99979146e-01 -1.35608273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.561193817 meters Centerline goodness : 0.884796 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.16, Z:-1.36 [[ 9.99865628e-01 1.55131770e-02 -5.29793475e-03 8.30314853e+00] [-1.55497742e-02 9.99855024e-01 -6.93793128e-03 -1.60607654e-01] [ 5.18953732e-03 7.01938070e-03 9.99961898e-01 -1.35589590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.591193817 meters Centerline goodness : 0.885691 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.17, Z:-1.36 [[ 9.99954841e-01 7.76439819e-03 -5.47993905e-03 8.30284484e+00] [-7.83298495e-03 9.99889842e-01 -1.26075025e-02 -1.68482755e-01] [ 5.38144572e-03 1.26498575e-02 9.99905506e-01 -1.35507696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.621193817 meters Centerline goodness : 0.884004 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.17, Z:-1.36 [[ 9.99974523e-01 4.22697671e-03 -5.75203637e-03 8.30372724e+00] [-4.31515424e-03 9.99872029e-01 -1.54047233e-02 -1.72431404e-01] [ 5.68618487e-03 1.54291518e-02 9.99864795e-01 -1.35559370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.651193817 meters Centerline goodness : 0.884436 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.18, Z:-1.36 [[ 9.99998486e-01 4.84871429e-04 -1.67099517e-03 8.31459894e+00] [-4.99433368e-04 9.99961810e-01 -8.72515994e-03 -1.78736518e-01] [ 1.66670077e-03 8.72598129e-03 9.99960539e-01 -1.35807067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68119381700001 meters Centerline goodness : 0.881792 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.18, Z:-1.36 [[ 9.99993555e-01 -3.14546171e-03 -1.73076164e-03 8.31485098e+00] [ 3.12428271e-03 9.99921834e-01 -1.21063878e-02 -1.80524654e-01] [ 1.76870653e-03 1.21009024e-02 9.99925217e-01 -1.35815474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71119381700001 meters Centerline goodness : 0.884988 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.18, Z:-1.36 [[ 9.99991596e-01 -3.76379573e-03 -1.62556448e-03 8.31473940e+00] [ 3.74450529e-03 9.99924410e-01 -1.17112534e-02 -1.83107094e-01] [ 1.66952037e-03 1.17050681e-02 9.99930100e-01 -1.35801339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74119381700001 meters Centerline goodness : 0.883260 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.18, Z:-1.36 [[ 9.99991117e-01 -3.79267901e-03 -1.83891276e-03 8.31556039e+00] [ 3.77127185e-03 9.99926667e-01 -1.15081768e-02 -1.83641888e-01] [ 1.88242473e-03 1.15011395e-02 9.99932088e-01 -1.35847565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.771193817 meters Centerline goodness : 0.885508 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.18, Z:-1.36 [[ 9.99990488e-01 -3.83399749e-03 -2.07972274e-03 8.31642857e+00] [ 3.81042252e-03 9.99929754e-01 -1.12235577e-02 -1.84751813e-01] [ 2.12260774e-03 1.12155263e-02 9.99934851e-01 -1.35891351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.801193817 meters Centerline goodness : 0.883492 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.19, Z:-1.36 [[ 9.99969654e-01 -7.49675883e-03 -2.11894444e-03 8.31674857e+00] [ 7.46485708e-03 9.99864342e-01 -1.46824461e-02 -1.86295498e-01] [ 2.22872775e-03 1.46661829e-02 9.99889962e-01 -1.35914597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.831193817 meters Centerline goodness : 0.881405 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.19, Z:-1.36 [[ 9.99959546e-01 -8.61863898e-03 -2.57399148e-03 8.31896436e+00] [ 8.57862630e-03 9.99848109e-01 -1.51712329e-02 -1.88094012e-01] [ 2.70435589e-03 1.51485378e-02 9.99881597e-01 -1.36064609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.861193817 meters Centerline goodness : 0.883515 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.19, Z:-1.36 [[ 9.99951049e-01 -9.43635421e-03 -2.97580834e-03 8.32098500e+00] [ 9.38914909e-03 9.99835833e-01 -1.54968288e-02 -1.89115334e-01] [ 3.12155338e-03 1.54681299e-02 9.99875489e-01 -1.36212049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.891193817 meters Centerline goodness : 0.882434 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.19, Z:-1.36 [[ 9.99945342e-01 -9.89244719e-03 -3.38422999e-03 8.32237129e+00] [ 9.83886736e-03 9.99831482e-01 -1.54985190e-02 -1.89939852e-01] [ 3.53697797e-03 1.54643749e-02 9.99874164e-01 -1.36279175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.921193817 meters Centerline goodness : 0.881783 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.19, Z:-1.36 [[ 9.99930863e-01 -1.11292547e-02 -3.79586830e-03 8.32477845e+00] [ 1.10651288e-02 9.99802378e-01 -1.65157021e-02 -1.88543709e-01] [ 3.97892560e-03 1.64725585e-02 9.99856401e-01 -1.36466870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.951193817 meters Centerline goodness : 0.882764 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.19, Z:-1.37 [[ 9.99926143e-01 -1.14511983e-02 -4.07158238e-03 8.32580440e+00] [ 1.13811386e-02 9.99793542e-01 -1.68327865e-02 -1.87537969e-01] [ 4.26349734e-03 1.67852041e-02 9.99850029e-01 -1.36523455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.981193817 meters Centerline goodness : 0.881727 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.19, Z:-1.37 [[ 9.99925062e-01 -1.22185970e-02 7.58980459e-04 8.33636422e+00] [ 1.22239977e-02 9.99896605e-01 -7.57325079e-03 -1.89442068e-01] [-6.66367484e-04 7.58196104e-03 9.99971034e-01 -1.36787415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.011193817 meters Centerline goodness : 0.881798 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.19, Z:-1.37 [[ 9.99921967e-01 -1.24816798e-02 5.16516381e-04 8.33711987e+00] [ 1.24853951e-02 9.99890411e-01 -7.95490366e-03 -1.88324137e-01] [-4.17169216e-04 7.96073183e-03 9.99968226e-01 -1.36817444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.041193817 meters Centerline goodness : 0.881884 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.18, Z:-1.37 [[ 9.99916780e-01 -1.28945644e-02 4.04091320e-04 8.33680395e+00] [ 1.28976635e-02 9.99876823e-01 -8.94369378e-03 -1.84911564e-01] [-2.88716510e-04 8.94816132e-03 9.99959923e-01 -1.36737316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07119381700001 meters Centerline goodness : 0.883000 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.18, Z:-1.37 [[ 9.99915575e-01 -1.29902801e-02 3.08154615e-04 8.33683579e+00] [ 1.29926427e-02 9.99869373e-01 -9.61397254e-03 -1.81973908e-01] [-1.83226166e-04 9.61716462e-03 9.99953737e-01 -1.36703031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10119381700001 meters Centerline goodness : 0.878327 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.18, Z:-1.37 [[ 9.99912103e-01 -1.32583794e-02 -4.88724568e-05 8.33731405e+00] [ 1.32571184e-02 9.99856037e-01 -1.05902881e-02 -1.78452377e-01] [ 1.89275478e-04 1.05887093e-02 9.99943920e-01 -1.36668972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13119381700001 meters Centerline goodness : 0.881729 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.17, Z:-1.37 [[ 9.99942811e-01 -9.12925510e-03 5.57058275e-03 8.34913900e+00] [ 9.21912600e-03 9.99824210e-01 -1.63265690e-02 -1.70968303e-01] [-5.42055408e-03 1.63769912e-02 9.99851195e-01 -1.37013287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.161193817 meters Centerline goodness : 0.878893 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.17, Z:-1.37 [[ 9.99961296e-01 -5.31783876e-03 7.00909374e-03 8.36965389e+00] [ 5.43056611e-03 9.99854617e-01 -1.61633290e-02 -1.67922222e-01] [-6.92212076e-03 1.62007667e-02 9.99844798e-01 -1.37161894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.191193817 meters Centerline goodness : 0.879205 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.16, Z:-1.37 [[ 9.99965169e-01 -1.76955445e-03 8.15657079e-03 8.39048040e+00] [ 1.91269223e-03 9.99843727e-01 -1.75745052e-02 -1.62563533e-01] [-8.12419709e-03 1.75894940e-02 9.99812286e-01 -1.37359372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.221193817 meters Centerline goodness : 0.880982 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.16, Z:-1.38 [[ 9.99955696e-01 1.30717193e-03 9.32190766e-03 8.41104808e+00] [-1.11488885e-03 9.99787125e-01 -2.06024574e-02 -1.55238740e-01] [-9.34685421e-03 2.05911517e-02 9.99744288e-01 -1.37602357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.251193817 meters Centerline goodness : 0.880281 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.14, Z:-1.38 [[ 0.99988894 0.01108378 0.00996281 8.4528619 ] [-0.01071789 0.99929225 -0.03605736 -0.14023784] [-0.01035541 0.03594657 0.99930006 -1.37931781] [ 0. 0. 0. 1. ]] SLAMing on 88.281193817 meters Centerline goodness : 0.883448 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.13, Z:-1.38 [[ 0.99983034 0.01421841 0.01171022 8.47336945] [-0.01375715 0.99916118 -0.03857035 -0.1339988 ] [-0.01224881 0.03840271 0.99918727 -1.38229877] [ 0. 0. 0. 1. ]] SLAMing on 88.311193817 meters Centerline goodness : 0.879305 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.13, Z:-1.38 [[ 0.99976049 0.01798328 0.01247257 8.49467075] [-0.01748364 0.99908338 -0.03907341 -0.12955248] [-0.01316381 0.03884599 0.9991585 -1.38443421] [ 0. 0. 0. 1. ]] SLAMing on 88.341193817 meters Centerline goodness : 0.879086 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.13, Z:-1.39 [[ 0.99971854 0.01984716 0.01299724 8.53201636] [-0.01925951 0.99885131 -0.04387643 -0.12517439] [-0.01385313 0.04361376 0.99895242 -1.38509501] [ 0. 0. 0. 1. ]] SLAMing on 88.371193817 meters Centerline goodness : 0.882673 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.12, Z:-1.39 [[ 0.99966484 0.02100769 0.0151289 8.56822746] [-0.02020816 0.99848441 -0.05119103 -0.11958257] [-0.01618137 0.05086814 0.99857428 -1.38504343] [ 0. 0. 0. 1. ]] SLAMing on 88.401193817 meters Centerline goodness : 0.883167 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.12, Z:-1.38 [[ 0.99959115 0.02425133 0.01514647 8.56812421] [-0.02351343 0.99861199 -0.04712983 -0.12119776] [-0.01626841 0.04675441 0.99877393 -1.38485757] [ 0. 0. 0. 1. ]] SLAMing on 88.43119381700001 meters Centerline goodness : 0.882019 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.12, Z:-1.39 [[ 0.99953313 0.0269411 0.01441183 8.56993091] [-0.02629566 0.99871853 -0.04324164 -0.12227759] [-0.01555834 0.04284249 0.99896069 -1.38565408] [ 0. 0. 0. 1. ]] SLAMing on 88.46119381700001 meters Centerline goodness : 0.884427 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.12, Z:-1.39 [[ 0.99943929 0.03017082 0.01451995 8.5700914 ] [-0.02959306 0.99882094 -0.03848355 -0.12495227] [-0.01566391 0.03803228 0.99915374 -1.38645475] [ 0. 0. 0. 1. ]] SLAMing on 88.49119381700001 meters Centerline goodness : 0.884053 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.13, Z:-1.39 [[ 0.99959766 0.02639469 0.01038433 8.56988171] [-0.02615011 0.99939288 -0.0230226 -0.1333701 ] [-0.0109857 0.02274178 0.99968101 -1.38652343] [ 0. 0. 0. 1. ]] SLAMing on 88.521193817 meters Centerline goodness : 0.884579 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.14, Z:-1.39 [[ 0.99960889 0.02607999 0.01009471 8.57043223] [-0.02584927 0.99941602 -0.02234797 -0.13679601] [-0.01067165 0.02207829 0.99969929 -1.38653439] [ 0. 0. 0. 1. ]] SLAMing on 88.551193817 meters Centerline goodness : 0.886747 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.14, Z:-1.39 [[ 0.99961562 0.02586134 0.00999058 8.57019156] [-0.02564623 0.99944857 -0.02109069 -0.14095596] [-0.0105305 0.02082636 0.99972765 -1.38637351] [ 0. 0. 0. 1. ]] SLAMing on 88.581193817 meters Centerline goodness : 0.888933 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.15, Z:-1.39 [[ 0.99968971 0.02295699 0.00966789 8.57075208] [-0.0227302 0.99947821 -0.02294858 -0.14672193] [-0.01018968 0.02272171 0.9996899 -1.38656567] [ 0. 0. 0. 1. ]] SLAMing on 88.611193817 meters Centerline goodness : 0.890716 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.15, Z:-1.39 [[ 0.99969831 0.022753 0.00925132 8.57237895] [-0.02254119 0.99949521 -0.02238813 -0.14968326] [-0.00975605 0.02217284 0.99970655 -1.38771331] [ 0. 0. 0. 1. ]] SLAMing on 88.641193817 meters Centerline goodness : 0.890716 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.15, Z:-1.39 [[ 0.99969831 0.022753 0.00925132 8.57237895] [-0.02254119 0.99949521 -0.02238813 -0.14968326] [-0.00975605 0.02217284 0.99970655 -1.38771331] [ 0. 0. 0. 1. ]] SLAMing on 88.671193817 meters Centerline goodness : 0.894883 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.15, Z:-1.39 [[ 9.99724505e-01 2.18526088e-02 8.56604353e-03 8.57505349e+00] [-2.16555598e-02 9.99513216e-01 -2.24581406e-02 -1.52357612e-01] [-9.05264267e-03 2.22664510e-02 9.99711086e-01 -1.38951353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.701193817 meters Centerline goodness : 0.889546 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.16, Z:-1.39 [[ 9.99805298e-01 1.80190308e-02 8.04247033e-03 8.57686653e+00] [-1.78114259e-02 9.99524274e-01 -2.51789186e-02 -1.56729600e-01] [-8.49234403e-03 2.50307683e-02 9.99650609e-01 -1.39095800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.731193817 meters Centerline goodness : 0.893625 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.16, Z:-1.39 [[ 9.99828243e-01 1.70437454e-02 7.27981357e-03 8.57944924e+00] [-1.68530541e-02 9.99532796e-01 -2.54983220e-02 -1.58634815e-01] [-7.71099932e-03 2.53712554e-02 9.99648358e-01 -1.39232612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.761193817 meters Centerline goodness : 0.894175 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.16, Z:-1.39 [[ 9.99837935e-01 1.66451639e-02 6.85876030e-03 8.58052295e+00] [-1.64652410e-02 9.99539136e-01 -2.55031816e-02 -1.59490223e-01] [-7.28010398e-03 2.53861173e-02 9.99651212e-01 -1.39259646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.791193817 meters Centerline goodness : 0.892603 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.16, Z:-1.39 [[ 9.99839798e-01 1.66695502e-02 6.51955156e-03 8.58107934e+00] [-1.64999767e-02 9.99544942e-01 -2.52519206e-02 -1.59973546e-01] [-6.93752294e-03 2.51403028e-02 9.99659860e-01 -1.39236565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82119381700001 meters Centerline goodness : 0.892934 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.16, Z:-1.39 [[ 9.99838149e-01 1.69468717e-02 6.03979842e-03 8.58171797e+00] [-1.67898299e-02 9.99542264e-01 -2.51667331e-02 -1.59567997e-01] [-6.46353119e-03 2.50612526e-02 9.99665022e-01 -1.39186449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85119381700001 meters Centerline goodness : 0.893307 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.16, Z:-1.39 [[ 9.99799337e-01 1.93380386e-02 5.22739292e-03 8.58456622e+00] [-1.92160463e-02 9.99563086e-01 -2.24584397e-02 -1.59573769e-01] [-5.65941117e-03 2.23534833e-02 9.99734111e-01 -1.39317606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88119381700001 meters Centerline goodness : 0.892496 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.16, Z:-1.39 [[ 9.99728187e-01 2.27732685e-02 4.99293476e-03 8.58532533e+00] [-2.26758897e-02 9.99566803e-01 -1.87619187e-02 -1.59416507e-01] [-5.41804204e-03 1.86435997e-02 9.99811513e-01 -1.39310863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.911193817 meters Centerline goodness : 0.891728 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.16, Z:-1.39 [[ 9.99624726e-01 2.62650841e-02 7.78150229e-03 8.60439543e+00] [-2.61001360e-02 9.99447255e-01 -2.05904869e-02 -1.56144537e-01] [-8.31801197e-03 2.03796616e-02 9.99757711e-01 -1.39464538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.941193817 meters Centerline goodness : 0.891550 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.16, Z:-1.39 [[ 9.99521317e-01 2.99895430e-02 7.60027660e-03 8.60492761e+00] [-2.98599683e-02 9.99415837e-01 -1.66243122e-02 -1.56863458e-01] [-8.09439232e-03 1.63894104e-02 9.99832920e-01 -1.39444765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.971193817 meters Centerline goodness : 0.893051 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.15, Z:-1.40 [[ 0.99947035 0.03080526 0.01049028 8.62311034] [-0.03058462 0.99932028 -0.02058071 -0.15431177] [-0.01111714 0.02024897 0.99973316 -1.39573629] [ 0. 0. 0. 1. ]] SLAMing on 89.001193817 meters Centerline goodness : 0.892982 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.15, Z:-1.39 [[ 0.9994523 0.03164786 0.00967071 8.62401911] [-0.03143979 0.99928587 -0.02095942 -0.15355899] [-0.01032712 0.0206439 0.99973355 -1.39421697] [ 0. 0. 0. 1. ]] SLAMing on 89.031193817 meters Centerline goodness : 0.894650 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.16, Z:-1.39 [[ 0.99932573 0.03561522 0.0089241 8.62393318] [-0.03545004 0.99920879 -0.01803015 -0.15600369] [-0.00955919 0.01770163 0.99979762 -1.39171143] [ 0. 0. 0. 1. ]] SLAMing on 89.061193817 meters Centerline goodness : 0.895639 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.16, Z:-1.39 [[ 9.99290887e-01 3.67087310e-02 8.37807269e-03 8.62485577e+00] [-3.65583584e-02 9.99179219e-01 -1.74463406e-02 -1.56588388e-01] [-9.01162915e-03 1.71276806e-02 9.99812699e-01 -1.39131766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.091193817 meters Centerline goodness : 0.891172 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.16, Z:-1.39 [[ 9.99185412e-01 3.95633646e-02 7.95317181e-03 8.62675488e+00] [-3.94542251e-02 9.99130977e-01 -1.34408070e-02 -1.59714588e-01] [-8.47802386e-03 1.31160720e-02 9.99878038e-01 -1.39280579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.121193817 meters Centerline goodness : 0.896859 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.16, Z:-1.39 [[ 9.99157816e-01 4.03679207e-02 7.35451496e-03 8.62820221e+00] [-4.02759626e-02 9.99113501e-01 -1.22498489e-02 -1.62013878e-01] [-7.84249612e-03 1.19433221e-02 9.99897921e-01 -1.39340978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.151193817 meters Centerline goodness : 0.895690 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.17, Z:-1.39 [[ 9.99120407e-01 4.13957364e-02 6.69367582e-03 8.62977098e+00] [-4.13330730e-02 9.99102664e-01 -9.24361506e-03 -1.69586066e-01] [-7.07031560e-03 8.95881425e-03 9.99934873e-01 -1.39470844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18119381700001 meters Centerline goodness : 0.896558 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.18, Z:-1.39 [[ 9.99089470e-01 4.21314624e-02 6.72085876e-03 8.62938089e+00] [-4.20860790e-02 9.99091140e-01 -6.75693919e-03 -1.75026478e-01] [-6.99943017e-03 6.46793221e-03 9.99954586e-01 -1.39480325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21119381700001 meters Centerline goodness : 0.895794 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.18, Z:-1.39 [[ 9.99058606e-01 4.29005448e-02 6.43783716e-03 8.62944705e+00] [-4.28750157e-02 9.99072225e-01 -4.05250906e-03 -1.81556877e-01] [-6.60571914e-03 3.77267168e-03 9.99971065e-01 -1.39481649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24119381700001 meters Centerline goodness : 0.899183 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.19, Z:-1.39 [[ 9.99148960e-01 4.08936963e-02 5.39086136e-03 8.63013777e+00] [-4.08745617e-02 9.99157753e-01 -3.61313346e-03 -1.92468706e-01] [-5.53407530e-03 3.38970944e-03 9.99978942e-01 -1.39430751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.271193817 meters Centerline goodness : 0.898670 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.20, Z:-1.39 [[ 9.99268679e-01 3.79119708e-02 4.97897212e-03 8.63070233e+00] [-3.78819025e-02 9.99264206e-01 -6.00059844e-03 -1.96825848e-01] [-5.20280314e-03 5.80759713e-03 9.99969601e-01 -1.39438360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.301193817 meters Centerline goodness : 0.901120 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.20, Z:-1.39 [[ 9.99250541e-01 3.83778378e-02 5.04962736e-03 8.62987967e+00] [-3.83617858e-02 9.99258669e-01 -3.23824108e-03 -2.03832834e-01] [-5.17016061e-03 3.04210142e-03 9.99982007e-01 -1.39423807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.331193817 meters Centerline goodness : 0.899858 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.21, Z:-1.40 [[ 9.99334716e-01 3.61817255e-02 4.58349976e-03 8.63125277e+00] [-3.61586874e-02 9.99333486e-01 -5.01324749e-03 -2.07968944e-01] [-4.76183274e-03 4.84417892e-03 9.99976929e-01 -1.39509438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.361193817 meters Centerline goodness : 0.899792 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.22, Z:-1.40 [[ 9.99424719e-01 3.36318098e-02 4.37416527e-03 8.63217901e+00] [-3.36053898e-02 9.99417292e-01 -5.97943136e-03 -2.16496659e-01] [-4.57271551e-03 5.82899597e-03 9.99972556e-01 -1.39599715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.391193817 meters Centerline goodness : 0.902351 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.22, Z:-1.40 [[ 9.99527862e-01 3.04271300e-02 4.27114297e-03 8.63225986e+00] [-3.03892078e-02 9.99500458e-01 -8.67929147e-03 -2.19886136e-01] [-4.53309529e-03 8.54539699e-03 9.99953213e-01 -1.39611616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.421193817 meters Centerline goodness : 0.903026 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.22, Z:-1.40 [[ 9.99615774e-01 2.74360061e-02 3.94590447e-03 8.63256649e+00] [-2.73905405e-02 9.99562640e-01 -1.11483652e-02 -2.23933734e-01] [-4.25004531e-03 1.10360012e-02 9.99930069e-01 -1.39593631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.451193817 meters Centerline goodness : 0.903590 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.23, Z:-1.39 [[ 9.99674701e-01 2.51748289e-02 4.08899892e-03 8.63052606e+00] [-2.51256626e-02 9.99616293e-01 -1.16605384e-02 -2.33785016e-01] [-4.38098200e-03 1.15540064e-02 9.99923653e-01 -1.39370313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.481193817 meters Centerline goodness : 0.904035 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.24, Z:-1.39 [[ 9.99686531e-01 2.47589525e-02 3.71938163e-03 8.63164844e+00] [-2.47163744e-02 9.99633014e-01 -1.10877807e-02 -2.38275131e-01] [-3.99253851e-03 1.09923754e-02 9.99931611e-01 -1.39414132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.511193817 meters Centerline goodness : 0.904669 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.24, Z:-1.39 [[ 9.99688976e-01 2.46952089e-02 3.47830709e-03 8.63213534e+00] [-2.46583553e-02 9.99643213e-01 -1.02670718e-02 -2.42136777e-01] [-3.73061355e-03 1.01781091e-02 9.99941243e-01 -1.39396617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.541193817 meters Centerline goodness : 0.907731 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.24, Z:-1.39 [[ 9.99755870e-01 2.18381166e-02 3.36103424e-03 8.63226532e+00] [-2.17913757e-02 9.99673189e-01 -1.33660785e-02 -2.42836566e-01] [-3.65182579e-03 1.32895739e-02 9.99905021e-01 -1.39411680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57119381700001 meters Centerline goodness : 0.905494 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.25, Z:-1.39 [[ 9.99747622e-01 2.22207774e-02 3.30606335e-03 8.63205040e+00] [-2.21808858e-02 9.99686098e-01 -1.16496270e-02 -2.47720100e-01] [-3.56388934e-03 1.15733554e-02 9.99926675e-01 -1.39350863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60119381700001 meters Centerline goodness : 0.907593 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.25, Z:-1.39 [[ 9.99807844e-01 1.93583576e-02 3.08691418e-03 8.63213445e+00] [-1.93124919e-02 9.99711891e-01 -1.42535212e-02 -2.50712093e-01] [-3.36194958e-03 1.41911663e-02 9.99893648e-01 -1.39329173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63119381700001 meters Centerline goodness : 0.907027 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.25, Z:-1.39 [[ 9.99859909e-01 1.64969341e-02 2.83066308e-03 8.63269779e+00] [-1.64474011e-02 9.99725083e-01 -1.67105419e-02 -2.54638340e-01] [-3.10555759e-03 1.66616439e-02 9.99856362e-01 -1.39356504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.661193817 meters Centerline goodness : 0.906242 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.26, Z:-1.40 [[ 9.99873657e-01 1.57265071e-02 2.31221905e-03 8.63491608e+00] [-1.56855774e-02 9.99736402e-01 -1.67656979e-02 -2.59146981e-01] [-2.57527542e-03 1.67273112e-02 9.99856772e-01 -1.39503759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.691193817 meters Centerline goodness : 0.909740 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.26, Z:-1.40 [[ 9.99884158e-01 1.51256480e-02 1.69849837e-03 8.63754199e+00] [-1.50954255e-02 9.99748522e-01 -1.65837391e-02 -2.62383066e-01] [-1.94891104e-03 1.65561785e-02 9.99861038e-01 -1.39683757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.721193817 meters Centerline goodness : 0.908394 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.27, Z:-1.40 [[ 9.99881334e-01 1.53708358e-02 1.02770822e-03 8.64107452e+00] [-1.53535754e-02 9.99768108e-01 -1.50995962e-02 -2.67566880e-01] [-1.25956332e-03 1.50820253e-02 9.99885466e-01 -1.39967464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.751193817 meters Centerline goodness : 0.904750 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.27, Z:-1.40 [[ 9.99879026e-01 1.55439499e-02 5.64575020e-04 8.64272959e+00] [-1.55342500e-02 9.99776335e-01 -1.43515808e-02 -2.70151052e-01] [-7.87528998e-04 1.43410744e-02 9.99896851e-01 -1.40060848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.781193817 meters Centerline goodness : 0.908604 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.27, Z:-1.40 [[ 9.99874445e-01 1.58445033e-02 2.16494705e-04 8.64386752e+00] [-1.58401390e-02 9.99783447e-01 -1.34962791e-02 -2.73367788e-01] [-4.30289660e-04 1.34911553e-02 9.99908898e-01 -1.40113621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.811193817 meters Centerline goodness : 0.907058 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.28, Z:-1.40 [[ 9.99869071e-01 1.61814353e-02 -4.86198757e-05 8.64442466e+00] [-1.61807817e-02 9.99791183e-01 -1.24808985e-02 -2.76994776e-01] [-1.53349128e-04 1.24800511e-02 9.99922109e-01 -1.40108063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.841193817 meters Centerline goodness : 0.905640 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.28, Z:-1.40 [[ 9.99849139e-01 1.73636446e-02 -4.49573536e-04 8.64494058e+00] [-1.73673139e-02 9.99797675e-01 -1.01482231e-02 -2.83095097e-01] [ 2.73272438e-04 1.01545000e-02 9.99948404e-01 -1.40061395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.871193817 meters Centerline goodness : 0.907761 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.29, Z:-1.40 [[ 9.99843357e-01 1.76832671e-02 -7.50811717e-04 8.64538260e+00] [-1.76895253e-02 9.99799694e-01 -9.36229722e-03 -2.85391082e-01] [ 5.85105323e-04 9.37411219e-03 9.99955891e-01 -1.40033187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.901193817 meters Centerline goodness : 0.909252 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.29, Z:-1.40 [[ 9.99838317e-01 1.79597630e-02 -8.87292106e-04 8.64554362e+00] [-1.79668592e-02 9.99800125e-01 -8.76938679e-03 -2.87412835e-01] [ 7.29618650e-04 8.78391078e-03 9.99961155e-01 -1.40009788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93119381700001 meters Centerline goodness : 0.909752 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.29, Z:-1.40 [[ 9.99831058e-01 1.83433148e-02 -1.17410924e-03 8.64596257e+00] [-1.83521773e-02 9.99799223e-01 -8.04438243e-03 -2.89607511e-01] [ 1.02631287e-03 8.06457085e-03 9.99966954e-01 -1.39980186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96119381700001 meters Centerline goodness : 0.910857 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.29, Z:-1.40 [[ 9.99805722e-01 1.96724657e-02 -1.22961505e-03 8.64557099e+00] [-1.96797680e-02 9.99786867e-01 -6.23916250e-03 -2.94265601e-01] [ 1.10661327e-03 6.26214891e-03 9.99979780e-01 -1.39913416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99119381700001 meters Centerline goodness : 0.907999 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.30, Z:-1.40 [[ 9.99797636e-01 2.00705454e-02 -1.36358811e-03 8.64562331e+00] [-2.00778693e-02 9.99782801e-01 -5.58836615e-03 -2.96293976e-01] [ 1.25113038e-03 5.61461322e-03 9.99983455e-01 -1.39874273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.021193817 meters Centerline goodness : 0.910834 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.30, Z:-1.40 [[ 9.99787343e-01 2.05650703e-02 -1.53176298e-03 8.64561944e+00] [-2.05721491e-02 9.99777046e-01 -4.75858366e-03 -2.99011221e-01] [ 1.43356086e-03 4.78908337e-03 9.99987505e-01 -1.39818212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.051193817 meters Centerline goodness : 0.910930 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.30, Z:-1.40 [[ 9.99773837e-01 2.12043451e-02 -1.62780390e-03 8.64536960e+00] [-2.12106777e-02 9.99767119e-01 -3.97689856e-03 -3.01354704e-01] [ 1.54309728e-03 4.01052596e-03 9.99990767e-01 -1.39754842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.081193817 meters Centerline goodness : 0.914680 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.30, Z:-1.40 [[ 9.99620870e-01 2.71651438e-02 4.49125280e-03 8.65704619e+00] [-2.71296592e-02 9.99601636e-01 -7.78148234e-03 -3.03139758e-01] [-4.70084873e-03 7.65668598e-03 9.99959638e-01 -1.40230469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.111193817 meters Centerline goodness : 0.913138 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.30, Z:-1.40 [[ 9.99605362e-01 2.77753521e-02 4.20108359e-03 8.65795602e+00] [-2.77443142e-02 9.99588585e-01 -7.27423426e-03 -3.03525938e-01] [-4.40139962e-03 7.15480740e-03 9.99964718e-01 -1.40285603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.141193817 meters Centerline goodness : 0.914193 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.31, Z:-1.40 [[ 9.99573248e-01 2.89167293e-02 4.14060548e-03 8.65824500e+00] [-2.88934259e-02 9.99566915e-01 -5.58140545e-03 -3.09012387e-01] [-4.30020824e-03 5.45938729e-03 9.99975851e-01 -1.40321645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.171193817 meters Centerline goodness : 0.914467 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.31, Z:-1.41 [[ 9.99621436e-01 2.73048008e-02 3.38125576e-03 8.66102853e+00] [-2.72800997e-02 9.99602274e-01 -7.14777778e-03 -3.12200603e-01] [-3.57507959e-03 7.05283089e-03 9.99968738e-01 -1.40514932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.201193817 meters Centerline goodness : 0.914057 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.32, Z:-1.41 [[ 9.99680172e-01 2.51468116e-02 2.68161179e-03 8.66408964e+00] [-2.51214216e-02 9.99642850e-01 -9.11517231e-03 -3.15049660e-01] [-2.90987158e-03 9.04489112e-03 9.99954860e-01 -1.40752496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.231193817 meters Centerline goodness : 0.914821 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.32, Z:-1.41 [[ 9.99701857e-01 2.43259395e-02 2.10838168e-03 8.66690413e+00] [-2.43051078e-02 9.99660401e-01 -9.39915164e-03 -3.17586048e-01] [-2.33630887e-03 9.34510490e-03 9.99953604e-01 -1.40967786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.261193817 meters Centerline goodness : 0.915275 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.32, Z:-1.41 [[ 9.99769208e-01 2.14447197e-02 1.28614715e-03 8.67080797e+00] [-2.14292235e-02 9.99709329e-01 -1.10474159e-02 -3.24150241e-01] [-1.52268204e-03 1.10173052e-02 9.99938148e-01 -1.41277677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.291193817 meters Centerline goodness : 0.915731 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.33, Z:-1.41 [[ 9.99837361e-01 1.80120844e-02 9.03249710e-04 8.67166151e+00] [-1.79980688e-02 9.99744633e-01 -1.36652017e-02 -3.28331994e-01] [-1.14915782e-03 1.36467225e-02 9.99906219e-01 -1.41309181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32119381700001 meters Centerline goodness : 0.915344 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.33, Z:-1.41 [[ 9.99905347e-01 1.37568743e-02 2.13986015e-04 8.67389354e+00] [-1.37513103e-02 9.99763239e-01 -1.68631992e-02 -3.33016189e-01] [-4.45920264e-04 1.68586605e-02 9.99857783e-01 -1.41431648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35119381700001 meters Centerline goodness : 0.915693 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.34, Z:-1.42 [[ 9.99957254e-01 9.23277666e-03 -4.95163089e-04 8.67661756e+00] [-9.24091806e-03 9.99751791e-01 -2.02722179e-02 -3.37175225e-01] [ 3.07871324e-04 2.02759271e-02 9.99794375e-01 -1.41600360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38119381700001 meters Centerline goodness : 0.918606 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.35, Z:-1.42 [[ 9.99995566e-01 -2.28021327e-03 -1.91548610e-03 8.67754119e+00] [ 2.25787606e-03 9.99930357e-01 -1.15837029e-02 -3.48302186e-01] [ 1.94176602e-03 1.15793266e-02 9.99931072e-01 -1.41615313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.411193817 meters Centerline goodness : 0.918204 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.35, Z:-1.42 [[ 9.99976876e-01 -6.35263035e-03 -2.42712742e-03 8.67911267e+00] [ 6.31654607e-03 9.99873518e-01 -1.45962021e-02 -3.52362582e-01] [ 2.51954471e-03 1.45805336e-02 9.99890524e-01 -1.41663686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.441193817 meters Centerline goodness : 0.919731 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.36, Z:-1.42 [[ 9.99942926e-01 -1.03160460e-02 -2.77921317e-03 8.67994376e+00] [ 1.02658004e-02 9.99793735e-01 -1.75242867e-02 -3.56521090e-01] [ 2.95942126e-03 1.74947557e-02 9.99842575e-01 -1.41649991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.471193817 meters Centerline goodness : 0.920887 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.36, Z:-1.42 [[ 9.99829916e-01 -1.82429620e-02 -2.70793091e-03 8.68010178e+00] [ 1.81725652e-02 9.99545025e-01 -2.40728370e-02 -3.61773432e-01] [ 3.14585872e-03 2.40195326e-02 9.99706540e-01 -1.41627829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.501193817 meters Centerline goodness : 0.921881 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.36, Z:-1.42 [[ 9.99819676e-01 -1.87415076e-02 -3.06118552e-03 8.68152650e+00] [ 1.86640388e-02 9.99546536e-01 -2.36299623e-02 -3.64100445e-01] [ 3.50265850e-03 2.35685672e-02 9.99716087e-01 -1.41695089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.531193817 meters Centerline goodness : 0.921290 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:-1.42 [[ 9.99798062e-01 -1.97373681e-02 -3.77782076e-03 8.68386980e+00] [ 1.96418134e-02 9.99522591e-01 -2.38492904e-02 -3.65287103e-01] [ 4.24673942e-03 2.37702710e-02 9.99708427e-01 -1.41785783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.561193817 meters Centerline goodness : 0.921290 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:-1.42 [[ 9.99798062e-01 -1.97373681e-02 -3.77782076e-03 8.68386980e+00] [ 1.96418134e-02 9.99522591e-01 -2.38492904e-02 -3.65287103e-01] [ 4.24673942e-03 2.37702710e-02 9.99708427e-01 -1.41785783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.591193817 meters Centerline goodness : 0.920476 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.37, Z:-1.42 [[ 9.99777953e-01 -2.06293735e-02 -4.29812869e-03 8.68548497e+00] [ 2.05204607e-02 9.99501196e-01 -2.40056412e-02 -3.66416210e-01] [ 4.79120611e-03 2.39121113e-02 9.99702583e-01 -1.41823974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.621193817 meters Centerline goodness : 0.920386 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:-1.42 [[ 9.99765933e-01 -2.12448791e-02 -4.09071853e-03 8.68375544e+00] [ 2.11414723e-02 9.99491985e-01 -2.38497383e-02 -3.66902890e-01] [ 4.59532518e-03 2.37576721e-02 9.99707185e-01 -1.41566783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.651193817 meters Centerline goodness : 0.922021 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:-1.41 [[ 9.99765868e-01 -2.12456536e-02 -4.10268055e-03 8.68275873e+00] [ 2.11418627e-02 9.99491460e-01 -2.38713822e-02 -3.65922223e-01] [ 4.60775729e-03 2.37790549e-02 9.99706620e-01 -1.41408890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68119381700001 meters Centerline goodness : 0.919412 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:-1.41 [[ 9.99828967e-01 -1.80208939e-02 -4.15750210e-03 8.68236308e+00] [ 1.79339144e-02 9.99637377e-01 -2.00870656e-02 -3.66087410e-01] [ 4.51798137e-03 2.00090697e-02 9.99789590e-01 -1.41292242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71119381700001 meters Centerline goodness : 0.920133 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.36, Z:-1.41 [[ 9.99874574e-01 -1.57982536e-02 -1.11824692e-03 8.70020245e+00] [ 1.57664244e-02 9.99580312e-01 -2.43026554e-02 -3.62565645e-01] [ 1.50171712e-03 2.42819764e-02 9.99704021e-01 -1.41473946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74119381700001 meters Centerline goodness : 0.918000 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.36, Z:-1.41 [[ 9.99919712e-01 -1.25710538e-02 -1.59334054e-03 8.70128680e+00] [ 1.25345859e-02 9.99698016e-01 -2.11367393e-02 -3.60640153e-01] [ 1.85857046e-03 2.11150704e-02 9.99775325e-01 -1.41481804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77119381700001 meters Centerline goodness : 0.917584 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.35, Z:-1.42 [[ 9.99940323e-01 -1.06269719e-02 -2.53342100e-03 8.70402833e+00] [ 1.05736969e-02 9.99740277e-01 -2.01885005e-02 -3.51842363e-01] [ 2.74730564e-03 2.01605081e-02 9.99792982e-01 -1.41586173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.801193817 meters Centerline goodness : 0.916335 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.35, Z:-1.42 [[ 9.99966809e-01 -7.59037341e-03 -2.96086833e-03 8.70537450e+00] [ 7.53782991e-03 9.99820702e-01 -1.73708307e-02 -3.48723761e-01] [ 3.09218854e-03 1.73479356e-02 9.99844732e-01 -1.41640031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.831193817 meters Centerline goodness : 0.917469 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.35, Z:-1.42 [[ 9.99983594e-01 -4.63742026e-03 -3.36243344e-03 8.70667879e+00] [ 4.58790518e-03 9.99883077e-01 -1.45870929e-02 -3.45702290e-01] [ 3.42968677e-03 1.45714271e-02 9.99887949e-01 -1.41693334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.861193817 meters Centerline goodness : 0.913394 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.34, Z:-1.42 [[ 9.99986874e-01 -3.21601331e-03 -3.98866040e-03 8.70958558e+00] [ 3.16340769e-03 9.99908850e-01 -1.31257123e-02 -3.42845575e-01] [ 4.03050930e-03 1.31129222e-02 9.99905899e-01 -1.41864780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.891193817 meters Centerline goodness : 0.914871 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.34, Z:-1.42 [[ 9.99981762e-01 -3.98500528e-03 -4.53821650e-03 8.71126072e+00] [ 3.91880117e-03 9.99887121e-01 -1.45047642e-02 -3.39266195e-01] [ 4.59550579e-03 1.44867153e-02 9.99884502e-01 -1.41934734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.921193817 meters Centerline goodness : 0.910789 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.33, Z:-1.42 [[ 9.99985297e-01 -2.01276189e-03 -5.03542417e-03 8.71305690e+00] [ 1.94639991e-03 9.99911649e-01 -1.31493920e-02 -3.33542323e-01] [ 5.06144588e-03 1.31393977e-02 9.99900864e-01 -1.42014743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.951193817 meters Centerline goodness : 0.910407 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.33, Z:-1.42 [[ 9.99984181e-01 6.55249916e-04 -5.58652323e-03 8.71492482e+00] [-7.15335115e-04 9.99941852e-01 -1.07601781e-02 -3.30352581e-01] [ 5.57914778e-03 1.07640041e-02 9.99926502e-01 -1.42086767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.981193817 meters Centerline goodness : 0.910070 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.33, Z:-1.42 [[ 9.99975329e-01 3.55116210e-03 -6.06066208e-03 8.71652993e+00] [-3.60249306e-03 9.99957557e-01 -8.47973428e-03 -3.26260731e-01] [ 6.03029194e-03 8.50135857e-03 9.99945680e-01 -1.42158475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.011193817 meters Centerline goodness : 0.908458 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.31, Z:-1.43 [[ 9.99956212e-01 9.08806300e-03 -2.23196862e-03 8.73221019e+00] [-9.11677050e-03 9.99871215e-01 -1.32074869e-02 -3.14758083e-01] [ 2.11165070e-03 1.32272569e-02 9.99910286e-01 -1.42520495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.041193817 meters Centerline goodness : 0.907925 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.31, Z:-1.43 [[ 9.99918237e-01 1.25105860e-02 -2.64655000e-03 8.73322601e+00] [-1.25379041e-02 9.99865524e-01 -1.05704873e-02 -3.10709126e-01] [ 2.51395111e-03 1.06028052e-02 9.99940629e-01 -1.42524912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07119381700001 meters Centerline goodness : 0.907647 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.31, Z:-1.43 [[ 9.99865220e-01 1.61545571e-02 -2.92785537e-03 8.73428843e+00] [-1.61766380e-02 9.99839641e-01 -7.68176522e-03 -3.07305313e-01] [ 2.80329035e-03 7.72809273e-03 9.99966209e-01 -1.42575072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10119381700001 meters Centerline goodness : 0.905216 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.30, Z:-1.43 [[ 9.99758280e-01 2.19741148e-02 7.21419200e-04 8.74990731e+00] [-2.19628401e-02 9.99673653e-01 -1.30469032e-02 -2.98358872e-01] [-1.00787792e-03 1.30279051e-02 9.99914625e-01 -1.43059181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13119381700001 meters Centerline goodness : 0.904270 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.30, Z:-1.43 [[ 9.99672698e-01 2.55786076e-02 4.80689490e-04 8.75046227e+00] [-2.55725439e-02 9.99623190e-01 -9.97609584e-03 -2.95668378e-01] [-7.35683003e-04 9.96053820e-03 9.99950122e-01 -1.43028996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.161193817 meters Centerline goodness : 0.902543 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.29, Z:-1.43 [[ 9.99567890e-01 2.93913196e-02 4.28931596e-04 8.75039525e+00] [-2.93877502e-02 9.99545204e-01 -6.76352623e-03 -2.92891503e-01] [-6.27525481e-04 6.74799831e-03 9.99977035e-01 -1.42951295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.191193817 meters Centerline goodness : 0.902167 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.29, Z:-1.43 [[ 9.99468072e-01 3.22258120e-02 5.00692978e-03 8.76511181e+00] [-3.21571487e-02 9.99395166e-01 -1.32371019e-02 -2.86944772e-01] [-5.43047777e-03 1.30690522e-02 9.99899850e-01 -1.43262768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.221193817 meters Centerline goodness : 0.899422 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.28, Z:-1.43 [[ 0.99920649 0.03857124 0.00993201 8.77831957] [-0.03840654 0.99912971 -0.01627163 -0.27890491] [-0.01055099 0.01587726 0.99981828 -1.43354288] [ 0. 0. 0. 1. ]] SLAMing on 91.251193817 meters Centerline goodness : 0.898166 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.28, Z:-1.43 [[ 0.99905138 0.04242617 0.00981642 8.77848394] [-0.04229895 0.99902269 -0.01282437 -0.27717583] [-0.01035091 0.01239698 0.99986958 -1.43282932] [ 0. 0. 0. 1. ]] SLAMing on 91.281193817 meters Centerline goodness : 0.896361 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.28, Z:-1.43 [[ 0.99888877 0.04611687 0.00971864 8.77896729] [-0.04602554 0.99889584 -0.00942053 -0.27552591] [-0.01014235 0.00896276 0.9999084 -1.43247169] [ 0. 0. 0. 1. ]] SLAMing on 91.311193817 meters Centerline goodness : 0.897917 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.28, Z:-1.43 [[ 9.98716388e-01 4.97270281e-02 9.63327218e-03 8.77959509e+00] [-4.96734896e-02 9.98749133e-01 -5.71956887e-03 -2.75190947e-01] [-9.90563941e-03 5.23370892e-03 9.99937241e-01 -1.43241978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.341193817 meters Centerline goodness : 0.898037 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.27, Z:-1.44 [[ 0.99859794 0.05129024 0.01309474 8.7950078 ] [-0.05109241 0.99858098 -0.01501999 -0.27096797] [-0.01384654 0.01432989 0.99980144 -1.43779047] [ 0. 0. 0. 1. ]] SLAMing on 91.371193817 meters Centerline goodness : 0.899182 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.27, Z:-1.43 [[ 9.98860437e-01 4.76836191e-02 2.02500935e-03 8.79054519e+00] [-4.76516416e-02 9.98770627e-01 -1.36585336e-02 -2.69750792e-01] [-2.67380817e-03 1.35464738e-02 9.99904667e-01 -1.43214895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.401193817 meters Centerline goodness : 0.897973 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.27, Z:-1.44 [[ 9.98854369e-01 4.77846838e-02 2.56390713e-03 8.81143293e+00] [-4.77253994e-02 9.98667802e-01 -1.96190529e-02 -2.68971946e-01] [-3.49798174e-03 1.94742132e-02 9.99804240e-01 -1.43570547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43119381700001 meters Centerline goodness : 0.896772 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.27, Z:-1.44 [[ 9.98844016e-01 4.80189180e-02 2.19413617e-03 8.81293428e+00] [-4.79677739e-02 9.98662299e-01 -1.93055687e-02 -2.70194102e-01] [-3.11823359e-03 1.91780039e-02 9.99811223e-01 -1.43678095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46119381700001 meters Centerline goodness : 0.895486 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.27, Z:-1.44 [[ 9.98848407e-01 4.79459818e-02 1.74459293e-03 8.81497256e+00] [-4.79040944e-02 9.98669808e-01 -1.90738467e-02 -2.72350315e-01] [-2.65678659e-03 1.89683082e-02 9.99816556e-01 -1.43827592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49119381700001 meters Centerline goodness : 0.897595 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.28, Z:-1.44 [[ 9.98776621e-01 4.94418301e-02 8.75612595e-04 8.81930300e+00] [-4.94202832e-02 9.98637795e-01 -1.67388788e-02 -2.79864897e-01] [-1.70202063e-03 1.66751278e-02 9.99859512e-01 -1.44194063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52119381700001 meters Centerline goodness : 0.896751 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.28, Z:-1.44 [[ 9.98765874e-01 4.96650208e-02 3.38326991e-04 8.82186611e+00] [-4.96532707e-02 9.98638507e-01 -1.59901789e-02 -2.83054821e-01] [-1.13201893e-03 1.59536460e-02 9.99872092e-01 -1.44391701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.551193817 meters Centerline goodness : 0.896502 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.29, Z:-1.44 [[ 9.98746447e-01 5.00552686e-02 6.27617646e-05 8.82311668e+00] [-5.00486849e-02 9.98633911e-01 -1.50147138e-02 -2.86275629e-01] [-8.14241561e-04 1.49927510e-02 9.99887271e-01 -1.44492495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.581193817 meters Centerline goodness : 0.895605 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.29, Z:-1.45 [[ 9.98707624e-01 5.08235374e-02 -2.22039877e-04 8.82385489e+00] [-5.08219642e-02 9.98618330e-01 -1.33626322e-02 -2.90961657e-01] [-4.57403145e-04 1.33566471e-02 9.99910691e-01 -1.44509636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.611193817 meters Centerline goodness : 0.896348 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.30, Z:-1.44 [[ 9.98748225e-01 5.00198266e-02 1.26955264e-05 8.82249055e+00] [-5.00156813e-02 9.98668658e-01 -1.26231043e-02 -3.03617174e-01] [-6.44084114e-04 1.26066681e-02 9.99920325e-01 -1.44456674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.641193817 meters Centerline goodness : 0.897259 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.31, Z:-1.44 [[ 9.98840578e-01 4.81393539e-02 -3.19914769e-04 8.82302159e+00] [-4.81392700e-02 9.98748857e-01 -1.35399908e-02 -3.10613435e-01] [-3.32291899e-04 1.35396927e-02 9.99908279e-01 -1.44492183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.671193817 meters Centerline goodness : 0.898141 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.32, Z:-1.44 [[ 9.98956904e-01 4.56603990e-02 -4.80759124e-04 8.82284563e+00] [-4.56624946e-02 9.98846046e-01 -1.48832807e-02 -3.17224098e-01] [-1.99372183e-04 1.48897087e-02 9.99889122e-01 -1.44470008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.701193817 meters Centerline goodness : 0.902204 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.33, Z:-1.44 [[ 9.99111866e-01 4.21317433e-02 6.29145589e-04 8.82099091e+00] [-4.21228356e-02 9.99057329e-01 -1.04937706e-02 -3.34098605e-01] [-1.07067336e-03 1.04579493e-02 9.99944741e-01 -1.43906903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.731193817 meters Centerline goodness : 0.903828 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.34, Z:-1.44 [[ 9.99248731e-01 3.87536024e-02 3.64214502e-04 8.82089096e+00] [-3.87461556e-02 9.99172775e-01 -1.23491072e-02 -3.40326226e-01] [-8.42485606e-04 1.23257178e-02 9.99923681e-01 -1.43839510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.761193817 meters Centerline goodness : 0.905823 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.35, Z:-1.44 [[ 9.99374468e-01 3.53648059e-02 4.79841737e-05 8.82101236e+00] [-3.53604720e-02 9.99271477e-01 -1.43579753e-02 -3.46304069e-01] [-5.55716227e-04 1.43472972e-02 9.99896918e-01 -1.43790302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.791193817 meters Centerline goodness : 0.904154 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.35, Z:-1.44 [[ 9.99487100e-01 3.20236741e-02 -1.42356839e-04 8.82112629e+00] [-3.20216871e-02 9.99352018e-01 -1.64363984e-02 -3.52099054e-01] [-3.84089271e-04 1.64325267e-02 9.99864903e-01 -1.43777320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82119381700001 meters Centerline goodness : 0.908130 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.36, Z:-1.44 [[ 9.99586162e-01 2.87653617e-02 -2.41473485e-04 8.82108602e+00] [-2.87649071e-02 9.99415127e-01 -1.84927867e-02 -3.58039679e-01] [-2.90619446e-04 1.84920797e-02 9.99828965e-01 -1.43766964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85119381700001 meters Centerline goodness : 0.910324 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.37, Z:-1.44 [[ 9.99744639e-01 2.25974841e-02 -9.79426648e-05 8.82003831e+00] [-2.25939299e-02 9.99489492e-01 -2.25891335e-02 -3.68723355e-01] [-4.12564920e-04 2.25855780e-02 9.99744828e-01 -1.43680329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88119381700001 meters Centerline goodness : 0.912454 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.37, Z:-1.44 [[ 9.99754004e-01 2.21788797e-02 -1.72111871e-04 8.82043629e+00] [-2.21774097e-02 9.99519807e-01 -2.16406564e-02 -3.74179439e-01] [-3.07936289e-04 2.16391498e-02 9.99765799e-01 -1.43677347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.911193817 meters Centerline goodness : 0.912738 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.38, Z:-1.44 [[ 9.99912009e-01 1.32091695e-02 -1.22186584e-03 8.81939572e+00] [-1.32225180e-02 9.99844693e-01 -1.16513899e-02 -3.83710454e-01] [ 1.06777089e-03 1.16665208e-02 9.99931374e-01 -1.43658732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.941193817 meters Centerline goodness : 0.915067 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.39, Z:-1.44 [[ 9.99960483e-01 8.71351987e-03 -1.76244498e-03 8.82202289e+00] [-8.74022324e-03 9.99837632e-01 -1.57581016e-02 -3.85357825e-01] [ 1.62485028e-03 1.57728831e-02 9.99874280e-01 -1.43877406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.971193817 meters Centerline goodness : 0.915986 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.39, Z:-1.44 [[ 9.99991452e-01 8.27856701e-04 -4.05110837e-03 8.82027937e+00] [-8.54835427e-04 9.99977441e-01 -6.66239752e-03 -3.89225749e-01] [ 4.04550147e-03 6.66580359e-03 9.99969600e-01 -1.43835184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.001193817 meters Centerline goodness : 0.918469 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.39, Z:-1.44 [[ 9.99984101e-01 -3.60542587e-03 -4.33567234e-03 8.82153222e+00] [ 3.55947365e-03 9.99937906e-01 -1.05600545e-02 -3.90809968e-01] [ 4.37347661e-03 1.05444539e-02 9.99934841e-01 -1.43912098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.031193817 meters Centerline goodness : 0.921301 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.39, Z:-1.44 [[ 9.99899515e-01 -1.33473282e-02 -4.77582608e-03 8.82361866e+00] [ 1.32531341e-02 9.99727067e-01 -1.92391718e-02 -3.92656608e-01] [ 5.03131415e-03 1.91739439e-02 9.99803504e-01 -1.44011107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.061193817 meters Centerline goodness : 0.922838 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.39, Z:-1.44 [[ 9.99884786e-01 -1.43772301e-02 -4.86932000e-03 8.82413063e+00] [ 1.42818027e-02 9.99715646e-01 -1.90960211e-02 -3.94914600e-01] [ 5.14248328e-03 1.90242783e-02 9.99805797e-01 -1.43976413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.091193817 meters Centerline goodness : 0.922291 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.40, Z:-1.44 [[ 9.99875448e-01 -1.50044686e-02 -4.89425905e-03 8.82436940e+00] [ 1.49093369e-02 9.99709701e-01 -1.89268537e-02 -3.96326421e-01] [ 5.17682564e-03 1.88515261e-02 9.99808892e-01 -1.43947893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.121193817 meters Centerline goodness : 0.923249 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.40, Z:-1.44 [[ 9.99864168e-01 -1.56187819e-02 -5.26297950e-03 8.82556987e+00] [ 1.55158822e-02 9.99698020e-01 -1.90558845e-02 -3.96893264e-01] [ 5.55901989e-03 1.89716363e-02 9.99804568e-01 -1.43977689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.151193817 meters Centerline goodness : 0.921383 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.40, Z:-1.44 [[ 9.99836295e-01 -1.71475112e-02 -5.77462877e-03 8.82876979e+00] [ 1.70269987e-02 9.99648751e-01 -2.03090010e-02 -3.95867925e-01] [ 6.12084926e-03 2.02073518e-02 9.99777074e-01 -1.44240060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18119381700001 meters Centerline goodness : 0.921869 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.40, Z:-1.44 [[ 9.99872779e-01 -1.46443686e-02 -6.32201041e-03 8.83119450e+00] [ 1.45344382e-02 9.99748178e-01 -1.70976792e-02 -3.96424483e-01] [ 6.57080311e-03 1.70036172e-02 9.99833837e-01 -1.44374366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21119381700001 meters Centerline goodness : 0.922394 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.40, Z:-1.44 [[ 9.99906867e-01 -1.18053784e-02 -6.84772147e-03 8.83319254e+00] [ 1.17086239e-02 9.99833419e-01 -1.40015100e-02 -3.95544119e-01] [ 7.01187389e-03 1.39200286e-02 9.99878526e-01 -1.44470992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24119381700001 meters Centerline goodness : 0.923520 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.39, Z:-1.45 [[ 9.99984530e-01 -4.56029038e-03 -3.18486279e-03 8.84990509e+00] [ 4.50922939e-03 9.99864060e-01 -1.58596559e-02 -3.89505422e-01] [ 3.25675447e-03 1.58450493e-02 9.99869155e-01 -1.44881515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27119381700001 meters Centerline goodness : 0.922174 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.39, Z:-1.45 [[ 9.99991602e-01 2.34609133e-03 -3.36043239e-03 8.84991433e+00] [-2.37536256e-03 9.99959044e-01 -8.73321044e-03 -3.88887606e-01] [ 3.33980585e-03 8.74111934e-03 9.99956218e-01 -1.44786051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.301193817 meters Centerline goodness : 0.920317 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.38, Z:-1.45 [[ 9.99974631e-01 6.05058344e-03 -3.75869022e-03 8.85071972e+00] [-6.07284123e-03 9.99963925e-01 -5.93877104e-03 -3.84771085e-01] [ 3.72262160e-03 5.96144631e-03 9.99975301e-01 -1.44784964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.331193817 meters Centerline goodness : 0.922451 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.38, Z:-1.45 [[ 9.99945010e-01 9.58660067e-03 -4.25125681e-03 8.85180929e+00] [-9.60044956e-03 9.99948636e-01 -3.24924531e-03 -3.80505010e-01] [ 4.21988922e-03 3.28988061e-03 9.99985685e-01 -1.44790977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.361193817 meters Centerline goodness : 0.919568 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.37, Z:-1.45 [[ 9.99899531e-01 1.34964386e-02 -4.33295986e-03 8.85120486e+00] [-1.35010946e-02 9.99908308e-01 -1.04711258e-03 -3.71915988e-01] [ 4.31843027e-03 1.10550707e-03 9.99990064e-01 -1.44683232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.391193817 meters Centerline goodness : 0.915533 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.37, Z:-1.45 [[ 9.99905568e-01 1.29227788e-02 -4.67521546e-03 8.85218082e+00] [-1.29351516e-02 9.99912889e-01 -2.62599390e-03 -3.67174942e-01] [ 4.64087306e-03 2.68622054e-03 9.99985623e-01 -1.44730354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.421193817 meters Centerline goodness : 0.917295 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.36, Z:-1.45 [[ 9.99911542e-01 1.23109343e-02 -5.03484109e-03 8.85293547e+00] [-1.23318608e-02 9.99915362e-01 -4.14663070e-03 -3.62624075e-01] [ 4.98336606e-03 4.20835286e-03 9.99978728e-01 -1.44740906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.451193817 meters Centerline goodness : 0.920491 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.36, Z:-1.45 [[ 9.99878330e-01 1.46366745e-02 -5.39380397e-03 8.85433338e+00] [-1.46469456e-02 9.99890980e-01 -1.86968030e-03 -3.60233076e-01] [ 5.36585003e-03 1.94845557e-03 9.99983705e-01 -1.44768066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.481193817 meters Centerline goodness : 0.920491 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.36, Z:-1.45 [[ 9.99878330e-01 1.46366745e-02 -5.39380397e-03 8.85433338e+00] [-1.46469456e-02 9.99890980e-01 -1.86968030e-03 -3.60233076e-01] [ 5.36585003e-03 1.94845557e-03 9.99983705e-01 -1.44768066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.511193817 meters Centerline goodness : 0.917871 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.36, Z:-1.45 [[ 9.99886907e-01 1.39298757e-02 -5.66847734e-03 8.85501444e+00] [-1.39501854e-02 9.99896356e-01 -3.55929648e-03 -3.55046311e-01] [ 5.61830928e-03 3.63797025e-03 9.99977600e-01 -1.44785281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.541193817 meters Centerline goodness : 0.917887 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.35, Z:-1.45 [[ 9.99894290e-01 1.33196331e-02 -5.83056789e-03 8.85554828e+00] [-1.33507763e-02 9.99896640e-01 -5.33542579e-03 -3.49377131e-01] [ 5.75889932e-03 5.41270439e-03 9.99968768e-01 -1.44810246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57119381700001 meters Centerline goodness : 0.918506 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.34, Z:-1.45 [[ 9.99893347e-01 1.43555495e-02 -2.68580261e-03 8.87405932e+00] [-1.43903805e-02 9.99806219e-01 -1.34328708e-02 -3.37720039e-01] [ 2.49244591e-03 1.34700878e-02 9.99906168e-01 -1.45229101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60119381700001 meters Centerline goodness : 0.917763 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.33, Z:-1.45 [[ 9.99852827e-01 1.68578122e-02 -3.18424469e-03 8.87620626e+00] [-1.68927428e-02 9.99793661e-01 -1.12814444e-02 -3.34415616e-01] [ 2.99340718e-03 1.13335747e-02 9.99931292e-01 -1.45333694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63119381700001 meters Centerline goodness : 0.915689 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.33, Z:-1.45 [[ 9.99804562e-01 1.94319249e-02 -3.63838308e-03 8.87828887e+00] [-1.94649362e-02 9.99767575e-01 -9.26885154e-03 -3.30021196e-01] [ 3.45742580e-03 9.33786095e-03 9.99950424e-01 -1.45444988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.661193817 meters Centerline goodness : 0.916202 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.32, Z:-1.46 [[ 9.99751551e-01 2.19143791e-02 -4.07388652e-03 8.88063603e+00] [-2.19442473e-02 9.99731531e-01 -7.43750002e-03 -3.24927518e-01] [ 3.90980462e-03 7.52505055e-03 9.99964043e-01 -1.45599994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.691193817 meters Centerline goodness : 0.911914 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.32, Z:-1.46 [[ 9.99694516e-01 2.42172016e-02 -4.93971949e-03 8.88395333e+00] [-2.42503620e-02 9.99683011e-01 -6.76737700e-03 -3.16609360e-01] [ 4.77426672e-03 6.88509967e-03 9.99964900e-01 -1.45805577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.721193817 meters Centerline goodness : 0.911539 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.31, Z:-1.46 [[ 9.99671493e-01 2.49924561e-02 -5.68188792e-03 8.88731683e+00] [-2.50295690e-02 9.99665205e-01 -6.55729618e-03 -3.14312847e-01] [ 5.51610272e-03 6.69735727e-03 9.99962358e-01 -1.46016853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.751193817 meters Centerline goodness : 0.913672 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.31, Z:-1.46 [[ 9.99598383e-01 2.76441488e-02 -6.23493628e-03 8.88979830e+00] [-2.76756438e-02 9.99604336e-01 -5.02295353e-03 -3.08456057e-01] [ 6.09361406e-03 5.19349211e-03 9.99967947e-01 -1.46172928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.781193817 meters Centerline goodness : 0.910468 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.30, Z:-1.46 [[ 9.99611039e-01 2.70839144e-02 -6.65080035e-03 8.89149749e+00] [-2.71281466e-02 9.99609824e-01 -6.65301624e-03 -3.03486000e-01] [ 6.46801565e-03 6.83085236e-03 9.99955751e-01 -1.46293600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.811193817 meters Centerline goodness : 0.910964 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.30, Z:-1.46 [[ 9.99519915e-01 3.01679414e-02 -7.05937493e-03 8.89332561e+00] [-3.01943543e-02 9.99537326e-01 -3.66533504e-03 -3.01765398e-01] [ 6.94553313e-03 3.87672864e-03 9.99968365e-01 -1.46378003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.841193817 meters Centerline goodness : 0.913001 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.30, Z:-1.46 [[ 9.99522569e-01 3.00092266e-02 -7.35387210e-03 8.89430291e+00] [-3.00425809e-02 9.99538634e-01 -4.46789403e-03 -2.99166654e-01] [ 7.21640123e-03 4.68669021e-03 9.99962979e-01 -1.46423618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.871193817 meters Centerline goodness : 0.912885 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.30, Z:-1.46 [[ 9.99497036e-01 3.07974354e-02 -7.56259470e-03 8.89435571e+00] [-3.08332307e-02 9.99513665e-01 -4.66310667e-03 -2.96457897e-01] [ 7.41530502e-03 4.89394053e-03 9.99960531e-01 -1.46378360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.901193817 meters Centerline goodness : 0.914268 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.30, Z:-1.46 [[ 9.99484344e-01 3.11183021e-02 -7.91821806e-03 8.89536693e+00] [-3.11557495e-02 9.99503722e-01 -4.65067295e-03 -2.95767229e-01] [ 7.76956738e-03 4.89497282e-03 9.99957836e-01 -1.46413309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93119381700001 meters Centerline goodness : 0.913092 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.30, Z:-1.46 [[ 9.99482990e-01 3.11194477e-02 -8.08283410e-03 8.89596001e+00] [-3.11585533e-02 9.99503129e-01 -4.75806412e-03 -2.95794095e-01] [ 7.93074965e-03 5.00745357e-03 9.99956013e-01 -1.46441496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96119381700001 meters Centerline goodness : 0.912866 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.30, Z:-1.46 [[ 9.99483333e-01 3.10501083e-02 -8.30411072e-03 8.89667326e+00] [-3.10900221e-02 9.99505437e-01 -4.72137192e-03 -2.96504801e-01] [ 8.15340471e-03 4.97710753e-03 9.99954374e-01 -1.46464213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99119381700001 meters Centerline goodness : 0.914868 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.30, Z:-1.46 [[ 9.99485286e-01 3.09987164e-02 -8.26096173e-03 8.89638952e+00] [-3.10362465e-02 9.99508335e-01 -4.45423969e-03 -2.97634548e-01] [ 8.11882439e-03 4.70833628e-03 9.99955957e-01 -1.46411973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02119381700001 meters Centerline goodness : 0.915939 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.30, Z:-1.46 [[ 9.99487838e-01 3.08750229e-02 -8.41395949e-03 8.89677836e+00] [-3.09140546e-02 9.99511695e-01 -4.54900185e-03 -2.97368923e-01] [ 8.26940037e-03 4.80678162e-03 9.99954255e-01 -1.46405386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.051193817 meters Centerline goodness : 0.914900 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.30, Z:-1.46 [[ 9.99495562e-01 3.05675375e-02 -8.61664437e-03 8.89759825e+00] [-3.06113139e-02 9.99518882e-01 -4.99515370e-03 -2.96198169e-01] [ 8.45980920e-03 5.25640076e-03 9.99950400e-01 -1.46448417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.081193817 meters Centerline goodness : 0.913009 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.30, Z:-1.47 [[ 9.99503663e-01 3.02033210e-02 -8.95477170e-03 8.89871732e+00] [-3.02531943e-02 9.99527205e-01 -5.48730107e-03 -2.95305342e-01] [ 8.78480322e-03 5.75548797e-03 9.99944849e-01 -1.46500616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.111193817 meters Centerline goodness : 0.915529 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.29, Z:-1.47 [[ 9.99537736e-01 2.89506044e-02 -9.28316615e-03 8.90074094e+00] [-2.90141250e-02 9.99555991e-01 -6.78246464e-03 -2.94286992e-01] [ 9.08268789e-03 7.04867230e-03 9.99933908e-01 -1.46668294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.141193817 meters Centerline goodness : 0.913984 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.29, Z:-1.47 [[ 9.99556213e-01 2.82062828e-02 -9.58031985e-03 8.90180061e+00] [-2.82778397e-02 9.99572580e-01 -7.41765920e-03 -2.93886771e-01] [ 9.36700043e-03 7.68527809e-03 9.99926595e-01 -1.46713505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.171193817 meters Centerline goodness : 0.916601 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.29, Z:-1.47 [[ 9.99628844e-01 2.50697935e-02 -1.06620931e-02 8.91158973e+00] [-2.50984186e-02 9.99681709e-01 -2.55945314e-03 -2.94205793e-01] [ 1.05945345e-02 2.82610486e-03 9.99939883e-01 -1.46516689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.201193817 meters Centerline goodness : 0.913281 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.29, Z:-1.46 [[ 9.99723673e-01 2.07996220e-02 -1.09523672e-02 8.91188675e+00] [-2.08815117e-02 9.99754450e-01 -7.41638522e-03 -2.91793031e-01] [ 1.07954198e-02 7.64303785e-03 9.99912518e-01 -1.46499968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.231193817 meters Centerline goodness : 0.917979 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.29, Z:-1.46 [[ 9.99737477e-01 1.99743318e-02 -1.12251305e-02 8.91234585e+00] [-2.00629834e-02 9.99767969e-01 -7.84127257e-03 -2.92070185e-01] [ 1.10659017e-02 8.06442366e-03 9.99906251e-01 -1.46458033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.261193817 meters Centerline goodness : 0.917694 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.29, Z:-1.47 [[ 0.99982265 0.01489377 -0.01152559 8.9132782 ] [-0.01504585 0.99979936 -0.01322319 -0.28932776] [ 0.01132634 0.01339425 0.99984614 -1.46515911] [ 0. 0. 0. 1. ]] SLAMing on 93.291193817 meters Centerline goodness : 0.917911 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.29, Z:-1.47 [[ 0.99984089 0.01303841 -0.01217366 8.91644885] [-0.01322044 0.99980018 -0.01499374 -0.28739602] [ 0.01197573 0.01515229 0.99981348 -1.46735557] [ 0. 0. 0. 1. ]] SLAMing on 93.32119381700001 meters Centerline goodness : 0.919051 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.29, Z:-1.47 [[ 0.99985481 0.0113403 -0.01271829 8.91916312] [-0.01154826 0.99979884 -0.01639856 -0.28622395] [ 0.01252977 0.01654305 0.99978464 -1.46919459] [ 0. 0. 0. 1. ]] SLAMing on 93.35119381700001 meters Centerline goodness : 0.917946 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.29, Z:-1.47 [[ 0.99986884 0.00940059 -0.01318866 8.92170076] [-0.00963529 0.99979431 -0.01784632 -0.28577681] [ 0.01301818 0.01797106 0.99975375 -1.47093653] [ 0. 0. 0. 1. ]] SLAMing on 93.38119381700001 meters Centerline goodness : 0.918464 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.28, Z:-1.47 [[ 9.99905726e-01 2.23400712e-03 -1.35480104e-02 8.92365781e+00] [-2.56075487e-03 9.99705101e-01 -2.41485745e-02 -2.84432791e-01] [ 1.34900670e-02 2.41809910e-02 9.99616575e-01 -1.47214956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.411193817 meters Centerline goodness : 0.919050 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.28, Z:-1.47 [[ 9.99903132e-01 4.25788286e-04 -1.39120251e-02 8.92496049e+00] [-7.76840329e-04 9.99681168e-01 -2.52380617e-02 -2.84327575e-01] [ 1.38968434e-02 2.52464243e-02 9.99584662e-01 -1.47246920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.441193817 meters Centerline goodness : 0.919171 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.29, Z:-1.47 [[ 9.99958343e-01 -1.93467719e-03 -8.92016112e-03 8.93415693e+00] [ 1.77816093e-03 9.99844914e-01 -1.75210165e-02 -2.85959712e-01] [ 8.95267524e-03 1.75044252e-02 9.99806704e-01 -1.47358926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.471193817 meters Centerline goodness : 0.920969 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.28, Z:-1.48 [[ 9.99939822e-01 -5.12047663e-03 -9.70222901e-03 8.93775492e+00] [ 4.91837150e-03 9.99772777e-01 -2.07413790e-02 -2.80352570e-01] [ 9.80623018e-03 2.06924117e-02 9.99737797e-01 -1.47579198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.501193817 meters Centerline goodness : 0.918355 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.28, Z:-1.48 [[ 9.99944912e-01 -2.87166691e-03 -1.00958239e-02 8.94003357e+00] [ 2.68762469e-03 9.99830825e-01 -1.81960840e-02 -2.78367790e-01] [ 1.01463690e-02 1.81679479e-02 9.99783465e-01 -1.47736347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.531193817 meters Centerline goodness : 0.918111 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.28, Z:-1.48 [[ 9.99947668e-01 1.79794367e-04 -1.02288226e-02 8.94098397e+00] [-3.35089181e-04 9.99884685e-01 -1.51823936e-02 -2.75904426e-01] [ 1.02249133e-02 1.51850267e-02 9.99832419e-01 -1.47800798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.561193817 meters Centerline goodness : 0.921003 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.27, Z:-1.48 [[ 9.99939729e-01 2.76653294e-03 -1.06247127e-02 8.94269813e+00] [-2.90367065e-03 9.99912398e-01 -1.29137666e-02 -2.72387199e-01] [ 1.05880556e-02 1.29438390e-02 9.99860165e-01 -1.47892402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.591193817 meters Centerline goodness : 0.918101 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.26, Z:-1.48 [[ 9.99955168e-01 6.02398632e-03 -7.30569601e-03 8.96193859e+00] [-6.15342065e-03 9.99822173e-01 -1.78257748e-02 -2.60948950e-01] [ 7.19701463e-03 1.78699306e-02 9.99814417e-01 -1.48349463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.621193817 meters Centerline goodness : 0.918034 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.26, Z:-1.48 [[ 9.99932132e-01 8.61548459e-03 -7.84254503e-03 8.96418347e+00] [-8.73910384e-03 9.99835915e-01 -1.58672737e-02 -2.56363155e-01] [ 7.70455393e-03 1.59347337e-02 9.99843350e-01 -1.48467570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.651193817 meters Centerline goodness : 0.919993 Centerline is valid? [False, False] Translation: X:8.97, Y:-0.25, Z:-1.49 [[ 9.99901859e-01 1.12847299e-02 -8.30227443e-03 8.96645022e+00] [-1.14006457e-02 9.99836303e-01 -1.40496660e-02 -2.51195587e-01] [ 8.14236869e-03 1.41429384e-02 9.99866831e-01 -1.48606370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68119381700001 meters Centerline goodness : 0.917295 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.24, Z:-1.49 [[ 9.99863639e-01 1.54199065e-02 -5.91021922e-03 8.98730327e+00] [-1.55239252e-02 9.99717865e-01 -1.79777364e-02 -2.37459211e-01] [ 5.63133673e-03 1.80670347e-02 9.99820919e-01 -1.49087528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71119381700001 meters Centerline goodness : 0.916083 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.23, Z:-1.49 [[ 9.99818885e-01 1.79455331e-02 -6.33674327e-03 8.98920975e+00] [-1.80473757e-02 9.99702654e-01 -1.63980144e-02 -2.31407431e-01] [ 6.04058795e-03 1.65094061e-02 9.99845463e-01 -1.49178324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74119381700001 meters Centerline goodness : 0.917743 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.23, Z:-1.49 [[ 9.99767253e-01 2.04789068e-02 -6.78635677e-03 8.99125165e+00] [-2.05775575e-02 9.99678704e-01 -1.48004359e-02 -2.25517600e-01] [ 6.48107960e-03 1.49366378e-02 9.99867437e-01 -1.49276698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77119381700001 meters Centerline goodness : 0.915132 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.22, Z:-1.49 [[ 9.99711200e-01 2.28958265e-02 -7.30053689e-03 8.99354818e+00] [-2.29909403e-02 9.99648235e-01 -1.32220408e-02 -2.19927435e-01] [ 6.99523927e-03 1.33860685e-02 9.99885933e-01 -1.49390772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.801193817 meters Centerline goodness : 0.911793 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.21, Z:-1.50 [[ 9.99692293e-01 2.43433427e-02 -4.76666714e-03 9.01395077e+00] [-2.44304275e-02 9.99518025e-01 -1.91539183e-02 -2.07094696e-01] [ 4.29809933e-03 1.92644762e-02 9.99805184e-01 -1.49730542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.831193817 meters Centerline goodness : 0.913102 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.20, Z:-1.50 [[ 9.99645804e-01 2.61164770e-02 -5.11828397e-03 9.01592719e+00] [-2.62036425e-02 9.99498576e-01 -1.77754355e-02 -2.02595749e-01] [ 4.65148579e-03 1.79032571e-02 9.99828904e-01 -1.49829072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.861193817 meters Centerline goodness : 0.910626 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.20, Z:-1.50 [[ 9.99603114e-01 2.75747313e-02 -5.76619891e-03 9.01842420e+00] [-2.76670877e-02 9.99479308e-01 -1.66025472e-02 -1.97887438e-01] [ 5.30538572e-03 1.67554918e-02 9.99845541e-01 -1.49916875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.891193817 meters Centerline goodness : 0.910315 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.19, Z:-1.50 [[ 9.99551862e-01 2.92169105e-02 -6.51508881e-03 9.02134144e+00] [-2.93135252e-02 9.99453733e-01 -1.52627906e-02 -1.93268708e-01] [ 6.06559824e-03 1.54469310e-02 9.99862291e-01 -1.50036593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.921193817 meters Centerline goodness : 0.907586 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.18, Z:-1.50 [[ 9.99542246e-01 3.00271504e-02 -3.69699884e-03 9.04082605e+00] [-3.00974216e-02 9.99332564e-01 -2.07019955e-02 -1.80690639e-01] [ 3.07290939e-03 2.08037892e-02 9.99778855e-01 -1.50238313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.951193817 meters Centerline goodness : 0.906520 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.18, Z:-1.50 [[ 9.99447176e-01 3.30067905e-02 -3.98666297e-03 9.04162962e+00] [-3.30740725e-02 9.99287348e-01 -1.81907286e-02 -1.77147670e-01] [ 3.38340430e-03 1.83125275e-02 9.99826587e-01 -1.50193273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.981193817 meters Centerline goodness : 0.905465 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.17, Z:-1.50 [[ 9.99335912e-01 3.61850400e-02 -4.28691207e-03 9.04248829e+00] [-3.62481700e-02 9.99219501e-01 -1.56990397e-02 -1.72955456e-01] [ 3.71549576e-03 1.58440069e-02 9.99867573e-01 -1.50154052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.011193817 meters Centerline goodness : 0.901589 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.16, Z:-1.50 [[ 9.99010287e-01 4.41811528e-02 -5.14512325e-03 9.04406204e+00] [-4.42425029e-02 9.98942711e-01 -1.24924087e-02 -1.62972017e-01] [ 4.58775435e-03 1.27076780e-02 9.99908730e-01 -1.49840788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.041193817 meters Centerline goodness : 0.899911 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.16, Z:-1.50 [[ 9.98801467e-01 4.85724580e-02 -6.02881529e-03 9.04633819e+00] [-4.86311713e-02 9.98766669e-01 -1.00074617e-02 -1.59669199e-01] [ 5.53529276e-03 1.02886557e-02 9.99931750e-01 -1.49759172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07119381700001 meters Centerline goodness : 0.898863 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.15, Z:-1.50 [[ 9.98604705e-01 5.27415507e-02 -2.64050642e-03 9.04116845e+00] [-5.27727270e-02 9.98513870e-01 -1.36048357e-02 -1.54571962e-01] [ 1.91904215e-03 1.37251996e-02 9.99903963e-01 -1.50071419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10119381700001 meters Centerline goodness : 0.897785 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.15, Z:-1.50 [[ 9.98369521e-01 5.69961556e-02 -3.12065006e-03 9.04308985e+00] [-5.70252045e-02 9.98320805e-01 -1.01831884e-02 -1.53407220e-01] [ 2.53500729e-03 1.03445406e-02 9.99943281e-01 -1.50089231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13119381700001 meters Centerline goodness : 0.896695 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.15, Z:-1.50 [[ 9.98272979e-01 5.85691746e-02 -4.55086757e-03 9.04659857e+00] [-5.86185842e-02 9.98212922e-01 -1.16113552e-02 -1.48457441e-01] [ 3.86266733e-03 1.18580676e-02 9.99922230e-01 -1.50052006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.161193817 meters Centerline goodness : 0.898051 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.15, Z:-1.50 [[ 9.98273297e-01 5.85189565e-02 -5.09465771e-03 9.04840847e+00] [-5.85775746e-02 9.98207847e-01 -1.22377133e-02 -1.46728121e-01] [ 4.36938910e-03 1.25150151e-02 9.99912138e-01 -1.50113584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.191193817 meters Centerline goodness : 0.897980 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.15, Z:-1.50 [[ 9.98280183e-01 5.83637120e-02 -5.50942417e-03 9.04983549e+00] [-5.84279811e-02 9.98215469e-01 -1.23307712e-02 -1.46208005e-01] [ 4.77992286e-03 1.26314690e-02 9.99908795e-01 -1.50181197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.221193817 meters Centerline goodness : 0.894856 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.15, Z:-1.50 [[ 9.98294987e-01 5.81000703e-02 -5.61260674e-03 9.04996933e+00] [-5.81645129e-02 9.98233724e-01 -1.20963463e-02 -1.47147836e-01] [ 4.89989475e-03 1.24021765e-02 9.99911085e-01 -1.50172514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.251193817 meters Centerline goodness : 0.895705 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.15, Z:-1.50 [[ 9.98504208e-01 5.43227193e-02 -6.19581825e-03 9.05011341e+00] [-5.44130386e-02 9.98398471e-01 -1.54827247e-02 -1.49328996e-01] [ 5.34483176e-03 1.57966990e-02 9.99860939e-01 -1.50088450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.281193817 meters Centerline goodness : 0.896487 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.15, Z:-1.50 [[ 9.98503390e-01 5.43377628e-02 -6.19578107e-03 9.04984393e+00] [-5.44217820e-02 9.98415470e-01 -1.43114800e-02 -1.52701840e-01] [ 5.40830987e-03 1.46272468e-02 9.99878390e-01 -1.50079589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.311193817 meters Centerline goodness : 0.896710 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.16, Z:-1.50 [[ 9.98531088e-01 5.38014311e-02 -6.40870366e-03 9.05046139e+00] [-5.38854820e-02 9.98452355e-01 -1.37568185e-02 -1.55443402e-01] [ 5.65864873e-03 1.40819471e-02 9.99884833e-01 -1.50138880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.341193817 meters Centerline goodness : 0.895577 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.16, Z:-1.50 [[ 9.98565182e-01 5.31498621e-02 -6.53212087e-03 9.05055027e+00] [-5.32336067e-02 9.98492234e-01 -1.33955955e-02 -1.57658542e-01] [ 5.81029790e-03 1.37241036e-02 9.99888939e-01 -1.50142774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.371193817 meters Centerline goodness : 0.893625 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.16, Z:-1.50 [[ 9.98792234e-01 4.86492500e-02 -6.87916725e-03 9.05102008e+00] [-4.87605937e-02 9.98664646e-01 -1.70683946e-02 -1.59149448e-01] [ 6.03961653e-03 1.73832122e-02 9.99830659e-01 -1.50188945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.401193817 meters Centerline goodness : 0.893625 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.16, Z:-1.50 [[ 9.98792234e-01 4.86492500e-02 -6.87916725e-03 9.05102008e+00] [-4.87605937e-02 9.98664646e-01 -1.70683946e-02 -1.59149448e-01] [ 6.03961653e-03 1.73832122e-02 9.99830659e-01 -1.50188945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43119381700001 meters Centerline goodness : 0.894762 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.16, Z:-1.50 [[ 9.98808096e-01 4.83362012e-02 -6.78225106e-03 9.05074783e+00] [-4.84432019e-02 9.98687728e-01 -1.66156237e-02 -1.60487700e-01] [ 5.97021477e-03 1.69243734e-02 9.99838948e-01 -1.50190168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46119381700001 meters Centerline goodness : 0.896260 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.16, Z:-1.50 [[ 9.98815748e-01 4.81387640e-02 -7.05411316e-03 9.05166004e+00] [-4.82488199e-02 9.98701287e-01 -1.63642935e-02 -1.61254552e-01] [ 6.25719503e-03 1.66852666e-02 9.99841212e-01 -1.50246180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49119381700001 meters Centerline goodness : 0.895786 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.16, Z:-1.50 [[ 9.98838901e-01 4.75389161e-02 -7.80399103e-03 9.05429670e+00] [-4.76642472e-02 9.98723010e-01 -1.67471770e-02 -1.61092291e-01] [ 6.99788277e-03 1.70997032e-02 9.99829300e-01 -1.50398749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52119381700001 meters Centerline goodness : 0.897124 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.16, Z:-1.50 [[ 9.98783134e-01 4.85044825e-02 -8.91997485e-03 9.05681590e+00] [-4.86471611e-02 9.98679035e-01 -1.65420018e-02 -1.61198071e-01] [ 8.10583065e-03 1.69558039e-02 9.99823383e-01 -1.50423970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.551193817 meters Centerline goodness : 0.894827 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.16, Z:-1.50 [[ 9.98743856e-01 4.91413617e-02 -9.78967026e-03 9.05881071e+00] [-4.93016780e-02 9.98641460e-01 -1.68694919e-02 -1.59954462e-01] [ 8.94738080e-03 1.73309485e-02 9.99809773e-01 -1.50401627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.581193817 meters Centerline goodness : 0.895817 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.16, Z:-1.50 [[ 0.9985691 0.05257084 -0.009801 9.05922407] [-0.05269828 0.9985228 -0.01323261 -0.16031118] [ 0.00909088 0.01373017 0.99986441 -1.50383651] [ 0. 0. 0. 1. ]] SLAMing on 94.611193817 meters Centerline goodness : 0.897745 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.16, Z:-1.50 [[ 0.99854873 0.05283073 -0.01045703 9.06030152] [-0.05297781 0.9984929 -0.01432736 -0.15784282] [ 0.00968435 0.01486056 0.99984268 -1.50279842] [ 0. 0. 0. 1. ]] SLAMing on 94.641193817 meters Centerline goodness : 0.896552 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.15, Z:-1.50 [[ 0.99838152 0.05579129 -0.01103029 9.06277754] [-0.05592635 0.99835864 -0.01233994 -0.15391831] [ 0.01032372 0.01293685 0.99986302 -1.50349226] [ 0. 0. 0. 1. ]] SLAMing on 94.671193817 meters Centerline goodness : 0.894528 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.15, Z:-1.50 [[ 0.99838508 0.05565794 -0.01137641 9.06377524] [-0.05580293 0.99835908 -0.01285193 -0.15250606] [ 0.01064243 0.01346601 0.99985269 -1.50362567] [ 0. 0. 0. 1. ]] SLAMing on 94.701193817 meters Centerline goodness : 0.896376 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.15, Z:-1.50 [[ 0.99843746 0.05461773 -0.01181257 9.06487005] [-0.05477933 0.99840285 -0.0138192 -0.15165499] [ 0.01103893 0.01444469 0.99983473 -1.50379696] [ 0. 0. 0. 1. ]] SLAMing on 94.731193817 meters Centerline goodness : 0.898605 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.15, Z:-1.50 [[ 0.99851948 0.05310404 -0.01178135 9.06458549] [-0.05327361 0.99847353 -0.01457851 -0.15167895] [ 0.01098919 0.01518457 0.99982432 -1.50363209] [ 0. 0. 0. 1. ]] SLAMing on 94.761193817 meters Centerline goodness : 0.896222 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.15, Z:-1.50 [[ 9.99177414e-01 3.99431031e-02 -7.00306151e-03 9.06229900e+00] [-4.00080870e-02 9.99155152e-01 -9.39869135e-03 -1.51687092e-01] [ 6.62173209e-03 9.67113922e-03 9.99931309e-01 -1.50306366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.791193817 meters Centerline goodness : 0.894521 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.15, Z:-1.50 [[ 9.99362616e-01 3.49754064e-02 -7.14727376e-03 9.06260238e+00] [-3.50750119e-02 9.99282062e-01 -1.43214669e-02 -1.49750578e-01] [ 6.64124334e-03 1.45630293e-02 9.99871898e-01 -1.50332986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82119381700001 meters Centerline goodness : 0.896087 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.15, Z:-1.50 [[ 9.99522613e-01 3.00220850e-02 -7.29524490e-03 9.06319430e+00] [-3.01604481e-02 9.99351695e-01 -1.96605361e-02 -1.46714405e-01] [ 6.70026507e-03 1.98711782e-02 9.99780097e-01 -1.50371769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85119381700001 meters Centerline goodness : 0.897729 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.14, Z:-1.50 [[ 9.99762642e-01 2.17489979e-02 -1.28126876e-03 9.06008206e+00] [-2.17616949e-02 9.99703675e-01 -1.09082613e-02 -1.42034588e-01] [ 1.04364533e-03 1.09335548e-02 9.99939682e-01 -1.50207060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88119381700001 meters Centerline goodness : 0.897597 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.14, Z:-1.50 [[ 9.99772070e-01 2.13030430e-02 -1.41004931e-03 9.06029835e+00] [-2.13196273e-02 9.99687765e-01 -1.30325359e-02 -1.36092582e-01] [ 1.13197637e-03 1.30596271e-02 9.99914079e-01 -1.50103602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.911193817 meters Centerline goodness : 0.898979 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.13, Z:-1.50 [[ 9.99764911e-01 2.16177794e-02 -1.67148158e-03 9.06105424e+00] [-2.16402992e-02 9.99654893e-01 -1.48926896e-02 -1.29461872e-01] [ 1.34895786e-03 1.49253599e-02 9.99887701e-01 -1.50014721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.941193817 meters Centerline goodness : 0.898047 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.12, Z:-1.50 [[ 9.99685032e-01 2.50179404e-02 -1.98470491e-03 9.06254209e+00] [-2.50413258e-02 9.99604549e-01 -1.27936170e-02 -1.24799784e-01] [ 1.66385011e-03 1.28392871e-02 9.99916189e-01 -1.50038132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.971193817 meters Centerline goodness : 0.894777 Centerline is valid? [False, False] Translation: X:9.07, Y:-0.11, Z:-1.50 [[ 9.99342130e-01 3.54366849e-02 -7.71674613e-03 9.07414208e+00] [-3.55557408e-02 9.99241518e-01 -1.58801273e-02 -1.11462967e-01] [ 7.14815405e-03 1.61440548e-02 9.99844125e-01 -1.49967648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.001193817 meters Centerline goodness : 0.894778 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.11, Z:-1.50 [[ 9.99065974e-01 4.24614959e-02 -8.01255829e-03 9.07718824e+00] [-4.25449819e-02 9.99038811e-01 -1.05536065e-02 -1.05455810e-01] [ 7.55673479e-03 1.08846433e-02 9.99912206e-01 -1.50107205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.031193817 meters Centerline goodness : 0.894124 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.10, Z:-1.50 [[ 9.98727140e-01 4.98073407e-02 -7.95794458e-03 9.07874113e+00] [-4.98455519e-02 9.98745984e-01 -4.67759191e-03 -9.88041884e-02] [ 7.71498678e-03 5.06830613e-03 9.99957395e-01 -1.50191892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.061193817 meters Centerline goodness : 0.897089 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.08, Z:-1.50 [[ 9.98173413e-01 5.94816629e-02 -1.05720906e-02 9.08449860e+00] [-5.95433157e-02 9.98209927e-01 -5.61555734e-03 -8.18403666e-02] [ 1.02191431e-02 6.23479736e-03 9.99928346e-01 -1.50282353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.091193817 meters Centerline goodness : 0.897891 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.08, Z:-1.50 [[ 9.97960584e-01 6.29404038e-02 -1.06385060e-02 9.08537412e+00] [-6.29794890e-02 9.98009100e-01 -3.37941649e-03 -7.67323817e-02] [ 1.04046240e-02 4.04253213e-03 9.99937699e-01 -1.50280899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.121193817 meters Centerline goodness : 0.894566 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.07, Z:-1.50 [[ 9.97735499e-01 6.64013084e-02 -1.07116942e-02 9.08649562e+00] [-6.64141951e-02 9.97791777e-01 -8.51462251e-04 -7.27512200e-02] [ 1.06315022e-02 1.56094266e-03 9.99942266e-01 -1.50318864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.151193817 meters Centerline goodness : 0.897035 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.07, Z:-1.50 [[ 9.97499243e-01 6.98556071e-02 -1.07449507e-02 9.08781310e+00] [-6.98406950e-02 9.97556610e-01 1.75730943e-03 -6.91024996e-02] [ 1.08414545e-02 -1.00248000e-03 9.99940727e-01 -1.50394214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18119381700001 meters Centerline goodness : 0.895813 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.06, Z:-1.51 [[ 9.97162784e-01 7.44569834e-02 -1.10697299e-02 9.09133037e+00] [-7.44079998e-02 9.97216458e-01 4.77346713e-03 -6.30604002e-02] [ 1.13943348e-02 -3.93624732e-03 9.99927335e-01 -1.50631916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21119381700001 meters Centerline goodness : 0.897152 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.06, Z:-1.51 [[ 9.97131414e-01 7.47966490e-02 -1.15932954e-02 9.09310742e+00] [-7.47542878e-02 9.97193777e-01 4.04580409e-03 -5.87826577e-02] [ 1.18633746e-02 -3.16754981e-03 9.99924611e-01 -1.50688450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24119381700001 meters Centerline goodness : 0.897222 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.05, Z:-1.51 [[ 9.97138038e-01 7.46698783e-02 -1.18381906e-02 9.09374631e+00] [-7.46390546e-02 9.97206027e-01 3.02514300e-03 -5.46024765e-02] [ 1.20310021e-02 -2.13289380e-03 9.99925350e-01 -1.50672157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27119381700001 meters Centerline goodness : 0.895997 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.05, Z:-1.51 [[ 9.97005082e-01 7.63487056e-02 -1.23183747e-02 9.09588236e+00] [-7.62939742e-02 9.97073551e-01 4.85413186e-03 -5.36112198e-02] [ 1.26529323e-02 -3.89977637e-03 9.99912344e-01 -1.50755713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.301193817 meters Centerline goodness : 0.895174 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.06, Z:-1.51 [[ 9.96953692e-01 7.74344554e-02 -9.34027415e-03 9.11450900e+00] [-7.73631584e-02 9.96972719e-01 7.76777490e-03 -5.95491234e-02] [ 9.91349194e-03 -7.02151876e-03 9.99926208e-01 -1.50720658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.331193817 meters Centerline goodness : 0.894428 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.06, Z:-1.51 [[ 9.97202500e-01 7.41002554e-02 -9.81458450e-03 9.11495560e+00] [-7.40665661e-02 9.97246237e-01 3.75318234e-03 -5.89307234e-02] [ 1.00656692e-02 -3.01575024e-03 9.99944792e-01 -1.50709762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.361193817 meters Centerline goodness : 0.896620 Centerline is valid? [False, False] Translation: X:9.12, Y:-0.06, Z:-1.51 [[ 9.97200840e-01 7.40804844e-02 -1.01274779e-02 9.11561100e+00] [-7.40446186e-02 9.97247412e-01 3.87218082e-03 -5.96792762e-02] [ 1.03864541e-02 -3.11145673e-03 9.99941218e-01 -1.50711659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.391193817 meters Centerline goodness : 0.896600 Centerline is valid? [False, False] Translation: X:9.13, Y:-0.06, Z:-1.50 [[ 9.97594657e-01 6.87863491e-02 -8.56383152e-03 9.13233796e+00] [-6.86423742e-02 9.97511369e-01 1.61025521e-02 -6.39572976e-02] [ 9.65015508e-03 -1.54759782e-02 9.99833670e-01 -1.50466085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.421193817 meters Centerline goodness : 0.897204 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.07, Z:-1.50 [[ 9.97874294e-01 6.46796088e-02 -7.96501335e-03 9.14926691e+00] [-6.44120078e-02 9.97466009e-01 3.02101715e-02 -6.94507072e-02] [ 9.89881215e-03 -2.96329110e-02 9.99511833e-01 -1.50229091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.451193817 meters Centerline goodness : 0.893146 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.07, Z:-1.50 [[ 9.98095366e-01 6.10616228e-02 -8.78167521e-03 9.15084647e+00] [-6.08062194e-02 9.97787401e-01 2.68869141e-02 -7.11771144e-02] [ 1.04040035e-02 -2.63017239e-02 9.99599908e-01 -1.50249724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.481193817 meters Centerline goodness : 0.891836 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.07, Z:-1.50 [[ 0.99825568 0.05820349 -0.00989748 9.1537314 ] [-0.05794005 0.99800464 0.02509364 -0.07395128] [ 0.01133827 -0.02447641 0.99963611 -1.50320816] [ 0. 0. 0. 1. ]] SLAMing on 95.511193817 meters Centerline goodness : 0.891392 Centerline is valid? [False, False] Translation: X:9.13, Y:-0.08, Z:-1.50 [[ 9.98824771e-01 4.78637510e-02 -7.62487117e-03 9.13478958e+00] [-4.75656623e-02 9.98241164e-01 3.53848256e-02 -7.95474543e-02] [ 9.30511075e-03 -3.49805583e-02 9.99344673e-01 -1.50366421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.541193817 meters Centerline goodness : 0.894363 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.08, Z:-1.50 [[ 9.99151394e-01 4.06270101e-02 -6.77770942e-03 9.11392537e+00] [-4.02795843e-02 9.98161749e-01 4.52844150e-02 -8.09978297e-02] [ 8.60502068e-03 -4.49729831e-02 9.98951142e-01 -1.50208566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57119381700001 meters Centerline goodness : 0.892030 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.08, Z:-1.50 [[ 9.99311333e-01 3.66785461e-02 -5.61638884e-03 9.09108118e+00] [-3.64243997e-02 9.98530683e-01 4.01215554e-02 -7.94789371e-02] [ 7.07973690e-03 -3.98893514e-02 9.99179021e-01 -1.50036085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60119381700001 meters Centerline goodness : 0.890741 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.08, Z:-1.50 [[ 9.99443036e-01 3.28410981e-02 -5.92281027e-03 9.09101684e+00] [-3.26084296e-02 9.98825495e-01 3.58374096e-02 -7.86240533e-02] [ 7.09279378e-03 -3.56243159e-02 9.99340082e-01 -1.49960565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63119381700001 meters Centerline goodness : 0.891151 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.07, Z:-1.50 [[ 9.99469134e-01 3.18069785e-02 -7.05457442e-03 9.05117399e+00] [-3.15595689e-02 9.98964322e-01 3.27761498e-02 -7.44339261e-02] [ 8.08977845e-03 -3.25361107e-02 9.99437820e-01 -1.49943406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.661193817 meters Centerline goodness : 0.890553 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.07, Z:-1.50 [[ 9.99475340e-01 3.15555451e-02 -7.30015533e-03 9.05192422e+00] [-3.13061155e-02 9.98995092e-01 3.20738773e-02 -7.23761100e-02] [ 8.30492803e-03 -3.18285100e-02 9.99458841e-01 -1.49970438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.691193817 meters Centerline goodness : 0.888145 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.07, Z:-1.50 [[ 9.99478440e-01 3.13651589e-02 -7.68599083e-03 9.05331743e+00] [-3.11090557e-02 9.99021445e-01 3.14384957e-02 -7.06291035e-02] [ 8.66454307e-03 -3.11829947e-02 9.99476136e-01 -1.50053921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.721193817 meters Centerline goodness : 0.888649 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.07, Z:-1.50 [[ 0.99931037 0.03337613 -0.01627346 9.04622632] [-0.03296979 0.99915284 0.02462925 -0.06505517] [ 0.0170817 -0.02407573 0.99956419 -1.49916977] [ 0. 0. 0. 1. ]] SLAMing on 95.751193817 meters Centerline goodness : 0.889000 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.06, Z:-1.50 [[ 0.99930543 0.03332161 -0.01668326 9.04755285] [-0.03291855 0.99917277 0.02387772 -0.06261402] [ 0.01746511 -0.02331194 0.99957567 -1.49981696] [ 0. 0. 0. 1. ]] SLAMing on 95.781193817 meters Centerline goodness : 0.887367 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.06, Z:-1.50 [[ 0.99929943 0.03337758 -0.01692861 9.04827427] [-0.03297676 0.9991815 0.02342796 -0.06103274] [ 0.01769672 -0.0228533 0.99958219 -1.500038 ] [ 0. 0. 0. 1. ]] SLAMing on 95.811193817 meters Centerline goodness : 0.885384 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.06, Z:-1.50 [[ 0.99929799 0.03326412 -0.01723441 9.04899496] [-0.03286556 0.99919707 0.02291447 -0.05962745] [ 0.0179828 -0.02233197 0.99958887 -1.50016305] [ 0. 0. 0. 1. ]] SLAMing on 95.841193817 meters Centerline goodness : 0.886684 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.06, Z:-1.50 [[ 0.99929195 0.03330518 -0.01750331 9.04956124] [-0.03290683 0.99920346 0.02257387 -0.05817834] [ 0.01824119 -0.02198191 0.99959194 -1.50010094] [ 0. 0. 0. 1. ]] SLAMing on 95.871193817 meters Centerline goodness : 0.886608 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.06, Z:-1.50 [[ 0.99921777 0.03556 -0.01730139 9.04799117] [-0.03512707 0.99907722 0.02471451 -0.05700241] [ 0.01816427 -0.02408743 0.99954482 -1.49837148] [ 0. 0. 0. 1. ]] SLAMing on 95.901193817 meters Centerline goodness : 0.883344 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.06, Z:-1.50 [[ 0.99919448 0.03601789 -0.01769461 9.04845246] [-0.03556703 0.99905037 0.02516617 -0.057556 ] [ 0.01858423 -0.02451655 0.99952667 -1.4978306 ] [ 0. 0. 0. 1. ]] SLAMing on 95.93119381700001 meters Centerline goodness : 0.881971 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.06, Z:-1.50 [[ 0.9992589 0.03558929 -0.01466483 9.03901998] [-0.03508866 0.99883632 0.0330877 -0.05934679] [ 0.01582533 -0.03254861 0.99934486 -1.4994941 ] [ 0. 0. 0. 1. ]] SLAMing on 95.96119381700001 meters Centerline goodness : 0.881876 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.06, Z:-1.50 [[ 0.99914075 0.03847659 -0.01540479 9.04057087] [-0.03788252 0.99859109 0.0371584 -0.06203202] [ 0.01681281 -0.0365429 0.99919065 -1.49938026] [ 0. 0. 0. 1. ]] SLAMing on 95.99119381700001 meters Centerline goodness : 0.878030 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.07, Z:-1.50 [[ 0.99925807 0.03621158 -0.01311644 9.01954635] [-0.03545964 0.99793148 0.05362255 -0.06729621] [ 0.01503106 -0.05311766 0.99847513 -1.49793723] [ 0. 0. 0. 1. ]] SLAMing on 96.02119381700001 meters Centerline goodness : 0.880095 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.07, Z:-1.50 [[ 0.99935745 0.03326411 -0.01334883 9.01892415] [-0.03255291 0.99820045 0.05036032 -0.06690108] [ 0.015 -0.04989342 0.9986419 -1.49667832] [ 0. 0. 0. 1. ]] SLAMing on 96.051193817 meters Centerline goodness : 0.880392 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.07, Z:-1.49 [[ 0.99946812 0.0293066 -0.01430359 8.99745212] [-0.02862094 0.99853171 0.04599207 -0.06634365] [ 0.01563045 -0.04555822 0.9988394 -1.49432844] [ 0. 0. 0. 1. ]] SLAMing on 96.081193817 meters Centerline goodness : 0.879426 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.07, Z:-1.49 [[ 0.99963088 0.02270704 -0.01491654 8.99832914] [-0.02208759 0.99893715 0.04045622 -0.07309591] [ 0.01581933 -0.04011182 0.99906996 -1.49416727] [ 0. 0. 0. 1. ]] SLAMing on 96.111193817 meters Centerline goodness : 0.877496 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.08, Z:-1.49 [[ 0.99970143 0.01912474 -0.01520821 8.99892356] [-0.0185481 0.99913593 0.03719349 -0.0753658 ] [ 0.01590639 -0.03690031 0.99919235 -1.49431502] [ 0. 0. 0. 1. ]] SLAMing on 96.141193817 meters Centerline goodness : 0.878682 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.08, Z:-1.50 [[ 0.99972603 0.01714747 -0.01593184 9.0017876 ] [-0.01657653 0.99923917 0.03530294 -0.07751594] [ 0.01652508 -0.03502917 0.99924966 -1.49613441] [ 0. 0. 0. 1. ]] SLAMing on 96.171193817 meters Centerline goodness : 0.877720 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.08, Z:-1.50 [[ 0.99976732 0.01449186 -0.01597786 9.00193965] [-0.01397191 0.99938421 0.03218688 -0.07719196] [ 0.01643447 -0.03195615 0.99935415 -1.49621794] [ 0. 0. 0. 1. ]] SLAMing on 96.201193817 meters Centerline goodness : 0.876696 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.08, Z:-1.50 [[ 0.99974069 0.01579919 -0.01639965 9.00261619] [-0.01524453 0.99932538 0.03341227 -0.07911623] [ 0.01691647 -0.0331536 0.9993071 -1.49587046] [ 0. 0. 0. 1. ]] SLAMing on 96.231193817 meters Centerline goodness : 0.876801 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.08, Z:-1.49 [[ 0.99962044 0.01830972 -0.02058448 9.01159475] [-0.01771535 0.9994312 0.02869566 -0.08011452] [ 0.02109818 -0.02832011 0.99937622 -1.49242545] [ 0. 0. 0. 1. ]] SLAMing on 96.261193817 meters Centerline goodness : 0.875361 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.08, Z:-1.49 [[ 0.99960238 0.01890124 -0.02092413 9.012093 ] [-0.01829122 0.99941287 0.02897136 -0.08064464] [ 0.02145944 -0.02857711 0.99936122 -1.4920902 ] [ 0. 0. 0. 1. ]] SLAMing on 96.291193817 meters Centerline goodness : 0.875361 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.08, Z:-1.49 [[ 0.99960238 0.01890124 -0.02092413 9.012093 ] [-0.01829122 0.99941287 0.02897136 -0.08064464] [ 0.02145944 -0.02857711 0.99936122 -1.4920902 ] [ 0. 0. 0. 1. ]] SLAMing on 96.32119381700001 meters Centerline goodness : 0.875690 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.08, Z:-1.49 [[ 0.9994104 0.0264244 -0.02192282 9.02302067] [-0.02614135 0.99957243 0.01309877 -0.07726042] [ 0.02225958 -0.01251795 0.99967385 -1.4912117 ] [ 0. 0. 0. 1. ]] SLAMing on 96.35119381700001 meters Centerline goodness : 0.872724 Centerline is valid? [False, False] Translation: X:9.03, Y:-0.08, Z:-1.49 [[ 9.99389946e-01 2.89092965e-02 -1.95956425e-02 9.03270129e+00] [-2.88359034e-02 9.99576085e-01 4.01769919e-03 -7.54918680e-02] [ 1.97034845e-02 -3.45019012e-03 9.99799914e-01 -1.49175575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38119381700001 meters Centerline goodness : 0.872880 Centerline is valid? [False, False] Translation: X:9.03, Y:-0.08, Z:-1.49 [[ 9.99369887e-01 2.93383117e-02 -1.99773092e-02 9.03386813e+00] [-2.92614904e-02 9.99563271e-01 4.12700297e-03 -7.54385109e-02] [ 2.00896638e-02 -3.53983665e-03 9.99791916e-01 -1.49224877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.411193817 meters Centerline goodness : 0.872571 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.08, Z:-1.49 [[ 9.99351186e-01 2.97102159e-02 -2.03594987e-02 9.03535489e+00] [-2.96258090e-02 9.99551220e-01 4.43504293e-03 -7.61793540e-02] [ 2.04821279e-02 -3.82899880e-03 9.99782887e-01 -1.49320676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.441193817 meters Centerline goodness : 0.872728 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.08, Z:-1.49 [[ 9.99326116e-01 3.04391214e-02 -2.05127612e-02 9.03667782e+00] [-3.03119374e-02 9.99519463e-01 6.48296520e-03 -8.14452835e-02] [ 2.07002398e-02 -5.85681490e-03 9.99768572e-01 -1.49474348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.471193817 meters Centerline goodness : 0.871291 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.08, Z:-1.49 [[ 9.99418926e-01 2.68805705e-02 -2.09581762e-02 9.03759730e+00] [-2.68235073e-02 9.99635686e-01 2.99914852e-03 -8.26294525e-02] [ 2.10311597e-02 -2.43523400e-03 9.99775855e-01 -1.49492583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.501193817 meters Centerline goodness : 0.873037 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.08, Z:-1.49 [[ 9.99500386e-01 2.34620671e-02 -2.11780514e-02 9.03766886e+00] [-2.34672168e-02 9.99724607e-01 5.36212347e-06 -8.45774901e-02] [ 2.11723449e-02 4.91630480e-04 9.99775720e-01 -1.49478590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.531193817 meters Centerline goodness : 0.872526 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.09, Z:-1.50 [[ 9.99507637e-01 2.26968264e-02 -2.16642129e-02 9.03880976e+00] [-2.26838194e-02 9.99742331e-01 8.45973020e-04 -8.91373734e-02] [ 2.16778317e-02 -3.54129400e-04 9.99764945e-01 -1.49541247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.561193817 meters Centerline goodness : 0.869637 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.10, Z:-1.50 [[ 9.99638640e-01 1.56515747e-02 -2.18544731e-02 9.03839642e+00] [-1.57336414e-02 9.99869780e-01 -3.58825537e-03 -9.83051258e-02] [ 2.17954654e-02 3.93080916e-03 9.99754723e-01 -1.49537793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.591193817 meters Centerline goodness : 0.870628 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.10, Z:-1.50 [[ 9.99820978e-01 1.06136628e-02 -1.56640176e-02 9.05112257e+00] [-1.06267096e-02 9.99943254e-01 -7.49916327e-04 -1.04546459e-01] [ 1.56551694e-02 9.16239042e-04 9.99877031e-01 -1.49930923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.621193817 meters Centerline goodness : 0.870995 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.11, Z:-1.50 [[ 9.99946963e-01 3.26668441e-03 -9.76725556e-03 9.06078068e+00] [-3.24539206e-03 9.99992325e-01 2.19502756e-03 -1.11147628e-01] [ 9.77435106e-03 -2.16321256e-03 9.99949890e-01 -1.50154632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.651193817 meters Centerline goodness : 0.871098 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.11, Z:-1.50 [[ 9.99949896e-01 -4.97381210e-04 -9.99788582e-03 9.06087774e+00] [ 4.83761205e-04 9.99998952e-01 -1.36466073e-03 -1.12030966e-01] [ 9.99855410e-03 1.35975577e-03 9.99949089e-01 -1.50096847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68119381700001 meters Centerline goodness : 0.869073 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.11, Z:-1.50 [[ 9.99938458e-01 -4.18818147e-03 -1.02732634e-02 9.06108025e+00] [ 4.13712712e-03 9.99979012e-01 -4.98586005e-03 -1.12578484e-01] [ 1.02939295e-02 4.94305142e-03 9.99934799e-01 -1.50041279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71119381700001 meters Centerline goodness : 0.870568 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.11, Z:-1.50 [[ 9.99912654e-01 -8.02344443e-03 -1.05027526e-02 9.06177767e+00] [ 7.93149113e-03 9.99930107e-01 -8.76773013e-03 -1.13058236e-01] [ 1.05723659e-02 8.68366182e-03 9.99906405e-01 -1.50063908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74119381700001 meters Centerline goodness : 0.869400 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.11, Z:-1.50 [[ 0.99989056 -0.00973667 -0.01113869 9.06427476] [ 0.00962565 0.9999039 -0.00997712 -0.11398175] [ 0.01123476 0.00986881 0.99988819 -1.50193442] [ 0. 0. 0. 1. ]] SLAMing on 96.77119381700001 meters Centerline goodness : 0.871444 Centerline is valid? [False, False] Translation: X:9.07, Y:-0.11, Z:-1.50 [[ 9.99873079e-01 -1.53173296e-02 -4.38245116e-03 9.07302194e+00] [ 1.52915367e-02 9.99865908e-01 -5.85967007e-03 -1.14561547e-01] [ 4.47161801e-03 5.79191194e-03 9.99973229e-01 -1.50423004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.801193817 meters Centerline goodness : 0.870141 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.11, Z:-1.51 [[ 9.99872662e-01 -1.58254413e-02 2.05327930e-03 9.08531805e+00] [ 1.58532484e-02 9.99771802e-01 -1.43184377e-02 -1.11564587e-01] [-1.82621515e-03 1.43491656e-02 9.99895378e-01 -1.50824056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.831193817 meters Centerline goodness : 0.870314 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.11, Z:-1.51 [[ 9.99840228e-01 -1.58394128e-02 8.28446457e-03 9.09638704e+00] [ 1.60318025e-02 9.99590647e-01 -2.36964247e-02 -1.07710186e-01] [-7.90573585e-03 2.38254536e-02 9.99684874e-01 -1.51219411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.861193817 meters Centerline goodness : 0.872066 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.10, Z:-1.51 [[ 9.99860880e-01 -1.44692196e-02 8.29831573e-03 9.09609662e+00] [ 1.46526180e-02 9.99639843e-01 -2.24830104e-02 -1.02836011e-01] [-7.97001541e-03 2.26014747e-02 9.99712785e-01 -1.51170744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.891193817 meters Centerline goodness : 0.873261 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.10, Z:-1.51 [[ 9.99894602e-01 -1.21986358e-02 7.87258269e-03 9.09787463e+00] [ 1.23567365e-02 9.99716423e-01 -2.03564241e-02 -1.00026002e-01] [-7.62202960e-03 2.04515580e-02 9.99761791e-01 -1.51278680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.921193817 meters Centerline goodness : 0.871339 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.10, Z:-1.51 [[ 9.99928598e-01 -9.27187541e-03 7.53869058e-03 9.09895360e+00] [ 9.40540161e-03 9.99796010e-01 -1.78739263e-02 -9.69491995e-02] [-7.37142794e-03 1.79435545e-02 9.99811828e-01 -1.51324105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.951193817 meters Centerline goodness : 0.873454 Centerline is valid? [False, False] Translation: X:9.13, Y:-0.09, Z:-1.51 [[ 9.99978309e-01 -1.82273271e-03 6.32924615e-03 9.12701884e+00] [ 1.97405422e-03 9.99710371e-01 -2.39849434e-02 -8.68569876e-02] [-6.28369487e-03 2.39969174e-02 9.99692284e-01 -1.51272102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.981193817 meters Centerline goodness : 0.872796 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.08, Z:-1.52 [[ 9.99964930e-01 9.65250945e-04 8.31912398e-03 9.14674072e+00] [-7.46358868e-04 9.99654475e-01 -2.62749701e-02 -8.00656335e-02] [-8.34161145e-03 2.62678396e-02 9.99620137e-01 -1.51507181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.011193817 meters Centerline goodness : 0.872510 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.07, Z:-1.51 [[ 9.99958564e-01 7.08153602e-03 5.72038524e-03 9.17521887e+00] [-6.89927869e-03 9.99486977e-01 -3.12759056e-02 -7.41614872e-02] [-5.93893201e-03 3.12351431e-02 9.99494420e-01 -1.51482712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.041193817 meters Centerline goodness : 0.871598 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.07, Z:-1.51 [[ 9.99889792e-01 1.38787571e-02 5.27111258e-03 9.21155021e+00] [-1.36159971e-02 9.98802937e-01 -4.69818962e-02 -6.60446508e-02] [-5.91685304e-03 4.69049469e-02 9.98881833e-01 -1.51414131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07119381700001 meters Centerline goodness : 0.869391 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.06, Z:-1.51 [[ 9.99755047e-01 2.14992712e-02 5.25624639e-03 9.21253872e+00] [-2.12749871e-02 9.98991597e-01 -3.95368686e-02 -6.41420293e-02] [-6.10095984e-03 3.94153573e-02 9.99204287e-01 -1.51480548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10119381700001 meters Centerline goodness : 0.865470 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.06, Z:-1.52 [[ 9.99531313e-01 3.02272180e-02 4.84456069e-03 9.21612081e+00] [-3.00607293e-02 9.99055366e-01 -3.13803689e-02 -6.09720651e-02] [-5.78852560e-03 3.12200303e-02 9.99495774e-01 -1.51748047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13119381700001 meters Centerline goodness : 0.867328 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.06, Z:-1.52 [[ 9.99484629e-01 3.20596132e-02 1.62996967e-03 9.20868669e+00] [-3.20254534e-02 9.99327531e-01 -1.78565678e-02 -6.28351700e-02] [-2.20134822e-03 1.77951645e-02 9.99839230e-01 -1.51758107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.161193817 meters Centerline goodness : 0.864012 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.06, Z:-1.52 [[ 9.99402397e-01 3.45445018e-02 1.23524240e-03 9.21111548e+00] [-3.45218951e-02 9.99289401e-01 -1.51305106e-02 -6.38887036e-02] [-1.75704059e-03 1.50788256e-02 9.99884764e-01 -1.51941428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.191193817 meters Centerline goodness : 0.866070 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.07, Z:-1.52 [[ 9.99324436e-01 3.67391374e-02 9.53034024e-04 9.21285164e+00] [-3.67237879e-02 9.99241979e-01 -1.29163140e-02 -6.64941619e-02] [-1.42684584e-03 1.28725891e-02 9.99916127e-01 -1.52077133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.221193817 meters Centerline goodness : 0.864984 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.07, Z:-1.52 [[ 9.99307343e-01 3.72023430e-02 9.05505393e-04 9.21275165e+00] [-3.71883147e-02 9.99231676e-01 -1.23727985e-02 -6.73616262e-02] [-1.36510677e-03 1.23305542e-02 9.99923044e-01 -1.52049272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.251193817 meters Centerline goodness : 0.866113 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.07, Z:-1.52 [[ 9.99291809e-01 3.76220626e-02 6.79166211e-04 9.21284668e+00] [-3.76114002e-02 9.99222314e-01 -1.18385227e-02 -6.80885978e-02] [-1.12402767e-03 1.18045943e-02 9.99929692e-01 -1.51999293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.281193817 meters Centerline goodness : 0.867209 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.07, Z:-1.52 [[ 9.99281930e-01 3.78836887e-02 6.70575320e-04 9.21236510e+00] [-3.78735922e-02 9.99217466e-01 -1.14038300e-02 -6.90174493e-02] [-1.10206972e-03 1.13702441e-02 9.99934749e-01 -1.51926075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.311193817 meters Centerline goodness : 0.866162 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.07, Z:-1.52 [[ 9.99289486e-01 3.76856404e-02 5.61282122e-04 9.21166496e+00] [-3.76776842e-02 9.99234829e-01 -1.04951329e-02 -7.29893918e-02] [-9.56368449e-04 1.04665282e-02 9.99944767e-01 -1.51808810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.341193817 meters Centerline goodness : 0.868213 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.08, Z:-1.52 [[ 9.99312768e-01 3.70653517e-02 3.89639842e-04 9.21146640e+00] [-3.70595839e-02 9.99262712e-01 -1.00309208e-02 -7.65684531e-02] [-7.61152172e-04 1.00095873e-02 9.99949613e-01 -1.51752022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.371193817 meters Centerline goodness : 0.868688 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.08, Z:-1.52 [[ 9.99446517e-01 3.32647035e-02 3.46465724e-04 9.21067984e+00] [-3.32570789e-02 9.99356998e-01 -1.33999074e-02 -7.85774089e-02] [-7.91986895e-04 1.33809684e-02 9.99910157e-01 -1.51676433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.401193817 meters Centerline goodness : 0.869118 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.08, Z:-1.51 [[ 9.99676889e-01 2.53983501e-02 1.02046833e-03 9.20734522e+00] [-2.53920441e-02 9.99660867e-01 -5.77877541e-03 -8.25088144e-02] [-1.16689361e-03 5.75099644e-03 9.99982782e-01 -1.51487752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43119381700001 meters Centerline goodness : 0.869540 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.09, Z:-1.51 [[ 9.99909086e-01 1.32822380e-02 2.32431175e-03 9.20290456e+00] [-1.32874015e-02 9.99909253e-01 2.22037581e-03 -9.14962650e-02] [-2.29460926e-03 -2.25105801e-03 9.99994834e-01 -1.51279541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46119381700001 meters Centerline goodness : 0.867518 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.09, Z:-1.51 [[ 9.99958058e-01 8.85049854e-03 2.35603764e-03 9.20265536e+00] [-8.84717235e-03 9.99959857e-01 -1.41847108e-03 -9.35740339e-02] [-2.36849724e-03 1.39756732e-03 9.99996219e-01 -1.51283965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49119381700001 meters Centerline goodness : 0.869890 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.09, Z:-1.51 [[ 9.99988001e-01 4.43475887e-03 2.08083940e-03 9.20342496e+00] [-4.42332910e-03 9.99975280e-01 -5.46568684e-03 -9.45859864e-02] [-2.10502697e-03 5.45641703e-03 9.99982898e-01 -1.51318264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52119381700001 meters Centerline goodness : 0.869961 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.09, Z:-1.51 [[ 9.99998114e-01 3.27793909e-04 1.91413912e-03 9.20422160e+00] [-3.09610788e-04 9.99954902e-01 -9.49195506e-03 -9.44231192e-02] [-1.91716420e-03 9.49134452e-03 9.99953118e-01 -1.51374174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.551193817 meters Centerline goodness : 0.867502 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.09, Z:-1.51 [[ 9.99989490e-01 -4.26467635e-03 1.68271153e-03 9.20476856e+00] [ 4.28726279e-03 9.99897568e-01 -1.36554709e-02 -9.49194800e-02] [-1.62430300e-03 1.36625416e-02 9.99905344e-01 -1.51377662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.581193817 meters Centerline goodness : 0.871745 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.10, Z:-1.51 [[ 9.99988776e-01 -4.50314907e-03 1.47281478e-03 9.20512078e+00] [ 4.52237640e-03 9.99901018e-01 -1.33229875e-02 -9.69719818e-02] [-1.41267360e-03 1.33294986e-02 9.99910160e-01 -1.51363783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.611193817 meters Centerline goodness : 0.867873 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.10, Z:-1.51 [[ 9.99978469e-01 -6.48363282e-03 1.01204453e-03 9.20719087e+00] [ 6.49850591e-03 9.99859390e-01 -1.54586449e-02 -9.75358688e-02] [-9.11674050e-04 1.54648888e-02 9.99879996e-01 -1.51493403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.641193817 meters Centerline goodness : 0.869979 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.10, Z:-1.52 [[ 9.99972867e-01 -7.26772148e-03 1.20204367e-03 9.20699095e+00] [ 7.28607625e-03 9.99844741e-01 -1.60438880e-02 -9.69249345e-02] [-1.08525453e-03 1.60522109e-02 9.99870566e-01 -1.51507234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.671193817 meters Centerline goodness : 0.869667 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.09, Z:-1.52 [[ 9.99969075e-01 -7.77987690e-03 1.14973331e-03 9.20764140e+00] [ 7.79792856e-03 9.99831256e-01 -1.66328271e-02 -9.48644270e-02] [-1.02013796e-03 1.66412782e-02 9.99861004e-01 -1.51572138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.701193817 meters Centerline goodness : 0.872180 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.09, Z:-1.52 [[ 9.99976216e-01 -6.86638457e-03 6.48967034e-04 9.21023960e+00] [ 6.87568674e-03 9.99854308e-01 -1.56233150e-02 -8.91220190e-02] [-5.41596795e-04 1.56274055e-02 9.99877738e-01 -1.51762235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.731193817 meters Centerline goodness : 0.869462 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.09, Z:-1.52 [[ 9.99973616e-01 -7.25166062e-03 4.26010203e-04 9.21113693e+00] [ 7.25765110e-03 9.99840304e-01 -1.63307113e-02 -8.64239883e-02] [-3.07517395e-04 1.63333722e-02 9.99866554e-01 -1.51815421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.761193817 meters Centerline goodness : 0.869566 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.09, Z:-1.52 [[ 9.99970053e-01 -7.73469247e-03 2.59650909e-04 9.21176148e+00] [ 7.73796959e-03 9.99828089e-01 -1.68498211e-02 -8.52152370e-02] [-1.29278088e-04 1.68513257e-02 9.99857998e-01 -1.51844690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.791193817 meters Centerline goodness : 0.867034 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.08, Z:-1.52 [[ 9.99963744e-01 -8.48499473e-03 7.18698609e-04 9.23199559e+00] [ 8.49641133e-03 9.99806520e-01 -1.77407085e-02 -8.47471645e-02] [-5.68029737e-04 1.77461717e-02 9.99842363e-01 -1.51894738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82119381700001 meters Centerline goodness : 0.868847 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.08, Z:-1.52 [[ 9.99960146e-01 -8.90067895e-03 6.96106814e-04 9.23199560e+00] [ 8.91206858e-03 9.99787980e-01 -1.85626162e-02 -8.24531955e-02] [-5.30739338e-04 1.85680801e-02 9.99827457e-01 -1.51872415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85119381700001 meters Centerline goodness : 0.871758 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.08, Z:-1.52 [[ 9.99973892e-01 -7.08239798e-03 1.43358990e-03 9.25220507e+00] [ 7.10635333e-03 9.99822337e-01 -1.74583372e-02 -8.02034815e-02] [-1.30968831e-03 1.74680690e-02 9.99846564e-01 -1.51911302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88119381700001 meters Centerline goodness : 0.870641 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.07, Z:-1.52 [[ 9.99996596e-01 -2.52205460e-03 6.68894623e-04 9.27535340e+00] [ 2.53353781e-03 9.99839043e-01 -1.77614335e-02 -6.84601338e-02] [-6.23991655e-04 1.77630677e-02 9.99842030e-01 -1.52280200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91119381700001 meters Centerline goodness : 0.869516 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.06, Z:-1.53 [[ 9.99998200e-01 1.12835893e-03 -1.52513133e-03 9.29939620e+00] [-1.15259864e-03 9.99871532e-01 -1.59872073e-02 -6.34865022e-02] [ 1.50689609e-03 1.59889363e-02 9.99871033e-01 -1.52541108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.941193817 meters Centerline goodness : 0.868586 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.06, Z:-1.53 [[ 9.99988968e-01 4.33091999e-03 -1.81851949e-03 9.30099882e+00] [-4.35571593e-03 9.99894456e-01 -1.38601711e-02 -5.86383412e-02] [ 1.75830026e-03 1.38679391e-02 9.99902290e-01 -1.52644668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.971193817 meters Centerline goodness : 0.868808 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.05, Z:-1.53 [[ 9.99978458e-01 6.51794238e-03 7.74089629e-04 9.31952159e+00] [-6.50279053e-03 9.99813503e-01 -1.81843913e-02 -5.22202091e-02] [-8.92470079e-04 1.81789659e-02 9.99834351e-01 -1.53009233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.001193817 meters Centerline goodness : 0.869575 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.04, Z:-1.53 [[ 9.99882726e-01 1.52654517e-02 1.22487507e-03 9.31783033e+00] [-1.52508102e-02 9.99821142e-01 -1.11846334e-02 -4.37413002e-02] [-1.39539448e-03 1.11646414e-02 9.99936700e-01 -1.52842752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.031193817 meters Centerline goodness : 0.871265 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.04, Z:-1.53 [[ 9.99821545e-01 1.88500714e-02 1.24621560e-03 9.31792619e+00] [-1.88386663e-02 9.99785506e-01 -8.60503995e-03 -3.86749537e-02] [-1.40815391e-03 8.58002730e-03 9.99962199e-01 -1.52820180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.061193817 meters Centerline goodness : 0.869846 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.03, Z:-1.53 [[ 9.99755516e-01 2.20777794e-02 1.21647589e-03 9.31781864e+00] [-2.20695648e-02 9.99735975e-01 -6.39652936e-03 -3.34751043e-02] [-1.35737588e-03 6.36811841e-03 9.99978802e-01 -1.52760415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.091193817 meters Centerline goodness : 0.870140 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.03, Z:-1.53 [[ 9.99669830e-01 2.56608032e-02 1.32464961e-03 9.31751764e+00] [-2.56558182e-02 9.99664164e-01 -3.65223360e-03 -2.92405471e-02] [-1.41792399e-03 3.61704277e-03 9.99992453e-01 -1.52707780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.121193817 meters Centerline goodness : 0.872107 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.02, Z:-1.52 [[ 9.99474019e-01 3.23878343e-02 1.64725520e-03 9.31561011e+00] [-3.23906517e-02 9.99473816e-01 1.71344269e-03 -2.39669932e-02] [-1.59089375e-03 -1.76589712e-03 9.99997175e-01 -1.52471682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.151193817 meters Centerline goodness : 0.874493 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.02, Z:-1.52 [[ 9.99332876e-01 3.64811724e-02 1.71108857e-03 9.31552436e+00] [-3.64904715e-02 9.99317395e-01 5.76105902e-03 -2.40004863e-02] [-1.49975038e-03 -5.81965410e-03 9.99981941e-01 -1.52441743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18119381700001 meters Centerline goodness : 0.876465 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.03, Z:-1.52 [[ 9.99159838e-01 4.09424762e-02 1.82531784e-03 9.31524684e+00] [-4.09591350e-02 9.99107898e-01 1.02838886e-02 -2.54854677e-02] [-1.40264160e-03 -1.03500119e-02 9.99945453e-01 -1.52399342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21119381700001 meters Centerline goodness : 0.876465 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.03, Z:-1.52 [[ 9.99158078e-01 4.09840937e-02 1.85477753e-03 9.31519657e+00] [-4.10009636e-02 9.99106838e-01 1.02199048e-02 -2.53615059e-02] [-1.43426737e-03 -1.02873481e-02 9.99946055e-01 -1.52400647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24119381700001 meters Centerline goodness : 0.873964 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.02, Z:-1.52 [[ 9.99138368e-01 4.14670150e-02 1.73441473e-03 9.31560728e+00] [-4.14827048e-02 9.99086304e-01 1.02831422e-02 -2.48642096e-02] [-1.30641879e-03 -1.03462301e-02 9.99945623e-01 -1.52412273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27119381700001 meters Centerline goodness : 0.874208 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.03, Z:-1.53 [[ 9.99057318e-01 4.33928224e-02 1.24041011e-03 9.31797831e+00] [-4.34045725e-02 9.98986003e-01 1.19586329e-02 -2.56733432e-02] [-7.20233502e-04 -1.20011992e-02 9.99927724e-01 -1.52568905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.301193817 meters Centerline goodness : 0.871672 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.03, Z:-1.53 [[ 9.99009192e-01 4.44946177e-02 9.28918496e-04 9.31905581e+00] [-4.45028300e-02 9.98928673e-01 1.26887749e-02 -2.63406639e-02] [-3.63341133e-04 -1.27175422e-02 9.99919063e-01 -1.52622656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.331193817 meters Centerline goodness : 0.871261 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.03, Z:-1.53 [[ 9.98956916e-01 4.56569483e-02 7.23786819e-04 9.31999238e+00] [-4.56625897e-02 9.98861699e-01 1.37925378e-02 -2.83673983e-02] [-9.32377446e-05 -1.38112010e-02 9.99904616e-01 -1.52685004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.361193817 meters Centerline goodness : 0.873229 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.04, Z:-1.53 [[ 9.98830673e-01 4.83447908e-02 -2.62097340e-04 9.34230169e+00] [-4.83315368e-02 9.98657784e-01 1.86197083e-02 -3.88899366e-02] [ 1.16191145e-03 -1.85852682e-02 9.99826604e-01 -1.52881565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.391193817 meters Centerline goodness : 0.871911 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.04, Z:-1.53 [[ 9.98914338e-01 4.65753520e-02 -9.38600984e-04 9.34408819e+00] [-4.65527304e-02 9.98771436e-01 1.69841518e-02 -4.30466391e-02] [ 1.72849070e-03 -1.69220183e-02 9.99855318e-01 -1.52966256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.421193817 meters Centerline goodness : 0.871967 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.05, Z:-1.53 [[ 9.99013088e-01 4.43969923e-02 -1.32524795e-03 9.34483606e+00] [-4.43714885e-02 9.98897247e-01 1.53447683e-02 -4.81777530e-02] [ 2.00504809e-03 -1.52708212e-02 9.99881384e-01 -1.52984514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.451193817 meters Centerline goodness : 0.873646 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.07, Z:-1.53 [[ 9.99056510e-01 4.33575876e-02 2.49182612e-03 9.36127338e+00] [-4.34012910e-02 9.98825423e-01 2.15430562e-02 -6.65789314e-02] [-1.55484433e-03 -2.16308791e-02 9.99764816e-01 -1.53136363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.481193817 meters Centerline goodness : 0.873530 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.08, Z:-1.54 [[ 9.99130854e-01 4.08424573e-02 8.33246114e-03 9.37405822e+00] [-4.10551928e-02 9.98786697e-01 2.71956679e-02 -7.55475015e-02] [-7.21161344e-03 -2.75141217e-02 9.99595401e-01 -1.53525031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.511193817 meters Centerline goodness : 0.874782 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.08, Z:-1.54 [[ 9.99240594e-01 3.81036943e-02 8.14516526e-03 9.37437271e+00] [-3.82980665e-02 9.98948226e-01 2.52131050e-02 -8.07335392e-02] [-7.17588594e-03 -2.55059021e-02 9.99648916e-01 -1.53541200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.541193817 meters Centerline goodness : 0.873727 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.10, Z:-1.54 [[ 9.99363235e-01 3.48566047e-02 7.62511513e-03 9.37557110e+00] [-3.50229163e-02 9.99124359e-01 2.28891090e-02 -9.50962872e-02] [-6.82060164e-03 -2.31415878e-02 9.99708931e-01 -1.53603551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57119381700001 meters Centerline goodness : 0.873843 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.10, Z:-1.54 [[ 9.99421010e-01 3.32351698e-02 7.28476693e-03 9.37688503e+00] [-3.33874270e-02 9.99202870e-01 2.18838892e-02 -1.01922440e-01] [-6.55164525e-03 -2.21144383e-02 9.99733978e-01 -1.53709557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60119381700001 meters Centerline goodness : 0.874860 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.11, Z:-1.54 [[ 9.99460809e-01 3.21224609e-02 6.79987849e-03 9.37865520e+00] [-3.22594911e-02 9.99256668e-01 2.11053486e-02 -1.07981622e-01] [-6.11686819e-03 -2.13133294e-02 9.99754133e-01 -1.53840684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63119381700001 meters Centerline goodness : 0.874769 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.12, Z:-1.54 [[ 9.99412673e-01 3.36173793e-02 6.64686302e-03 9.37964069e+00] [-3.37663356e-02 9.99147850e-01 2.37362297e-02 -1.15022329e-01] [-5.84324906e-03 -2.39467290e-02 9.99696159e-01 -1.53942016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66119381700001 meters Centerline goodness : 0.874886 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.13, Z:-1.54 [[ 9.99285157e-01 3.72808622e-02 6.27001728e-03 9.38079791e+00] [-3.74464432e-02 9.98884322e-01 2.87728209e-02 -1.26432122e-01] [-5.19034638e-03 -2.89870427e-02 9.99566312e-01 -1.54002619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.691193817 meters Centerline goodness : 0.875306 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.13, Z:-1.54 [[ 9.99233000e-01 3.86920047e-02 6.02828698e-03 9.38128924e+00] [-3.88614106e-02 9.98760023e-01 3.11160382e-02 -1.32041379e-01] [-4.81687014e-03 -3.13264400e-02 9.99497600e-01 -1.54005085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.721193817 meters Centerline goodness : 0.876250 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.14, Z:-1.54 [[ 9.99306001e-01 3.68362597e-02 5.53229740e-03 9.38203765e+00] [-3.69835301e-02 9.98882715e-01 2.94200501e-02 -1.36550714e-01] [-4.44239165e-03 -2.96042365e-02 9.99551827e-01 -1.54004167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.751193817 meters Centerline goodness : 0.880652 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.15, Z:-1.54 [[ 9.99470163e-01 3.21641309e-02 4.98613374e-03 9.38103544e+00] [-3.22848249e-02 9.99130385e-01 2.63849272e-02 -1.50707883e-01] [-4.13314947e-03 -2.65319239e-02 9.99639422e-01 -1.53841032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.781193817 meters Centerline goodness : 0.882543 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.16, Z:-1.54 [[ 9.99662732e-01 2.56329634e-02 4.16817525e-03 9.38199723e+00] [-2.57125213e-02 9.99463074e-01 2.03083848e-02 -1.55329660e-01] [-3.64537316e-03 -2.04087097e-02 9.99785075e-01 -1.53828017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.811193817 meters Centerline goodness : 0.881013 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.16, Z:-1.54 [[ 9.99799916e-01 1.96821232e-02 3.56955902e-03 9.38228219e+00] [-1.97334347e-02 9.99693356e-01 1.49594295e-02 -1.60869635e-01] [-3.27403110e-03 -1.50268760e-02 9.99881730e-01 -1.53771615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.841193817 meters Centerline goodness : 0.884642 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.17, Z:-1.54 [[ 9.99910265e-01 1.29495881e-02 3.43067245e-03 9.38260772e+00] [-1.29803489e-02 9.99874331e-01 9.10123957e-03 -1.66695155e-01] [-3.31238402e-03 -9.14495420e-03 9.99952698e-01 -1.53796210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.871193817 meters Centerline goodness : 0.888813 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.18, Z:-1.54 [[ 9.99990436e-01 3.08653328e-03 3.09852036e-03 9.38323319e+00] [-3.09590806e-03 9.99990631e-01 3.02534568e-03 -1.81045897e-01] [-3.08915350e-03 -3.03490948e-03 9.99990623e-01 -1.53733385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.901193817 meters Centerline goodness : 0.887538 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.19, Z:-1.54 [[ 9.99996013e-01 -1.11667610e-03 2.59366701e-03 9.38549245e+00] [ 1.11628810e-03 9.99999366e-01 1.51040430e-04 -1.87761956e-01] [-2.59383403e-03 -1.48144548e-04 9.99996625e-01 -1.53871799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93119381700001 meters Centerline goodness : 0.887468 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.20, Z:-1.54 [[ 9.99988843e-01 -4.04835984e-03 2.43398828e-03 9.38613791e+00] [ 4.05109244e-03 9.99991168e-01 -1.11880276e-03 -1.95820430e-01] [-2.42943746e-03 1.12865059e-03 9.99996412e-01 -1.53888184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96119381700001 meters Centerline goodness : 0.890204 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.21, Z:-1.54 [[ 9.99925265e-01 -1.20634732e-02 1.98399272e-03 9.38845840e+00] [ 1.20769533e-02 9.99903064e-01 -6.92892488e-03 -2.10675222e-01] [-1.90021350e-03 6.95236764e-03 9.99974027e-01 -1.54038385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99119381700001 meters Centerline goodness : 0.890126 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.22, Z:-1.54 [[ 9.99890274e-01 -1.47018071e-02 1.81554351e-03 9.38984695e+00] [ 1.47165238e-02 9.99856609e-01 -8.37767891e-03 -2.17149554e-01] [-1.69211616e-03 8.40347815e-03 9.99963258e-01 -1.54143302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02119381700001 meters Centerline goodness : 0.888556 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.22, Z:-1.54 [[ 9.99890649e-01 -1.46865001e-02 1.73136601e-03 9.39014272e+00] [ 1.46978179e-02 9.99869425e-01 -6.71622882e-03 -2.23602174e-01] [-1.63250205e-03 6.74094169e-03 9.99975947e-01 -1.54132914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.051193817 meters Centerline goodness : 0.889732 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.23, Z:-1.54 [[ 9.99836484e-01 -1.80064767e-02 1.66506490e-03 9.39034239e+00] [ 1.80212185e-02 9.99794271e-01 -9.30868333e-03 -2.27094166e-01] [-1.49710576e-03 9.33716771e-03 9.99955287e-01 -1.54113991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.081193817 meters Centerline goodness : 0.889250 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.23, Z:-1.54 [[ 9.99830194e-01 -1.83747391e-02 1.39723720e-03 9.39083762e+00] [ 1.83853874e-02 9.99798697e-01 -8.03383258e-03 -2.32845103e-01] [-1.24933635e-03 8.05815713e-03 9.99966752e-01 -1.54069184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.111193817 meters Centerline goodness : 0.890600 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.24, Z:-1.54 [[ 9.99669051e-01 -2.56888768e-02 1.36787319e-03 9.39149516e+00] [ 2.57050485e-02 9.99578035e-01 -1.35278432e-02 -2.40976034e-01] [-1.01978089e-03 1.35585274e-02 9.99907559e-01 -1.54076988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.141193817 meters Centerline goodness : 0.890957 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.24, Z:-1.54 [[ 9.99562578e-01 -2.95448704e-02 1.32402197e-03 9.39236527e+00] [ 2.95629506e-02 9.99421929e-01 -1.67880844e-02 -2.43812270e-01] [-8.27254817e-04 1.68198829e-02 9.99858194e-01 -1.54139299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.171193817 meters Centerline goodness : 0.893843 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.25, Z:-1.54 [[ 9.99511486e-01 -3.12403688e-02 9.10666605e-04 9.39495780e+00] [ 3.12515636e-02 9.99356544e-01 -1.76022303e-02 -2.46423169e-01] [-3.60180465e-04 1.76220911e-02 9.99844654e-01 -1.54320647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.201193817 meters Centerline goodness : 0.894088 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.25, Z:-1.54 [[ 9.99357899e-01 -3.58182481e-02 9.17548529e-04 9.39587704e+00] [ 3.58297479e-02 9.99118960e-01 -2.18525382e-02 -2.46459856e-01] [-1.34020497e-04 2.18713822e-02 9.99760784e-01 -1.54396180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.231193817 meters Centerline goodness : 0.894789 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.25, Z:-1.54 [[ 9.99337745e-01 -3.63821602e-02 6.40757247e-04 9.39645180e+00] [ 3.63874386e-02 9.99094095e-01 -2.20667966e-02 -2.46746417e-01] [ 1.62660948e-04 2.20754983e-02 9.99756293e-01 -1.54378986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.261193817 meters Centerline goodness : 0.894301 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.25, Z:-1.54 [[ 9.99322484e-01 -3.68011945e-02 4.94067000e-04 9.39654615e+00] [ 3.68030674e-02 9.99074358e-01 -2.22702090e-02 -2.46523523e-01] [ 3.25960623e-04 2.22733038e-02 9.99751866e-01 -1.54340416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.291193817 meters Centerline goodness : 0.899217 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.24, Z:-1.54 [[ 9.99294066e-01 -3.75674521e-02 2.36218781e-04 9.39754333e+00] [ 3.75628121e-02 9.99024706e-01 -2.32093148e-02 -2.44309509e-01] [ 6.35926422e-04 2.32018036e-02 9.99730600e-01 -1.54389864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32119381700001 meters Centerline goodness : 0.897718 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.24, Z:-1.54 [[ 9.99388545e-01 -3.49645447e-02 -1.27844509e-04 9.39868475e+00] [ 3.49547523e-02 9.99182849e-01 -2.02928623e-02 -2.42666238e-01] [ 8.37270733e-04 2.02759854e-02 9.99794070e-01 -1.54453780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35119381700001 meters Centerline goodness : 0.899149 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.24, Z:-1.54 [[ 9.99449023e-01 -3.31847553e-02 -6.50721980e-04 9.39994664e+00] [ 3.31659561e-02 9.99262399e-01 -1.93565586e-02 -2.35551115e-01] [ 1.29258467e-03 1.93243118e-02 9.99812433e-01 -1.54492302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38119381700001 meters Centerline goodness : 0.901324 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.23, Z:-1.55 [[ 9.99504726e-01 -3.12570594e-02 3.64677098e-03 9.41625842e+00] [ 3.13330404e-02 9.99242706e-01 -2.30706440e-02 -2.30224082e-01] [-2.92288881e-03 2.31734821e-02 9.99727186e-01 -1.54611080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41119381700001 meters Centerline goodness : 0.900378 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.23, Z:-1.55 [[ 9.99603992e-01 -2.79390426e-02 3.35683189e-03 9.41638134e+00] [ 2.80008539e-02 9.99406858e-01 -2.00470384e-02 -2.27451367e-01] [-2.79474575e-03 2.01330938e-02 9.99793403e-01 -1.54561878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.441193817 meters Centerline goodness : 0.902664 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.22, Z:-1.55 [[ 9.99647288e-01 -2.59250073e-02 5.76146622e-03 9.43533733e+00] [ 2.60527823e-02 9.99388162e-01 -2.33356912e-02 -2.22015256e-01] [-5.15296317e-03 2.34775626e-02 9.99711084e-01 -1.54735001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.471193817 meters Centerline goodness : 0.904325 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.21, Z:-1.55 [[ 9.99779338e-01 -2.06699662e-02 3.74533123e-03 9.45828156e+00] [ 2.07491399e-02 9.99531440e-01 -2.25027526e-02 -2.14481617e-01] [-3.27844518e-03 2.25754995e-02 9.99739765e-01 -1.54954908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.501193817 meters Centerline goodness : 0.901521 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.21, Z:-1.55 [[ 9.99843253e-01 -1.73530517e-02 3.51296521e-03 9.45916101e+00] [ 1.74181413e-02 9.99659414e-01 -1.94336051e-02 -2.11803669e-01] [-3.17453638e-03 1.94917483e-02 9.99804978e-01 -1.55012174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.531193817 meters Centerline goodness : 0.901222 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.21, Z:-1.55 [[ 9.99892034e-01 -1.43399213e-02 3.20739384e-03 9.46058948e+00] [ 1.43913246e-02 9.99758256e-01 -1.66228680e-02 -2.09010020e-01] [-2.96824786e-03 1.66672320e-02 9.99856686e-01 -1.55114488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.561193817 meters Centerline goodness : 0.900322 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.20, Z:-1.55 [[ 9.99912696e-01 -1.17434008e-02 6.05745194e-03 9.47899127e+00] [ 1.18647800e-02 9.99721348e-01 -2.04072071e-02 -1.99544421e-01] [-5.81611400e-03 2.04772958e-02 9.99773401e-01 -1.55421711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.591193817 meters Centerline goodness : 0.902145 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.20, Z:-1.56 [[ 9.99939138e-01 -9.56783190e-03 5.49328938e-03 9.48098960e+00] [ 9.66486214e-03 9.99792759e-01 -1.79172920e-02 -1.97825967e-01] [-5.32072131e-03 1.79692934e-02 9.99824382e-01 -1.55519612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.621193817 meters Centerline goodness : 0.900746 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.19, Z:-1.56 [[ 9.99935790e-01 -1.00447241e-02 5.24586045e-03 9.48179703e+00] [ 1.01418162e-02 9.99771414e-01 -1.88218957e-02 -1.94945979e-01] [-5.05560057e-03 1.88738897e-02 9.99809090e-01 -1.55551551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.651193817 meters Centerline goodness : 0.898272 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.19, Z:-1.56 [[ 9.99961505e-01 -7.24083847e-03 4.95577015e-03 9.48245659e+00] [ 7.31733941e-03 9.99851588e-01 -1.55967443e-02 -1.93989747e-01] [-4.84210115e-03 1.56324069e-02 9.99866082e-01 -1.55544668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68119381700001 meters Centerline goodness : 0.899704 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.19, Z:-1.56 [[ 9.99938006e-01 -8.01210585e-03 7.73246634e-03 9.50159767e+00] [ 8.17384874e-03 9.99743586e-01 -2.11175282e-02 -1.85550939e-01] [-7.56128775e-03 2.11794230e-02 9.99747098e-01 -1.55748737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71119381700001 meters Centerline goodness : 0.900035 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.18, Z:-1.56 [[ 9.99931633e-01 -8.92856926e-03 7.55053067e-03 9.50207707e+00] [ 9.09695609e-03 9.99703897e-01 -2.25690992e-02 -1.81388526e-01] [-7.34678517e-03 2.26362431e-02 9.99716773e-01 -1.55746411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74119381700001 meters Centerline goodness : 0.899739 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.18, Z:-1.56 [[ 9.99923799e-01 -9.98928261e-03 7.25335861e-03 9.50308653e+00] [ 1.01618978e-02 9.99656348e-01 -2.41644798e-02 -1.76971883e-01] [-7.00948016e-03 2.42363463e-02 9.99681683e-01 -1.55783968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77119381700001 meters Centerline goodness : 0.897636 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.17, Z:-1.56 [[ 9.99878441e-01 -1.51606865e-02 3.64108849e-03 9.51440306e+00] [ 1.52508663e-02 9.99541207e-01 -2.61684310e-02 -1.65660971e-01] [-3.24268661e-03 2.62207798e-02 9.99650917e-01 -1.55969089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.801193817 meters Centerline goodness : 0.898255 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.16, Z:-1.56 [[ 9.99855541e-01 -1.66695706e-02 3.32005362e-03 9.51640053e+00] [ 1.67571510e-02 9.99456814e-01 -2.83773482e-02 -1.60183514e-01] [-2.84521201e-03 2.84288834e-02 9.99591768e-01 -1.56120399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.831193817 meters Centerline goodness : 0.894510 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.15, Z:-1.56 [[ 9.99832993e-01 -1.80118708e-02 3.09161007e-03 9.51753367e+00] [ 1.80977853e-02 9.99371765e-01 -3.04720362e-02 -1.54383844e-01] [-2.54080943e-03 3.05228985e-02 9.99530838e-01 -1.56183367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.861193817 meters Centerline goodness : 0.896709 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.15, Z:-1.56 [[ 9.99858643e-01 -1.65955931e-02 2.69830616e-03 9.51891050e+00] [ 1.66673025e-02 9.99435339e-01 -2.91754188e-02 -1.49697918e-01] [-2.21259915e-03 2.92162681e-02 9.99570665e-01 -1.56241261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.891193817 meters Centerline goodness : 0.893599 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.14, Z:-1.56 [[ 9.99854177e-01 -1.64115105e-02 4.72084922e-03 9.53905541e+00] [ 1.65576812e-02 9.99324822e-01 -3.27985243e-02 -1.42328039e-01] [-4.17938848e-03 3.28719079e-02 9.99450834e-01 -1.56400720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.921193817 meters Centerline goodness : 0.894738 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.12, Z:-1.57 [[ 9.99865080e-01 -1.39651334e-02 8.64852132e-03 9.55632146e+00] [ 1.42752144e-02 9.99217182e-01 -3.68949961e-02 -1.23812074e-01] [-8.12650756e-03 3.70134777e-02 9.99281723e-01 -1.56677883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.951193817 meters Centerline goodness : 0.894372 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.11, Z:-1.57 [[ 0.99988427 -0.01027714 0.01121691 9.57525775] [ 0.01069298 0.99923325 -0.03766402 -0.11444548] [-0.01082124 0.0377796 0.9992275 -1.56790538] [ 0. 0. 0. 1. ]] SLAMing on 99.981193817 meters Centerline goodness : 0.892826 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.10, Z:-1.57 [[ 9.99885093e-01 -6.00063245e-03 1.39209769e-02 9.59381117e+00] [ 6.52797993e-03 9.99250677e-01 -3.81506118e-02 -1.04859086e-01] [-1.36816178e-02 3.82371038e-02 9.99175028e-01 -1.56915808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.011193817 meters Centerline goodness : 0.891605 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.09, Z:-1.57 [[ 9.99892805e-01 2.27031428e-03 1.44645725e-02 9.63275861e+00] [-1.69408238e-03 9.99209179e-01 -3.97258948e-02 -8.61371430e-02] [-1.45433239e-02 3.96971322e-02 9.99105915e-01 -1.57097782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.041193817 meters Centerline goodness : 0.890822 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.08, Z:-1.57 [[ 9.99879011e-01 6.93563867e-03 1.39233904e-02 9.63547372e+00] [-6.43229582e-03 9.99335556e-01 -3.58757983e-02 -7.98290157e-02] [-1.41629607e-02 3.57818984e-02 9.99259259e-01 -1.57253850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07119381700001 meters Centerline goodness : 0.893713 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.07, Z:-1.57 [[ 9.99848218e-01 1.00567081e-02 1.42268808e-02 9.65619313e+00] [-9.54064153e-03 9.99310266e-01 -3.58882754e-02 -7.35256206e-02] [-1.45779860e-02 3.57470946e-02 9.99254536e-01 -1.57355701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10119381700001 meters Centerline goodness : 0.893713 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.07, Z:-1.57 [[ 9.99848218e-01 1.00567081e-02 1.42268808e-02 9.65619313e+00] [-9.54064153e-03 9.99310266e-01 -3.58882754e-02 -7.35256206e-02] [-1.45779860e-02 3.57470946e-02 9.99254536e-01 -1.57355701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13119381700001 meters Centerline goodness : 0.893419 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.06, Z:-1.57 [[ 0.99979192 0.01418614 0.01465841 9.6556493 ] [-0.0136967 0.99936257 -0.03296758 -0.06197122] [-0.01511675 0.03275995 0.99934892 -1.57303867] [ 0. 0. 0. 1. ]] SLAMing on 100.16119381700001 meters Centerline goodness : 0.894750 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.06, Z:-1.57 [[ 0.99984121 0.01404529 0.01096786 9.66567625] [-0.01375884 0.99957322 -0.02576973 -0.05763758] [-0.01132512 0.02561473 0.99960774 -1.57066941] [ 0. 0. 0. 1. ]] SLAMing on 100.191193817 meters Centerline goodness : 0.892020 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.05, Z:-1.57 [[ 9.99904743e-01 1.26058229e-02 5.62114664e-03 9.66096009e+00] [-1.25334495e-02 9.99840420e-01 -1.27297422e-02 -5.40225884e-02] [-5.78071849e-03 1.26580772e-02 9.99903173e-01 -1.56722815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.221193817 meters Centerline goodness : 0.891656 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.05, Z:-1.57 [[ 9.99888619e-01 1.36490702e-02 6.03752217e-03 9.65926994e+00] [-1.35775031e-02 9.99838899e-01 -1.17400090e-02 -4.95359946e-02] [-6.19678972e-03 1.16567270e-02 9.99912856e-01 -1.56585141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.251193817 meters Centerline goodness : 0.894517 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.04, Z:-1.56 [[ 9.99918139e-01 1.12181497e-02 6.15379247e-03 9.65769930e+00] [-1.11239989e-02 9.99823711e-01 -1.51262451e-02 -3.97653980e-02] [-6.32239610e-03 1.50565520e-02 9.99866655e-01 -1.56384304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.281193817 meters Centerline goodness : 0.894404 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.04, Z:-1.56 [[ 9.99903058e-01 1.23203257e-02 6.48720203e-03 9.65635115e+00] [-1.22282234e-02 9.99826508e-01 -1.40507801e-02 -3.62042070e-02] [-6.65918674e-03 1.39700910e-02 9.99880239e-01 -1.56276820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.311193817 meters Centerline goodness : 0.895625 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.03, Z:-1.56 [[ 9.99874699e-01 1.42248527e-02 6.94544602e-03 9.65517206e+00] [-1.41385070e-02 9.99824062e-01 -1.23267207e-02 -3.25643212e-02] [-7.11956984e-03 1.22269779e-02 9.99899901e-01 -1.56211251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.341193817 meters Centerline goodness : 0.899083 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.02, Z:-1.56 [[ 9.99846330e-01 1.61947252e-02 6.71169871e-03 9.65669992e+00] [-1.61139759e-02 9.99799161e-01 -1.19154637e-02 -2.15816370e-02] [-6.90331840e-03 1.18054805e-02 9.99906483e-01 -1.56291201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.371193817 meters Centerline goodness : 0.898215 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.02, Z:-1.56 [[ 9.99794759e-01 1.92092453e-02 6.43768762e-03 9.65801690e+00] [-1.91450606e-02 9.99767823e-01 -9.88772926e-03 -1.56440301e-02] [-6.62612876e-03 9.76244997e-03 9.99930392e-01 -1.56351125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.401193817 meters Centerline goodness : 0.901981 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.00, Z:-1.57 [[ 9.99638806e-01 2.61842548e-02 6.05325872e-03 9.66076761e+00] [-2.61513960e-02 9.99643164e-01 -5.44518072e-03 -2.56110250e-03] [-6.19367670e-03 5.28491279e-03 9.99966853e-01 -1.56500441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43119381700001 meters Centerline goodness : 0.902163 Centerline is valid? [False, False] Translation: X:9.66, Y:0.00, Z:-1.56 [[ 9.99480691e-01 3.15456866e-02 6.57399291e-03 9.65937394e+00] [-3.15422858e-02 9.99502226e-01 -6.20373829e-04 2.33632052e-03] [-6.59029066e-03 4.12692900e-04 9.99978199e-01 -1.56397889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46119381700001 meters Centerline goodness : 0.905610 Centerline is valid? [False, False] Translation: X:9.66, Y:0.01, Z:-1.56 [[ 9.99366266e-01 3.49821776e-02 6.58131682e-03 9.65977934e+00] [-3.49939349e-02 9.99386113e-01 1.67984131e-03 7.68351119e-03] [-6.51851213e-03 -1.90908291e-03 9.99976932e-01 -1.56390596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49119381700001 meters Centerline goodness : 0.905726 Centerline is valid? [False, False] Translation: X:9.66, Y:0.01, Z:-1.56 [[ 9.99249440e-01 3.81724891e-02 6.58921797e-03 9.65998508e+00] [-3.81985863e-02 9.99262630e-01 3.88119497e-03 1.25159560e-02] [-6.43620441e-03 -4.12998071e-03 9.99970759e-01 -1.56362242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52119381700001 meters Centerline goodness : 0.905721 Centerline is valid? [False, False] Translation: X:9.66, Y:0.02, Z:-1.56 [[ 9.98967830e-01 4.49294763e-02 6.67951314e-03 9.66060745e+00] [-4.49907327e-02 9.98943907e-01 9.32223630e-03 1.90603433e-02] [-6.25361576e-03 -9.61313037e-03 9.99934238e-01 -1.56358273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.551193817 meters Centerline goodness : 0.910052 Centerline is valid? [False, False] Translation: X:9.66, Y:0.02, Z:-1.56 [[ 9.98806509e-01 4.83828481e-02 6.68256765e-03 9.66077099e+00] [-4.84628037e-02 9.98748368e-01 1.23714629e-02 2.10861043e-02] [-6.07563693e-03 -1.26805536e-02 9.99901140e-01 -1.56331144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.581193817 meters Centerline goodness : 0.909455 Centerline is valid? [False, False] Translation: X:9.66, Y:0.02, Z:-1.56 [[ 9.98774395e-01 4.90846457e-02 6.35656292e-03 9.66119052e+00] [-4.91580902e-02 9.98719339e-01 1.19650915e-02 2.39823297e-02] [-5.76112004e-03 -1.22629036e-02 9.99908211e-01 -1.56275750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.611193817 meters Centerline goodness : 0.911054 Centerline is valid? [False, False] Translation: X:9.66, Y:0.02, Z:-1.56 [[ 9.98610247e-01 5.23475614e-02 6.10793673e-03 9.66176371e+00] [-5.24362622e-02 9.98505530e-01 1.53995012e-02 2.43381993e-02] [-5.29268227e-03 -1.56983770e-02 9.99862765e-01 -1.56223804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.641193817 meters Centerline goodness : 0.915242 Centerline is valid? [False, False] Translation: X:9.67, Y:0.02, Z:-1.56 [[ 9.98561664e-01 5.28551852e-02 8.99626453e-03 9.66766297e+00] [-5.30903651e-02 9.98188755e-01 2.82952689e-02 2.12436198e-02] [-7.48441841e-03 -2.87321858e-02 9.99559125e-01 -1.55930937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.671193817 meters Centerline goodness : 0.912245 Centerline is valid? [False, False] Translation: X:9.68, Y:0.02, Z:-1.56 [[ 0.99858585 0.05159658 0.01280968 9.67601253] [-0.05206548 0.99786369 0.03946199 0.01798059] [-0.01074621 -0.04007313 0.99913896 -1.55954039] [ 0. 0. 0. 1. ]] SLAMing on 100.701193817 meters Centerline goodness : 0.913223 Centerline is valid? [False, False] Translation: X:9.68, Y:0.02, Z:-1.56 [[ 0.99859256 0.05147089 0.01279265 9.67574554] [-0.05194045 0.99786557 0.03957907 0.01744414] [-0.01072817 -0.04018782 0.99913455 -1.55870645] [ 0. 0. 0. 1. ]] SLAMing on 100.731193817 meters Centerline goodness : 0.914215 Centerline is valid? [False, False] Translation: X:9.68, Y:0.01, Z:-1.56 [[ 0.99866706 0.04927672 0.01535946 9.6830754 ] [-0.04999314 0.99747711 0.05039933 0.01335763] [-0.01283719 -0.05110002 0.99861103 -1.55801283] [ 0. 0. 0. 1. ]] SLAMing on 100.761193817 meters Centerline goodness : 0.913457 Centerline is valid? [False, False] Translation: X:9.68, Y:0.01, Z:-1.56 [[ 0.99868746 0.04880318 0.01554393 9.68217206] [-0.04952895 0.99750277 0.05034977 0.01240845] [-0.01304788 -0.05105356 0.99861068 -1.55709736] [ 0. 0. 0. 1. ]] SLAMing on 100.791193817 meters Centerline goodness : 0.914699 Centerline is valid? [False, False] Translation: X:9.66, Y:0.01, Z:-1.56 [[ 9.98953869e-01 4.29674402e-02 1.56513839e-02 9.66188195e+00] [-4.38746804e-02 9.97038298e-01 6.31636335e-02 7.29331421e-03] [-1.28910495e-02 -6.37842556e-02 9.97880449e-01 -1.55652946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82119381700001 meters Centerline goodness : 0.915544 Centerline is valid? [False, False] Translation: X:9.65, Y:0.01, Z:-1.55 [[ 9.99116663e-01 4.10246489e-02 9.10337970e-03 9.65140759e+00] [-4.14370724e-02 9.97837066e-01 5.10309685e-02 9.44512702e-03] [-6.99016212e-03 -5.13631083e-02 9.98655581e-01 -1.55274805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85119381700001 meters Centerline goodness : 0.912294 Centerline is valid? [False, False] Translation: X:9.63, Y:0.01, Z:-1.56 [[ 9.99231467e-01 3.81614178e-02 8.95443468e-03 9.62617880e+00] [-3.85897213e-02 9.97800846e-01 5.38916055e-02 9.39712226e-03] [-6.87816243e-03 -5.41957372e-02 9.98506641e-01 -1.55549925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88119381700001 meters Centerline goodness : 0.912277 Centerline is valid? [False, False] Translation: X:9.61, Y:0.01, Z:-1.56 [[ 9.99256766e-01 3.84538171e-02 2.68707267e-03 9.61287486e+00] [-3.85425575e-02 9.97821916e-01 5.35340482e-02 8.27527623e-03] [-6.22631507e-04 -5.35978265e-02 9.98562409e-01 -1.55723280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91119381700001 meters Centerline goodness : 0.911594 Centerline is valid? [False, False] Translation: X:9.60, Y:0.01, Z:-1.56 [[ 9.99319799e-01 3.68334560e-02 -1.79886441e-03 9.59583929e+00] [-3.67016077e-02 9.98129982e-01 4.88828332e-02 1.17371270e-02] [ 3.59602419e-03 -4.87835618e-02 9.98802900e-01 -1.55699650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.941193817 meters Centerline goodness : 0.912591 Centerline is valid? [False, False] Translation: X:9.59, Y:0.02, Z:-1.55 [[ 9.99324482e-01 3.57175162e-02 -8.65097390e-03 9.58586912e+00] [-3.53671343e-02 9.98661614e-01 3.77378575e-02 1.61724447e-02] [ 9.98729810e-03 -3.74064048e-02 9.99250226e-01 -1.55352276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.971193817 meters Centerline goodness : 0.910255 Centerline is valid? [False, False] Translation: X:9.56, Y:0.02, Z:-1.55 [[ 0.99941064 0.03218116 -0.01194763 9.56268106] [-0.0315657 0.99832182 0.04855047 0.01611 ] [ 0.01348999 -0.04814472 0.99874927 -1.55138406] [ 0. 0. 0. 1. ]] SLAMing on 101.001193817 meters Centerline goodness : 0.908041 Centerline is valid? [False, False] Translation: X:9.54, Y:0.02, Z:-1.55 [[ 0.99946922 0.02833431 -0.01607636 9.54433258] [-0.0276262 0.99870678 0.04267985 0.0164756 ] [ 0.01726488 -0.04221306 0.99895945 -1.55046147] [ 0. 0. 0. 1. ]] SLAMing on 101.031193817 meters Centerline goodness : 0.909091 Centerline is valid? [False, False] Translation: X:9.52, Y:0.02, Z:-1.55 [[ 0.99951561 0.026374 -0.01652155 9.52359872] [-0.02570888 0.99889853 0.03925267 0.01744888] [ 0.0175386 -0.03880891 0.99909272 -1.55038338] [ 0. 0. 0. 1. ]] SLAMing on 101.061193817 meters Centerline goodness : 0.909723 Centerline is valid? [False, False] Translation: X:9.50, Y:0.02, Z:-1.55 [[ 0.99955883 0.02296318 -0.01883733 9.50343661] [-0.02233972 0.99921665 0.03266522 0.02068273] [ 0.01957267 -0.03222999 0.99928882 -1.54935322] [ 0. 0. 0. 1. ]] SLAMing on 101.091193817 meters Centerline goodness : 0.908919 Centerline is valid? [False, False] Translation: X:9.48, Y:0.02, Z:-1.55 [[ 0.9995734 0.02147499 -0.01979489 9.48209726] [-0.02088122 0.99933984 0.02972991 0.02180627] [ 0.02042027 -0.02930388 0.99936194 -1.54860196] [ 0. 0. 0. 1. ]] SLAMing on 101.121193817 meters Centerline goodness : 0.910048 Centerline is valid? [False, False] Translation: X:9.45, Y:0.02, Z:-1.55 [[ 0.99967169 0.01828618 -0.01794786 9.45387841] [-0.01772308 0.99936077 0.03104749 0.02092035] [ 0.01850413 -0.03071921 0.99935676 -1.54997161] [ 0. 0. 0. 1. ]] SLAMing on 101.151193817 meters Centerline goodness : 0.909969 Centerline is valid? [False, False] Translation: X:9.43, Y:0.02, Z:-1.55 [[ 0.9996842 0.01900036 -0.01644623 9.43006137] [-0.01848847 0.99935651 0.03073681 0.02096599] [ 0.01701966 -0.03042304 0.9993922 -1.54842525] [ 0. 0. 0. 1. ]] SLAMing on 101.18119381700001 meters Centerline goodness : 0.908116 Centerline is valid? [False, False] Translation: X:9.41, Y:0.02, Z:-1.55 [[ 0.9996884 0.02031029 -0.01451169 9.4057401 ] [-0.0198445 0.99930512 0.03155103 0.02128389] [ 0.01514242 -0.03125322 0.99939679 -1.5465161 ] [ 0. 0. 0. 1. ]] SLAMing on 101.21119381700001 meters Centerline goodness : 0.911115 Centerline is valid? [False, False] Translation: X:9.40, Y:0.02, Z:-1.54 [[ 0.99969312 0.02046832 -0.01395416 9.40201947] [-0.02001749 0.99929643 0.03171658 0.0208617 ] [ 0.01459353 -0.03142752 0.99939949 -1.54303823] [ 0. 0. 0. 1. ]] SLAMing on 101.24119381700001 meters Centerline goodness : 0.913307 Centerline is valid? [False, False] Translation: X:9.37, Y:0.02, Z:-1.54 [[ 0.99978421 0.01829677 -0.00983644 9.37146592] [-0.01793985 0.99921839 0.03522457 0.02153463] [ 0.01047325 -0.0350405 0.99933101 -1.54416057] [ 0. 0. 0. 1. ]] SLAMing on 101.27119381700001 meters Centerline goodness : 0.911356 Centerline is valid? [False, False] Translation: X:9.35, Y:0.02, Z:-1.54 [[ 9.99811461e-01 1.75740247e-02 -8.25803984e-03 9.34811171e+00] [-1.72864628e-02 9.99282809e-01 3.36904537e-02 2.19648888e-02] [ 8.84419411e-03 -3.35413495e-02 9.99398198e-01 -1.54263586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.301193817 meters Centerline goodness : 0.912257 Centerline is valid? [False, False] Translation: X:9.33, Y:0.02, Z:-1.54 [[ 9.99873605e-01 1.42216680e-02 -7.10767962e-03 9.32536493e+00] [-1.40178701e-02 9.99511193e-01 2.79441429e-02 2.35724344e-02] [ 7.50161765e-03 -2.78409763e-02 9.99584216e-01 -1.54109481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.331193817 meters Centerline goodness : 0.909779 Centerline is valid? [False, False] Translation: X:9.30, Y:0.02, Z:-1.54 [[ 9.99970368e-01 4.86599534e-03 -5.96530980e-03 9.30175670e+00] [-4.66595029e-03 9.99441087e-01 3.31019926e-02 2.04321215e-02] [ 6.12304986e-03 -3.30731779e-02 9.99434177e-01 -1.53777163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.361193817 meters Centerline goodness : 0.912490 Centerline is valid? [False, False] Translation: X:9.26, Y:0.02, Z:-1.54 [[ 9.99999353e-01 1.02384262e-03 -4.95550434e-04 9.26202101e+00] [-1.00988544e-03 9.99624310e-01 2.73901152e-02 2.07826530e-02] [ 5.23407428e-04 -2.73895970e-02 9.99624698e-01 -1.54004593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.391193817 meters Centerline goodness : 0.915512 Centerline is valid? [False, False] Translation: X:9.24, Y:0.02, Z:-1.54 [[ 9.99996269e-01 -2.64401872e-03 6.85792765e-04 9.23812445e+00] [ 2.62731542e-03 9.99724841e-01 2.33096308e-02 2.06227024e-02] [-7.47235163e-04 -2.33077421e-02 9.99728058e-01 -1.53761589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.421193817 meters Centerline goodness : 0.914814 Centerline is valid? [False, False] Translation: X:9.24, Y:0.02, Z:-1.54 [[ 9.99977105e-01 -6.73747395e-03 6.28667757e-04 9.23800994e+00] [ 6.72409671e-03 9.99791365e-01 1.92876286e-02 2.03430553e-02] [-7.58486490e-04 -1.92829598e-02 9.99813779e-01 -1.53716911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.451193817 meters Centerline goodness : 0.915825 Centerline is valid? [False, False] Translation: X:9.24, Y:0.02, Z:-1.54 [[ 9.99933282e-01 -1.15277799e-02 7.35440856e-04 9.23780085e+00] [ 1.15154254e-02 9.99820689e-01 1.50327814e-02 2.00303398e-02] [-9.08603578e-04 -1.50233095e-02 9.99886731e-01 -1.53712949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.481193817 meters Centerline goodness : 0.914600 Centerline is valid? [False, False] Translation: X:9.24, Y:0.02, Z:-1.54 [[ 9.99883253e-01 -1.52737512e-02 4.39203597e-04 9.23927516e+00] [ 1.52679532e-02 9.99822118e-01 1.10734567e-02 2.12872191e-02] [-6.08258693e-04 -1.10654582e-02 9.99938591e-01 -1.53805623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.511193817 meters Centerline goodness : 0.914378 Centerline is valid? [False, False] Translation: X:9.24, Y:0.02, Z:-1.54 [[ 9.99854100e-01 -1.70810591e-02 1.26509994e-04 9.24107186e+00] [ 1.70790353e-02 9.99807311e-01 9.67717354e-03 2.11875880e-02] [-2.91781990e-04 -9.67360098e-03 9.99953167e-01 -1.53936916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.541193817 meters Centerline goodness : 0.910596 Centerline is valid? [False, False] Translation: X:9.24, Y:0.02, Z:-1.54 [[ 9.99778020e-01 -2.10690419e-02 -7.36770486e-05 9.24233697e+00] [ 2.10691357e-02 9.99763864e-01 5.32044640e-03 2.28719184e-02] [-3.84370572e-05 -5.32081768e-03 9.99985844e-01 -1.54026173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57119381700001 meters Centerline goodness : 0.911187 Centerline is valid? [False, False] Translation: X:9.25, Y:0.02, Z:-1.54 [[ 9.99724360e-01 -2.34679406e-02 -6.78771460e-04 9.24644823e+00] [ 2.34699363e-02 9.99719739e-01 3.09919031e-03 2.44008065e-02] [ 6.05849613e-04 -3.11426677e-03 9.99994967e-01 -1.54401439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60119381700001 meters Centerline goodness : 0.912600 Centerline is valid? [False, False] Translation: X:9.25, Y:0.03, Z:-1.55 [[ 9.99722674e-01 -2.35264506e-02 -1.03942542e-03 9.24843230e+00] [ 2.35293419e-02 9.99719047e-01 2.86297336e-03 2.54571418e-02] [ 9.71777790e-04 -2.88663638e-03 9.99995361e-01 -1.54564048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63119381700001 meters Centerline goodness : 0.914021 Centerline is valid? [False, False] Translation: X:9.25, Y:0.03, Z:-1.55 [[ 9.99721326e-01 -2.35685017e-02 -1.34029828e-03 9.24990303e+00] [ 2.35717999e-02 9.99719019e-01 2.50070326e-03 2.70941444e-02] [ 1.28098385e-03 -2.53159962e-03 9.99995975e-01 -1.54676416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66119381700001 meters Centerline goodness : 0.915447 Centerline is valid? [False, False] Translation: X:9.25, Y:0.03, Z:-1.55 [[ 9.99762256e-01 -2.17383648e-02 -1.69540971e-03 9.25186063e+00] [ 2.17455928e-02 9.99753994e-01 4.36821924e-03 2.83482073e-02] [ 1.60003469e-03 -4.40404841e-03 9.99989022e-01 -1.54833849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.691193817 meters Centerline goodness : 0.916163 Centerline is valid? [False, False] Translation: X:9.25, Y:0.03, Z:-1.55 [[ 9.99814570e-01 -1.91630439e-02 -1.89848181e-03 9.25210354e+00] [ 1.91744367e-02 9.99797075e-01 6.17650682e-03 3.39152227e-02] [ 1.77973589e-03 -6.21176382e-03 9.99979123e-01 -1.54823324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.721193817 meters Centerline goodness : 0.915814 Centerline is valid? [False, False] Translation: X:9.25, Y:0.04, Z:-1.55 [[ 9.99835549e-01 -1.80539965e-02 -1.71092413e-03 9.25069850e+00] [ 1.80651980e-02 9.99813857e-01 6.77489586e-03 3.73281253e-02] [ 1.58829171e-03 -6.80468991e-03 9.99975586e-01 -1.54697674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.751193817 meters Centerline goodness : 0.914748 Centerline is valid? [False, False] Translation: X:9.25, Y:0.04, Z:-1.55 [[ 9.99883268e-01 -1.51756345e-02 -1.77475958e-03 9.25051236e+00] [ 1.51920541e-02 9.99838158e-01 9.63637643e-03 3.93959329e-02] [ 1.62823422e-03 -9.66221380e-03 9.99951994e-01 -1.54672051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.781193817 meters Centerline goodness : 0.913672 Centerline is valid? [False, False] Translation: X:9.25, Y:0.04, Z:-1.55 [[ 9.99879397e-01 -1.53818101e-02 -2.14279777e-03 9.25142634e+00] [ 1.53997677e-02 9.99844152e-01 8.63243134e-03 4.30875866e-02] [ 2.00968140e-03 -8.66438883e-03 9.99960444e-01 -1.54683288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.811193817 meters Centerline goodness : 0.915407 Centerline is valid? [False, False] Translation: X:9.25, Y:0.05, Z:-1.55 [[ 9.99879933e-01 -1.53959074e-02 -1.75667351e-03 9.24967492e+00] [ 1.54082302e-02 9.99855137e-01 7.23132984e-03 4.99920947e-02] [ 1.64508615e-03 -7.25752882e-03 9.99972311e-01 -1.54535611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.841193817 meters Centerline goodness : 0.914047 Centerline is valid? [False, False] Translation: X:9.26, Y:0.06, Z:-1.54 [[ 9.99893597e-01 -1.45468002e-02 1.08827775e-03 9.25668280e+00] [ 1.45508634e-02 9.99886819e-01 -3.82373677e-03 5.55505939e-02] [-1.03253145e-03 3.83916530e-03 9.99992097e-01 -1.54426934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.871193817 meters Centerline goodness : 0.919040 Centerline is valid? [False, False] Translation: X:9.26, Y:0.06, Z:-1.54 [[ 9.99932530e-01 -1.15697117e-02 1.03773486e-03 9.25601913e+00] [ 1.15705188e-02 9.99932759e-01 -7.75154584e-04 5.76652939e-02] [-1.02869677e-03 7.87109415e-04 9.99999161e-01 -1.54327774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.901193817 meters Centerline goodness : 0.918415 Centerline is valid? [False, False] Translation: X:9.25, Y:0.07, Z:-1.54 [[ 9.99967350e-01 -7.92270635e-03 1.59068995e-03 9.25291796e+00] [ 7.91857826e-03 9.99965307e-01 2.58489489e-03 6.60142385e-02] [-1.61111413e-03 -2.57221449e-03 9.99995394e-01 -1.54079117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93119381700001 meters Centerline goodness : 0.920938 Centerline is valid? [False, False] Translation: X:9.25, Y:0.07, Z:-1.54 [[ 9.99983786e-01 -5.48928055e-03 1.51480743e-03 9.25288629e+00] [ 5.48195275e-03 9.99973454e-01 4.79992684e-03 6.96920002e-02] [-1.54111537e-03 -4.79154491e-03 9.99987333e-01 -1.54054401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96119381700001 meters Centerline goodness : 0.919548 Centerline is valid? [False, False] Translation: X:9.25, Y:0.07, Z:-1.54 [[ 9.99985802e-01 -4.97902280e-03 1.89850742e-03 9.25078232e+00] [ 4.96979175e-03 9.99975955e-01 4.83637212e-03 7.42951578e-02] [-1.92254218e-03 -4.82686827e-03 9.99986502e-01 -1.53886129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99119381700001 meters Centerline goodness : 0.917340 Centerline is valid? [False, False] Translation: X:9.25, Y:0.08, Z:-1.54 [[ 9.99989906e-01 -3.90381249e-03 2.22440512e-03 9.25022764e+00] [ 3.89288672e-03 9.99980441e-01 4.89511195e-03 8.25972369e-02] [-2.24347122e-03 -4.88640318e-03 9.99985545e-01 -1.53889736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02119381700001 meters Centerline goodness : 0.917340 Centerline is valid? [False, False] Translation: X:9.25, Y:0.08, Z:-1.54 [[ 9.99989786e-01 -3.93175531e-03 2.22908726e-03 9.25020784e+00] [ 3.92088855e-03 9.99980510e-01 4.85857316e-03 8.27204840e-02] [-2.24814653e-03 -4.84978353e-03 9.99985713e-01 -1.53888883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.051193817 meters Centerline goodness : 0.921037 Centerline is valid? [False, False] Translation: X:9.25, Y:0.09, Z:-1.54 [[ 9.99995831e-01 -1.94869206e-03 2.13101287e-03 9.25094849e+00] [ 1.93444502e-03 9.99975902e-01 6.66732024e-03 8.59922199e-02] [-2.14395407e-03 -6.66317012e-03 9.99975503e-01 -1.53963186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.081193817 meters Centerline goodness : 0.920198 Centerline is valid? [False, False] Translation: X:9.25, Y:0.09, Z:-1.54 [[ 9.99994914e-01 -2.68301714e-03 1.72435720e-03 9.25237899e+00] [ 2.67484354e-03 9.99985260e-01 4.72503880e-03 9.18483680e-02] [-1.73700914e-03 -4.72040238e-03 9.99987350e-01 -1.54028536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.111193817 meters Centerline goodness : 0.919319 Centerline is valid? [False, False] Translation: X:9.25, Y:0.10, Z:-1.54 [[ 9.99998775e-01 -3.08065205e-05 1.56482234e-03 9.25285668e+00] [ 2.03442842e-05 9.99977652e-01 6.68547001e-03 9.66517500e-02] [-1.56499332e-03 -6.68542998e-03 9.99976428e-01 -1.54043042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.141193817 meters Centerline goodness : 0.917810 Centerline is valid? [False, False] Translation: X:9.25, Y:0.10, Z:-1.54 [[ 9.99993980e-01 3.17499446e-03 1.40013061e-03 9.25368446e+00] [-3.18732553e-03 9.99955363e-01 8.89459971e-03 1.02117712e-01] [-1.37182781e-03 -8.89900883e-03 9.99959462e-01 -1.54094717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.171193817 meters Centerline goodness : 0.916603 Centerline is valid? [False, False] Translation: X:9.26, Y:0.11, Z:-1.54 [[ 9.99904469e-01 1.37868189e-02 9.87818552e-04 9.25629083e+00] [-1.38016647e-02 9.99759323e-01 1.70531798e-02 1.13013857e-01] [-7.52471704e-04 -1.70651843e-02 9.99854096e-01 -1.54269890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.201193817 meters Centerline goodness : 0.916407 Centerline is valid? [False, False] Translation: X:9.26, Y:0.12, Z:-1.54 [[ 9.99776519e-01 2.11299199e-02 6.61909493e-04 9.25810750e+00] [-2.11396197e-02 9.99503251e-01 2.33745192e-02 1.17527679e-01] [-1.67678971e-04 -2.33832880e-02 9.99726559e-01 -1.54370856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.231193817 meters Centerline goodness : 0.915645 Centerline is valid? [False, False] Translation: X:9.26, Y:0.12, Z:-1.54 [[ 9.99592427e-01 2.85469156e-02 2.33311359e-04 9.26039113e+00] [-2.85413231e-02 9.99154846e-01 2.95801812e-02 1.22277425e-01] [ 6.11308761e-04 -2.95747841e-02 9.99562383e-01 -1.54490443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.261193817 meters Centerline goodness : 0.915926 Centerline is valid? [False, False] Translation: X:9.26, Y:0.13, Z:-1.55 [[ 9.99402527e-01 3.45534369e-02 -8.05286011e-04 9.26375019e+00] [-3.45068327e-02 9.98838397e-01 3.36323522e-02 1.27759091e-01] [ 1.96646395e-03 -3.35844699e-02 9.99433948e-01 -1.54555021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.291193817 meters Centerline goodness : 0.917048 Centerline is valid? [False, False] Translation: X:9.26, Y:0.14, Z:-1.54 [[ 9.98782779e-01 4.92716675e-02 -2.29411961e-03 9.25841603e+00] [-4.91879303e-02 9.98393999e-01 2.81063967e-02 1.40008765e-01] [ 3.67528429e-03 -2.79593420e-02 9.99602305e-01 -1.54179303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32119381700001 meters Centerline goodness : 0.919038 Centerline is valid? [False, False] Translation: X:9.26, Y:0.14, Z:-1.54 [[ 9.98569060e-01 5.34296342e-02 -2.25955873e-03 9.25881618e+00] [-5.33325289e-02 9.98082633e-01 3.14117668e-02 1.42959346e-01] [ 3.93354553e-03 -3.12463105e-02 9.99503975e-01 -1.54158984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35119381700001 meters Centerline goodness : 0.916976 Centerline is valid? [False, False] Translation: X:9.26, Y:0.15, Z:-1.54 [[ 9.98527207e-01 5.41929522e-02 -2.55758096e-03 9.25946452e+00] [-5.40884499e-02 9.98058750e-01 3.08734622e-02 1.46642038e-01] [ 4.22574012e-03 -3.06896564e-02 9.99520029e-01 -1.54115016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38119381700001 meters Centerline goodness : 0.918499 Centerline is valid? [False, False] Translation: X:9.26, Y:0.15, Z:-1.54 [[ 9.98457403e-01 5.54221771e-02 -3.34609920e-03 9.26165326e+00] [-5.52903880e-02 9.97977304e-01 3.13731379e-02 1.47557539e-01] [ 5.07809867e-03 -3.11397347e-02 9.99502141e-01 -1.54159720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41119381700001 meters Centerline goodness : 0.919325 Centerline is valid? [False, False] Translation: X:9.26, Y:0.15, Z:-1.54 [[ 9.98400344e-01 5.64404799e-02 -3.35030633e-03 9.26111506e+00] [-5.63036324e-02 9.97893139e-01 3.22363736e-02 1.45224247e-01] [ 5.16268409e-03 -3.19961721e-02 9.99474658e-01 -1.54063465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.441193817 meters Centerline goodness : 0.920627 Centerline is valid? [False, False] Translation: X:9.26, Y:0.14, Z:-1.54 [[ 9.98557478e-01 5.35538856e-02 -3.86572898e-03 9.26157150e+00] [-5.34206771e-02 9.98155524e-01 2.88406291e-02 1.44671491e-01] [ 5.40312649e-03 -2.85925160e-02 9.99576547e-01 -1.54003060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.471193817 meters Centerline goodness : 0.919033 Centerline is valid? [False, False] Translation: X:9.28, Y:0.14, Z:-1.54 [[ 9.98708270e-01 5.08110514e-02 1.68429719e-04 9.27817898e+00] [-5.07945270e-02 9.98287264e-01 2.90250784e-02 1.41199277e-01] [ 1.30665351e-03 -2.89961412e-02 9.99578669e-01 -1.53913341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.501193817 meters Centerline goodness : 0.919244 Centerline is valid? [False, False] Translation: X:9.30, Y:0.14, Z:-1.54 [[ 9.98820153e-01 4.84224268e-02 3.68393874e-03 9.29575052e+00] [-4.85123492e-02 9.98358284e-01 3.04514076e-02 1.36390596e-01] [-2.20335970e-03 -3.05941962e-02 9.99529459e-01 -1.53920559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.531193817 meters Centerline goodness : 0.919892 Centerline is valid? [False, False] Translation: X:9.31, Y:0.13, Z:-1.54 [[ 9.98905139e-01 4.62713052e-02 6.89132859e-03 9.31359143e+00] [-4.64708956e-02 9.98395616e-01 3.23519828e-02 1.30853511e-01] [-5.38330378e-03 -3.26368081e-02 9.99452780e-01 -1.53955310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.561193817 meters Centerline goodness : 0.921911 Centerline is valid? [False, False] Translation: X:9.31, Y:0.12, Z:-1.54 [[ 9.99000512e-01 4.41989854e-02 6.66540961e-03 9.31282502e+00] [-4.43878846e-02 9.98517079e-01 3.15175889e-02 1.20845276e-01] [-5.26247989e-03 -3.17819509e-02 9.99480972e-01 -1.53809588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.591193817 meters Centerline goodness : 0.919760 Centerline is valid? [False, False] Translation: X:9.31, Y:0.12, Z:-1.54 [[ 9.99127002e-01 4.13368674e-02 6.04134013e-03 9.31389112e+00] [-4.14960657e-02 9.98713027e-01 2.91610350e-02 1.16150098e-01] [-4.82813926e-03 -2.93862693e-02 9.99556470e-01 -1.53818643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.621193817 meters Centerline goodness : 0.919172 Centerline is valid? [False, False] Translation: X:9.32, Y:0.11, Z:-1.54 [[ 9.99235953e-01 3.87107759e-02 5.38389755e-03 9.31561123e+00] [-3.88437473e-02 9.98872511e-01 2.72923022e-02 1.10187310e-01] [-4.32132107e-03 -2.74805804e-02 9.99612997e-01 -1.53895948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.651193817 meters Centerline goodness : 0.919163 Centerline is valid? [False, False] Translation: X:9.34, Y:0.09, Z:-1.54 [[ 9.99326494e-01 3.65969443e-02 2.68737580e-03 9.34478875e+00] [-3.66567214e-02 9.98955457e-01 2.72815022e-02 9.28078673e-02] [-1.68614910e-03 -2.73616384e-02 9.99624178e-01 -1.54079677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68119381700001 meters Centerline goodness : 0.919534 Centerline is valid? [False, False] Translation: X:9.37, Y:0.08, Z:-1.54 [[ 9.99465978e-01 3.25918143e-02 2.35225484e-03 9.36590146e+00] [-3.26441116e-02 9.99090895e-01 2.74179774e-02 8.49980592e-02] [-1.45651476e-03 -2.74801229e-02 9.99621289e-01 -1.54206269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71119381700001 meters Centerline goodness : 0.918005 Centerline is valid? [False, False] Translation: X:9.39, Y:0.08, Z:-1.54 [[ 9.99546819e-01 2.99811100e-02 2.69989250e-03 9.38707536e+00] [-3.00489674e-02 9.99093395e-01 3.01570526e-02 7.61925058e-02] [-1.79330286e-03 -3.02245150e-02 9.99541526e-01 -1.54437295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74119381700001 meters Centerline goodness : 0.916380 Centerline is valid? [False, False] Translation: X:9.42, Y:0.05, Z:-1.55 [[ 9.99732745e-01 2.28263110e-02 3.66047564e-03 9.42370107e+00] [-2.30494459e-02 9.96376263e-01 8.18722503e-02 4.59597143e-02] [-1.77836960e-03 -8.19347414e-02 9.96636110e-01 -1.54514513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77119381700001 meters Centerline goodness : 0.913521 Centerline is valid? [False, False] Translation: X:9.43, Y:0.04, Z:-1.54 [[ 9.99793170e-01 2.03171265e-02 -9.12284914e-04 9.43341418e+00] [-2.01901588e-02 9.96937554e-01 7.55504501e-02 4.16156172e-02] [ 2.44445914e-03 -7.55164048e-02 9.97141563e-01 -1.54344419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.801193817 meters Centerline goodness : 0.912824 Centerline is valid? [False, False] Translation: X:9.45, Y:0.03, Z:-1.55 [[ 9.99826737e-01 1.83848681e-02 2.91408900e-03 9.44742523e+00] [-1.85648764e-02 9.96282614e-01 8.41207368e-02 3.23864775e-02] [-1.35670756e-03 -8.41602615e-02 9.96451308e-01 -1.54665233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.831193817 meters Centerline goodness : 0.913083 Centerline is valid? [False, False] Translation: X:9.45, Y:0.02, Z:-1.55 [[ 9.99863467e-01 1.62721320e-02 2.87473697e-03 9.45178745e+00] [-1.64829338e-02 9.94437104e-01 1.04034415e-01 2.19565526e-02] [-1.16588338e-03 -1.04067595e-01 9.94569543e-01 -1.54684742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.861193817 meters Centerline goodness : 0.911102 Centerline is valid? [False, False] Translation: X:9.45, Y:0.02, Z:-1.55 [[ 9.99863767e-01 1.63890678e-02 1.96095001e-03 9.45400610e+00] [-1.65045277e-02 9.94263777e-01 1.05674702e-01 1.73100792e-02] [-2.17791717e-04 -1.05692670e-01 9.94398819e-01 -1.54705709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.891193817 meters Centerline goodness : 0.909804 Centerline is valid? [False, False] Translation: X:9.47, Y:0.00, Z:-1.54 [[ 9.99831401e-01 1.74691199e-02 -5.65679112e-03 9.46518490e+00] [-1.66265546e-02 9.92036316e-01 1.24849934e-01 1.84855208e-03] [ 7.79276068e-03 -1.24734831e-01 9.92159511e-01 -1.54137073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.921193817 meters Centerline goodness : 0.909984 Centerline is valid? [False, False] Translation: X:9.45, Y:0.00, Z:-1.54 [[ 9.99807358e-01 1.83332742e-02 -7.00986637e-03 9.45440000e+00] [-1.74272787e-02 9.93479483e-01 1.12671235e-01 1.51795970e-03] [ 9.02979106e-03 -1.12527367e-01 9.93607596e-01 -1.54093837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.951193817 meters Centerline goodness : 0.911177 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.00, Z:-1.54 [[ 9.99799517e-01 1.83637561e-02 -7.98118114e-03 9.45551280e+00] [-1.73438709e-02 9.93431299e-01 1.13108111e-01 -6.35945867e-05] [ 1.00058449e-02 -1.12947010e-01 9.93550631e-01 -1.53951869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.981193817 meters Centerline goodness : 0.910350 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.01, Z:-1.53 [[ 9.99760508e-01 1.96993829e-02 -9.53206972e-03 9.45564196e+00] [-1.84451768e-02 9.92913828e-01 1.17396364e-01 -7.72468212e-03] [ 1.17771598e-02 -1.17192428e-01 9.93039392e-01 -1.53348560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.011193817 meters Centerline goodness : 0.906566 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.01, Z:-1.53 [[ 9.99797045e-01 1.71902752e-02 -1.05053545e-02 9.45610684e+00] [-1.58769385e-02 9.93310589e-01 1.14376556e-01 -8.00678014e-03] [ 1.24012443e-02 -1.14186550e-01 9.93381921e-01 -1.53116034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.041193817 meters Centerline goodness : 0.911104 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.01, Z:-1.53 [[ 0.99980941 0.01643061 -0.01054458 9.45406572] [-0.01512643 0.99340266 0.11367652 -0.00984892] [ 0.01234279 -0.11349535 0.99346186 -1.52799435] [ 0. 0. 0. 1. ]] SLAMing on 103.07119381700001 meters Centerline goodness : 0.913983 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.01, Z:-1.53 [[ 0.99980261 0.01663292 -0.0108668 9.45310114] [-0.01528781 0.99337276 0.11391593 -0.01083095] [ 0.01268953 -0.11372731 0.99343096 -1.52542256] [ 0. 0. 0. 1. ]] SLAMing on 103.10119381700001 meters Centerline goodness : 0.913843 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.02, Z:-1.52 [[ 0.99976403 0.01855586 -0.0112941 9.45204916] [-0.01711874 0.99307525 0.11622605 -0.01515175] [ 0.01337257 -0.11600529 0.99315857 -1.5217376 ] [ 0. 0. 0. 1. ]] SLAMing on 103.13119381700001 meters Centerline goodness : 0.914950 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.01, Z:-1.52 [[ 0.99968059 0.02197756 -0.01247852 9.46700676] [-0.02057796 0.99447329 0.1029535 -0.01379921] [ 0.01467223 -0.10266383 0.99460789 -1.51816117] [ 0. 0. 0. 1. ]] SLAMing on 103.16119381700001 meters Centerline goodness : 0.914871 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.01, Z:-1.52 [[ 9.99654014e-01 2.48111283e-02 -8.73272256e-03 9.47138908e+00] [-2.39463525e-02 9.95823025e-01 8.81083142e-02 -1.34491512e-02] [ 1.08823129e-02 -8.78687131e-02 9.96072620e-01 -1.51923636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.191193817 meters Centerline goodness : 0.913858 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.01, Z:-1.52 [[ 0.99952973 0.02892842 -0.01017217 9.48753011] [-0.02808696 0.99679502 0.07490536 -0.01429087] [ 0.01230646 -0.07458443 0.99713876 -1.51566017] [ 0. 0. 0. 1. ]] SLAMing on 103.221193817 meters Centerline goodness : 0.914151 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.02, Z:-1.51 [[ 0.99939001 0.0327102 -0.01223303 9.50218366] [-0.03188413 0.99753403 0.06252415 -0.01614442] [ 0.01424804 -0.06209597 0.99796848 -1.5112469 ] [ 0. 0. 0. 1. ]] SLAMing on 103.251193817 meters Centerline goodness : 0.913799 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.02, Z:-1.51 [[ 0.99939108 0.03356492 -0.00953183 9.50830224] [-0.03303088 0.99812484 0.0515341 -0.02346625] [ 0.01124369 -0.05118787 0.99862575 -1.51036324] [ 0. 0. 0. 1. ]] SLAMing on 103.281193817 meters Centerline goodness : 0.912997 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.03, Z:-1.51 [[ 0.99932132 0.03359815 -0.01510178 9.50813373] [-0.03301946 0.99876735 0.03706081 -0.02643881] [ 0.01632833 -0.036537 0.9991989 -1.51019301] [ 0. 0. 0. 1. ]] SLAMing on 103.311193817 meters Centerline goodness : 0.912500 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.03, Z:-1.51 [[ 0.99941782 0.03035029 -0.0155844 9.50954013] [-0.02979478 0.99895288 0.03471906 -0.03168418] [ 0.01662182 -0.03423451 0.99927559 -1.51087921] [ 0. 0. 0. 1. ]] SLAMing on 103.341193817 meters Centerline goodness : 0.918257 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.04, Z:-1.51 [[ 0.99957962 0.02434203 -0.01574926 9.50913516] [-0.02387317 0.99928546 0.02930274 -0.03623958] [ 0.0164513 -0.02891444 0.9994465 -1.51037526] [ 0. 0. 0. 1. ]] SLAMing on 103.371193817 meters Centerline goodness : 0.915621 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.04, Z:-1.51 [[ 0.99971675 0.01726441 -0.0163818 9.51038525] [-0.016885 0.99959234 0.02302286 -0.04064549] [ 0.0167726 -0.02273974 0.99960071 -1.51081647] [ 0. 0. 0. 1. ]] SLAMing on 103.401193817 meters Centerline goodness : 0.917675 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.05, Z:-1.51 [[ 9.99813448e-01 9.47928331e-03 -1.68289189e-02 9.51242887e+00] [-9.15385302e-03 9.99771632e-01 1.93104018e-02 -5.37408669e-02] [ 1.70081245e-02 -1.91527500e-02 9.99671894e-01 -1.51343029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43119381700001 meters Centerline goodness : 0.918160 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.06, Z:-1.52 [[ 9.99830791e-01 4.90777956e-03 -1.77285902e-02 9.51638742e+00] [-4.62880601e-03 9.99865362e-01 1.57427077e-02 -5.90539450e-02] [ 1.78034650e-02 -1.56579817e-02 9.99718893e-01 -1.51594930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46119381700001 meters Centerline goodness : 0.919012 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.07, Z:-1.52 [[ 9.99818379e-01 -5.27578043e-03 -1.83132661e-02 9.52006968e+00] [ 5.41355183e-03 9.99957358e-01 7.48163364e-03 -6.96465231e-02] [ 1.82730138e-02 -7.57941463e-03 9.99804306e-01 -1.51893582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49119381700001 meters Centerline goodness : 0.919713 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.07, Z:-1.52 [[ 9.99766905e-01 -1.01298274e-02 -1.90662556e-02 9.52360094e+00] [ 1.01979231e-02 9.99941952e-01 3.47769531e-03 -7.49667399e-02] [ 1.90299204e-02 -3.67132088e-03 9.99812174e-01 -1.52109294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52119381700001 meters Centerline goodness : 0.917073 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.08, Z:-1.52 [[ 9.99704089e-01 -1.43256883e-02 -1.96598454e-02 9.52636531e+00] [ 1.43341518e-02 9.99897219e-01 2.89640128e-04 -7.97544684e-02] [ 1.96536755e-02 -5.71361629e-04 9.99806685e-01 -1.52268810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.551193817 meters Centerline goodness : 0.921037 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.08, Z:-1.52 [[ 9.99631353e-01 -1.83930620e-02 -1.99713061e-02 9.52762648e+00] [ 1.83425523e-02 9.99828090e-01 -2.70936893e-03 -8.41312462e-02] [ 2.00177064e-02 2.34204540e-03 9.99796882e-01 -1.52312064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.581193817 meters Centerline goodness : 0.924204 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.09, Z:-1.53 [[ 9.99546446e-01 -2.63669200e-02 -1.45495204e-02 9.53897013e+00] [ 2.63717037e-02 9.99652197e-01 1.36997940e-04 -9.34657503e-02] [ 1.45408478e-02 -5.20631444e-04 9.99894141e-01 -1.52603811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.611193817 meters Centerline goodness : 0.924288 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.09, Z:-1.53 [[ 9.99432242e-01 -3.02403197e-02 -1.48565557e-02 9.54062845e+00] [ 3.01949500e-02 9.99538684e-01 -3.26877422e-03 -9.48133413e-02] [ 1.49485509e-02 2.81832539e-03 9.99884292e-01 -1.52701434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.641193817 meters Centerline goodness : 0.925504 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.10, Z:-1.53 [[ 9.99382439e-01 -3.15675171e-02 -1.54347537e-02 9.54344276e+00] [ 3.15128196e-02 9.99496222e-01 -3.77430551e-03 -9.68246164e-02] [ 1.55461235e-02 3.28558203e-03 9.99873754e-01 -1.52872372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.671193817 meters Centerline goodness : 0.923444 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.10, Z:-1.53 [[ 9.99253920e-01 -3.52879979e-02 -1.56958472e-02 9.54423719e+00] [ 3.51750530e-02 9.99353660e-01 -7.41471864e-03 -9.73802671e-02] [ 1.59473529e-02 6.85708442e-03 9.99849320e-01 -1.52869522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.701193817 meters Centerline goodness : 0.923776 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.10, Z:-1.53 [[ 9.99175397e-01 -3.95622819e-02 -9.12977788e-03 9.55250634e+00] [ 3.95471125e-02 9.99216020e-01 -1.83619696e-03 -1.02804442e-01] [ 9.19526446e-03 1.47362647e-03 9.99956637e-01 -1.53002914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.731193817 meters Centerline goodness : 0.922016 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.10, Z:-1.53 [[ 9.99112204e-01 -4.10226202e-02 -9.58893738e-03 9.55446038e+00] [ 4.09962912e-02 9.99155013e-01 -2.92646376e-03 -1.03156190e-01] [ 9.70088606e-03 2.53075479e-03 9.99949743e-01 -1.53105445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.761193817 meters Centerline goodness : 0.925708 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.10, Z:-1.53 [[ 9.99070325e-01 -4.29600154e-02 -3.59490183e-03 9.56750891e+00] [ 4.29134364e-02 9.99004772e-01 -1.21615507e-02 -1.01266612e-01] [ 4.11378448e-03 1.19959748e-02 9.99919583e-01 -1.53483758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.791193817 meters Centerline goodness : 0.925329 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.10, Z:-1.53 [[ 9.99182613e-01 -4.02366281e-02 -3.88848789e-03 9.56794122e+00] [ 4.02023643e-02 9.99155224e-01 -8.52100216e-03 -1.02675573e-01] [ 4.22805938e-03 8.35771079e-03 9.99956135e-01 -1.53469938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82119381700001 meters Centerline goodness : 0.924599 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.10, Z:-1.53 [[ 9.99179298e-01 -4.02921229e-02 -4.15641371e-03 9.56855764e+00] [ 4.02535802e-02 9.99149199e-01 -8.97369475e-03 -1.00489174e-01] [ 4.51444664e-03 8.79901949e-03 9.99951097e-01 -1.53477359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85119381700001 meters Centerline goodness : 0.924145 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.10, Z:-1.54 [[ 9.99275831e-01 -3.77570063e-02 -4.71401079e-03 9.57027311e+00] [ 3.77267262e-02 9.99267885e-01 -6.35513540e-03 -9.88466999e-02] [ 4.95051048e-03 6.17268901e-03 9.99968695e-01 -1.53565036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88119381700001 meters Centerline goodness : 0.924241 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.10, Z:-1.54 [[ 9.99376637e-01 -3.49050814e-02 -5.28891613e-03 9.57214629e+00] [ 3.48861284e-02 9.99384685e-01 -3.63441580e-03 -9.68907689e-02] [ 5.41252136e-03 3.44764044e-03 9.99979409e-01 -1.53673990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91119381700001 meters Centerline goodness : 0.924241 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.10, Z:-1.54 [[ 9.99376637e-01 -3.49050814e-02 -5.28891613e-03 9.57214629e+00] [ 3.48861284e-02 9.99384685e-01 -3.63441580e-03 -9.68907689e-02] [ 5.41252136e-03 3.44764044e-03 9.99979409e-01 -1.53673990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.941193817 meters Centerline goodness : 0.923834 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.09, Z:-1.54 [[ 9.99563494e-01 -2.95277911e-02 -9.65321201e-04 9.58557059e+00] [ 2.95184684e-02 9.99527616e-01 -8.55595652e-03 -8.87477289e-02] [ 1.21750370e-03 8.52372698e-03 9.99962931e-01 -1.54099325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.971193817 meters Centerline goodness : 0.920422 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.09, Z:-1.54 [[ 9.99662228e-01 -2.59533730e-02 -1.36073320e-03 9.58636856e+00] [ 2.59455821e-02 9.99648442e-01 -5.46061102e-03 -8.56826301e-02] [ 1.50197610e-03 5.42346156e-03 9.99984165e-01 -1.54121674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.001193817 meters Centerline goodness : 0.918799 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.08, Z:-1.54 [[ 9.99738792e-01 -2.27820920e-02 -1.82342569e-03 9.58716915e+00] [ 2.27765860e-02 9.99736122e-01 -2.98546039e-03 -8.16993556e-02] [ 1.89095956e-03 2.94314915e-03 9.99993881e-01 -1.54126515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.031193817 meters Centerline goodness : 0.917637 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.07, Z:-1.54 [[ 9.99844630e-01 -1.76156342e-02 6.36895837e-04 9.60532829e+00] [ 1.76187291e-02 9.99831082e-01 -5.23342371e-03 -6.97390953e-02] [-5.44598176e-04 5.24383189e-03 9.99986103e-01 -1.54302656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.061193817 meters Centerline goodness : 0.915847 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.06, Z:-1.55 [[ 9.99914069e-01 -1.24801419e-02 4.01267057e-03 9.61695132e+00] [ 1.25275580e-02 9.99849315e-01 -1.20169799e-02 -6.33516539e-02] [-3.86209231e-03 1.20662162e-02 9.99919742e-01 -1.54595206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.091193817 meters Centerline goodness : 0.913850 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.06, Z:-1.55 [[ 9.99947136e-01 -6.08381293e-03 8.28934502e-03 9.63063949e+00] [ 6.21340498e-03 9.99857464e-01 -1.56985547e-02 -5.76475717e-02] [-8.19265642e-03 1.57492299e-02 9.99842409e-01 -1.55053542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.121193817 meters Centerline goodness : 0.912385 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.05, Z:-1.55 [[ 9.99952523e-01 -3.12115737e-03 9.23089379e-03 9.65138913e+00] [ 3.28667824e-03 9.99833112e-01 -1.79707100e-02 -5.04892827e-02] [-9.17326385e-03 1.80001958e-02 9.99795901e-01 -1.55272427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.151193817 meters Centerline goodness : 0.909597 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.04, Z:-1.55 [[ 9.99959348e-01 4.84873944e-03 7.60211822e-03 9.67834652e+00] [-4.67128490e-03 9.99720179e-01 -2.31892802e-02 -3.63724084e-02] [-7.71242976e-03 2.31528259e-02 9.99702188e-01 -1.55240827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18119381700001 meters Centerline goodness : 0.909242 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.03, Z:-1.55 [[ 9.99933712e-01 7.16996992e-03 9.00903882e-03 9.69897645e+00] [-6.93803358e-03 9.99650297e-01 -2.55175826e-02 -3.02667834e-02] [-9.18884863e-03 2.54533860e-02 9.99633778e-01 -1.55475182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21119381700001 meters Centerline goodness : 0.908971 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.03, Z:-1.56 [[ 9.99915290e-01 9.57554124e-03 8.81594745e-03 9.72080035e+00] [-9.34172819e-03 9.99613298e-01 -2.61913427e-02 -2.62979115e-02] [-9.06333458e-03 2.61067679e-02 9.99618073e-01 -1.55650441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24119381700001 meters Centerline goodness : 0.909511 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.56 [[ 9.99868138e-01 1.41785044e-02 7.91683284e-03 9.74998147e+00] [-1.38893664e-02 9.99274771e-01 -3.54544378e-02 -1.87705394e-02] [-8.41378223e-03 3.53398029e-02 9.99339935e-01 -1.55630248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27119381700001 meters Centerline goodness : 0.907460 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.56 [[ 9.99810550e-01 1.77470377e-02 7.99421961e-03 9.74962222e+00] [-1.74838858e-02 9.99339242e-01 -3.18652333e-02 -1.80748170e-02] [-8.55445086e-03 3.17194264e-02 9.99460204e-01 -1.55566556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.301193817 meters Centerline goodness : 0.910224 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.56 [[ 9.99754810e-01 2.07503967e-02 7.72927139e-03 9.75039550e+00] [-2.05211716e-02 9.99379099e-01 -2.86408308e-02 -1.74716319e-02] [-8.31878088e-03 2.84751946e-02 9.99559884e-01 -1.55568505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.331193817 meters Centerline goodness : 0.908010 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.56 [[ 9.99679102e-01 2.41048792e-02 7.78760817e-03 9.75044561e+00] [-2.39029802e-02 9.99400284e-01 -2.50543307e-02 -1.70429036e-02] [-8.38686943e-03 2.48601438e-02 9.99655758e-01 -1.55555895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.361193817 meters Centerline goodness : 0.909674 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.56 [[ 9.99741374e-01 2.21728703e-02 5.05459984e-03 9.75093718e+00] [-2.21195805e-02 9.99701595e-01 -1.03656056e-02 -1.81032459e-02] [-5.28292675e-03 1.02511192e-02 9.99933500e-01 -1.55522213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.391193817 meters Centerline goodness : 0.907520 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.55 [[ 9.99753175e-01 2.17221991e-02 4.66207761e-03 9.75142686e+00] [-2.16707738e-02 9.99706704e-01 -1.08112985e-02 -1.72263064e-02] [-4.89555542e-03 1.07075992e-02 9.99930688e-01 -1.55487327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.421193817 meters Centerline goodness : 0.906450 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.55 [[ 9.99766258e-01 2.11358556e-02 4.55022124e-03 9.75113441e+00] [-2.10857463e-02 9.99719419e-01 -1.07923608e-02 -1.88592566e-02] [-4.77705031e-03 1.06938933e-02 9.99931408e-01 -1.55422524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.451193817 meters Centerline goodness : 0.908480 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.55 [[ 9.99798517e-01 1.96885288e-02 3.90998179e-03 9.75266822e+00] [-1.96431017e-02 9.99742797e-01 -1.13353061e-02 -2.06495284e-02] [-4.13215163e-03 1.12562181e-02 9.99928109e-01 -1.55481953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.481193817 meters Centerline goodness : 0.904504 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.56 [[ 9.99822024e-01 1.85607942e-02 3.37893906e-03 9.75385426e+00] [-1.85209719e-02 9.99762814e-01 -1.14581192e-02 -2.26000969e-02] [-3.59080941e-03 1.13934987e-02 9.99928645e-01 -1.55522448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.511193817 meters Centerline goodness : 0.909334 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.03, Z:-1.55 [[ 9.99949881e-01 9.70971697e-03 2.44071735e-03 9.75077456e+00] [-9.70977847e-03 9.99952859e-01 1.33463430e-05 -2.94044309e-02] [-2.44047270e-03 -3.70444988e-05 9.99997021e-01 -1.55320211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.541193817 meters Centerline goodness : 0.912423 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.03, Z:-1.55 [[ 9.99955814e-01 9.07617009e-03 2.44794950e-03 9.75068087e+00] [-9.07751732e-03 9.99958653e-01 5.39798726e-04 -3.24781039e-02] [-2.44294898e-03 -5.61996178e-04 9.99996858e-01 -1.55332817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57119381700001 meters Centerline goodness : 0.910066 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.03, Z:-1.55 [[ 9.99983411e-01 5.32105425e-03 2.20552952e-03 9.75117307e+00] [-5.31374781e-03 9.99980419e-01 -3.30551170e-03 -3.29943674e-02] [-2.22307513e-03 3.29373724e-03 9.99992105e-01 -1.55336761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60119381700001 meters Centerline goodness : 0.913723 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.03, Z:-1.56 [[ 9.99995089e-01 2.76349769e-03 1.47821243e-03 9.75477457e+00] [-2.75483212e-03 9.99979196e-01 -5.83245409e-03 -3.25289057e-02] [-1.49429965e-03 5.82835322e-03 9.99981899e-01 -1.55616623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63119381700001 meters Centerline goodness : 0.912005 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.03, Z:-1.56 [[ 9.99996248e-01 2.69110901e-03 5.11707570e-04 9.75941607e+00] [-2.68806747e-03 9.99979249e-01 -5.85448131e-03 -3.21291316e-02] [-5.27451999e-04 5.85308384e-03 9.99982731e-01 -1.55950826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66119381700001 meters Centerline goodness : 0.915111 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.03, Z:-1.56 [[ 9.99988761e-01 1.32275701e-03 -4.55290906e-03 9.78786408e+00] [-1.36012138e-03 9.99965344e-01 -8.21341325e-03 -3.28254583e-02] [ 4.54188693e-03 8.21951345e-03 9.99955904e-01 -1.56499293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.691193817 meters Centerline goodness : 0.914522 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.03, Z:-1.57 [[ 9.99986369e-01 1.72305602e-03 -4.92877522e-03 9.78931688e+00] [-1.76159893e-03 9.99967822e-01 -7.82635346e-03 -3.36486396e-02] [ 4.91513137e-03 7.83492931e-03 9.99957227e-01 -1.56594286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.721193817 meters Centerline goodness : 0.911791 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.03, Z:-1.57 [[ 9.99984687e-01 5.40252263e-03 -1.19936757e-03 9.80301082e+00] [-5.41864489e-03 9.99889087e-01 -1.38727296e-02 -3.29998881e-02] [ 1.12428680e-03 1.38790161e-02 9.99903050e-01 -1.57071375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.751193817 meters Centerline goodness : 0.913702 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.03, Z:-1.58 [[ 9.99959807e-01 8.06833889e-03 3.90984678e-03 9.81716688e+00] [-7.98880634e-03 9.99769116e-01 -1.99472752e-02 -2.93814483e-02] [-4.06988543e-03 1.99152385e-02 9.99793388e-01 -1.57528187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.781193817 meters Centerline goodness : 0.915529 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.03, Z:-1.58 [[ 9.99928111e-01 9.83114611e-03 6.86447069e-03 9.83554375e+00] [-9.67468567e-03 9.99700804e-01 -2.24656058e-02 -2.53210340e-02] [-7.08327952e-03 2.23975792e-02 9.99724050e-01 -1.57670499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.811193817 meters Centerline goodness : 0.912808 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.02, Z:-1.58 [[ 9.99878747e-01 1.40891770e-02 6.63225419e-03 9.83609879e+00] [-1.39642004e-02 9.99730834e-01 -1.85272690e-02 -2.41746465e-02] [-6.89150299e-03 1.84324084e-02 9.99806358e-01 -1.57639771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.841193817 meters Centerline goodness : 0.913366 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.02, Z:-1.57 [[ 9.99803618e-01 1.86961621e-02 6.57111286e-03 9.83568688e+00] [-1.85977341e-02 9.99718481e-01 -1.47337159e-02 -2.27235855e-02] [-6.84472691e-03 1.46086147e-02 9.99869861e-01 -1.57489385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.871193817 meters Centerline goodness : 0.912661 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.02, Z:-1.57 [[ 9.99797083e-01 1.91586480e-02 6.22401273e-03 9.83540813e+00] [-1.90661208e-02 9.99711619e-01 -1.46000597e-02 -2.29815626e-02] [-6.50193524e-03 1.44784293e-02 9.99874042e-01 -1.57333242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.901193817 meters Centerline goodness : 0.913269 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.02, Z:-1.57 [[ 9.99788632e-01 1.96893096e-02 5.91799885e-03 9.83510654e+00] [-1.96042228e-02 9.99708287e-01 -1.41072680e-02 -2.42659004e-02] [-6.19403486e-03 1.39882684e-02 9.99882974e-01 -1.57193114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93119381700001 meters Centerline goodness : 0.917050 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.03, Z:-1.57 [[ 9.99782915e-01 2.00404470e-02 5.70123481e-03 9.83447949e+00] [-1.99599051e-02 9.99704851e-01 -1.38496300e-02 -2.53987368e-02] [-5.97710487e-03 1.37328273e-02 9.99887836e-01 -1.57015361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96119381700001 meters Centerline goodness : 0.918265 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.03, Z:-1.57 [[ 9.99696601e-01 2.37134981e-02 6.66146349e-03 9.82961232e+00] [-2.36498425e-02 9.99675380e-01 -9.47734429e-03 -2.76403290e-02] [-6.88404202e-03 9.31692631e-03 9.99932900e-01 -1.56574908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99119381700001 meters Centerline goodness : 0.918009 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.03, Z:-1.57 [[ 9.99689211e-01 2.41014611e-02 6.37182713e-03 9.82991085e+00] [-2.40408437e-02 9.99666551e-01 -9.42468397e-03 -2.69955434e-02] [-6.59685111e-03 9.26857079e-03 9.99935285e-01 -1.56523632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02119381700001 meters Centerline goodness : 0.914265 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.03, Z:-1.57 [[ 9.99681368e-01 2.45643650e-02 5.80980077e-03 9.83127142e+00] [-2.45112636e-02 9.99658670e-01 -9.04108031e-03 -2.76832561e-02] [-6.02990611e-03 8.89579397e-03 9.99942251e-01 -1.56552062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05119381700001 meters Centerline goodness : 0.914673 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.03, Z:-1.57 [[ 9.99663244e-01 2.53877459e-02 5.37229846e-03 9.83232938e+00] [-2.53515763e-02 9.99656165e-01 -6.69689908e-03 -3.40697439e-02] [-5.54047045e-03 6.55844762e-03 9.99963144e-01 -1.56625393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.081193817 meters Centerline goodness : 0.917402 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.04, Z:-1.57 [[ 9.99665684e-01 2.52933980e-02 5.36330963e-03 9.83230376e+00] [-2.52639358e-02 9.99665732e-01 -5.49167884e-03 -3.85527525e-02] [-5.50042006e-03 5.35434458e-03 9.99970538e-01 -1.56648193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.111193817 meters Centerline goodness : 0.914489 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.04, Z:-1.57 [[ 9.99758356e-01 2.14415515e-02 4.84665674e-03 9.83284174e+00] [-2.13959370e-02 9.99728055e-01 -9.27520096e-03 -4.02347267e-02] [-5.04421341e-03 9.16926090e-03 9.99945239e-01 -1.56611279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.141193817 meters Centerline goodness : 0.913584 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.04, Z:-1.57 [[ 9.99768580e-01 2.09760940e-02 4.77389058e-03 9.83278529e+00] [-2.09354473e-02 9.99745451e-01 -8.41076252e-03 -4.33605863e-02] [-4.94910033e-03 8.30887257e-03 9.99953233e-01 -1.56620652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.171193817 meters Centerline goodness : 0.914543 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.05, Z:-1.56 [[ 9.99922896e-01 1.23198715e-02 1.55624208e-03 9.83008011e+00] [-1.23204582e-02 9.99924033e-01 3.67922248e-04 -4.65294967e-02] [-1.55159111e-03 -3.87067495e-04 9.99998721e-01 -1.56406405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.201193817 meters Centerline goodness : 0.913007 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.05, Z:-1.57 [[ 9.99944947e-01 1.04592183e-02 8.41665116e-04 9.83241274e+00] [-1.04582130e-02 9.99944603e-01 -1.19005177e-03 -4.79852449e-02] [-8.54065501e-04 1.18118394e-03 9.99998938e-01 -1.56509735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.231193817 meters Centerline goodness : 0.914929 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.05, Z:-1.57 [[ 9.99977427e-01 6.70226605e-03 4.73532145e-04 9.83325605e+00] [-6.69981202e-03 9.99965022e-01 -5.00670564e-03 -4.82455469e-02] [-5.07071855e-04 5.00342005e-03 9.99987354e-01 -1.56525630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.261193817 meters Centerline goodness : 0.914482 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.05, Z:-1.57 [[ 9.99999958e-01 -2.70542075e-04 -1.01065635e-04 9.83528598e+00] [ 2.69377180e-04 9.99935510e-01 -1.13536016e-02 -5.18398339e-02] [ 1.04130745e-04 1.13535739e-02 9.99935541e-01 -1.56647032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.291193817 meters Centerline goodness : 0.914191 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.05, Z:-1.57 [[ 9.99994165e-01 -3.33096663e-03 -7.58028079e-04 9.83862299e+00] [ 3.32001093e-03 9.99896172e-01 -1.40222075e-02 -5.38593136e-02] [ 8.04656880e-04 1.40196091e-02 9.99901397e-01 -1.56899421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32119381700001 meters Centerline goodness : 0.912626 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.06, Z:-1.57 [[ 9.99988349e-01 -4.53563836e-03 -1.65240696e-03 9.84283224e+00] [ 4.51088909e-03 9.99881986e-01 -1.46855817e-02 -5.51112141e-02] [ 1.71882045e-03 1.46779568e-02 9.99890796e-01 -1.57203741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35119381700001 meters Centerline goodness : 0.913267 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.06, Z:-1.57 [[ 9.99974641e-01 -5.14162832e-03 -4.92753213e-03 9.86705672e+00] [ 5.06879913e-03 9.99879391e-01 -1.46802890e-02 -5.53479531e-02] [ 5.00241841e-03 1.46549401e-02 9.99880097e-01 -1.57435063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38119381700001 meters Centerline goodness : 0.909946 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.05, Z:-1.58 [[ 9.99968243e-01 -5.51195707e-03 -5.75595856e-03 9.87138362e+00] [ 5.42440883e-03 9.99871026e-01 -1.51164406e-02 -5.31584131e-02] [ 5.83853736e-03 1.50847379e-02 9.99869173e-01 -1.57756017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41119381700001 meters Centerline goodness : 0.911635 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.05, Z:-1.58 [[ 9.99966778e-01 -5.35666375e-03 -6.14395869e-03 9.87261143e+00] [ 5.26335737e-03 9.99872081e-01 -1.51036206e-02 -5.28357610e-02] [ 6.22407777e-03 1.50707810e-02 9.99867057e-01 -1.57808745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.441193817 meters Centerline goodness : 0.912604 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.05, Z:-1.58 [[ 9.99964606e-01 -5.25542748e-03 -6.57017989e-03 9.87381550e+00] [ 5.15574650e-03 9.99872731e-01 -1.50976998e-02 -5.30364774e-02] [ 6.64868857e-03 1.50632912e-02 9.99864437e-01 -1.57850442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.471193817 meters Centerline goodness : 0.913129 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.05, Z:-1.58 [[ 9.99962447e-01 -5.01488134e-03 -7.06795697e-03 9.87491556e+00] [ 4.90833989e-03 9.99875274e-01 -1.50114515e-02 -5.30077789e-02] [ 7.14235607e-03 1.49761958e-02 9.99862341e-01 -1.57859296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.501193817 meters Centerline goodness : 0.906867 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.05, Z:-1.58 [[ 9.99995518e-01 -5.36627771e-04 -2.94556598e-03 9.89194357e+00] [ 4.82048190e-04 9.99828764e-01 -1.84989410e-02 -4.88030868e-02] [ 2.95498863e-03 1.84974381e-02 9.99824541e-01 -1.58401743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.531193817 meters Centerline goodness : 0.909720 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.04, Z:-1.59 [[ 9.99996041e-01 2.41176395e-03 -1.44961338e-03 9.91302446e+00] [-2.43859169e-03 9.99820307e-01 -1.87991282e-02 -4.49862358e-02] [ 1.40401383e-03 1.88025888e-02 9.99822230e-01 -1.58567490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.561193817 meters Centerline goodness : 0.909049 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.04, Z:-1.58 [[ 9.99883435e-01 1.51128099e-02 2.17250531e-03 9.94760168e+00] [-1.50357285e-02 9.99376397e-01 -3.19490944e-02 -3.58827319e-02] [-2.65399112e-03 3.19127050e-02 9.99487136e-01 -1.58478477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.591193817 meters Centerline goodness : 0.905335 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.04, Z:-1.58 [[ 9.99798538e-01 2.00031500e-02 1.66068099e-03 9.94804854e+00] [-1.99483966e-02 9.99403184e-01 -2.82017108e-02 -3.50197827e-02] [-2.22381292e-03 2.81629013e-02 9.99600873e-01 -1.58312335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.621193817 meters Centerline goodness : 0.904127 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.03, Z:-1.58 [[ 9.99692701e-01 2.47324049e-02 1.67675494e-03 9.94742743e+00] [-2.46852831e-02 9.99409227e-01 -2.39130350e-02 -3.49737427e-02] [-2.26719122e-03 2.38642954e-02 9.99712636e-01 -1.58173022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.651193817 meters Centerline goodness : 0.903936 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.03, Z:-1.58 [[ 9.99586822e-01 2.87042667e-02 1.50028275e-03 9.94761864e+00] [-2.86679314e-02 9.99382747e-01 -2.03045337e-02 -3.45319027e-02] [-2.08218344e-03 2.02531343e-02 9.99792716e-01 -1.58082644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68119381700001 meters Centerline goodness : 0.902967 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.03, Z:-1.58 [[ 9.99500363e-01 3.15671569e-02 1.59337965e-03 9.94594011e+00] [-3.15344274e-02 9.99348921e-01 -1.75303898e-02 -3.47297485e-02] [-2.14572680e-03 1.74713846e-02 9.99845061e-01 -1.57864396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71119381700001 meters Centerline goodness : 0.901471 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.04, Z:-1.58 [[ 9.99487866e-01 3.19601053e-02 1.59895678e-03 9.94530820e+00] [-3.19287521e-02 9.99348672e-01 -1.68162572e-02 -3.61682137e-02] [-2.13536468e-03 1.67565923e-02 9.99857318e-01 -1.57777136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74119381700001 meters Centerline goodness : 0.899006 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.04, Z:-1.58 [[ 9.99497369e-01 3.16769861e-02 1.25612929e-03 9.94621491e+00] [-3.16518820e-02 9.99361812e-01 -1.65567957e-02 -3.76459307e-02] [-1.77979703e-03 1.65087149e-02 9.99862138e-01 -1.57820111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77119381700001 meters Centerline goodness : 0.900609 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.04, Z:-1.58 [[ 9.99505310e-01 3.14399496e-02 8.15511194e-04 9.94732824e+00] [-3.14227585e-02 9.99376465e-01 -1.61025259e-02 -3.93871584e-02] [-1.32126530e-03 1.60689345e-02 9.99870013e-01 -1.57878286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80119381700001 meters Centerline goodness : 0.902751 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.04, Z:-1.58 [[ 9.99511166e-01 3.12515566e-02 8.77517460e-04 9.94672805e+00] [-3.12352573e-02 9.99403501e-01 -1.47309684e-02 -4.43576067e-02] [-1.33735972e-03 1.46963580e-02 9.99891108e-01 -1.57859861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.831193817 meters Centerline goodness : 0.902751 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.04, Z:-1.58 [[ 9.99511166e-01 3.12515566e-02 8.77517460e-04 9.94672805e+00] [-3.12352573e-02 9.99403501e-01 -1.47309684e-02 -4.43576067e-02] [-1.33735972e-03 1.46963580e-02 9.99891108e-01 -1.57859861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.861193817 meters Centerline goodness : 0.901079 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.05, Z:-1.58 [[ 9.99488555e-01 3.19739369e-02 5.44389429e-04 9.94755773e+00] [-3.19640106e-02 9.99402357e-01 -1.31616868e-02 -4.80264632e-02] [-9.64895020e-04 1.31375544e-02 9.99913233e-01 -1.57906887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.891193817 meters Centerline goodness : 0.901772 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.05, Z:-1.58 [[ 9.99474746e-01 3.24072571e-02 -4.07408209e-05 9.94903482e+00] [-3.24052744e-02 9.99398025e-01 -1.23889184e-02 -5.01507279e-02] [-3.60774566e-04 1.23837313e-02 9.99923254e-01 -1.57962895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.921193817 meters Centerline goodness : 0.899222 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.05, Z:-1.58 [[ 9.99442491e-01 3.33839010e-02 -4.71574605e-04 9.94972566e+00] [-3.33871273e-02 9.99374963e-01 -1.16181793e-02 -5.10845975e-02] [ 8.34197064e-05 1.16274466e-02 9.99932395e-01 -1.57928072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.951193817 meters Centerline goodness : 0.900616 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.05, Z:-1.58 [[ 9.99427274e-01 3.38352713e-02 -5.46703762e-04 9.94928277e+00] [-3.38392163e-02 9.99368194e-01 -1.08682711e-02 -5.28336382e-02] [ 1.78627450e-04 1.08805466e-02 9.99940789e-01 -1.57845087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.981193817 meters Centerline goodness : 0.901165 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.06, Z:-1.58 [[ 9.99415508e-01 3.41720967e-02 -9.54177506e-04 9.94972698e+00] [-3.41798527e-02 9.99367076e-01 -9.85822597e-03 -5.61847080e-02] [ 6.16697333e-04 9.88507756e-03 9.99950951e-01 -1.57809690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.011193817 meters Centerline goodness : 0.901253 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.06, Z:-1.58 [[ 9.99402921e-01 3.45347660e-02 -1.07269726e-03 9.94977571e+00] [-3.45426281e-02 9.99367326e-01 -8.47086252e-03 -6.01174473e-02] [ 7.79479336e-04 8.50285854e-03 9.99963546e-01 -1.57812840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.041193817 meters Centerline goodness : 0.899499 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.06, Z:-1.58 [[ 9.99404502e-01 3.44784958e-02 -1.36899316e-03 9.95058719e+00] [-3.44879221e-02 9.99376275e-01 -7.59234888e-03 -6.34245248e-02] [ 1.10636652e-03 7.63504139e-03 9.99970241e-01 -1.57873610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07119381700001 meters Centerline goodness : 0.905032 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.07, Z:-1.58 [[ 9.99386989e-01 3.49852904e-02 -1.29476269e-03 9.95016685e+00] [-3.49918436e-02 9.99372781e-01 -5.44207959e-03 -6.89485165e-02] [ 1.10355785e-03 5.48404967e-03 9.99984354e-01 -1.57883824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10119381700001 meters Centerline goodness : 0.904419 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.07, Z:-1.58 [[ 9.99482451e-01 3.21059968e-02 -2.00858730e-03 9.95141908e+00] [-3.21225204e-02 9.99445017e-01 -8.82057373e-03 -6.93789577e-02] [ 1.72427926e-03 8.88052954e-03 9.99959081e-01 -1.57881486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13119381700001 meters Centerline goodness : 0.904593 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.07, Z:-1.58 [[ 9.99466692e-01 3.25908216e-02 -2.04199205e-03 9.95142060e+00] [-3.26047419e-02 9.99442380e-01 -7.20137383e-03 -7.32013776e-02] [ 1.80615471e-03 7.26411190e-03 9.99971985e-01 -1.57906244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16119381700001 meters Centerline goodness : 0.904016 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.08, Z:-1.58 [[ 9.99503286e-01 3.13737023e-02 -2.97849287e-03 9.95466457e+00] [-3.13949740e-02 9.99479766e-01 -7.38597790e-03 -7.65380778e-02] [ 2.74521788e-03 7.47581889e-03 9.99968287e-01 -1.58133271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.191193817 meters Centerline goodness : 0.904165 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.08, Z:-1.58 [[ 9.99660549e-01 2.37512826e-02 -1.07081393e-02 9.95442575e+00] [-2.37250611e-02 9.99715220e-01 2.56918024e-03 -8.49668353e-02] [ 1.07661112e-02 -2.31425686e-03 9.99939366e-01 -1.58075863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.221193817 meters Centerline goodness : 0.902021 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.09, Z:-1.58 [[ 9.99742625e-01 1.98603043e-02 -1.09659735e-02 9.95557356e+00] [-1.98678472e-02 9.99802447e-01 -5.79324073e-04 -8.63493256e-02] [ 1.09523016e-02 7.97045256e-04 9.99939704e-01 -1.58218466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.251193817 meters Centerline goodness : 0.901135 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.10, Z:-1.58 [[ 9.99895535e-01 7.67799246e-03 -1.22461224e-02 9.95426714e+00] [-7.55833299e-03 9.99923533e-01 9.78774630e-03 -9.68411953e-02] [ 1.23203362e-02 -9.69416355e-03 9.99877109e-01 -1.58319435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.281193817 meters Centerline goodness : 0.901769 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.10, Z:-1.58 [[ 9.99913850e-01 1.18757107e-03 -1.30722094e-02 9.95736148e+00] [-1.14103115e-03 9.99992987e-01 3.56710121e-03 -9.87492530e-02] [ 1.30763539e-02 -3.55187811e-03 9.99908192e-01 -1.58489919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.311193817 meters Centerline goodness : 0.901915 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.10, Z:-1.59 [[ 9.99906175e-01 -2.97819983e-03 -1.33705485e-02 9.95842925e+00] [ 2.97762670e-03 9.99995565e-01 -6.27718102e-05 -1.01025211e-01] [ 1.33706762e-02 2.29534183e-05 9.99910608e-01 -1.58542271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.341193817 meters Centerline goodness : 0.901971 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.10, Z:-1.59 [[ 9.99967840e-01 -4.58859282e-03 -6.57758876e-03 9.96562809e+00] [ 4.55833894e-03 9.99978998e-01 -4.60717523e-03 -1.02676917e-01] [ 6.59859107e-03 4.57704418e-03 9.99967754e-01 -1.59335135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.371193817 meters Centerline goodness : 0.900639 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.10, Z:-1.60 [[ 9.99996866e-01 -2.50290590e-03 -5.23704180e-05 9.97630067e+00] [ 2.50212887e-03 9.99929426e-01 -1.16138912e-02 -1.01862079e-01] [ 8.14351988e-05 1.16137238e-02 9.99932555e-01 -1.59708274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.401193817 meters Centerline goodness : 0.899902 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.10, Z:-1.60 [[ 9.99991629e-01 3.09443712e-04 4.08002509e-03 9.99236131e+00] [-2.59313382e-04 9.99924545e-01 -1.22815793e-02 -9.86820167e-02] [-4.08351769e-03 1.22804185e-02 9.99916255e-01 -1.59589531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43119381700001 meters Centerline goodness : 0.902062 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.10, Z:-1.60 [[ 9.99984214e-01 4.11260700e-03 3.82868309e-03 9.99270146e+00] [-4.08029508e-03 9.99956316e-01 -8.40933412e-03 -9.87772544e-02] [-3.86310012e-03 8.39357922e-03 9.99957311e-01 -1.59552227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46119381700001 meters Centerline goodness : 0.902504 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.10, Z:-1.60 [[ 9.99964657e-01 5.54477447e-03 6.31976712e-03 1.00116497e+01] [-5.46974322e-03 9.99915080e-01 -1.18285540e-02 -9.57055407e-02] [-6.38481711e-03 1.17935685e-02 9.99910069e-01 -1.59718986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49119381700001 meters Centerline goodness : 0.899046 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.09, Z:-1.60 [[ 9.99933121e-01 7.32052707e-03 8.95344691e-03 1.00306542e+01] [-7.18355078e-03 9.99858115e-01 -1.52363715e-02 -9.23127945e-02] [-9.06371482e-03 1.51710350e-02 9.99843832e-01 -1.59943582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52119381700001 meters Centerline goodness : 0.901569 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.09, Z:-1.60 [[ 9.99862086e-01 1.51819701e-02 6.73177524e-03 1.00597620e+01] [-1.50364101e-02 9.99662803e-01 -2.11704073e-02 -9.01851333e-02] [-7.05091380e-03 2.10662659e-02 9.99753218e-01 -1.59914141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55119381700001 meters Centerline goodness : 0.900764 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.09, Z:-1.60 [[ 9.99835984e-01 1.66685868e-02 7.08254124e-03 1.00810629e+01] [-1.64942934e-02 9.99576045e-01 -2.39930849e-02 -8.87104474e-02] [-7.47946938e-03 2.38723281e-02 9.99687036e-01 -1.60144065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.581193817 meters Centerline goodness : 0.900432 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.09, Z:-1.60 [[ 9.99759838e-01 2.07762754e-02 6.97232933e-03 1.00815781e+01] [-2.06401783e-02 9.99605374e-01 -1.90546376e-02 -9.12507442e-02] [-7.36546227e-03 1.89061513e-02 9.99794133e-01 -1.60193476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.611193817 meters Centerline goodness : 0.896838 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.09, Z:-1.60 [[ 9.99666949e-01 2.48543753e-02 6.94625733e-03 1.00821086e+01] [-2.47545869e-02 9.99594113e-01 -1.41003741e-02 -9.37352474e-02] [-7.29389392e-03 1.39237263e-02 9.99876457e-01 -1.60265409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.641193817 meters Centerline goodness : 0.898840 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.09, Z:-1.60 [[ 9.99656192e-01 2.53702103e-02 6.62196586e-03 1.00833211e+01] [-2.52774072e-02 9.99586035e-01 -1.37408313e-02 -9.35603691e-02] [-6.96783238e-03 1.35687209e-02 9.99883663e-01 -1.60340626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.671193817 meters Centerline goodness : 0.898634 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.09, Z:-1.60 [[ 9.99648120e-01 2.58148196e-02 6.10175239e-03 1.00845763e+01] [-2.57327092e-02 9.99582067e-01 -1.31726667e-02 -9.45150426e-02] [-6.43925228e-03 1.30110169e-02 9.99894619e-01 -1.60380458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.701193817 meters Centerline goodness : 0.897633 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.10, Z:-1.60 [[ 9.99643417e-01 2.60350914e-02 5.93398238e-03 1.00846266e+01] [-2.59661456e-02 9.99597660e-01 -1.14139094e-02 -9.96112498e-02] [-6.22875707e-03 1.12557567e-02 9.99917252e-01 -1.60392819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.731193817 meters Centerline goodness : 0.900660 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.10, Z:-1.60 [[ 9.99646926e-01 2.59623096e-02 5.65529437e-03 1.00849255e+01] [-2.59016072e-02 9.99608775e-01 -1.05547954e-02 -1.02803483e-01] [-5.92710875e-03 1.04045876e-02 9.99928304e-01 -1.60385119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.761193817 meters Centerline goodness : 0.896913 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.11, Z:-1.60 [[ 9.99638696e-01 2.62668808e-02 5.70336695e-03 1.00841765e+01] [-2.62127948e-02 9.99612570e-01 -9.35942344e-03 -1.06108965e-01] [-5.94700015e-03 9.20654065e-03 9.99939935e-01 -1.60313918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.791193817 meters Centerline goodness : 0.899680 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.11, Z:-1.60 [[ 9.99636224e-01 2.63802032e-02 5.61296129e-03 1.00840161e+01] [-2.63336265e-02 9.99619445e-01 -8.21618203e-03 -1.09351817e-01] [-5.82756980e-03 8.06538355e-03 9.99950493e-01 -1.60296254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82119381700001 meters Centerline goodness : 0.903550 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.11, Z:-1.60 [[ 9.99634262e-01 2.65262834e-02 5.26285059e-03 1.00847593e+01] [-2.64854556e-02 9.99619686e-01 -7.68143268e-03 -1.10823437e-01] [-5.46460892e-03 7.53923430e-03 9.99956648e-01 -1.60319437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85119381700001 meters Centerline goodness : 0.900502 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.11, Z:-1.60 [[ 9.99629667e-01 2.68044000e-02 4.69606918e-03 1.00858767e+01] [-2.67714813e-02 9.99617504e-01 -6.93781377e-03 -1.12984743e-01] [-4.88023689e-03 6.80952374e-03 9.99964906e-01 -1.60335248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88119381700001 meters Centerline goodness : 0.900641 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.12, Z:-1.60 [[ 9.99623953e-01 2.70916104e-02 4.24241420e-03 1.00868976e+01] [-2.70663414e-02 9.99616201e-01 -5.90455103e-03 -1.15813516e-01] [-4.40074976e-03 5.78750401e-03 9.99973569e-01 -1.60386143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91119381700001 meters Centerline goodness : 0.900197 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.12, Z:-1.61 [[ 9.99648647e-01 2.62396859e-02 3.74988646e-03 1.00884713e+01] [-2.62208273e-02 9.99643707e-01 -4.99278395e-03 -1.21607437e-01] [-3.87955948e-03 4.89270459e-03 9.99980505e-01 -1.60538066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.941193817 meters Centerline goodness : 0.899921 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.12, Z:-1.61 [[ 9.99666920e-01 2.55262412e-02 3.80271284e-03 1.00885801e+01] [-2.55090586e-02 9.99664461e-01 -4.50047716e-03 -1.23827910e-01] [-3.91631714e-03 4.40197451e-03 9.99982642e-01 -1.60610078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.971193817 meters Centerline goodness : 0.903107 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.13, Z:-1.61 [[ 9.99766236e-01 2.12847698e-02 3.79893175e-03 1.00884150e+01] [-2.12588427e-02 9.99751290e-01 -6.73949037e-03 -1.28216612e-01] [-3.94143541e-03 6.65715402e-03 9.99970073e-01 -1.60685010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.001193817 meters Centerline goodness : 0.905455 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.13, Z:-1.61 [[ 9.99786455e-01 2.02237755e-02 4.24776991e-03 1.00875732e+01] [-2.02000693e-02 9.99780545e-01 -5.55152725e-03 -1.32018875e-01] [-4.35911055e-03 5.46453650e-03 9.99975568e-01 -1.60765064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.031193817 meters Centerline goodness : 0.905719 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.13, Z:-1.61 [[ 9.99865968e-01 1.59057867e-02 3.87975923e-03 1.00887269e+01] [-1.58682232e-02 9.99828696e-01 -9.52780145e-03 -1.33032925e-01] [-4.03064179e-03 9.46495953e-03 9.99947083e-01 -1.60840630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.061193817 meters Centerline goodness : 0.903398 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.13, Z:-1.61 [[ 9.99927458e-01 1.15356602e-02 3.46501204e-03 1.00897264e+01] [-1.14876439e-02 9.99841910e-01 -1.35716556e-02 -1.33809924e-01] [-3.62102227e-03 1.35308663e-02 9.99901897e-01 -1.60872528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.091193817 meters Centerline goodness : 0.903428 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.13, Z:-1.61 [[ 9.99966215e-01 7.47673361e-03 3.41570778e-03 1.00896061e+01] [-7.41615615e-03 9.99820824e-01 -1.74161150e-02 -1.34323236e-01] [-3.54531142e-03 1.73901951e-02 9.99842494e-01 -1.60846978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.121193817 meters Centerline goodness : 0.903649 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.14, Z:-1.61 [[ 9.99987099e-01 -1.67830174e-03 4.79423676e-03 1.01051460e+01] [ 1.72927201e-03 9.99941821e-01 -1.06472853e-02 -1.35634600e-01] [-4.77608848e-03 1.06554385e-02 9.99931823e-01 -1.60579045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.151193817 meters Centerline goodness : 0.907102 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.14, Z:-1.61 [[ 9.99986525e-01 -2.54996939e-03 4.52193525e-03 1.01057156e+01] [ 2.60028474e-03 9.99934387e-01 -1.11562020e-02 -1.35007004e-01] [-4.49319058e-03 1.11678100e-02 9.99927543e-01 -1.60566707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18119381700001 meters Centerline goodness : 0.904608 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.13, Z:-1.61 [[ 9.99985145e-01 -3.46463923e-03 4.20791539e-03 1.01067784e+01] [ 3.51497266e-03 9.99921655e-01 -1.20137056e-02 -1.33633823e-01] [-4.16596256e-03 1.20283178e-02 9.99918979e-01 -1.60615965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21119381700001 meters Centerline goodness : 0.904508 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.13, Z:-1.61 [[ 9.99984683e-01 -3.91495192e-03 3.91242933e-03 1.01076854e+01] [ 3.96445485e-03 9.99911161e-01 -1.27261113e-02 -1.31572011e-01] [-3.86225964e-03 1.27414270e-02 9.99911366e-01 -1.60650843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24119381700001 meters Centerline goodness : 0.901319 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.13, Z:-1.61 [[ 9.99991591e-01 -1.93878796e-03 3.61361393e-03 1.01089920e+01] [ 1.98013185e-03 9.99932223e-01 -1.14729024e-02 -1.25890149e-01] [-3.59112548e-03 1.14799614e-02 9.99927655e-01 -1.60725554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27119381700001 meters Centerline goodness : 0.902041 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.12, Z:-1.61 [[ 9.99994416e-01 4.88244364e-04 3.30604241e-03 1.01105479e+01] [-4.56413891e-04 9.99953604e-01 -9.62188789e-03 -1.21512038e-01] [-3.31058686e-03 9.62032524e-03 9.99948243e-01 -1.60829611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30119381700001 meters Centerline goodness : 0.900743 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.11, Z:-1.61 [[ 9.99979690e-01 1.88368394e-03 6.08870173e-03 1.01290952e+01] [-1.78854202e-03 9.99876809e-01 -1.55938328e-02 -1.08359822e-01] [-6.11732551e-03 1.55826262e-02 9.99859870e-01 -1.61111056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.331193817 meters Centerline goodness : 0.898739 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.10, Z:-1.61 [[ 9.99964666e-01 2.51970965e-03 8.01984718e-03 1.01488972e+01] [-2.36886377e-03 9.99821147e-01 -1.87633162e-02 -1.03910477e-01] [-8.06569092e-03 1.87436552e-02 9.99791788e-01 -1.61231532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.361193817 meters Centerline goodness : 0.898195 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.10, Z:-1.61 [[ 9.99966709e-01 3.42695102e-03 7.40523686e-03 1.01515030e+01] [-3.29264763e-03 9.99831249e-01 -1.80729804e-02 -1.00271043e-01] [-7.46592243e-03 1.80479959e-02 9.99809247e-01 -1.61384532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.391193817 meters Centerline goodness : 0.897089 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.10, Z:-1.62 [[ 9.99970025e-01 4.45806507e-03 6.33044000e-03 1.01746732e+01] [-4.33356353e-03 9.99799557e-01 -1.95464847e-02 -9.52584120e-02] [-6.41631061e-03 1.95184654e-02 9.99788908e-01 -1.61623511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.421193817 meters Centerline goodness : 0.899013 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.08, Z:-1.62 [[ 9.99955780e-01 5.30293458e-03 7.76637505e-03 1.01960692e+01] [-5.11067952e-03 9.99685076e-01 -2.45688667e-02 -8.06316536e-02] [-7.89421633e-03 2.45280888e-02 9.99667972e-01 -1.62009670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.451193817 meters Centerline goodness : 0.895506 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.08, Z:-1.62 [[ 9.99946097e-01 7.42907192e-03 7.25344822e-03 1.01981354e+01] [-7.26051305e-03 9.99709225e-01 -2.29945860e-02 -7.58549546e-02] [-7.42216753e-03 2.29406828e-02 9.99709276e-01 -1.62117191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.481193817 meters Centerline goodness : 0.895960 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.07, Z:-1.62 [[ 9.99927599e-01 9.88840127e-03 6.85690866e-03 1.01999912e+01] [-9.74095327e-03 9.99727514e-01 -2.12134675e-02 -7.09858832e-02] [-7.06480753e-03 2.11451388e-02 9.99751455e-01 -1.62227179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.511193817 meters Centerline goodness : 0.895175 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.07, Z:-1.62 [[ 9.99897919e-01 1.27225654e-02 6.50285068e-03 1.02014492e+01] [-1.25949781e-02 9.99734435e-01 -1.92983499e-02 -6.55238379e-02] [-6.74664827e-03 1.92144766e-02 9.99792622e-01 -1.62290709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.541193817 meters Centerline goodness : 0.894609 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.05, Z:-1.63 [[ 9.99814198e-01 1.79726683e-02 6.96800033e-03 1.02232321e+01] [-1.78161769e-02 9.99601292e-01 -2.19052539e-02 -5.03800961e-02] [-7.35891800e-03 2.17770407e-02 9.99735769e-01 -1.62551039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57119381700001 meters Centerline goodness : 0.896495 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.04, Z:-1.63 [[ 9.99753387e-01 2.12418938e-02 6.47664634e-03 1.02252196e+01] [-2.11053588e-02 9.99567739e-01 -2.04670370e-02 -4.39088050e-02] [-6.90860536e-03 2.03252976e-02 9.99769550e-01 -1.62593557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60119381700001 meters Centerline goodness : 0.891145 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.04, Z:-1.63 [[ 9.99671642e-01 2.48818929e-02 6.12371946e-03 1.02266552e+01] [-2.47657770e-02 9.99524700e-01 -1.83583848e-02 -3.78812957e-02] [-6.57760022e-03 1.82006980e-02 9.99812717e-01 -1.62609390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63119381700001 meters Centerline goodness : 0.892818 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.03, Z:-1.63 [[ 9.99500837e-01 3.10163279e-02 6.00537688e-03 1.02277649e+01] [-3.09272823e-02 9.99418011e-01 -1.43924610e-02 -2.69374415e-02] [-6.44828310e-03 1.41995468e-02 9.99878389e-01 -1.62604124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66119381700001 meters Centerline goodness : 0.890829 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.02, Z:-1.63 [[ 9.99410564e-01 3.38159139e-02 5.91675425e-03 1.02280030e+01] [-3.37420013e-02 9.99356413e-01 -1.21752270e-02 -2.26646126e-02] [-6.32466274e-03 1.19684074e-02 9.99908374e-01 -1.62563250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.691193817 meters Centerline goodness : 0.890829 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.02, Z:-1.63 [[ 9.99410564e-01 3.38159139e-02 5.91675425e-03 1.02280030e+01] [-3.37420013e-02 9.99356413e-01 -1.21752270e-02 -2.26646126e-02] [-6.32466274e-03 1.19684074e-02 9.99908374e-01 -1.62563250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.721193817 meters Centerline goodness : 0.889779 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.02, Z:-1.62 [[ 9.99327778e-01 3.61461656e-02 6.11933366e-03 1.02272531e+01] [-3.60822680e-02 9.99296269e-01 -1.02487885e-02 -1.88355549e-02] [-6.48548170e-03 1.00210996e-02 9.99928756e-01 -1.62472055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.751193817 meters Centerline goodness : 0.891487 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.02, Z:-1.62 [[ 9.99278600e-01 3.74339658e-02 6.40134843e-03 1.02256693e+01] [-3.73747350e-02 9.99259567e-01 -9.13488683e-03 -1.58031642e-02] [-6.73856371e-03 8.88904822e-03 9.99937786e-01 -1.62311605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.781193817 meters Centerline goodness : 0.893016 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.01, Z:-1.62 [[ 9.99311942e-01 3.65371958e-02 6.37783617e-03 1.02253883e+01] [-3.64653174e-02 9.99273889e-01 -1.10442778e-02 -1.06249552e-02] [-6.77673209e-03 1.08041088e-02 9.99918670e-01 -1.62241624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.811193817 meters Centerline goodness : 0.892643 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.01, Z:-1.62 [[ 9.99206597e-01 3.93067643e-02 6.41512242e-03 1.02257504e+01] [-3.92542889e-02 9.99196337e-01 -8.11059636e-03 -9.18885863e-03] [-6.72876812e-03 7.85234032e-03 9.99946531e-01 -1.62262191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.841193817 meters Centerline goodness : 0.891728 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.01, Z:-1.62 [[ 9.99089321e-01 4.21851337e-02 6.39872291e-03 1.02261255e+01] [-4.21513987e-02 9.99097079e-01 -5.31849176e-03 -6.67886375e-03] [-6.61730666e-03 5.04393320e-03 9.99965384e-01 -1.62261618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.871193817 meters Centerline goodness : 0.892787 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.00, Z:-1.62 [[ 9.98952687e-01 4.52948053e-02 6.47383171e-03 1.02263056e+01] [-4.52796395e-02 9.98971297e-01 -2.47038731e-03 -3.98610400e-03] [-6.57906777e-03 2.17466728e-03 9.99975993e-01 -1.62252501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.901193817 meters Centerline goodness : 0.892583 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.00, Z:-1.62 [[ 9.98787330e-01 4.87876155e-02 6.60591742e-03 1.02262064e+01] [-4.87904138e-02 9.98809004e-01 2.63025549e-04 -3.36427319e-04] [-6.58521741e-03 -5.85012031e-04 9.99978146e-01 -1.62211203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93119381700001 meters Centerline goodness : 0.892375 Centerline is valid? [False, False] Translation: X:10.23, Y:0.00, Z:-1.62 [[ 9.98771465e-01 4.91207880e-02 6.53518491e-03 1.02262312e+01] [-4.91222009e-02 9.98792774e-01 5.57553383e-05 1.06086613e-03] [-6.52455672e-03 -3.76709507e-04 9.99978644e-01 -1.62181469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96119381700001 meters Centerline goodness : 0.891350 Centerline is valid? [False, False] Translation: X:10.22, Y:0.00, Z:-1.62 [[ 9.98625181e-01 5.19620815e-02 6.90578930e-03 1.02246913e+01] [-5.19840991e-02 9.98643262e-01 3.04785398e-03 1.61589263e-03] [-6.73804711e-03 -3.40265497e-03 9.99971510e-01 -1.62014429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99119381700001 meters Centerline goodness : 0.891161 Centerline is valid? [False, False] Translation: X:10.22, Y:0.00, Z:-1.62 [[ 9.98430365e-01 5.54706183e-02 7.73414662e-03 1.02209307e+01] [-5.55204526e-02 9.98437136e-01 6.38473813e-03 2.97603009e-03] [-7.36789383e-03 -6.80411974e-03 9.99949708e-01 -1.61662252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02119381700001 meters Centerline goodness : 0.888086 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.00, Z:-1.62 [[ 9.98405606e-01 5.52805671e-02 1.14151307e-02 1.02246349e+01] [-5.55030529e-02 9.98254324e-01 2.01919743e-02 -2.18603858e-04] [-1.02789798e-02 -2.07933549e-02 9.99730953e-01 -1.61569240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05119381700001 meters Centerline goodness : 0.887996 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.00, Z:-1.62 [[ 9.98387246e-01 5.56535765e-02 1.12065322e-02 1.02250364e+01] [-5.58762015e-02 9.98224284e-01 2.06429067e-02 -7.14018207e-04] [-1.00377810e-02 -2.12357932e-02 9.99724104e-01 -1.61562806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.081193817 meters Centerline goodness : 0.886657 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.00, Z:-1.62 [[ 9.98389199e-01 5.57264599e-02 1.06569174e-02 1.02262654e+01] [-5.59475510e-02 9.98197540e-01 2.17150415e-02 -3.94770792e-03] [-9.42760633e-03 -2.22762913e-02 9.99707401e-01 -1.61570929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.111193817 meters Centerline goodness : 0.887287 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.01, Z:-1.62 [[ 9.98394746e-01 5.56566231e-02 1.05010422e-02 1.02265236e+01] [-5.58804038e-02 9.98186633e-01 2.23791409e-02 -6.26374521e-03] [-9.23645258e-03 -2.29300192e-02 9.99694404e-01 -1.61561843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.141193817 meters Centerline goodness : 0.888317 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.01, Z:-1.62 [[ 9.98590686e-01 5.21036389e-02 1.00922010e-02 1.02270410e+01] [-5.22856375e-02 9.98457112e-01 1.86977767e-02 -6.94269727e-03] [-9.10240767e-03 -1.91991028e-02 9.99774245e-01 -1.61573328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.171193817 meters Centerline goodness : 0.884051 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.01, Z:-1.61 [[ 9.98888878e-01 4.63974082e-02 8.26375162e-03 1.02060081e+01] [-4.66254866e-02 9.98463049e-01 2.99600362e-02 -9.23782329e-03] [-6.86098261e-03 -3.03120484e-02 9.99516937e-01 -1.61329179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.201193817 meters Centerline goodness : 0.884734 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.01, Z:-1.61 [[ 9.99164818e-01 4.01557547e-02 7.56192204e-03 1.02078141e+01] [-4.03271671e-02 9.98896475e-01 2.40738771e-02 -1.35713099e-02] [-6.58687257e-03 -2.43587219e-02 9.99681582e-01 -1.61457828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.231193817 meters Centerline goodness : 0.884294 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.01, Z:-1.61 [[ 9.99297301e-01 3.67804167e-02 7.21843712e-03 1.02084488e+01] [-3.69199657e-02 9.99112861e-01 2.02585083e-02 -1.32168290e-02] [-6.46691699e-03 -2.05107771e-02 9.99768717e-01 -1.61485432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.261193817 meters Centerline goodness : 0.881981 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.01, Z:-1.61 [[ 9.99406391e-01 3.37197388e-02 7.06002240e-03 1.02083609e+01] [-3.38325160e-02 9.99291049e-01 1.65154769e-02 -1.22727582e-02] [-6.49811962e-03 -1.67445315e-02 9.99838685e-01 -1.61452120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.291193817 meters Centerline goodness : 0.882571 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.01, Z:-1.61 [[ 9.99513864e-01 3.04491896e-02 6.69943551e-03 1.02086204e+01] [-3.05323044e-02 9.99453412e-01 1.26749713e-02 -1.14989340e-02] [-6.30983108e-03 -1.28733588e-02 9.99897226e-01 -1.61415951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32119381700001 meters Centerline goodness : 0.881812 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.01, Z:-1.61 [[ 9.99587697e-01 2.79082568e-02 6.75026674e-03 1.02066372e+01] [-2.79757184e-02 9.99557426e-01 1.01149538e-02 -1.37645328e-02] [-6.46498852e-03 -1.02996269e-02 9.99926058e-01 -1.61173521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35119381700001 meters Centerline goodness : 0.883604 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.01, Z:-1.61 [[ 9.99615280e-01 2.68474205e-02 6.96483890e-03 1.02046370e+01] [-2.69110236e-02 9.99595451e-01 9.20494696e-03 -1.44011236e-02] [-6.71489220e-03 -9.38883658e-03 9.99933378e-01 -1.60980188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38119381700001 meters Centerline goodness : 0.881241 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.01, Z:-1.61 [[ 9.99700200e-01 2.35266173e-02 6.78296360e-03 1.02046861e+01] [-2.35634038e-02 9.99707785e-01 5.39542879e-03 -1.39931296e-02] [-6.65404533e-03 -5.55364095e-03 9.99962440e-01 -1.60955122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41119381700001 meters Centerline goodness : 0.880499 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.02, Z:-1.61 [[ 9.99784078e-01 1.96443816e-02 6.77458867e-03 1.02044221e+01] [-1.96579187e-02 9.99804887e-01 1.93744354e-03 -1.61053124e-02] [-6.73520698e-03 -2.07019952e-03 9.99975175e-01 -1.60938886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.441193817 meters Centerline goodness : 0.878626 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.02, Z:-1.61 [[ 9.99835194e-01 1.70087286e-02 6.34730270e-03 1.02067727e+01] [-1.70052482e-02 9.99855219e-01 -6.01896689e-04 -1.71224388e-02] [-6.35662123e-03 4.93860035e-04 9.99979675e-01 -1.61140505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.471193817 meters Centerline goodness : 0.875687 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.02, Z:-1.61 [[ 9.99893371e-01 1.32632879e-02 6.10996146e-03 1.02078908e+01] [-1.32367140e-02 9.99902844e-01 -4.36938054e-03 -1.75258155e-02] [-6.16732019e-03 4.28803883e-03 9.99971788e-01 -1.61245327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.501193817 meters Centerline goodness : 0.875274 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.02, Z:-1.61 [[ 9.99898823e-01 1.29704715e-02 5.84038417e-03 1.02091704e+01] [-1.29493921e-02 9.99909554e-01 -3.63270641e-03 -2.06748481e-02] [-5.88697384e-03 3.55670944e-03 9.99976346e-01 -1.61368437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.531193817 meters Centerline goodness : 0.877678 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.02, Z:-1.62 [[ 9.99957170e-01 7.67371583e-03 5.17411765e-03 1.02125130e+01] [-7.63047313e-03 9.99936224e-01 -8.32607789e-03 -2.31601189e-02] [-5.23767962e-03 8.28624032e-03 9.99951951e-01 -1.61639296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.561193817 meters Centerline goodness : 0.873850 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.02, Z:-1.62 [[ 9.99972714e-01 5.80089416e-03 4.57397179e-03 1.02152928e+01] [-5.75497392e-03 9.99933543e-01 -9.98951526e-03 -2.36587316e-02] [-4.63161594e-03 9.96291960e-03 9.99939642e-01 -1.61834223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.591193817 meters Centerline goodness : 0.872697 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.02, Z:-1.62 [[ 9.99976534e-01 5.36657495e-03 4.25819553e-03 1.02160485e+01] [-5.32373651e-03 9.99935741e-01 -1.00085879e-02 -2.43441239e-02] [-4.31163373e-03 9.98568350e-03 9.99940846e-01 -1.61853547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.621193817 meters Centerline goodness : 0.869610 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.02, Z:-1.62 [[ 9.99979114e-01 5.03609288e-03 4.05076428e-03 1.02167351e+01] [-4.99514595e-03 9.99936962e-01 -1.00558290e-02 -2.47837360e-02] [-4.10115102e-03 1.00353848e-02 9.99941234e-01 -1.61888607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.651193817 meters Centerline goodness : 0.870716 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.03, Z:-1.62 [[ 9.99982569e-01 4.63132834e-03 3.66225807e-03 1.02177347e+01] [-4.59375383e-03 9.99937400e-01 -1.02026294e-02 -2.52004176e-02] [-3.70928054e-03 1.01856280e-02 9.99941245e-01 -1.61917844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68119381700001 meters Centerline goodness : 0.866926 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.03, Z:-1.62 [[ 9.99983571e-01 4.55348599e-03 3.48191463e-03 1.02181778e+01] [-4.51725452e-03 9.99936300e-01 -1.03436254e-02 -2.50598598e-02] [-3.52879239e-03 1.03277268e-02 9.99940441e-01 -1.61923354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71119381700001 meters Centerline goodness : 0.868684 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.02, Z:-1.62 [[ 9.99965111e-01 4.94724486e-03 6.73062539e-03 1.02359226e+01] [-4.84706370e-03 9.99878427e-01 -1.48201412e-02 -1.99009475e-02] [-6.80312600e-03 1.47870003e-02 9.99867522e-01 -1.62061746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74119381700001 meters Centerline goodness : 0.871402 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.02, Z:-1.62 [[ 9.99947927e-01 6.33670610e-03 7.99929979e-03 1.02567415e+01] [-6.19995981e-03 9.99836176e-01 -1.70053678e-02 -1.70462085e-02] [-8.10574733e-03 1.69548869e-02 9.99823399e-01 -1.62272210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77119381700001 meters Centerline goodness : 0.870289 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.62 [[ 9.99920206e-01 1.11404058e-02 5.95591567e-03 1.02849332e+01] [-1.10037231e-02 9.99686076e-01 -2.25092968e-02 -1.42247925e-02] [-6.20480866e-03 2.24419635e-02 9.99728893e-01 -1.62145509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80119381700001 meters Centerline goodness : 0.869593 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.01, Z:-1.62 [[ 9.99860231e-01 1.56694840e-02 5.82972885e-03 1.02850968e+01] [-1.55582176e-02 9.99704729e-01 -1.86654081e-02 -1.20580830e-02] [-6.12048481e-03 1.85720991e-02 9.99808790e-01 -1.62101708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.831193817 meters Centerline goodness : 0.869607 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.62 [[ 9.99621993e-01 2.67848531e-02 6.20028610e-03 1.02828849e+01] [-2.67320089e-02 9.99606884e-01 -8.45437550e-03 -8.32617690e-03] [-6.42429788e-03 8.28543358e-03 9.99945038e-01 -1.61822082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.861193817 meters Centerline goodness : 0.873376 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.62 [[ 9.99412617e-01 3.37344750e-02 6.03369557e-03 1.02831716e+01] [-3.37300112e-02 9.99430628e-01 -8.40065099e-04 -8.60075912e-03] [-6.05859931e-03 6.36055040e-04 9.99981444e-01 -1.61747163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.891193817 meters Centerline goodness : 0.868247 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.62 [[ 9.99247664e-01 3.82436552e-02 6.44429301e-03 1.02821037e+01] [-3.82672860e-02 9.99261111e-01 3.58437290e-03 -8.34106458e-03] [-6.30245187e-03 -3.82828185e-03 9.99972811e-01 -1.61648205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.921193817 meters Centerline goodness : 0.870559 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.62 [[ 9.99231151e-01 3.86547447e-02 6.55112890e-03 1.02815944e+01] [-3.86792209e-02 9.99245007e-01 3.65154456e-03 -7.96973168e-03] [-6.40503332e-03 -3.90212964e-03 9.99971874e-01 -1.61593855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.951193817 meters Centerline goodness : 0.868995 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.62 [[ 9.99334845e-01 3.58572601e-02 6.64257827e-03 1.02808584e+01] [-3.58578144e-02 9.99356901e-01 -3.56669378e-05 -7.19201538e-03] [-6.63958535e-03 -2.02545125e-04 9.99977937e-01 -1.61544350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.981193817 meters Centerline goodness : 0.869611 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.62 [[ 9.99435182e-01 3.29012978e-02 6.84258255e-03 1.02799601e+01] [-3.28777171e-02 9.99453146e-01 -3.53058426e-03 -7.22232971e-03] [-6.95500146e-03 3.30362163e-03 9.99970357e-01 -1.61500639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.011193817 meters Centerline goodness : 0.869667 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.61 [[ 9.99419308e-01 3.33541518e-02 6.96753965e-03 1.02796649e+01] [-3.33376853e-02 9.99441102e-01 -2.46627986e-03 -1.06040082e-02] [-7.04590618e-03 2.23256606e-03 9.99972685e-01 -1.61492402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.041193817 meters Centerline goodness : 0.873197 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.61 [[ 9.99405341e-01 3.37647095e-02 6.99349329e-03 1.02795665e+01] [-3.37544796e-02 9.99428913e-01 -1.57571027e-03 -1.34023333e-02] [-7.04270280e-03 1.33871153e-03 9.99974304e-01 -1.61491262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07119381700001 meters Centerline goodness : 0.869269 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.02, Z:-1.62 [[ 9.99498168e-01 3.09696641e-02 6.65518101e-03 1.02803530e+01] [-3.09402058e-02 9.99511176e-01 -4.48468151e-03 -1.55355057e-02] [-6.79081687e-03 4.27651829e-03 9.99967798e-01 -1.61542431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10119381700001 meters Centerline goodness : 0.870581 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.02, Z:-1.62 [[ 9.99563522e-01 2.89153201e-02 6.05551948e-03 1.02825894e+01] [-2.88782168e-02 9.99564156e-01 -6.12753948e-03 -1.98855333e-02] [-6.23005998e-03 5.94999234e-03 9.99962891e-01 -1.61708178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13119381700001 meters Centerline goodness : 0.870528 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.03, Z:-1.62 [[ 9.99694961e-01 2.40791589e-02 5.49346419e-03 1.02848253e+01] [-2.40282422e-02 9.99669373e-01 -9.15360041e-03 -3.02349416e-02] [-5.71205890e-03 9.01880992e-03 9.99943015e-01 -1.61933624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16119381700001 meters Centerline goodness : 0.870492 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.04, Z:-1.62 [[ 9.99799386e-01 1.98086278e-02 2.96755337e-03 1.02755674e+01] [-1.98071144e-02 9.99803675e-01 -5.38505385e-04 -3.80277579e-02] [-2.97763781e-03 4.79618684e-04 9.99995452e-01 -1.61891328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.191193817 meters Centerline goodness : 0.869597 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.04, Z:-1.62 [[ 9.99855634e-01 1.67229834e-02 3.00869200e-03 1.02753375e+01] [-1.67171681e-02 9.99858361e-01 -1.94772254e-03 -4.44792010e-02] [-3.04083758e-03 1.89714455e-03 9.99993577e-01 -1.61929852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.221193817 meters Centerline goodness : 0.873433 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.06, Z:-1.62 [[ 9.99936346e-01 1.10002173e-02 2.50965846e-03 1.02777292e+01] [-1.09889995e-02 9.99929759e-01 -4.44071421e-03 -5.60889564e-02] [-2.55833100e-03 4.41285290e-03 9.99986991e-01 -1.62253932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.251193817 meters Centerline goodness : 0.874198 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.06, Z:-1.62 [[ 9.99961562e-01 8.51529098e-03 2.08888041e-03 1.02801044e+01] [-8.50191184e-03 9.99943808e-01 -6.33231480e-03 -6.05915824e-02] [-2.14268454e-03 6.31431192e-03 9.99977769e-01 -1.62458140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.281193817 meters Centerline goodness : 0.874556 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.07, Z:-1.63 [[ 9.99977487e-01 6.55014584e-03 1.45646667e-03 1.02828582e+01] [-6.53863439e-03 9.99948414e-01 -7.77275541e-03 -6.56710989e-02] [-1.50730422e-03 7.76305712e-03 9.99968731e-01 -1.62668487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.311193817 meters Centerline goodness : 0.874855 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.07, Z:-1.63 [[ 9.99989972e-01 4.45012260e-03 -5.01312821e-04 1.03050253e+01] [-4.45511779e-03 9.99935497e-01 -1.04476888e-02 -7.10680679e-02] [ 4.54786988e-04 1.04498174e-02 9.99945296e-01 -1.62798898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.341193817 meters Centerline goodness : 0.879126 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.08, Z:-1.63 [[ 9.99994399e-01 3.30000287e-03 -5.57923798e-04 1.03056516e+01] [-3.30563276e-03 9.99940346e-01 -1.04104397e-02 -8.04908107e-02] [ 5.23536035e-04 1.04122257e-02 9.99945654e-01 -1.62865167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.371193817 meters Centerline goodness : 0.880527 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.08, Z:-1.63 [[ 9.99994378e-01 3.14064098e-03 1.17509338e-03 1.03254039e+01] [-3.12709783e-03 9.99930643e-01 -1.13547604e-02 -8.35994331e-02] [-1.21067311e-03 1.13510219e-02 9.99934842e-01 -1.62928963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.401193817 meters Centerline goodness : 0.878660 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.09, Z:-1.63 [[ 9.99993142e-01 3.54738611e-03 1.06419006e-03 1.03257647e+01] [-3.53639770e-03 9.99942177e-01 -1.01556511e-02 -8.72621732e-02] [-1.10015454e-03 1.01518181e-02 9.99947864e-01 -1.62947834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43119381700001 meters Centerline goodness : 0.882214 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.09, Z:-1.63 [[ 9.99994672e-01 3.21660261e-03 5.57130558e-04 1.03276604e+01] [-3.21106641e-03 9.99948107e-01 -9.66808437e-03 -9.10588704e-02] [-5.88200032e-04 9.66624387e-03 9.99953108e-01 -1.63062102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46119381700001 meters Centerline goodness : 0.884337 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.10, Z:-1.63 [[ 9.99999732e-01 6.93100718e-04 2.37391405e-04 1.03288027e+01] [-6.90479801e-04 9.99940702e-01 -1.08681397e-02 -9.88633195e-02] [-2.44910043e-04 1.08679729e-02 9.99940912e-01 -1.63134930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49119381700001 meters Centerline goodness : 0.880890 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.10, Z:-1.63 [[ 9.99996541e-01 -2.62770857e-03 1.17958044e-04 1.03290834e+01] [ 2.62909379e-03 9.99900027e-01 -1.38932880e-02 -1.01276551e-01] [-8.14387398e-05 1.38935501e-02 9.99903477e-01 -1.63142496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52119381700001 meters Centerline goodness : 0.883876 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.10, Z:-1.63 [[ 9.99982441e-01 -5.92458566e-03 1.32451006e-04 1.03288785e+01] [ 5.92597871e-03 9.99839235e-01 -1.69229473e-02 -1.03437184e-01] [-3.21682623e-05 1.69234350e-02 9.99856788e-01 -1.63112294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55119381700001 meters Centerline goodness : 0.885090 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.11, Z:-1.63 [[ 9.99986994e-01 -5.09966535e-03 7.13549439e-05 1.03281924e+01] [ 5.10016327e-03 9.99879030e-01 -1.46939864e-02 -1.10466163e-01] [ 3.58810112e-06 1.46941592e-02 9.99892035e-01 -1.62987737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.581193817 meters Centerline goodness : 0.886513 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.11, Z:-1.63 [[ 9.99990006e-01 -4.46450595e-03 -2.34871458e-04 1.03286197e+01] [ 4.46084581e-03 9.99895107e-01 -1.37795603e-02 -1.12491350e-01] [ 2.96365750e-04 1.37783749e-02 9.99905030e-01 -1.62961470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.611193817 meters Centerline goodness : 0.886513 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.11, Z:-1.63 [[ 9.99990006e-01 -4.46450595e-03 -2.34871458e-04 1.03286197e+01] [ 4.46084581e-03 9.99895107e-01 -1.37795603e-02 -1.12491350e-01] [ 2.96365750e-04 1.37783749e-02 9.99905030e-01 -1.62961470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.641193817 meters Centerline goodness : 0.885383 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.11, Z:-1.63 [[ 9.99993164e-01 -1.63286424e-04 3.69397795e-03 1.03410504e+01] [ 2.35376122e-04 9.99809371e-01 -1.95234559e-02 -1.13112972e-01] [-3.69008585e-03 1.95241919e-02 9.99802575e-01 -1.63366643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.671193817 meters Centerline goodness : 0.885453 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.12, Z:-1.63 [[ 9.99988738e-01 2.88884788e-03 3.76541699e-03 1.03614890e+01] [-2.82096053e-03 9.99835597e-01 -1.79114774e-02 -1.15111768e-01] [-3.81654148e-03 1.79006536e-02 9.99832486e-01 -1.63341871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.701193817 meters Centerline goodness : 0.887337 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.12, Z:-1.63 [[ 9.99977914e-01 3.72433374e-03 5.50469121e-03 1.03815016e+01] [-3.61084468e-03 9.99783642e-01 -2.04848955e-02 -1.15366193e-01] [-5.57979281e-03 2.04645665e-02 9.99775008e-01 -1.63460802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.731193817 meters Centerline goodness : 0.884140 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.12, Z:-1.64 [[ 9.99967523e-01 5.43699752e-03 5.94914353e-03 1.04023538e+01] [-5.31150927e-03 9.99767257e-01 -2.09097877e-02 -1.19643758e-01] [-6.06144537e-03 2.08775097e-02 9.99763666e-01 -1.63524852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.761193817 meters Centerline goodness : 0.885579 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.12, Z:-1.64 [[ 9.99968004e-01 5.66024323e-03 5.65261752e-03 1.04032364e+01] [-5.54612976e-03 9.99784530e-01 -2.00033547e-02 -1.22713028e-01] [-5.76462341e-03 1.99713645e-02 9.99783934e-01 -1.63570015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.791193817 meters Centerline goodness : 0.885721 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.12, Z:-1.64 [[ 9.99975746e-01 4.68338799e-03 5.15489602e-03 1.04056555e+01] [-4.57717153e-03 9.99780861e-01 -2.04274071e-02 -1.24645371e-01] [-5.24943585e-03 2.04033169e-02 9.99778049e-01 -1.63748947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82119381700001 meters Centerline goodness : 0.887524 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.13, Z:-1.64 [[ 9.99980956e-01 4.13802372e-03 4.57873894e-03 1.04077960e+01] [-4.04394867e-03 9.99784372e-01 -2.03680082e-02 -1.26529903e-01] [-4.66203493e-03 2.03491042e-02 9.99782066e-01 -1.63884904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85119381700001 meters Centerline goodness : 0.885339 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.13, Z:-1.64 [[ 9.99984565e-01 3.49472836e-03 4.31938269e-03 1.04096722e+01] [-3.40798960e-03 9.99795607e-01 -1.99280945e-02 -1.30231544e-01] [-4.38814312e-03 1.99130665e-02 9.99792085e-01 -1.64063642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88119381700001 meters Centerline goodness : 0.887506 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.13, Z:-1.64 [[ 9.99988014e-01 2.94996812e-03 3.90767882e-03 1.04109369e+01] [-2.87212426e-03 9.99800256e-01 -1.97787614e-02 -1.32300664e-01] [-3.96524500e-03 1.97673010e-02 9.99796745e-01 -1.64115701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91119381700001 meters Centerline goodness : 0.887017 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.14, Z:-1.64 [[ 9.99989403e-01 2.55233609e-03 3.83145791e-03 1.04111065e+01] [-2.47809532e-03 9.99811478e-01 -1.92579085e-02 -1.35363260e-01] [-3.87988825e-03 1.92482097e-02 9.99807208e-01 -1.64110971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.941193817 meters Centerline goodness : 0.889643 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.14, Z:-1.64 [[ 9.99976600e-01 -5.73186652e-03 3.73443028e-03 1.04116234e+01] [ 5.83016716e-03 9.99622032e-01 -2.68663964e-02 -1.37947637e-01] [-3.57902419e-03 2.68875400e-02 9.99632058e-01 -1.64151456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.971193817 meters Centerline goodness : 0.889477 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.14, Z:-1.64 [[ 9.99941687e-01 -1.01814702e-02 3.60007217e-03 1.04126850e+01] [ 1.02885308e-02 9.99463680e-01 -3.10885649e-02 -1.38039686e-01] [-3.28161409e-03 3.11237915e-02 9.99510150e-01 -1.64247867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.001193817 meters Centerline goodness : 0.890894 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.14, Z:-1.64 [[ 9.99919723e-01 -1.22642862e-02 3.18348837e-03 1.04149638e+01] [ 1.23608522e-02 9.99400810e-01 -3.23300362e-02 -1.38654060e-01] [-2.78507603e-03 3.23667914e-02 9.99472178e-01 -1.64408357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.031193817 meters Centerline goodness : 0.888478 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.14, Z:-1.64 [[ 9.99835748e-01 -1.78596892e-02 3.08356648e-03 1.04154220e+01] [ 1.79628706e-02 9.99134502e-01 -3.75177599e-02 -1.37333967e-01] [-2.41084212e-03 3.75669873e-02 9.99291203e-01 -1.64406103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.061193817 meters Centerline goodness : 0.892352 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.14, Z:-1.64 [[ 9.99828967e-01 -1.82679449e-02 2.88441029e-03 1.04153932e+01] [ 1.83638087e-02 9.99119493e-01 -3.77227818e-02 -1.37292647e-01] [-2.19275285e-03 3.77692987e-02 9.99284080e-01 -1.64341204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.091193817 meters Centerline goodness : 0.888092 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.14, Z:-1.64 [[ 9.99872429e-01 -1.57510999e-02 2.65112639e-03 1.04159438e+01] [ 1.58333633e-02 9.99277103e-01 -3.45626528e-02 -1.37408467e-01] [-2.10481010e-03 3.46002198e-02 9.99399017e-01 -1.64344974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.121193817 meters Centerline goodness : 0.893219 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.14, Z:-1.64 [[ 9.99907776e-01 -1.34039700e-02 2.18483167e-03 1.04174794e+01] [ 1.34673344e-02 9.99391854e-01 -3.21644784e-02 -1.35139341e-01] [-1.75237127e-03 3.21909359e-02 9.99480201e-01 -1.64417524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.151193817 meters Centerline goodness : 0.892413 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.13, Z:-1.64 [[ 9.99944781e-01 -1.03290658e-02 1.93539029e-03 1.04183173e+01] [ 1.03811064e-02 9.99521196e-01 -2.91480917e-02 -1.32767718e-01] [-1.63339106e-03 2.91665737e-02 9.99573230e-01 -1.64458428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18119381700001 meters Centerline goodness : 0.892505 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.13, Z:-1.65 [[ 9.99962904e-01 -8.50430833e-03 1.36686262e-03 1.04203825e+01] [ 8.53926349e-03 9.99571181e-01 -2.80095428e-02 -1.26857041e-01] [-1.12807470e-03 2.80201758e-02 9.99606721e-01 -1.64564202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21119381700001 meters Centerline goodness : 0.892711 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.12, Z:-1.65 [[ 9.99959347e-01 -8.94234389e-03 1.15677468e-03 1.04210553e+01] [ 8.97211285e-03 9.99539827e-01 -2.89764716e-02 -1.24195340e-01] [-8.97124793e-04 2.89856723e-02 9.99579425e-01 -1.64586233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24119381700001 meters Centerline goodness : 0.891608 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.12, Z:-1.65 [[ 9.99953780e-01 -9.56160593e-03 1.00699043e-03 1.04216793e+01] [ 9.58760711e-03 9.99500082e-01 -3.01274490e-02 -1.20899403e-01] [-7.18420221e-04 3.01357111e-02 9.99545558e-01 -1.64615743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27119381700001 meters Centerline goodness : 0.892353 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.11, Z:-1.65 [[ 9.99922633e-01 -1.24278309e-02 5.26305525e-04 1.04242499e+01] [ 1.24384667e-02 9.99367404e-01 -3.33177940e-02 -1.10319069e-01] [-1.11904678e-04 3.33217628e-02 9.99444670e-01 -1.64751566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30119381700001 meters Centerline goodness : 0.889987 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.11, Z:-1.65 [[ 9.99905992e-01 -1.37083607e-02 2.96763285e-04 1.04256062e+01] [ 1.37103228e-02 9.99288453e-01 -3.51370785e-02 -1.05167503e-01] [ 1.85119622e-04 3.51378441e-02 9.99382458e-01 -1.64842351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.331193817 meters Centerline goodness : 0.890580 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.10, Z:-1.65 [[ 9.99882187e-01 -1.53487606e-02 -1.64709209e-04 1.04276476e+01] [ 1.53319073e-02 9.99184998e-01 -3.73399512e-02 -1.00111930e-01] [ 7.37696941e-04 3.73330267e-02 9.99302607e-01 -1.64959994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.361193817 meters Centerline goodness : 0.888553 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.09, Z:-1.65 [[ 9.99854869e-01 -1.70237224e-02 -6.59399132e-04 1.04292085e+01] [ 1.69841818e-02 9.99068800e-01 -3.96619484e-02 -9.49832487e-02] [ 1.33397910e-03 3.96449928e-02 9.99212938e-01 -1.65006400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.391193817 meters Centerline goodness : 0.888928 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.09, Z:-1.65 [[ 9.99832789e-01 -1.82681507e-02 -8.17870565e-04 1.04295611e+01] [ 1.82182806e-02 9.98967058e-01 -4.16282439e-02 -8.96829097e-02] [ 1.57749679e-03 4.16063830e-02 9.99132834e-01 -1.64981880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.421193817 meters Centerline goodness : 0.888352 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.08, Z:-1.65 [[ 9.99756116e-01 -2.20485577e-02 1.25256531e-03 1.04444673e+01] [ 2.20765751e-02 9.99287560e-01 -3.06104209e-02 -7.80430007e-02] [-5.76757298e-04 3.06306079e-02 9.99530606e-01 -1.64770012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.451193817 meters Centerline goodness : 0.888986 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.07, Z:-1.65 [[ 9.99788320e-01 -2.03534669e-02 3.00847882e-03 1.04644609e+01] [ 2.04404979e-02 9.99263593e-01 -3.24724301e-02 -7.08810151e-02] [-2.34533682e-03 3.25270511e-02 9.99468104e-01 -1.64906195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.481193817 meters Centerline goodness : 0.888305 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.06, Z:-1.65 [[ 9.99889613e-01 -1.47933747e-02 1.38485230e-03 1.04881546e+01] [ 1.48302741e-02 9.99372516e-01 -3.21657867e-02 -5.69452030e-02] [-9.08142790e-04 3.21827738e-02 9.99481588e-01 -1.65257659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.511193817 meters Centerline goodness : 0.885674 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.05, Z:-1.65 [[ 9.99942230e-01 -1.06887763e-02 -1.13433182e-03 1.05113499e+01] [ 1.06494869e-02 9.99483695e-01 -3.03138897e-02 -5.12364893e-02] [ 1.45776455e-03 3.03000584e-02 9.99539785e-01 -1.65442174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.541193817 meters Centerline goodness : 0.883806 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.04, Z:-1.66 [[ 9.99966961e-01 -8.00108698e-03 -1.43510361e-03 1.05133536e+01] [ 7.95655296e-03 9.99555365e-01 -2.87361344e-02 -4.45123785e-02] [ 1.66438582e-03 2.87237665e-02 9.99586002e-01 -1.65598292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57119381700001 meters Centerline goodness : 0.883682 Centerline is valid? [False, False] Translation: X:10.52, Y:-0.04, Z:-1.66 [[ 9.99983699e-01 -5.42451384e-03 -1.78243011e-03 1.05152626e+01] [ 5.37402852e-03 9.99615489e-01 -2.72028277e-02 -3.82987538e-02] [ 1.92930686e-03 2.71928055e-02 9.99628345e-01 -1.65730079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60119381700001 meters Centerline goodness : 0.882116 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.02, Z:-1.66 [[ 9.99999834e-01 4.73679161e-04 3.27954399e-04 1.05356705e+01] [-4.64720833e-04 9.99640783e-01 -2.67971756e-02 -2.49029490e-02] [-3.40529856e-04 2.67970187e-02 9.99640837e-01 -1.66022857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63119381700001 meters Centerline goodness : 0.884588 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.02, Z:-1.66 [[ 9.99985609e-01 4.51385065e-03 2.89950036e-03 1.05544952e+01] [-4.43792872e-03 9.99660418e-01 -2.56778636e-02 -1.83842664e-02] [-3.01442178e-03 2.56646263e-02 9.99666064e-01 -1.66060270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66119381700001 meters Centerline goodness : 0.887148 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.01, Z:-1.66 [[ 9.99963504e-01 8.06618849e-03 2.81568615e-03 1.05550959e+01] [-7.99814770e-03 9.99694352e-01 -2.33929773e-02 -1.17488551e-02] [-3.00351771e-03 2.33696033e-02 9.99722382e-01 -1.66062371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.691193817 meters Centerline goodness : 0.885605 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.01, Z:-1.66 [[ 9.99916457e-01 1.27287832e-02 2.24863352e-03 1.05576741e+01] [-1.26831181e-02 9.99733821e-01 -1.92723855e-02 -6.01318796e-03] [-2.49334900e-03 1.92422557e-02 9.99811742e-01 -1.66203355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.721193817 meters Centerline goodness : 0.884221 Centerline is valid? [False, False] Translation: X:10.56, Y:0.00, Z:-1.66 [[ 9.99833555e-01 1.80948158e-02 2.33223604e-03 1.05581020e+01] [-1.80573818e-02 9.99721707e-01 -1.51802035e-02 3.16375103e-03] [-2.60626998e-03 1.51355627e-02 9.99882054e-01 -1.66223357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.751193817 meters Centerline goodness : 0.888499 Centerline is valid? [False, False] Translation: X:10.56, Y:0.01, Z:-1.66 [[ 9.99793457e-01 2.01452730e-02 2.68555273e-03 1.05573114e+01] [-2.01079266e-02 9.99709679e-01 -1.32751030e-02 6.13573937e-03] [-2.95220363e-03 1.32183602e-02 9.99908276e-01 -1.66187100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.781193817 meters Centerline goodness : 0.889112 Centerline is valid? [False, False] Translation: X:10.56, Y:0.01, Z:-1.66 [[ 9.99764226e-01 2.14926703e-02 3.09143578e-03 1.05556099e+01] [-2.14539538e-02 9.99697162e-01 -1.20545836e-02 9.63715475e-03] [-3.34958476e-03 1.19854179e-02 9.99922562e-01 -1.66049761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.811193817 meters Centerline goodness : 0.887798 Centerline is valid? [False, False] Translation: X:10.55, Y:0.01, Z:-1.66 [[ 9.99736908e-01 2.26368059e-02 3.69991682e-03 1.05531058e+01] [-2.25946015e-02 9.99683351e-01 -1.10761976e-02 1.37388771e-02] [-3.94947498e-03 1.09896854e-02 9.99931812e-01 -1.65852559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.841193817 meters Centerline goodness : 0.887654 Centerline is valid? [False, False] Translation: X:10.55, Y:0.02, Z:-1.66 [[ 9.99732889e-01 2.26633444e-02 4.53032038e-03 1.05492038e+01] [-2.26090343e-02 9.99675919e-01 -1.16999302e-02 2.26035414e-02] [-4.79401173e-03 1.15943789e-02 9.99921291e-01 -1.65529355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.871193817 meters Centerline goodness : 0.889407 Centerline is valid? [False, False] Translation: X:10.55, Y:0.03, Z:-1.65 [[ 9.99742944e-01 2.22317983e-02 4.44902065e-03 1.05492218e+01] [-2.21738605e-02 9.99673795e-01 -1.26737093e-02 2.57515011e-02] [-4.72932871e-03 1.25717995e-02 9.99909788e-01 -1.65490191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.901193817 meters Centerline goodness : 0.887601 Centerline is valid? [False, False] Translation: X:10.55, Y:0.03, Z:-1.65 [[ 9.99703385e-01 2.38687663e-02 4.83985703e-03 1.05476606e+01] [-2.38144945e-02 9.99656127e-01 -1.09771137e-02 2.81982887e-02] [-5.10020290e-03 1.08585990e-02 9.99928037e-01 -1.65366889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93119381700001 meters Centerline goodness : 0.891445 Centerline is valid? [False, False] Translation: X:10.55, Y:0.03, Z:-1.65 [[ 9.99650884e-01 2.59168610e-02 5.14071834e-03 1.05467929e+01] [-2.58711502e-02 9.99626837e-01 -8.76755905e-03 3.00327322e-02] [-5.36602762e-03 8.63150186e-03 9.99948350e-01 -1.65308909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96119381700001 meters Centerline goodness : 0.889149 Centerline is valid? [False, False] Translation: X:10.55, Y:0.03, Z:-1.65 [[ 9.99579174e-01 2.85584488e-02 5.08822617e-03 1.05473162e+01] [-2.85284894e-02 9.99575766e-01 -5.86636310e-03 3.10809412e-02] [-5.25360180e-03 5.71873497e-03 9.99969847e-01 -1.65345704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99119381700001 meters Centerline goodness : 0.888518 Centerline is valid? [False, False] Translation: X:10.55, Y:0.04, Z:-1.66 [[ 9.99486773e-01 3.16559663e-02 4.90814878e-03 1.05491145e+01] [-3.16383831e-02 9.99492827e-01 -3.61965648e-03 3.51964088e-02] [-5.02024322e-03 3.46251288e-03 9.99981404e-01 -1.65502935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02119381700001 meters Centerline goodness : 0.887791 Centerline is valid? [False, False] Translation: X:10.55, Y:0.04, Z:-1.66 [[ 9.99370807e-01 3.51351629e-02 4.84871553e-03 1.05497954e+01] [-3.51328617e-02 9.99382494e-01 -5.58984048e-04 3.74542352e-02] [-4.86536142e-03 3.88283087e-04 9.99988089e-01 -1.65539938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05119381700001 meters Centerline goodness : 0.888336 Centerline is valid? [False, False] Translation: X:10.55, Y:0.04, Z:-1.66 [[ 9.99245192e-01 3.85602753e-02 4.70652265e-03 1.05505622e+01] [-3.85711719e-02 9.99253330e-01 2.24678953e-03 4.05136847e-02] [-4.61637160e-03 -2.42662973e-03 9.99986400e-01 -1.65550854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.081193817 meters Centerline goodness : 0.889289 Centerline is valid? [False, False] Translation: X:10.55, Y:0.04, Z:-1.66 [[ 9.99087984e-01 4.24422223e-02 4.67529088e-03 1.05508976e+01] [-4.24670980e-02 9.99083507e-01 5.35647481e-03 4.36815960e-02] [-4.44366532e-03 -5.55013566e-03 9.99974725e-01 -1.65527123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.111193817 meters Centerline goodness : 0.889288 Centerline is valid? [False, False] Translation: X:10.55, Y:0.05, Z:-1.65 [[ 9.98721547e-01 5.02612254e-02 5.39264883e-03 1.05485994e+01] [-5.03194108e-02 9.98669710e-01 1.12590933e-02 4.96876697e-02] [-4.81957922e-03 -1.15160539e-02 9.99922073e-01 -1.65242783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.141193817 meters Centerline goodness : 0.888783 Centerline is valid? [False, False] Translation: X:10.55, Y:0.05, Z:-1.65 [[ 9.98533083e-01 5.38458131e-02 5.68423926e-03 1.05471532e+01] [-5.39212608e-02 9.98445928e-01 1.40792585e-02 5.24068249e-02] [-4.91729642e-03 -1.43651068e-02 9.99884725e-01 -1.65055540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.171193817 meters Centerline goodness : 0.889862 Centerline is valid? [False, False] Translation: X:10.55, Y:0.05, Z:-1.65 [[ 9.98307135e-01 5.78699417e-02 5.82537129e-03 1.05464324e+01] [-5.79644118e-02 9.98163145e-01 1.76199686e-02 5.39447745e-02] [-4.79500437e-03 -1.79278046e-02 9.99827786e-01 -1.64927426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.201193817 meters Centerline goodness : 0.890011 Centerline is valid? [False, False] Translation: X:10.55, Y:0.06, Z:-1.65 [[ 9.97973760e-01 6.33488922e-02 5.94071001e-03 1.05462108e+01] [-6.34654261e-02 9.97739991e-01 2.20692211e-02 5.50971459e-02] [-4.52922324e-03 -2.24015333e-02 9.99738795e-01 -1.64822519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.231193817 meters Centerline goodness : 0.887475 Centerline is valid? [False, False] Translation: X:10.55, Y:0.05, Z:-1.65 [[ 9.97927286e-01 6.40859941e-02 5.84096253e-03 1.05464428e+01] [-6.42023245e-02 9.97681635e-01 2.25702486e-02 5.40086721e-02] [-4.38098423e-03 -2.28984703e-02 9.99728197e-01 -1.64818669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.261193817 meters Centerline goodness : 0.885794 Centerline is valid? [False, False] Translation: X:10.55, Y:0.05, Z:-1.65 [[ 9.97880212e-01 6.48316032e-02 5.65204501e-03 1.05470556e+01] [-6.49473722e-02 9.97611412e-01 2.35225109e-02 5.13853667e-02] [-4.11354251e-03 -2.38397336e-02 9.99707330e-01 -1.64841341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.291193817 meters Centerline goodness : 0.884492 Centerline is valid? [False, False] Translation: X:10.55, Y:0.05, Z:-1.65 [[ 9.97980379e-01 6.32922007e-02 5.40931886e-03 1.05472906e+01] [-6.33970471e-02 9.97743262e-01 2.21178180e-02 4.65911238e-02] [-3.99722606e-03 -2.24160833e-02 9.99740737e-01 -1.64844460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32119381700001 meters Centerline goodness : 0.884519 Centerline is valid? [False, False] Translation: X:10.55, Y:0.04, Z:-1.65 [[ 9.98089349e-01 6.16120541e-02 4.64831342e-03 1.05494604e+01] [-6.16953704e-02 9.97881492e-01 2.06448161e-02 4.30866722e-02] [-3.36649641e-03 -2.08921504e-02 9.99776067e-01 -1.64957635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35119381700001 meters Centerline goodness : 0.884314 Centerline is valid? [False, False] Translation: X:10.55, Y:0.04, Z:-1.65 [[ 9.98265778e-01 5.87196103e-02 4.17648124e-03 1.05498508e+01] [-5.87859822e-02 9.98106420e-01 1.81047558e-02 3.94738027e-02] [-3.10546854e-03 -1.83188766e-02 9.99827373e-01 -1.64931903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38119381700001 meters Centerline goodness : 0.882160 Centerline is valid? [False, False] Translation: X:10.55, Y:0.03, Z:-1.65 [[ 9.98413952e-01 5.61760921e-02 3.71844865e-03 1.05507510e+01] [-5.62285685e-02 9.98290407e-01 1.59565250e-02 3.47771478e-02] [-2.81571640e-03 -1.61403003e-02 9.99865772e-01 -1.64970639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41119381700001 meters Centerline goodness : 0.880570 Centerline is valid? [False, False] Translation: X:10.55, Y:0.03, Z:-1.65 [[ 9.98500998e-01 5.46479727e-02 3.05889959e-03 1.05523528e+01] [-5.46878185e-02 9.98391342e-01 1.49656752e-02 2.88657042e-02] [-2.23613506e-03 -1.51105261e-02 9.99883329e-01 -1.65035429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.441193817 meters Centerline goodness : 0.878745 Centerline is valid? [False, False] Translation: X:10.58, Y:0.01, Z:-1.65 [[ 9.98706642e-01 5.07969957e-02 2.16990395e-03 1.05811579e+01] [-5.08432438e-02 9.97869385e-01 4.08858827e-02 6.42066029e-03] [-8.84007138e-05 -4.09433276e-02 9.99161466e-01 -1.64881174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.471193817 meters Centerline goodness : 0.877886 Centerline is valid? [False, False] Translation: X:10.58, Y:0.00, Z:-1.65 [[ 9.98859014e-01 4.77297816e-02 1.59286003e-03 1.05827064e+01] [-4.77555900e-02 9.98098751e-01 3.89651926e-02 5.13113668e-05] [ 2.69968525e-04 -3.89968018e-02 9.99239299e-01 -1.64946574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.501193817 meters Centerline goodness : 0.877886 Centerline is valid? [False, False] Translation: X:10.58, Y:0.00, Z:-1.65 [[ 9.98859014e-01 4.77297816e-02 1.59286003e-03 1.05827064e+01] [-4.77555900e-02 9.98098751e-01 3.89651926e-02 5.13113668e-05] [ 2.69968525e-04 -3.89968018e-02 9.99239299e-01 -1.64946574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.531193817 meters Centerline goodness : 0.875792 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.01, Z:-1.65 [[ 9.99030939e-01 4.38927222e-02 3.25768991e-03 1.05918266e+01] [-4.39996684e-02 9.97830708e-01 4.89684418e-02 -9.26960397e-03] [-1.10126482e-03 -4.90643257e-02 9.98795014e-01 -1.64801794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.561193817 meters Centerline goodness : 0.875244 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.02, Z:-1.65 [[ 9.99236543e-01 3.86854056e-02 5.45614751e-03 1.05915670e+01] [-3.89639116e-02 9.97002045e-01 6.68485997e-02 -1.96523020e-02] [-2.85372503e-03 -6.70101565e-02 9.97748212e-01 -1.64602559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.591193817 meters Centerline goodness : 0.873109 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.05, Z:-1.63 [[ 9.99637419e-01 2.68007463e-02 2.59831571e-03 1.05992644e+01] [-2.69167104e-02 9.92025079e-01 1.23132987e-01 -4.72506989e-02] [ 7.22461593e-04 -1.23158279e-01 9.92386778e-01 -1.62845007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.621193817 meters Centerline goodness : 0.872661 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.05, Z:-1.63 [[ 9.99742153e-01 2.20891832e-02 5.26260156e-03 1.05920003e+01] [-2.25491436e-02 9.93060033e-01 1.15426631e-01 -5.10894635e-02] [-2.67639929e-03 -1.15515535e-01 9.93302068e-01 -1.62726379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.651193817 meters Centerline goodness : 0.872962 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.05, Z:-1.63 [[ 9.99818531e-01 1.89869032e-02 1.54982132e-03 1.05910235e+01] [-1.90486933e-02 9.95462030e-01 9.32335435e-02 -5.25912394e-02] [ 2.27427996e-04 -9.32461466e-02 9.95643061e-01 -1.62578219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68119381700001 meters Centerline goodness : 0.873758 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.06, Z:-1.63 [[ 9.99929245e-01 1.18857921e-02 -4.82823853e-04 1.05837426e+01] [-1.18153361e-02 9.97071285e-01 7.55595852e-02 -5.87275588e-02] [ 1.37949532e-03 -7.55485342e-02 9.97141172e-01 -1.62805327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71119381700001 meters Centerline goodness : 0.869972 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.06, Z:-1.63 [[ 9.99951562e-01 9.66796263e-03 -1.84516791e-03 1.05788544e+01] [-9.53358867e-03 9.97995049e-01 6.25698963e-02 -5.91964870e-02] [ 2.44639186e-03 -6.25492744e-02 9.98038879e-01 -1.63228431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74119381700001 meters Centerline goodness : 0.869807 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.06, Z:-1.63 [[ 9.99930912e-01 9.50356994e-03 -6.91757436e-03 1.05808706e+01] [-9.16896826e-03 9.98857870e-01 4.68922805e-02 -5.94024808e-02] [ 7.35531766e-03 -4.68256138e-02 9.98875999e-01 -1.63413780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77119381700001 meters Centerline goodness : 0.865054 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.06, Z:-1.64 [[ 9.99955639e-01 5.95603224e-03 -7.29702338e-03 1.05822902e+01] [-5.63195903e-03 9.99030798e-01 4.36548492e-02 -6.13170039e-02] [ 7.54996078e-03 -4.36118161e-02 9.99020024e-01 -1.63515930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80119381700001 meters Centerline goodness : 0.866904 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.06, Z:-1.64 [[ 9.99882229e-01 6.18572747e-03 -1.40451146e-02 1.05856190e+01] [-5.78286236e-03 9.99575772e-01 2.85452999e-02 -6.36504690e-02] [ 1.42157297e-02 -2.84607171e-02 9.99493822e-01 -1.63691574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.831193817 meters Centerline goodness : 0.866163 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.07, Z:-1.64 [[ 9.99864302e-01 7.25666160e-03 -1.47891178e-02 1.05882167e+01] [-6.81610753e-03 9.99537848e-01 2.96248451e-02 -6.50503039e-02] [ 1.49972604e-02 -2.95200208e-02 9.99451675e-01 -1.63821597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.861193817 meters Centerline goodness : 0.864649 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.06, Z:-1.64 [[ 9.99870318e-01 9.96043437e-03 -1.26545139e-02 1.05979806e+01] [-9.69531261e-03 9.99735768e-01 2.08421439e-02 -6.38121991e-02] [ 1.28587670e-02 -2.07167516e-02 9.99702690e-01 -1.63897945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.891193817 meters Centerline goodness : 0.866432 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.06, Z:-1.64 [[ 9.99874016e-01 1.32471235e-02 -8.74451623e-03 1.06092294e+01] [-1.31311634e-02 9.99826813e-01 1.31877188e-02 -6.26941369e-02] [ 8.91770113e-03 -1.30712317e-02 9.99874801e-01 -1.64175166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.921193817 meters Centerline goodness : 0.867284 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.06, Z:-1.64 [[ 9.99873994e-01 1.54339730e-02 -3.71336421e-03 1.06191705e+01] [-1.54176686e-02 9.99871547e-01 4.38002734e-03 -6.07020067e-02] [ 3.78048844e-03 -4.32222401e-03 9.99983513e-01 -1.64424197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.951193817 meters Centerline goodness : 0.872874 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.06, Z:-1.64 [[ 9.99796007e-01 2.00099252e-02 -2.74735198e-03 1.06132429e+01] [-1.99866330e-02 9.99766136e-01 8.25877214e-03 -6.32999720e-02] [ 2.91196688e-03 -8.20217709e-03 9.99962122e-01 -1.63782792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.981193817 meters Centerline goodness : 0.876593 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.06, Z:-1.63 [[ 9.99773084e-01 2.11539765e-02 -2.50800611e-03 1.06110148e+01] [-2.11311571e-02 9.99737979e-01 8.80047513e-03 -6.41264636e-02] [ 2.69351400e-03 -8.74548109e-03 9.99958130e-01 -1.63485386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.011193817 meters Centerline goodness : 0.880271 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.06, Z:-1.63 [[ 9.99769009e-01 2.13372752e-02 -2.57845206e-03 1.06100348e+01] [-2.13147224e-02 9.99736863e-01 8.47861558e-03 -6.38227373e-02] [ 2.75868413e-03 -8.42169811e-03 9.99960732e-01 -1.63295777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.041193817 meters Centerline goodness : 0.878342 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.06, Z:-1.63 [[ 9.99769103e-01 2.13657006e-02 -2.29092713e-03 1.06085437e+01] [-2.13453337e-02 9.99735398e-01 8.57385321e-03 -6.44870596e-02] [ 2.47350732e-03 -8.52297293e-03 9.99960620e-01 -1.63154938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07119381700001 meters Centerline goodness : 0.882663 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.06, Z:-1.63 [[ 9.99839606e-01 1.77258577e-02 -2.56038449e-03 1.06087949e+01] [-1.77148226e-02 9.99833962e-01 4.27015584e-03 -6.33201154e-02] [ 2.63565155e-03 -4.22411418e-03 9.99987605e-01 -1.63113567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10119381700001 meters Centerline goodness : 0.885985 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.06, Z:-1.63 [[ 9.99896445e-01 1.41275881e-02 -2.74068264e-03 1.06091296e+01] [-1.41261576e-02 9.99900075e-01 5.40588053e-04 -6.35962385e-02] [ 2.74804598e-03 -5.01816757e-04 9.99996098e-01 -1.63120220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13119381700001 meters Centerline goodness : 0.882324 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.07, Z:-1.63 [[ 9.99937330e-01 1.07743644e-02 -3.04123359e-03 1.06098756e+01] [-1.07826672e-02 9.99938147e-01 -2.72699219e-03 -6.50182801e-02] [ 3.01166387e-03 2.75961390e-03 9.99991657e-01 -1.63143603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16119381700001 meters Centerline goodness : 0.880269 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.07, Z:-1.64 [[ 9.99971024e-01 6.49960540e-03 -3.96321035e-03 1.06151539e+01] [-6.52442684e-03 9.99958980e-01 -6.28253186e-03 -6.93621568e-02] [ 3.92221380e-03 6.30820749e-03 9.99972411e-01 -1.63590185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19119381700001 meters Centerline goodness : 0.877135 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.07, Z:-1.64 [[ 9.99974677e-01 5.39545196e-03 -4.64058653e-03 1.06187994e+01] [-5.42835346e-03 9.99960012e-01 -7.10681481e-03 -7.02849607e-02] [ 4.60205649e-03 7.13182559e-03 9.99963978e-01 -1.63879836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.221193817 meters Centerline goodness : 0.874790 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.07, Z:-1.64 [[ 9.99970753e-01 5.32808751e-03 -5.48669651e-03 1.06235086e+01] [-5.36636515e-03 9.99961202e-01 -6.98551844e-03 -7.10864836e-02] [ 5.44926418e-03 7.01475775e-03 9.99960549e-01 -1.64249834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.251193817 meters Centerline goodness : 0.872890 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.07, Z:-1.65 [[ 9.99936790e-01 5.77352101e-03 -9.64787624e-03 1.06492904e+01] [-5.84851256e-03 9.99952766e-01 -7.76280437e-03 -7.27324823e-02] [ 9.60260182e-03 7.81873941e-03 9.99923326e-01 -1.64507031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.281193817 meters Centerline goodness : 0.870249 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.07, Z:-1.65 [[ 9.99955035e-01 7.91820926e-03 -5.21828995e-03 1.06619193e+01] [-7.99570793e-03 9.99855498e-01 -1.50017230e-02 -7.31576404e-02] [ 5.09874911e-03 1.50427723e-02 9.99873851e-01 -1.64947754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.311193817 meters Centerline goodness : 0.871981 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.07, Z:-1.65 [[ 9.99969879e-01 6.99052642e-03 -3.37252993e-03 1.06822375e+01] [-7.05077618e-03 9.99809567e-01 -1.81966075e-02 -7.32033144e-02] [ 3.24468383e-03 1.82198384e-02 9.99828740e-01 -1.65084430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.341193817 meters Centerline goodness : 0.872617 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.07, Z:-1.65 [[ 9.99964237e-01 7.66117422e-03 -3.58199155e-03 1.06827403e+01] [-7.72303707e-03 9.99815491e-01 -1.75880397e-02 -7.40288669e-02] [ 3.44658560e-03 1.76150745e-02 9.99838902e-01 -1.65085235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.371193817 meters Centerline goodness : 0.874336 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.07, Z:-1.65 [[ 9.99959506e-01 8.77120067e-03 -2.01318551e-03 1.07033316e+01] [-8.80889130e-03 9.99770150e-01 -1.95461271e-02 -7.38649975e-02] [ 1.84127977e-03 1.95630695e-02 9.99806929e-01 -1.65245651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.401193817 meters Centerline goodness : 0.874826 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.07, Z:-1.65 [[ 9.99942281e-01 1.07421177e-02 -2.02695562e-04 1.07237323e+01] [-1.07440089e-02 9.99725014e-01 -2.08437576e-02 -7.36983737e-02] [-2.12662739e-05 2.08447323e-02 9.99782725e-01 -1.65411491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43119381700001 meters Centerline goodness : 0.873808 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.07, Z:-1.66 [[ 9.99880476e-01 1.53115504e-02 2.14251991e-03 1.07430547e+01] [-1.52628588e-02 9.99659867e-01 -2.11469858e-02 -7.48304107e-02] [-2.46558431e-03 2.11117573e-02 9.99774082e-01 -1.65551751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46119381700001 meters Centerline goodness : 0.873782 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.08, Z:-1.66 [[ 9.99844198e-01 1.69035627e-02 5.08415648e-03 1.07621137e+01] [-1.67852508e-02 9.99606451e-01 -2.24766219e-02 -7.52827685e-02] [-5.46209060e-03 2.23877811e-02 9.99734441e-01 -1.65673684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49119381700001 meters Centerline goodness : 0.876124 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.08, Z:-1.66 [[ 9.99818104e-01 1.71601487e-02 8.32396134e-03 1.07808301e+01] [-1.69518978e-02 9.99556710e-01 -2.44748138e-02 -7.59702696e-02] [-8.74026285e-03 2.43292550e-02 9.99665792e-01 -1.65771346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52119381700001 meters Centerline goodness : 0.877865 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.08, Z:-1.66 [[ 9.99810559e-01 1.76412283e-02 8.22389455e-03 1.07808957e+01] [-1.74459033e-02 9.99577530e-01 -2.32465382e-02 -7.92669913e-02] [-8.63051769e-03 2.30986611e-02 9.99695937e-01 -1.65752873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55119381700001 meters Centerline goodness : 0.876393 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.09, Z:-1.66 [[ 9.99861270e-01 1.47374478e-02 7.76204403e-03 1.07824241e+01] [-1.45463494e-02 9.99603092e-01 -2.41259811e-02 -8.88189263e-02] [-8.11451860e-03 2.40097247e-02 9.99678792e-01 -1.65864435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.581193817 meters Centerline goodness : 0.876640 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.09, Z:-1.66 [[ 9.99898524e-01 1.22469893e-02 7.27688872e-03 1.07844624e+01] [-1.20566515e-02 9.99598313e-01 -2.56485701e-02 -9.46429020e-02] [-7.58808346e-03 2.55582325e-02 9.99644536e-01 -1.66021705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.611193817 meters Centerline goodness : 0.876432 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.10, Z:-1.66 [[ 9.99927496e-01 9.97435358e-03 6.74642528e-03 1.07866915e+01] [-9.78792851e-03 9.99584168e-01 -2.71235610e-02 -9.99923383e-02] [-7.01415988e-03 2.70555610e-02 9.99609323e-01 -1.66183773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.641193817 meters Centerline goodness : 0.875826 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.11, Z:-1.66 [[ 9.99942962e-01 8.56258337e-03 6.38401808e-03 1.07882453e+01] [-8.38706476e-03 9.99599409e-01 -2.70310793e-02 -1.09273432e-01] [-6.61291657e-03 2.69759943e-02 9.99614208e-01 -1.66314237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.671193817 meters Centerline goodness : 0.878397 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.11, Z:-1.66 [[ 9.99935064e-01 9.65654863e-03 6.05129613e-03 1.07890629e+01] [-9.50138711e-03 9.99638144e-01 -2.51655531e-02 -1.14017121e-01] [-6.29211882e-03 2.51064232e-02 9.99664982e-01 -1.66331614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.701193817 meters Centerline goodness : 0.879614 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.12, Z:-1.66 [[ 9.99925448e-01 1.07771998e-02 5.74029458e-03 1.07897427e+01] [-1.06403916e-02 9.99670660e-01 -2.33528229e-02 -1.18459212e-01] [-5.99008211e-03 2.32900029e-02 9.99710806e-01 -1.66344053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.731193817 meters Centerline goodness : 0.883750 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.13, Z:-1.66 [[ 9.99891106e-01 1.36179071e-02 5.68591944e-03 1.07885125e+01] [-1.35071959e-02 9.99726803e-01 -1.90754891e-02 -1.28986667e-01] [-5.94413431e-03 1.89966110e-02 9.99801878e-01 -1.66174507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.761193817 meters Centerline goodness : 0.883509 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.13, Z:-1.66 [[ 9.99885446e-01 1.41228775e-02 5.44426407e-03 1.07887706e+01] [-1.40237765e-02 9.99742673e-01 -1.78303736e-02 -1.33330146e-01] [-5.69467929e-03 1.77519819e-02 9.99826204e-01 -1.66138674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.791193817 meters Centerline goodness : 0.886892 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.14, Z:-1.66 [[ 9.99882315e-01 1.44630062e-02 5.11638746e-03 1.07895066e+01] [-1.43759777e-02 9.99757923e-01 -1.66561316e-02 -1.37279850e-01] [-5.35604663e-03 1.65806183e-02 9.99848186e-01 -1.66144468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82119381700001 meters Centerline goodness : 0.888150 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.14, Z:-1.66 [[ 9.99884097e-01 1.44891906e-02 4.67505951e-03 1.07907813e+01] [-1.44139440e-02 9.99772118e-01 -1.57464204e-02 -1.41048628e-01] [-4.90214704e-03 1.56772093e-02 9.99865088e-01 -1.66189786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85119381700001 meters Centerline goodness : 0.886225 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.14, Z:-1.66 [[ 9.99907288e-01 1.30441363e-02 3.90717931e-03 1.07934367e+01] [-1.29772286e-02 9.99776555e-01 -1.66862479e-02 -1.44680738e-01] [-4.12396396e-03 1.66339965e-02 9.99853141e-01 -1.66337073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88119381700001 meters Centerline goodness : 0.888215 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.15, Z:-1.66 [[ 9.99936639e-01 1.06271998e-02 3.71216246e-03 1.07941430e+01] [-1.05608526e-02 9.99791835e-01 -1.74572570e-02 -1.53890467e-01] [-3.89691148e-03 1.74169473e-02 9.99840719e-01 -1.66387865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91119381700001 meters Centerline goodness : 0.889228 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.16, Z:-1.66 [[ 9.99933705e-01 1.08892952e-02 3.74278248e-03 1.07944040e+01] [-1.08279639e-02 9.99812819e-01 -1.60337545e-02 -1.59088147e-01] [-3.91667819e-03 1.59921649e-02 9.99864446e-01 -1.66418524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94119381700001 meters Centerline goodness : 0.889310 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.16, Z:-1.67 [[ 9.99946432e-01 9.87497640e-03 3.10133577e-03 1.07970316e+01] [-9.82342379e-03 9.99820192e-01 -1.62198597e-02 -1.63102556e-01] [-3.26094886e-03 1.61885251e-02 9.99863640e-01 -1.66584939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.971193817 meters Centerline goodness : 0.889828 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.17, Z:-1.67 [[ 9.99958373e-01 8.77896479e-03 2.48637283e-03 1.07999650e+01] [-8.73666445e-03 9.99825013e-01 -1.65412906e-02 -1.66581122e-01] [-2.63115316e-03 1.65188794e-02 9.99860092e-01 -1.66799888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.001193817 meters Centerline goodness : 0.892674 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.17, Z:-1.67 [[ 9.99985395e-01 5.06829899e-03 1.87666272e-03 1.08027887e+01] [-5.03194670e-03 9.99808838e-01 -1.88935954e-02 -1.72119210e-01] [-1.97206237e-03 1.88838762e-02 9.99819739e-01 -1.67018603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.031193817 meters Centerline goodness : 0.890590 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.18, Z:-1.67 [[ 9.99999511e-01 9.07523159e-04 -3.92415528e-04 1.07999347e+01] [-9.09543205e-04 9.99986178e-01 -5.17855513e-03 -1.78992454e-01] [ 3.87710445e-04 5.17890952e-03 9.99986514e-01 -1.66795418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.061193817 meters Centerline goodness : 0.893994 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.18, Z:-1.67 [[ 9.99999320e-01 1.00507276e-03 -5.90882353e-04 1.08000699e+01] [-1.00742604e-03 9.99991509e-01 -3.99593688e-03 -1.83298613e-01] [ 5.86861128e-04 3.99652944e-03 9.99991842e-01 -1.66736256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.091193817 meters Centerline goodness : 0.894875 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.19, Z:-1.67 [[ 9.99999405e-01 -1.78360551e-05 -1.09055961e-03 1.08021388e+01] [ 1.28881760e-05 9.99989708e-01 -4.53684801e-03 -1.86116967e-01] [ 1.09062930e-03 4.53683126e-03 9.99989114e-01 -1.66848303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.121193817 meters Centerline goodness : 0.898005 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.19, Z:-1.67 [[ 9.99999402e-01 2.31914007e-04 -1.06878110e-03 1.08011615e+01] [-2.35628859e-04 9.99993928e-01 -3.47696998e-03 -1.89964367e-01] [ 1.06796825e-03 3.47721973e-03 9.99993384e-01 -1.66694573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.151193817 meters Centerline goodness : 0.898930 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.19, Z:-1.67 [[ 9.99999060e-01 4.90833514e-04 -1.28047217e-03 1.08016588e+01] [-4.94912901e-04 9.99994798e-01 -3.18747636e-03 -1.90633628e-01] [ 1.27890099e-03 3.18810708e-03 9.99994100e-01 -1.66697766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18119381700001 meters Centerline goodness : 0.902331 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.19, Z:-1.67 [[ 9.99990593e-01 3.98247419e-03 1.71874149e-03 1.08170884e+01] [-3.96718048e-03 9.99953306e-01 -8.81172304e-03 -1.90640507e-01] [-1.75375369e-03 8.80482159e-03 9.99959699e-01 -1.67210793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21119381700001 meters Centerline goodness : 0.899299 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.19, Z:-1.67 [[ 9.99983521e-01 5.64513738e-03 1.04369587e-03 1.08201585e+01] [-5.63758598e-03 9.99958889e-01 -7.10189683e-03 -1.91892562e-01] [-1.08374414e-03 7.09589588e-03 9.99974237e-01 -1.67427162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24119381700001 meters Centerline goodness : 0.901995 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.19, Z:-1.68 [[ 9.99970467e-01 7.66893189e-03 5.02939949e-04 1.08225870e+01] [-7.66628995e-03 9.99957812e-01 -5.05986883e-03 -1.94560001e-01] [-5.41722520e-04 5.05586371e-03 9.99987072e-01 -1.67608492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27119381700001 meters Centerline goodness : 0.900180 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.20, Z:-1.68 [[ 9.99969757e-01 7.77467083e-03 1.99653809e-04 1.08235449e+01] [-7.77362204e-03 9.99958243e-01 -4.80452482e-03 -1.95824841e-01] [-2.36999071e-04 4.80282749e-03 9.99988438e-01 -1.67648251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30119381700001 meters Centerline goodness : 0.902426 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.20, Z:-1.68 [[ 9.99971334e-01 7.56892344e-03 -2.04558273e-04 1.08249997e+01] [-7.56981875e-03 9.99959814e-01 -4.80294038e-03 -1.96811396e-01] [ 1.68196965e-04 4.80435117e-03 9.99988445e-01 -1.67723769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.331193817 meters Centerline goodness : 0.902992 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.20, Z:-1.68 [[ 9.99972274e-01 7.42509740e-03 -5.64398401e-04 1.08263180e+01] [-7.42765086e-03 9.99961531e-01 -4.66542693e-03 -1.97947650e-01] [ 5.29735440e-04 4.66948973e-03 9.99988958e-01 -1.67791120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.361193817 meters Centerline goodness : 0.905573 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.20, Z:-1.68 [[ 9.99977124e-01 6.65514780e-03 -1.20828606e-03 1.08291121e+01] [-6.66141651e-03 9.99963976e-01 -5.26039987e-03 -1.98619838e-01] [ 1.17323380e-03 5.26832843e-03 9.99985434e-01 -1.67988702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.391193817 meters Centerline goodness : 0.904320 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.20, Z:-1.68 [[ 9.99980431e-01 6.02087254e-03 -1.69904861e-03 1.08312213e+01] [-6.03076325e-03 9.99964542e-01 -5.87751910e-03 -1.98223639e-01] [ 1.66360057e-03 5.88765065e-03 9.99981284e-01 -1.68126199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.421193817 meters Centerline goodness : 0.904320 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.20, Z:-1.68 [[ 9.99980431e-01 6.02087254e-03 -1.69904861e-03 1.08312213e+01] [-6.03076325e-03 9.99964542e-01 -5.87751910e-03 -1.98223639e-01] [ 1.66360057e-03 5.88765065e-03 9.99981284e-01 -1.68126199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.451193817 meters Centerline goodness : 0.903589 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.20, Z:-1.68 [[ 9.99981416e-01 5.72795417e-03 -2.08742811e-03 1.08326690e+01] [-5.74074672e-03 9.99964457e-01 -6.17479973e-03 -1.98198633e-01] [ 2.05198495e-03 6.18666838e-03 9.99978757e-01 -1.68208426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.481193817 meters Centerline goodness : 0.904438 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.20, Z:-1.68 [[ 9.99983068e-01 5.24225001e-03 -2.52632655e-03 1.08335963e+01] [-5.25915860e-03 9.99963500e-01 -6.73344651e-03 -1.97431494e-01] [ 2.49093593e-03 6.74661885e-03 9.99974139e-01 -1.68207088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.511193817 meters Centerline goodness : 0.905859 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.20, Z:-1.68 [[ 9.99984063e-01 4.84047380e-03 -2.90567545e-03 1.08343779e+01] [-4.86092170e-03 9.99963179e-01 -7.07190635e-03 -1.97638592e-01] [ 2.87133709e-03 7.08591791e-03 9.99970772e-01 -1.68194175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.541193817 meters Centerline goodness : 0.905703 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.20, Z:-1.68 [[ 9.99984675e-01 4.42554629e-03 -3.32633848e-03 1.08352688e+01] [-4.44967836e-03 9.99963580e-01 -7.28280174e-03 -1.98497106e-01] [ 3.29398696e-03 7.29749126e-03 9.99967948e-01 -1.68183787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57119381700001 meters Centerline goodness : 0.906343 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.20, Z:-1.68 [[ 9.99986023e-01 3.90855587e-03 -3.56039461e-03 1.08360350e+01] [-3.93509665e-03 9.99964295e-01 -7.47819750e-03 -1.99712297e-01] [ 3.53103853e-03 7.49210347e-03 9.99965699e-01 -1.68201671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60119381700001 meters Centerline goodness : 0.912413 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.20, Z:-1.68 [[ 9.99989925e-01 2.72378473e-03 -3.56809682e-03 1.08363351e+01] [-2.75295734e-03 9.99962617e-01 -8.19672163e-03 -1.99765520e-01] [ 3.54563733e-03 8.20646186e-03 9.99960040e-01 -1.68211767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63119381700001 meters Centerline goodness : 0.908745 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.20, Z:-1.68 [[ 9.99990099e-01 2.12876853e-03 -3.90780265e-03 1.08375962e+01] [-2.16301369e-03 9.99959115e-01 -8.78006800e-03 -1.98736219e-01] [ 3.88895214e-03 8.78843369e-03 9.99953819e-01 -1.68272899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66119381700001 meters Centerline goodness : 0.906697 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.20, Z:-1.68 [[ 9.99989817e-01 2.12014340e-03 -3.98389304e-03 1.08381448e+01] [-2.15463978e-03 9.99960053e-01 -8.67471420e-03 -1.98619445e-01] [ 3.96534226e-03 8.68320972e-03 9.99954438e-01 -1.68312177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69119381700001 meters Centerline goodness : 0.908123 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.20, Z:-1.69 [[ 9.99988547e-01 1.01745515e-03 -4.67661554e-03 1.08411835e+01] [-1.06132700e-03 9.99955366e-01 -9.38822228e-03 -2.00025142e-01] [ 4.66685471e-03 9.39307817e-03 9.99944994e-01 -1.68513480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.721193817 meters Centerline goodness : 0.907778 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.20, Z:-1.69 [[ 9.99986108e-01 3.23595942e-04 -5.26111109e-03 1.08435920e+01] [-3.76257090e-04 9.99949812e-01 -1.00116043e-02 -2.00220119e-01] [ 5.25760733e-03 1.00134447e-02 9.99936042e-01 -1.68655087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.751193817 meters Centerline goodness : 0.906304 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.20, Z:-1.69 [[ 9.99984246e-01 8.04806263e-06 -5.61325946e-03 1.08450889e+01] [-6.56509864e-05 9.99947344e-01 -1.02618298e-02 -2.00231821e-01] [ 5.61288130e-03 1.02620366e-02 9.99931591e-01 -1.68744853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.781193817 meters Centerline goodness : 0.907371 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.20, Z:-1.69 [[ 9.99982461e-01 2.19657913e-05 -5.92262122e-03 1.08462017e+01] [-8.29509316e-05 9.99946982e-01 -1.02969357e-02 -1.99761266e-01] [ 5.92208103e-03 1.02972464e-02 9.99929445e-01 -1.68797633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.811193817 meters Centerline goodness : 0.907658 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.20, Z:-1.69 [[ 9.99980156e-01 -4.52276743e-04 -6.28360618e-03 1.08477433e+01] [ 3.83973744e-04 9.99940879e-01 -1.08669891e-02 -1.97630113e-01] [ 6.28814957e-03 1.08643608e-02 9.99921209e-01 -1.68898695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.841193817 meters Centerline goodness : 0.908380 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.20, Z:-1.69 [[ 9.99976301e-01 -1.09871686e-03 -6.79631932e-03 1.08496697e+01] [ 1.02109652e-03 9.99934338e-01 -1.14138836e-02 -1.96704573e-01] [ 6.80841369e-03 1.14066734e-02 9.99911763e-01 -1.68999875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.871193817 meters Centerline goodness : 0.906761 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.20, Z:-1.69 [[ 9.99969845e-01 -2.03406955e-03 -7.49476265e-03 1.08518742e+01] [ 1.94349458e-03 9.99925234e-01 -1.20726307e-02 -1.96499993e-01] [ 7.51875887e-03 1.20577007e-02 9.99899035e-01 -1.69090952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.901193817 meters Centerline goodness : 0.906278 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.20, Z:-1.69 [[ 9.99962158e-01 -3.03106982e-03 -8.15447234e-03 1.08541965e+01] [ 2.92747034e-03 9.99915235e-01 -1.26866982e-02 -1.97231729e-01] [ 8.19223539e-03 1.26623461e-02 9.99886270e-01 -1.69192406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93119381700001 meters Centerline goodness : 0.905291 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.20, Z:-1.69 [[ 9.99960675e-01 -3.05554673e-03 -8.32537771e-03 1.08541492e+01] [ 2.95328555e-03 9.99920386e-01 -1.22677981e-02 -1.98954925e-01] [ 8.36219972e-03 1.22427285e-02 9.99890089e-01 -1.69127613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96119381700001 meters Centerline goodness : 0.907061 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.20, Z:-1.69 [[ 9.99959143e-01 -2.90970544e-03 -8.55836404e-03 1.08542722e+01] [ 2.80718923e-03 9.99924462e-01 -1.19662023e-02 -1.99871382e-01] [ 8.59253568e-03 1.19416885e-02 9.99891776e-01 -1.69069628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99119381700001 meters Centerline goodness : 0.905226 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.20, Z:-1.70 [[ 9.99993161e-01 6.70949630e-04 3.63703432e-03 1.08594758e+01] [-6.39267575e-04 9.99961905e-01 -8.70513297e-03 -1.97551950e-01] [-3.64273647e-03 8.70274840e-03 9.99955495e-01 -1.69590432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02119381700001 meters Centerline goodness : 0.906774 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.20, Z:-1.70 [[ 9.99984777e-01 4.31207984e-03 3.44263005e-03 1.08598865e+01] [-4.29402979e-03 9.99977086e-01 -5.23338602e-03 -1.96007185e-01] [-3.46511795e-03 5.21852360e-03 9.99980380e-01 -1.69565848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05119381700001 meters Centerline goodness : 0.906142 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.19, Z:-1.70 [[ 9.99963561e-01 7.94807678e-03 3.11519500e-03 1.08604085e+01] [-7.94298385e-03 9.99967103e-01 -1.64384124e-03 -1.94987894e-01] [-3.12815789e-03 1.61903740e-03 9.99993797e-01 -1.69518200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.081193817 meters Centerline goodness : 0.906311 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.19, Z:-1.69 [[ 9.99946633e-01 9.80478493e-03 3.25521421e-03 1.08582419e+01] [-9.80146764e-03 9.99951430e-01 -1.03346407e-03 -1.92466963e-01] [-3.26518899e-03 1.00150304e-03 9.99994168e-01 -1.69270972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.111193817 meters Centerline goodness : 0.905975 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.19, Z:-1.69 [[ 9.99943829e-01 1.01923273e-02 2.90775278e-03 1.08583140e+01] [-1.01891834e-02 9.99947490e-01 -1.09399187e-03 -1.91437902e-01] [-2.91875042e-03 1.06430279e-03 9.99995174e-01 -1.69175199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.141193817 meters Centerline goodness : 0.906903 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.19, Z:-1.69 [[ 9.99942152e-01 1.03246337e-02 3.01562887e-03 1.08576269e+01] [-1.03192037e-02 9.99945116e-01 -1.81065623e-03 -1.88686949e-01] [-3.03415772e-03 1.77943260e-03 9.99993814e-01 -1.69083170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.171193817 meters Centerline goodness : 0.908429 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.18, Z:-1.69 [[ 9.99940022e-01 1.05679975e-02 2.87557427e-03 1.08577952e+01] [-1.05602594e-02 9.99940613e-01 -2.69297854e-03 -1.84650814e-01] [-2.90386289e-03 2.66245021e-03 9.99992239e-01 -1.69051638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.201193817 meters Centerline goodness : 0.907758 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.18, Z:-1.69 [[ 9.99848524e-01 1.56876646e-02 7.53837840e-03 1.08718860e+01] [-1.56268881e-02 9.99845449e-01 -8.05466263e-03 -1.77361460e-01] [-7.66357219e-03 7.93564114e-03 9.99939146e-01 -1.69466682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.231193817 meters Centerline goodness : 0.909348 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.17, Z:-1.70 [[ 9.99812534e-01 1.72400141e-02 8.81355968e-03 1.08919267e+01] [-1.71231404e-02 9.99766668e-01 -1.31684631e-02 -1.73912518e-01] [-9.03852768e-03 1.30150787e-02 9.99874448e-01 -1.69740744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.261193817 meters Centerline goodness : 0.908790 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.17, Z:-1.70 [[ 9.99802086e-01 1.80546323e-02 8.35575077e-03 1.08935098e+01] [-1.79430743e-02 9.99751359e-01 -1.32387906e-02 -1.72030225e-01] [-8.59269468e-03 1.30862426e-02 9.99877450e-01 -1.69827287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.291193817 meters Centerline goodness : 0.906718 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.17, Z:-1.70 [[ 9.99761883e-01 1.96145224e-02 9.56280358e-03 1.09141584e+01] [-1.94470978e-02 9.99661249e-01 -1.72973222e-02 -1.68722999e-01] [-9.89884289e-03 1.71072347e-02 9.99804659e-01 -1.70106053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32119381700001 meters Centerline goodness : 0.906702 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.17, Z:-1.70 [[ 9.99735815e-01 2.11414625e-02 9.01877948e-03 1.09170162e+01] [-2.09982216e-02 9.99656358e-01 -1.56920620e-02 -1.67589378e-01] [-9.34743338e-03 1.54985380e-02 9.99836197e-01 -1.70312314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35119381700001 meters Centerline goodness : 0.903700 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.17, Z:-1.70 [[ 9.99761567e-01 2.01969187e-02 8.30021476e-03 1.09193991e+01] [-2.00614166e-02 9.99669168e-01 -1.60963957e-02 -1.68864843e-01] [-8.62256638e-03 1.59260437e-02 9.99835993e-01 -1.70428693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38119381700001 meters Centerline goodness : 0.904583 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.17, Z:-1.71 [[ 9.99804548e-01 1.82996687e-02 7.48249233e-03 1.09223842e+01] [-1.81668224e-02 9.99682635e-01 -1.74526546e-02 -1.71412034e-01] [-7.79949544e-03 1.73133104e-02 9.99819692e-01 -1.70605196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41119381700001 meters Centerline goodness : 0.904268 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.17, Z:-1.71 [[ 9.99832768e-01 1.69650859e-02 6.82806478e-03 1.09250205e+01] [-1.68394114e-02 9.99695081e-01 -1.80604063e-02 -1.74348306e-01] [-7.13237912e-03 1.79424054e-02 9.99813582e-01 -1.70768089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44119381700001 meters Centerline goodness : 0.902911 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.18, Z:-1.71 [[ 9.99828788e-01 1.72015016e-02 6.81936841e-03 1.09251365e+01] [-1.70886849e-02 9.99721588e-01 -1.62703425e-02 -1.80226620e-01] [-7.09734414e-03 1.61510228e-02 9.99844374e-01 -1.70772753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.471193817 meters Centerline goodness : 0.903755 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.18, Z:-1.71 [[ 9.99830353e-01 1.72671584e-02 6.41170828e-03 1.09264756e+01] [-1.71651513e-02 9.99730376e-01 -1.56375550e-02 -1.82561533e-01] [-6.67999567e-03 1.55248442e-02 9.99857168e-01 -1.70839256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.501193817 meters Centerline goodness : 0.902123 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.19, Z:-1.71 [[ 9.99842681e-01 1.67969358e-02 5.69882988e-03 1.09290719e+01] [-1.67076847e-02 9.99742379e-01 -1.53632087e-02 -1.85441611e-01] [-5.95541657e-03 1.52655775e-02 9.99865739e-01 -1.70989082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.531193817 meters Centerline goodness : 0.900672 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.19, Z:-1.71 [[ 9.99870700e-01 1.52424903e-02 5.12340576e-03 1.09305543e+01] [-1.51608579e-02 9.99763190e-01 -1.56113130e-02 -1.94099238e-01] [-5.36014777e-03 1.55316192e-02 9.99865010e-01 -1.71053461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.561193817 meters Centerline goodness : 0.903158 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.20, Z:-1.71 [[ 9.99874746e-01 1.51168024e-02 4.68768561e-03 1.09317606e+01] [-1.50461106e-02 9.99777770e-01 -1.47656985e-02 -1.98444826e-01] [-4.90985401e-03 1.46933176e-02 9.99879993e-01 -1.71085661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.591193817 meters Centerline goodness : 0.903714 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.20, Z:-1.71 [[ 9.99877890e-01 1.50396065e-02 4.24443233e-03 1.09328410e+01] [-1.49792624e-02 9.99791074e-01 -1.39078801e-02 -2.02097270e-01] [-4.45271460e-03 1.38426034e-02 9.99894272e-01 -1.71095496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.621193817 meters Centerline goodness : 0.905531 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.21, Z:-1.71 [[ 9.99879339e-01 1.50451288e-02 3.86668463e-03 1.09337035e+01] [-1.49938597e-02 9.99803557e-01 -1.29627164e-02 -2.05679338e-01] [-4.06095079e-03 1.29031758e-02 9.99908504e-01 -1.71096302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.651193817 meters Centerline goodness : 0.906369 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.21, Z:-1.71 [[ 9.99876868e-01 1.52881200e-02 3.53876597e-03 1.09343678e+01] [-1.52447813e-02 9.99812189e-01 -1.19658982e-02 -2.09383065e-01] [-3.72103744e-03 1.19104771e-02 9.99922144e-01 -1.71078406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68119381700001 meters Centerline goodness : 0.902344 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.22, Z:-1.71 [[ 9.99853889e-01 1.67624011e-02 3.34988823e-03 1.09339441e+01] [-1.67297197e-02 9.99814375e-01 -9.55680562e-03 -2.15615146e-01] [-3.50946142e-03 9.49936657e-03 9.99948722e-01 -1.70964120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71119381700001 meters Centerline goodness : 0.902815 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.22, Z:-1.71 [[ 9.99838189e-01 1.77170140e-02 3.11511097e-03 1.09345629e+01] [-1.76898623e-02 9.99807069e-01 -8.53772137e-03 -2.17406563e-01] [-3.26577290e-03 8.48123398e-03 9.99958701e-01 -1.70980302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74119381700001 meters Centerline goodness : 0.902656 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.22, Z:-1.71 [[ 9.99780031e-01 2.08242766e-02 2.49786435e-03 1.09368550e+01] [-2.08116676e-02 9.99771051e-01 -4.97196289e-03 -2.20066116e-01] [-2.60083000e-03 4.91888449e-03 9.99984520e-01 -1.71085585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77119381700001 meters Centerline goodness : 0.899468 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.22, Z:-1.72 [[ 9.99702712e-01 2.34488648e-02 6.68123429e-03 1.09518383e+01] [-2.33674295e-02 9.99654723e-01 -1.20166011e-02 -2.19096765e-01] [-6.96070307e-03 1.18569055e-02 9.99905477e-01 -1.71612936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80119381700001 meters Centerline goodness : 0.902409 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.22, Z:-1.72 [[ 9.99589857e-01 2.80331212e-02 5.85329729e-03 1.09740426e+01] [-2.79596805e-02 9.99533708e-01 -1.22728372e-02 -2.22538353e-01] [-6.19461387e-03 1.21041473e-02 9.99907554e-01 -1.71832801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.831193817 meters Centerline goodness : 0.902275 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.22, Z:-1.72 [[ 9.99584822e-01 2.83084661e-02 5.36795153e-03 1.09753182e+01] [-2.82437619e-02 9.99531780e-01 -1.17690707e-02 -2.23835526e-01] [-5.69860249e-03 1.16125733e-02 9.99916334e-01 -1.71875648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.861193817 meters Centerline goodness : 0.901245 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.23, Z:-1.72 [[ 9.99583365e-01 2.84405215e-02 4.92264098e-03 1.09769866e+01] [-2.83840840e-02 9.99534587e-01 -1.11782842e-02 -2.26095867e-01] [-5.23826615e-03 1.10339023e-02 9.99925404e-01 -1.71971264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.891193817 meters Centerline goodness : 0.898820 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.23, Z:-1.72 [[ 9.99681359e-01 2.49553250e-02 3.79637838e-03 1.09814774e+01] [-2.49013243e-02 9.99596552e-01 -1.36622533e-02 -2.31149911e-01] [-4.13579271e-03 1.35633651e-02 9.99899460e-01 -1.72309661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.921193817 meters Centerline goodness : 0.897227 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.24, Z:-1.72 [[ 9.99707466e-01 2.39856946e-02 3.10934498e-03 1.09842325e+01] [-2.39411930e-02 9.99620366e-01 -1.36361242e-02 -2.35255001e-01] [-3.43523647e-03 1.35576937e-02 9.99902189e-01 -1.72474838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.951193817 meters Centerline goodness : 0.898590 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.24, Z:-1.73 [[ 9.99784473e-01 2.05747683e-02 2.77254515e-03 1.09850539e+01] [-2.05264849e-02 9.99654079e-01 -1.64434232e-02 -2.38569251e-01] [-3.10990569e-03 1.63829686e-02 9.99860954e-01 -1.72510370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.981193817 meters Centerline goodness : 0.902521 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.24, Z:-1.73 [[ 9.99849992e-01 1.71506323e-02 2.41835290e-03 1.09859863e+01] [-1.71011714e-02 9.99669933e-01 -1.91722705e-02 -2.42531156e-01] [-2.74637124e-03 1.91280379e-02 9.99813270e-01 -1.72556525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.011193817 meters Centerline goodness : 0.899358 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.26, Z:-1.72 [[ 9.99974654e-01 6.09871481e-03 3.67374938e-03 1.09879890e+01] [-6.06872701e-03 9.99948622e-01 -8.11930053e-03 -2.55622556e-01] [-3.72307793e-03 8.09679976e-03 9.99960289e-01 -1.72333551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.041193817 meters Centerline goodness : 0.901858 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.26, Z:-1.72 [[ 9.99992366e-01 1.99498097e-03 3.35981777e-03 1.09888436e+01] [-1.95814933e-03 9.99938346e-01 -1.09302326e-02 -2.60316694e-01] [-3.38141623e-03 1.09235702e-02 9.99934619e-01 -1.72335177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07119381700001 meters Centerline goodness : 0.903502 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.27, Z:-1.72 [[ 9.99991973e-01 -2.23723273e-03 3.32396507e-03 1.09892975e+01] [ 2.28279378e-03 9.99902626e-01 -1.37668637e-02 -2.65248164e-01] [-3.29284173e-03 1.37743411e-02 9.99899707e-01 -1.72342444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10119381700001 meters Centerline goodness : 0.900438 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.27, Z:-1.72 [[ 9.99975717e-01 -6.21481518e-03 3.15316812e-03 1.09897213e+01] [ 6.26594492e-03 9.99844673e-01 -1.64732458e-02 -2.69846293e-01] [-3.05030017e-03 1.64926033e-02 9.99859335e-01 -1.72311830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13119381700001 meters Centerline goodness : 0.900535 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.28, Z:-1.72 [[ 9.99901370e-01 -1.36158889e-02 3.44352648e-03 1.09888670e+01] [ 1.36896227e-02 9.99655777e-01 -2.23812800e-02 -2.76126635e-01] [-3.13760012e-03 2.24262131e-02 9.99743577e-01 -1.72211906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16119381700001 meters Centerline goodness : 0.902519 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.28, Z:-1.72 [[ 9.99905646e-01 -1.33230035e-02 3.34606930e-03 1.09884056e+01] [ 1.33900550e-02 9.99692173e-01 -2.08869915e-02 -2.80989414e-01] [-3.06676183e-03 2.09298248e-02 9.99776244e-01 -1.72085318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19119381700001 meters Centerline goodness : 0.906826 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.29, Z:-1.72 [[ 9.99920344e-01 -1.21513830e-02 3.41313587e-03 1.09872917e+01] [ 1.22137542e-02 9.99746970e-01 -1.88896611e-02 -2.85306114e-01] [-3.18273674e-03 1.89298436e-02 9.99815749e-01 -1.71929455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.221193817 meters Centerline goodness : 0.906517 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.29, Z:-1.72 [[ 9.99962099e-01 -8.11862237e-03 3.14464887e-03 1.09877764e+01] [ 8.16222276e-03 9.99867140e-01 -1.41095774e-02 -2.87371835e-01] [-3.02968074e-03 1.41347099e-02 9.99895510e-01 -1.71900919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.251193817 meters Centerline goodness : 0.910112 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.29, Z:-1.72 [[ 9.99991299e-01 -3.49730073e-03 2.27404025e-03 1.10092562e+01] [ 3.52683305e-03 9.99907774e-01 -1.31150586e-02 -2.88481306e-01] [-2.22796322e-03 1.31229646e-02 9.99911408e-01 -1.71996864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.281193817 meters Centerline goodness : 0.908931 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.29, Z:-1.72 [[ 9.99998421e-01 -7.29351204e-04 1.62034044e-03 1.10116794e+01] [ 7.45554539e-04 9.99949501e-01 -1.00219612e-02 -2.88965169e-01] [-1.61294909e-03 1.00231534e-02 9.99948466e-01 -1.72113773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.311193817 meters Centerline goodness : 0.908931 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.29, Z:-1.72 [[ 9.99998421e-01 -7.29351204e-04 1.62034044e-03 1.10116794e+01] [ 7.45554539e-04 9.99949501e-01 -1.00219612e-02 -2.88965169e-01] [-1.61294909e-03 1.00231534e-02 9.99948466e-01 -1.72113773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.341193817 meters Centerline goodness : 0.909521 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.29, Z:-1.72 [[ 9.99999167e-01 -3.86423244e-04 1.23176750e-03 1.10126553e+01] [ 3.98630696e-04 9.99950659e-01 -9.92572504e-03 -2.88543111e-01] [-1.22787120e-03 9.92620779e-03 9.99949980e-01 -1.72143134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.371193817 meters Centerline goodness : 0.908283 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.29, Z:-1.72 [[ 9.99999445e-01 -5.78040070e-04 8.81314214e-04 1.10136170e+01] [ 5.86823616e-04 9.99949837e-01 -9.99894892e-03 -2.89067411e-01] [-8.75490212e-04 9.99946054e-03 9.99949621e-01 -1.72171961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.401193817 meters Centerline goodness : 0.909578 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.29, Z:-1.72 [[ 9.99997813e-01 -2.07070784e-03 2.94492880e-04 1.10163882e+01] [ 2.07384265e-03 9.99936511e-01 -1.10757844e-02 -2.89508258e-01] [-2.71539469e-04 1.10763710e-02 9.99938618e-01 -1.72352072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43119381700001 meters Centerline goodness : 0.909874 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.29, Z:-1.72 [[ 9.99993819e-01 -3.48938430e-03 -4.31860110e-04 1.10192083e+01] [ 3.48407942e-03 9.99925145e-01 -1.17288424e-02 -2.90798004e-01] [ 4.72754222e-04 1.17272653e-02 9.99931122e-01 -1.72494904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46119381700001 meters Centerline goodness : 0.910398 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.29, Z:-1.73 [[ 9.99988909e-01 -4.61101662e-03 -9.59815863e-04 1.10210646e+01] [ 4.59917765e-03 9.99917522e-01 -1.19915447e-02 -2.92068034e-01] [ 1.01502991e-03 1.19869973e-02 9.99927638e-01 -1.72568625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49119381700001 meters Centerline goodness : 0.912649 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.29, Z:-1.73 [[ 9.99978050e-01 -6.37486628e-03 -1.80558275e-03 1.10246895e+01] [ 6.35070817e-03 9.99894240e-01 -1.30834805e-02 -2.92073665e-01] [ 1.88879723e-03 1.30717265e-02 9.99912777e-01 -1.72783970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52119381700001 meters Centerline goodness : 0.910989 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.29, Z:-1.73 [[ 9.99953175e-01 -9.35312655e-03 -2.48350112e-03 1.10284782e+01] [ 9.31462371e-03 9.99842797e-01 -1.50870344e-02 -2.91112171e-01] [ 2.62422165e-03 1.50631951e-02 9.99883100e-01 -1.73036720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55119381700001 meters Centerline goodness : 0.907599 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.29, Z:-1.73 [[ 9.99947110e-01 -9.84762322e-03 -2.96667864e-03 1.10297978e+01] [ 9.80091943e-03 9.99833898e-01 -1.53661582e-02 -2.90994319e-01] [ 3.11750601e-03 1.53362694e-02 9.99877533e-01 -1.73063910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.581193817 meters Centerline goodness : 0.909528 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.29, Z:-1.73 [[ 9.99965468e-01 -7.48079493e-03 -3.61952939e-03 1.10320832e+01] [ 7.43516470e-03 9.99894727e-01 -1.24600355e-02 -2.91875547e-01] [ 3.71235932e-03 1.24326934e-02 9.99915820e-01 -1.73145265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.611193817 meters Centerline goodness : 0.909597 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.29, Z:-1.73 [[ 9.99977679e-01 -4.97811907e-03 -4.45635466e-03 1.10346937e+01] [ 4.93378872e-03 9.99938782e-01 -9.90399696e-03 -2.91148637e-01] [ 4.50538513e-03 9.88178919e-03 9.99941024e-01 -1.73244098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.641193817 meters Centerline goodness : 0.911574 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.28, Z:-1.74 [[ 9.99998335e-01 1.77639865e-03 -4.18426112e-04 1.10510460e+01] [-1.78187643e-03 9.99907599e-01 -1.34765842e-02 -2.82354628e-01] [ 3.94447663e-04 1.34773073e-02 9.99909099e-01 -1.73746458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.671193817 meters Centerline goodness : 0.908080 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.28, Z:-1.74 [[ 9.99963973e-01 7.66592175e-03 3.64516987e-03 1.10684203e+01] [-7.60850724e-03 9.99850731e-01 -1.55121292e-02 -2.76645270e-01] [-3.76354053e-03 1.54838360e-02 9.99873035e-01 -1.74116308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.701193817 meters Centerline goodness : 0.911375 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.27, Z:-1.74 [[ 9.99919964e-01 1.21873565e-02 3.39622267e-03 1.10682508e+01] [-1.21456864e-02 9.99853854e-01 -1.20313376e-02 -2.72820854e-01] [-3.54235653e-03 1.19891253e-02 9.99921853e-01 -1.74007194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.731193817 meters Centerline goodness : 0.909997 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.27, Z:-1.74 [[ 9.99750455e-01 2.06983056e-02 8.40281574e-03 1.10817576e+01] [-2.05790069e-02 9.99689587e-01 -1.40439924e-02 -2.66198497e-01] [-8.69089425e-03 1.38675662e-02 9.99866071e-01 -1.74330581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.761193817 meters Centerline goodness : 0.910412 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.27, Z:-1.74 [[ 9.99672105e-01 2.42620923e-02 8.18735219e-03 1.10824400e+01] [-2.41747664e-02 9.99651534e-01 -1.06014900e-02 -2.65024747e-01] [-8.44171350e-03 1.04000865e-02 9.99910284e-01 -1.74323260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.791193817 meters Centerline goodness : 0.913279 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.26, Z:-1.74 [[ 9.99670633e-01 2.43949443e-02 7.96947964e-03 1.10828280e+01] [-2.43044585e-02 9.99641187e-01 -1.12601670e-02 -2.62072336e-01] [-8.24131123e-03 1.10627644e-02 9.99904843e-01 -1.74314482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82119381700001 meters Centerline goodness : 0.912831 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.26, Z:-1.74 [[ 9.99630040e-01 2.61375164e-02 7.52416439e-03 1.10846331e+01] [-2.60656880e-02 9.99615175e-01 -9.49118905e-03 -2.61534436e-01] [-7.76934501e-03 9.29155517e-03 9.99926649e-01 -1.74392832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85119381700001 meters Centerline goodness : 0.912964 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.26, Z:-1.74 [[ 9.99639163e-01 2.59115448e-02 7.08059317e-03 1.10853467e+01] [-2.58386786e-02 9.99614131e-01 -1.01956622e-02 -2.59704494e-01] [-7.34204635e-03 1.00090301e-02 9.99922954e-01 -1.74370367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88119381700001 meters Centerline goodness : 0.913038 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.26, Z:-1.74 [[ 9.99644289e-01 2.58649977e-02 6.50364384e-03 1.10869281e+01] [-2.57961738e-02 9.99612577e-01 -1.04524747e-02 -2.58594446e-01] [-6.77147741e-03 1.02809875e-02 9.99924221e-01 -1.74427316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91119381700001 meters Centerline goodness : 0.915702 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.26, Z:-1.75 [[ 9.99663732e-01 2.52422147e-02 5.93753287e-03 1.10891120e+01] [-2.51735554e-02 9.99618466e-01 -1.13672770e-02 -2.57102229e-01] [-6.22220274e-03 1.12139858e-02 9.99917762e-01 -1.74566481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94119381700001 meters Centerline goodness : 0.912421 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.26, Z:-1.75 [[ 9.99676852e-01 2.48537265e-02 5.33696367e-03 1.10909434e+01] [-2.47892630e-02 9.99622784e-01 -1.18229871e-02 -2.56681167e-01] [-5.62879577e-03 1.16868671e-02 9.99915863e-01 -1.74650171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.971193817 meters Centerline goodness : 0.913925 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.26, Z:-1.75 [[ 9.99705122e-01 2.38488164e-02 4.57198705e-03 1.10932672e+01] [-2.37894864e-02 9.99637339e-01 -1.26194500e-02 -2.57027876e-01] [-4.87128791e-03 1.25069636e-02 9.99909919e-01 -1.74756356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.001193817 meters Centerline goodness : 0.914990 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.26, Z:-1.75 [[ 9.99728822e-01 2.29414468e-02 3.99653601e-03 1.10954622e+01] [-2.28866214e-02 9.99650092e-01 -1.32625711e-02 -2.57141581e-01] [-4.29940016e-03 1.31675074e-02 9.99904061e-01 -1.74874177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.031193817 meters Centerline goodness : 0.917060 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.26, Z:-1.75 [[ 9.99758516e-01 2.17257494e-02 3.30189016e-03 1.10980453e+01] [-2.16772057e-02 9.99665759e-01 -1.40879051e-02 -2.57703660e-01] [-3.60685683e-03 1.40129274e-02 9.99895309e-01 -1.75019954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.061193817 meters Centerline goodness : 0.915289 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.26, Z:-1.75 [[ 9.99787968e-01 2.04161390e-02 2.68335693e-03 1.11004984e+01] [-2.03749182e-02 9.99686051e-01 -1.45829579e-02 -2.59763585e-01] [-2.98024219e-03 1.45251926e-02 9.99890062e-01 -1.75152579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.091193817 meters Centerline goodness : 0.918102 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.26, Z:-1.75 [[ 9.99865026e-01 1.62665276e-02 2.30862732e-03 1.11016885e+01] [-1.62214051e-02 9.99699540e-01 -1.83765093e-02 -2.60940133e-01] [-2.60685566e-03 1.83365798e-02 9.99828472e-01 -1.75224544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.121193817 meters Centerline goodness : 0.919122 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.27, Z:-1.75 [[ 9.99981134e-01 4.52737259e-03 4.15144794e-03 1.11039443e+01] [-4.48355603e-03 9.99934782e-01 -1.05037750e-02 -2.65965662e-01] [-4.19873170e-03 1.04849636e-02 9.99936216e-01 -1.75366805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.151193817 meters Centerline goodness : 0.918597 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.27, Z:-1.76 [[ 9.99991406e-01 2.23175235e-03 3.49374630e-03 1.11067523e+01] [-2.18984969e-03 9.99926176e-01 -1.19518457e-02 -2.67554708e-01] [-3.52016194e-03 1.19440922e-02 9.99922471e-01 -1.75512547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18119381700001 meters Centerline goodness : 0.918736 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.27, Z:-1.76 [[ 9.99996163e-01 6.05812629e-04 2.70306510e-03 1.11098166e+01] [-5.70885366e-04 9.99916584e-01 -1.29034700e-02 -2.68674266e-01] [-2.71065671e-03 1.29018774e-02 9.99913093e-01 -1.75669283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21119381700001 meters Centerline goodness : 0.917227 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.27, Z:-1.76 [[ 9.99997837e-01 -8.97210564e-04 1.87624271e-03 1.11128621e+01] [ 9.23259719e-04 9.99902558e-01 -1.39292133e-02 -2.68535271e-01] [-1.86356245e-03 1.39309154e-02 9.99901223e-01 -1.75820317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24119381700001 meters Centerline goodness : 0.919047 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.27, Z:-1.76 [[ 9.99996971e-01 -2.00666273e-03 1.42508176e-03 1.11142211e+01] [ 2.02721247e-03 9.99891825e-01 -1.45680587e-02 -2.68368413e-01] [-1.39569442e-03 1.45709035e-02 9.99892865e-01 -1.75851640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27119381700001 meters Centerline goodness : 0.921962 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.27, Z:-1.76 [[ 9.99996513e-01 -2.44992941e-03 9.85309813e-04 1.11154968e+01] [ 2.46432315e-03 9.99886212e-01 -1.48825493e-02 -2.67836466e-01] [-9.48736501e-04 1.48849255e-02 9.99888763e-01 -1.75888793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30119381700001 meters Centerline goodness : 0.922324 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.27, Z:-1.76 [[ 9.99995272e-01 -3.04791586e-03 4.06851658e-04 1.11173562e+01] [ 3.05386452e-03 9.99874842e-01 -1.55233293e-02 -2.66460091e-01] [-3.59486936e-04 1.55244984e-02 9.99879423e-01 -1.75966912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.331193817 meters Centerline goodness : 0.920129 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.26, Z:-1.76 [[ 9.99999374e-01 -1.07211965e-03 -3.19371794e-04 1.11206095e+01] [ 1.06776167e-03 9.99910359e-01 -1.33466501e-02 -2.64379680e-01] [ 3.33652371e-04 1.33463008e-02 9.99910878e-01 -1.76171249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.361193817 meters Centerline goodness : 0.920573 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.26, Z:-1.76 [[ 9.99998333e-01 1.54376502e-03 -9.74787404e-04 1.11228637e+01] [-1.55378549e-03 9.99945085e-01 -1.03639649e-02 -2.64205997e-01] [ 9.58734347e-04 1.03654623e-02 9.99945818e-01 -1.76255390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.391193817 meters Centerline goodness : 0.922395 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.26, Z:-1.76 [[ 9.99987868e-01 4.87204778e-03 -7.26283169e-04 1.11445235e+01] [-4.87994611e-03 9.99924225e-01 -1.13017941e-02 -2.63655235e-01] [ 6.71165254e-04 1.13052012e-02 9.99935869e-01 -1.76448270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.421193817 meters Centerline goodness : 0.919503 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.26, Z:-1.76 [[ 9.99966784e-01 8.08050956e-03 -1.06630840e-03 1.11455879e+01] [-8.08890917e-03 9.99934289e-01 -8.12326339e-03 -2.61978957e-01] [ 1.00059822e-03 8.13161884e-03 9.99966437e-01 -1.76459841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.451193817 meters Centerline goodness : 0.923928 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.25, Z:-1.77 [[ 9.99929717e-01 1.14905665e-02 2.92026226e-03 1.11616014e+01] [-1.14509647e-02 9.99846856e-01 -1.32340352e-02 -2.53059117e-01] [-3.07188161e-03 1.31996653e-02 9.99908162e-01 -1.76665629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.481193817 meters Centerline goodness : 0.921941 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.25, Z:-1.77 [[ 9.99925114e-01 1.19597610e-02 2.59440265e-03 1.11613638e+01] [-1.19240498e-02 9.99839529e-01 -1.33691369e-02 -2.50135380e-01] [-2.75387801e-03 1.33372000e-02 9.99907263e-01 -1.76542804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.511193817 meters Centerline goodness : 0.923581 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.25, Z:-1.76 [[ 9.99923554e-01 1.21460163e-02 2.31513184e-03 1.11610745e+01] [-1.21130846e-02 9.99832173e-01 -1.37440506e-02 -2.47464588e-01] [-2.48167876e-03 1.37149566e-02 9.99902866e-01 -1.76421767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.541193817 meters Centerline goodness : 0.925515 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.24, Z:-1.76 [[ 9.99924336e-01 1.21337317e-02 2.02376474e-03 1.11611482e+01] [-1.21038787e-02 9.99826436e-01 -1.41631321e-02 -2.44976483e-01] [-2.19526513e-03 1.41375650e-02 9.99897650e-01 -1.76337202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57119381700001 meters Centerline goodness : 0.926413 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.24, Z:-1.76 [[ 9.99938061e-01 1.09765779e-02 1.84090486e-03 1.11612298e+01] [-1.09460151e-02 9.99814261e-01 -1.58628172e-02 -2.37418109e-01] [-2.01468238e-03 1.58416841e-02 9.99872483e-01 -1.76264410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60119381700001 meters Centerline goodness : 0.927446 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.23, Z:-1.76 [[ 9.99948300e-01 1.00638362e-02 1.45516497e-03 1.11621465e+01] [-1.00372702e-02 9.99801050e-01 -1.72369928e-02 -2.33426281e-01] [-1.62834574e-03 1.72214958e-02 9.99850373e-01 -1.76264081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63119381700001 meters Centerline goodness : 0.929429 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.23, Z:-1.76 [[ 9.99953402e-01 9.58457407e-03 1.15330429e-03 1.11626665e+01] [-9.56200986e-03 9.99788726e-01 -1.81953848e-02 -2.30030282e-01] [-1.32745564e-03 1.81835090e-02 9.99833785e-01 -1.76235222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66119381700001 meters Centerline goodness : 0.929258 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.22, Z:-1.76 [[ 9.99935329e-01 1.13258445e-02 1.03059416e-03 1.11615587e+01] [-1.13063424e-02 9.99786628e-01 -1.72877290e-02 -2.22629048e-01] [-1.22617239e-03 1.72749587e-02 9.99850025e-01 -1.76008147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69119381700001 meters Centerline goodness : 0.931152 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.22, Z:-1.76 [[ 9.99897153e-01 1.43264039e-02 6.61715388e-04 1.11621278e+01] [-1.43150952e-02 9.99788836e-01 -1.47432143e-02 -2.19295153e-01] [-8.72792901e-04 1.47322255e-02 9.99891094e-01 -1.75940854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.721193817 meters Centerline goodness : 0.929013 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.21, Z:-1.76 [[ 9.99848837e-01 1.73860612e-02 1.70085613e-04 1.11634520e+01] [-1.73825471e-02 9.99769793e-01 -1.25780927e-02 -2.14814975e-01] [-3.88729947e-04 1.25732348e-02 9.99920878e-01 -1.75944461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.751193817 meters Centerline goodness : 0.931571 Centerline is valid? [False, False] Translation: X:11.17, Y:-0.21, Z:-1.76 [[ 9.99781214e-01 2.09114306e-02 -4.86853738e-04 1.11654270e+01] [-2.09153140e-02 9.99729070e-01 -1.02144993e-02 -2.09494502e-01] [ 2.73122042e-04 1.02224472e-02 9.99947712e-01 -1.76005103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.781193817 meters Centerline goodness : 0.932054 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.19, Z:-1.77 [[ 9.99611904e-01 2.78537293e-02 4.58773820e-04 1.11865499e+01] [-2.78442370e-02 9.99508491e-01 -1.44039585e-02 -1.94007601e-01] [-8.59752289e-04 1.43855942e-02 9.99896152e-01 -1.76623949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.811193817 meters Centerline goodness : 0.931485 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.19, Z:-1.77 [[ 9.99533308e-01 3.05469781e-02 -2.20387337e-04 1.11895595e+01] [-3.05473349e-02 9.99454309e-01 -1.25676362e-02 -1.88808319e-01] [-1.63636234e-04 1.25685032e-02 9.99921000e-01 -1.76790794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.841193817 meters Centerline goodness : 0.930291 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.19, Z:-1.77 [[ 9.99456107e-01 3.29636145e-02 -9.43542509e-04 1.11924451e+01] [-3.29717035e-02 9.99401311e-01 -1.04827075e-02 -1.85816476e-01] [ 5.97429690e-04 1.05081163e-02 9.99944610e-01 -1.76931858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.871193817 meters Centerline goodness : 0.931027 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.18, Z:-1.77 [[ 9.99433693e-01 3.36068999e-02 -1.69395097e-03 1.11957825e+01] [-3.36224562e-02 9.99382647e-01 -1.01909840e-02 -1.83637829e-01] [ 1.35041782e-03 1.02421675e-02 9.99946636e-01 -1.77134659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.901193817 meters Centerline goodness : 0.931421 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.18, Z:-1.77 [[ 9.99455007e-01 3.29322679e-02 -2.27020548e-03 1.11978971e+01] [-3.29558804e-02 9.99392981e-01 -1.12951390e-02 -1.81241114e-01] [ 1.89685288e-03 1.13637999e-02 9.99933631e-01 -1.77248424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93119381700001 meters Centerline goodness : 0.929547 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.18, Z:-1.78 [[ 9.99370203e-01 3.53664911e-02 -2.89991006e-03 1.12017220e+01] [-3.53915287e-02 9.99332161e-01 -9.09241605e-03 -1.79022375e-01] [ 2.57640653e-03 9.18932192e-03 9.99954458e-01 -1.77539175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96119381700001 meters Centerline goodness : 0.929328 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.18, Z:-1.78 [[ 9.99277786e-01 3.78258701e-02 -3.62089375e-03 1.12055528e+01] [-3.78492678e-02 9.99261482e-01 -6.62751019e-03 -1.78388308e-01] [ 3.36752832e-03 6.75977188e-03 9.99971482e-01 -1.77801358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99119381700001 meters Centerline goodness : 0.928905 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.18, Z:-1.78 [[ 9.99156173e-01 4.08456522e-02 -4.30990008e-03 1.12089644e+01] [-4.08610544e-02 9.99158538e-01 -3.54824258e-03 -1.78545154e-01] [ 4.16134318e-03 3.72135554e-03 9.99984417e-01 -1.78007523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02119381700001 meters Centerline goodness : 0.926657 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.17, Z:-1.78 [[ 9.99081907e-01 4.10608017e-02 -1.22210334e-02 1.11984396e+01] [-4.11502505e-02 9.99127315e-01 -7.15996024e-03 -1.74416398e-01] [ 1.19163746e-02 7.65628531e-03 9.99899686e-01 -1.77763622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05119381700001 meters Centerline goodness : 0.926425 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.18, Z:-1.77 [[ 9.98927906e-01 4.42094987e-02 -1.37316670e-02 1.12000070e+01] [-4.43027942e-02 9.98996573e-01 -6.56582896e-03 -1.75737804e-01] [ 1.34276163e-02 7.16714099e-03 9.99884159e-01 -1.77466630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.081193817 meters Centerline goodness : 0.926215 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.18, Z:-1.77 [[ 9.98865410e-01 4.54245322e-02 -1.43005156e-02 1.12003197e+01] [-4.55061970e-02 9.98949256e-01 -5.43781342e-03 -1.78365689e-01] [ 1.40384793e-02 6.08240581e-03 9.99882956e-01 -1.77341128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.111193817 meters Centerline goodness : 0.923278 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.18, Z:-1.77 [[ 9.98937318e-01 4.32126080e-02 -1.60282473e-02 1.12033107e+01] [-4.33658405e-02 9.99015610e-01 -9.33891680e-03 -1.78223272e-01] [ 1.56089103e-02 1.00240709e-02 9.99827925e-01 -1.77260035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.141193817 meters Centerline goodness : 0.921839 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.18, Z:-1.77 [[ 9.98979936e-01 4.19750892e-02 -1.66486972e-02 1.12036793e+01] [-4.21534088e-02 9.99055887e-01 -1.05083064e-02 -1.81702570e-01] [ 1.61918918e-02 1.11993866e-02 9.99806179e-01 -1.77195591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.171193817 meters Centerline goodness : 0.924055 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.19, Z:-1.78 [[ 9.99181023e-01 3.90073461e-02 -1.07568915e-02 1.12159888e+01] [-3.90686993e-02 9.99221094e-01 -5.55363643e-03 -1.85825260e-01] [ 1.05318803e-02 5.96934589e-03 9.99926721e-01 -1.77585456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.201193817 meters Centerline goodness : 0.924439 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.19, Z:-1.78 [[ 9.99383285e-01 3.48935299e-02 -3.93599403e-03 1.12278677e+01] [-3.49052399e-02 9.99386282e-01 -2.94668357e-03 -1.90477883e-01] [ 3.83075825e-03 3.08225312e-03 9.99987912e-01 -1.77980312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.231193817 meters Centerline goodness : 0.923198 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.19, Z:-1.78 [[ 9.99505754e-01 3.11344740e-02 -4.34641894e-03 1.12282541e+01] [-3.11612309e-02 9.99494952e-01 -6.23040837e-03 -1.93135639e-01] [ 4.15024330e-03 6.36276879e-03 9.99971145e-01 -1.77943438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.261193817 meters Centerline goodness : 0.923198 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.19, Z:-1.78 [[ 9.99505754e-01 3.11344740e-02 -4.34641894e-03 1.12282541e+01] [-3.11612309e-02 9.99494952e-01 -6.23040837e-03 -1.93135639e-01] [ 4.15024330e-03 6.36276879e-03 9.99971145e-01 -1.77943438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.291193817 meters Centerline goodness : 0.921540 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.20, Z:-1.78 [[ 9.99605010e-01 2.77551264e-02 -4.41328810e-03 1.12265990e+01] [-2.77908896e-02 9.99579632e-01 -8.25993889e-03 -1.98243853e-01] [ 4.18217724e-03 8.37932550e-03 9.99956147e-01 -1.77691783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32119381700001 meters Centerline goodness : 0.920716 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.20, Z:-1.78 [[ 9.99610840e-01 2.74715012e-02 -4.84624244e-03 1.12274476e+01] [-2.75086096e-02 9.99591413e-01 -7.76429656e-03 -2.00814575e-01] [ 4.63096544e-03 7.89458839e-03 9.99958114e-01 -1.77665717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35119381700001 meters Centerline goodness : 0.922318 Centerline is valid? [False, False] Translation: X:11.25, Y:-0.20, Z:-1.78 [[ 9.99650851e-01 2.61216682e-02 -3.97923328e-03 1.12485958e+01] [-2.61708014e-02 9.99575009e-01 -1.28409586e-02 -2.02197220e-01] [ 3.64211488e-03 1.29406149e-02 9.99909634e-01 -1.77848074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38119381700001 meters Centerline goodness : 0.920077 Centerline is valid? [False, False] Translation: X:11.25, Y:-0.20, Z:-1.78 [[ 9.99710779e-01 2.35771874e-02 -4.74069705e-03 1.12511717e+01] [-2.36473655e-02 9.99602718e-01 -1.53364900e-02 -2.03911969e-01] [ 4.37722236e-03 1.54441594e-02 9.99871151e-01 -1.77992904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41119381700001 meters Centerline goodness : 0.920288 Centerline is valid? [False, False] Translation: X:11.25, Y:-0.21, Z:-1.78 [[ 9.99757143e-01 2.13679936e-02 -5.39103305e-03 1.12530188e+01] [-2.14549459e-02 9.99631618e-01 -1.66226723e-02 -2.09338662e-01] [ 5.03385394e-03 1.67342997e-02 9.99847300e-01 -1.78078381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44119381700001 meters Centerline goodness : 0.917720 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.21, Z:-1.78 [[ 9.99776718e-01 2.02279345e-02 -6.11104432e-03 1.12554211e+01] [-2.03277864e-02 9.99653133e-01 -1.67450097e-02 -2.12876865e-01] [ 5.77020764e-03 1.68654948e-02 9.99841117e-01 -1.78180059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.471193817 meters Centerline goodness : 0.917212 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.22, Z:-1.78 [[ 9.99839028e-01 1.66953163e-02 -6.57154477e-03 1.12562628e+01] [-1.68217198e-02 9.99664922e-01 -1.96741956e-02 -2.15704316e-01] [ 6.24087586e-03 1.97815733e-02 9.99784847e-01 -1.78185157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.501193817 meters Centerline goodness : 0.919940 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.22, Z:-1.78 [[ 9.99892669e-01 1.28454538e-02 -7.04594152e-03 1.12575687e+01] [-1.30041121e-02 9.99651940e-01 -2.29541453e-02 -2.18015470e-01] [ 6.74863270e-03 2.30433078e-02 9.99711689e-01 -1.78244978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.531193817 meters Centerline goodness : 0.917456 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.22, Z:-1.78 [[ 9.99972483e-01 2.97180493e-03 -6.79718344e-03 1.12806311e+01] [-3.07418336e-03 9.99881242e-01 -1.51013673e-02 -2.24984271e-01] [ 6.75149790e-03 1.51218475e-02 9.99862864e-01 -1.78388768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.561193817 meters Centerline goodness : 0.918274 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.23, Z:-1.78 [[ 9.99972230e-01 -1.30020800e-03 -7.33811194e-03 1.12821285e+01] [ 1.16498829e-03 9.99830002e-01 -1.84013314e-02 -2.27911477e-01] [ 7.36079004e-03 1.83922716e-02 9.99803752e-01 -1.78434255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.591193817 meters Centerline goodness : 0.916739 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.23, Z:-1.79 [[ 9.99963952e-01 -7.33665778e-03 -4.27423830e-03 1.12924813e+01] [ 7.27613977e-03 9.99875432e-01 -1.40063306e-02 -2.33129624e-01] [ 4.37646552e-03 1.39747257e-02 9.99892771e-01 -1.78532079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.621193817 meters Centerline goodness : 0.918006 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.24, Z:-1.79 [[ 9.99924621e-01 -1.13403510e-02 -4.70622513e-03 1.12938008e+01] [ 1.12565427e-02 9.99784058e-01 -1.74679293e-02 -2.35325717e-01] [ 4.90330131e-03 1.74136368e-02 9.99836348e-01 -1.78575076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.651193817 meters Centerline goodness : 0.919174 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.24, Z:-1.79 [[ 9.99908499e-01 -1.24582520e-02 -5.27129063e-03 1.12961357e+01] [ 1.23622960e-02 9.99764061e-01 -1.78604747e-02 -2.36591173e-01] [ 5.49255722e-03 1.77936752e-02 9.99826593e-01 -1.78700040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68119381700001 meters Centerline goodness : 0.915556 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.24, Z:-1.79 [[ 9.99945796e-01 -8.79660994e-03 -5.57006476e-03 1.12967148e+01] [ 8.72079341e-03 9.99870942e-01 -1.34924748e-02 -2.37864635e-01] [ 5.68803393e-03 1.34431680e-02 9.99893458e-01 -1.78675142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71119381700001 meters Centerline goodness : 0.912699 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.24, Z:-1.79 [[ 9.99961891e-01 -6.09061500e-03 -6.25464436e-03 1.12991635e+01] [ 6.02557328e-03 9.99928120e-01 -1.03656657e-02 -2.38204431e-01] [ 6.31732806e-03 1.03275828e-02 9.99926714e-01 -1.78785634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74119381700001 meters Centerline goodness : 0.913016 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.24, Z:-1.79 [[ 9.99971163e-01 -3.25897440e-03 -6.85944536e-03 1.13013262e+01] [ 3.20881240e-03 9.99968125e-01 -7.31118051e-03 -2.38620490e-01] [ 6.88305366e-03 7.28895900e-03 9.99949746e-01 -1.78881937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77119381700001 meters Centerline goodness : 0.912040 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.24, Z:-1.79 [[ 9.99993585e-01 3.54420866e-03 -5.17753454e-04 1.13116548e+01] [-3.54985305e-03 9.99929387e-01 -1.13410964e-02 -2.35367140e-01] [ 4.77521681e-04 1.13428616e-02 9.99935554e-01 -1.79216676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80119381700001 meters Centerline goodness : 0.912602 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.23, Z:-1.79 [[ 9.99971093e-01 7.55003688e-03 -8.99720674e-04 1.13125086e+01] [-7.55692315e-03 9.99940134e-01 -7.91336440e-03 -2.33300237e-01] [ 8.39920618e-04 7.91993477e-03 9.99968284e-01 -1.79219377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.831193817 meters Centerline goodness : 0.911665 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.23, Z:-1.80 [[ 9.99936528e-01 1.10865070e-02 2.00716315e-03 1.13311219e+01] [-1.10613179e-02 9.99864960e-01 -1.21535395e-02 -2.27686661e-01] [-2.14163241e-03 1.21305663e-02 9.99924129e-01 -1.79596242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.861193817 meters Centerline goodness : 0.910860 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.22, Z:-1.80 [[ 9.99884872e-01 1.50886409e-02 1.60474549e-03 1.13324510e+01] [-1.50738778e-02 9.99847261e-01 -8.84499028e-03 -2.24917504e-01] [-1.73795927e-03 8.81978224e-03 9.99959595e-01 -1.79655724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.891193817 meters Centerline goodness : 0.907199 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.22, Z:-1.80 [[ 9.99770813e-01 2.07815985e-02 5.14258482e-03 1.13481589e+01] [-2.07080310e-02 9.99687993e-01 -1.39675992e-02 -2.16546463e-01] [-5.43124934e-03 1.38579052e-02 9.99889224e-01 -1.80142343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.921193817 meters Centerline goodness : 0.909891 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.22, Z:-1.80 [[ 9.99697516e-01 2.41471552e-02 4.66806485e-03 1.13494494e+01] [-2.40966665e-02 9.99653591e-01 -1.05852838e-02 -2.15755433e-01] [-4.92205228e-03 1.04695971e-02 9.99933078e-01 -1.80150835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.951193817 meters Centerline goodness : 0.908536 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.21, Z:-1.80 [[ 9.99686184e-01 2.46730335e-02 4.33292073e-03 1.13499097e+01] [-2.46261533e-02 9.99640969e-01 -1.05586801e-02 -2.14580306e-01] [-4.59187974e-03 1.04486635e-02 9.99934868e-01 -1.80126193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.981193817 meters Centerline goodness : 0.908576 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.21, Z:-1.80 [[ 9.99692494e-01 2.44857584e-02 3.91993596e-03 1.13506946e+01] [-2.44420740e-02 9.99642594e-01 -1.08290578e-02 -2.14372711e-01] [-4.18369265e-03 1.07299164e-02 9.99933681e-01 -1.80112125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.011193817 meters Centerline goodness : 0.909554 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.22, Z:-1.80 [[ 9.99698659e-01 2.44139951e-02 2.55892815e-03 1.13524203e+01] [-2.43894756e-02 9.99660096e-01 -9.21114237e-03 -2.16803856e-01] [-2.78293914e-03 9.14595576e-03 9.99954302e-01 -1.79911471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.041193817 meters Centerline goodness : 0.910542 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.22, Z:-1.80 [[ 9.99711285e-01 2.39150509e-02 2.32739136e-03 1.13528795e+01] [-2.38922134e-02 9.99670441e-01 -9.38998786e-03 -2.17185960e-01] [-2.55118639e-03 9.33167030e-03 9.99953205e-01 -1.79896198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07119381700001 meters Centerline goodness : 0.909042 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.22, Z:-1.80 [[ 9.99718441e-01 2.36344949e-02 2.10938861e-03 1.13530590e+01] [-2.36140429e-02 9.99678407e-01 -9.24444193e-03 -2.18378721e-01] [-2.32719796e-03 9.19202788e-03 9.99955044e-01 -1.79842293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10119381700001 meters Centerline goodness : 0.912014 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.22, Z:-1.80 [[ 9.99787688e-01 2.04963928e-02 2.11599392e-03 1.13517756e+01] [-2.04701577e-02 9.99721375e-01 -1.17535042e-02 -2.23022824e-01] [-2.35630879e-03 1.17076940e-02 9.99928686e-01 -1.79672906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13119381700001 meters Centerline goodness : 0.912699 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.23, Z:-1.80 [[ 9.99826656e-01 1.85643902e-02 1.42186200e-03 1.13541591e+01] [-1.85433981e-02 9.99735881e-01 -1.35761097e-02 -2.26034219e-01] [-1.67351866e-03 1.35473902e-02 9.99906829e-01 -1.79828395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16119381700001 meters Centerline goodness : 0.913389 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.23, Z:-1.80 [[ 9.99845406e-01 1.75637229e-02 8.24272671e-04 1.13568956e+01] [-1.75502349e-02 9.99744875e-01 -1.42188255e-02 -2.28047478e-01] [-1.07379789e-03 1.42021612e-02 9.99898568e-01 -1.80034336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19119381700001 meters Centerline goodness : 0.912268 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.23, Z:-1.80 [[ 9.99853497e-01 1.71153542e-02 2.20970544e-04 1.13593544e+01] [-1.71103809e-02 9.99749362e-01 -1.44377089e-02 -2.28711479e-01] [-4.68021663e-04 1.44318129e-02 9.99895746e-01 -1.80208053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.221193817 meters Centerline goodness : 0.909218 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.23, Z:-1.81 [[ 9.99846849e-01 1.74807814e-02 -8.36685058e-04 1.13655313e+01] [-1.74906873e-02 9.99751323e-01 -1.38335799e-02 -2.29122767e-01] [ 5.94655209e-04 1.38460954e-02 9.99903961e-01 -1.80752259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.251193817 meters Centerline goodness : 0.910352 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.23, Z:-1.81 [[ 9.99848852e-01 1.73227592e-02 -1.48180194e-03 1.13676439e+01] [-1.73415336e-02 9.99754839e-01 -1.37670870e-02 -2.30150087e-01] [ 1.24295473e-03 1.37907029e-02 9.99904131e-01 -1.80869101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.281193817 meters Centerline goodness : 0.908784 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.23, Z:-1.81 [[ 9.99859318e-01 1.66409885e-02 -2.10289283e-03 1.13699303e+01] [-1.66689871e-02 9.99761871e-01 -1.40835599e-02 -2.31809586e-01] [ 1.86802771e-03 1.41166317e-02 9.99898610e-01 -1.81007719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.311193817 meters Centerline goodness : 0.910418 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.23, Z:-1.81 [[ 9.99868825e-01 1.59514462e-02 -2.80774547e-03 1.13723293e+01] [-1.59902541e-02 9.99768603e-01 -1.43892955e-02 -2.33705644e-01] [ 2.57756570e-03 1.44323046e-02 9.99892527e-01 -1.81132716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.341193817 meters Centerline goodness : 0.912018 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.24, Z:-1.81 [[ 9.99881152e-01 1.50546607e-02 -3.32256474e-03 1.13748303e+01] [-1.51017254e-02 9.99778978e-01 -1.46264642e-02 -2.37177260e-01] [ 3.10163392e-03 1.46749024e-02 9.99887507e-01 -1.81322418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.371193817 meters Centerline goodness : 0.908466 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.24, Z:-1.81 [[ 9.99882376e-01 1.48646611e-02 -3.77835274e-03 1.13762261e+01] [-1.49180415e-02 9.99783347e-01 -1.45159029e-02 -2.38486064e-01] [ 3.56176017e-03 1.45705611e-02 9.99887500e-01 -1.81387634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.401193817 meters Centerline goodness : 0.909012 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.24, Z:-1.81 [[ 9.99881016e-01 1.48623980e-02 -4.13069410e-03 1.13777320e+01] [-1.49202936e-02 9.99785599e-01 -1.43575858e-02 -2.39207482e-01] [ 3.91642032e-03 1.44175087e-02 9.99888392e-01 -1.81497377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43119381700001 meters Centerline goodness : 0.908667 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.24, Z:-1.82 [[ 9.99876457e-01 1.50432258e-02 -4.55759254e-03 1.13791185e+01] [-1.51061560e-02 9.99786429e-01 -1.41032145e-02 -2.39738447e-01] [ 4.34446133e-03 1.41703198e-02 9.99890158e-01 -1.81577037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46119381700001 meters Centerline goodness : 0.910028 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.24, Z:-1.82 [[ 9.99865729e-01 1.56333448e-02 -4.91142606e-03 1.13799995e+01] [-1.56970940e-02 9.99789380e-01 -1.32210503e-02 -2.41687028e-01] [ 4.70370238e-03 1.32963702e-02 9.99900536e-01 -1.81603130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49119381700001 meters Centerline goodness : 0.909673 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.24, Z:-1.82 [[ 9.99865026e-01 1.55684436e-02 -5.24912338e-03 1.13809137e+01] [-1.56353125e-02 9.99793919e-01 -1.29482307e-02 -2.43303288e-01] [ 5.04645783e-03 1.30285547e-02 9.99902390e-01 -1.81627671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52119381700001 meters Centerline goodness : 0.906636 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.24, Z:-1.82 [[ 9.99863443e-01 1.55309692e-02 -5.64659827e-03 1.13817637e+01] [-1.56019280e-02 9.99797018e-01 -1.27476323e-02 -2.44819433e-01] [ 5.44746903e-03 1.28339894e-02 9.99902802e-01 -1.81630881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55119381700001 meters Centerline goodness : 0.906881 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.25, Z:-1.82 [[ 9.99857007e-01 1.58438726e-02 -5.91072259e-03 1.13820416e+01] [-1.59153154e-02 9.99798393e-01 -1.22423752e-02 -2.46157302e-01] [ 5.71556432e-03 1.23346956e-02 9.99907590e-01 -1.81592164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.581193817 meters Centerline goodness : 0.910531 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.25, Z:-1.81 [[ 9.99842265e-01 1.77590789e-02 2.44136570e-04 1.13941763e+01] [-1.77538025e-02 9.99740969e-01 -1.42406850e-02 -2.46653766e-01] [-4.96974779e-04 1.42341044e-02 9.99898566e-01 -1.81306069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.611193817 meters Centerline goodness : 0.910152 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.25, Z:-1.81 [[ 9.99837353e-01 1.80344368e-02 1.61780730e-04 1.13935143e+01] [-1.80304185e-02 9.99739876e-01 -1.39672896e-02 -2.46911864e-01] [-4.13630848e-04 1.39621009e-02 9.99902440e-01 -1.81181044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.641193817 meters Centerline goodness : 0.910555 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.25, Z:-1.81 [[ 9.99836873e-01 1.80611227e-02 1.52171729e-04 1.13930712e+01] [-1.80573359e-02 9.99742829e-01 -1.37189292e-02 -2.47766455e-01] [-3.99911858e-04 1.37139435e-02 9.99905879e-01 -1.81103646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.671193817 meters Centerline goodness : 0.910375 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.25, Z:-1.81 [[ 9.99837739e-01 1.80136171e-02 -7.76037398e-05 1.13931862e+01] [-1.80130487e-02 9.99748701e-01 -1.33441122e-02 -2.49335313e-01] [-1.62791490e-04 1.33433448e-02 9.99910960e-01 -1.81042081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.701193817 meters Centerline goodness : 0.911244 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.25, Z:-1.81 [[ 9.99853610e-01 1.70533569e-02 -1.39364434e-03 1.13951408e+01] [-1.70684289e-02 9.99786654e-01 -1.16325074e-02 -2.54536753e-01] [ 1.19497371e-03 1.16545918e-02 9.99931369e-01 -1.80827599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.731193817 meters Centerline goodness : 0.911872 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.26, Z:-1.81 [[ 9.99883980e-01 1.50928050e-02 -2.05764701e-03 1.13977056e+01] [-1.51189083e-02 9.99796938e-01 -1.33229671e-02 -2.56485607e-01] [ 1.85614824e-03 1.33525308e-02 9.99909128e-01 -1.80988662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.761193817 meters Centerline goodness : 0.914153 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.26, Z:-1.81 [[ 9.99906608e-01 1.34091285e-02 -2.64029191e-03 1.14005790e+01] [-1.34458353e-02 9.99805709e-01 -1.44136869e-02 -2.58558856e-01] [ 2.44650394e-03 1.44478417e-02 9.99892631e-01 -1.81197804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.791193817 meters Centerline goodness : 0.912648 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.26, Z:-1.81 [[ 9.99953023e-01 9.26923704e-03 -2.83428664e-03 1.14018320e+01] [-9.31800816e-03 9.99799783e-01 -1.77078926e-02 -2.61439288e-01] [ 2.66958052e-03 1.77334706e-02 9.99839186e-01 -1.81324503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82119381700001 meters Centerline goodness : 0.911031 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.26, Z:-1.81 [[ 9.99956665e-01 8.68054649e-03 -3.36410623e-03 1.14034398e+01] [-8.73776345e-03 9.99810707e-01 -1.73839539e-02 -2.64169787e-01] [ 3.21256721e-03 1.74125953e-02 9.99843228e-01 -1.81388431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85119381700001 meters Centerline goodness : 0.909890 Centerline is valid? [False, False] Translation: X:11.41, Y:-0.27, Z:-1.82 [[ 9.99963252e-01 7.55702690e-03 -4.04800839e-03 1.14064586e+01] [-7.62777898e-03 9.99813223e-01 -1.77576816e-02 -2.66579391e-01] [ 3.91305704e-03 1.77879063e-02 9.99834125e-01 -1.81598328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88119381700001 meters Centerline goodness : 0.910339 Centerline is valid? [False, False] Translation: X:11.41, Y:-0.27, Z:-1.82 [[ 9.99965619e-01 6.78456330e-03 -4.76771196e-03 1.14093410e+01] [-6.86813447e-03 9.99819107e-01 -1.77364576e-02 -2.69312305e-01] [ 4.64651539e-03 1.77685931e-02 9.99831329e-01 -1.81783555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91119381700001 meters Centerline goodness : 0.909309 Centerline is valid? [False, False] Translation: X:11.41, Y:-0.27, Z:-1.82 [[ 9.99975048e-01 4.57112327e-03 -5.38595616e-03 1.14122781e+01] [-4.67358610e-03 9.99805361e-01 -1.91676152e-02 -2.74391352e-01] [ 5.29729031e-03 1.91923087e-02 9.99801777e-01 -1.82008938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94119381700001 meters Centerline goodness : 0.910205 Centerline is valid? [False, False] Translation: X:11.41, Y:-0.28, Z:-1.82 [[ 9.99971362e-01 5.07871024e-03 -5.61086176e-03 1.14126573e+01] [-5.17993040e-03 9.99821398e-01 -1.81752618e-02 -2.77195309e-01] [ 5.51755277e-03 1.82038052e-02 9.99819073e-01 -1.81996756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.971193817 meters Centerline goodness : 0.908791 Centerline is valid? [False, False] Translation: X:11.41, Y:-0.28, Z:-1.82 [[ 9.99967000e-01 5.57954894e-03 -5.90489187e-03 1.14134741e+01] [-5.68234323e-03 9.99830065e-01 -1.75371421e-02 -2.78781349e-01] [ 5.80603908e-03 1.75701169e-02 9.99828776e-01 -1.82036622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.001193817 meters Centerline goodness : 0.907415 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.28, Z:-1.82 [[ 9.99942684e-01 8.50834599e-03 -6.49900746e-03 1.14161097e+01] [-8.60009434e-03 9.99861873e-01 -1.42222727e-02 -2.80992470e-01] [ 6.37710176e-03 1.42773496e-02 9.99877737e-01 -1.82204769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.031193817 meters Centerline goodness : 0.908284 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.28, Z:-1.82 [[ 9.99886502e-01 1.33450741e-02 -6.99226613e-03 1.14175720e+01] [-1.34107134e-02 9.99865641e-01 -9.42616316e-03 -2.83084327e-01] [ 6.86553381e-03 9.51886459e-03 9.99931125e-01 -1.82281228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.061193817 meters Centerline goodness : 0.904450 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.28, Z:-1.82 [[ 9.99823657e-01 1.73809911e-02 -7.11021499e-03 1.14180431e+01] [-1.74169385e-02 9.99835684e-01 -5.02544463e-03 -2.84823339e-01] [ 7.02169946e-03 5.14839661e-03 9.99962094e-01 -1.82284748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.091193817 meters Centerline goodness : 0.902727 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.29, Z:-1.82 [[ 9.99745157e-01 2.13761626e-02 -7.25820438e-03 1.14184259e+01] [-2.13812337e-02 9.99771202e-01 -6.21785859e-04 -2.86443653e-01] [ 7.24325233e-03 7.76816765e-04 9.99973466e-01 -1.82259259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.121193817 meters Centerline goodness : 0.901361 Centerline is valid? [False, False] Translation: X:11.43, Y:-0.28, Z:-1.83 [[ 9.99729921e-01 2.31626057e-02 -1.89182008e-03 1.14313060e+01] [-2.31793919e-02 9.99687187e-01 -9.39383722e-03 -2.83699458e-01] [ 1.67364255e-03 9.43515138e-03 9.99954087e-01 -1.82762313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.151193817 meters Centerline goodness : 0.901361 Centerline is valid? [False, False] Translation: X:11.43, Y:-0.28, Z:-1.83 [[ 9.99729921e-01 2.31626057e-02 -1.89182008e-03 1.14313060e+01] [-2.31793919e-02 9.99687187e-01 -9.39383722e-03 -2.83699458e-01] [ 1.67364255e-03 9.43515138e-03 9.99954087e-01 -1.82762313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18119381700001 meters Centerline goodness : 0.902610 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.29, Z:-1.83 [[ 9.99619592e-01 2.70903864e-02 5.17514751e-03 1.14418440e+01] [-2.70397332e-02 9.99588078e-01 -9.61908764e-03 -2.87050506e-01] [-5.43360056e-03 9.47549385e-03 9.99940344e-01 -1.82516890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21119381700001 meters Centerline goodness : 0.901501 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.29, Z:-1.82 [[ 9.99610431e-01 2.74319189e-02 5.14552086e-03 1.14413348e+01] [-2.73846879e-02 9.99584135e-01 -9.03528754e-03 -2.88839305e-01] [-5.39123629e-03 8.89085919e-03 9.99945942e-01 -1.82430474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24119381700001 meters Centerline goodness : 0.901296 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.29, Z:-1.82 [[ 9.99600319e-01 2.78133811e-02 5.06142107e-03 1.14409578e+01] [-2.77700359e-02 9.99578694e-01 -8.44159171e-03 -2.90501667e-01] [-5.29407787e-03 8.29766192e-03 9.99951560e-01 -1.82354067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27119381700001 meters Centerline goodness : 0.901053 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.29, Z:-1.82 [[ 9.99584248e-01 2.83630200e-02 5.18372203e-03 1.14398763e+01] [-2.83253390e-02 9.99572801e-01 -7.20345198e-03 -2.94371461e-01] [-5.38581921e-03 7.05362644e-03 9.99960619e-01 -1.82211423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30119381700001 meters Centerline goodness : 0.904315 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.30, Z:-1.82 [[ 9.99584468e-01 2.83885212e-02 4.99840454e-03 1.14401117e+01] [-2.83549289e-02 9.99575678e-01 -6.66791167e-03 -2.96778600e-01] [-5.18557576e-03 6.52341153e-03 9.99965277e-01 -1.82187161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33119381700001 meters Centerline goodness : 0.899946 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.30, Z:-1.82 [[ 9.99604395e-01 2.77524078e-02 4.56701744e-03 1.14419482e+01] [-2.77208464e-02 9.99592338e-01 -6.83471234e-03 -2.98959040e-01] [-4.75483537e-03 6.70540690e-03 9.99966214e-01 -1.82310495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.361193817 meters Centerline goodness : 0.900267 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.30, Z:-1.83 [[ 9.99630835e-01 2.68788514e-02 3.96492640e-03 1.14448040e+01] [-2.68492827e-02 9.99612609e-01 -7.33125666e-03 -3.00805116e-01] [-4.16044618e-03 7.22209479e-03 9.99965265e-01 -1.82536708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.391193817 meters Centerline goodness : 0.898941 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.30, Z:-1.83 [[ 9.99689304e-01 2.47293087e-02 3.12373010e-03 1.14493584e+01] [-2.46997665e-02 9.99652892e-01 -9.16612161e-03 -3.04000026e-01] [-3.34931768e-03 9.08611832e-03 9.99953111e-01 -1.82953492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.421193817 meters Centerline goodness : 0.901092 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.31, Z:-1.83 [[ 9.99706410e-01 2.40903466e-02 2.59782689e-03 1.14515410e+01] [-2.40653385e-02 9.99667476e-01 -9.26266086e-03 -3.07018036e-01] [-2.82010376e-03 9.19742386e-03 9.99953726e-01 -1.83104411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.451193817 meters Centerline goodness : 0.897843 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.31, Z:-1.83 [[ 9.99721468e-01 2.35094664e-02 2.07144285e-03 1.14535237e+01] [-2.34893298e-02 9.99681190e-01 -9.26122584e-03 -3.10626679e-01] [-2.28850893e-03 9.20998949e-03 9.99954968e-01 -1.83228221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.481193817 meters Centerline goodness : 0.899361 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.31, Z:-1.83 [[ 9.99731410e-01 2.31202094e-02 1.60092490e-03 1.14553605e+01] [-2.31047866e-02 9.99691980e-01 -9.06166456e-03 -3.14098060e-01] [-1.80993937e-03 9.02224166e-03 9.99957661e-01 -1.83347989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.511193817 meters Centerline goodness : 0.900598 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.32, Z:-1.83 [[ 9.99729160e-01 2.32336050e-02 1.34369566e-03 1.14563442e+01] [-2.32215293e-02 9.99695092e-01 -8.39540666e-03 -3.17074522e-01] [-1.53834151e-03 8.36193018e-03 9.99963855e-01 -1.83405295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.541193817 meters Centerline goodness : 0.897448 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.32, Z:-1.83 [[ 9.99696643e-01 2.45954232e-02 1.29856979e-03 1.14565238e+01] [-2.45868297e-02 9.99678073e-01 -6.26398271e-03 -3.22647738e-01] [-1.45221705e-03 6.23015478e-03 9.99979538e-01 -1.83424207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57119381700001 meters Centerline goodness : 0.896711 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.33, Z:-1.83 [[ 9.99680533e-01 2.52528142e-02 1.06139491e-03 1.14573206e+01] [-2.52469809e-02 9.99667770e-01 -5.19037741e-03 -3.26238761e-01] [-1.19211392e-03 5.16192224e-03 9.99985967e-01 -1.83476036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60119381700001 meters Centerline goodness : 0.896658 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.33, Z:-1.84 [[ 9.99663536e-01 2.59227285e-02 9.09444608e-04 1.14579107e+01] [-2.59187854e-02 9.99655610e-01 -4.10834769e-03 -3.30033026e-01] [-1.01563099e-03 4.08339368e-03 9.99991147e-01 -1.83519020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63119381700001 meters Centerline goodness : 0.896753 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.34, Z:-1.84 [[ 9.99611599e-01 2.78450731e-02 1.14149755e-03 1.14576123e+01] [-2.78434616e-02 9.99611310e-01 -1.40412152e-03 -3.37213918e-01] [-1.18015173e-03 1.37179291e-03 9.99998363e-01 -1.83544529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66119381700001 meters Centerline goodness : 0.895164 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.34, Z:-1.84 [[ 9.99595035e-01 2.84326384e-02 1.16219224e-03 1.14576772e+01] [-2.84323522e-02 9.99595685e-01 -2.62055915e-04 -3.40618034e-01] [-1.16917329e-03 2.28905933e-04 9.99999290e-01 -1.83548128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69119381700001 meters Centerline goodness : 0.894713 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.34, Z:-1.84 [[ 9.99667745e-01 2.57517639e-02 1.11634197e-03 1.14573453e+01] [-2.57480608e-02 9.99663299e-01 -3.21347676e-03 -3.42307657e-01] [-1.19871879e-03 3.18366543e-03 9.99994214e-01 -1.83553543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.721193817 meters Centerline goodness : 0.896043 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.35, Z:-1.84 [[ 9.99715927e-01 2.38248642e-02 6.63813547e-04 1.14583816e+01] [-2.38211274e-02 9.99702916e-01 -5.16072979e-03 -3.45491240e-01] [-7.86570026e-04 5.14345098e-03 9.99986463e-01 -1.83619126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.751193817 meters Centerline goodness : 0.895850 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.35, Z:-1.84 [[ 9.99773391e-01 2.12761134e-02 7.02466486e-04 1.14576709e+01] [-2.12702047e-02 9.99745210e-01 -7.55597941e-03 -3.48720744e-01] [-8.63049379e-04 7.53932555e-03 9.99971206e-01 -1.83578677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.781193817 meters Centerline goodness : 0.893982 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.36, Z:-1.83 [[ 9.99814876e-01 1.92225480e-02 8.41011885e-04 1.14557661e+01] [-1.92149118e-02 9.99780910e-01 -8.30177589e-03 -3.56731044e-01] [-1.00040891e-03 8.28407906e-03 9.99965186e-01 -1.83361629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.811193817 meters Centerline goodness : 0.897214 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.36, Z:-1.83 [[ 9.99808326e-01 1.95675272e-02 6.51093567e-04 1.14559293e+01] [-1.95624778e-02 9.99783977e-01 -7.02201396e-03 -3.61384628e-01] [-7.88356365e-04 7.00793101e-03 9.99975133e-01 -1.83311127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.841193817 meters Centerline goodness : 0.898069 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.37, Z:-1.83 [[ 9.99804451e-01 1.97702599e-02 4.43117048e-04 1.14564745e+01] [-1.97672623e-02 9.99786760e-01 -5.97407133e-03 -3.65782539e-01] [-5.61131501e-04 5.96414389e-03 9.99982057e-01 -1.83309348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.871193817 meters Centerline goodness : 0.898173 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.37, Z:-1.83 [[ 9.99825091e-01 1.86989765e-02 3.67330580e-04 1.14571265e+01] [-1.86962930e-02 9.99805362e-01 -6.29967243e-03 -3.72977379e-01] [-4.85056510e-04 6.29170284e-03 9.99980089e-01 -1.83399088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.901193817 meters Centerline goodness : 0.895595 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.38, Z:-1.84 [[ 9.99829567e-01 1.84617615e-02 2.34577567e-05 1.14591359e+01] [-1.84612863e-02 9.99811473e-01 -6.01655376e-03 -3.76238951e-01] [-1.34529515e-04 6.01509528e-03 9.99981900e-01 -1.83570714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93119381700001 meters Centerline goodness : 0.897385 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.38, Z:-1.84 [[ 9.99839467e-01 1.79106638e-02 -4.98118044e-04 1.14618883e+01] [-1.79133410e-02 9.99821398e-01 -6.02361923e-03 -3.80067951e-01] [ 3.90142060e-04 6.03157520e-03 9.99981734e-01 -1.83791051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96119381700001 meters Centerline goodness : 0.895733 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.39, Z:-1.84 [[ 9.99868968e-01 1.61858491e-02 -2.56816022e-04 1.14616284e+01] [-1.61871959e-02 9.99847021e-01 -6.62643439e-03 -3.90317867e-01] [ 1.49522267e-04 6.62972325e-03 9.99978012e-01 -1.83839755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99119381700001 meters Centerline goodness : 0.896211 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.40, Z:-1.84 [[ 9.99868391e-01 1.62143312e-02 -5.44981886e-04 1.14627159e+01] [-1.62171671e-02 9.99852361e-01 -5.67983914e-03 -3.95489697e-01] [ 4.52806632e-04 5.68792968e-03 9.99983721e-01 -1.83893454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02119381700001 meters Centerline goodness : 0.895482 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.40, Z:-1.84 [[ 9.99871284e-01 1.60175811e-02 -9.23833765e-04 1.14642641e+01] [-1.60220884e-02 9.99858645e-01 -5.09739262e-03 -3.99617778e-01] [ 8.42055276e-04 5.11153825e-03 9.99986581e-01 -1.83985090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05119381700001 meters Centerline goodness : 0.892958 Centerline is valid? [False, False] Translation: X:11.47, Y:-0.40, Z:-1.84 [[ 9.99874826e-01 1.57700836e-02 -1.27904152e-03 1.14658833e+01] [-1.57759453e-02 9.99864458e-01 -4.71016659e-03 -4.03160110e-01] [ 1.20458844e-03 4.72975509e-03 9.99988089e-01 -1.84093846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08119381700001 meters Centerline goodness : 0.894597 Centerline is valid? [False, False] Translation: X:11.47, Y:-0.41, Z:-1.84 [[ 9.99882541e-01 1.52073321e-02 -1.90833684e-03 1.14678675e+01] [-1.52159370e-02 9.99873748e-01 -4.57864428e-03 -4.11320198e-01] [ 1.83846694e-03 4.60714361e-03 9.99987697e-01 -1.84221530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.111193817 meters Centerline goodness : 0.894034 Centerline is valid? [False, False] Translation: X:11.47, Y:-0.42, Z:-1.84 [[ 9.99882749e-01 1.51246262e-02 -2.39457248e-03 1.14696572e+01] [-1.51343152e-02 9.99877141e-01 -4.08118831e-03 -4.15668366e-01] [ 2.33255184e-03 4.11695000e-03 9.99988805e-01 -1.84326467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.141193817 meters Centerline goodness : 0.893239 Centerline is valid? [False, False] Translation: X:11.47, Y:-0.42, Z:-1.84 [[ 9.99881024e-01 1.51726842e-02 -2.77994749e-03 1.14710768e+01] [-1.51822740e-02 9.99878750e-01 -3.46163711e-03 -4.20014747e-01] [ 2.72708809e-03 3.50343118e-03 9.99990144e-01 -1.84403260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.171193817 meters Centerline goodness : 0.887481 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.43, Z:-1.85 [[ 9.99860313e-01 1.65009612e-02 2.65958387e-03 1.14848235e+01] [-1.64782058e-02 9.99829257e-01 -8.36211564e-03 -4.28435076e-01] [-2.79711271e-03 8.31712239e-03 9.99961500e-01 -1.84540633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.201193817 meters Centerline goodness : 0.887968 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.43, Z:-1.85 [[ 9.99852914e-01 1.69501553e-02 2.61602070e-03 1.14849167e+01] [-1.69311197e-02 9.99831202e-01 -7.13480417e-03 -4.33318905e-01] [-2.73651516e-03 7.08946257e-03 9.99971125e-01 -1.84522624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.231193817 meters Centerline goodness : 0.885209 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.44, Z:-1.85 [[ 9.99893551e-01 1.43057891e-02 2.86910798e-03 1.14840526e+01] [-1.42770892e-02 9.99850190e-01 -9.78583272e-03 -4.35783165e-01] [-3.00867222e-03 9.74382851e-03 9.99948001e-01 -1.84514961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.261193817 meters Centerline goodness : 0.882699 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.44, Z:-1.85 [[ 9.99929248e-01 1.14361677e-02 3.27311517e-03 1.14829169e+01] [-1.13940772e-02 9.99855678e-01 -1.26014851e-02 -4.38365507e-01] [-3.41675549e-03 1.25632994e-02 9.99915241e-01 -1.84504392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.291193817 meters Centerline goodness : 0.877682 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.45, Z:-1.84 [[ 9.99951432e-01 9.11443104e-03 3.74977086e-03 1.14815313e+01] [-9.06288370e-03 9.99867237e-01 -1.35414832e-02 -4.48914053e-01] [-3.87269594e-03 1.35068417e-02 9.99901279e-01 -1.84431232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32119381700001 meters Centerline goodness : 0.880119 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.45, Z:-1.84 [[ 9.99972421e-01 6.20361266e-03 4.08319646e-03 1.14806260e+01] [-6.13766784e-03 9.99853643e-01 -1.59693876e-02 -4.53487332e-01] [-4.18166676e-03 1.59438859e-02 9.99864144e-01 -1.84410826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35119381700001 meters Centerline goodness : 0.877763 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.46, Z:-1.84 [[ 9.99970378e-01 6.60361043e-03 3.95408722e-03 1.14808721e+01] [-6.54742978e-03 9.99879766e-01 -1.40564988e-02 -4.60206593e-01] [-4.04643545e-03 1.40301933e-02 9.99893384e-01 -1.84338684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38119381700001 meters Centerline goodness : 0.878856 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.47, Z:-1.84 [[ 9.99972660e-01 6.53470619e-03 3.46089939e-03 1.14824075e+01] [-6.49033589e-03 9.99898539e-01 -1.26801543e-02 -4.66142671e-01] [-3.54340933e-03 1.26573452e-02 9.99913614e-01 -1.84350393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41119381700001 meters Centerline goodness : 0.878193 Centerline is valid? [False, False] Translation: X:11.49, Y:-0.47, Z:-1.85 [[ 9.99997979e-01 6.92220510e-04 1.88744112e-03 1.14876829e+01] [-6.58791845e-04 9.99843929e-01 -1.76545693e-02 -4.74569786e-01] [-1.89936740e-03 1.76532902e-02 9.99842364e-01 -1.84761862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44119381700001 meters Centerline goodness : 0.874385 Centerline is valid? [False, False] Translation: X:11.49, Y:-0.48, Z:-1.85 [[ 9.99997903e-01 -1.66967686e-03 1.18614842e-03 1.14888552e+01] [ 1.69286750e-03 9.99801994e-01 -1.98269401e-02 -4.78835993e-01] [-1.15280897e-03 1.98289065e-02 9.99802723e-01 -1.84752094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.471193817 meters Centerline goodness : 0.876425 Centerline is valid? [False, False] Translation: X:11.49, Y:-0.48, Z:-1.85 [[ 9.99987366e-01 -5.02573846e-03 9.74587282e-05 1.14920472e+01] [ 5.02662602e-03 9.99695425e-01 -2.41617509e-02 -4.82213643e-01] [ 2.40015960e-05 2.41619355e-02 9.99708058e-01 -1.84897155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.501193817 meters Centerline goodness : 0.875630 Centerline is valid? [False, False] Translation: X:11.49, Y:-0.49, Z:-1.85 [[ 9.99987799e-01 -4.93872431e-03 -1.00418534e-04 1.14927973e+01] [ 4.93516643e-03 9.99729517e-01 -2.27274339e-02 -4.88154871e-01] [ 2.12635903e-04 2.27266610e-02 9.99741693e-01 -1.84881943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.531193817 meters Centerline goodness : 0.875827 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.50, Z:-1.85 [[ 9.99967229e-01 -8.09478628e-03 -1.25119271e-04 1.14956074e+01] [ 8.08924326e-03 9.99663465e-01 -2.46479253e-02 -4.95448523e-01] [ 3.24596851e-04 2.46461054e-02 9.99696186e-01 -1.85186514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.561193817 meters Centerline goodness : 0.873860 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.50, Z:-1.85 [[ 9.99961073e-01 -8.77804096e-03 -8.93385990e-04 1.14985831e+01] [ 8.75381431e-03 9.99667928e-01 -2.42364089e-02 -4.99256030e-01] [ 1.10583751e-03 2.42276449e-02 9.99705856e-01 -1.85315430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.591193817 meters Centerline goodness : 0.873174 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.50, Z:-1.85 [[ 9.99956157e-01 -9.22476765e-03 -1.60866520e-03 1.15008406e+01] [ 9.18440211e-03 9.99681289e-01 -2.35152548e-02 -5.03554500e-01] [ 1.82507526e-03 2.34994492e-02 9.99722184e-01 -1.85361682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.621193817 meters Centerline goodness : 0.873818 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.51, Z:-1.85 [[ 9.99951194e-01 -9.61661036e-03 -2.26501914e-03 1.15027749e+01] [ 9.56290282e-03 9.99698041e-01 -2.26357686e-02 -5.08279723e-01] [ 2.48201456e-03 2.26130037e-02 9.99741212e-01 -1.85365839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.651193817 meters Centerline goodness : 0.872007 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.52, Z:-1.85 [[ 9.99904729e-01 -1.35553791e-02 -2.60463799e-03 1.15041316e+01] [ 1.34857034e-02 9.99593295e-01 -2.51272962e-02 -5.15340444e-01] [ 2.94418869e-03 2.50897769e-02 9.99680867e-01 -1.85381017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68119381700001 meters Centerline goodness : 0.873332 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.52, Z:-1.85 [[ 9.99897397e-01 -1.39499156e-02 -3.25508157e-03 1.15059268e+01] [ 1.38668913e-02 9.99609292e-01 -2.42687510e-02 -5.19856457e-01] [ 3.59235681e-03 2.42211231e-02 9.99700171e-01 -1.85367444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71119381700001 meters Centerline goodness : 0.872484 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.52, Z:-1.85 [[ 9.99888360e-01 -1.44100372e-02 -3.95209356e-03 1.15084104e+01] [ 1.43127398e-02 9.99618272e-01 -2.36316635e-02 -5.23626744e-01] [ 4.29111809e-03 2.35724600e-02 9.99712922e-01 -1.85443640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74119381700001 meters Centerline goodness : 0.871956 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.53, Z:-1.86 [[ 9.99876722e-01 -1.50072440e-02 -4.61771632e-03 1.15112972e+01] [ 1.48945783e-02 9.99612044e-01 -2.35353751e-02 -5.25996620e-01] [ 4.96912596e-03 2.34636947e-02 9.99712340e-01 -1.85605895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77119381700001 meters Centerline goodness : 0.870360 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.53, Z:-1.86 [[ 9.99866704e-01 -1.54800957e-02 -5.19054458e-03 1.15137922e+01] [ 1.53554531e-02 9.99611752e-01 -2.32498313e-02 -5.28602981e-01] [ 5.54843897e-03 2.31670290e-02 9.99716212e-01 -1.85739926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80119381700001 meters Centerline goodness : 0.867882 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.54, Z:-1.86 [[ 9.99849975e-01 -1.64114875e-02 -5.53991595e-03 1.15159849e+01] [ 1.62883853e-02 9.99634448e-01 -2.15791358e-02 -5.36272477e-01] [ 5.89203654e-03 2.14856621e-02 9.99751794e-01 -1.85719966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83119381700001 meters Centerline goodness : 0.870829 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.54, Z:-1.86 [[ 9.99845711e-01 -1.65168622e-02 -5.97896997e-03 1.15170836e+01] [ 1.63926627e-02 9.99660398e-01 -2.02575830e-02 -5.40884854e-01] [ 6.31153121e-03 2.01564463e-02 9.99776916e-01 -1.85642844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.861193817 meters Centerline goodness : 0.871454 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.55, Z:-1.85 [[ 9.99826528e-01 -1.73143405e-02 -6.86494458e-03 1.15191263e+01] [ 1.72032517e-02 9.99725205e-01 -1.59236788e-02 -5.49413271e-01] [ 7.13876612e-03 1.58028171e-02 9.99849643e-01 -1.85083658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.891193817 meters Centerline goodness : 0.874108 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.56, Z:-1.84 [[ 9.99866877e-01 -1.43759701e-02 -7.71748909e-03 1.15209667e+01] [ 1.43186671e-02 9.99869879e-01 -7.42968311e-03 -5.56529528e-01] [ 7.82329379e-03 7.31818990e-03 9.99942618e-01 -1.84399495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.921193817 meters Centerline goodness : 0.876921 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.56, Z:-1.84 [[ 9.99908107e-01 -1.09046114e-02 -8.05401926e-03 1.15210684e+01] [ 1.08958053e-02 9.99939993e-01 -1.13644966e-03 -5.62796665e-01] [ 8.06592850e-03 1.04859020e-03 9.99966920e-01 -1.84018613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.951193817 meters Centerline goodness : 0.875245 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.57, Z:-1.84 [[ 9.99918243e-01 -1.00001984e-02 -7.96894960e-03 1.15192450e+01] [ 1.00037767e-02 9.99949877e-01 4.09292907e-04 -5.65787881e-01] [ 7.96445716e-03 -4.88979036e-04 9.99968164e-01 -1.83761592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.981193817 meters Centerline goodness : 0.878689 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.57, Z:-1.84 [[ 9.99967503e-01 -7.71526886e-03 -2.33821200e-03 1.15314128e+01] [ 7.69842982e-03 9.99944968e-01 -7.12708267e-03 -5.65326595e-01] [ 2.39307068e-03 7.10885050e-03 9.99971868e-01 -1.84060569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.011193817 meters Centerline goodness : 0.879976 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.57, Z:-1.84 [[ 9.99993316e-01 -2.91275680e-03 -2.20974569e-03 1.15296199e+01] [ 2.90968729e-03 9.99994799e-01 -1.39102048e-03 -5.67858744e-01] [ 2.21378590e-03 1.38458151e-03 9.99996591e-01 -1.83775860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.041193817 meters Centerline goodness : 0.879472 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.57, Z:-1.84 [[ 9.99995457e-01 -7.56790117e-06 -3.01427860e-03 1.15321344e+01] [ 1.46432490e-05 9.99997245e-01 2.34726216e-03 -5.68948251e-01] [ 3.01425254e-03 -2.34729564e-03 9.99992702e-01 -1.83799230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07119381700001 meters Centerline goodness : 0.879472 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.57, Z:-1.84 [[ 9.99995457e-01 -7.56790117e-06 -3.01427860e-03 1.15321344e+01] [ 1.46432490e-05 9.99997245e-01 2.34726216e-03 -5.68948251e-01] [ 3.01425254e-03 -2.34729564e-03 9.99992702e-01 -1.83799230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10119381700001 meters Centerline goodness : 0.878337 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.57, Z:-1.84 [[ 9.99995425e-01 7.75517349e-05 -3.02400423e-03 1.15323675e+01] [-7.05503589e-05 9.99997317e-01 2.31530452e-03 -5.68454317e-01] [ 3.02417568e-03 -2.31508058e-03 9.99992747e-01 -1.83829453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13119381700001 meters Centerline goodness : 0.877454 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.57, Z:-1.84 [[ 9.99993693e-01 -4.60574920e-04 -3.52156924e-03 1.15344880e+01] [ 4.65497467e-04 9.99998916e-01 1.39713598e-03 -5.66978368e-01] [ 3.52092194e-03 -1.39876645e-03 9.99992823e-01 -1.84003841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16119381700001 meters Centerline goodness : 0.873616 Centerline is valid? [False, False] Translation: X:11.54, Y:-0.57, Z:-1.84 [[ 9.99992776e-01 -5.49212306e-04 -3.76108141e-03 1.15351873e+01] [ 5.54703428e-04 9.99998782e-01 1.45909742e-03 -5.67271612e-01] [ 3.76027548e-03 -1.46117316e-03 9.99991863e-01 -1.84015860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19119381700001 meters Centerline goodness : 0.874445 Centerline is valid? [False, False] Translation: X:11.56, Y:-0.57, Z:-1.84 [[ 9.99970973e-01 1.78701151e-03 -7.40679052e-03 1.15587553e+01] [-1.79321364e-03 9.99998047e-01 -8.30800854e-04 -5.68240099e-01] [ 7.40529141e-03 8.44058695e-04 9.99972224e-01 -1.83951730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.221193817 meters Centerline goodness : 0.875180 Centerline is valid? [False, False] Translation: X:11.56, Y:-0.57, Z:-1.84 [[ 9.99969339e-01 1.38451440e-03 -7.70739397e-03 1.15602340e+01] [-1.39273512e-03 9.99998467e-01 -1.06133572e-03 -5.68105646e-01] [ 7.70591271e-03 1.07203753e-03 9.99969734e-01 -1.84040237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.251193817 meters Centerline goodness : 0.872390 Centerline is valid? [False, False] Translation: X:11.56, Y:-0.57, Z:-1.84 [[ 9.99964317e-01 2.38233980e-04 -8.44443186e-03 1.15637034e+01] [-2.55397969e-04 9.99997904e-01 -2.03156057e-03 -5.66994772e-01] [ 8.44393017e-03 2.03364477e-03 9.99962281e-01 -1.84271403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.281193817 meters Centerline goodness : 0.871645 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.57, Z:-1.84 [[ 9.99960354e-01 -3.30218076e-04 -8.89835836e-03 1.15657853e+01] [ 3.08143825e-04 9.99996872e-01 -2.48196734e-03 -5.66572477e-01] [ 8.89915012e-03 2.47912697e-03 9.99957329e-01 -1.84399890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.311193817 meters Centerline goodness : 0.869573 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.57, Z:-1.84 [[ 9.99957889e-01 -4.73701501e-04 -9.16490141e-03 1.15666453e+01] [ 4.51864480e-04 9.99997055e-01 -2.38460324e-03 -5.66762298e-01] [ 9.16600401e-03 2.38036153e-03 9.99955158e-01 -1.84411494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.341193817 meters Centerline goodness : 0.873635 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.57, Z:-1.84 [[ 9.99957051e-01 -3.27576298e-04 -9.26227577e-03 1.15664781e+01] [ 3.11798703e-04 9.99998498e-01 -1.70481807e-03 -5.68434714e-01] [ 9.26282032e-03 1.70185688e-03 9.99955651e-01 -1.84314496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.371193817 meters Centerline goodness : 0.872739 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.57, Z:-1.84 [[ 9.99952613e-01 -5.92154930e-04 -9.71705069e-03 1.15672145e+01] [ 5.83411267e-04 9.99999422e-01 -9.02636780e-04 -5.70756412e-01] [ 9.71757958e-03 8.96924970e-04 9.99952381e-01 -1.84187767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.401193817 meters Centerline goodness : 0.875358 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.57, Z:-1.84 [[ 9.99941780e-01 -2.13469593e-03 -1.05772760e-02 1.15701383e+01] [ 2.13015331e-03 9.99997634e-01 -4.40717017e-04 -5.73590357e-01] [ 1.05781917e-02 4.18160139e-04 9.99943962e-01 -1.84126471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43119381700001 meters Centerline goodness : 0.873127 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.57, Z:-1.84 [[ 9.99934131e-01 -2.75062852e-03 -1.11430877e-02 1.15719816e+01] [ 2.74829639e-03 9.99996198e-01 -2.24596866e-04 -5.74269404e-01] [ 1.11436631e-02 1.93957565e-04 9.99937889e-01 -1.84128955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46119381700001 meters Centerline goodness : 0.875058 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.58, Z:-1.84 [[ 9.99931299e-01 -2.88086483e-03 -1.13621366e-02 1.15722399e+01] [ 2.88661664e-03 9.99995714e-01 4.89858958e-04 -5.75548615e-01] [ 1.13606767e-02 -5.22623437e-04 9.99935329e-01 -1.84018626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49119381700001 meters Centerline goodness : 0.874913 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.58, Z:-1.84 [[ 9.99927691e-01 -3.05232053e-03 -1.16317205e-02 1.15723918e+01] [ 3.06447601e-03 9.99994777e-01 1.02734834e-03 -5.76881544e-01] [ 1.16285240e-02 -1.06291918e-03 9.99931821e-01 -1.83899493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52119381700001 meters Centerline goodness : 0.876096 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.58, Z:-1.84 [[ 9.99925037e-01 -3.02170130e-03 -1.18655116e-02 1.15721485e+01] [ 3.04405778e-03 9.99993625e-01 1.86654848e-03 -5.78498745e-01] [ 1.18597958e-02 -1.90252786e-03 9.99927860e-01 -1.83719897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55119381700001 meters Centerline goodness : 0.877271 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.58, Z:-1.83 [[ 9.99918880e-01 -3.32343762e-03 -1.22958634e-02 1.15721152e+01] [ 3.35712161e-03 9.99990666e-01 2.71983181e-03 -5.80061491e-01] [ 1.22867094e-02 -2.76088988e-03 9.99920704e-01 -1.83480867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58119381700001 meters Centerline goodness : 0.876614 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.58, Z:-1.83 [[ 9.99915728e-01 -3.48894180e-03 -1.25045730e-02 1.15723673e+01] [ 3.52368360e-03 9.99989990e-01 2.75737344e-03 -5.79287678e-01] [ 1.24948275e-02 -2.80120323e-03 9.99918013e-01 -1.83421305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.611193817 meters Centerline goodness : 0.877027 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.58, Z:-1.83 [[ 9.99909796e-01 -9.87628600e-04 -1.33949703e-02 1.15750631e+01] [ 1.07513776e-03 9.99978119e-01 6.52735960e-03 -5.80101008e-01] [ 1.33882306e-02 -6.54117224e-03 9.99888978e-01 -1.83378227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.641193817 meters Centerline goodness : 0.876524 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.58, Z:-1.83 [[ 9.99907391e-01 -1.31666076e-03 -1.35453366e-02 1.15752255e+01] [ 1.39469518e-03 9.99982478e-01 5.75314836e-03 -5.76088025e-01] [ 1.35375243e-02 -5.77150718e-03 9.99891707e-01 -1.83373148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.671193817 meters Centerline goodness : 0.879661 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.58, Z:-1.83 [[ 9.99894287e-01 1.57845122e-03 -1.44542107e-02 1.15775146e+01] [-1.44226336e-03 9.99954519e-01 9.42760138e-03 -5.75900465e-01] [ 1.44684343e-02 -9.40575798e-03 9.99851087e-01 -1.83315247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.701193817 meters Centerline goodness : 0.878719 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.57, Z:-1.83 [[ 9.99895131e-01 1.50331628e-03 -1.44036915e-02 1.15772650e+01] [-1.37896910e-03 9.99961732e-01 8.63905334e-03 -5.72660027e-01] [ 1.44161275e-02 -8.61828512e-03 9.99858940e-01 -1.83329350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.731193817 meters Centerline goodness : 0.880519 Centerline is valid? [False, False] Translation: X:11.59, Y:-0.57, Z:-1.84 [[ 9.99927850e-01 6.09085681e-03 -1.03536092e-02 1.15920442e+01] [-6.07003959e-03 9.99979495e-01 2.04086128e-03 -5.65302590e-01] [ 1.03658275e-02 -1.97786722e-03 9.99944317e-01 -1.83779492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.761193817 meters Centerline goodness : 0.882474 Centerline is valid? [False, False] Translation: X:11.59, Y:-0.56, Z:-1.84 [[ 9.99891414e-01 9.68974183e-03 -1.11027065e-02 1.15935423e+01] [-9.62547043e-03 9.99936692e-01 5.82769254e-03 -5.63291144e-01] [ 1.11584724e-02 -5.72019096e-03 9.99921381e-01 -1.83699002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.791193817 meters Centerline goodness : 0.882589 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.56, Z:-1.84 [[ 9.99846554e-01 1.29481421e-02 -1.17989324e-02 1.15955328e+01] [-1.28416614e-02 9.99876532e-01 9.05611675e-03 -5.60371096e-01] [ 1.19147355e-02 -8.90320923e-03 9.99889380e-01 -1.83694801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82119381700001 meters Centerline goodness : 0.881182 Centerline is valid? [False, False] Translation: X:11.59, Y:-0.56, Z:-1.84 [[ 9.99843825e-01 1.33201734e-02 -1.16145677e-02 1.15948985e+01] [-1.32275119e-02 9.99880360e-01 8.01869787e-03 -5.55295363e-01] [ 1.17199885e-02 -7.86381372e-03 9.99900396e-01 -1.83753017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85119381700001 meters Centerline goodness : 0.882839 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.55, Z:-1.84 [[ 9.99769283e-01 1.99586321e-02 -7.93935302e-03 1.16104984e+01] [-1.99234252e-02 9.99791431e-01 4.48913304e-03 -5.48945453e-01] [ 8.02729407e-03 -4.32991821e-03 9.99958406e-01 -1.84045332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88119381700001 meters Centerline goodness : 0.885389 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.55, Z:-1.84 [[ 9.99759317e-01 2.05088857e-02 -7.79063523e-03 1.16098360e+01] [-2.04790669e-02 9.99782721e-01 3.88820896e-03 -5.45339182e-01] [ 7.86868532e-03 -3.72772819e-03 9.99962093e-01 -1.84063820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91119381700001 meters Centerline goodness : 0.883226 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-1.84 [[ 9.99752657e-01 2.08562038e-02 -7.72287523e-03 1.16093232e+01] [-2.08321612e-02 9.99777928e-01 3.18064777e-03 -5.41516294e-01] [ 7.78749643e-03 -3.01897688e-03 9.99965120e-01 -1.84074004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94119381700001 meters Centerline goodness : 0.886440 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-1.84 [[ 9.99664298e-01 2.46093274e-02 -8.10389324e-03 1.16101902e+01] [-2.45560417e-02 9.99676599e-01 6.61047576e-03 -5.38209576e-01] [ 8.26395179e-03 -6.40925707e-03 9.99945313e-01 -1.84033330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.971193817 meters Centerline goodness : 0.885464 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-1.84 [[ 9.99665831e-01 2.44711161e-02 -8.33013101e-03 1.16109043e+01] [-2.44207434e-02 9.99683183e-01 6.09599851e-03 -5.36550433e-01] [ 8.47666777e-03 -5.89053342e-03 9.99946722e-01 -1.84077150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.001193817 meters Centerline goodness : 0.883875 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-1.84 [[ 9.99666650e-01 2.43150587e-02 -8.68136943e-03 1.16115805e+01] [-2.42658202e-02 9.99689104e-01 5.73274666e-03 -5.35608338e-01] [ 8.81806250e-03 -5.52017510e-03 9.99945883e-01 -1.84079268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.031193817 meters Centerline goodness : 0.889339 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-1.84 [[ 9.99665888e-01 2.42540396e-02 -8.93615294e-03 1.16119389e+01] [-2.42044224e-02 9.99691237e-01 5.61935612e-03 -5.35483110e-01] [ 9.06968586e-03 -5.40118420e-03 9.99944282e-01 -1.84053402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.061193817 meters Centerline goodness : 0.885764 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-1.84 [[ 9.99663061e-01 2.42725807e-02 -9.19815677e-03 1.16121789e+01] [-2.42200376e-02 9.99689935e-01 5.78133688e-03 -5.36146627e-01] [ 9.33563271e-03 -5.55660922e-03 9.99940983e-01 -1.84004074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.091193817 meters Centerline goodness : 0.886737 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-1.84 [[ 9.99667538e-01 2.39494577e-02 -9.55185406e-03 1.16131809e+01] [-2.38972372e-02 9.99699046e-01 5.54424228e-03 -5.36300485e-01] [ 9.68176100e-03 -5.31413611e-03 9.99939010e-01 -1.84029078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.121193817 meters Centerline goodness : 0.885169 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-1.84 [[ 9.99671716e-01 2.36335365e-02 -9.89526409e-03 1.16142521e+01] [-2.35812781e-02 9.99707528e-01 5.36495571e-03 -5.36669945e-01] [ 1.00191629e-02 -5.12985150e-03 9.99936648e-01 -1.84062627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.151193817 meters Centerline goodness : 0.885054 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.54, Z:-1.84 [[ 9.99675035e-01 2.33343398e-02 -1.02631625e-02 1.16157739e+01] [-2.32816537e-02 9.99715300e-01 5.22339359e-03 -5.37891342e-01] [ 1.03821250e-02 -4.98275278e-03 9.99933690e-01 -1.84161086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18119381700001 meters Centerline goodness : 0.884808 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.54, Z:-1.84 [[ 9.99684455e-01 2.26907822e-02 -1.07758379e-02 1.16178424e+01] [-2.26413707e-02 9.99732672e-01 4.68548240e-03 -5.38298548e-01] [ 1.08792745e-02 -4.44002418e-03 9.99930961e-01 -1.84294629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21119381700001 meters Centerline goodness : 0.885598 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.54, Z:-1.84 [[ 9.99686173e-01 2.24373458e-02 -1.11409341e-02 1.16191906e+01] [-2.23861929e-02 9.99738373e-01 4.69512358e-03 -5.39241438e-01] [ 1.12433654e-02 -4.44424702e-03 9.99926915e-01 -1.84352398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24119381700001 meters Centerline goodness : 0.885451 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.54, Z:-1.84 [[ 9.99693688e-01 2.18400139e-02 -1.16423121e-02 1.16211655e+01] [-2.17908354e-02 9.99753156e-01 4.33437624e-03 -5.39705011e-01] [ 1.17341011e-02 -4.07935286e-03 9.99922832e-01 -1.84451059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27119381700001 meters Centerline goodness : 0.881925 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.54, Z:-1.85 [[ 9.99771582e-01 1.79195853e-02 -1.16478340e-02 1.16214459e+01] [-1.79193678e-02 9.99839428e-01 1.23049113e-04 -5.39548881e-01] [ 1.16481687e-02 8.57008155e-05 9.99932154e-01 -1.84544629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30119381700001 meters Centerline goodness : 0.882596 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.54, Z:-1.85 [[ 9.99777914e-01 1.71904747e-02 -1.21905451e-02 1.16232611e+01] [-1.71931438e-02 9.99852180e-01 -1.14174894e-04 -5.40361016e-01] [ 1.21867804e-02 3.23743333e-04 9.99925686e-01 -1.84591350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33119381700001 meters Centerline goodness : 0.887398 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.54, Z:-1.85 [[ 9.99780415e-01 1.64970573e-02 -1.29216745e-02 1.16254968e+01] [-1.65019540e-02 9.99863796e-01 -2.72417052e-04 -5.41095569e-01] [ 1.29154204e-02 4.85590112e-04 9.99916475e-01 -1.84630458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.361193817 meters Centerline goodness : 0.886544 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.54, Z:-1.85 [[ 9.99837362e-01 1.25430567e-02 -1.29584506e-02 1.16259395e+01] [-1.26040696e-02 9.99909812e-01 -4.63745463e-03 -5.39802113e-01] [ 1.28991140e-02 4.80002962e-03 9.99905282e-01 -1.84729064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.391193817 meters Centerline goodness : 0.888243 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.54, Z:-1.85 [[ 9.99839152e-01 1.15054420e-02 -1.37584623e-02 1.16286986e+01] [-1.15728544e-02 9.99921366e-01 -4.83016481e-03 -5.41005171e-01] [ 1.37018072e-02 4.98861257e-03 9.99893681e-01 -1.84791730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.421193817 meters Centerline goodness : 0.886958 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.54, Z:-1.85 [[ 9.99839102e-01 1.03373565e-02 -1.46597778e-02 1.16316535e+01] [-1.04143592e-02 9.99932321e-01 -5.18606957e-03 -5.41829235e-01] [ 1.46051754e-02 5.33790733e-03 9.99879090e-01 -1.84852686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.451193817 meters Centerline goodness : 0.889294 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.54, Z:-1.85 [[ 9.99847278e-01 8.12749148e-03 -1.54713825e-02 1.16350355e+01] [-8.21834904e-03 9.99949303e-01 -5.81812820e-03 -5.43484617e-01] [ 1.54233113e-02 5.94438887e-03 9.99863384e-01 -1.84906854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.481193817 meters Centerline goodness : 0.886201 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.54, Z:-1.85 [[ 9.99842482e-01 7.17909208e-03 -1.62318042e-02 1.16371887e+01] [-7.27201182e-03 9.99957468e-01 -5.67278975e-03 -5.44839115e-01] [ 1.61903884e-02 5.78993405e-03 9.99852163e-01 -1.84871418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.511193817 meters Centerline goodness : 0.889557 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.55, Z:-1.85 [[ 9.99834277e-01 6.26038283e-03 -1.70946232e-02 1.16395552e+01] [-6.35259037e-03 9.99965537e-01 -5.34498589e-03 -5.46745282e-01] [ 1.70605724e-02 5.45269524e-03 9.99839590e-01 -1.84823660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.541193817 meters Centerline goodness : 0.888784 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.55, Z:-1.85 [[ 9.99831160e-01 5.12598535e-03 -1.76458429e-02 1.16416681e+01] [-5.21705187e-03 9.99973291e-01 -5.11863252e-03 -5.48561273e-01] [ 1.76191336e-02 5.20982757e-03 9.99831198e-01 -1.84798875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57119381700001 meters Centerline goodness : 0.894570 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.55, Z:-1.84 [[ 9.99884845e-01 -6.28758345e-03 -1.38116823e-02 1.16490001e+01] [ 6.44686831e-03 9.99912877e-01 1.15185293e-02 -5.52940721e-01] [ 1.37380553e-02 -1.16062449e-02 9.99838267e-01 -1.83971465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60119381700001 meters Centerline goodness : 0.892710 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.56, Z:-1.84 [[ 9.99860683e-01 -7.83241923e-03 -1.47400154e-02 1.16514204e+01] [ 8.01873157e-03 9.99888167e-01 1.26235358e-02 -5.55579202e-01] [ 1.46394941e-02 -1.27399734e-02 9.99811671e-01 -1.83719291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63119381700001 meters Centerline goodness : 0.900704 Centerline is valid? [False, False] Translation: X:11.67, Y:-0.56, Z:-1.82 [[ 0.99980098 -0.0134736 -0.01471243 11.66578742] [ 0.01386748 0.99953906 0.02700657 -0.56230832] [ 0.01434177 -0.02720522 0.99952698 -1.82040879] [ 0. 0. 0. 1. ]] SLAMing on 122.66119381700001 meters Centerline goodness : 0.897398 Centerline is valid? [False, False] Translation: X:11.67, Y:-0.56, Z:-1.82 [[ 0.99976929 -0.01502584 -0.01534871 11.66806915] [ 0.01542711 0.99953323 0.02636893 -0.56266897] [ 0.01494533 -0.02659963 0.99953444 -1.82051962] [ 0. 0. 0. 1. ]] SLAMing on 122.69119381700001 meters Centerline goodness : 0.898816 Centerline is valid? [False, False] Translation: X:11.67, Y:-0.56, Z:-1.82 [[ 0.99975287 -0.01574336 -0.01569533 11.66893301] [ 0.01615139 0.99952576 0.02621798 -0.5625946 ] [ 0.01527513 -0.026465 0.99953303 -1.82007756] [ 0. 0. 0. 1. ]] SLAMing on 122.721193817 meters Centerline goodness : 0.899058 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.56, Z:-1.82 [[ 0.999635 -0.01916085 -0.01904518 11.65188643] [ 0.01975348 0.99931067 0.03143217 -0.56077017] [ 0.01842979 -0.03179691 0.99932442 -1.81572653] [ 0. 0. 0. 1. ]] SLAMing on 122.751193817 meters Centerline goodness : 0.896574 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.56, Z:-1.82 [[ 0.99960401 -0.02019533 -0.01959538 11.6538376 ] [ 0.02077759 0.99933451 0.02998038 -0.55715978] [ 0.01897688 -0.03037565 0.99935839 -1.81695862] [ 0. 0. 0. 1. ]] SLAMing on 122.781193817 meters Centerline goodness : 0.892418 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.55, Z:-1.83 [[ 9.99935952e-01 -9.70463278e-03 -5.82333614e-03 1.16528247e+01] [ 9.89566877e-03 9.99382122e-01 3.37261110e-02 -5.54361809e-01] [ 5.49243850e-03 -3.37815767e-02 9.99414147e-01 -1.82668830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.811193817 meters Centerline goodness : 0.889390 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.55, Z:-1.83 [[ 9.99937754e-01 -9.53398696e-03 -5.79576871e-03 1.16524881e+01] [ 9.71659360e-03 9.99429670e-01 3.23407203e-02 -5.48156908e-01] [ 5.48412721e-03 -3.23950224e-02 9.99460098e-01 -1.82721651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.841193817 meters Centerline goodness : 0.886533 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.54, Z:-1.83 [[ 9.99964453e-01 -6.15155445e-03 -5.76631218e-03 1.16521149e+01] [ 6.34030769e-03 9.99425020e-01 3.33080966e-02 -5.43779010e-01] [ 5.55810010e-03 -3.33434728e-02 9.99428497e-01 -1.82606883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.871193817 meters Centerline goodness : 0.884150 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.53, Z:-1.82 [[ 9.99982384e-01 2.22499282e-03 -5.50274130e-03 1.16488721e+01] [-2.01927623e-03 9.99309091e-01 3.71114839e-02 -5.33681896e-01] [ 5.58151219e-03 -3.70997186e-02 9.99295981e-01 -1.82120591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.901193817 meters Centerline goodness : 0.887139 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.53, Z:-1.83 [[ 9.99978584e-01 6.28190060e-03 -1.83545090e-03 1.16632826e+01] [-6.22602384e-03 9.99559761e-01 2.90089813e-02 -5.26357215e-01] [ 2.01687440e-03 -2.89969325e-02 9.99577466e-01 -1.82689939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93119381700001 meters Centerline goodness : 0.886320 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.52, Z:-1.83 [[ 9.99944618e-01 1.01885356e-02 2.63713504e-03 1.16752395e+01] [-1.02360371e-02 9.99773233e-01 1.86736921e-02 -5.17821113e-01] [-2.44627944e-03 -1.86996517e-02 9.99822154e-01 -1.83426999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96119381700001 meters Centerline goodness : 0.886320 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.52, Z:-1.83 [[ 9.99944618e-01 1.01885356e-02 2.63713504e-03 1.16752395e+01] [-1.02360371e-02 9.99773233e-01 1.86736921e-02 -5.17821113e-01] [-2.44627944e-03 -1.86996517e-02 9.99822154e-01 -1.83426999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99119381700001 meters Centerline goodness : 0.885176 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.51, Z:-1.83 [[ 9.99904440e-01 1.36283068e-02 2.31971583e-03 1.16757357e+01] [-1.36746335e-02 9.99679853e-01 2.12883837e-02 -5.12385316e-01] [-2.02884855e-03 -2.13180706e-02 9.99770686e-01 -1.83408873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02119381700001 meters Centerline goodness : 0.884270 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.51, Z:-1.84 [[ 9.99823466e-01 1.77221529e-02 6.24196963e-03 1.16906112e+01] [-1.78090086e-02 9.99741339e-01 1.41455039e-02 -5.05076321e-01] [-5.98966629e-03 -1.42541700e-02 9.99880464e-01 -1.83892348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05119381700001 meters Centerline goodness : 0.887968 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.49, Z:-1.84 [[ 9.99682854e-01 2.44066274e-02 6.20542342e-03 1.16884716e+01] [-2.45218334e-02 9.99514485e-01 1.92217060e-02 -4.94552188e-01] [-5.73327358e-03 -1.93677783e-02 9.99795989e-01 -1.83563459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08119381700001 meters Centerline goodness : 0.887255 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.49, Z:-1.83 [[ 9.99658743e-01 2.54366591e-02 5.94756860e-03 1.16879153e+01] [-2.55438302e-02 9.99498841e-01 1.86970214e-02 -4.88348759e-01] [-5.46899816e-03 -1.88425646e-02 9.99807505e-01 -1.83489431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.111193817 meters Centerline goodness : 0.886534 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.48, Z:-1.83 [[ 9.99557996e-01 2.92070184e-02 5.54643991e-03 1.16883515e+01] [-2.93211548e-02 9.99333332e-01 2.17522790e-02 -4.84663244e-01] [-4.90742306e-03 -2.19052924e-02 9.99748006e-01 -1.83414213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.141193817 meters Centerline goodness : 0.888842 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.48, Z:-1.83 [[ 9.99446143e-01 3.28572182e-02 5.27361617e-03 1.16891885e+01] [-3.29770560e-02 9.99155180e-01 2.45242911e-02 -4.80489207e-01] [-4.46336093e-03 -2.46846165e-02 9.99685325e-01 -1.83442934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.171193817 meters Centerline goodness : 0.891743 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.47, Z:-1.83 [[ 9.99155986e-01 4.07761669e-02 4.96185098e-03 1.16899576e+01] [-4.09101922e-02 9.98686581e-01 3.08458921e-02 -4.73085614e-01] [-3.69755674e-03 -3.10228480e-02 9.99511836e-01 -1.83443864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.201193817 meters Centerline goodness : 0.892472 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.47, Z:-1.84 [[ 9.99002915e-01 4.43993023e-02 4.67746989e-03 1.16912572e+01] [-4.45322402e-02 9.98437301e-01 3.37614462e-02 -4.69729506e-01] [-3.17117575e-03 -3.39360814e-02 9.99418974e-01 -1.83513781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.231193817 meters Centerline goodness : 0.891040 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.47, Z:-1.84 [[ 9.98963814e-01 4.53212169e-02 4.15755986e-03 1.16922274e+01] [-4.54345762e-02 9.98414692e-01 3.32235086e-02 -4.65240992e-01] [-2.64523900e-03 -3.33779799e-02 9.99439299e-01 -1.83581496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.261193817 meters Centerline goodness : 0.890228 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.46, Z:-1.84 [[ 9.98614707e-01 5.21365966e-02 7.10231272e-03 1.17039223e+01] [-5.22989447e-02 9.98318459e-01 2.50015159e-02 -4.60279387e-01] [-5.78687594e-03 -2.53383250e-02 9.99662184e-01 -1.84201560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.291193817 meters Centerline goodness : 0.891715 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.46, Z:-1.84 [[ 9.98607864e-01 5.23049135e-02 6.82135944e-03 1.17044680e+01] [-5.24577346e-02 9.98320751e-01 2.45736438e-02 -4.58452697e-01] [-5.52458236e-03 -2.48972670e-02 9.99674750e-01 -1.84222929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32119381700001 meters Centerline goodness : 0.888579 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.46, Z:-1.84 [[ 9.98608344e-01 5.23154913e-02 6.66817019e-03 1.17049098e+01] [-5.24628473e-02 9.98327976e-01 2.42673025e-02 -4.57353128e-01] [-5.38746500e-03 -2.45833620e-02 9.99683267e-01 -1.84244046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35119381700001 meters Centerline goodness : 0.886664 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.45, Z:-1.84 [[ 9.98766534e-01 4.92584375e-02 6.24635976e-03 1.17053246e+01] [-4.93748510e-02 9.98578036e-01 2.01005171e-02 -4.54992101e-01] [-5.24735759e-03 -2.03841369e-02 9.99778452e-01 -1.84307044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38119381700001 meters Centerline goodness : 0.885671 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.45, Z:-1.84 [[ 9.98933832e-01 4.57817446e-02 5.93564317e-03 1.17061167e+01] [-4.58702685e-02 9.98823216e-01 1.57512293e-02 -4.53183732e-01] [-5.20753944e-03 -1.60067054e-02 9.99858323e-01 -1.84431784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41119381700001 meters Centerline goodness : 0.880437 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.45, Z:-1.85 [[ 9.99111625e-01 4.17699716e-02 5.58847526e-03 1.17073846e+01] [-4.18313360e-02 9.99060155e-01 1.13554800e-02 -4.52987992e-01] [-5.10890488e-03 -1.15791655e-02 9.99919908e-01 -1.84600132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44119381700001 meters Centerline goodness : 0.879057 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.45, Z:-1.85 [[ 9.99259337e-01 3.81075944e-02 5.34693055e-03 1.17078073e+01] [-3.81453330e-02 9.99246672e-01 7.14303785e-03 -4.52081544e-01] [-5.07069857e-03 -7.34170771e-03 9.99960193e-01 -1.84665407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.471193817 meters Centerline goodness : 0.879331 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.45, Z:-1.85 [[ 9.99213279e-01 3.83996558e-02 9.91415624e-03 1.17221561e+01] [-3.83729195e-02 9.99259358e-01 -2.87313296e-03 -4.51415858e-01] [-1.00171407e-02 2.49043749e-03 9.99946726e-01 -1.85240126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.501193817 meters Centerline goodness : 0.874291 Centerline is valid? [False, False] Translation: X:11.74, Y:-0.45, Z:-1.86 [[ 0.99926199 0.03616897 0.01293341 11.73969218] [-0.0359976 0.99926409 -0.01324602 -0.45340425] [-0.01340299 0.01277067 0.99982862 -1.85682233] [ 0. 0. 0. 1. ]] SLAMing on 123.531193817 meters Centerline goodness : 0.875799 Centerline is valid? [False, False] Translation: X:11.74, Y:-0.46, Z:-1.86 [[ 0.99929487 0.03543699 0.01240885 11.74155852] [-0.03527017 0.99928778 -0.01341419 -0.45508321] [-0.01287538 0.01296707 0.99983303 -1.85787029] [ 0. 0. 0. 1. ]] SLAMing on 123.561193817 meters Centerline goodness : 0.873574 Centerline is valid? [False, False] Translation: X:11.74, Y:-0.46, Z:-1.86 [[ 0.99932432 0.03472561 0.01204319 11.74333713] [-0.03456015 0.99930891 -0.01368544 -0.45629918] [-0.0125101 0.01325997 0.99983382 -1.85916898] [ 0. 0. 0. 1. ]] SLAMing on 123.591193817 meters Centerline goodness : 0.870537 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.46, Z:-1.87 [[ 0.99936657 0.03200559 0.01555955 11.75829627] [-0.0315674 0.99911948 -0.02763612 -0.4568388 ] [-0.01643036 0.02712744 0.99949695 -1.86658413] [ 0. 0. 0. 1. ]] SLAMing on 123.621193817 meters Centerline goodness : 0.870713 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.46, Z:-1.86 [[ 9.99729832e-01 2.32424487e-02 2.28012710e-04 1.17608047e+01] [-2.32202123e-02 9.99116903e-01 -3.50176403e-02 -4.55380518e-01] [-1.04170706e-03 3.50028852e-02 9.99386668e-01 -1.86021331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.651193817 meters Centerline goodness : 0.867731 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.46, Z:-1.86 [[ 9.99822446e-01 1.88431234e-02 -1.17973804e-04 1.17624141e+01] [-1.88333706e-02 9.99060606e-01 -3.90283192e-02 -4.57228532e-01] [-6.17552454e-04 3.90236114e-02 9.99238098e-01 -1.86187166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68119381700001 meters Centerline goodness : 0.866459 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.46, Z:-1.86 [[ 9.99894818e-01 1.44956226e-02 -4.79762804e-04 1.17641684e+01] [-1.45028254e-02 9.98964118e-01 -4.31318810e-02 -4.58001759e-01] [-1.45957644e-04 4.31343022e-02 9.99069272e-01 -1.86362492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71119381700001 meters Centerline goodness : 0.862945 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.47, Z:-1.86 [[ 9.99975412e-01 6.15522170e-03 3.35971248e-03 1.17728870e+01] [-6.05387176e-03 9.99549812e-01 -2.93857818e-02 -4.65040978e-01] [-3.53907598e-03 2.93647200e-02 9.99562498e-01 -1.86270958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74119381700001 meters Centerline goodness : 0.862897 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.47, Z:-1.86 [[ 9.99995587e-01 1.48579946e-03 2.57245287e-03 1.17756478e+01] [-1.39910735e-03 9.99441749e-01 -3.33801377e-02 -4.66577626e-01] [-2.62061298e-03 3.33763913e-02 9.99439417e-01 -1.86446679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77119381700001 meters Centerline goodness : 0.859764 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.47, Z:-1.86 [[ 9.99997358e-01 3.64938654e-04 2.26974159e-03 1.17772017e+01] [-2.89248185e-04 9.99446725e-01 -3.32589943e-02 -4.70254512e-01] [-2.28062329e-03 3.32582499e-02 9.99444189e-01 -1.86493742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80119381700001 meters Centerline goodness : 0.861849 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.47, Z:-1.87 [[ 9.99998245e-01 -8.58608098e-04 1.66507059e-03 1.17793025e+01] [ 9.13094358e-04 9.99454827e-01 -3.30032536e-02 -4.74209927e-01] [-1.63582598e-03 3.30047161e-02 9.99453857e-01 -1.86510048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83119381700001 meters Centerline goodness : 0.860270 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.48, Z:-1.86 [[ 9.99948927e-01 -1.01066198e-02 -4.51380984e-06 1.17755057e+01] [ 1.01045322e-02 9.99751254e-01 -1.98828873e-02 -4.83435734e-01] [ 2.05461471e-04 1.98818262e-02 9.99802316e-01 -1.85679946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.861193817 meters Centerline goodness : 0.862317 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.49, Z:-1.85 [[ 9.99948958e-01 -9.98645160e-03 -1.53354991e-03 1.17997649e+01] [ 9.95499005e-03 9.99763985e-01 -1.93099133e-02 -4.88074064e-01] [ 1.72602548e-03 1.92936612e-02 9.99812370e-01 -1.85380849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.891193817 meters Centerline goodness : 0.864228 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.49, Z:-1.85 [[ 9.99943771e-01 -1.04465325e-02 -1.82352370e-03 1.18003993e+01] [ 1.04108851e-02 9.99773337e-01 -1.85711608e-02 -4.90874696e-01] [ 2.01711461e-03 1.85511321e-02 9.99825878e-01 -1.85308846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.921193817 meters Centerline goodness : 0.862518 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.49, Z:-1.85 [[ 9.99914838e-01 -1.29845605e-02 -1.31054179e-03 1.18004932e+01] [ 1.29572956e-02 9.99735106e-01 -1.90217565e-02 -4.92576383e-01] [ 1.55718379e-03 1.90031555e-02 9.99818211e-01 -1.85494165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.951193817 meters Centerline goodness : 0.867235 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.49, Z:-1.85 [[ 9.99905464e-01 -1.36937930e-02 -1.24258748e-03 1.18003653e+01] [ 1.36683664e-02 9.99734091e-01 -1.85721205e-02 -4.93655853e-01] [ 1.49657984e-03 1.85533806e-02 9.99826751e-01 -1.85391738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.981193817 meters Centerline goodness : 0.865261 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.49, Z:-1.85 [[ 9.99888211e-01 -1.49318103e-02 -7.78169242e-04 1.17987507e+01] [ 1.49143930e-02 9.99709262e-01 -1.89460534e-02 -4.93349227e-01] [ 1.06084187e-03 1.89323295e-02 9.99820205e-01 -1.85297180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.011193817 meters Centerline goodness : 0.865789 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.50, Z:-1.85 [[ 9.99928424e-01 -1.19151943e-02 -1.08399944e-03 1.17989692e+01] [ 1.18981598e-02 9.99823245e-01 -1.45572355e-02 -4.96310043e-01] [ 1.25726012e-03 1.45432959e-02 9.99893450e-01 -1.85127861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.041193817 meters Centerline goodness : 0.865626 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.50, Z:-1.85 [[ 9.99958743e-01 -8.98444034e-03 -1.33863698e-03 1.17992305e+01] [ 8.97033749e-03 9.99907814e-01 -1.01929792e-02 -4.98883277e-01] [ 1.43009178e-03 1.01805506e-02 9.99947154e-01 -1.84963849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07119381700001 meters Centerline goodness : 0.866769 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.50, Z:-1.85 [[ 9.99973716e-01 -7.12412303e-03 -1.34681680e-03 1.17997849e+01] [ 7.11458546e-03 9.99950480e-01 -6.95846712e-03 -4.98399278e-01] [ 1.39632308e-03 6.94870218e-03 9.99974883e-01 -1.84867646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10119381700001 meters Centerline goodness : 0.867323 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.50, Z:-1.85 [[ 9.99989601e-01 -4.20567427e-03 -1.76382211e-03 1.18010521e+01] [ 4.19989899e-03 9.99985849e-01 -3.26532045e-03 -4.98173563e-01] [ 1.77753002e-03 3.25787862e-03 9.99993113e-01 -1.84849652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13119381700001 meters Centerline goodness : 0.864243 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.50, Z:-1.85 [[ 9.99997157e-01 -1.11690184e-03 -2.10663442e-03 1.18022408e+01] [ 1.11746483e-03 9.99999340e-01 2.66086145e-04 -4.97370374e-01] [ 2.10633584e-03 -2.68439478e-04 9.99997746e-01 -1.84858314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16119381700001 meters Centerline goodness : 0.863315 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.49, Z:-1.85 [[ 9.99997418e-01 -7.51896135e-04 -2.14457023e-03 1.18020855e+01] [ 7.51833245e-04 9.99999717e-01 -3.01314940e-05 -4.93512738e-01] [ 2.14459228e-03 2.85190570e-05 9.99997700e-01 -1.84845048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19119381700001 meters Centerline goodness : 0.862689 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.49, Z:-1.85 [[ 9.99976355e-01 6.23648270e-03 -2.89752432e-03 1.18039548e+01] [-6.21947763e-03 9.99963598e-01 5.84123196e-03 -4.86646357e-01] [ 2.93384759e-03 -5.82307276e-03 9.99978742e-01 -1.84903771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.221193817 meters Centerline goodness : 0.860855 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.48, Z:-1.85 [[ 9.99945830e-01 9.86965690e-03 -3.30564178e-03 1.18048503e+01] [-9.84111728e-03 9.99915095e-01 8.54137446e-03 -4.82015611e-01] [ 3.38966155e-03 -8.50838056e-03 9.99958058e-01 -1.84923943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.251193817 meters Centerline goodness : 0.861291 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.48, Z:-1.85 [[ 9.99901309e-01 1.35332405e-02 -3.77155875e-03 1.18058607e+01] [-1.34901138e-02 9.99845887e-01 1.12347228e-02 -4.77594024e-01] [ 3.92301971e-03 -1.11827353e-02 9.99929776e-01 -1.84946690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.281193817 meters Centerline goodness : 0.864055 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.47, Z:-1.85 [[ 9.99843331e-01 1.72090015e-02 -4.14291652e-03 1.18069314e+01] [-1.71496882e-02 9.99755611e-01 1.39501746e-02 -4.73340804e-01] [ 4.38197261e-03 -1.38769393e-02 9.99894109e-01 -1.84993036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.311193817 meters Centerline goodness : 0.869529 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.47, Z:-1.85 [[ 9.99769077e-01 2.10434712e-02 -4.35479768e-03 1.18075244e+01] [-2.09674665e-02 9.99638679e-01 1.68189372e-02 -4.68810054e-01] [ 4.70715302e-03 -1.67237443e-02 9.99849068e-01 -1.85014490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.341193817 meters Centerline goodness : 0.874433 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.46, Z:-1.85 [[ 9.99552235e-01 2.96100979e-02 -4.30953016e-03 1.18063297e+01] [-2.95009973e-02 9.99288619e-01 2.34935453e-02 -4.59781922e-01] [ 5.00211061e-03 -2.33558902e-02 9.99714700e-01 -1.84863083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.371193817 meters Centerline goodness : 0.878802 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.46, Z:-1.85 [[ 9.99416194e-01 3.38948307e-02 -4.29083246e-03 1.18057445e+01] [-3.37667964e-02 9.99063915e-01 2.70388172e-02 -4.56511592e-01] [ 5.20329200e-03 -2.68781442e-02 9.99625175e-01 -1.84759612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.401193817 meters Centerline goodness : 0.881648 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.45, Z:-1.85 [[ 9.99012600e-01 4.44119010e-02 -1.18690754e-03 1.18111264e+01] [-4.43786277e-02 9.98807712e-01 2.03394189e-02 -4.48148259e-01] [ 2.08880467e-03 -2.02666624e-02 9.99792428e-01 -1.85019677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43119381700001 meters Centerline goodness : 0.880558 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.45, Z:-1.85 [[ 9.98832906e-01 4.82834002e-02 -1.24051911e-03 1.18116426e+01] [-4.82406816e-02 9.98556243e-01 2.36276412e-02 -4.45367937e-01] [ 2.37955096e-03 -2.35402220e-02 9.99720059e-01 -1.85033404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46119381700001 meters Centerline goodness : 0.881008 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.44, Z:-1.85 [[ 9.98811822e-01 4.87105143e-02 -1.49353214e-03 1.18123304e+01] [-4.86638754e-02 9.98554787e-01 2.28071256e-02 -4.41172818e-01] [ 2.60232049e-03 -2.27073456e-02 9.99738768e-01 -1.85103893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49119381700001 meters Centerline goodness : 0.878686 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.44, Z:-1.85 [[ 9.98788808e-01 4.91738952e-02 -1.68643802e-03 1.18125668e+01] [-4.91240891e-02 9.98543020e-01 2.23307223e-02 -4.38416844e-01] [ 2.78206951e-03 -2.22208308e-02 9.99749216e-01 -1.85116582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52119381700001 meters Centerline goodness : 0.880208 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.44, Z:-1.85 [[ 9.98740417e-01 5.01429008e-02 -1.80825721e-03 1.18120795e+01] [-5.00901943e-02 9.98495362e-01 2.23155842e-02 -4.37038668e-01] [ 2.92450456e-03 -2.21968999e-02 9.99749341e-01 -1.85064778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55119381700001 meters Centerline goodness : 0.881731 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.44, Z:-1.85 [[ 9.98879127e-01 4.72871263e-02 -2.10190349e-03 1.18120168e+01] [-4.72403347e-02 9.98712461e-01 1.84870495e-02 -4.35129106e-01] [ 2.97339665e-03 -1.83670332e-02 9.99826891e-01 -1.85087982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58119381700001 meters Centerline goodness : 0.881044 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.43, Z:-1.85 [[ 9.99021052e-01 4.41694463e-02 -2.44882180e-03 1.18124007e+01] [-4.41294419e-02 9.98920495e-01 1.45064500e-02 -4.33843165e-01] [ 3.08692015e-03 -1.43841838e-02 9.99891777e-01 -1.85151449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.611193817 meters Centerline goodness : 0.883936 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.43, Z:-1.85 [[ 9.99154863e-01 4.10047456e-02 -2.85856148e-03 1.18130398e+01] [-4.09724148e-02 9.99104309e-01 1.05754486e-02 -4.32902712e-01] [ 3.28964467e-03 -1.04493887e-02 9.99939992e-01 -1.85233028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.641193817 meters Centerline goodness : 0.883495 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.44, Z:-1.85 [[ 9.99159189e-01 4.08731570e-02 -3.20924784e-03 1.18149399e+01] [-4.08363250e-02 9.99107397e-01 1.08075526e-02 -4.35982267e-01] [ 3.64812205e-03 -1.06674116e-02 9.99936447e-01 -1.85402531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.671193817 meters Centerline goodness : 0.886457 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.44, Z:-1.85 [[ 9.99293552e-01 3.74343281e-02 -3.32700007e-03 1.18151961e+01] [-3.74098877e-02 9.99274587e-01 7.12747324e-03 -4.36345707e-01] [ 3.59139879e-03 -6.99797535e-03 9.99969065e-01 -1.85471101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.701193817 meters Centerline goodness : 0.886658 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.44, Z:-1.86 [[ 9.99415134e-01 3.40209483e-02 -3.45912033e-03 1.18153656e+01] [-3.40085806e-02 9.99415152e-01 3.57347534e-03 -4.37396746e-01] [ 3.57867029e-03 -3.45374557e-03 9.99987632e-01 -1.85520832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.731193817 meters Centerline goodness : 0.883983 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.44, Z:-1.86 [[ 9.99442976e-01 3.33681479e-02 -5.51986912e-04 1.18330667e+01] [-3.33704484e-02 9.99431130e-01 -4.88157215e-03 -4.42429551e-01] [ 3.88783882e-04 4.89727305e-03 9.99987933e-01 -1.85950881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.761193817 meters Centerline goodness : 0.882086 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.45, Z:-1.86 [[ 9.99443537e-01 3.33417122e-02 -9.72595071e-04 1.18343747e+01] [-3.33454388e-02 9.99435449e-01 -4.10677156e-03 -4.46142281e-01] [ 8.35119196e-04 4.13691790e-03 9.99991094e-01 -1.86001738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.791193817 meters Centerline goodness : 0.878622 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.45, Z:-1.86 [[ 9.99427403e-01 3.38158752e-02 1.16272988e-03 1.18528160e+01] [-3.38004131e-02 9.99363288e-01 -1.14258624e-02 -4.47631676e-01] [-1.54836510e-03 1.13800193e-02 9.99934047e-01 -1.86399009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82119381700001 meters Centerline goodness : 0.876731 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.45, Z:-1.86 [[ 9.99534444e-01 3.04901025e-02 1.11787220e-03 1.18529844e+01] [-3.04698806e-02 9.99422647e-01 -1.50319023e-02 -4.48767406e-01] [-1.57555103e-03 1.49908427e-02 9.99886390e-01 -1.86486597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85119381700001 meters Centerline goodness : 0.874177 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.45, Z:-1.87 [[ 9.99604974e-01 2.80706690e-02 1.39048938e-03 1.18527438e+01] [-2.80424553e-02 9.99457074e-01 -1.72967345e-02 -4.53956481e-01] [-1.87526536e-03 1.72509091e-02 9.99849433e-01 -1.86599386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88119381700001 meters Centerline goodness : 0.874177 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.45, Z:-1.87 [[ 9.99604974e-01 2.80706690e-02 1.39048938e-03 1.18527438e+01] [-2.80424553e-02 9.99457074e-01 -1.72967345e-02 -4.53956481e-01] [-1.87526536e-03 1.72509091e-02 9.99849433e-01 -1.86599386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91119381700001 meters Centerline goodness : 0.874377 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.46, Z:-1.87 [[ 9.99683081e-01 2.51318050e-02 1.45973289e-03 1.18522703e+01] [-2.50968214e-02 9.99476743e-01 -2.04056461e-02 -4.55596286e-01] [-1.97179979e-03 2.03625445e-02 9.99790717e-01 -1.86618153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94119381700001 meters Centerline goodness : 0.872875 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.46, Z:-1.87 [[ 9.99758463e-01 2.19141336e-02 1.66933485e-03 1.18515235e+01] [-2.18682234e-02 9.99477397e-01 -2.38057598e-02 -4.56703885e-01] [-2.19014505e-03 2.37635044e-02 9.99715209e-01 -1.86631223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.971193817 meters Centerline goodness : 0.875073 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.46, Z:-1.87 [[ 9.99754612e-01 2.20985576e-02 1.53923010e-03 1.18517004e+01] [-2.20579314e-02 9.99498663e-01 -2.27127741e-02 -4.60663468e-01] [-2.04037797e-03 2.26732484e-02 9.99740847e-01 -1.86583037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.001193817 meters Centerline goodness : 0.875054 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.47, Z:-1.86 [[ 9.99813148e-01 1.92568468e-02 1.68619995e-03 1.18503650e+01] [-1.92110903e-02 9.99529857e-01 -2.38955926e-02 -4.68585172e-01] [-2.14556096e-03 2.38587339e-02 9.99713038e-01 -1.86403944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.031193817 meters Centerline goodness : 0.878019 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.47, Z:-1.86 [[ 9.99813460e-01 1.92485030e-02 1.59365528e-03 1.18505362e+01] [-1.92074071e-02 9.99557894e-01 -2.26956315e-02 -4.73284382e-01] [-2.02980764e-03 2.26607879e-02 9.99741151e-01 -1.86345035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.061193817 meters Centerline goodness : 0.878361 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.48, Z:-1.86 [[ 9.99816393e-01 1.91047790e-02 1.47890179e-03 1.18511299e+01] [-1.90680510e-02 9.99580790e-01 -2.17865401e-02 -4.77452546e-01] [-1.89450886e-03 2.17543402e-02 9.99761551e-01 -1.86349338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.091193817 meters Centerline goodness : 0.877581 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.48, Z:-1.86 [[ 9.99825002e-01 1.86695182e-02 1.18907053e-03 1.18523889e+01] [-1.86403190e-02 9.99603972e-01 -2.10816693e-02 -4.81719931e-01] [-1.58218423e-03 2.10558154e-02 9.99777050e-01 -1.86389051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.121193817 meters Centerline goodness : 0.876767 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.49, Z:-1.87 [[ 9.99905600e-01 1.37118397e-02 8.81741436e-04 1.18537719e+01] [-1.36902715e-02 9.99685112e-01 -2.10298018e-02 -4.89449240e-01] [-1.16982106e-03 2.10157453e-02 9.99778460e-01 -1.86688004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.151193817 meters Centerline goodness : 0.877873 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.49, Z:-1.87 [[ 9.99953462e-01 9.58133759e-03 1.12803714e-03 1.18540749e+01] [-9.55427813e-03 9.99713451e-01 -2.19483732e-02 -4.92417760e-01] [-1.33800867e-03 2.19365741e-02 9.99758469e-01 -1.86901170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18119381700001 meters Centerline goodness : 0.875062 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.50, Z:-1.87 [[ 9.99990240e-01 4.28738320e-03 1.06671882e-03 1.18553001e+01] [-4.26062474e-03 9.99704419e-01 -2.39357976e-02 -4.95991377e-01] [-1.16902545e-03 2.39310191e-02 9.99712929e-01 -1.87159512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21119381700001 meters Centerline goodness : 0.877389 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.50, Z:-1.87 [[ 9.99992676e-01 -3.76807916e-03 -6.70262136e-04 1.18513359e+01] [ 3.75983234e-03 9.99922044e-01 -1.19067045e-02 -5.02767258e-01] [ 7.15075290e-04 1.19040972e-02 9.99928888e-01 -1.86581410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24119381700001 meters Centerline goodness : 0.878137 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.51, Z:-1.87 [[ 9.99838894e-01 -1.79492457e-02 1.02797040e-04 1.18508507e+01] [ 1.79475588e-02 9.99627049e-01 -2.05827046e-02 -5.09796689e-01] [ 2.66685321e-04 2.05812336e-02 9.99788148e-01 -1.86842066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27119381700001 meters Centerline goodness : 0.881066 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.52, Z:-1.88 [[ 0.99971429 -0.01888405 0.01465374 11.85070858] [ 0.01919769 0.99958307 -0.02156689 -0.51632369] [-0.01424036 0.02184205 0.99966001 -1.87746761] [ 0. 0. 0. 1. ]] SLAMing on 125.30119381700001 meters Centerline goodness : 0.879934 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.52, Z:-1.88 [[ 0.99955501 -0.02532747 0.01575784 11.84918802] [ 0.02568718 0.99940402 -0.02306015 -0.51845838] [-0.0151644 0.02345466 0.99960988 -1.87939532] [ 0. 0. 0. 1. ]] SLAMing on 125.33119381700001 meters Centerline goodness : 0.882227 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.52, Z:-1.88 [[ 0.99938504 -0.03083307 0.01669906 11.84778165] [ 0.03124052 0.99920628 -0.02471509 -0.52031544] [-0.01592377 0.02522157 0.99955505 -1.88064292] [ 0. 0. 0. 1. ]] SLAMing on 125.361193817 meters Centerline goodness : 0.890539 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.52, Z:-1.88 [[ 0.99902872 -0.03975625 0.01900161 11.84387757] [ 0.04027439 0.99880432 -0.02771117 -0.52100828] [-0.0178772 0.02844953 0.99943536 -1.88201599] [ 0. 0. 0. 1. ]] SLAMing on 125.391193817 meters Centerline goodness : 0.892340 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.52, Z:-1.88 [[ 0.99891722 -0.04204618 0.01991247 11.84185521] [ 0.04258269 0.99871899 -0.02733305 -0.5206833 ] [-0.01873771 0.02815138 0.99942804 -1.88204755] [ 0. 0. 0. 1. ]] SLAMing on 125.421193817 meters Centerline goodness : 0.891778 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.52, Z:-1.88 [[ 0.99884813 -0.04328215 0.02071382 11.84038213] [ 0.04382814 0.99868294 -0.0266735 -0.51950811] [-0.01953206 0.02755063 0.99942957 -1.88240117] [ 0. 0. 0. 1. ]] SLAMing on 125.451193817 meters Centerline goodness : 0.892692 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.52, Z:-1.88 [[ 0.99898315 -0.04047909 0.01985224 11.84220711] [ 0.04092729 0.99890389 -0.02271524 -0.52020078] [-0.01891099 0.02350464 0.99954485 -1.88188523] [ 0. 0. 0. 1. ]] SLAMing on 125.481193817 meters Centerline goodness : 0.897437 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.52, Z:-1.88 [[ 0.99910873 -0.03758161 0.01921878 11.84353066] [ 0.03795937 0.99908539 -0.01968407 -0.516242 ] [-0.01846144 0.02039606 0.99962152 -1.88181858] [ 0. 0. 0. 1. ]] SLAMing on 125.511193817 meters Centerline goodness : 0.894977 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.51, Z:-1.88 [[ 0.99924012 -0.03427453 0.0185592 11.84436182] [ 0.03457001 0.99927672 -0.01584139 -0.5148527 ] [-0.01800282 0.01647095 0.99970226 -1.88095084] [ 0. 0. 0. 1. ]] SLAMing on 125.541193817 meters Centerline goodness : 0.901343 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.51, Z:-1.88 [[ 0.99935928 -0.03101027 0.0178714 11.84521962] [ 0.03122816 0.9994397 -0.01204492 -0.51349824] [-0.01748787 0.01259529 0.99976774 -1.87997425] [ 0. 0. 0. 1. ]] SLAMing on 125.57119381700001 meters Centerline goodness : 0.902994 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.51, Z:-1.88 [[ 9.99467716e-01 -2.77227471e-02 1.71969367e-02 1.18460607e+01] [ 2.78692379e-02 9.99576802e-01 -8.33803358e-03 -5.12241381e-01] [-1.69585058e-02 8.81286090e-03 9.99817355e-01 -1.87908321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60119381700001 meters Centerline goodness : 0.905588 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.51, Z:-1.88 [[ 9.99556449e-01 -2.49749698e-02 1.62220951e-02 1.18480391e+01] [ 2.50801980e-02 9.99665490e-01 -6.31596500e-03 -5.05122100e-01] [-1.60589276e-02 6.72001690e-03 9.99848465e-01 -1.87952227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63119381700001 meters Centerline goodness : 0.909263 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.50, Z:-1.88 [[ 9.99644456e-01 -2.16453238e-02 1.55705078e-02 1.18493103e+01] [ 2.16941017e-02 9.99760242e-01 -2.97063699e-03 -5.02502969e-01] [-1.55024743e-02 3.30736898e-03 9.99874359e-01 -1.87944460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66119381700001 meters Centerline goodness : 0.910414 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.50, Z:-1.88 [[ 9.99720959e-01 -1.86838342e-02 1.44539908e-02 1.18517877e+01] [ 1.86874402e-02 9.99825368e-01 -1.14450226e-04 -4.99126585e-01] [-1.44493283e-02 3.84526379e-04 9.99895529e-01 -1.87975113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69119381700001 meters Centerline goodness : 0.911624 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.49, Z:-1.88 [[ 9.99840441e-01 -1.18189767e-02 1.33941872e-02 1.18534511e+01] [ 1.17552366e-02 9.99919251e-01 4.82756939e-03 -4.89527749e-01] [-1.34501625e-02 -4.66934727e-03 9.99898640e-01 -1.88050764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.721193817 meters Centerline goodness : 0.912312 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.48, Z:-1.88 [[ 9.99885528e-01 -8.31575977e-03 1.26403344e-02 1.18545799e+01] [ 8.21950849e-03 9.99936975e-01 7.64758902e-03 -4.84767537e-01] [-1.27031332e-02 -7.54281625e-03 9.99890862e-01 -1.88024854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.751193817 meters Centerline goodness : 0.916252 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.48, Z:-1.88 [[ 9.99913651e-01 -4.65990565e-03 1.22872388e-02 1.18544481e+01] [ 4.52812422e-03 9.99932167e-01 1.07311603e-02 -4.80591296e-01] [-1.23364115e-02 -1.06745956e-02 9.99866924e-01 -1.87923524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.781193817 meters Centerline goodness : 0.922772 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.47, Z:-1.88 [[ 9.99927401e-01 2.10793475e-03 1.18637872e-02 1.18524618e+01] [-2.30112798e-03 9.99864592e-01 1.62942573e-02 -4.71837482e-01] [-1.18278335e-02 -1.63203745e-02 9.99796853e-01 -1.87581974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.811193817 meters Centerline goodness : 0.925729 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.47, Z:-1.87 [[ 9.99927851e-01 2.67634785e-03 1.17102079e-02 1.18517987e+01] [-2.85929479e-03 9.99873692e-01 1.56341110e-02 -4.65998167e-01] [-1.16668865e-02 -1.56664659e-02 9.99809205e-01 -1.87494323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.841193817 meters Centerline goodness : 0.927399 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.46, Z:-1.87 [[ 9.99929840e-01 2.81303613e-03 1.15065966e-02 1.18514492e+01] [-2.98133042e-03 9.99888458e-01 1.46349862e-02 -4.60621941e-01] [-1.14641444e-02 -1.46682644e-02 9.99826693e-01 -1.87429873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.871193817 meters Centerline goodness : 0.929940 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.46, Z:-1.87 [[ 9.99933570e-01 2.53626005e-03 1.12438389e-02 1.18516879e+01] [-2.68730657e-03 9.99906081e-01 1.34390222e-02 -4.55917542e-01] [-1.12086981e-02 -1.34683451e-02 9.99846473e-01 -1.87413784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.901193817 meters Centerline goodness : 0.930589 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.45, Z:-1.87 [[ 9.99938526e-01 2.14353710e-03 1.08788449e-02 1.18521967e+01] [-2.27595291e-03 9.99923303e-01 1.21741141e-02 -4.51292522e-01] [-1.08519149e-02 -1.21981255e-02 9.99866712e-01 -1.87403881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93119381700001 meters Centerline goodness : 0.936988 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.44, Z:-1.87 [[ 9.99925604e-01 6.31609504e-03 1.04351988e-02 1.18575262e+01] [-6.31482704e-03 9.99980049e-01 -1.54456502e-04 -4.40953305e-01] [-1.04359662e-02 8.85485356e-05 9.99945540e-01 -1.87317879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96119381700001 meters Centerline goodness : 0.935483 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.44, Z:-1.87 [[ 9.99932535e-01 5.72686563e-03 1.01058501e-02 1.18581997e+01] [-5.71102034e-03 9.99982418e-01 -1.59609430e-03 -4.36298438e-01] [-1.01148131e-02 1.53827191e-03 9.99947661e-01 -1.87321066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99119381700001 meters Centerline goodness : 0.938651 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.43, Z:-1.87 [[ 9.99917393e-01 8.57102423e-03 9.57838107e-03 1.18593254e+01] [-8.58305783e-03 9.99962426e-01 1.21592896e-03 -4.33963378e-01] [-9.56759941e-03 -1.29804032e-03 9.99953387e-01 -1.87288857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02119381700001 meters Centerline goodness : 0.936466 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.43, Z:-1.87 [[ 9.99885099e-01 1.19149712e-02 9.37133413e-03 1.18591329e+01] [-1.19434962e-02 9.99924192e-01 2.99379558e-03 -4.26296057e-01] [-9.33495272e-03 -3.10537808e-03 9.99951606e-01 -1.87219300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05119381700001 meters Centerline goodness : 0.933001 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.42, Z:-1.87 [[ 9.99893187e-01 1.15728729e-02 8.92652080e-03 1.18605256e+01] [-1.15856713e-02 9.99931927e-01 1.38337657e-03 -4.21290705e-01] [-8.90990350e-03 -1.48664855e-03 9.99959201e-01 -1.87325529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08119381700001 meters Centerline goodness : 0.932487 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.42, Z:-1.87 [[ 9.99902676e-01 1.11760289e-02 8.35068678e-03 1.18624635e+01] [-1.11743302e-02 9.99937534e-01 -2.50060332e-04 -4.16585780e-01] [-8.35295982e-03 1.56722664e-04 9.99965101e-01 -1.87476122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.111193817 meters Centerline goodness : 0.933929 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.41, Z:-1.88 [[ 9.99874911e-01 1.38425300e-02 7.65162621e-03 1.18653684e+01] [-1.38597556e-02 9.99901523e-01 2.20280588e-03 -4.14078541e-01] [-7.62038029e-03 -2.30858000e-03 9.99968300e-01 -1.87652336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.141193817 meters Centerline goodness : 0.933232 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.41, Z:-1.88 [[ 9.99890809e-01 1.29929429e-02 7.03940575e-03 1.18682010e+01] [-1.29957974e-02 9.99915486e-01 3.59902052e-04 -4.09423889e-01] [-7.03413463e-03 -4.51345444e-04 9.99975158e-01 -1.87900553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.171193817 meters Centerline goodness : 0.929783 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.40, Z:-1.88 [[ 9.99906750e-01 1.21460986e-02 6.24207228e-03 1.18717989e+01] [-1.21336890e-02 9.99924339e-01 -2.02209627e-03 -4.03420025e-01] [-6.26616058e-03 1.94616834e-03 9.99978474e-01 -1.88268787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.201193817 meters Centerline goodness : 0.928163 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.40, Z:-1.88 [[ 9.99923560e-01 1.10563453e-02 5.53448609e-03 1.18745710e+01] [-1.10379798e-02 9.99933508e-01 -3.33799989e-03 -4.01539980e-01] [-5.57102417e-03 3.27665519e-03 9.99979113e-01 -1.88447547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.231193817 meters Centerline goodness : 0.929028 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.40, Z:-1.89 [[ 9.99940820e-01 9.77116786e-03 4.78329328e-03 1.18776495e+01] [-9.74887437e-03 9.99941611e-01 -4.66203828e-03 -4.00405767e-01] [-4.82856755e-03 4.61513065e-03 9.99977693e-01 -1.88647297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.261193817 meters Centerline goodness : 0.926272 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.40, Z:-1.89 [[ 9.99964865e-01 7.41260212e-03 3.91440543e-03 1.18813004e+01] [-7.38752258e-03 9.99952340e-01 -6.38304212e-03 -4.00016879e-01] [-3.96153382e-03 6.35390009e-03 9.99971967e-01 -1.88858925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.291193817 meters Centerline goodness : 0.926140 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.40, Z:-1.89 [[ 9.99980269e-01 5.48520445e-03 3.06176783e-03 1.18846436e+01] [-5.46171930e-03 9.99956000e-01 -7.62682594e-03 -3.99794212e-01] [-3.10346781e-03 7.60995294e-03 9.99966228e-01 -1.89031085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32119381700001 meters Centerline goodness : 0.925208 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.40, Z:-1.89 [[ 9.99990455e-01 3.76330987e-03 2.21973566e-03 1.18875774e+01] [-3.74447516e-03 9.99957464e-01 -8.42909829e-03 -4.00206416e-01] [-2.25136255e-03 8.42070609e-03 9.99962011e-01 -1.89151144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35119381700001 meters Centerline goodness : 0.922458 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.40, Z:-1.89 [[ 9.99993045e-01 -3.72959020e-03 2.01192460e-06 1.18921764e+01] [ 3.72937320e-03 9.99928744e-01 -1.13401285e-02 -4.02240136e-01] [ 4.02822507e-05 1.13400571e-02 9.99935699e-01 -1.88772117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38119381700001 meters Centerline goodness : 0.924243 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.40, Z:-1.89 [[ 9.99986015e-01 -5.28636085e-03 -1.56630184e-04 1.18926703e+01] [ 5.28419376e-03 9.99919043e-01 -1.15751604e-02 -4.04852570e-01] [ 2.17807978e-04 1.15741708e-02 9.99932993e-01 -1.88694472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41119381700001 meters Centerline goodness : 0.926869 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.41, Z:-1.89 [[ 9.99974518e-01 -7.11091232e-03 -6.31627484e-04 1.18942996e+01] [ 7.10248518e-03 9.99897031e-01 -1.24692447e-02 -4.06035519e-01] [ 7.20230152e-04 1.24644408e-02 9.99922056e-01 -1.88702202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44119381700001 meters Centerline goodness : 0.923590 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.41, Z:-1.89 [[ 9.99969304e-01 -7.80083478e-03 -7.34068638e-04 1.18942232e+01] [ 7.79102163e-03 9.99891065e-01 -1.25363110e-02 -4.06356870e-01] [ 8.31782363e-04 1.25302071e-02 9.99921148e-01 -1.88612952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.471193817 meters Centerline goodness : 0.926923 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.40, Z:-1.89 [[ 9.99960752e-01 -8.81845835e-03 -8.53500227e-04 1.18943802e+01] [ 8.80604108e-03 9.99868770e-01 -1.35976968e-02 -4.03101004e-01] [ 9.73298945e-04 1.35896472e-02 9.99907183e-01 -1.88559337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.501193817 meters Centerline goodness : 0.928173 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.40, Z:-1.89 [[ 9.99983077e-01 -5.66219345e-03 -1.33612031e-03 1.18954275e+01] [ 5.64837345e-03 9.99932738e-01 -1.01298838e-02 -4.02086860e-01] [ 1.39338780e-03 1.01221655e-02 9.99947799e-01 -1.88533154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.531193817 meters Centerline goodness : 0.928675 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.40, Z:-1.89 [[ 9.99994489e-01 -2.82776825e-03 -1.73941949e-03 1.18968166e+01] [ 2.81479087e-03 9.99968521e-01 -7.41849558e-03 -3.99676288e-01] [ 1.76034252e-03 7.41355860e-03 9.99970970e-01 -1.88581099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.561193817 meters Centerline goodness : 0.926519 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.40, Z:-1.89 [[ 9.99997753e-01 1.61132952e-04 -2.11398137e-03 1.18978020e+01] [-1.71242656e-04 9.99988547e-01 -4.78299604e-03 -3.96490426e-01] [ 2.11318646e-03 4.78334729e-03 9.99986327e-01 -1.88590480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.591193817 meters Centerline goodness : 0.927970 Centerline is valid? [False, False] Translation: X:11.91, Y:-0.39, Z:-1.89 [[ 9.99985260e-01 4.84707606e-03 2.44637475e-03 1.19120910e+01] [-4.82072072e-03 9.99931491e-01 -1.06665257e-02 -3.86845082e-01] [-2.49790861e-03 1.06545752e-02 9.99940118e-01 -1.88888384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.621193817 meters Centerline goodness : 0.927908 Centerline is valid? [False, False] Translation: X:11.91, Y:-0.38, Z:-1.89 [[ 9.99965057e-01 8.13300134e-03 1.93355388e-03 1.19133181e+01] [-8.11731402e-03 9.99935155e-01 -7.98714787e-03 -3.83802678e-01] [-1.99838799e-03 7.97117351e-03 9.99966233e-01 -1.88897840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.651193817 meters Centerline goodness : 0.927337 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.38, Z:-1.89 [[ 9.99939157e-01 1.09474089e-02 1.35541035e-03 1.19156286e+01] [-1.09393662e-02 9.99923310e-01 -5.80546198e-03 -3.80022454e-01] [-1.41886117e-03 5.79028142e-03 9.99982230e-01 -1.89028533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68119381700001 meters Centerline goodness : 0.927586 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.38, Z:-1.89 [[ 9.99906811e-01 1.36305513e-02 7.59785610e-04 1.19181758e+01] [-1.36275746e-02 9.99899941e-01 -3.79426797e-03 -3.75807437e-01] [-8.11427551e-04 3.78356035e-03 9.99992513e-01 -1.89188334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71119381700001 meters Centerline goodness : 0.924549 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.37, Z:-1.89 [[ 9.99867557e-01 1.62747622e-02 1.62600647e-05 1.19211782e+01] [-1.62746205e-02 9.99862138e-01 -3.29265415e-03 -3.65702766e-01] [-6.98449866e-05 3.29195344e-03 9.99994579e-01 -1.89448484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74119381700001 meters Centerline goodness : 0.921587 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.36, Z:-1.90 [[ 9.99878671e-01 1.55653711e-02 -6.01668790e-04 1.19235575e+01] [-1.55683051e-02 9.99865152e-01 -5.22550037e-03 -3.60366612e-01] [ 5.20250804e-04 5.23423333e-03 9.99986166e-01 -1.89625238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77119381700001 meters Centerline goodness : 0.921587 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.36, Z:-1.90 [[ 9.99878671e-01 1.55653711e-02 -6.01668790e-04 1.19235575e+01] [-1.55683051e-02 9.99865152e-01 -5.22550037e-03 -3.60366612e-01] [ 5.20250804e-04 5.23423333e-03 9.99986166e-01 -1.89625238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80119381700001 meters Centerline goodness : 0.921125 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.36, Z:-1.90 [[ 9.99889726e-01 1.48040043e-02 -1.17349011e-03 1.19257108e+01] [-1.48117581e-02 9.99866493e-01 -6.89989234e-03 -3.56156396e-01] [ 1.07118741e-03 6.91651291e-03 9.99975507e-01 -1.89771208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83119381700001 meters Centerline goodness : 0.921842 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.35, Z:-1.90 [[ 9.99903431e-01 1.37703371e-02 -1.87276691e-03 1.19278266e+01] [-1.37858923e-02 9.99868299e-01 -8.56354523e-03 -3.52491898e-01] [ 1.75459736e-03 8.58853602e-03 9.99961578e-01 -1.89868406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.861193817 meters Centerline goodness : 0.918840 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.35, Z:-1.90 [[ 9.99930694e-01 1.14988538e-02 -2.52657403e-03 1.19296262e+01] [-1.15262489e-02 9.99871850e-01 -1.11098456e-02 -3.47057902e-01] [ 2.39849976e-03 1.11381975e-02 9.99935092e-01 -1.89901917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.891193817 meters Centerline goodness : 0.922423 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.34, Z:-1.90 [[ 9.99946163e-01 9.91308575e-03 -3.06617726e-03 1.19313413e+01] [-9.95128246e-03 9.99869786e-01 -1.27036970e-02 -3.44328762e-01] [ 2.93984516e-03 1.27335255e-02 9.99914604e-01 -1.89956958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.921193817 meters Centerline goodness : 0.922919 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.34, Z:-1.90 [[ 9.99958737e-01 8.28887325e-03 -3.71743011e-03 1.19332915e+01] [-8.34159997e-03 9.99861522e-01 -1.43998270e-02 -3.41148406e-01] [ 3.59755699e-03 1.44302421e-02 9.99889407e-01 -1.90008552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.951193817 meters Centerline goodness : 0.923909 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.33, Z:-1.90 [[ 9.99973677e-01 5.61904582e-03 -4.59047630e-03 1.19358284e+01] [-5.69805813e-03 9.99832643e-01 -1.73844051e-02 -3.33909493e-01] [ 4.49202429e-03 1.74101043e-02 9.99838342e-01 -1.90052509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.981193817 meters Centerline goodness : 0.923664 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.33, Z:-1.90 [[ 9.99976882e-01 4.53237415e-03 -5.06876642e-03 1.19374397e+01] [-4.62682092e-03 9.99812949e-01 -1.87792436e-02 -3.30164601e-01] [ 4.98270374e-03 1.88022618e-02 9.99810806e-01 -1.90108909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.011193817 meters Centerline goodness : 0.921509 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.33, Z:-1.90 [[ 9.99966490e-01 5.84001529e-03 -5.73690950e-03 1.19401513e+01] [-5.93633724e-03 9.99839243e-01 -1.69188377e-02 -3.28238595e-01] [ 5.63718098e-03 1.69523270e-02 9.99840408e-01 -1.90211204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.041193817 meters Centerline goodness : 0.924279 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.32, Z:-1.90 [[ 9.99969592e-01 4.55336134e-03 -6.33109051e-03 1.19424188e+01] [-4.67095780e-03 9.99814501e-01 -1.86854172e-02 -3.23891961e-01] [ 6.24483465e-03 1.87144212e-02 9.99805367e-01 -1.90327452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07119381700001 meters Centerline goodness : 0.921127 Centerline is valid? [False, False] Translation: X:11.95, Y:-0.31, Z:-1.90 [[ 9.99957290e-01 2.81711496e-03 -8.80242736e-03 1.19501969e+01] [-2.98293763e-03 9.99817264e-01 -1.88822977e-02 -3.14618328e-01] [ 8.74762524e-03 1.89077483e-02 9.99782965e-01 -1.90438172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10119381700001 meters Centerline goodness : 0.921777 Centerline is valid? [False, False] Translation: X:11.95, Y:-0.31, Z:-1.91 [[ 9.99946999e-01 3.38070170e-03 -9.72474038e-03 1.19538719e+01] [-3.55640779e-03 9.99829716e-01 -1.81077608e-02 -3.10400773e-01] [ 9.66186748e-03 1.81413863e-02 9.99788747e-01 -1.90605736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13119381700001 meters Centerline goodness : 0.924072 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.31, Z:-1.91 [[ 9.99931563e-01 4.86885266e-03 -1.06378424e-02 1.19567777e+01] [-5.04452062e-03 9.99850321e-01 -1.65495483e-02 -3.06269262e-01] [ 1.05556729e-02 1.66020785e-02 9.99806456e-01 -1.90686592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16119381700001 meters Centerline goodness : 0.924400 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.30, Z:-1.91 [[ 9.99912780e-01 6.78498880e-03 -1.13311776e-02 1.19590641e+01] [-6.95350476e-03 9.99864821e-01 -1.48993054e-02 -3.01764556e-01] [ 1.12285542e-02 1.49767973e-02 9.99824792e-01 -1.90753261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19119381700001 meters Centerline goodness : 0.926137 Centerline is valid? [False, False] Translation: X:11.98, Y:-0.29, Z:-1.91 [[ 9.99911334e-01 1.06552959e-02 -7.98680331e-03 1.19770747e+01] [-1.08090034e-02 9.99752291e-01 -1.94556532e-02 -2.88387908e-01] [ 7.77751916e-03 1.95402575e-02 9.99778820e-01 -1.91060918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22119381700001 meters Centerline goodness : 0.925409 Centerline is valid? [False, False] Translation: X:11.98, Y:-0.28, Z:-1.91 [[ 9.99875820e-01 1.30130936e-02 -8.88839922e-03 1.19799400e+01] [-1.31715271e-02 9.99751133e-01 -1.80050947e-02 -2.82171875e-01] [ 8.65188521e-03 1.81199326e-02 9.99798386e-01 -1.91154925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.251193817 meters Centerline goodness : 0.926924 Centerline is valid? [False, False] Translation: X:11.98, Y:-0.28, Z:-1.91 [[ 9.99825351e-01 1.60069567e-02 -9.64597497e-03 1.19822987e+01] [-1.61612203e-02 9.99739242e-01 -1.61326386e-02 -2.75996965e-01] [ 9.38522526e-03 1.62857118e-02 9.99823331e-01 -1.91227852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.281193817 meters Centerline goodness : 0.925313 Centerline is valid? [False, False] Translation: X:12.00, Y:-0.26, Z:-1.91 [[ 9.99752736e-01 2.14837981e-02 -5.73693555e-03 1.19981850e+01] [-2.15960379e-02 9.99561128e-01 -2.02771282e-02 -2.62255964e-01] [ 5.29878804e-03 2.03960095e-02 9.99777938e-01 -1.91451532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.311193817 meters Centerline goodness : 0.926301 Centerline is valid? [False, False] Translation: X:12.00, Y:-0.26, Z:-1.91 [[ 9.99684230e-01 2.43185838e-02 -6.32830829e-03 1.19998874e+01] [-2.44293523e-02 9.99538445e-01 -1.80583616e-02 -2.58050813e-01] [ 5.88623364e-03 1.82072557e-02 9.99816907e-01 -1.91460540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.341193817 meters Centerline goodness : 0.925463 Centerline is valid? [False, False] Translation: X:12.00, Y:-0.25, Z:-1.91 [[ 9.99603104e-01 2.73329118e-02 -6.82244652e-03 1.20012666e+01] [-2.74362295e-02 9.99502760e-01 -1.55397922e-02 -2.54488731e-01] [ 6.39430636e-03 1.57208068e-02 9.99855974e-01 -1.91458940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.371193817 meters Centerline goodness : 0.926033 Centerline is valid? [False, False] Translation: X:12.00, Y:-0.25, Z:-1.92 [[ 9.99514827e-01 3.02908256e-02 -7.25093802e-03 1.20029466e+01] [-3.03840918e-02 9.99452213e-01 -1.31179824e-02 -2.50559754e-01] [ 6.84961153e-03 1.33319311e-02 9.99887665e-01 -1.91509886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.401193817 meters Centerline goodness : 0.925510 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.24, Z:-1.92 [[ 9.99404971e-01 3.41142025e-02 -5.09166428e-03 1.20227464e+01] [-3.41961585e-02 9.99270791e-01 -1.69855314e-02 -2.39624102e-01] [ 4.50850353e-03 1.71495399e-02 9.99842771e-01 -1.91808157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43119381700001 meters Centerline goodness : 0.926446 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.24, Z:-1.92 [[ 9.99298847e-01 3.70237530e-02 -5.57288786e-03 1.20247390e+01] [-3.71007659e-02 9.99207541e-01 -1.44161014e-02 -2.36562294e-01] [ 5.03473339e-03 1.46127519e-02 9.99880552e-01 -1.91879971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46119381700001 meters Centerline goodness : 0.928916 Centerline is valid? [False, False] Translation: X:12.03, Y:-0.23, Z:-1.92 [[ 9.99184927e-01 3.98985645e-02 -6.13077154e-03 1.20268560e+01] [-3.99686470e-02 9.99131624e-01 -1.17688386e-02 -2.34279569e-01] [ 5.65588795e-03 1.20042848e-02 9.99911950e-01 -1.91940731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49119381700001 meters Centerline goodness : 0.928445 Centerline is valid? [False, False] Translation: X:12.03, Y:-0.23, Z:-1.92 [[ 9.99186886e-01 3.97642375e-02 -6.66132318e-03 1.20282686e+01] [-3.98484358e-02 9.99120856e-01 -1.30237489e-02 -2.30141786e-01] [ 6.13758747e-03 1.32786024e-02 9.99892999e-01 -1.91963859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52119381700001 meters Centerline goodness : 0.926261 Centerline is valid? [False, False] Translation: X:12.05, Y:-0.22, Z:-1.92 [[ 9.99109119e-01 4.20538709e-02 -3.52695085e-03 1.20463842e+01] [-4.21134222e-02 9.98932661e-01 -1.89736116e-02 -2.20358757e-01] [ 2.72527259e-03 1.91052404e-02 9.99813764e-01 -1.92250448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55119381700001 meters Centerline goodness : 0.929002 Centerline is valid? [False, False] Translation: X:12.07, Y:-0.21, Z:-1.93 [[ 9.99038396e-01 4.38391175e-02 -6.43669048e-04 1.20652942e+01] [-4.38421042e-02 9.98760389e-01 -2.35702045e-02 -2.14722445e-01] [-3.90425814e-04 2.35757591e-02 9.99721977e-01 -1.92529550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58119381700001 meters Centerline goodness : 0.929868 Centerline is valid? [False, False] Translation: X:12.07, Y:-0.21, Z:-1.93 [[ 9.98910944e-01 4.66444833e-02 -1.10396472e-03 1.20672216e+01] [-4.66573792e-02 9.98690917e-01 -2.09652391e-02 -2.11661344e-01] [ 1.24606797e-04 2.09939149e-02 9.99779596e-01 -1.92581423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.611193817 meters Centerline goodness : 0.931085 Centerline is valid? [False, False] Translation: X:12.07, Y:-0.21, Z:-1.93 [[ 9.98919104e-01 4.64250586e-02 -2.31047318e-03 1.20704594e+01] [-4.64663837e-02 9.98647531e-01 -2.33234472e-02 -2.07032535e-01] [ 1.22455594e-03 2.34055963e-02 9.99725302e-01 -1.92609032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.641193817 meters Centerline goodness : 0.931300 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.20, Z:-1.93 [[ 9.98859578e-01 4.77165418e-02 -1.63541785e-03 1.20924603e+01] [-4.77437874e-02 9.98452076e-01 -2.85303877e-02 -2.00978872e-01] [ 2.71514909e-04 2.85759321e-02 9.99591588e-01 -1.92929399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.671193817 meters Centerline goodness : 0.932885 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.20, Z:-1.93 [[ 9.98744193e-01 5.00876623e-02 -1.12426525e-03 1.20916023e+01] [-5.00999711e-02 9.98407994e-01 -2.59127329e-02 -1.99333332e-01] [-1.75432796e-04 2.59365171e-02 9.99663577e-01 -1.92887168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.701193817 meters Centerline goodness : 0.930777 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.20, Z:-1.93 [[ 9.98759395e-01 4.97693843e-02 -1.63667586e-03 1.20930757e+01] [-4.97955362e-02 9.98385347e-01 -2.73332079e-02 -1.95710911e-01] [ 2.73676266e-04 2.73807974e-02 9.99625038e-01 -1.92892603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.731193817 meters Centerline goodness : 0.928949 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.19, Z:-1.93 [[ 9.98776202e-01 4.94319623e-02 -1.60595327e-03 1.20932332e+01] [-4.94575665e-02 9.98382399e-01 -2.80452337e-02 -1.93517964e-01] [ 2.17024536e-04 2.80903386e-02 9.99605365e-01 -1.92886080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.761193817 meters Centerline goodness : 0.932984 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.19, Z:-1.93 [[ 9.99013873e-01 4.43774699e-02 -1.38651036e-03 1.20923528e+01] [-4.43990434e-02 9.98465142e-01 -3.31071837e-02 -1.91117231e-01] [-8.48307891e-05 3.31360956e-02 9.99450845e-01 -1.92846714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.791193817 meters Centerline goodness : 0.933572 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.19, Z:-1.93 [[ 9.99096728e-01 4.24876266e-02 -7.27313476e-04 1.20904427e+01] [-4.24884582e-02 9.98550914e-01 -3.30272940e-02 -1.92816667e-01] [-6.76991797e-04 3.30283638e-02 9.99454185e-01 -1.92806725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82119381700001 meters Centerline goodness : 0.935335 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.19, Z:-1.93 [[ 9.99238612e-01 3.90132706e-02 4.02128035e-04 1.20875304e+01] [-3.89765855e-02 9.98652253e-01 -3.42710349e-02 -1.93950509e-01] [-1.73861122e-03 3.42292677e-02 9.99412495e-01 -1.92771751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85119381700001 meters Centerline goodness : 0.936301 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.20, Z:-1.93 [[ 9.99557693e-01 2.96107621e-02 2.76071001e-03 1.20971967e+01] [-2.95503907e-02 9.99366924e-01 -1.98122809e-02 -1.98027659e-01] [-3.34561901e-03 1.97219377e-02 9.99799906e-01 -1.92643971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88119381700001 meters Centerline goodness : 0.936146 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.20, Z:-1.92 [[ 9.99899353e-01 1.39039636e-02 2.82182774e-03 1.21036434e+01] [-1.38733990e-02 9.99847822e-01 -1.05765034e-02 -1.96396865e-01] [-2.96845364e-03 1.05362906e-02 9.99940086e-01 -1.92359645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91119381700001 meters Centerline goodness : 0.935215 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.19, Z:-1.92 [[ 9.99923645e-01 1.21828608e-02 2.06920388e-03 1.21057068e+01] [-1.21568237e-02 9.99852147e-01 -1.21612531e-02 -1.94541541e-01] [-2.21705680e-03 1.21351696e-02 9.99923908e-01 -1.92420503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94119381700001 meters Centerline goodness : 0.935723 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.19, Z:-1.92 [[ 9.99933619e-01 1.14269085e-02 1.47743960e-03 1.21071257e+01] [-1.14062415e-02 9.99846329e-01 -1.33122727e-02 -1.92118566e-01] [-1.62933069e-03 1.32945370e-02 9.99910296e-01 -1.92437008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97119381700001 meters Centerline goodness : 0.936611 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.19, Z:-1.92 [[ 9.99937375e-01 1.11489162e-02 9.73812167e-04 1.21083310e+01] [-1.11338491e-02 9.99835663e-01 -1.43068244e-02 -1.89042864e-01] [-1.13315772e-03 1.42950861e-02 9.99897178e-01 -1.92455996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.001193817 meters Centerline goodness : 0.934655 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.18, Z:-1.93 [[ 9.99912580e-01 1.32165939e-02 3.91426416e-04 1.21109175e+01] [-1.32100588e-02 9.99820469e-01 -1.35839449e-02 -1.81609641e-01] [-5.70889627e-04 1.35775866e-02 9.99907657e-01 -1.92623526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03119381700003 meters Centerline goodness : 0.936194 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.18, Z:-1.93 [[ 9.99880567e-01 1.54536195e-02 -1.95728608e-04 1.21136652e+01] [-1.54548521e-02 9.99811851e-01 -1.17222126e-02 -1.77775670e-01] [ 1.45411690e-05 1.17238375e-02 9.99931273e-01 -1.92796046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06119381700003 meters Centerline goodness : 0.937087 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.17, Z:-1.93 [[ 9.99837731e-01 1.80048574e-02 -5.79860423e-04 1.21370951e+01] [-1.80117941e-02 9.99711807e-01 -1.58706750e-02 -1.66279582e-01] [ 2.93944070e-04 1.58785441e-02 9.99873885e-01 -1.93225493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09119381700003 meters Centerline goodness : 0.934764 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.16, Z:-1.93 [[ 9.99786268e-01 2.06428031e-02 -1.13732230e-03 1.21389483e+01] [-2.06565633e-02 9.99691048e-01 -1.38244489e-02 -1.62049028e-01] [ 8.51595546e-04 1.38449873e-02 9.99903791e-01 -1.93279033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12119381700003 meters Centerline goodness : 0.935452 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.16, Z:-1.93 [[ 9.99724239e-01 2.34381066e-02 -1.44940259e-03 1.21397497e+01] [-2.34534050e-02 9.99657212e-01 -1.16359713e-02 -1.57989447e-01] [ 1.17618062e-03 1.16667560e-02 9.99931249e-01 -1.93250256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15119381700003 meters Centerline goodness : 0.932327 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.15, Z:-1.93 [[ 9.99650539e-01 2.63806501e-02 -1.69154885e-03 1.21402584e+01] [-2.63952298e-02 9.99608602e-01 -9.27013795e-03 -1.54325175e-01] [ 1.44633451e-03 9.31154721e-03 9.99955601e-01 -1.93200553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.181193817 meters Centerline goodness : 0.934068 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.15, Z:-1.93 [[ 9.99569091e-01 2.92860551e-02 -1.98955229e-03 1.21409471e+01] [-2.92993033e-02 9.99546224e-01 -6.99261952e-03 -1.50568290e-01] [ 1.78386324e-03 7.04789884e-03 9.99973572e-01 -1.93161004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.211193817 meters Centerline goodness : 0.929915 Centerline is valid? [False, False] Translation: X:12.16, Y:-0.14, Z:-1.93 [[ 9.99435948e-01 3.35782337e-02 5.36883806e-04 1.21596933e+01] [-3.35705283e-02 9.99378515e-01 -1.07519436e-02 -1.38035984e-01] [-8.97581416e-04 1.07278555e-02 9.99942052e-01 -1.93395283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.241193817 meters Centerline goodness : 0.928324 Centerline is valid? [False, False] Translation: X:12.16, Y:-0.13, Z:-1.93 [[ 9.99320941e-01 3.68461973e-02 1.20533798e-04 1.21614289e+01] [-3.68434774e-02 9.99277644e-01 -9.31388841e-03 -1.32491153e-01] [-4.63628099e-04 9.30312285e-03 9.99956618e-01 -1.93398760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.271193817 meters Centerline goodness : 0.928653 Centerline is valid? [False, False] Translation: X:12.16, Y:-0.13, Z:-1.93 [[ 9.99186744e-01 4.03207727e-02 -2.91894373e-04 1.21626832e+01] [-4.03218282e-02 9.99158904e-01 -7.45888028e-03 -1.27678360e-01] [-9.09895433e-06 7.46458401e-03 9.99972140e-01 -1.93343070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.301193817 meters Centerline goodness : 0.929097 Centerline is valid? [False, False] Translation: X:12.16, Y:-0.12, Z:-1.93 [[ 9.98874215e-01 4.74354100e-02 -4.28807825e-04 1.21634979e+01] [-4.74365265e-02 9.98869307e-01 -3.14368602e-03 -1.19701929e-01] [ 2.79200939e-04 3.16048807e-03 9.99994967e-01 -1.93209437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.331193817 meters Centerline goodness : 0.927572 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.11, Z:-1.93 [[ 9.98845202e-01 4.80314665e-02 -1.11341638e-03 1.21651974e+01] [-4.80360732e-02 9.98835167e-01 -4.56561204e-03 -1.14959009e-01] [ 8.92826397e-04 4.61382383e-03 9.99988958e-01 -1.93176119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36119381700001 meters Centerline goodness : 0.928890 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.11, Z:-1.93 [[ 9.98812713e-01 4.86857269e-02 -1.69256333e-03 1.21666579e+01] [-4.86948081e-02 9.98796760e-01 -5.81784579e-03 -1.10602671e-01] [ 1.40728072e-03 5.89335738e-03 9.99981644e-01 -1.93145144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.39119381700002 meters Centerline goodness : 0.928772 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.11, Z:-1.93 [[ 9.98556483e-01 5.36557841e-02 -2.45093931e-03 1.21691263e+01] [-5.36626672e-02 9.98555098e-01 -2.83464246e-03 -1.06415777e-01] [ 2.29530298e-03 2.96207454e-03 9.99992979e-01 -1.93181598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42119381700002 meters Centerline goodness : 0.926428 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.11, Z:-1.93 [[ 9.98523091e-01 5.42280856e-02 -3.30922770e-03 1.21713599e+01] [-5.42373087e-02 9.98524248e-01 -2.76401221e-03 -1.06506649e-01] [ 3.15445701e-03 2.93941362e-03 9.99990705e-01 -1.93251714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.45119381700002 meters Centerline goodness : 0.925846 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.11, Z:-1.93 [[ 9.98489641e-01 5.48035325e-02 -3.87414584e-03 1.21730882e+01] [-5.48111800e-02 9.98494937e-01 -1.89608478e-03 -1.08956092e-01] [ 3.76440286e-03 2.10556752e-03 9.99990698e-01 -1.93354195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48119381700002 meters Centerline goodness : 0.922811 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.11, Z:-1.93 [[ 9.98636806e-01 5.19756231e-02 -4.80247079e-03 1.21749401e+01] [-5.20022427e-02 9.98631295e-01 -5.59497521e-03 -1.08987925e-01] [ 4.50509530e-03 5.83708743e-03 9.99972816e-01 -1.93395605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51119381700002 meters Centerline goodness : 0.925939 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.11, Z:-1.93 [[ 9.98606999e-01 5.25001236e-02 -5.27235467e-03 1.21756648e+01] [-5.25248462e-02 9.98608719e-01 -4.66544306e-03 -1.10545985e-01] [ 5.02008301e-03 4.93587371e-03 9.99975218e-01 -1.93377445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54119381700002 meters Centerline goodness : 0.927914 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.11, Z:-1.93 [[ 9.98604259e-01 5.25330675e-02 -5.45985206e-03 1.21755666e+01] [-5.25563320e-02 9.98609093e-01 -4.20856110e-03 -1.12016435e-01] [ 5.23116929e-03 4.48963684e-03 9.99976239e-01 -1.93316082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57119381700002 meters Centerline goodness : 0.926234 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.11, Z:-1.93 [[ 9.98759379e-01 4.94001021e-02 -6.27157391e-03 1.21764413e+01] [-4.94453157e-02 9.98750363e-01 -7.27135389e-03 -1.14088987e-01] [ 5.90453109e-03 7.57243285e-03 9.99953896e-01 -1.93276689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60119381700002 meters Centerline goodness : 0.927619 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.12, Z:-1.93 [[ 9.98754788e-01 4.95012275e-02 -6.20496934e-03 1.21756579e+01] [-4.95343255e-02 9.98758365e-01 -5.29893618e-03 -1.20855507e-01] [ 5.93496119e-03 5.59969685e-03 9.99966709e-01 -1.93245224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63119381700002 meters Centerline goodness : 0.927676 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.13, Z:-1.93 [[ 9.99053016e-01 4.30536771e-02 -6.28112824e-03 1.21739276e+01] [-4.31130935e-02 9.99023570e-01 -9.65238019e-03 -1.29485566e-01] [ 5.85942469e-03 9.91403840e-03 9.99933687e-01 -1.93146951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66119381700003 meters Centerline goodness : 0.930807 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.13, Z:-1.93 [[ 9.99105335e-01 4.17911960e-02 -6.48278064e-03 1.21742440e+01] [-4.18480328e-02 9.99084396e-01 -8.89448452e-03 -1.33637391e-01] [ 6.10513383e-03 9.15781855e-03 9.99939429e-01 -1.93202800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69119381700003 meters Centerline goodness : 0.930807 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.13, Z:-1.93 [[ 9.99105335e-01 4.17911960e-02 -6.48278064e-03 1.21742440e+01] [-4.18480328e-02 9.99084396e-01 -8.89448452e-03 -1.33637391e-01] [ 6.10513383e-03 9.15781855e-03 9.99939429e-01 -1.93202800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72119381700003 meters Centerline goodness : 0.930903 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.14, Z:-1.93 [[ 9.99263490e-01 3.77807134e-02 -6.71534561e-03 1.21744407e+01] [-3.78574253e-02 9.99214783e-01 -1.16889882e-02 -1.36317734e-01] [ 6.26845429e-03 1.19346048e-02 9.99909132e-01 -1.93245684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75119381700003 meters Centerline goodness : 0.931375 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.14, Z:-1.93 [[ 9.99530385e-01 2.89841982e-02 -9.94618040e-03 1.21693276e+01] [-2.90077480e-02 9.99576696e-01 -2.23166097e-03 -1.42031334e-01] [ 9.87728723e-03 2.51912924e-03 9.99948045e-01 -1.92945955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78119381700003 meters Centerline goodness : 0.931919 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.15, Z:-1.93 [[ 9.99761163e-01 1.96944581e-02 -9.47335877e-03 1.21674289e+01] [-1.97689570e-02 9.99773869e-01 -7.83574226e-03 -1.49490942e-01] [ 9.31689585e-03 8.02114922e-03 9.99924425e-01 -1.92924674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81119381700003 meters Centerline goodness : 0.935715 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.15, Z:-1.93 [[ 9.99833410e-01 1.54057419e-02 -9.78851942e-03 1.21680012e+01] [-1.55154730e-02 9.99816506e-01 -1.12349243e-02 -1.52382403e-01] [ 9.61364094e-03 1.13849262e-02 9.99888975e-01 -1.92931871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84119381700003 meters Centerline goodness : 0.934333 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.16, Z:-1.93 [[ 9.99937087e-01 9.07799941e-03 -6.58880889e-03 1.21784497e+01] [-9.12529087e-03 9.99932562e-01 -7.18332427e-03 -1.55818800e-01] [ 6.52315434e-03 7.24299715e-03 9.99952493e-01 -1.93099720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87119381700003 meters Centerline goodness : 0.931849 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.16, Z:-1.93 [[ 9.99945927e-01 7.38766284e-03 -7.31879934e-03 1.21812689e+01] [-7.44717695e-03 9.99939154e-01 -8.13807500e-03 -1.57774742e-01] [ 7.25823266e-03 8.19213935e-03 9.99940102e-01 -1.93258612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90119381700003 meters Centerline goodness : 0.934780 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.16, Z:-1.93 [[ 9.99947772e-01 6.44626962e-03 -7.93083359e-03 1.21839488e+01] [-6.51411868e-03 9.99942151e-01 -8.55921980e-03 -1.58617471e-01] [ 7.87519976e-03 8.61043517e-03 9.99931918e-01 -1.93445936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.931193817 meters Centerline goodness : 0.934684 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.16, Z:-1.94 [[ 9.99932556e-01 7.84434764e-03 -8.56443331e-03 1.21866587e+01] [-7.90622815e-03 9.99942712e-01 -7.21550047e-03 -1.58156044e-01] [ 8.50734178e-03 7.28272619e-03 9.99937292e-01 -1.93599912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.961193817 meters Centerline goodness : 0.933828 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.16, Z:-1.94 [[ 9.99932083e-01 1.12387194e-02 -3.08546297e-03 1.21998049e+01] [-1.12759096e-02 9.99860614e-01 -1.23128671e-02 -1.56180715e-01] [ 2.94665204e-03 1.23468223e-02 9.99919433e-01 -1.94021133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.991193817 meters Centerline goodness : 0.935026 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.15, Z:-1.94 [[ 9.99914266e-01 1.25698311e-02 -3.66874060e-03 1.22021213e+01] [-1.26104759e-02 9.99856924e-01 -1.12742023e-02 -1.54871496e-01] [ 3.52650087e-03 1.13195003e-02 9.99929714e-01 -1.94138626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.021193817 meters Centerline goodness : 0.937165 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.15, Z:-1.94 [[ 9.99916492e-01 1.28772583e-02 -1.08875199e-03 1.22213502e+01] [-1.28922173e-02 9.99803197e-01 -1.50784176e-02 -1.50497541e-01] [ 8.94369044e-04 1.50911949e-02 9.99885721e-01 -1.94224498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.051193817 meters Centerline goodness : 0.936527 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.15, Z:-1.94 [[ 9.99923785e-01 1.22582073e-02 -1.46963043e-03 1.22224299e+01] [-1.22800207e-02 9.99798371e-01 -1.58876796e-02 -1.49072603e-01] [ 1.27457964e-03 1.59045158e-02 9.99872703e-01 -1.94252596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.081193817 meters Centerline goodness : 0.935002 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.15, Z:-1.94 [[ 9.99932058e-01 1.15108310e-02 -1.83848275e-03 1.22235279e+01] [-1.15401806e-02 9.99791553e-01 -1.68426204e-02 -1.47338507e-01] [ 1.64422697e-03 1.68626925e-02 9.99856463e-01 -1.94288260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.11119381700001 meters Centerline goodness : 0.934990 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.14, Z:-1.94 [[ 9.99943288e-01 1.04286219e-02 -2.15967270e-03 1.22248291e+01] [-1.04661387e-02 9.99780362e-01 -1.81572986e-02 -1.44764628e-01] [ 1.96984275e-03 1.81788723e-02 9.99832810e-01 -1.94358743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14119381700002 meters Centerline goodness : 0.934862 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.14, Z:-1.94 [[ 9.99972647e-01 6.88842803e-03 -2.69360354e-03 1.22262879e+01] [-6.94598894e-03 9.99734317e-01 -2.19783855e-02 -1.37365585e-01] [ 2.54149136e-03 2.19964941e-02 9.99754817e-01 -1.94375809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.17119381700002 meters Centerline goodness : 0.932279 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.13, Z:-1.94 [[ 9.99981421e-01 5.29569602e-03 -3.01866823e-03 1.22271678e+01] [-5.36599156e-03 9.99702932e-01 -2.37750627e-02 -1.33818034e-01] [ 2.89186597e-03 2.37908192e-02 9.99712776e-01 -1.94380930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20119381700002 meters Centerline goodness : 0.932772 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.13, Z:-1.95 [[ 9.99994478e-01 3.03151567e-03 1.36126610e-03 1.22379019e+01] [-3.00984188e-03 9.99872983e-01 -1.56511329e-02 -1.33235907e-01] [-1.40853985e-03 1.56469493e-02 9.99876587e-01 -1.94619370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.23119381700002 meters Centerline goodness : 0.931734 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.13, Z:-1.95 [[ 9.99998076e-01 1.72778909e-03 9.28738035e-04 1.22396422e+01] [-1.71126634e-03 9.99845289e-01 -1.75062644e-02 -1.29016623e-01] [-9.58841482e-04 1.75046414e-02 9.99846322e-01 -1.94716398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26119381700002 meters Centerline goodness : 0.930085 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.12, Z:-1.95 [[ 9.99995781e-01 -1.62179436e-03 -2.40982128e-03 1.22483102e+01] [ 1.57676046e-03 9.99826255e-01 -1.85734802e-02 -1.19123825e-01] [ 2.43952495e-03 1.85696021e-02 9.99824594e-01 -1.94779609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29119381700002 meters Centerline goodness : 0.928896 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.11, Z:-1.95 [[ 9.99994951e-01 -8.51545065e-04 -3.06164328e-03 1.22515984e+01] [ 7.95776933e-04 9.99834588e-01 -1.81704038e-02 -1.14629193e-01] [ 3.07660977e-03 1.81678757e-02 9.99830217e-01 -1.95004542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32119381700002 meters Centerline goodness : 0.927527 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.11, Z:-1.95 [[ 9.99993119e-01 1.37029144e-03 -3.44723459e-03 1.22537208e+01] [-1.42727074e-03 9.99861504e-01 -1.65811903e-02 -1.09740012e-01] [ 3.42403610e-03 1.65859963e-02 9.99856580e-01 -1.95153916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35119381700002 meters Centerline goodness : 0.928555 Centerline is valid? [False, False] Translation: X:12.27, Y:-0.09, Z:-1.95 [[ 9.99990410e-01 4.36072695e-03 4.05269511e-04 1.22709331e+01] [-4.35154899e-03 9.99782287e-01 -2.04069334e-02 -9.40115586e-02] [-4.94170343e-04 2.04049742e-02 9.99791675e-01 -1.95398683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38119381700002 meters Centerline goodness : 0.923968 Centerline is valid? [False, False] Translation: X:12.27, Y:-0.09, Z:-1.95 [[ 9.99975326e-01 7.01949412e-03 2.71825051e-04 1.22711294e+01] [-7.01317142e-03 9.99799961e-01 -1.87310584e-02 -8.79773285e-02] [-4.03253229e-04 1.87286898e-02 9.99824521e-01 -1.95348501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41119381700003 meters Centerline goodness : 0.929855 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.08, Z:-1.96 [[ 9.99975234e-01 6.09359016e-03 3.52139414e-03 1.22863335e+01] [-6.03911724e-03 9.99865046e-01 -1.52780792e-02 -8.19874926e-02] [-3.61401727e-03 1.52564347e-02 9.99877082e-01 -1.95767567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44119381700003 meters Centerline goodness : 0.928900 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.08, Z:-1.96 [[ 9.99957373e-01 8.63332704e-03 3.27391872e-03 1.22874512e+01] [-8.58779520e-03 9.99869608e-01 -1.36754169e-02 -7.62875373e-02] [-3.39155617e-03 1.36467182e-02 9.99901127e-01 -1.95805619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47119381700003 meters Centerline goodness : 0.929850 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.06, Z:-1.96 [[ 9.99932975e-01 1.11378268e-02 3.16142086e-03 1.22881283e+01] [-1.10972156e-02 9.99859223e-01 -1.25851887e-02 -6.42187323e-02] [-3.30114745e-03 1.25492622e-02 9.99915806e-01 -1.95780434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50119381700003 meters Centerline goodness : 0.931876 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.06, Z:-1.96 [[ 9.99902852e-01 1.35701832e-02 3.18395266e-03 1.22883382e+01] [-1.35351576e-02 9.99850330e-01 -1.07757556e-02 -5.95221198e-02] [-3.32970509e-03 1.07316134e-02 9.99936871e-01 -1.95782460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53119381700003 meters Centerline goodness : 0.934161 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.05, Z:-1.96 [[ 9.99875181e-01 1.55522426e-02 2.78408455e-03 1.22903269e+01] [-1.55254460e-02 9.99835279e-01 -9.40082422e-03 -5.44745359e-02] [-2.92982985e-03 9.35642666e-03 9.99951936e-01 -1.95901528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56119381700003 meters Centerline goodness : 0.935349 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.04, Z:-1.96 [[ 9.99780323e-01 2.07716927e-02 2.80059080e-03 1.22918186e+01] [-2.07550569e-02 9.99767512e-01 -5.84379188e-03 -4.24012775e-02] [-2.92132515e-03 5.78438171e-03 9.99979003e-01 -1.96025933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59119381700003 meters Centerline goodness : 0.935902 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.04, Z:-1.96 [[ 9.99719287e-01 2.35817217e-02 2.29098682e-03 1.22944089e+01] [-2.35719329e-02 9.99713280e-01 -4.20968039e-03 -3.62829253e-02] [-2.38960146e-03 4.15449569e-03 9.99988515e-01 -1.96185428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62119381700003 meters Centerline goodness : 0.936006 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.03, Z:-1.96 [[ 9.99632219e-01 2.70531793e-02 1.88467884e-03 1.22958409e+01] [-2.70493272e-02 9.99632018e-01 -2.04028704e-03 -3.06024942e-02] [-1.93918156e-03 1.98855737e-03 9.99996143e-01 -1.96217928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65119381700003 meters Centerline goodness : 0.934605 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.03, Z:-1.96 [[ 9.99522752e-01 3.08488759e-02 1.61701772e-03 1.22969371e+01] [-3.08493586e-02 9.99524008e-01 2.74428649e-04 -2.50442223e-02] [-1.60778221e-03 -3.24181638e-04 9.99998655e-01 -1.96236747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.681193817 meters Centerline goodness : 0.935428 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.02, Z:-1.96 [[ 9.99100641e-01 4.23652751e-02 1.75835747e-03 1.22978513e+01] [-4.23801540e-02 9.99056139e-01 9.52646920e-03 -1.68904370e-02] [-1.35310634e-03 -9.59242095e-03 9.99953076e-01 -1.96242364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.711193817 meters Centerline goodness : 0.933663 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.01, Z:-1.96 [[ 9.98926701e-01 4.62881914e-02 1.68791342e-03 1.22985657e+01] [-4.63052176e-02 9.98854620e-01 1.20529981e-02 -1.19855077e-02] [-1.12806863e-03 -1.21182209e-02 9.99925935e-01 -1.96244427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.741193817 meters Centerline goodness : 0.934263 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.01, Z:-1.96 [[ 9.98740986e-01 5.01455818e-02 1.36530294e-03 1.23001841e+01] [-5.01602170e-02 9.98633885e-01 1.46395306e-02 -7.35952543e-03] [-6.29329998e-04 -1.46895831e-02 9.99891904e-01 -1.96297204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.771193817 meters Centerline goodness : 0.936631 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.00, Z:-1.96 [[ 9.98545439e-01 5.38989493e-02 1.38209642e-03 1.23007221e+01] [-5.39148663e-02 9.98393456e-01 1.74268247e-02 -3.38638300e-03] [-4.40588476e-04 -1.74759919e-02 9.99847186e-01 -1.96298980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.801193817 meters Centerline goodness : 0.932973 Centerline is valid? [False, False] Translation: X:12.30, Y:0.00, Z:-1.96 [[ 9.98327437e-01 5.77791827e-02 1.97336166e-03 1.22980650e+01] [-5.78071603e-02 9.98126899e-01 2.00256319e-02 1.01634090e-03] [-8.12600707e-04 -2.01062122e-02 9.99797519e-01 -1.95995077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.831193817 meters Centerline goodness : 0.933398 Centerline is valid? [False, False] Translation: X:12.30, Y:0.00, Z:-1.96 [[ 9.98308433e-01 5.81173293e-02 1.62739753e-03 1.22983630e+01] [-5.81383324e-02 9.98105640e-01 2.01262608e-02 7.04079013e-04] [-4.54630131e-04 -2.01868301e-02 9.99796122e-01 -1.95931521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86119381700001 meters Centerline goodness : 0.933946 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.01, Z:-1.96 [[ 9.98210889e-01 5.96228849e-02 4.48697501e-03 1.23169032e+01] [-5.97193907e-02 9.97880024e-01 2.58660415e-02 -6.54200851e-03] [-2.93525472e-03 -2.60877236e-02 9.99655348e-01 -1.96005449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.89119381700002 meters Centerline goodness : 0.931219 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.01, Z:-1.96 [[ 9.98203188e-01 5.97697579e-02 4.23929057e-03 1.23175981e+01] [-5.98612298e-02 9.97857049e-01 2.64186153e-02 -8.32787177e-03] [-2.65117174e-03 -2.66249152e-02 9.99641979e-01 -1.96025024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92119381700002 meters Centerline goodness : 0.931014 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.01, Z:-1.96 [[ 9.98192401e-01 5.99860257e-02 3.68893106e-03 1.23189233e+01] [-6.00638059e-02 9.97831683e-01 2.69122958e-02 -9.78614379e-03] [-2.06657062e-03 -2.70852204e-02 9.99630992e-01 -1.96055078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.95119381700002 meters Centerline goodness : 0.927638 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.01, Z:-1.96 [[ 9.98160434e-01 6.05473844e-02 3.12457383e-03 1.23205837e+01] [-6.06107958e-02 9.97777877e-01 2.76701862e-02 -1.16126028e-02] [-1.44227324e-03 -2.78086680e-02 9.99612224e-01 -1.96123357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98119381700002 meters Centerline goodness : 0.927905 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.02, Z:-1.96 [[ 9.98039175e-01 6.25314893e-02 2.76020716e-03 1.23221893e+01] [-6.25864426e-02 9.97581050e-01 3.02487248e-02 -1.79819448e-02] [-8.62032545e-04 -3.03621639e-02 9.99538592e-01 -1.96219922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01119381700002 meters Centerline goodness : 0.924677 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.02, Z:-1.96 [[ 9.98109568e-01 6.12926231e-02 4.52829269e-03 1.23418284e+01] [-6.13978746e-02 9.97699064e-01 2.87555085e-02 -2.10025147e-02] [-2.75537283e-03 -2.89791757e-02 9.99576218e-01 -1.96235924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04119381700002 meters Centerline goodness : 0.922291 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.02, Z:-1.96 [[ 9.98259010e-01 5.88496204e-02 3.95859119e-03 1.23426826e+01] [-5.89325232e-02 9.97927702e-01 2.58313545e-02 -2.25337835e-02] [-2.43022240e-03 -2.60196722e-02 9.99658477e-01 -1.96234981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07119381700002 meters Centerline goodness : 0.921199 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.03, Z:-1.96 [[ 9.98209880e-01 5.97032710e-02 3.54336199e-03 1.23437373e+01] [-5.97780807e-02 9.97836499e-01 2.73660657e-02 -2.70429128e-02] [-1.90185229e-03 -2.75288925e-02 9.99619199e-01 -1.96251726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10119381700002 meters Centerline goodness : 0.921130 Centerline is valid? [False, False] Translation: X:12.37, Y:-0.04, Z:-1.96 [[ 9.98311817e-01 5.80146196e-02 2.79657050e-03 1.23664243e+01] [-5.80707449e-02 9.97908169e-01 2.84090539e-02 -3.71390400e-02] [-1.14258009e-03 -2.85234931e-02 9.99592469e-01 -1.96469676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13119381700002 meters Centerline goodness : 0.916679 Centerline is valid? [False, False] Translation: X:12.37, Y:-0.04, Z:-1.97 [[ 9.98488005e-01 5.49277746e-02 2.15504092e-03 1.23676879e+01] [-5.49650062e-02 9.98159362e-01 2.56268489e-02 -3.99822354e-02] [-7.43448494e-04 -2.57065531e-02 9.99669256e-01 -1.96508624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16119381700003 meters Centerline goodness : 0.920049 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.05, Z:-1.97 [[ 9.98533051e-01 5.40190789e-02 3.69948009e-03 1.23872882e+01] [-5.41054075e-02 9.98092375e-01 2.97357709e-02 -4.76807817e-02] [-2.08612391e-03 -2.98923119e-02 9.99550948e-01 -1.96655256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19119381700003 meters Centerline goodness : 0.916315 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.08, Z:-1.96 [[ 9.99214933e-01 3.87024104e-02 8.46416030e-03 1.23944948e+01] [-3.93599150e-02 9.94112540e-01 1.00950757e-01 -7.80565487e-02] [-4.50729026e-03 -1.01204653e-01 9.94855418e-01 -1.96036404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22119381700003 meters Centerline goodness : 0.915346 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.08, Z:-1.96 [[ 9.99517194e-01 3.08134925e-02 3.98833073e-03 1.23972426e+01] [-3.10676951e-02 9.92893034e-01 1.14883515e-01 -8.49263818e-02] [-4.20023465e-04 -1.14951957e-01 9.93370964e-01 -1.95705199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25119381700003 meters Centerline goodness : 0.915092 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.08, Z:-1.96 [[ 9.99732830e-01 2.30733684e-02 1.37435395e-03 1.23784930e+01] [-2.30901914e-02 9.94211796e-01 1.04927345e-01 -8.48767363e-02] [ 1.05462838e-03 -1.04931045e-01 9.94478941e-01 -1.95575556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28119381700003 meters Centerline goodness : 0.914936 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.08, Z:-1.96 [[ 9.99785512e-01 2.06243125e-02 1.88886376e-03 1.23860178e+01] [-2.07094672e-02 9.96528185e-01 8.06392840e-02 -8.38325803e-02] [-2.19176181e-04 -8.06611052e-02 9.96741560e-01 -1.95556623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31119381700003 meters Centerline goodness : 0.914907 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.09, Z:-1.95 [[ 9.99900355e-01 1.40482263e-02 1.38825237e-03 1.23925917e+01] [-1.41085174e-02 9.97818422e-01 6.44929883e-02 -8.69200152e-02] [-4.79211693e-04 -6.45061481e-02 9.97917195e-01 -1.95161186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34119381700003 meters Centerline goodness : 0.912756 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.09, Z:-1.95 [[ 9.99934732e-01 1.13562267e-02 -1.25252144e-03 1.24012729e+01] [-1.12737135e-02 9.98525674e-01 5.30978532e-02 -8.78046032e-02] [ 1.85366607e-03 -5.30802670e-02 9.98588528e-01 -1.94832926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37119381700003 meters Centerline goodness : 0.918355 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.09, Z:-1.95 [[ 9.99919291e-01 1.17693299e-02 -4.78475118e-03 1.24007237e+01] [-1.15794749e-02 9.99212979e-01 3.79386139e-02 -8.78264219e-02] [ 5.22749755e-03 -3.78801471e-02 9.99268616e-01 -1.94804653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40119381700003 meters Centerline goodness : 0.911911 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.09, Z:-1.95 [[ 9.99957211e-01 7.79357432e-03 -4.98370402e-03 1.24007370e+01] [-7.61956347e-03 9.99391758e-01 3.40302139e-02 -8.82637980e-02] [ 5.24588973e-03 -3.39907841e-02 9.99408379e-01 -1.94756091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.431193817 meters Centerline goodness : 0.912348 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.09, Z:-1.95 [[ 9.99984474e-01 8.43461001e-04 -5.50819483e-03 1.24012587e+01] [-6.93542418e-04 9.99630783e-01 2.71627885e-02 -8.96648462e-02] [ 5.52907186e-03 -2.71585466e-02 9.99615848e-01 -1.94682735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.461193817 meters Centerline goodness : 0.913580 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.09, Z:-1.95 [[ 9.99995860e-01 -1.46163632e-03 -2.47850772e-03 1.24105453e+01] [ 1.49465340e-03 9.99909470e-01 1.33722442e-02 -8.81559559e-02] [ 2.45873798e-03 -1.33758933e-02 9.99907516e-01 -1.94780554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.491193817 meters Centerline goodness : 0.913131 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.09, Z:-1.95 [[ 9.99993328e-01 -2.97243104e-03 2.12316827e-03 1.24217966e+01] [ 2.96970274e-03 9.99994762e-01 1.28700994e-03 -8.64530093e-02] [-2.12698270e-03 -1.28069618e-03 9.99996918e-01 -1.95131904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.521193817 meters Centerline goodness : 0.914058 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.09, Z:-1.95 [[ 9.99990474e-01 -3.92821688e-03 1.90310898e-03 1.24226015e+01] [ 3.92704020e-03 9.99992096e-01 6.21634812e-04 -8.56960632e-02] [-1.90553585e-03 -6.14155305e-04 9.99997996e-01 -1.95170369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.551193817 meters Centerline goodness : 0.911166 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.08, Z:-1.95 [[ 9.99989165e-01 -4.37590360e-03 1.58776406e-03 1.24237253e+01] [ 4.37557661e-03 9.99990405e-01 2.09360195e-04 -8.49773328e-02] [-1.58866497e-03 -2.02410543e-04 9.99998718e-01 -1.95227478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.581193817 meters Centerline goodness : 0.911166 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.08, Z:-1.95 [[ 9.99989165e-01 -4.37590360e-03 1.58776406e-03 1.24237253e+01] [ 4.37557661e-03 9.99990405e-01 2.09360195e-04 -8.49773328e-02] [-1.58866497e-03 -2.02410543e-04 9.99998718e-01 -1.95227478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.61119381700001 meters Centerline goodness : 0.914407 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.08, Z:-1.95 [[ 9.99987813e-01 -4.76069992e-03 1.30762554e-03 1.24247932e+01] [ 4.76096954e-03 9.99988646e-01 -2.03157372e-04 -8.47105552e-02] [-1.30664352e-03 2.09380462e-04 9.99999124e-01 -1.95284136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64119381700002 meters Centerline goodness : 0.911248 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.08, Z:-1.95 [[ 9.99986999e-01 -5.00245215e-03 9.88194431e-04 1.24258908e+01] [ 5.00298504e-03 9.99987341e-01 -5.37523790e-04 -8.45576744e-02] [-9.85492984e-04 5.42460724e-04 9.99999367e-01 -1.95337621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.67119381700002 meters Centerline goodness : 0.911526 Centerline is valid? [False, False] Translation: X:12.44, Y:-0.08, Z:-1.96 [[ 9.99986032e-01 -2.80052730e-03 4.48248015e-03 1.24402039e+01] [ 2.84045077e-03 9.99956136e-01 -8.92511136e-03 -8.01200445e-02] [-4.45728851e-03 8.93771895e-03 9.99950124e-01 -1.95862741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70119381700002 meters Centerline goodness : 0.911617 Centerline is valid? [False, False] Translation: X:12.44, Y:-0.08, Z:-1.96 [[ 9.99991831e-01 -1.39015311e-03 3.79555819e-03 1.24434850e+01] [ 1.41980325e-03 9.99968413e-01 -7.82031158e-03 -7.79348637e-02] [-3.78456687e-03 7.82563664e-03 9.99962218e-01 -1.96086624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.73119381700002 meters Centerline goodness : 0.909312 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.07, Z:-1.97 [[ 9.99979414e-01 1.26870642e-03 6.28985449e-03 1.24585751e+01] [-1.17511750e-03 9.99888882e-01 -1.48607790e-02 -7.43611849e-02] [-6.30800954e-03 1.48530818e-02 9.99869789e-01 -1.96587253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76119381700002 meters Centerline goodness : 0.910833 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.07, Z:-1.97 [[ 9.99982545e-01 2.37675443e-03 5.40928265e-03 1.24622364e+01] [-2.30067282e-03 9.99898955e-01 -1.40280342e-02 -7.22378562e-02] [-5.44207727e-03 1.40153443e-02 9.99886971e-01 -1.96820159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79119381700002 meters Centerline goodness : 0.908764 Centerline is valid? [False, False] Translation: X:12.49, Y:-0.07, Z:-1.97 [[ 9.99985858e-01 3.20806680e-03 4.24177670e-03 1.24855481e+01] [-3.14514539e-03 9.99886147e-01 -1.47581162e-02 -6.83964081e-02] [-4.28863878e-03 1.47445665e-02 9.99882096e-01 -1.97015045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82119381700002 meters Centerline goodness : 0.909392 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.07, Z:-1.97 [[ 9.99985097e-01 2.07406036e-03 5.05019419e-03 1.25067093e+01] [-1.98360048e-03 9.99838677e-01 -1.78517585e-02 -6.51930154e-02] [-5.08640511e-03 1.78414749e-02 9.99827890e-01 -1.97135874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85119381700002 meters Centerline goodness : 0.910424 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.06, Z:-1.97 [[ 9.99976181e-01 1.90615918e-03 6.63348310e-03 1.25271644e+01] [-1.78226425e-03 9.99824797e-01 -1.86332597e-02 -6.35952939e-02] [-6.66783886e-03 1.86209933e-02 9.99804380e-01 -1.97187254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88119381700002 meters Centerline goodness : 0.911842 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.06, Z:-1.97 [[ 9.99977640e-01 1.43675431e-03 6.53110985e-03 1.25268690e+01] [-1.31100943e-03 9.99814479e-01 -1.92168945e-02 -6.20125289e-02] [-6.55750814e-03 1.92079025e-02 9.99794007e-01 -1.97095314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91119381700003 meters Centerline goodness : 0.912591 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.06, Z:-1.97 [[ 9.99979132e-01 9.06212420e-04 6.39647703e-03 1.25267290e+01] [-7.78882449e-04 9.99802055e-01 -1.98807631e-02 -6.03138605e-02] [-6.41322707e-03 1.98753661e-02 9.99781896e-01 -1.97018508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94119381700003 meters Centerline goodness : 0.910842 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.06, Z:-1.97 [[ 9.99976170e-01 1.44395931e-03 6.75084258e-03 1.25246512e+01] [-1.31191496e-03 9.99808540e-01 -1.95233642e-02 -5.66032265e-02] [-6.77774101e-03 1.95140424e-02 9.99786609e-01 -1.96807651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97119381700003 meters Centerline goodness : 0.914339 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.06, Z:-1.96 [[ 9.99999163e-01 8.52350000e-04 9.73553918e-04 1.25216679e+01] [-8.48037816e-04 9.99989867e-01 -4.42118011e-03 -5.81856139e-02] [-9.77312445e-04 4.42035080e-03 9.99989753e-01 -1.96489703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00119381700003 meters Centerline goodness : 0.911624 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.06, Z:-1.97 [[ 9.99991763e-01 3.96703571e-03 8.58239109e-04 1.25221495e+01] [-3.96606806e-03 9.99991501e-01 -1.12626183e-03 -5.76279955e-02] [-8.62699736e-04 1.12284872e-03 9.99998997e-01 -1.96511113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03119381700003 meters Centerline goodness : 0.912214 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.05, Z:-1.97 [[ 9.99990924e-01 4.23270821e-03 4.86710306e-04 1.25236253e+01] [-4.23184375e-03 9.99989490e-01 -1.76365972e-03 -5.45537178e-02] [-4.94170248e-04 1.76158403e-03 9.99998326e-01 -1.96594586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06119381700003 meters Centerline goodness : 0.912161 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.05, Z:-1.97 [[ 9.99929296e-01 1.18868331e-02 3.25095219e-04 1.25244313e+01] [-1.18883159e-02 9.99916727e-01 5.02063630e-03 -5.06773639e-02] [-2.65388682e-04 -5.02414616e-03 9.99987344e-01 -1.96635422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09119381700003 meters Centerline goodness : 0.913188 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.05, Z:-1.97 [[ 9.99877120e-01 1.56761025e-02 -7.13244926e-05 1.25257287e+01] [-1.56750313e-02 9.99845173e-01 7.99520372e-03 -4.72227881e-02] [ 1.96647083e-04 -7.99310326e-03 9.99968035e-01 -1.96674692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12119381700003 meters Centerline goodness : 0.912523 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.04, Z:-1.97 [[ 9.99804855e-01 1.97534466e-02 -2.30425863e-04 1.25262905e+01] [-1.97496846e-02 9.99743624e-01 1.10741014e-02 -4.34788441e-02] [ 4.49118459e-04 -1.10673895e-02 9.99938654e-01 -1.96670130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15119381700003 meters Centerline goodness : 0.909181 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.04, Z:-1.97 [[ 9.99592233e-01 2.85544200e-02 -1.13015235e-04 1.25259447e+01] [-2.85474401e-02 9.99421134e-01 1.85051485e-02 -4.00350972e-02] [ 6.41353596e-04 -1.84943764e-02 9.99828759e-01 -1.96573867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.181193817 meters Centerline goodness : 0.912260 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.04, Z:-1.97 [[ 9.99570513e-01 2.93004484e-02 -5.21965650e-04 1.25269951e+01] [-2.92859852e-02 9.99403322e-01 1.83120331e-02 -3.85801072e-02] [ 1.05820498e-03 -1.82888820e-02 9.99832184e-01 -1.96593045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.211193817 meters Centerline goodness : 0.913018 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.04, Z:-1.97 [[ 9.99565379e-01 2.94676266e-02 -8.43906621e-04 1.25280553e+01] [-2.94475975e-02 9.99403170e-01 1.80594412e-02 -3.80519899e-02] [ 1.37557182e-03 -1.80267412e-02 9.99836559e-01 -1.96641116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.241193817 meters Centerline goodness : 0.910965 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.04, Z:-1.97 [[ 9.99567160e-01 2.93946915e-02 -1.20188555e-03 1.25292161e+01] [-2.93686217e-02 9.99409635e-01 1.78287935e-02 -3.81477557e-02] [ 1.72524789e-03 -1.77857788e-02 9.99840332e-01 -1.96696033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.271193817 meters Centerline goodness : 0.911118 Centerline is valid? [False, False] Translation: X:12.55, Y:-0.04, Z:-1.97 [[ 9.99601130e-01 2.82414721e-02 2.37990042e-05 1.25513870e+01] [-2.82252362e-02 9.98997174e-01 3.47560493e-02 -4.35796091e-02] [ 9.57786861e-04 -3.47428579e-02 9.99395826e-01 -1.96921825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.301193817 meters Centerline goodness : 0.910338 Centerline is valid? [False, False] Translation: X:12.55, Y:-0.05, Z:-1.97 [[ 9.99582841e-01 2.88763952e-02 -5.45710289e-04 1.25534793e+01] [-2.88385019e-02 9.98945992e-01 3.57105719e-02 -4.55726625e-02] [ 1.57632769e-03 -3.56799375e-02 9.99362025e-01 -1.97037423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.331193817 meters Centerline goodness : 0.911787 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.05, Z:-1.97 [[ 9.99584527e-01 2.86358188e-02 3.28061691e-03 1.25667765e+01] [-2.87567202e-02 9.98522422e-01 4.61088188e-02 -5.18624840e-02] [-1.95540576e-03 -4.61840016e-02 9.98931036e-01 -1.97482359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36119381700001 meters Centerline goodness : 0.912575 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.05, Z:-1.98 [[ 9.99642758e-01 2.66217345e-02 2.37464248e-03 1.25701012e+01] [-2.67004707e-02 9.98674805e-01 4.39968091e-02 -5.43608136e-02] [-1.20022425e-03 -4.40444957e-02 9.99028849e-01 -1.97654710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.39119381700002 meters Centerline goodness : 0.910120 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.06, Z:-1.97 [[ 9.99762481e-01 2.17931698e-02 -1.98953645e-04 1.25815834e+01] [-2.17553469e-02 9.98488180e-01 5.04783005e-02 -6.08100320e-02] [ 1.29873504e-03 -5.04619826e-02 9.98725138e-01 -1.97449703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42119381700002 meters Centerline goodness : 0.908866 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.06, Z:-1.97 [[ 9.99830887e-01 1.83810377e-02 -5.77837630e-04 1.25820531e+01] [-1.83342094e-02 9.98747312e-01 4.65581821e-02 -6.05149405e-02] [ 1.43290148e-03 -4.65397143e-02 9.98915413e-01 -1.97420330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.45119381700002 meters Centerline goodness : 0.910657 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.07, Z:-1.97 [[ 9.99932944e-01 1.15650597e-02 -5.96957965e-04 1.25613186e+01] [-1.15084092e-02 9.98131958e-01 6.00012550e-02 -6.79412842e-02] [ 1.28976092e-03 -5.99903615e-02 9.98198123e-01 -1.97177245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48119381700002 meters Centerline goodness : 0.912279 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.07, Z:-1.97 [[ 9.99963095e-01 8.56435080e-03 -6.78719384e-04 1.25694812e+01] [-8.52340408e-03 9.98876510e-01 4.66161905e-02 -6.93201203e-02] [ 1.07719426e-03 -4.66086851e-02 9.98912644e-01 -1.96918390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51119381700002 meters Centerline goodness : 0.911880 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.07, Z:-1.97 [[ 9.99984646e-01 3.74233511e-03 -4.08677267e-03 1.25747535e+01] [-3.58047871e-03 9.99235964e-01 3.89187509e-02 -7.18745600e-02] [ 4.22929723e-03 -3.89035208e-02 9.99234021e-01 -1.96637392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54119381700002 meters Centerline goodness : 0.913522 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.07, Z:-1.97 [[ 9.99997594e-01 -1.22351339e-04 -2.19002621e-03 1.25830239e+01] [ 1.74885157e-04 9.99711855e-01 2.40036637e-02 -7.28224569e-02] [ 2.18645828e-03 -2.40039890e-02 9.99709472e-01 -1.96553744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57119381700002 meters Centerline goodness : 0.917661 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.08, Z:-1.97 [[ 9.99966935e-01 -7.75530763e-03 -2.44637124e-03 1.25839143e+01] [ 7.79574262e-03 9.99825499e-01 1.69763770e-02 -7.58598802e-02] [ 2.31428732e-03 -1.69948870e-02 9.99852898e-01 -1.96569761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60119381700002 meters Centerline goodness : 0.914256 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.07, Z:-1.97 [[ 9.99958958e-01 -9.04596868e-03 5.01881580e-04 1.25957445e+01] [ 9.04329247e-03 9.99946101e-01 5.10039801e-03 -7.44429310e-02] [-5.47992570e-04 -5.09565002e-03 9.99986867e-01 -1.96890503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63119381700002 meters Centerline goodness : 0.913290 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.07, Z:-1.97 [[ 9.99955686e-01 -8.89388981e-03 3.08632284e-03 1.26075640e+01] [ 8.91011739e-03 9.99946340e-01 -5.28460073e-03 -7.34533153e-02] [-3.03915657e-03 5.31186605e-03 9.99981274e-01 -1.97178756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66119381700003 meters Centerline goodness : 0.914492 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.07, Z:-1.97 [[ 9.99954723e-01 -9.12798857e-03 2.68910598e-03 1.26086871e+01] [ 9.14174450e-03 9.99944960e-01 -5.14834018e-03 -7.48022354e-02] [-2.64196398e-03 5.17269020e-03 9.99983132e-01 -1.97209046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69119381700003 meters Centerline goodness : 0.915605 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.08, Z:-1.97 [[ 9.99929410e-01 -1.17386748e-02 1.83827527e-03 1.26115009e+01] [ 1.17524789e-02 9.99901384e-01 -7.68771790e-03 -7.73473891e-02] [-1.74785037e-03 7.70877951e-03 9.99968759e-01 -1.97341909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72119381700003 meters Centerline goodness : 0.916516 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.08, Z:-1.98 [[ 9.99920137e-01 -1.25778138e-02 1.23217358e-03 1.26141162e+01] [ 1.25877714e-02 9.99885171e-01 -8.43763547e-03 -7.73095334e-02] [-1.12590508e-03 8.45247193e-03 9.99963643e-01 -1.97511447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75119381700003 meters Centerline goodness : 0.916025 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.08, Z:-1.98 [[ 9.99921610e-01 -1.24977904e-02 7.60604057e-04 1.26159569e+01] [ 1.25037500e-02 9.99886435e-01 -8.41271722e-03 -7.68486801e-02] [-6.55377302e-04 8.42156815e-03 9.99964323e-01 -1.97622006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78119381700003 meters Centerline goodness : 0.914423 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.08, Z:-1.98 [[ 9.99987567e-01 -4.82721249e-03 1.25090973e-03 1.26376390e+01] [ 4.84677294e-03 9.99858050e-01 -1.61365885e-02 -7.61526168e-02] [-1.17283743e-03 1.61424508e-02 9.99869014e-01 -1.97770796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81119381700003 meters Centerline goodness : 0.915626 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.07, Z:-1.98 [[ 9.99973478e-01 -1.17008858e-03 7.18847028e-03 1.26510119e+01] [ 1.31966038e-03 9.99781999e-01 -2.08377958e-02 -7.41303818e-02] [-7.16252112e-03 2.08467294e-02 9.99757027e-01 -1.98229115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84119381700003 meters Centerline goodness : 0.914530 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.07, Z:-1.98 [[ 9.99971600e-01 2.83731829e-03 6.98201911e-03 1.26514286e+01] [-2.71988625e-03 9.99855647e-01 -1.67716112e-02 -7.42612532e-02] [-7.02859763e-03 1.67521446e-02 9.99834969e-01 -1.98217642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87119381700003 meters Centerline goodness : 0.914927 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.07, Z:-1.98 [[ 9.99955775e-01 3.90293507e-03 8.55660471e-03 1.26720928e+01] [-3.74328294e-03 9.99820079e-01 -1.85956295e-02 -7.14035909e-02] [-8.62764274e-03 1.85627773e-02 9.99790472e-01 -1.98391657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90119381700003 meters Centerline goodness : 0.915783 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99934340e-01 9.04887121e-03 7.03093613e-03 1.27013645e+01] [-8.86986577e-03 9.99645926e-01 -2.50868250e-02 -6.87559818e-02] [-7.25545411e-03 2.50228144e-02 9.99660551e-01 -1.98312583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.931193817 meters Centerline goodness : 0.915709 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99893278e-01 1.27867033e-02 7.06625098e-03 1.27010605e+01] [-1.26369892e-02 9.99702946e-01 -2.08405194e-02 -7.01519287e-02] [-7.33063346e-03 2.07489992e-02 9.99757841e-01 -1.98262173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.961193817 meters Centerline goodness : 0.917297 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99841002e-01 1.63381118e-02 7.14404447e-03 1.27008382e+01] [-1.62169678e-02 9.99729047e-01 -1.66986048e-02 -7.14493514e-02] [-7.41493244e-03 1.65800951e-02 9.99835046e-01 -1.98232295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.991193817 meters Centerline goodness : 0.913318 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99802141e-01 1.87664059e-02 6.59558732e-03 1.27027608e+01] [-1.86742568e-02 9.99730852e-01 -1.37657329e-02 -7.19616241e-02] [-6.85214547e-03 1.36398415e-02 9.99883495e-01 -1.98320420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.021193817 meters Centerline goodness : 0.918794 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99795375e-01 1.92440053e-02 6.23506435e-03 1.27037262e+01] [-1.91604249e-02 9.99729306e-01 -1.31982483e-02 -7.26308622e-02] [-6.48736371e-03 1.30760811e-02 9.99893459e-01 -1.98351854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.051193817 meters Centerline goodness : 0.918230 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99789588e-01 1.95597360e-02 6.18040191e-03 1.27038393e+01] [-1.94801004e-02 9.99729672e-01 -1.26928534e-02 -7.36945099e-02] [-6.42700004e-03 1.25697878e-02 9.99900342e-01 -1.98345920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.081193817 meters Centerline goodness : 0.921519 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99781688e-01 1.99977213e-02 6.05528721e-03 1.27037849e+01] [-1.99223677e-02 9.99726372e-01 -1.22588550e-02 -7.39230948e-02] [-6.29877949e-03 1.21355431e-02 9.99906523e-01 -1.98286047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.11119381700001 meters Centerline goodness : 0.924541 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99772849e-01 2.04728155e-02 5.92577008e-03 1.27038100e+01] [-2.04012250e-02 9.99721057e-01 -1.18995399e-02 -7.39907859e-02] [-6.16773421e-03 1.17759440e-02 9.99911639e-01 -1.98244120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14119381700002 meters Centerline goodness : 0.922212 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99764857e-01 2.09663052e-02 5.53580074e-03 1.27048230e+01] [-2.09013794e-02 9.99714978e-01 -1.15366811e-02 -7.42787069e-02] [-5.77610449e-03 1.14182625e-02 9.99918127e-01 -1.98265249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.17119381700002 meters Centerline goodness : 0.925461 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.07, Z:-1.98 [[ 9.99754514e-01 2.15224253e-02 5.26278468e-03 1.27053558e+01] [-2.14630170e-02 9.99708070e-01 -1.10956726e-02 -7.47907398e-02] [-5.50005410e-03 1.09799936e-02 9.99924592e-01 -1.98257640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20119381700002 meters Centerline goodness : 0.927243 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.08, Z:-1.98 [[ 9.99718570e-01 2.31949331e-02 4.97749035e-03 1.27073909e+01] [-2.31448374e-02 9.99683138e-01 -9.89650907e-03 -7.51160416e-02] [-5.20546204e-03 9.77852070e-03 9.99938640e-01 -1.98440993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.23119381700002 meters Centerline goodness : 0.925881 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.08, Z:-1.99 [[ 9.99638038e-01 2.64738195e-02 4.78852117e-03 1.27084426e+01] [-2.64444554e-02 9.99631703e-01 -6.09494548e-03 -7.58757390e-02] [-4.94811406e-03 5.96610950e-03 9.99969960e-01 -1.98500450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26119381700002 meters Centerline goodness : 0.925003 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.08, Z:-1.99 [[ 9.99630252e-01 2.68501250e-02 4.29303862e-03 1.27104718e+01] [-2.68239231e-02 9.99621874e-01 -6.04868090e-03 -7.54363142e-02] [-4.45382315e-03 5.93128828e-03 9.99972491e-01 -1.98634371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29119381700002 meters Centerline goodness : 0.922438 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.08, Z:-1.99 [[ 9.99600660e-01 2.82580643e-02 3.71004494e-05 1.27033727e+01] [-2.82575114e-02 9.99570986e-01 7.70432575e-03 -7.89646486e-02] [ 1.80624800e-04 -7.70229748e-03 9.99970321e-01 -1.98503316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32119381700002 meters Centerline goodness : 0.923012 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.08, Z:-1.99 [[ 9.99560172e-01 2.96396806e-02 -9.75624703e-04 1.27068407e+01] [-2.96291045e-02 9.99515904e-01 9.49075068e-03 -8.21782153e-02] [ 1.25645523e-03 -9.45766949e-03 9.99954486e-01 -1.98685078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35119381700002 meters Centerline goodness : 0.924302 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.08, Z:-1.99 [[ 9.99650720e-01 2.63948357e-02 -1.32284749e-03 1.27076199e+01] [-2.63868805e-02 9.99635509e-01 5.70805106e-03 -8.16057541e-02] [ 1.47302839e-03 -5.67115153e-03 9.99982834e-01 -1.98718519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38119381700002 meters Centerline goodness : 0.925433 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.08, Z:-1.99 [[ 9.99694222e-01 2.42356069e-02 -4.90905789e-03 1.27072742e+01] [-2.41323322e-02 9.99506591e-01 2.01048333e-02 -8.49450965e-02] [ 5.39388855e-03 -1.99802187e-02 9.99785825e-01 -1.98612626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41119381700003 meters Centerline goodness : 0.923754 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.09, Z:-1.99 [[ 9.99691975e-01 2.41937453e-02 -5.53325038e-03 1.27086828e+01] [-2.40778101e-02 9.99507234e-01 2.01382357e-02 -8.52027613e-02] [ 6.01774312e-03 -1.99988041e-02 9.99781894e-01 -1.98615031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44119381700003 meters Centerline goodness : 0.925569 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.09, Z:-1.99 [[ 9.99689484e-01 2.41493236e-02 -6.14367975e-03 1.27099746e+01] [-2.40192150e-02 9.99502591e-01 2.04364350e-02 -8.60780787e-02] [ 6.63414991e-03 -2.02825228e-02 9.99772278e-01 -1.98589325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47119381700003 meters Centerline goodness : 0.930131 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.09, Z:-1.98 [[ 9.99756248e-01 2.11436779e-02 -6.35524940e-03 1.27095544e+01] [-2.10273654e-02 9.99619667e-01 1.78429350e-02 -8.99169899e-02] [ 6.73009756e-03 -1.77049516e-02 9.99820604e-01 -1.98497056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50119381700003 meters Centerline goodness : 0.930131 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.09, Z:-1.98 [[ 9.99756248e-01 2.11436779e-02 -6.35524940e-03 1.27095544e+01] [-2.10273654e-02 9.99619667e-01 1.78429350e-02 -8.99169899e-02] [ 6.73009756e-03 -1.77049516e-02 9.99820604e-01 -1.98497056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53119381700003 meters Centerline goodness : 0.930579 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.09, Z:-1.98 [[ 9.99822037e-01 1.76586029e-02 -6.63845153e-03 1.27095949e+01] [-1.75633543e-02 9.99745727e-01 1.41424722e-02 -9.07525818e-02] [ 6.88649985e-03 -1.40233619e-02 9.99877953e-01 -1.98426740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56119381700003 meters Centerline goodness : 0.931447 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.09, Z:-1.98 [[ 9.99874495e-01 1.42134593e-02 -6.99792919e-03 1.27098095e+01] [-1.41403758e-02 9.99846093e-01 1.03845971e-02 -9.11715967e-02] [ 7.14445321e-03 -1.02843404e-02 9.99921591e-01 -1.98360661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59119381700003 meters Centerline goodness : 0.934003 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.09, Z:-1.98 [[ 9.99913754e-01 1.08881563e-02 -7.34393712e-03 1.27103509e+01] [-1.08397003e-02 9.99919428e-01 6.60594549e-03 -9.11308597e-02] [ 7.41527197e-03 -6.52576967e-03 9.99951213e-01 -1.98334063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62119381700003 meters Centerline goodness : 0.936563 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.09, Z:-1.98 [[ 9.99938958e-01 8.36818007e-03 -7.21478131e-03 1.27083137e+01] [-8.34187623e-03 9.99958478e-01 3.66824483e-03 -9.18509930e-02] [ 7.24517827e-03 -3.60783610e-03 9.99967245e-01 -1.98077923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65119381700003 meters Centerline goodness : 0.939167 Centerline is valid? [False, False] Translation: X:12.72, Y:-0.09, Z:-1.98 [[ 9.99967797e-01 7.52366316e-03 -2.79267569e-03 1.27176295e+01] [-7.54721510e-03 9.99935214e-01 -8.52097798e-03 -9.02981804e-02] [ 2.72838579e-03 8.54178050e-03 9.99959796e-01 -1.98256156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.681193817 meters Centerline goodness : 0.939390 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.09, Z:-1.99 [[ 9.99967226e-01 7.44207954e-03 3.18786340e-03 1.27298539e+01] [-7.38488075e-03 9.99817948e-01 -1.75935945e-02 -9.06206266e-02] [-3.31821597e-03 1.75694759e-02 9.99840139e-01 -1.98694019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.711193817 meters Centerline goodness : 0.939942 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.09, Z:-1.99 [[ 9.99982114e-01 5.45367184e-03 2.45534884e-03 1.27324266e+01] [-5.40473991e-03 9.99795000e-01 -1.95127472e-02 -9.28402473e-02] [-2.56126162e-03 1.94991277e-02 9.99806593e-01 -1.98829137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.741193817 meters Centerline goodness : 0.944402 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.10, Z:-1.99 [[ 9.99988863e-01 4.32407014e-03 1.89135863e-03 1.27543522e+01] [-4.28870752e-03 9.99823021e-01 -1.83175810e-02 -9.87165227e-02] [-1.97023041e-03 1.83092655e-02 9.99830430e-01 -1.98959126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.771193817 meters Centerline goodness : 0.944598 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:-1.99 [[ 9.99968523e-01 5.61617906e-03 5.60451983e-03 1.27672718e+01] [-5.46686156e-03 9.99638853e-01 -2.63111416e-02 -9.95799390e-02] [-5.75026386e-03 2.62796743e-02 9.99638091e-01 -1.99372831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.801193817 meters Centerline goodness : 0.945995 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.10, Z:-2.00 [[ 9.99931854e-01 3.74195183e-03 1.10582395e-02 1.27808543e+01] [-3.51852750e-03 9.99790672e-01 -2.01551799e-02 -1.04038267e-01] [-1.11313444e-02 2.01148977e-02 9.99735707e-01 -1.99814709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.831193817 meters Centerline goodness : 0.946458 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.11, Z:-2.00 [[ 9.99936810e-01 3.68400452e-03 1.06209682e-02 1.27820233e+01] [-3.47814804e-03 9.99806995e-01 -1.93358298e-02 -1.07380997e-01] [-1.06901516e-02 1.92976667e-02 9.99756631e-01 -1.99850233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86119381700001 meters Centerline goodness : 0.946272 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.11, Z:-2.00 [[ 9.99947180e-01 1.96547947e-03 1.00883173e-02 1.27846685e+01] [-1.76126702e-03 9.99794174e-01 -2.02115898e-02 -1.13008777e-01] [-1.01259664e-02 2.01927540e-02 9.99744826e-01 -2.00070932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.89119381700002 meters Centerline goodness : 0.946368 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.12, Z:-2.00 [[ 9.99954939e-01 2.26980012e-03 9.21780763e-03 1.27885142e+01] [-2.09093131e-03 9.99810233e-01 -1.93681953e-02 -1.15739163e-01] [-9.26002032e-03 1.93480488e-02 9.99769926e-01 -2.00342685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92119381700002 meters Centerline goodness : 0.944676 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.12, Z:-2.01 [[ 9.99975002e-01 3.88466359e-03 5.90809407e-03 1.28123367e+01] [-3.78105164e-03 9.99840614e-01 -1.74484873e-02 -1.19532519e-01] [-5.97493390e-03 1.74257123e-02 9.99830308e-01 -2.00531377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.95119381700002 meters Centerline goodness : 0.945430 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.13, Z:-2.01 [[ 9.99973895e-01 6.66809799e-03 2.78312181e-03 1.28349856e+01] [-6.62923883e-03 9.99883549e-01 -1.37456138e-02 -1.26740012e-01] [-2.87445481e-03 1.37268050e-02 9.99901651e-01 -2.00579214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98119381700002 meters Centerline goodness : 0.948281 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.13, Z:-2.01 [[ 9.99968374e-01 7.52047114e-03 2.58710450e-03 1.28560938e+01] [-7.48273849e-03 9.99869782e-01 -1.42978384e-02 -1.29449734e-01] [-2.69429409e-03 1.42780276e-02 9.99894434e-01 -2.00630254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01119381700002 meters Centerline goodness : 0.950244 Centerline is valid? [False, True] Translation: X:12.86, Y:-0.13, Z:-2.01 [[ 9.99965140e-01 8.02640730e-03 2.30112640e-03 1.28565361e+01] [-7.99503056e-03 9.99879123e-01 -1.33348747e-02 -1.32106864e-01] [-2.40787938e-03 1.33160123e-02 9.99908439e-01 -2.00606222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04119381700002 meters Centerline goodness : 0.952883 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.14, Z:-2.01 [[ 9.99941619e-01 1.02390802e-02 3.45241487e-03 1.28874565e+01] [-1.02391130e-02 9.99947579e-01 -8.16007580e-06 -1.43704351e-01] [-3.45231744e-03 -2.71900667e-05 9.99994040e-01 -2.00538159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07119381700002 meters Centerline goodness : 0.952582 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.15, Z:-2.01 [[ 9.99929134e-01 1.12605698e-02 3.86352384e-03 1.29195090e+01] [-1.12606381e-02 9.99936597e-01 -4.06413163e-06 -1.47143097e-01] [-3.86332464e-03 -3.94419002e-05 9.99992537e-01 -2.00732796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10119381700002 meters Centerline goodness : 0.953686 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.15, Z:-2.01 [[ 9.99930938e-01 1.12583979e-02 3.37157618e-03 1.29526351e+01] [-1.12584565e-02 9.99936622e-01 -1.58442785e-06 -1.49480005e-01] [-3.37138033e-03 -3.63744254e-05 9.99994316e-01 -2.00851457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13119381700002 meters Centerline goodness : 0.952747 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.15, Z:-2.01 [[ 9.99935462e-01 1.07945976e-02 3.54228489e-03 1.29842596e+01] [-1.07946493e-02 9.99941736e-01 -4.53424373e-06 -1.51659189e-01] [-3.54212745e-03 -3.37037721e-05 9.99993726e-01 -2.01000874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16119381700003 meters Centerline goodness : 0.953880 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.16, Z:-2.01 [[ 9.99964592e-01 7.17959986e-03 4.38955557e-03 1.30164880e+01] [-7.17962209e-03 9.99974226e-01 -1.06931681e-05 -1.57748256e-01] [-4.38951920e-03 -2.08225607e-05 9.99990366e-01 -2.01159260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19119381700003 meters Centerline goodness : 0.953598 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.16, Z:-2.01 [[ 9.99980090e-01 4.96380786e-03 3.89618246e-03 1.30490276e+01] [-4.96380605e-03 9.99987680e-01 -1.01344109e-05 -1.61965286e-01] [-3.89618477e-03 -9.20568494e-06 9.99992410e-01 -2.01131446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22119381700003 meters Centerline goodness : 0.954759 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.17, Z:-2.01 [[ 9.99987375e-01 3.23834861e-03 3.84216898e-03 1.30809828e+01] [-3.23833030e-03 9.99994757e-01 -1.09856972e-05 -1.65821517e-01] [-3.84218440e-03 -1.45665371e-06 9.99992619e-01 -2.01200394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25119381700003 meters Centerline goodness : 0.956080 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.17, Z:-2.01 [[ 9.99991632e-01 1.33479210e-03 3.86703397e-03 1.31135223e+01] [-1.33475829e-03 9.99999109e-01 -1.13256847e-05 -1.68725219e-01] [-3.86704565e-03 6.16403427e-06 9.99992523e-01 -2.01328258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28119381700003 meters Centerline goodness : 0.954896 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.17, Z:-2.01 [[ 9.99977431e-01 -3.29713719e-03 5.85379880e-03 1.31445944e+01] [ 3.29734243e-03 9.99994563e-01 -2.54105192e-05 -1.70760482e-01] [-5.85368319e-03 4.47119249e-05 9.99982866e-01 -2.01465731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31119381700003 meters Centerline goodness : 0.954997 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.17, Z:-2.02 [[ 9.99969540e-01 -4.93112198e-03 6.05011871e-03 1.31760539e+01] [ 4.93142453e-03 9.99987840e-01 -3.50904108e-05 -1.72848041e-01] [-6.04987211e-03 6.49250458e-05 9.99981697e-01 -2.01570509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34119381700003 meters Centerline goodness : 0.958011 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.18, Z:-2.02 [[ 9.99956467e-01 -6.61380262e-03 6.58188692e-03 1.32078808e+01] [ 6.61419637e-03 9.99978125e-01 -3.80576775e-05 -1.75529209e-01] [-6.58149124e-03 8.15899133e-05 9.99978338e-01 -2.01729840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37119381700003 meters Centerline goodness : 0.957588 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.18, Z:-2.02 [[ 9.99898329e-01 -1.18584632e-02 7.91886447e-03 1.32392683e+01] [ 1.18591623e-02 9.99929677e-01 -4.13293698e-05 -1.81423230e-01] [-7.91781748e-03 1.35236267e-04 9.99968644e-01 -2.01837764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40119381700003 meters Centerline goodness : 0.959138 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.18, Z:-2.02 [[ 9.99841473e-01 -1.55324502e-02 8.70467761e-03 1.32706180e+01] [ 1.55335197e-02 9.99879346e-01 -5.52700313e-05 -1.84148521e-01] [-8.70276888e-03 1.90475551e-04 9.99962112e-01 -2.02014740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.431193817 meters Centerline goodness : 0.958991 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.19, Z:-2.02 [[ 9.99799746e-01 -1.85841395e-02 7.42284608e-03 1.33021864e+01] [ 1.85850060e-02 9.99827283e-01 -4.77655628e-05 -1.87244217e-01] [-7.42067635e-03 1.85709636e-04 9.99972449e-01 -2.02096633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.461193817 meters Centerline goodness : 0.957896 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.19, Z:-2.02 [[ 9.99742490e-01 -2.16622916e-02 6.76013876e-03 1.33330031e+01] [ 2.16630903e-02 9.99765327e-01 -4.49399290e-05 -1.90087501e-01] [-6.75757883e-03 1.91373853e-04 9.99977149e-01 -2.02238986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.491193817 meters Centerline goodness : 0.956687 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.19, Z:-2.02 [[ 9.99633434e-01 -2.67309059e-02 4.29608114e-03 1.33623912e+01] [ 2.67312784e-02 9.99642655e-01 -2.92912643e-05 -1.91448572e-01] [-4.29376298e-03 1.44120268e-04 9.99990771e-01 -2.02346235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.521193817 meters Centerline goodness : 0.955327 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.19, Z:-2.03 [[ 9.99573196e-01 -2.88902719e-02 4.33346858e-03 1.33889880e+01] [ 2.88907175e-02 9.99582575e-01 -4.02561877e-05 -1.90491328e-01] [-4.33049667e-03 1.65436023e-04 9.99990610e-01 -2.02560069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.551193817 meters Centerline goodness : 0.957176 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.19, Z:-2.03 [[ 9.99531477e-01 -3.04456919e-02 3.14416176e-03 1.34166083e+01] [ 3.04459420e-02 9.99536414e-01 -3.17115704e-05 -1.90180975e-01] [-3.14173869e-03 1.27423679e-04 9.99995057e-01 -2.02642272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.581193817 meters Centerline goodness : 0.956574 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.19, Z:-2.03 [[ 9.99479510e-01 -3.22270924e-02 1.45741744e-03 1.34433283e+01] [ 3.22271472e-02 9.99480570e-01 -1.40905710e-05 -1.89831710e-01] [-1.45620631e-03 6.10516432e-05 9.99998938e-01 -2.02786465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.61119381700001 meters Centerline goodness : 0.955384 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.19, Z:-2.03 [[ 9.99374780e-01 -3.53413067e-02 -1.01999238e-03 1.34717701e+01] [ 3.53413176e-02 9.99375300e-01 -7.31721947e-06 -1.90188837e-01] [ 1.01961379e-03 -2.87352301e-05 9.99999480e-01 -2.02789584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64119381700002 meters Centerline goodness : 0.953965 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.19, Z:-2.03 [[ 9.99316933e-01 -3.69532010e-02 3.57336682e-04 1.34996173e+01] [ 3.69532087e-02 9.99316997e-01 -1.49079023e-05 -1.89087625e-01] [-3.56541725e-04 2.81024562e-05 9.99999936e-01 -2.02939723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.67119381700002 meters Centerline goodness : 0.955208 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.18, Z:-2.03 [[ 9.99266859e-01 -3.81991392e-02 2.56319615e-03 1.35278575e+01] [ 3.81993302e-02 9.99270139e-01 -2.55862561e-05 -1.82689452e-01] [-2.56034800e-03 1.23479874e-04 9.99996715e-01 -2.02958929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70119381700002 meters Centerline goodness : 0.953635 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.18, Z:-2.03 [[ 9.99264902e-01 -3.81180414e-02 4.08287270e-03 1.35548344e+01] [ 3.81184724e-02 9.99273227e-01 -2.77637076e-05 -1.78751425e-01] [-4.07884708e-03 1.83376169e-04 9.99991665e-01 -2.03015424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.73119381700002 meters Centerline goodness : 0.953640 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.17, Z:-2.03 [[ 9.99296360e-01 -3.71579415e-02 5.10619094e-03 1.35827309e+01] [ 3.71586024e-02 9.99309380e-01 -3.46010227e-05 -1.74736895e-01] [-5.10137880e-03 2.24315595e-04 9.99986963e-01 -2.03122166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76119381700002 meters Centerline goodness : 0.953655 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.17, Z:-2.03 [[ 9.99325436e-01 -3.62294912e-02 6.00815142e-03 1.36100837e+01] [ 3.62303269e-02 9.99343466e-01 -3.02666774e-05 -1.71019605e-01] [-6.00311032e-03 2.47923550e-04 9.99981950e-01 -2.03294310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79119381700002 meters Centerline goodness : 0.952842 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.17, Z:-2.03 [[ 9.99359938e-01 -3.53128829e-02 5.71960292e-03 1.36378369e+01] [ 3.53136585e-02 9.99376278e-01 -3.46372703e-05 -1.66661002e-01] [-5.71481234e-03 2.36595204e-04 9.99983642e-01 -2.03434093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82119381700002 meters Centerline goodness : 0.949940 Centerline is valid? [True, False] Translation: X:13.65, Y:-0.16, Z:-2.04 [[ 9.99434655e-01 -3.18433807e-02 1.07875147e-02 1.36511718e+01] [ 3.19094096e-02 9.99472726e-01 -6.00501463e-03 -1.57426269e-01] [-1.05906068e-02 6.34584295e-03 9.99923782e-01 -2.03825496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85119381700002 meters Centerline goodness : 0.949084 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.15, Z:-2.04 [[ 9.99473927e-01 -2.84947668e-02 1.54892537e-02 1.36621632e+01] [ 2.87029472e-02 9.99498320e-01 -1.33883694e-02 -1.53081791e-01] [-1.50999846e-02 1.38259134e-02 9.99790395e-01 -2.04139472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88119381700002 meters Centerline goodness : 0.946861 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.15, Z:-2.04 [[ 9.99519441e-01 -2.72464855e-02 1.47822705e-02 1.36644922e+01] [ 2.74311998e-02 9.99546283e-01 -1.24401817e-02 -1.50973619e-01] [-1.44366123e-02 1.28396989e-02 9.99813346e-01 -2.04261068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91119381700003 meters Centerline goodness : 0.947803 Centerline is valid? [False, False] Translation: X:13.67, Y:-0.15, Z:-2.04 [[ 9.99520523e-01 -2.74275505e-02 1.43685143e-02 1.36657988e+01] [ 2.76197703e-02 9.99529289e-01 -1.33546959e-02 -1.47707862e-01] [-1.39954643e-02 1.37451477e-02 9.99807580e-01 -2.04324378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94119381700003 meters Centerline goodness : 0.948729 Centerline is valid? [False, False] Translation: X:13.67, Y:-0.14, Z:-2.04 [[ 9.99583961e-01 -2.53614135e-02 1.37369271e-02 1.36675038e+01] [ 2.55282456e-02 9.99600764e-01 -1.21087160e-02 -1.41537980e-01] [-1.34243487e-02 1.24543579e-02 9.99832324e-01 -2.04401022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97119381700003 meters Centerline goodness : 0.947422 Centerline is valid? [False, False] Translation: X:13.67, Y:-0.14, Z:-2.04 [[ 9.99647764e-01 -2.30585156e-02 1.31397610e-02 1.36691769e+01] [ 2.31891936e-02 9.99682261e-01 -9.88119306e-03 -1.39025141e-01] [-1.29077404e-02 1.01824130e-02 9.99864845e-01 -2.04463548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00119381700003 meters Centerline goodness : 0.943779 Centerline is valid? [False, False] Translation: X:13.69, Y:-0.13, Z:-2.05 [[ 0.99963809 -0.02165516 0.01596098 13.68689382] [ 0.02188565 0.99965662 -0.01441049 -0.12993788] [-0.01564343 0.01475459 0.99976877 -2.04542354] [ 0. 0. 0. 1. ]] SLAMing on 134.03119381700003 meters Centerline goodness : 0.946165 Centerline is valid? [False, False] Translation: X:13.71, Y:-0.13, Z:-2.05 [[ 0.99965199 -0.01922989 0.01805858 13.70608386] [ 0.01950244 0.99969669 -0.01503969 -0.1264926 ] [-0.01776389 0.01538665 0.99972381 -2.04586185] [ 0. 0. 0. 1. ]] SLAMing on 134.06119381700003 meters Centerline goodness : 0.943732 Centerline is valid? [False, False] Translation: X:13.73, Y:-0.12, Z:-2.05 [[ 0.99968333 -0.01677784 0.01875458 13.72668191] [ 0.01707541 0.99972904 -0.01582042 -0.12257221] [-0.01848406 0.01613566 0.99969894 -2.04683039] [ 0. 0. 0. 1. ]] SLAMing on 134.09119381700003 meters Centerline goodness : 0.942086 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.12, Z:-2.05 [[ 0.99973061 -0.01425143 0.01831966 13.74808533] [ 0.01456164 0.99975093 -0.0169128 -0.11869043] [-0.01807407 0.01717501 0.99968913 -2.0481903 ] [ 0. 0. 0. 1. ]] SLAMing on 134.12119381700003 meters Centerline goodness : 0.941661 Centerline is valid? [False, False] Translation: X:13.78, Y:-0.11, Z:-2.05 [[ 9.99823849e-01 -7.51587636e-03 1.71983529e-02 1.37787652e+01] [ 7.95311713e-03 9.99643240e-01 -2.54978593e-02 -1.10745927e-01] [-1.70005785e-02 2.56301483e-02 9.99526926e-01 -2.04970697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15119381700003 meters Centerline goodness : 0.940939 Centerline is valid? [False, False] Translation: X:13.80, Y:-0.11, Z:-2.05 [[ 9.99834881e-01 -5.67660275e-03 1.72623151e-02 1.38000580e+01] [ 6.14187846e-03 9.99616003e-01 -2.70207887e-02 -1.08236193e-01] [-1.71023001e-02 2.71223501e-02 9.99485813e-01 -2.05147336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.181193817 meters Centerline goodness : 0.940884 Centerline is valid? [False, False] Translation: X:13.82, Y:-0.11, Z:-2.05 [[ 9.99830221e-01 -4.80415876e-03 1.77890279e-02 1.38208644e+01] [ 5.33151151e-03 9.99544132e-01 -2.97170615e-02 -1.05734257e-01] [-1.76381530e-02 2.98068586e-02 9.99400043e-01 -2.05327751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.211193817 meters Centerline goodness : 0.939744 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.11, Z:-2.05 [[ 9.99855221e-01 -2.26087435e-03 1.68649339e-02 1.38430052e+01] [ 2.74107201e-03 9.99589903e-01 -2.85045873e-02 -1.05190930e-01] [-1.67935723e-02 2.85466884e-02 9.99451381e-01 -2.05466184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.241193817 meters Centerline goodness : 0.940221 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.10, Z:-2.06 [[ 9.99891022e-01 3.82796330e-03 1.42580264e-02 1.38736933e+01] [-3.35974004e-03 9.99458921e-01 -3.27196876e-02 -1.02590078e-01] [-1.43755614e-02 3.26682186e-02 9.99362862e-01 -2.05546043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.271193817 meters Centerline goodness : 0.940896 Centerline is valid? [False, False] Translation: X:13.90, Y:-0.10, Z:-2.06 [[ 9.99897451e-01 5.34157784e-03 1.32873807e-02 1.38962600e+01] [-4.91668589e-03 9.99481943e-01 -3.18067888e-02 -1.02045261e-01] [-1.34503955e-02 3.17381972e-02 9.99405710e-01 -2.05690513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.301193817 meters Centerline goodness : 0.937737 Centerline is valid? [False, False] Translation: X:13.92, Y:-0.10, Z:-2.06 [[ 9.99914128e-01 6.57513952e-03 1.13359708e-02 1.39195573e+01] [-6.23051605e-03 9.99525281e-01 -3.01727271e-02 -1.03493287e-01] [-1.15289793e-02 3.00995072e-02 9.99480416e-01 -2.05848919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.331193817 meters Centerline goodness : 0.937159 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.11, Z:-2.06 [[ 9.99923533e-01 7.46360139e-03 9.86015347e-03 1.39420171e+01] [-7.18210390e-03 9.99574172e-01 -2.82823667e-02 -1.06445050e-01] [-1.00670431e-02 2.82093874e-02 9.99551342e-01 -2.05968535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36119381700001 meters Centerline goodness : 0.937121 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.11, Z:-2.06 [[ 9.99947776e-01 3.58704157e-03 9.56968408e-03 1.39417555e+01] [-3.28566908e-03 9.99503871e-01 -3.13243826e-02 -1.09903208e-01] [-9.67729814e-03 3.12913039e-02 9.99463458e-01 -2.05864929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.39119381700002 meters Centerline goodness : 0.937121 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.11, Z:-2.06 [[ 9.99945637e-01 5.15016374e-03 9.06631672e-03 1.39605892e+01] [-4.88821984e-03 9.99576668e-01 -2.86808212e-02 -1.11890234e-01] [-9.21018958e-03 2.86349439e-02 9.99547504e-01 -2.05799904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42119381700002 meters Centerline goodness : 0.937521 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.11, Z:-2.06 [[ 9.99955087e-01 3.97758192e-03 8.60248536e-03 1.39610977e+01] [-3.72960560e-03 9.99582474e-01 -2.86525427e-02 -1.14832748e-01] [-8.71286143e-03 2.86191720e-02 9.99552414e-01 -2.05746917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.45119381700002 meters Centerline goodness : 0.937638 Centerline is valid? [False, False] Translation: X:13.98, Y:-0.12, Z:-2.06 [[ 9.99946280e-01 -1.85513999e-03 1.01978029e-02 1.39777445e+01] [ 2.04606425e-03 9.99822229e-01 -1.87436589e-02 -1.18801760e-01] [-1.01612179e-02 1.87635174e-02 9.99772314e-01 -2.05683030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48119381700002 meters Centerline goodness : 0.940341 Centerline is valid? [False, False] Translation: X:13.98, Y:-0.12, Z:-2.05 [[ 9.99923974e-01 -1.03722611e-02 6.66805928e-03 1.39840530e+01] [ 1.05073317e-02 9.99733592e-01 -2.05509498e-02 -1.21623730e-01] [-6.45312304e-03 2.06194509e-02 9.99766570e-01 -2.05259924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51119381700002 meters Centerline goodness : 0.939468 Centerline is valid? [False, False] Translation: X:13.98, Y:-0.12, Z:-2.05 [[ 9.99917802e-01 -1.10946564e-02 6.42629968e-03 1.39848251e+01] [ 1.12234533e-02 9.99729605e-01 -2.03654273e-02 -1.23229934e-01] [-6.19861463e-03 2.04358785e-02 9.99771950e-01 -2.05282295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54119381700002 meters Centerline goodness : 0.938025 Centerline is valid? [False, False] Translation: X:13.99, Y:-0.12, Z:-2.05 [[ 9.99913957e-01 -1.15904336e-02 6.14329638e-03 1.39854201e+01] [ 1.17131188e-02 9.99724795e-01 -2.03257595e-02 -1.24010062e-01] [-5.90602135e-03 2.03959678e-02 9.99774536e-01 -2.05276977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57119381700002 meters Centerline goodness : 0.938751 Centerline is valid? [False, False] Translation: X:13.99, Y:-0.12, Z:-2.05 [[ 9.99912314e-01 -1.18279474e-02 5.95518849e-03 1.39859040e+01] [ 1.19458819e-02 9.99725121e-01 -2.01737181e-02 -1.24871131e-01] [-5.71493785e-03 2.02430891e-02 9.99778754e-01 -2.05283054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60119381700002 meters Centerline goodness : 0.938017 Centerline is valid? [False, False] Translation: X:13.99, Y:-0.13, Z:-2.05 [[ 9.99918782e-01 -1.14736806e-02 5.54828463e-03 1.39875223e+01] [ 1.15819086e-02 9.99735195e-01 -1.98846365e-02 -1.25446668e-01] [-5.31866545e-03 1.99472812e-02 9.99786886e-01 -2.05399017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63119381700002 meters Centerline goodness : 0.935930 Centerline is valid? [False, False] Translation: X:13.99, Y:-0.12, Z:-2.06 [[ 9.99936488e-01 -1.01922712e-02 4.81013933e-03 1.39906233e+01] [ 1.02815575e-02 9.99768181e-01 -1.89175687e-02 -1.24822859e-01] [-4.61621126e-03 1.89658230e-02 9.99809476e-01 -2.05599894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66119381700003 meters Centerline goodness : 0.935961 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.12, Z:-2.06 [[ 9.99965236e-01 -7.48679086e-03 3.67083797e-03 1.40130158e+01] [ 7.55310726e-03 9.99802220e-01 -1.83975872e-02 -1.22675740e-01] [-3.53237306e-03 1.84246739e-02 9.99824011e-01 -2.05764401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69119381700003 meters Centerline goodness : 0.935144 Centerline is valid? [False, False] Translation: X:14.04, Y:-0.12, Z:-2.06 [[ 9.99988588e-01 -3.84601636e-03 2.83420325e-03 1.40353138e+01] [ 3.89351160e-03 9.99848802e-01 -1.69473801e-02 -1.20051309e-01] [-2.76859482e-03 1.69582217e-02 9.99852366e-01 -2.05909803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72119381700003 meters Centerline goodness : 0.934874 Centerline is valid? [False, False] Translation: X:14.07, Y:-0.11, Z:-2.06 [[ 9.99996341e-01 2.59534405e-03 -7.62545856e-04 1.40651974e+01] [-2.61113436e-03 9.99765597e-01 -2.14926151e-02 -1.14377741e-01] [ 7.06586383e-04 2.14945276e-02 9.99768716e-01 -2.05885638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75119381700003 meters Centerline goodness : 0.935501 Centerline is valid? [False, False] Translation: X:14.09, Y:-0.11, Z:-2.06 [[ 9.99988636e-01 4.71611069e-03 -6.97269735e-04 1.40869285e+01] [-4.73007506e-03 9.99755407e-01 -2.16044617e-02 -1.12906916e-01] [ 5.95210155e-04 2.16075143e-02 9.99766353e-01 -2.06013880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78119381700003 meters Centerline goodness : 0.935840 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.11, Z:-2.06 [[ 9.99977970e-01 6.61168119e-03 5.87102916e-04 1.41075542e+01] [-6.59739529e-03 9.99743047e-01 -2.16867356e-02 -1.11924286e-01] [-7.30337840e-04 2.16823845e-02 9.99764643e-01 -2.06098451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81119381700003 meters Centerline goodness : 0.931644 Centerline is valid? [False, False] Translation: X:14.13, Y:-0.11, Z:-2.06 [[ 9.99963523e-01 8.25334022e-03 2.19904233e-03 1.41282507e+01] [-8.20303562e-03 9.99724783e-01 -2.19788244e-02 -1.10581103e-01] [-2.37983584e-03 2.19599838e-02 9.99756018e-01 -2.06213994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84119381700003 meters Centerline goodness : 0.930007 Centerline is valid? [False, False] Translation: X:14.15, Y:-0.11, Z:-2.06 [[ 9.99960649e-01 8.76175540e-03 1.38998959e-03 1.41502306e+01] [-8.72580316e-03 9.99672699e-01 -2.40490124e-02 -1.08255132e-01] [-1.60024621e-03 2.40359373e-02 9.99709814e-01 -2.06320139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87119381700003 meters Centerline goodness : 0.931034 Centerline is valid? [False, False] Translation: X:14.17, Y:-0.11, Z:-2.07 [[ 9.99949152e-01 1.00754476e-02 4.22288574e-04 1.41737173e+01] [-1.00618202e-02 9.99639683e-01 -2.48850210e-02 -1.06067586e-01] [-6.72864141e-04 2.48795067e-02 9.99690231e-01 -2.06562108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90119381700003 meters Centerline goodness : 0.929727 Centerline is valid? [False, False] Translation: X:14.20, Y:-0.11, Z:-2.07 [[ 9.99937631e-01 1.11647423e-02 2.85751204e-04 1.41958409e+01] [-1.11546541e-02 9.99649067e-01 -2.40274181e-02 -1.06864808e-01] [-5.53910855e-04 2.40227321e-02 9.99711259e-01 -2.06751511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.931193817 meters Centerline goodness : 0.931932 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.11, Z:-2.07 [[ 9.99951111e-01 9.84771978e-03 8.93473758e-04 1.42170387e+01] [-9.81897424e-03 9.99562751e-01 -2.78907700e-02 -1.05566765e-01] [-1.16774358e-03 2.78806335e-02 9.99610578e-01 -2.06932170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.961193817 meters Centerline goodness : 0.930793 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.11, Z:-2.07 [[ 9.99945200e-01 1.04521250e-02 5.91808349e-04 1.42181184e+01] [-1.04320484e-02 9.99572001e-01 -2.73310828e-02 -1.06353727e-01] [-8.77222949e-04 2.73234113e-02 9.99626261e-01 -2.07001797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.991193817 meters Centerline goodness : 0.931623 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.11, Z:-2.07 [[ 9.99941720e-01 1.07952385e-02 1.38701652e-04 1.42192982e+01] [-1.07876156e-02 9.99580822e-01 -2.68664841e-02 -1.07526424e-01] [-4.28673613e-04 2.68634220e-02 9.99639021e-01 -2.07039491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.021193817 meters Centerline goodness : 0.932292 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.11, Z:-2.07 [[ 9.99937803e-01 1.11491506e-02 -2.93921073e-04 1.42206085e+01] [-1.11530242e-02 9.99591627e-01 -2.63094719e-02 -1.08774849e-01] [ 4.72778054e-07 2.63111136e-02 9.99653803e-01 -2.07101991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.051193817 meters Centerline goodness : 0.930030 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.11, Z:-2.07 [[ 9.99950005e-01 9.99818410e-03 -1.56130206e-04 1.42424202e+01] [-9.99847597e-03 9.99522788e-01 -2.92271611e-02 -1.08557499e-01] [-1.36162838e-04 2.92272609e-02 9.99572783e-01 -2.07260170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.081193817 meters Centerline goodness : 0.930124 Centerline is valid? [False, False] Translation: X:14.27, Y:-0.11, Z:-2.07 [[ 9.99976751e-01 6.72848619e-03 -1.10715716e-03 1.42737186e+01] [-6.75241099e-03 9.99706911e-01 -2.32486074e-02 -1.10601401e-01] [ 9.50404725e-04 2.32555429e-02 9.99729102e-01 -2.07282333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.11119381700001 meters Centerline goodness : 0.931526 Centerline is valid? [False, False] Translation: X:14.28, Y:-0.11, Z:-2.07 [[ 9.99979818e-01 6.09105359e-03 -1.80601396e-03 1.42754413e+01] [-6.13135394e-03 9.99711609e-01 -2.32186602e-02 -1.11934017e-01] [ 1.66406701e-03 2.32292650e-02 9.99728779e-01 -2.07332117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14119381700002 meters Centerline goodness : 0.929362 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.11, Z:-2.08 [[ 9.99994166e-01 1.75340325e-03 2.93140606e-03 1.42874060e+01] [-1.70181163e-03 9.99845232e-01 -1.75104308e-02 -1.14936679e-01] [-2.96165522e-03 1.75053400e-02 9.99842383e-01 -2.07697915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.17119381700002 meters Centerline goodness : 0.930500 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.12, Z:-2.08 [[ 9.99994658e-01 -1.88880219e-03 2.66759234e-03 1.42878767e+01] [ 1.94407916e-03 9.99780237e-01 -2.08733838e-02 -1.16427311e-01] [-2.62758041e-03 2.08784583e-02 9.99778568e-01 -2.07686715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20119381700002 meters Centerline goodness : 0.927321 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.12, Z:-2.08 [[ 9.99946236e-01 -1.00710314e-02 2.46976352e-03 1.42879405e+01] [ 1.01361237e-02 9.99558320e-01 -2.79360790e-02 -1.20385356e-01] [-2.18732755e-03 2.79596109e-02 9.99606661e-01 -2.07625473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.23119381700002 meters Centerline goodness : 0.929563 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.12, Z:-2.08 [[ 9.99900444e-01 -1.39417907e-02 2.17474277e-03 1.42885828e+01] [ 1.40029058e-02 9.99414638e-01 -3.12137892e-02 -1.22770565e-01] [-1.73829364e-03 3.12411343e-02 9.99510365e-01 -2.07620348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26119381700002 meters Centerline goodness : 0.930537 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.12, Z:-2.08 [[ 9.99840146e-01 -1.77656238e-02 2.01606010e-03 1.42888881e+01] [ 1.78246979e-02 9.99243987e-01 -3.45504719e-02 -1.24660983e-01] [-1.40072524e-03 3.45808845e-02 9.99400921e-01 -2.07600257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29119381700002 meters Centerline goodness : 0.930173 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.13, Z:-2.08 [[ 9.99760175e-01 -2.18581228e-02 1.34721128e-03 1.42899605e+01] [ 2.18933370e-02 9.99052444e-01 -3.76151022e-02 -1.26618995e-01] [-5.23739204e-04 3.76355761e-02 9.99291393e-01 -2.07554426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32119381700002 meters Centerline goodness : 0.931302 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.13, Z:-2.08 [[ 9.99748350e-01 -2.24133582e-02 9.37554986e-04 1.42908589e+01] [ 2.24327626e-02 9.99040822e-01 -3.76059586e-02 -1.27314699e-01] [-9.37798843e-05 3.76175270e-02 9.99292206e-01 -2.07559129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35119381700002 meters Centerline goodness : 0.930051 Centerline is valid? [False, False] Translation: X:14.30, Y:-0.13, Z:-2.08 [[ 9.99710390e-01 -2.35495089e-02 4.95551569e-03 1.43001804e+01] [ 2.36761725e-02 9.99347480e-01 -2.72773377e-02 -1.31040664e-01] [-4.30991421e-03 2.73867655e-02 9.99615621e-01 -2.07675359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38119381700002 meters Centerline goodness : 0.928079 Centerline is valid? [False, False] Translation: X:14.30, Y:-0.13, Z:-2.08 [[ 9.99713007e-01 -2.35141539e-02 4.58138488e-03 1.43008748e+01] [ 2.36285550e-02 9.99362525e-01 -2.67625492e-02 -1.32836011e-01] [-3.94916566e-03 2.68631200e-02 9.99631320e-01 -2.07665841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41119381700003 meters Centerline goodness : 0.930199 Centerline is valid? [False, False] Translation: X:14.30, Y:-0.13, Z:-2.08 [[ 9.99717376e-01 -2.33668493e-02 4.37695716e-03 1.43014717e+01] [ 2.34737121e-02 9.99380980e-01 -2.62038358e-02 -1.34760704e-01] [-3.76194665e-03 2.62991734e-02 9.99647038e-01 -2.07694671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44119381700003 meters Centerline goodness : 0.930464 Centerline is valid? [False, False] Translation: X:14.32, Y:-0.14, Z:-2.08 [[ 9.99762524e-01 -2.09366894e-02 6.04563899e-03 1.43206641e+01] [ 2.10716236e-02 9.99508934e-01 -2.31921669e-02 -1.35954279e-01] [-5.55710299e-03 2.33140507e-02 9.99712746e-01 -2.07699538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47119381700003 meters Centerline goodness : 0.927791 Centerline is valid? [False, False] Translation: X:14.32, Y:-0.14, Z:-2.08 [[ 9.99833077e-01 -1.73300023e-02 5.78702437e-03 1.43211291e+01] [ 1.74383993e-02 9.99662850e-01 -1.92376929e-02 -1.35928842e-01] [-5.45168401e-03 1.93353981e-02 9.99798190e-01 -2.07702322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50119381700003 meters Centerline goodness : 0.926376 Centerline is valid? [False, False] Translation: X:14.32, Y:-0.13, Z:-2.08 [[ 9.99890951e-01 -1.37280590e-02 5.44311320e-03 1.43219478e+01] [ 1.38109883e-02 9.99784440e-01 -1.55026125e-02 -1.34954088e-01] [-5.22911910e-03 1.55760967e-02 9.99865012e-01 -2.07726935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53119381700003 meters Centerline goodness : 0.927253 Centerline is valid? [False, False] Translation: X:14.35, Y:-0.13, Z:-2.08 [[ 9.99947688e-01 -9.41850959e-03 3.98912635e-03 1.43451524e+01] [ 9.47414276e-03 9.99854789e-01 -1.41648138e-02 -1.30628984e-01] [-3.85513565e-03 1.42018663e-02 9.99891717e-01 -2.07970026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56119381700003 meters Centerline goodness : 0.923981 Centerline is valid? [False, False] Translation: X:14.35, Y:-0.13, Z:-2.08 [[ 9.99967003e-01 -7.48678439e-03 3.15294954e-03 1.43481136e+01] [ 7.52478013e-03 9.99897062e-01 -1.22165343e-02 -1.29215902e-01] [-3.06116242e-03 1.22398565e-02 9.99920404e-01 -2.08132208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59119381700003 meters Centerline goodness : 0.927098 Centerline is valid? [False, False] Translation: X:14.37, Y:-0.12, Z:-2.08 [[ 9.99965440e-01 -6.56698652e-03 5.09845675e-03 1.43680029e+01] [ 6.64376853e-03 9.99862524e-01 -1.51918897e-02 -1.23408855e-01] [-4.99799090e-03 1.52252377e-02 9.99871598e-01 -2.08260712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62119381700003 meters Centerline goodness : 0.925842 Centerline is valid? [False, False] Translation: X:14.37, Y:-0.12, Z:-2.08 [[ 9.99965924e-01 -6.67371113e-03 4.85922843e-03 1.43684607e+01] [ 6.75109690e-03 9.99847801e-01 -1.60872146e-02 -1.20113556e-01] [-4.75112744e-03 1.61194715e-02 9.99858785e-01 -2.08247127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65119381700003 meters Centerline goodness : 0.926011 Centerline is valid? [False, False] Translation: X:14.37, Y:-0.12, Z:-2.08 [[ 9.99965745e-01 -6.91423261e-03 4.54996630e-03 1.43689902e+01] [ 6.99100318e-03 9.99829704e-01 -1.70789305e-02 -1.16679470e-01] [-4.43110376e-03 1.71101543e-02 9.99843792e-01 -2.08225145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.681193817 meters Centerline goodness : 0.925373 Centerline is valid? [False, False] Translation: X:14.37, Y:-0.11, Z:-2.08 [[ 9.99982534e-01 -4.07394524e-03 4.28182052e-03 1.43696727e+01] [ 4.13369061e-03 9.99892914e-01 -1.40382899e-02 -1.14943036e-01] [-4.22417077e-03 1.40557444e-02 9.99892290e-01 -2.08241122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.711193817 meters Centerline goodness : 0.924512 Centerline is valid? [False, False] Translation: X:14.39, Y:-0.11, Z:-2.08 [[ 9.99968986e-01 -5.20088230e-03 5.91413193e-03 1.43896443e+01] [ 5.30823175e-03 9.99818763e-01 -1.82828878e-02 -1.06484162e-01] [-5.81797292e-03 1.83137144e-02 9.99815362e-01 -2.08340744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.741193817 meters Centerline goodness : 0.927281 Centerline is valid? [False, False] Translation: X:14.39, Y:-0.10, Z:-2.08 [[ 9.99967674e-01 -5.89354147e-03 5.46962726e-03 1.43902759e+01] [ 5.99743071e-03 9.99798137e-01 -1.91759044e-02 -1.04575443e-01] [-5.35550915e-03 1.92080883e-02 9.99801164e-01 -2.08297286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.771193817 meters Centerline goodness : 0.926598 Centerline is valid? [False, False] Translation: X:14.41, Y:-0.11, Z:-2.08 [[ 9.99955664e-01 -5.79808462e-03 7.41967825e-03 1.44098044e+01] [ 5.93342602e-03 9.99814005e-01 -1.83507628e-02 -1.05228750e-01] [-7.31189895e-03 1.83939734e-02 9.99804080e-01 -2.08299735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.801193817 meters Centerline goodness : 0.925512 Centerline is valid? [False, False] Translation: X:14.41, Y:-0.10, Z:-2.08 [[ 9.99952801e-01 -6.56894793e-03 7.15852559e-03 1.44102723e+01] [ 6.70504758e-03 9.99794003e-01 -1.91570675e-02 -1.04069903e-01] [-7.03120918e-03 1.92041616e-02 9.99790859e-01 -2.08282318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.831193817 meters Centerline goodness : 0.925680 Centerline is valid? [False, False] Translation: X:14.43, Y:-0.10, Z:-2.08 [[ 9.99931584e-01 -6.67685196e-03 9.60457338e-03 1.44295105e+01] [ 6.88497028e-03 9.99738615e-01 -2.18013321e-02 -9.65511550e-02] [-9.45649862e-03 2.18659678e-02 9.99716187e-01 -2.08410667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86119381700001 meters Centerline goodness : 0.922608 Centerline is valid? [False, False] Translation: X:14.43, Y:-0.09, Z:-2.09 [[ 9.99948633e-01 -4.56832641e-03 9.04770783e-03 1.44315129e+01] [ 4.74712707e-03 9.99791896e-01 -1.98401088e-02 -9.28349358e-02] [-8.95518887e-03 1.98820403e-02 9.99762226e-01 -2.08522001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.89119381700002 meters Centerline goodness : 0.924373 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.09, Z:-2.09 [[ 9.99969727e-01 -3.33535270e-03 7.03002269e-03 1.44547656e+01] [ 3.46893170e-03 9.99812029e-01 -1.90754628e-02 -9.03445747e-02] [-6.96507785e-03 1.90992720e-02 9.99793331e-01 -2.08700829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92119381700002 meters Centerline goodness : 0.922788 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.09, Z:-2.09 [[ 9.99978107e-01 -1.55342616e-03 6.43219272e-03 1.44571904e+01] [ 1.66416897e-03 9.99849865e-01 -1.72475550e-02 -8.82181387e-02] [-6.40443422e-03 1.72578817e-02 9.99830560e-01 -2.08853363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.95119381700002 meters Centerline goodness : 0.921892 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.08, Z:-2.09 [[ 9.99985602e-01 -2.24309630e-03 4.87481359e-03 1.44797129e+01] [ 2.33579384e-03 9.99814967e-01 -1.90938492e-02 -8.22286484e-02] [-4.83108225e-03 1.91049609e-02 9.99805812e-01 -2.08972781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98119381700002 meters Centerline goodness : 0.925677 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.08, Z:-2.09 [[ 9.99983831e-01 -3.60880705e-03 4.39477528e-03 1.44817386e+01] [ 3.70022779e-03 9.99773157e-01 -2.09748019e-02 -7.80269445e-02] [-4.31808435e-03 2.09907245e-02 9.99770345e-01 -2.09100185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01119381700002 meters Centerline goodness : 0.924179 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.07, Z:-2.09 [[ 9.99978820e-01 -5.27021528e-03 3.81885091e-03 1.44840393e+01] [ 5.35728846e-03 9.99717389e-01 -2.31611905e-02 -7.34261328e-02] [-3.69570720e-03 2.31811587e-02 9.99724450e-01 -2.09234485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04119381700002 meters Centerline goodness : 0.925696 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.07, Z:-2.09 [[ 9.99973728e-01 -6.38364338e-03 3.43388745e-03 1.44855977e+01] [ 6.46713129e-03 9.99669583e-01 -2.48777160e-02 -6.91333860e-02] [-3.27394237e-03 2.48992699e-02 9.99684604e-01 -2.09324434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07119381700002 meters Centerline goodness : 0.927501 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.06, Z:-2.10 [[ 9.99967129e-01 -8.07515449e-03 7.29531600e-04 1.45100576e+01] [ 8.09228505e-03 9.99582449e-01 -2.77388126e-02 -5.87384452e-02] [-5.05231787e-04 2.77438044e-02 9.99614939e-01 -2.09576000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10119381700002 meters Centerline goodness : 0.926331 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.06, Z:-2.10 [[ 9.99943586e-01 -9.11992971e-03 5.44532344e-03 1.45205945e+01] [ 9.21751279e-03 9.99792372e-01 -1.81727751e-02 -5.54792812e-02] [-5.27845841e-03 1.82219422e-02 9.99820033e-01 -2.09884339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13119381700002 meters Centerline goodness : 0.925666 Centerline is valid? [False, False] Translation: X:14.54, Y:-0.05, Z:-2.10 [[ 9.99932980e-01 -9.29514036e-03 6.90192439e-03 1.45404420e+01] [ 9.41773960e-03 9.99794562e-01 -1.79482751e-02 -5.08688031e-02] [-6.73367473e-03 1.80120727e-02 9.99815094e-01 -2.09962466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16119381700003 meters Centerline goodness : 0.926901 Centerline is valid? [False, False] Translation: X:14.54, Y:-0.04, Z:-2.10 [[ 9.99931190e-01 -9.29164366e-03 7.16098553e-03 1.45398347e+01] [ 9.42541563e-03 9.99777348e-01 -1.88789967e-02 -4.07159709e-02] [-6.98397421e-03 1.89451929e-02 9.99796131e-01 -2.09921049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19119381700003 meters Centerline goodness : 0.927946 Centerline is valid? [False, False] Translation: X:14.54, Y:-0.04, Z:-2.10 [[ 9.99949428e-01 -7.13287415e-03 7.08973162e-03 1.45402399e+01] [ 7.25163808e-03 9.99831404e-01 -1.68694364e-02 -3.68137494e-02] [-6.96820875e-03 1.69199954e-02 9.99832565e-01 -2.09950769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22119381700003 meters Centerline goodness : 0.929016 Centerline is valid? [False, False] Translation: X:14.54, Y:-0.03, Z:-2.10 [[ 9.99962856e-01 -4.89033791e-03 7.09732609e-03 1.45408043e+01] [ 4.99619463e-03 9.99875390e-01 -1.49747276e-02 -3.21897605e-02] [-7.02321021e-03 1.50096310e-02 9.99862683e-01 -2.10016023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25119381700003 meters Centerline goodness : 0.926910 Centerline is valid? [False, False] Translation: X:14.54, Y:-0.03, Z:-2.10 [[ 9.99972261e-01 -2.80829208e-03 6.89860693e-03 1.45420768e+01] [ 2.90065725e-03 9.99905799e-01 -1.34156435e-02 -2.65383003e-02] [-6.86028203e-03 1.34352819e-02 9.99886208e-01 -2.10115939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28119381700003 meters Centerline goodness : 0.929852 Centerline is valid? [False, False] Translation: X:14.54, Y:-0.01, Z:-2.10 [[ 9.99978448e-01 2.41635183e-04 6.56091089e-03 1.45443013e+01] [-1.65030167e-04 9.99931843e-01 -1.16740044e-02 -1.37087803e-02] [-6.56328457e-03 1.16726701e-02 9.99910332e-01 -2.10289979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31119381700003 meters Centerline goodness : 0.929852 Centerline is valid? [False, False] Translation: X:14.54, Y:-0.01, Z:-2.10 [[ 9.99978448e-01 2.41635183e-04 6.56091089e-03 1.45443013e+01] [-1.65030167e-04 9.99931843e-01 -1.16740044e-02 -1.37087803e-02] [-6.56328457e-03 1.16726701e-02 9.99910332e-01 -2.10289979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34119381700003 meters Centerline goodness : 0.927369 Centerline is valid? [False, False] Translation: X:14.54, Y:-0.01, Z:-2.10 [[ 9.99973511e-01 3.07769734e-03 6.59581934e-03 1.45444947e+01] [-3.01289372e-03 9.99947318e-01 -9.81247207e-03 -7.85980907e-03] [-6.62567168e-03 9.79233965e-03 9.99930103e-01 -2.10299568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37119381700003 meters Centerline goodness : 0.928307 Centerline is valid? [False, False] Translation: X:14.55, Y:-0.00, Z:-2.10 [[ 9.99964436e-01 5.62322115e-03 6.28531368e-03 1.45457713e+01] [-5.57055775e-03 9.99949495e-01 -8.36513640e-03 -1.44250627e-03] [-6.33203526e-03 8.32982621e-03 9.99945258e-01 -2.10355290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40119381700003 meters Centerline goodness : 0.927797 Centerline is valid? [False, False] Translation: X:14.55, Y:0.01, Z:-2.10 [[ 9.99944690e-01 8.47527116e-03 6.22787822e-03 1.45458844e+01] [-8.43258446e-03 9.99940992e-01 -6.84872018e-03 5.69585409e-03] [-6.28555548e-03 6.79582427e-03 9.99957153e-01 -2.10318658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.431193817 meters Centerline goodness : 0.928524 Centerline is valid? [False, False] Translation: X:14.55, Y:0.02, Z:-2.10 [[ 9.99892479e-01 1.35163777e-02 5.68659138e-03 1.45473648e+01] [-1.34898679e-02 9.99898081e-01 -4.67460526e-03 2.17249302e-02] [-5.74919553e-03 4.59739127e-03 9.99972905e-01 -2.10250660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.461193817 meters Centerline goodness : 0.926533 Centerline is valid? [False, False] Translation: X:14.55, Y:0.03, Z:-2.10 [[ 9.99857571e-01 1.60202712e-02 5.30931275e-03 1.45481774e+01] [-1.60019046e-02 9.99865892e-01 -3.48394294e-03 2.89511259e-02] [-5.36441444e-03 3.39848761e-03 9.99979836e-01 -2.10213644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.491193817 meters Centerline goodness : 0.925675 Centerline is valid? [False, False] Translation: X:14.55, Y:0.04, Z:-2.10 [[ 9.99810828e-01 1.86960943e-02 5.36326609e-03 1.45476692e+01] [-1.86857440e-02 9.99823459e-01 -1.97351239e-03 3.53893010e-02] [-5.39921623e-03 1.87292244e-03 9.99983670e-01 -2.10120464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.521193817 meters Centerline goodness : 0.923056 Centerline is valid? [False, False] Translation: X:14.55, Y:0.04, Z:-2.10 [[ 9.99761312e-01 2.11951817e-02 5.29929095e-03 1.45474518e+01] [-2.11923810e-02 9.99775246e-01 -5.84104694e-04 4.15986291e-02] [-5.31048012e-03 4.71660683e-04 9.99985788e-01 -2.10029645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.551193817 meters Centerline goodness : 0.919982 Centerline is valid? [False, False] Translation: X:14.55, Y:0.06, Z:-2.10 [[ 9.99715526e-01 2.32854832e-02 5.16266886e-03 1.45476582e+01] [-2.32789531e-02 9.99728135e-01 -1.32136812e-03 5.56690864e-02] [-5.19203401e-03 1.20081070e-03 9.99985800e-01 -2.09898091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.581193817 meters Centerline goodness : 0.919127 Centerline is valid? [False, False] Translation: X:14.55, Y:0.06, Z:-2.10 [[ 9.99730663e-01 2.26967793e-02 4.84324329e-03 1.45483363e+01] [-2.26818546e-02 9.99737882e-01 -3.11455499e-03 6.26671398e-02] [-4.91266416e-03 3.00386239e-03 9.99983421e-01 -2.09869314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.61119381700001 meters Centerline goodness : 0.918944 Centerline is valid? [False, False] Translation: X:14.55, Y:0.07, Z:-2.10 [[ 9.99702013e-01 2.39030836e-02 4.95261064e-03 1.45472912e+01] [-2.38916433e-02 9.99711777e-01 -2.35639448e-03 6.77868390e-02] [-5.00750828e-03 2.23736630e-03 9.99984959e-01 -2.09740649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64119381700002 meters Centerline goodness : 0.916155 Centerline is valid? [False, False] Translation: X:14.55, Y:0.08, Z:-2.10 [[ 9.99700229e-01 2.39433948e-02 5.11517701e-03 1.45466509e+01] [-2.39249494e-02 9.99707141e-01 -3.63727981e-03 7.89139900e-02] [-5.20076780e-03 3.51380911e-03 9.99980302e-01 -2.09637842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.67119381700002 meters Centerline goodness : 0.914612 Centerline is valid? [False, False] Translation: X:14.55, Y:0.08, Z:-2.10 [[ 9.99717274e-01 2.32672925e-02 4.89943964e-03 1.45469089e+01] [-2.32413865e-02 9.99715941e-01 -5.27970646e-03 8.46420718e-02] [-5.02089238e-03 5.16434398e-03 9.99974060e-01 -2.09580558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70119381700002 meters Centerline goodness : 0.914057 Centerline is valid? [False, False] Translation: X:14.55, Y:0.09, Z:-2.10 [[ 9.99734178e-01 2.25701540e-02 4.70763462e-03 1.45473865e+01] [-2.25375828e-02 9.99722455e-01 -6.86076853e-03 8.94908249e-02] [-4.86117664e-03 6.75284608e-03 9.99965383e-01 -2.09562470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.73119381700002 meters Centerline goodness : 0.912740 Centerline is valid? [False, False] Translation: X:14.55, Y:0.09, Z:-2.10 [[ 9.99752210e-01 2.18528897e-02 4.23904549e-03 1.45488346e+01] [-2.18176380e-02 9.99728411e-01 -8.19119566e-03 9.36768930e-02] [-4.41689550e-03 8.09668001e-03 9.99957466e-01 -2.09615149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76119381700002 meters Centerline goodness : 0.909261 Centerline is valid? [False, False] Translation: X:14.55, Y:0.10, Z:-2.10 [[ 9.99722438e-01 2.31546472e-02 4.34845789e-03 1.45491335e+01] [-2.31209545e-02 9.99703445e-01 -7.64489603e-03 1.00567681e-01] [-4.52418320e-03 7.54223360e-03 9.99961322e-01 -2.09641774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79119381700002 meters Centerline goodness : 0.909835 Centerline is valid? [False, False] Translation: X:14.55, Y:0.10, Z:-2.10 [[ 9.99680623e-01 2.48409508e-02 4.64543707e-03 1.45477827e+01] [-2.48129420e-02 9.99674149e-01 -5.99278464e-03 1.03186674e-01] [-4.79278982e-03 5.87560372e-03 9.99971253e-01 -2.09531501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82119381700002 meters Centerline goodness : 0.907412 Centerline is valid? [False, False] Translation: X:14.55, Y:0.11, Z:-2.09 [[ 9.99621964e-01 2.70393425e-02 4.98020046e-03 1.45464933e+01] [-2.70204233e-02 9.99627553e-01 -3.82779376e-03 1.05151031e-01] [-5.08184663e-03 3.69177960e-03 9.99980273e-01 -2.09437768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85119381700002 meters Centerline goodness : 0.905238 Centerline is valid? [False, False] Translation: X:14.55, Y:0.11, Z:-2.09 [[ 9.99560016e-01 2.91938999e-02 5.24322335e-03 1.45457256e+01] [-2.91855754e-02 9.99572637e-01 -1.65724085e-03 1.07297885e-01] [-5.28936391e-03 1.50348520e-03 9.99984881e-01 -2.09394261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88119381700002 meters Centerline goodness : 0.904853 Centerline is valid? [False, False] Translation: X:14.55, Y:0.11, Z:-2.10 [[ 9.99492673e-01 3.14262501e-02 5.17574628e-03 1.45472110e+01] [-3.14241083e-02 9.99506018e-01 -4.94623196e-04 1.14065730e-01] [-5.18873371e-03 3.31729049e-04 9.99986483e-01 -2.09508139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91119381700003 meters Centerline goodness : 0.904811 Centerline is valid? [False, False] Translation: X:14.55, Y:0.12, Z:-2.10 [[ 9.99497337e-01 3.13343234e-02 4.82006815e-03 1.45484124e+01] [-3.13271982e-02 9.99507986e-01 -1.54670826e-03 1.18507281e-01] [-4.86616166e-03 1.39493156e-03 9.99987187e-01 -2.09532119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94119381700003 meters Centerline goodness : 0.905201 Centerline is valid? [False, False] Translation: X:14.55, Y:0.12, Z:-2.09 [[ 9.99399868e-01 3.42789748e-02 4.98563888e-03 1.45479524e+01] [-3.42848983e-02 9.99411486e-01 1.10751341e-03 1.21294476e-01] [-4.94474034e-03 -1.27778088e-03 9.99986958e-01 -2.09482344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97119381700003 meters Centerline goodness : 0.902597 Centerline is valid? [False, False] Translation: X:14.55, Y:0.13, Z:-2.09 [[ 9.99280730e-01 3.76149407e-02 4.81025493e-03 1.45489096e+01] [-3.76295468e-02 9.99287306e-01 2.98285560e-03 1.28275016e-01] [-4.69462675e-03 -3.16171783e-03 9.99983982e-01 -2.09481877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00119381700003 meters Centerline goodness : 0.900260 Centerline is valid? [False, False] Translation: X:14.55, Y:0.13, Z:-2.10 [[ 9.99228615e-01 3.90355324e-02 4.28976105e-03 1.45517920e+01] [-3.90502253e-02 9.99231477e-01 3.39641783e-03 1.31649881e-01] [-4.15388329e-03 -3.56131402e-03 9.99985031e-01 -2.09659475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03119381700003 meters Centerline goodness : 0.896860 Centerline is valid? [False, False] Translation: X:14.55, Y:0.13, Z:-2.10 [[ 9.99030385e-01 4.38542198e-02 3.88563817e-03 1.45546396e+01] [-4.38835311e-02 9.99006126e-01 7.80995811e-03 1.32795593e-01] [-3.53927671e-03 -7.97290097e-03 9.99961952e-01 -2.09873217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06119381700003 meters Centerline goodness : 0.897253 Centerline is valid? [False, False] Translation: X:14.56, Y:0.13, Z:-2.10 [[ 9.98846187e-01 4.78767014e-02 3.75719906e-03 1.45560570e+01] [-4.79162282e-02 9.98788008e-01 1.12494880e-02 1.34601708e-01] [-3.21405699e-03 -1.14165390e-02 9.99929664e-01 -2.09973542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09119381700003 meters Centerline goodness : 0.896648 Centerline is valid? [False, False] Translation: X:14.56, Y:0.14, Z:-2.10 [[ 9.98399708e-01 5.64192166e-02 3.85939195e-03 1.45574573e+01] [-5.64811019e-02 9.98233339e-01 1.84414471e-02 1.38559560e-01] [-2.81212172e-03 -1.86299181e-02 9.99822493e-01 -2.10033518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12119381700003 meters Centerline goodness : 0.898284 Centerline is valid? [False, False] Translation: X:14.56, Y:0.14, Z:-2.10 [[ 9.98173731e-01 6.02791979e-02 3.95233977e-03 1.45576233e+01] [-6.03507145e-02 9.97944371e-01 2.15597791e-02 1.41538542e-01] [-2.64460904e-03 -2.17589317e-02 9.99759749e-01 -2.09993019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15119381700003 meters Centerline goodness : 0.892327 Centerline is valid? [False, False] Translation: X:14.56, Y:0.14, Z:-2.10 [[ 9.97934359e-01 6.41130542e-02 4.06588698e-03 1.45575359e+01] [-6.41945320e-02 9.97628797e-01 2.48162363e-02 1.44077733e-01] [-2.46520123e-03 -2.50259826e-02 9.99683761e-01 -2.09919138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.181193817 meters Centerline goodness : 0.893329 Centerline is valid? [False, False] Translation: X:14.56, Y:0.15, Z:-2.10 [[ 9.97702285e-01 6.76073282e-02 4.40444088e-03 1.45558614e+01] [-6.77036271e-02 9.97322404e-01 2.76449055e-02 1.46566498e-01] [-2.52364937e-03 -2.78795820e-02 9.99608103e-01 -2.09692765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.211193817 meters Centerline goodness : 0.894223 Centerline is valid? [False, False] Translation: X:14.56, Y:0.15, Z:-2.10 [[ 9.97944301e-01 6.39625545e-02 3.99554611e-03 1.45559546e+01] [-6.40384732e-02 9.97676633e-01 2.32467170e-02 1.48287376e-01] [-2.49934359e-03 -2.34547974e-02 9.99721774e-01 -2.09619366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.241193817 meters Centerline goodness : 0.891978 Centerline is valid? [False, False] Translation: X:14.57, Y:0.15, Z:-2.10 [[ 9.98173802e-01 5.98885245e-02 7.90102066e-03 1.45726328e+01] [-6.00566627e-02 9.97927435e-01 2.31091326e-02 1.46260881e-01] [-6.50067343e-03 -2.35414396e-02 9.99701726e-01 -2.09654173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.271193817 meters Centerline goodness : 0.892595 Centerline is valid? [False, False] Translation: X:14.57, Y:0.15, Z:-2.10 [[ 9.98403581e-01 5.60029768e-02 7.34551219e-03 1.45729389e+01] [-5.61339282e-02 9.98241835e-01 1.90321129e-02 1.46374992e-01] [-6.26674259e-03 -1.94140621e-02 9.99791889e-01 -2.09590584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.301193817 meters Centerline goodness : 0.896051 Centerline is valid? [False, False] Translation: X:14.58, Y:0.14, Z:-2.10 [[ 9.98641447e-01 5.04379835e-02 1.30870011e-02 1.45844154e+01] [-5.07351501e-02 9.98436415e-01 2.34663642e-02 1.43051145e-01] [-1.18829424e-02 -2.40984549e-02 9.99638965e-01 -2.09997019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.331193817 meters Centerline goodness : 0.893222 Centerline is valid? [False, False] Translation: X:14.59, Y:0.14, Z:-2.10 [[ 9.98772148e-01 4.80225362e-02 1.21668661e-02 1.45869808e+01] [-4.82649163e-02 9.98624604e-01 2.04792229e-02 1.43627098e-01] [-1.11666676e-02 -2.10413102e-02 9.99716244e-01 -2.10100843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36119381700001 meters Centerline goodness : 0.893037 Centerline is valid? [False, False] Translation: X:14.59, Y:0.14, Z:-2.10 [[ 9.98746572e-01 4.87168498e-02 1.14871302e-02 1.45892321e+01] [-4.89543741e-02 9.98571900e-01 2.13923001e-02 1.41921212e-01] [-1.04285599e-02 -2.19278317e-02 9.99705164e-01 -2.10229846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.39119381700002 meters Centerline goodness : 0.891969 Centerline is valid? [False, False] Translation: X:14.59, Y:0.14, Z:-2.10 [[ 9.98660174e-01 5.05673299e-02 1.09909867e-02 1.45914430e+01] [-5.08095866e-02 9.98443254e-01 2.30098737e-02 1.39581254e-01] [-9.81032865e-03 -2.35374920e-02 9.99674819e-01 -2.10363320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42119381700002 meters Centerline goodness : 0.896373 Centerline is valid? [False, False] Translation: X:14.59, Y:0.14, Z:-2.10 [[ 9.98608769e-01 5.16334716e-02 1.07010027e-02 1.45922925e+01] [-5.18710399e-02 9.98382886e-01 2.32595918e-02 1.40584133e-01] [-9.48272448e-03 -2.37823044e-02 9.99672186e-01 -2.10348250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.45119381700002 meters Centerline goodness : 0.893311 Centerline is valid? [False, False] Translation: X:14.59, Y:0.14, Z:-2.10 [[ 9.98531520e-01 5.31603409e-02 1.04298288e-02 1.45932053e+01] [-5.33951428e-02 9.98292192e-01 2.36993184e-02 1.41990894e-01] [-9.15215281e-03 -2.42214186e-02 9.99664724e-01 -2.10328435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48119381700002 meters Centerline goodness : 0.892507 Centerline is valid? [False, False] Translation: X:14.59, Y:0.14, Z:-2.10 [[ 9.98260190e-01 5.80354014e-02 1.04156250e-02 1.45939523e+01] [-5.83100117e-02 9.97895924e-01 2.83490286e-02 1.41172776e-01] [-8.74846251e-03 -2.89070419e-02 9.99543820e-01 -2.10348363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51119381700002 meters Centerline goodness : 0.894817 Centerline is valid? [False, False] Translation: X:14.60, Y:0.14, Z:-2.10 [[ 9.97521734e-01 6.99283926e-02 7.77244046e-03 1.46036080e+01] [-7.01676637e-02 9.96861909e-01 3.66446811e-02 1.35354491e-01] [-5.18554619e-03 -3.70992398e-02 9.99298132e-01 -2.10472948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54119381700002 meters Centerline goodness : 0.891137 Centerline is valid? [False, False] Translation: X:14.61, Y:0.13, Z:-2.11 [[ 9.97350183e-01 7.23839372e-02 7.29237907e-03 1.46063702e+01] [-7.26135456e-02 9.96605295e-01 3.87963669e-02 1.32847333e-01] [-4.45938982e-03 -3.92230891e-02 9.99220528e-01 -2.10663424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57119381700002 meters Centerline goodness : 0.891856 Centerline is valid? [False, False] Translation: X:14.61, Y:0.13, Z:-2.11 [[ 9.97223793e-01 7.41512474e-02 6.80437059e-03 1.46084307e+01] [-7.43677683e-02 9.96399259e-01 4.07179611e-02 1.29325916e-01] [-3.76058220e-03 -4.11109455e-02 9.99147511e-01 -2.10780873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60119381700002 meters Centerline goodness : 0.892152 Centerline is valid? [False, False] Translation: X:14.61, Y:0.13, Z:-2.11 [[ 9.97325820e-01 7.28244971e-02 6.14828738e-03 1.46102119e+01] [-7.30098407e-02 9.96565732e-01 3.90679536e-02 1.26060427e-01] [-3.28206844e-03 -3.94123644e-02 9.99217641e-01 -2.10857435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63119381700002 meters Centerline goodness : 0.892621 Centerline is valid? [False, False] Translation: X:14.62, Y:0.11, Z:-2.11 [[ 9.97216898e-01 7.45276138e-02 2.02329618e-03 1.46196011e+01] [-7.45517682e-02 9.96549894e-01 3.64738754e-02 1.13510193e-01] [ 7.01995297e-04 -3.65232051e-02 9.99332559e-01 -2.10587934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66119381700003 meters Centerline goodness : 0.887870 Centerline is valid? [False, False] Translation: X:14.62, Y:0.11, Z:-2.11 [[ 9.97409387e-01 7.19154070e-02 1.63966455e-03 1.46198154e+01] [-7.19291438e-02 9.96814110e-01 3.44648810e-02 1.08218590e-01] [ 8.44115183e-04 -3.44935355e-02 9.99404564e-01 -2.10577838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69119381700003 meters Centerline goodness : 0.891050 Centerline is valid? [False, False] Translation: X:14.64, Y:0.10, Z:-2.11 [[ 9.97575826e-01 6.93915845e-02 5.22296795e-03 1.46360980e+01] [-6.95426911e-02 9.96820283e-01 3.88990736e-02 9.90287800e-02] [-2.50709204e-03 -3.91679947e-02 9.99229495e-01 -2.10784793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72119381700003 meters Centerline goodness : 0.888930 Centerline is valid? [False, False] Translation: X:14.64, Y:0.08, Z:-2.11 [[ 9.97930963e-01 6.41793074e-02 3.84829664e-03 1.46371034e+01] [-6.42749440e-02 9.97316715e-01 3.50442819e-02 8.40444806e-02] [-1.58885282e-03 -3.52191231e-02 9.99378351e-01 -2.10656218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75119381700003 meters Centerline goodness : 0.887345 Centerline is valid? [False, False] Translation: X:14.64, Y:0.08, Z:-2.11 [[ 9.98310210e-01 5.80226030e-02 3.17834274e-03 1.46372974e+01] [-5.80913206e-02 9.97873818e-01 2.95506614e-02 7.79860463e-02] [-1.45697871e-03 -2.96853611e-02 9.99558231e-01 -2.10611510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78119381700003 meters Centerline goodness : 0.888601 Centerline is valid? [False, False] Translation: X:14.65, Y:0.07, Z:-2.11 [[ 9.98590662e-01 5.27165631e-02 6.13632049e-03 1.46546355e+01] [-5.28826199e-02 9.98116418e-01 3.10973410e-02 6.68743130e-02] [-4.48541728e-03 -3.13780191e-02 9.99497524e-01 -2.10815797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81119381700003 meters Centerline goodness : 0.885296 Centerline is valid? [False, False] Translation: X:14.66, Y:0.06, Z:-2.11 [[ 9.98913294e-01 4.62780542e-02 5.52929363e-03 1.46551324e+01] [-4.64059875e-02 9.98588673e-01 2.58291621e-02 5.92964870e-02] [-4.32616662e-03 -2.60576857e-02 9.99651080e-01 -2.10807566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84119381700003 meters Centerline goodness : 0.887287 Centerline is valid? [False, False] Translation: X:14.68, Y:0.04, Z:-2.11 [[ 9.99227434e-01 3.88263197e-02 6.08699058e-03 1.46762548e+01] [-3.89931217e-02 9.98782383e-01 3.02206435e-02 3.62885891e-02] [-4.90622259e-03 -3.04346469e-02 9.99524718e-01 -2.11035373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87119381700003 meters Centerline goodness : 0.890523 Centerline is valid? [False, False] Translation: X:14.69, Y:0.03, Z:-2.11 [[ 9.99414674e-01 3.30065927e-02 8.99305892e-03 1.46941434e+01] [-3.32656152e-02 9.98985270e-01 3.03616454e-02 2.62258541e-02] [-7.98179892e-03 -3.06430335e-02 9.99498522e-01 -2.11218400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90119381700003 meters Centerline goodness : 0.890388 Centerline is valid? [False, False] Translation: X:14.71, Y:0.02, Z:-2.11 [[ 9.99556562e-01 2.72220259e-02 1.20681713e-02 1.47114905e+01] [-2.75758240e-02 9.99163727e-01 3.01897429e-02 1.66850080e-02] [-1.12362531e-02 -3.05091454e-02 9.99471330e-01 -2.11332873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93119381700004 meters Centerline goodness : 0.890749 Centerline is valid? [False, False] Translation: X:14.73, Y:0.01, Z:-2.11 [[ 9.99643240e-01 2.18114135e-02 1.54160526e-02 1.47286553e+01] [-2.22655239e-02 9.99304089e-01 2.99263280e-02 7.88144209e-03] [-1.47525889e-02 -3.02588980e-02 9.99433219e-01 -2.11424353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.961193817 meters Centerline goodness : 0.891627 Centerline is valid? [False, False] Translation: X:14.76, Y:-0.02, Z:-2.11 [[ 9.99762583e-01 1.19948496e-02 1.81907177e-02 1.47552571e+01] [-1.32925929e-02 9.97244493e-01 7.29844365e-02 -1.93576217e-02] [-1.72651557e-02 -7.32089105e-02 9.97167172e-01 -2.11229072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.991193817 meters Centerline goodness : 0.890459 Centerline is valid? [False, False] Translation: X:14.76, Y:-0.02, Z:-2.11 [[ 9.99798988e-01 8.91413159e-03 1.79588984e-02 1.47558060e+01] [-1.01691608e-02 9.97420935e-01 7.10497475e-02 -2.44448482e-02] [-1.72792345e-02 -7.12180926e-02 9.97311091e-01 -2.11162754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.021193817 meters Centerline goodness : 0.895403 Centerline is valid? [False, False] Translation: X:14.76, Y:-0.04, Z:-2.11 [[ 9.99862683e-01 4.48535317e-03 1.59529806e-02 1.47627458e+01] [-5.80154223e-03 9.96495954e-01 8.34395352e-02 -3.93782395e-02] [-1.55228248e-02 -8.35206294e-02 9.96385140e-01 -2.10544842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.051193817 meters Centerline goodness : 0.894687 Centerline is valid? [False, False] Translation: X:14.76, Y:-0.04, Z:-2.11 [[ 9.99800401e-01 3.55001535e-03 1.96609915e-02 1.47560342e+01] [-5.07571377e-03 9.96932402e-01 7.81026399e-02 -4.21681351e-02] [-1.93234139e-02 -7.81868443e-02 9.96751435e-01 -2.10684139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.081193817 meters Centerline goodness : 0.893530 Centerline is valid? [False, False] Translation: X:14.75, Y:-0.04, Z:-2.10 [[ 9.99881368e-01 2.52013133e-03 1.51953589e-02 1.47456182e+01] [-3.50898242e-03 9.97852657e-01 6.54046012e-02 -4.10875860e-02] [-1.49979011e-02 -6.54501624e-02 9.97743123e-01 -2.10329961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.11119381700001 meters Centerline goodness : 0.893828 Centerline is valid? [False, False] Translation: X:14.73, Y:-0.04, Z:-2.10 [[ 9.99907622e-01 1.22765645e-03 1.35366211e-02 1.47253732e+01] [-2.08052628e-03 9.98000500e-01 6.31717709e-02 -4.23465604e-02] [-1.34320014e-02 -6.31940985e-02 9.97910861e-01 -2.10102496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14119381700002 meters Centerline goodness : 0.890876 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.04, Z:-2.10 [[ 9.99957438e-01 7.95429540e-04 9.19182715e-03 1.47139372e+01] [-1.27040948e-03 9.98657477e-01 5.17844538e-02 -4.15625795e-02] [-9.13829603e-03 -5.17939271e-02 9.98615983e-01 -2.09675304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.17119381700002 meters Centerline goodness : 0.890251 Centerline is valid? [False, False] Translation: X:14.68, Y:-0.05, Z:-2.09 [[ 9.99978698e-01 -3.39429168e-03 5.57513530e-03 1.46811402e+01] [ 3.07916785e-03 9.98448905e-01 5.55904987e-02 -4.74299250e-02] [-5.75517810e-03 -5.55721477e-02 9.98438087e-01 -2.09133209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20119381700002 meters Centerline goodness : 0.890251 Centerline is valid? [False, False] Translation: X:14.68, Y:-0.05, Z:-2.09 [[ 9.99978584e-01 -3.42455071e-03 5.57703077e-03 1.46811324e+01] [ 3.10966277e-03 9.98452549e-01 5.55233117e-02 -4.72478841e-02] [-5.75854298e-03 -5.55047800e-02 9.98441815e-01 -2.09133449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.23119381700002 meters Centerline goodness : 0.891312 Centerline is valid? [False, False] Translation: X:14.65, Y:-0.05, Z:-2.09 [[ 9.99991598e-01 -3.94526126e-03 1.11279111e-03 1.46474805e+01] [ 3.88947086e-03 9.98918577e-01 4.63308689e-02 -4.63627475e-02] [-1.29437510e-03 -4.63261515e-02 9.98925529e-01 -2.08617521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26119381700002 meters Centerline goodness : 0.891311 Centerline is valid? [False, False] Translation: X:14.63, Y:-0.05, Z:-2.08 [[ 9.99978281e-01 -6.58871510e-03 -1.61412053e-04 1.46266408e+01] [ 6.58963197e-03 9.99078332e-01 4.24153586e-02 -4.66298364e-02] [-1.18199429e-04 -4.24155011e-02 9.99100051e-01 -2.08462365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29119381700002 meters Centerline goodness : 0.890654 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.05, Z:-2.09 [[ 9.99967073e-01 -7.98542073e-03 -1.44456071e-03 1.46195188e+01] [ 8.02526588e-03 9.99515296e-01 3.00793622e-02 -4.87745575e-02] [ 1.20366416e-03 -3.00899648e-02 9.99546470e-01 -2.08640258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32119381700002 meters Centerline goodness : 0.893122 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.05, Z:-2.09 [[ 9.99946763e-01 -1.01049978e-02 -2.08832421e-03 1.46224338e+01] [ 1.01592091e-02 9.99561228e-01 2.78233975e-02 -4.98287694e-02] [ 1.80625254e-03 -2.78431319e-02 9.99610673e-01 -2.08831968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35119381700002 meters Centerline goodness : 0.889893 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.05, Z:-2.09 [[ 9.99946006e-01 -1.01118353e-02 -2.39478064e-03 1.46236334e+01] [ 1.01753026e-02 9.99551442e-01 2.81669725e-02 -5.11305190e-02] [ 2.10888665e-03 -2.81898193e-02 9.99600363e-01 -2.08902522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38119381700002 meters Centerline goodness : 0.889381 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.05, Z:-2.09 [[ 9.99939919e-01 -9.72534625e-03 -5.05718986e-03 1.46171854e+01] [ 9.80838654e-03 9.99813049e-01 1.66632387e-02 -4.78106309e-02] [ 4.89418865e-03 -1.67118404e-02 9.99848369e-01 -2.09086078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41119381700003 meters Centerline goodness : 0.889545 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.05, Z:-2.09 [[ 9.99939002e-01 -9.68604040e-03 -5.30772222e-03 1.46181049e+01] [ 9.77278111e-03 9.99814985e-01 1.65676821e-02 -4.75384482e-02] [ 5.14626497e-03 -1.66185427e-02 9.99848659e-01 -2.09138085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44119381700003 meters Centerline goodness : 0.888342 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.05, Z:-2.09 [[ 9.99939208e-01 -9.58148402e-03 -5.45662572e-03 1.46186528e+01] [ 9.67061897e-03 9.99816270e-01 1.65500568e-02 -4.74580319e-02] [ 5.29704907e-03 -1.66018197e-02 9.99848149e-01 -2.09167287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47119381700003 meters Centerline goodness : 0.887258 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.05, Z:-2.09 [[ 9.99939013e-01 -9.59004799e-03 -5.47726182e-03 1.46188063e+01] [ 9.67848092e-03 9.99819423e-01 1.63538683e-02 -4.71383344e-02] [ 5.31943837e-03 -1.64058825e-02 9.99851264e-01 -2.09178888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50119381700003 meters Centerline goodness : 0.886684 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.05, Z:-2.09 [[ 9.99945012e-01 -8.50002101e-03 -6.14185207e-03 1.46222791e+01] [ 8.60355824e-03 9.99817918e-01 1.70326209e-02 -4.64625693e-02] [ 5.99595611e-03 -1.70845261e-02 9.99836070e-01 -2.09456510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53119381700003 meters Centerline goodness : 0.887062 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.05, Z:-2.10 [[ 9.99941384e-01 -8.57974018e-03 -6.60433903e-03 1.46239493e+01] [ 8.68912823e-03 9.99822513e-01 1.67165129e-02 -4.53695794e-02] [ 6.45974351e-03 -1.67729190e-02 9.99838457e-01 -2.09563211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56119381700003 meters Centerline goodness : 0.888190 Centerline is valid? [False, False] Translation: X:14.63, Y:-0.04, Z:-2.10 [[ 9.99936843e-01 -8.78745026e-03 -7.00648183e-03 1.46252592e+01] [ 8.90009087e-03 9.99828983e-01 1.62108903e-02 -4.43201548e-02] [ 6.86283121e-03 -1.62722248e-02 9.99844046e-01 -2.09631855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59119381700003 meters Centerline goodness : 0.886414 Centerline is valid? [False, False] Translation: X:14.63, Y:-0.04, Z:-2.10 [[ 9.99937597e-01 -8.54291438e-03 -7.19859895e-03 1.46255884e+01] [ 8.65707940e-03 9.99834829e-01 1.59803099e-02 -4.29161063e-02] [ 7.06089153e-03 -1.60416315e-02 9.99846393e-01 -2.09621517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62119381700003 meters Centerline goodness : 0.889529 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.04, Z:-2.09 [[ 9.99958105e-01 -6.02157597e-03 -6.89405067e-03 1.46224275e+01] [ 6.14537011e-03 9.99817683e-01 1.80785614e-02 -4.16885714e-02] [ 6.78393234e-03 -1.81201705e-02 9.99812801e-01 -2.09295026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65119381700003 meters Centerline goodness : 0.890943 Centerline is valid? [False, False] Translation: X:14.59, Y:-0.04, Z:-2.09 [[ 9.99984164e-01 -5.13189705e-03 -2.30991894e-03 1.45922600e+01] [ 5.18886924e-03 9.99664567e-01 2.53738026e-02 -4.28481298e-02] [ 2.17892837e-03 -2.53853866e-02 9.99675365e-01 -2.09295512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68119381700004 meters Centerline goodness : 0.891358 Centerline is valid? [False, False] Translation: X:14.59, Y:-0.04, Z:-2.09 [[ 9.99983967e-01 -5.14685696e-03 -2.36124553e-03 1.45914311e+01] [ 5.20461117e-03 9.99670330e-01 2.51424633e-02 -4.21421438e-02] [ 2.23106243e-03 -2.51543496e-02 9.99681090e-01 -2.09165966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.711193817 meters Centerline goodness : 0.890089 Centerline is valid? [False, False] Translation: X:14.57, Y:-0.04, Z:-2.09 [[ 9.99996348e-01 -2.46090647e-03 -1.11706620e-03 1.45692919e+01] [ 2.49232231e-03 9.99574791e-01 2.90521196e-02 -4.31258552e-02] [ 1.04509666e-03 -2.90547976e-02 9.99577274e-01 -2.08986526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.741193817 meters Centerline goodness : 0.891567 Centerline is valid? [False, False] Translation: X:14.57, Y:-0.04, Z:-2.09 [[ 9.99999684e-01 -1.11223413e-04 -7.87433288e-04 1.45668851e+01] [ 1.36127226e-04 9.99497499e-01 3.16974915e-02 -4.32080028e-02] [ 7.83512099e-04 -3.16975887e-02 9.99497198e-01 -2.08741929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.771193817 meters Centerline goodness : 0.893602 Centerline is valid? [False, False] Translation: X:14.57, Y:-0.04, Z:-2.09 [[ 9.99999529e-01 1.32080932e-04 -9.61325477e-04 1.45674140e+01] [-1.01465982e-04 9.99494970e-01 3.17772631e-02 -4.30462962e-02] [ 9.65037149e-04 -3.17771506e-02 9.99494513e-01 -2.08757894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.801193817 meters Centerline goodness : 0.891982 Centerline is valid? [False, False] Translation: X:14.57, Y:-0.04, Z:-2.09 [[ 9.99999105e-01 7.08148445e-05 -1.33583081e-03 1.45682115e+01] [-2.85221356e-05 9.99499528e-01 3.16337169e-02 -4.29483884e-02] [ 1.33740240e-03 -3.16336505e-02 9.99498636e-01 -2.08771608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.831193817 meters Centerline goodness : 0.891101 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.04, Z:-2.08 [[ 9.99973363e-01 -1.32635259e-03 -7.17728347e-03 1.45591910e+01] [ 1.61549739e-03 9.99181008e-01 4.04314586e-02 -4.45846721e-02] [ 7.11777896e-03 -4.04419766e-02 9.99156536e-01 -2.08448916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86119381700001 meters Centerline goodness : 0.889482 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.05, Z:-2.08 [[ 9.99968739e-01 -2.11384837e-03 -7.61922480e-03 1.45601122e+01] [ 2.41974497e-03 9.99182072e-01 4.03649903e-02 -4.62015689e-02] [ 7.52766735e-03 -4.03821650e-02 9.99155951e-01 -2.08452508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.89119381700002 meters Centerline goodness : 0.888462 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.05, Z:-2.08 [[ 9.99963241e-01 -3.05721175e-03 -8.01067162e-03 1.45609056e+01] [ 3.37729589e-03 9.99183803e-01 4.02532144e-02 -4.76591600e-02] [ 7.88107073e-03 -4.02787891e-02 9.99157399e-01 -2.08448148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92119381700002 meters Centerline goodness : 0.889780 Centerline is valid? [False, False] Translation: X:14.53, Y:-0.05, Z:-2.09 [[ 9.99950539e-01 -3.32330806e-03 -9.37418078e-03 1.45341241e+01] [ 3.62353836e-03 9.99475059e-01 3.21943452e-02 -4.84060659e-02] [ 9.26226816e-03 -3.22267205e-02 9.99437666e-01 -2.08533342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.95119381700002 meters Centerline goodness : 0.886333 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.05, Z:-2.08 [[ 9.99895161e-01 -6.60917813e-03 -1.28835793e-02 1.45159392e+01] [ 6.99457530e-03 9.99522361e-01 3.01019349e-02 -4.97265038e-02] [ 1.26784765e-02 -3.01888942e-02 9.99463800e-01 -2.08472171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98119381700002 meters Centerline goodness : 0.886094 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.05, Z:-2.08 [[ 9.99790512e-01 -1.23445541e-02 -1.63261481e-02 1.44985008e+01] [ 1.28189333e-02 9.99489100e-01 2.92782236e-02 -5.37896065e-02] [ 1.59563805e-02 -2.94813740e-02 9.99437963e-01 -2.08300640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01119381700002 meters Centerline goodness : 0.887118 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.05, Z:-2.08 [[ 0.9997219 -0.01686766 -0.01648017 14.49878437] [ 0.01727627 0.99953879 0.02497475 -0.05388502] [ 0.0160513 -0.02525252 0.99955223 -2.08276976] [ 0. 0. 0. 1. ]] SLAMing on 139.04119381700002 meters Centerline goodness : 0.886241 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.05, Z:-2.08 [[ 0.99964599 -0.02091631 -0.01644415 14.49858599] [ 0.02125761 0.99955635 0.02086207 -0.05345414] [ 0.0160005 -0.02120424 0.99964712 -2.08229989] [ 0. 0. 0. 1. ]] SLAMing on 139.07119381700002 meters Centerline goodness : 0.888436 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.05, Z:-2.08 [[ 0.99956265 -0.02451868 -0.01653297 14.49870776] [ 0.02479512 0.99955258 0.01672833 -0.05210485] [ 0.01611541 -0.01713095 0.99972337 -2.08188609] [ 0. 0. 0. 1. ]] SLAMing on 139.10119381700002 meters Centerline goodness : 0.889467 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.05, Z:-2.08 [[ 9.99685312e-01 -2.04325605e-02 -1.45529371e-02 1.45065137e+01] [ 2.05676318e-02 9.99746199e-01 9.19297119e-03 -4.89469071e-02] [ 1.43614076e-02 -9.48939772e-03 9.99851840e-01 -2.08018830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13119381700002 meters Centerline goodness : 0.890948 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.05, Z:-2.08 [[ 9.99761323e-01 -1.59725084e-02 -1.49055459e-02 1.45071449e+01] [ 1.61632982e-02 9.99787835e-01 1.27684579e-02 -4.65398648e-02] [ 1.46984392e-02 -1.30063332e-02 9.99807377e-01 -2.08025270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16119381700003 meters Centerline goodness : 0.890877 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.04, Z:-2.08 [[ 9.99830805e-01 -1.08750185e-02 -1.48356261e-02 1.45066294e+01] [ 1.11217980e-02 9.99799448e-01 1.66544248e-02 -4.35586978e-02] [ 1.46515336e-02 -1.68166058e-02 9.99751236e-01 -2.07981347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19119381700003 meters Centerline goodness : 0.891255 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.04, Z:-2.08 [[ 9.99869095e-01 -6.19958980e-03 -1.49451905e-02 1.45065412e+01] [ 6.49643309e-03 9.99780947e-01 1.98960939e-02 -4.03833557e-02] [ 1.48185690e-02 -1.99905798e-02 9.99690345e-01 -2.07943146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22119381700003 meters Centerline goodness : 0.892209 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.04, Z:-2.08 [[ 9.99887256e-01 2.89317624e-03 -1.47344795e-02 1.45057205e+01] [-2.48746557e-03 9.99619284e-01 2.74790596e-02 -3.77255783e-02] [ 1.48083716e-02 -2.74393100e-02 9.99513780e-01 -2.07884138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25119381700003 meters Centerline goodness : 0.895299 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.04, Z:-2.08 [[ 9.99872563e-01 4.38922274e-03 -1.53490309e-02 1.45081960e+01] [-3.95383038e-03 9.99592156e-01 2.82823138e-02 -3.66650729e-02] [ 1.54669083e-02 -2.82180221e-02 9.99482125e-01 -2.08034594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28119381700003 meters Centerline goodness : 0.894099 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.04, Z:-2.08 [[ 9.99867860e-01 4.39546488e-03 -1.56506460e-02 1.45093236e+01] [-3.95680241e-03 9.99601494e-01 2.79498821e-02 -3.60388761e-02] [ 1.57672618e-02 -2.78842623e-02 9.99486799e-01 -2.08106935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31119381700003 meters Centerline goodness : 0.895797 Centerline is valid? [False, False] Translation: X:14.53, Y:-0.04, Z:-2.08 [[ 9.99905271e-01 3.00051078e-03 -1.34329990e-02 1.45276193e+01] [-2.59722784e-03 9.99548346e-01 2.99392395e-02 -3.92953137e-02] [ 1.35167650e-02 -2.99015148e-02 9.99461453e-01 -2.08078738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34119381700003 meters Centerline goodness : 0.896416 Centerline is valid? [False, False] Translation: X:14.54, Y:-0.04, Z:-2.08 [[ 9.99936393e-01 1.28826905e-03 -1.12049255e-02 1.45354552e+01] [-8.36128745e-04 9.99188751e-01 4.02633985e-02 -4.26253576e-02] [ 1.12477056e-02 -4.02514687e-02 9.99126272e-01 -2.08002156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37119381700003 meters Centerline goodness : 0.895941 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.04, Z:-2.08 [[ 9.99949086e-01 -1.01134804e-03 -1.00400540e-02 1.45553892e+01] [ 1.38763784e-03 9.99294052e-01 3.75429361e-02 -4.20534081e-02] [ 9.99499729e-03 -3.75549566e-02 9.99244577e-01 -2.08054624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40119381700003 meters Centerline goodness : 0.896580 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.04, Z:-2.08 [[ 9.99940975e-01 -2.04240617e-03 -1.06711952e-02 1.45579970e+01] [ 2.43042935e-03 9.99331566e-01 3.64762265e-02 -4.19558171e-02] [ 1.05895630e-02 -3.65000091e-02 9.99277544e-01 -2.08216349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43119381700004 meters Centerline goodness : 0.896395 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.04, Z:-2.08 [[ 9.99928266e-01 -1.64886758e-03 -1.18635301e-02 1.45609543e+01] [ 2.09396981e-03 9.99290507e-01 3.76044800e-02 -4.41772803e-02] [ 1.17931082e-02 -3.76266244e-02 9.99222277e-01 -2.08280302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.461193817 meters Centerline goodness : 0.899590 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.05, Z:-2.08 [[ 9.99923762e-01 -1.68762185e-03 -1.22320109e-02 1.45618695e+01] [ 2.15040210e-03 9.99278476e-01 3.79196816e-02 -4.56775281e-02] [ 1.21591912e-02 -3.79430944e-02 9.99205923e-01 -2.08296666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.491193817 meters Centerline goodness : 0.898113 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.05, Z:-2.08 [[ 9.99863980e-01 -3.75065786e-03 -1.60609762e-02 1.45633562e+01] [ 4.62360321e-03 9.98494075e-01 5.46644639e-02 -5.12217953e-02] [ 1.58317619e-02 -5.47312880e-02 9.98375601e-01 -2.08198383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.521193817 meters Centerline goodness : 0.896242 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.05, Z:-2.08 [[ 9.99855309e-01 -4.07180955e-03 -1.65160827e-02 1.45640876e+01] [ 4.97438514e-03 9.98475028e-01 5.49806665e-02 -5.30051940e-02] [ 1.62670254e-02 -5.50548687e-02 9.98350813e-01 -2.08155201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.551193817 meters Centerline goodness : 0.898580 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.05, Z:-2.08 [[ 9.99836376e-01 -7.09432941e-03 -1.66400829e-02 1.45643563e+01] [ 7.95108324e-03 9.98615460e-01 5.19994538e-02 -5.48324230e-02] [ 1.62481428e-02 -5.21232521e-02 9.98508470e-01 -2.08118683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.581193817 meters Centerline goodness : 0.900008 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.06, Z:-2.08 [[ 9.99835722e-01 -6.92623290e-03 -1.67498400e-02 1.45644596e+01] [ 7.79071001e-03 9.98611013e-01 5.21090175e-02 -5.53586229e-02] [ 1.63656555e-02 -5.22309503e-02 9.98500923e-01 -2.08090087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.61119381700001 meters Centerline goodness : 0.898708 Centerline is valid? [False, False] Translation: X:14.57, Y:-0.06, Z:-2.08 [[ 9.99838611e-01 -4.03285203e-03 -1.75068008e-02 1.45667893e+01] [ 4.98277726e-03 9.98498039e-01 5.45604112e-02 -5.79638749e-02] [ 1.72604722e-02 -5.46388383e-02 9.98356987e-01 -2.08172743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64119381700002 meters Centerline goodness : 0.899198 Centerline is valid? [False, False] Translation: X:14.57, Y:-0.06, Z:-2.08 [[ 9.99828613e-01 -2.36045135e-03 -1.83622736e-02 1.45695372e+01] [ 3.37848518e-03 9.98446866e-01 5.56097202e-02 -5.86961949e-02] [ 1.82024905e-02 -5.56622261e-02 9.98283720e-01 -2.08303333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.67119381700002 meters Centerline goodness : 0.900790 Centerline is valid? [False, False] Translation: X:14.57, Y:-0.06, Z:-2.08 [[ 9.99823072e-01 -1.48081743e-03 -1.87518458e-02 1.45706304e+01] [ 2.53094991e-03 9.98421818e-01 5.61023001e-02 -5.91651787e-02] [ 1.86391747e-02 -5.61398340e-02 9.98248917e-01 -2.08331881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70119381700002 meters Centerline goodness : 0.900760 Centerline is valid? [False, False] Translation: X:14.58, Y:-0.06, Z:-2.08 [[ 9.99795230e-01 6.01522787e-04 -2.02271252e-02 1.45799639e+01] [ 3.80607560e-04 9.98822321e-01 4.85162376e-02 -5.96011430e-02] [ 2.02324877e-02 -4.85140015e-02 9.98617563e-01 -2.08122034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73119381700002 meters Centerline goodness : 0.901084 Centerline is valid? [False, False] Translation: X:14.58, Y:-0.06, Z:-2.08 [[ 9.99779939e-01 7.66507465e-04 -2.09639073e-02 1.45823186e+01] [ 2.50656607e-04 9.98824405e-01 4.84741607e-02 -6.12109245e-02] [ 2.09764180e-02 -4.84687482e-02 9.98604411e-01 -2.08218310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76119381700002 meters Centerline goodness : 0.901087 Centerline is valid? [False, False] Translation: X:14.60, Y:-0.06, Z:-2.08 [[ 9.99731639e-01 3.94908531e-03 -2.28266426e-02 1.45989328e+01] [-3.14612909e-03 9.99378651e-01 3.51057654e-02 -6.47313252e-02] [ 2.29510949e-02 -3.50245288e-02 9.99122880e-01 -2.07869580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79119381700002 meters Centerline goodness : 0.901510 Centerline is valid? [False, False] Translation: X:14.61, Y:-0.07, Z:-2.08 [[ 9.99834586e-01 5.25513483e-03 -1.74122044e-02 1.46093367e+01] [-4.79230884e-03 9.99636889e-01 2.65164881e-02 -6.56681632e-02] [ 1.75452295e-02 -2.64286573e-02 9.99496719e-01 -2.08144509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82119381700002 meters Centerline goodness : 0.902697 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.07, Z:-2.08 [[ 9.99889054e-01 6.62150345e-03 -1.33430033e-02 1.46184163e+01] [-6.39668920e-03 9.99838044e-01 1.68216660e-02 -6.63757665e-02] [ 1.34522271e-02 -1.67344487e-02 9.99769471e-01 -2.08256045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85119381700002 meters Centerline goodness : 0.905564 Centerline is valid? [False, False] Translation: X:14.63, Y:-0.07, Z:-2.08 [[ 9.99930155e-01 7.54540182e-03 -9.09678202e-03 1.46346574e+01] [-7.38530465e-03 9.99819477e-01 1.75062875e-02 -6.92213603e-02] [ 9.22723182e-03 -1.74378823e-02 9.99805370e-01 -2.08110884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88119381700002 meters Centerline goodness : 0.904968 Centerline is valid? [False, False] Translation: X:14.65, Y:-0.08, Z:-2.08 [[ 9.99931014e-01 1.08906221e-02 -4.40007948e-03 1.46495925e+01] [-1.07820566e-02 9.99654137e-01 2.39865129e-02 -7.94541734e-02] [ 4.65978570e-03 -2.39374162e-02 9.99702599e-01 -2.08017222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91119381700003 meters Centerline goodness : 0.910060 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.08, Z:-2.08 [[ 9.99935230e-01 1.12211618e-02 -1.90302727e-03 1.46681662e+01] [-1.11690218e-02 9.99612575e-01 2.54941624e-02 -8.45919781e-02] [ 2.18836411e-03 -2.54712562e-02 9.99673160e-01 -2.08018168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94119381700003 meters Centerline goodness : 0.907545 Centerline is valid? [False, False] Translation: X:14.68, Y:-0.09, Z:-2.08 [[ 9.99944379e-01 1.02753133e-02 2.37843499e-03 1.46834395e+01] [-1.03459790e-02 9.99437551e-01 3.18989353e-02 -9.18791369e-02] [-2.04932568e-03 -3.19217683e-02 9.99488270e-01 -2.08445088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97119381700003 meters Centerline goodness : 0.904461 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.10, Z:-2.09 [[ 9.99945684e-01 1.03025867e-02 -1.57632010e-03 1.46938202e+01] [-1.02526840e-02 9.99528815e-01 2.89314639e-02 -1.04016136e-01] [ 1.87364628e-03 -2.89137310e-02 9.99580155e-01 -2.08537959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00119381700003 meters Centerline goodness : 0.905576 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.11, Z:-2.09 [[ 9.99948624e-01 9.57143783e-03 -3.33732694e-03 1.46880097e+01] [-9.51187244e-03 9.99802853e-01 1.74292487e-02 -1.07034710e-01] [ 3.50349197e-03 -1.73966090e-02 9.99842529e-01 -2.08842294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03119381700003 meters Centerline goodness : 0.905237 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.11, Z:-2.09 [[ 9.99958551e-01 8.22792023e-03 -3.89831737e-03 1.46909028e+01] [-8.16165850e-03 9.99826916e-01 1.67189834e-02 -1.12147482e-01] [ 4.03520509e-03 -1.66864737e-02 9.99852628e-01 -2.09074910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06119381700003 meters Centerline goodness : 0.903372 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.12, Z:-2.09 [[ 9.99974868e-01 5.70398438e-03 -4.21044894e-03 1.46915464e+01] [-5.64277609e-03 9.99880267e-01 1.44087128e-02 -1.15811313e-01] [ 4.29213188e-03 -1.43845921e-02 9.99887324e-01 -2.09087549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09119381700003 meters Centerline goodness : 0.904800 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.13, Z:-2.09 [[ 9.99981057e-01 4.39934928e-03 -4.30489285e-03 1.46912526e+01] [-4.33689513e-03 9.99886750e-01 1.44110621e-02 -1.26774944e-01] [ 4.36780462e-03 -1.43921192e-02 9.99886888e-01 -2.09013012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12119381700003 meters Centerline goodness : 0.904800 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.13, Z:-2.09 [[ 9.99981057e-01 4.39934928e-03 -4.30489285e-03 1.46912526e+01] [-4.33689513e-03 9.99886750e-01 1.44110621e-02 -1.26774944e-01] [ 4.36780462e-03 -1.43921192e-02 9.99886888e-01 -2.09013012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15119381700003 meters Centerline goodness : 0.907249 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.13, Z:-2.09 [[ 9.99988981e-01 1.60087530e-03 -4.41302276e-03 1.46911373e+01] [-1.54705939e-03 9.99924730e-01 1.21713526e-02 -1.31195137e-01] [ 4.43217541e-03 -1.21643913e-02 9.99916188e-01 -2.08962914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18119381700004 meters Centerline goodness : 0.906719 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.14, Z:-2.09 [[ 9.99989966e-01 -1.01814315e-03 -4.36259332e-03 1.46907486e+01] [ 1.06215062e-03 9.99948459e-01 1.00970406e-02 -1.35819529e-01] [ 4.35208823e-03 -1.01015730e-02 9.99939507e-01 -2.08918375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.211193817 meters Centerline goodness : 0.911879 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.15, Z:-2.09 [[ 9.99987044e-01 -2.70207396e-03 -4.31409094e-03 1.46897783e+01] [ 2.74457344e-03 9.99947465e-01 9.87597853e-03 -1.46502029e-01] [ 4.28717868e-03 -9.88769091e-03 9.99941925e-01 -2.08788795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.241193817 meters Centerline goodness : 0.913574 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.15, Z:-2.09 [[ 9.99979062e-01 -4.96305006e-03 -4.15254532e-03 1.46886095e+01] [ 4.99706957e-03 9.99953708e-01 8.22258007e-03 -1.51586951e-01] [ 4.11154402e-03 -8.24315847e-03 9.99957572e-01 -2.08662466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.271193817 meters Centerline goodness : 0.913736 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.16, Z:-2.09 [[ 9.99963300e-01 -7.55682485e-03 -4.03637266e-03 1.46877996e+01] [ 7.58240216e-03 9.99951031e-01 6.35944432e-03 -1.56820321e-01] [ 3.98811780e-03 -6.38981633e-03 9.99971632e-01 -2.08569830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.301193817 meters Centerline goodness : 0.919248 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.17, Z:-2.08 [[ 9.99911962e-01 -1.26938903e-02 -3.86434254e-03 1.46871554e+01] [ 1.27057276e-02 9.99914614e-01 3.05422438e-03 -1.67592632e-01] [ 3.82524259e-03 -3.10305478e-03 9.99987869e-01 -2.08479354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.331193817 meters Centerline goodness : 0.918978 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.17, Z:-2.08 [[ 9.99864653e-01 -1.59213435e-02 -4.14568693e-03 1.46879616e+01] [ 1.59247122e-02 9.99872889e-01 7.80837386e-04 -1.72256867e-01] [ 4.13272799e-03 -8.46750573e-04 9.99991102e-01 -2.08482093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36119381700001 meters Centerline goodness : 0.918982 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.18, Z:-2.09 [[ 9.99799978e-01 -1.95010314e-02 -4.43998770e-03 1.46892979e+01] [ 1.94938837e-02 9.99808619e-01 -1.64748605e-03 -1.77371111e-01] [ 4.47126564e-03 1.56060391e-03 9.99988786e-01 -2.08538227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.39119381700002 meters Centerline goodness : 0.921420 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.19, Z:-2.09 [[ 9.99609307e-01 -2.75718273e-02 -4.58558639e-03 1.46913393e+01] [ 2.75377703e-02 9.99593879e-01 -7.33128902e-03 -1.87639157e-01] [ 4.78586112e-03 7.20214791e-03 9.99962612e-01 -2.08678018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42119381700002 meters Centerline goodness : 0.919919 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.19, Z:-2.09 [[ 9.99495355e-01 -3.13919903e-02 -4.85565255e-03 1.46928763e+01] [ 3.13427094e-02 9.99459542e-01 -9.91254077e-03 -1.92464406e-01] [ 5.16420265e-03 9.75534915e-03 9.99939080e-01 -2.08764520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.45119381700002 meters Centerline goodness : 0.917371 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.20, Z:-2.09 [[ 9.99358238e-01 -3.54312863e-02 -5.26653478e-03 1.46951710e+01] [ 3.53624399e-02 9.99294662e-01 -1.26363326e-02 -1.97233419e-01] [ 5.71054161e-03 1.24419856e-02 9.99906289e-01 -2.08906568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48119381700002 meters Centerline goodness : 0.918262 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.20, Z:-2.09 [[ 9.99167346e-01 -4.03982728e-02 -5.70908859e-03 1.46980842e+01] [ 4.02996250e-02 9.99052219e-01 -1.64500426e-02 -2.01247473e-01] [ 6.36823094e-03 1.62062713e-02 9.99848390e-01 -2.09102751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51119381700002 meters Centerline goodness : 0.916739 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.21, Z:-2.09 [[ 9.98762249e-01 -4.93843308e-02 -5.92947942e-03 1.47011530e+01] [ 4.92317834e-02 9.98508880e-01 -2.35849022e-02 -2.07677028e-01] [ 7.08536247e-03 2.32637911e-02 9.99704253e-01 -2.09315989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54119381700002 meters Centerline goodness : 0.918715 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.21, Z:-2.09 [[ 9.98726310e-01 -5.00849995e-02 -6.10326114e-03 1.47018970e+01] [ 4.99326453e-02 9.98488244e-01 -2.29773258e-02 -2.11111734e-01] [ 7.24485385e-03 2.26433078e-02 9.99717356e-01 -2.09331457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57119381700002 meters Centerline goodness : 0.920144 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.21, Z:-2.09 [[ 9.98694719e-01 -5.06790493e-02 -6.36342460e-03 1.47024628e+01] [ 5.05240217e-02 9.98468682e-01 -2.25302985e-02 -2.13453696e-01] [ 7.49549429e-03 2.21793843e-02 9.99725909e-01 -2.09305983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60119381700002 meters Centerline goodness : 0.919679 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.22, Z:-2.09 [[ 9.98560857e-01 -5.35642447e-02 -2.66193691e-03 1.47116185e+01] [ 5.35200716e-02 9.98460693e-01 -1.45549316e-02 -2.16091033e-01] [ 3.43746328e-03 1.43915179e-02 9.99890528e-01 -2.09390699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63119381700002 meters Centerline goodness : 0.919643 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.22, Z:-2.09 [[ 9.98311264e-01 -5.80352320e-02 -2.55587954e-03 1.47119239e+01] [ 5.79776682e-02 9.98143288e-01 -1.86699172e-02 -2.16543732e-01] [ 3.63464698e-03 1.84902047e-02 9.99822435e-01 -2.09386039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66119381700003 meters Centerline goodness : 0.918352 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.22, Z:-2.09 [[ 9.98277941e-01 -5.85913275e-02 -2.86510644e-03 1.47130384e+01] [ 5.85271803e-02 9.98107535e-01 -1.88657813e-02 -2.16908166e-01] [ 3.96505550e-03 1.86656067e-02 9.99817920e-01 -2.09432820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69119381700003 meters Centerline goodness : 0.916895 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.22, Z:-2.09 [[ 9.98246621e-01 -5.91117860e-02 -3.07905003e-03 1.47138541e+01] [ 5.90414266e-02 9.98067535e-01 -1.93728163e-02 -2.15886037e-01] [ 4.21826164e-03 1.91570569e-02 9.99807588e-01 -2.09472369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72119381700003 meters Centerline goodness : 0.919699 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.21, Z:-2.10 [[ 9.98213689e-01 -5.96497662e-02 -3.36698353e-03 1.47148542e+01] [ 5.95701549e-02 9.98020223e-01 -2.01750137e-02 -2.13713699e-01] [ 4.56375250e-03 1.99384032e-02 9.99790794e-01 -2.09527374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75119381700003 meters Centerline goodness : 0.916701 Centerline is valid? [False, False] Translation: X:14.72, Y:-0.21, Z:-2.10 [[ 9.98351718e-01 -5.72646510e-02 -3.82187067e-03 1.47161063e+01] [ 5.71857718e-02 9.98196267e-01 -1.82756910e-02 -2.08439808e-01] [ 4.86152810e-03 1.80270109e-02 9.99825681e-01 -2.09614951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78119381700003 meters Centerline goodness : 0.917181 Centerline is valid? [False, False] Translation: X:14.74, Y:-0.20, Z:-2.10 [[ 9.98520825e-01 -5.42973180e-02 -2.82185290e-03 1.47361159e+01] [ 5.42363666e-02 9.98357955e-01 -1.84339335e-02 -2.04832763e-01] [ 3.81813245e-03 1.82536195e-02 9.99826098e-01 -2.09700515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81119381700003 meters Centerline goodness : 0.915040 Centerline is valid? [False, False] Translation: X:14.74, Y:-0.20, Z:-2.10 [[ 9.98682929e-01 -5.12067601e-02 -3.20558415e-03 1.47366682e+01] [ 5.11507209e-02 9.98568593e-01 -1.56322976e-02 -2.01758208e-01] [ 4.00147497e-03 1.54477408e-02 9.99872670e-01 -2.09707754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84119381700003 meters Centerline goodness : 0.913878 Centerline is valid? [False, False] Translation: X:14.74, Y:-0.20, Z:-2.10 [[ 9.98840372e-01 -4.80098380e-02 -3.60095312e-03 1.47372353e+01] [ 4.79602389e-02 9.98767417e-01 -1.27852315e-02 -1.98657892e-01] [ 4.21033154e-03 1.25977028e-02 9.99911782e-01 -2.09709259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87119381700003 meters Centerline goodness : 0.916276 Centerline is valid? [False, False] Translation: X:14.74, Y:-0.20, Z:-2.10 [[ 9.98983091e-01 -4.49114521e-02 -3.96811178e-03 1.47374955e+01] [ 4.48700979e-02 9.98943184e-01 -9.95936974e-03 -1.95586337e-01] [ 4.41120797e-03 9.77119240e-03 9.99942531e-01 -2.09675242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90119381700003 meters Centerline goodness : 0.915893 Centerline is valid? [False, False] Translation: X:14.75, Y:-0.18, Z:-2.10 [[ 9.99082033e-01 -4.28330162e-02 6.51259889e-04 1.47525924e+01] [ 4.28379577e-02 9.98976347e-01 -1.45316263e-02 -1.83488304e-01] [-2.81598380e-05 1.45461854e-02 9.99894198e-01 -2.09845176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93119381700004 meters Centerline goodness : 0.916634 Centerline is valid? [False, False] Translation: X:14.75, Y:-0.18, Z:-2.10 [[ 9.99175943e-01 -4.05878464e-02 2.49575109e-04 1.47535320e+01] [ 4.05878104e-02 9.99098591e-01 -1.24351991e-02 -1.79483788e-01] [ 2.55367810e-04 1.24350815e-02 9.99922649e-01 -2.09878957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.961193817 meters Centerline goodness : 0.917855 Centerline is valid? [False, False] Translation: X:14.75, Y:-0.18, Z:-2.10 [[ 9.99256572e-01 -3.85514278e-02 -3.00371454e-04 1.47546683e+01] [ 3.85463312e-02 9.99204292e-01 -1.02451994e-02 -1.76035657e-01] [ 6.95099510e-04 1.02260046e-02 9.99947471e-01 -2.09893253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.991193817 meters Centerline goodness : 0.913915 Centerline is valid? [False, False] Translation: X:14.76, Y:-0.17, Z:-2.10 [[ 9.99209673e-01 -3.97469524e-02 -4.56982696e-04 1.47553335e+01] [ 3.97386332e-02 9.99138282e-01 -1.19806227e-02 -1.71053456e-01] [ 9.32782145e-04 1.19529942e-02 9.99928125e-01 -2.09924574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.021193817 meters Centerline goodness : 0.915156 Centerline is valid? [False, False] Translation: X:14.76, Y:-0.16, Z:-2.10 [[ 9.99086408e-01 -4.27336287e-02 -4.32027584e-04 1.47552873e+01] [ 4.27219997e-02 9.98969460e-01 -1.53247802e-02 -1.59371848e-01] [ 1.08646583e-03 1.52923226e-02 9.99882475e-01 -2.09884917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.051193817 meters Centerline goodness : 0.916315 Centerline is valid? [False, False] Translation: X:14.76, Y:-0.16, Z:-2.10 [[ 9.99130599e-01 -4.16808975e-02 -8.65921187e-04 1.47568527e+01] [ 4.16647712e-02 9.99034092e-01 -1.39617597e-02 -1.55124211e-01] [ 1.44702346e-03 1.39135429e-02 9.99902155e-01 -2.09965934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.081193817 meters Centerline goodness : 0.914377 Centerline is valid? [False, False] Translation: X:14.76, Y:-0.15, Z:-2.10 [[ 9.99175025e-01 -4.05858265e-02 -1.43544167e-03 1.47587437e+01] [ 4.05644053e-02 9.99096376e-01 -1.26870348e-02 -1.50823499e-01] [ 1.94905836e-03 1.26183405e-02 9.99918486e-01 -2.10061859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.11119381700001 meters Centerline goodness : 0.913172 Centerline is valid? [False, False] Translation: X:14.78, Y:-0.14, Z:-2.10 [[ 9.99120107e-01 -4.19248126e-02 -1.14964154e-03 1.47799413e+01] [ 4.18955789e-02 9.98942597e-01 -1.89327530e-02 -1.37396439e-01] [ 1.94217803e-03 1.88679293e-02 9.99820098e-01 -2.10286916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14119381700002 meters Centerline goodness : 0.910938 Centerline is valid? [False, False] Translation: X:14.80, Y:-0.13, Z:-2.10 [[ 9.99197661e-01 -4.00061103e-02 -1.88292178e-03 1.48015817e+01] [ 3.99601909e-02 9.98998399e-01 -2.01340825e-02 -1.30886559e-01] [ 2.68652217e-03 2.00426862e-02 9.99795516e-01 -2.10446352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.17119381700002 meters Centerline goodness : 0.906584 Centerline is valid? [False, False] Translation: X:14.82, Y:-0.12, Z:-2.11 [[ 9.99311982e-01 -3.69791760e-02 -2.84660469e-03 1.48228651e+01] [ 3.69122778e-02 9.99102717e-01 -2.07664222e-02 -1.23183452e-01] [ 3.61197567e-03 2.06470599e-02 9.99780302e-01 -2.10606655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20119381700002 meters Centerline goodness : 0.908145 Centerline is valid? [False, False] Translation: X:14.84, Y:-0.11, Z:-2.11 [[ 9.99535718e-01 -3.04675180e-02 -2.81949586e-04 1.48412813e+01] [ 3.04536901e-02 9.99288131e-01 -2.22666784e-02 -1.05054498e-01] [ 9.60159299e-04 2.22477540e-02 9.99752027e-01 -2.11024273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23119381700002 meters Centerline goodness : 0.906543 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.10, Z:-2.11 [[ 9.99641744e-01 -2.66776168e-02 2.16527768e-03 1.48600692e+01] [ 2.67198827e-02 9.99386017e-01 -2.26635596e-02 -9.63040111e-02] [-1.55933848e-03 2.27132962e-02 9.99740804e-01 -2.11140661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26119381700002 meters Centerline goodness : 0.906979 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.09, Z:-2.11 [[ 9.99739522e-01 -2.12979896e-02 8.20266542e-03 1.48731304e+01] [ 2.14960649e-02 9.99459600e-01 -2.48681915e-02 -8.72792298e-02] [-7.66859022e-03 2.50380389e-02 9.99657086e-01 -2.11470510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29119381700002 meters Centerline goodness : 0.907877 Centerline is valid? [False, False] Translation: X:14.89, Y:-0.08, Z:-2.12 [[ 9.99771133e-01 -1.64714990e-02 1.36517661e-02 1.48872150e+01] [ 1.68385364e-02 9.99487591e-01 -2.72216586e-02 -7.82097159e-02] [-1.31963893e-02 2.74453042e-02 9.99536198e-01 -2.11804364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32119381700002 meters Centerline goodness : 0.908237 Centerline is valid? [False, False] Translation: X:14.91, Y:-0.06, Z:-2.12 [[ 9.99802740e-01 -1.20626075e-02 1.57789568e-02 1.49064545e+01] [ 1.25216560e-02 9.99491507e-01 -2.93246419e-02 -6.13139780e-02] [-1.54172017e-02 2.95164359e-02 9.99445391e-01 -2.12016248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35119381700002 meters Centerline goodness : 0.910098 Centerline is valid? [False, False] Translation: X:14.93, Y:-0.06, Z:-2.12 [[ 9.99855121e-01 -9.39624439e-03 1.41931967e-02 1.49285714e+01] [ 9.79311085e-03 9.99555569e-01 -2.81559989e-02 -5.55478635e-02] [-1.39223281e-02 2.82909153e-02 9.99502773e-01 -2.12157932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38119381700002 meters Centerline goodness : 0.908598 Centerline is valid? [False, False] Translation: X:14.93, Y:-0.05, Z:-2.12 [[ 9.99879246e-01 -6.86605971e-03 1.39409657e-02 1.49301148e+01] [ 7.23282456e-03 9.99624481e-01 -2.64307221e-02 -4.98062047e-02] [-1.37542557e-02 2.65283631e-02 9.99553433e-01 -2.12262701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41119381700003 meters Centerline goodness : 0.908015 Centerline is valid? [False, False] Translation: X:14.93, Y:-0.04, Z:-2.12 [[ 9.99897737e-01 -3.87168371e-03 1.37668414e-02 1.49310517e+01] [ 4.20515316e-03 9.99696431e-01 -2.42767919e-02 -4.43254465e-02] [-1.36686701e-02 2.43322009e-02 9.99610480e-01 -2.12306197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44119381700003 meters Centerline goodness : 0.911543 Centerline is valid? [False, False] Translation: X:14.93, Y:-0.03, Z:-2.12 [[ 9.99903965e-01 2.24689529e-03 1.36752178e-02 1.49309615e+01] [-1.97553296e-03 9.99801521e-01 -1.98246267e-02 -3.35496378e-02] [-1.37170474e-02 1.97957071e-02 9.99709944e-01 -2.12226677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47119381700003 meters Centerline goodness : 0.911298 Centerline is valid? [False, False] Translation: X:14.93, Y:-0.03, Z:-2.12 [[ 9.99892685e-01 5.76361391e-03 1.34684182e-02 1.49316685e+01] [-5.53313011e-03 9.99838680e-01 -1.70879606e-02 -2.88922341e-02] [-1.35647339e-02 1.70116043e-02 9.99763274e-01 -2.12241578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50119381700003 meters Centerline goodness : 0.911112 Centerline is valid? [False, False] Translation: X:14.93, Y:-0.02, Z:-2.12 [[ 9.99869165e-01 9.17952376e-03 1.33187814e-02 1.49319253e+01] [-8.98733393e-03 9.99855653e-01 -1.44187853e-02 -2.44045491e-02] [-1.34492164e-02 1.42971985e-02 9.99807336e-01 -2.12204021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53119381700003 meters Centerline goodness : 0.912903 Centerline is valid? [False, False] Translation: X:14.93, Y:-0.02, Z:-2.12 [[ 9.99796303e-01 1.51333908e-02 1.33541697e-02 1.49306414e+01] [-1.50006568e-02 9.99837634e-01 -9.98433175e-03 -1.56348841e-02] [-1.35030982e-02 9.78197666e-03 9.99860980e-01 -2.11990443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56119381700003 meters Centerline goodness : 0.914044 Centerline is valid? [False, False] Translation: X:14.93, Y:-0.01, Z:-2.12 [[ 9.99745139e-01 1.82795702e-02 1.32481834e-02 1.49305044e+01] [-1.81831098e-02 9.99807545e-01 -7.36527880e-03 -1.21614294e-02] [-1.33802679e-02 7.12250850e-03 9.99885113e-01 -2.11916091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59119381700003 meters Centerline goodness : 0.913738 Centerline is valid? [False, False] Translation: X:14.93, Y:-0.01, Z:-2.12 [[ 9.99683855e-01 2.14221439e-02 1.31636517e-02 1.49304957e+01] [-2.13619646e-02 9.99760781e-01 -4.69536408e-03 -8.97175026e-03] [-1.32610875e-02 4.41267820e-03 9.99902331e-01 -2.11860706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62119381700003 meters Centerline goodness : 0.913714 Centerline is valid? [False, False] Translation: X:14.93, Y:-0.01, Z:-2.12 [[ 9.99620162e-01 2.41800765e-02 1.32232877e-02 1.49296546e+01] [-2.41502412e-02 9.99705432e-01 -2.41134060e-03 -5.86803519e-03] [-1.32776989e-02 2.09107909e-03 9.99909661e-01 -2.11732812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65119381700003 meters Centerline goodness : 0.916910 Centerline is valid? [False, False] Translation: X:14.93, Y:0.00, Z:-2.12 [[ 9.99548731e-01 2.70751989e-02 1.30103121e-02 1.49302224e+01] [-2.70671272e-02 9.99633301e-01 -7.96125545e-04 4.34647581e-04] [-1.30270965e-02 4.43614507e-04 9.99915045e-01 -2.11707081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68119381700004 meters Centerline goodness : 0.915168 Centerline is valid? [False, False] Translation: X:14.93, Y:0.00, Z:-2.12 [[ 9.99554170e-01 2.71428568e-02 1.24388938e-02 1.49319010e+01] [-2.71263623e-02 9.99630898e-01 -1.49288099e-03 3.49566580e-03] [-1.24748236e-02 1.15479348e-03 9.99921520e-01 -2.11772215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.711193817 meters Centerline goodness : 0.918162 Centerline is valid? [False, False] Translation: X:14.93, Y:0.01, Z:-2.12 [[ 9.99559155e-01 2.71307733e-02 1.20588971e-02 1.49328250e+01] [-2.71070974e-02 9.99630282e-01 -2.12251401e-03 5.88747437e-03] [-1.21120242e-02 1.79469661e-03 9.99925036e-01 -2.11784432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.741193817 meters Centerline goodness : 0.917028 Centerline is valid? [False, False] Translation: X:14.93, Y:0.01, Z:-2.12 [[ 9.99474045e-01 3.00911189e-02 1.20895971e-02 1.49328347e+01] [-3.01097430e-02 9.99545672e-01 1.36141725e-03 5.61465493e-03] [-1.20431379e-02 -1.72471587e-03 9.99925991e-01 -2.11767408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.771193817 meters Centerline goodness : 0.914126 Centerline is valid? [False, False] Translation: X:14.93, Y:0.01, Z:-2.12 [[ 9.99381719e-01 3.29128588e-02 1.23662131e-02 1.49316072e+01] [-3.29689200e-02 9.99446880e-01 4.35718968e-03 5.78473934e-03] [-1.22159655e-02 -4.76219640e-03 9.99914042e-01 -2.11644104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.801193817 meters Centerline goodness : 0.917951 Centerline is valid? [False, False] Translation: X:14.93, Y:0.00, Z:-2.12 [[ 9.99272496e-01 3.60676641e-02 1.23936132e-02 1.49313881e+01] [-3.61709022e-02 9.99311901e-01 8.20920732e-03 4.15485146e-03] [-1.20889982e-02 -8.65152326e-03 9.99889498e-01 -2.11581013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.831193817 meters Centerline goodness : 0.916093 Centerline is valid? [False, False] Translation: X:14.93, Y:0.00, Z:-2.12 [[ 9.99265146e-01 3.63596624e-02 1.21302868e-02 1.49319201e+01] [-3.64622400e-02 9.99300188e-01 8.34507214e-03 4.05466783e-03] [-1.18183739e-02 -8.78123715e-03 9.99891602e-01 -2.11573687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86119381700001 meters Centerline goodness : 0.917451 Centerline is valid? [False, False] Translation: X:14.93, Y:0.00, Z:-2.11 [[ 9.99096937e-01 4.06137552e-02 1.24833570e-02 1.49309865e+01] [-4.07838564e-02 9.99074232e-01 1.36877978e-02 4.49485926e-04] [-1.19158874e-02 -1.41845563e-02 9.99828390e-01 -2.11463971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.89119381700002 meters Centerline goodness : 0.915277 Centerline is valid? [False, False] Translation: X:14.94, Y:-0.00, Z:-2.11 [[ 9.99116062e-01 3.98973036e-02 1.32401089e-02 1.49395975e+01] [-4.02184948e-02 9.98879336e-01 2.49508569e-02 -2.98361884e-03] [-1.22297993e-02 -2.54612991e-02 9.99600998e-01 -2.11287045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92119381700002 meters Centerline goodness : 0.915483 Centerline is valid? [False, False] Translation: X:14.94, Y:-0.01, Z:-2.11 [[ 9.99104937e-01 4.02720869e-02 1.29415309e-02 1.49399752e+01] [-4.05943999e-02 9.98845373e-01 2.56907556e-02 -5.01135184e-03] [-1.18919679e-02 -2.61931144e-02 9.99586165e-01 -2.11231051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.95119381700002 meters Centerline goodness : 0.918030 Centerline is valid? [False, False] Translation: X:14.96, Y:-0.02, Z:-2.10 [[ 9.99279584e-01 3.69460179e-02 8.67778702e-03 1.49594515e+01] [-3.73795315e-02 9.97692549e-01 5.66775784e-02 -1.80329575e-02] [-6.56375262e-03 -5.69611186e-02 9.98354821e-01 -2.10251683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98119381700002 meters Centerline goodness : 0.915319 Centerline is valid? [False, False] Translation: X:14.96, Y:-0.02, Z:-2.10 [[ 9.99395073e-01 3.37605827e-02 8.34937497e-03 1.49602871e+01] [-3.41616274e-02 9.97968763e-01 5.37711056e-02 -1.90742722e-02] [-6.51707155e-03 -5.40238063e-02 9.98518380e-01 -2.10222584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01119381700002 meters Centerline goodness : 0.915319 Centerline is valid? [False, False] Translation: X:14.96, Y:-0.02, Z:-2.10 [[ 9.99393989e-01 3.37753121e-02 8.41917649e-03 1.49602187e+01] [-3.41785318e-02 9.97981016e-01 5.35324215e-02 -1.84487163e-02] [-6.59410406e-03 -5.37877354e-02 9.98530619e-01 -2.10223451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04119381700002 meters Centerline goodness : 0.912866 Centerline is valid? [False, False] Translation: X:14.96, Y:-0.02, Z:-2.10 [[ 9.99526815e-01 2.97463890e-02 7.82934947e-03 1.49613265e+01] [-3.01006946e-02 9.98301068e-01 4.98891372e-02 -2.00002988e-02] [-6.33202625e-03 -5.01011993e-02 9.98724074e-01 -2.10216535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07119381700002 meters Centerline goodness : 0.910708 Centerline is valid? [False, False] Translation: X:14.95, Y:-0.02, Z:-2.10 [[ 9.99649744e-01 2.64564188e-02 6.68601526e-04 1.49507236e+01] [-2.64624670e-02 9.98899948e-01 3.87121561e-02 -1.99447523e-02] [ 3.56318982e-04 -3.87162897e-02 9.99250180e-01 -2.09723773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10119381700002 meters Centerline goodness : 0.911843 Centerline is valid? [False, False] Translation: X:14.93, Y:-0.03, Z:-2.09 [[ 9.99869616e-01 1.58391968e-02 -3.14175506e-03 1.49309074e+01] [-1.56700943e-02 9.98722723e-01 4.80351033e-02 -2.82155326e-02] [ 3.89857962e-03 -4.79796087e-02 9.98840707e-01 -2.09478847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13119381700002 meters Centerline goodness : 0.912603 Centerline is valid? [False, False] Translation: X:14.91, Y:-0.03, Z:-2.09 [[ 9.99939043e-01 1.01044167e-02 -4.45103149e-03 1.49109498e+01] [-9.91609841e-03 9.99131429e-01 4.04729483e-02 -2.70254928e-02] [ 4.85612098e-03 -4.04263443e-02 9.99170721e-01 -2.09383533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16119381700003 meters Centerline goodness : 0.910689 Centerline is valid? [False, False] Translation: X:14.91, Y:-0.03, Z:-2.09 [[ 9.99970616e-01 6.08262465e-03 -4.66574211e-03 1.49111922e+01] [-5.90742057e-03 9.99309310e-01 3.66879381e-02 -2.80489653e-02] [ 4.88567849e-03 -3.66592976e-02 9.99315879e-01 -2.09360196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19119381700003 meters Centerline goodness : 0.913705 Centerline is valid? [False, False] Translation: X:14.89, Y:-0.03, Z:-2.09 [[ 9.99991286e-01 1.93132384e-03 -3.70103978e-03 1.48892977e+01] [-1.81858738e-03 9.99541443e-01 3.02257449e-02 -2.58866069e-02] [ 3.75771834e-03 -3.02187508e-02 9.99536246e-01 -2.09203225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22119381700003 meters Centerline goodness : 0.912398 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.02, Z:-2.09 [[ 9.99994553e-01 -3.10899614e-03 -1.10784814e-03 1.48646577e+01] [ 3.13446298e-03 9.99712311e-01 2.37796096e-02 -2.49370686e-02] [ 1.03359871e-03 -2.37829525e-02 9.99716611e-01 -2.08918559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25119381700003 meters Centerline goodness : 0.913730 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.02, Z:-2.09 [[ 9.99974261e-01 -7.02370572e-03 -1.46443716e-03 1.48655383e+01] [ 7.05111525e-03 9.99782313e-01 1.96369050e-02 -2.44867234e-02] [ 1.32619453e-03 -1.96467255e-02 9.99806105e-01 -2.08931386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28119381700003 meters Centerline goodness : 0.911803 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.02, Z:-2.09 [[ 9.99946332e-01 -1.01463240e-02 -2.09430118e-03 1.48678116e+01] [ 1.01791843e-02 9.99814902e-01 1.63262577e-02 -2.48005763e-02] [ 1.92826203e-03 -1.63466997e-02 9.99864524e-01 -2.09055039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31119381700003 meters Centerline goodness : 0.914752 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.02, Z:-2.09 [[ 9.99901910e-01 -1.38406436e-02 -2.14650442e-03 1.48685021e+01] [ 1.38660244e-02 9.99828230e-01 1.22981546e-02 -2.40480921e-02] [ 1.97592134e-03 -1.23267118e-02 9.99922071e-01 -2.09112097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34119381700003 meters Centerline goodness : 0.913139 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.02, Z:-2.09 [[ 9.99893424e-01 -1.44214893e-02 -2.27165723e-03 1.48689910e+01] [ 1.44477243e-02 9.99823736e-01 1.19900108e-02 -2.44439659e-02] [ 2.09834300e-03 -1.20215532e-02 9.99925537e-01 -2.09143287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37119381700003 meters Centerline goodness : 0.912992 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.02, Z:-2.09 [[ 9.99880227e-01 -1.52812282e-02 -2.45256180e-03 1.48696974e+01] [ 1.53077203e-02 9.99820400e-01 1.11732882e-02 -2.31356258e-02] [ 2.28137975e-03 -1.12094930e-02 9.99934569e-01 -2.09190097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40119381700003 meters Centerline goodness : 0.915074 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.02, Z:-2.09 [[ 9.99875999e-01 -1.55332344e-02 -2.58949829e-03 1.48698688e+01] [ 1.55602757e-02 9.99820907e-01 1.07718349e-02 -2.24412139e-02] [ 2.42171309e-03 -1.08107925e-02 9.99938629e-01 -2.09171014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43119381700004 meters Centerline goodness : 0.912194 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.02, Z:-2.09 [[ 9.99870471e-01 -1.58709841e-02 -2.67465688e-03 1.48700863e+01] [ 1.58978739e-02 9.99820036e-01 1.03515220e-02 -2.16404369e-02] [ 2.50988669e-03 -1.03927026e-02 9.99942844e-01 -2.09165392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.461193817 meters Centerline goodness : 0.912609 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.02, Z:-2.09 [[ 9.99865680e-01 -1.61711248e-02 -2.66752808e-03 1.48696825e+01] [ 1.61971241e-02 9.99818496e-01 1.00313163e-02 -2.10225832e-02] [ 2.50482624e-03 -1.00731752e-02 9.99946127e-01 -2.09109749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.491193817 meters Centerline goodness : 0.916221 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.02, Z:-2.09 [[ 9.99853057e-01 -1.68907451e-02 -2.92703171e-03 1.48702349e+01] [ 1.69172812e-02 9.99813719e-01 9.29154263e-03 -1.99161058e-02] [ 2.76954538e-03 -9.33969472e-03 9.99952549e-01 -2.09114427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.521193817 meters Centerline goodness : 0.916122 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.02, Z:-2.09 [[ 9.99848154e-01 -1.71450350e-02 -3.11708942e-03 1.48710536e+01] [ 1.71724022e-02 9.99812254e-01 8.97585763e-03 -1.93775967e-02] [ 2.96261280e-03 -9.02802260e-03 9.99954858e-01 -2.09168651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.551193817 meters Centerline goodness : 0.914914 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.02, Z:-2.09 [[ 9.99840234e-01 -1.75440956e-02 -3.42226192e-03 1.48724415e+01] [ 1.75723900e-02 9.99810133e-01 8.42075744e-03 -1.81167689e-02] [ 3.27387757e-03 -8.47954941e-03 9.99958689e-01 -2.09269278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.581193817 meters Centerline goodness : 0.914526 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.02, Z:-2.09 [[ 9.99831360e-01 -1.80290232e-02 -3.49370063e-03 1.48732336e+01] [ 1.80547716e-02 9.99808988e-01 7.48415128e-03 -1.54292145e-02] [ 3.35810135e-03 -7.54596712e-03 9.99965890e-01 -2.09353772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.61119381700001 meters Centerline goodness : 0.914969 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.01, Z:-2.09 [[ 9.99825262e-01 -1.82959466e-02 -3.83460000e-03 1.48746818e+01] [ 1.83222848e-02 9.99807978e-01 6.94984846e-03 -1.39519735e-02] [ 3.70670962e-03 -7.01889269e-03 9.99968497e-01 -2.09452190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64119381700002 meters Centerline goodness : 0.914875 Centerline is valid? [False, False] Translation: X:14.88, Y:-0.01, Z:-2.10 [[ 9.99823984e-01 -1.83360589e-02 -3.97374211e-03 1.48755012e+01] [ 1.83609782e-02 9.99811398e-01 6.32794389e-03 -1.13538482e-02] [ 3.85696310e-03 -6.39979186e-03 9.99972083e-01 -2.09519690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.67119381700002 meters Centerline goodness : 0.916900 Centerline is valid? [False, False] Translation: X:14.88, Y:-0.01, Z:-2.10 [[ 9.99837067e-01 -1.74880073e-02 -4.47319664e-03 1.48773153e+01] [ 1.75157802e-02 9.99827073e-01 6.24679197e-03 -7.38277660e-03] [ 4.36317915e-03 -6.32412568e-03 9.99970484e-01 -2.09621050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70119381700002 meters Centerline goodness : 0.915120 Centerline is valid? [False, False] Translation: X:14.88, Y:-0.00, Z:-2.10 [[ 9.99893078e-01 -1.38912514e-02 -4.56789907e-03 1.48771982e+01] [ 1.39319332e-02 9.99862457e-01 8.99818602e-03 -3.46717572e-03] [ 4.44227472e-03 -9.06086358e-03 9.99949082e-01 -2.09587360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73119381700002 meters Centerline goodness : 0.916982 Centerline is valid? [False, False] Translation: X:14.88, Y:0.00, Z:-2.09 [[ 9.99983657e-01 -2.92876912e-03 -4.91002081e-03 1.48764040e+01] [ 3.01736028e-03 9.99831018e-01 1.81336809e-02 3.12755586e-03] [ 4.85608174e-03 -1.81481998e-02 9.99823515e-01 -2.09421002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76119381700002 meters Centerline goodness : 0.918971 Centerline is valid? [False, False] Translation: X:14.88, Y:0.01, Z:-2.09 [[ 9.99986355e-01 1.64314951e-03 -4.95883481e-03 1.48761760e+01] [-1.53669173e-03 9.99769892e-01 2.13962871e-02 6.36658825e-03] [ 4.99285105e-03 -2.13883750e-02 9.99758775e-01 -2.09365186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79119381700002 meters Centerline goodness : 0.921874 Centerline is valid? [False, False] Translation: X:14.87, Y:0.02, Z:-2.09 [[ 9.99906893e-01 1.35515905e-02 -1.59961442e-03 1.48697737e+01] [-1.35288574e-02 9.99817928e-01 1.34566192e-02 1.78416810e-02] [ 1.78168176e-03 -1.34337253e-02 9.99908176e-01 -2.09039269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82119381700002 meters Centerline goodness : 0.923599 Centerline is valid? [False, False] Translation: X:14.87, Y:0.02, Z:-2.09 [[ 9.99853117e-01 1.70657963e-02 -1.58190464e-03 1.48690762e+01] [-1.70384238e-02 9.99727649e-01 1.59474112e-02 2.22045725e-02] [ 1.85362908e-03 -1.59181157e-02 9.99871581e-01 -2.08926927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85119381700002 meters Centerline goodness : 0.922203 Centerline is valid? [False, False] Translation: X:14.87, Y:0.02, Z:-2.09 [[ 9.99789023e-01 2.04585477e-02 -1.83209878e-03 1.48694518e+01] [-2.04203990e-02 9.99613596e-01 1.88590865e-02 2.49384759e-02] [ 2.21722037e-03 -1.88176955e-02 9.99820473e-01 -2.08888135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88119381700002 meters Centerline goodness : 0.921710 Centerline is valid? [False, False] Translation: X:14.87, Y:0.03, Z:-2.09 [[ 9.99784145e-01 2.06630611e-02 -2.16833324e-03 1.48701392e+01] [-2.06197748e-02 9.99618436e-01 1.83795112e-02 2.69952818e-02] [ 2.54728285e-03 -1.83308333e-02 9.99828731e-01 -2.08879075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91119381700003 meters Centerline goodness : 0.919431 Centerline is valid? [False, False] Translation: X:14.88, Y:0.03, Z:-2.09 [[ 9.99870040e-01 1.60448327e-02 1.57055314e-03 1.48820126e+01] [-1.60784815e-02 9.99571116e-01 2.44758437e-02 2.50098901e-02] [-1.17716874e-03 -2.44979149e-02 9.99699188e-01 -2.09231420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94119381700003 meters Centerline goodness : 0.920178 Centerline is valid? [False, False] Translation: X:14.89, Y:0.02, Z:-2.09 [[ 9.99914874e-01 1.25286403e-02 3.64395579e-03 1.48916884e+01] [-1.26420892e-02 9.99375928e-01 3.29838033e-02 2.26888267e-02] [-3.22843950e-03 -3.30270627e-02 9.99449243e-01 -2.09308881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97119381700003 meters Centerline goodness : 0.919618 Centerline is valid? [False, False] Translation: X:14.90, Y:0.02, Z:-2.09 [[ 9.99942642e-01 8.82692501e-03 6.06616145e-03 1.49002494e+01] [-9.07192335e-03 9.99092207e-01 4.16228639e-02 2.05877798e-02] [-5.69325273e-03 -4.16755083e-02 9.99114978e-01 -2.09328364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00119381700003 meters Centerline goodness : 0.920641 Centerline is valid? [False, False] Translation: X:14.91, Y:0.02, Z:-2.09 [[ 9.99938272e-01 6.00030176e-03 9.35139785e-03 1.49080120e+01] [-6.47355216e-03 9.98655762e-01 5.14272456e-02 1.83447239e-02] [-9.03024835e-03 -5.14846079e-02 9.98632960e-01 -2.09351155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03119381700003 meters Centerline goodness : 0.920447 Centerline is valid? [False, False] Translation: X:14.91, Y:0.02, Z:-2.09 [[ 9.99957469e-01 1.50189040e-03 9.09971216e-03 1.49081846e+01] [-1.91921079e-03 9.98938348e-01 4.60270882e-02 2.21745442e-02] [-9.02092380e-03 -4.60425948e-02 9.98898745e-01 -2.09318625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06119381700003 meters Centerline goodness : 0.918541 Centerline is valid? [False, False] Translation: X:14.91, Y:0.02, Z:-2.09 [[ 9.99953941e-01 4.35136126e-03 8.55459861e-03 1.49094258e+01] [-4.77028350e-03 9.98758963e-01 4.95759936e-02 2.17583384e-02] [-8.32825898e-03 -4.96145181e-02 9.98733718e-01 -2.09358616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09119381700003 meters Centerline goodness : 0.919076 Centerline is valid? [False, False] Translation: X:14.91, Y:0.02, Z:-2.09 [[ 9.99957460e-01 4.43408008e-03 8.08808630e-03 1.49110342e+01] [-4.82754331e-03 9.98772608e-01 4.92947533e-02 2.25080367e-02] [-7.85958216e-03 -4.93317019e-02 9.98751526e-01 -2.09452665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12119381700003 meters Centerline goodness : 0.917311 Centerline is valid? [False, False] Translation: X:14.92, Y:0.02, Z:-2.09 [[ 9.99958879e-01 8.51677823e-03 3.11529594e-03 1.49230015e+01] [-8.65356467e-03 9.98861856e-01 4.69053044e-02 2.28242480e-02] [-2.71226821e-03 -4.69303340e-02 9.98894483e-01 -2.09451005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15119381700003 meters Centerline goodness : 0.917182 Centerline is valid? [False, False] Translation: X:14.92, Y:0.03, Z:-2.09 [[ 9.99919948e-01 1.24568371e-02 -2.21940995e-03 1.49221528e+01] [-1.23764598e-02 9.99373836e-01 3.31475444e-02 2.69870692e-02] [ 2.63093379e-03 -3.31174224e-02 9.99448005e-01 -2.09250696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18119381700004 meters Centerline goodness : 0.917691 Centerline is valid? [False, False] Translation: X:14.93, Y:0.03, Z:-2.09 [[ 9.99889101e-01 1.48786623e-02 6.41426183e-04 1.49319615e+01] [-1.48897835e-02 9.99600111e-01 2.40398173e-02 3.09397398e-02] [-2.83489359e-04 -2.40467020e-02 9.99710796e-01 -2.09356318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.211193817 meters Centerline goodness : 0.917373 Centerline is valid? [False, False] Translation: X:14.93, Y:0.03, Z:-2.09 [[ 9.99881362e-01 1.54006199e-02 2.86889658e-04 1.49328564e+01] [-1.54031125e-02 9.99606398e-01 2.34476572e-02 3.40029078e-02] [ 7.43317195e-05 -2.34492945e-02 9.99725025e-01 -2.09367029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.241193817 meters Centerline goodness : 0.918305 Centerline is valid? [False, False] Translation: X:14.93, Y:0.04, Z:-2.09 [[ 9.99815704e-01 1.91948685e-02 3.37751737e-04 1.49321229e+01] [-1.91971129e-02 9.99470013e-01 2.62899937e-02 3.76997823e-02] [ 1.67060238e-04 -2.62916325e-02 9.99654301e-01 -2.09250368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.271193817 meters Centerline goodness : 0.915533 Centerline is valid? [False, False] Translation: X:14.93, Y:0.04, Z:-2.09 [[ 9.99810120e-01 1.94864584e-02 4.43327201e-05 1.49323522e+01] [-1.94810735e-02 9.99474931e-01 2.58911313e-02 3.95053861e-02] [ 4.60217010e-04 -2.58870788e-02 9.99664767e-01 -2.09195439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.301193817 meters Centerline goodness : 0.917758 Centerline is valid? [False, False] Translation: X:14.94, Y:0.04, Z:-2.09 [[ 9.99775396e-01 2.08585946e-02 3.75189733e-03 1.49422862e+01] [-2.09170277e-02 9.99648741e-01 1.62749166e-02 4.19155700e-02] [-3.41110755e-03 -1.63497397e-02 9.99860515e-01 -2.09356106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.331193817 meters Centerline goodness : 0.914736 Centerline is valid? [False, False] Translation: X:14.94, Y:0.04, Z:-2.09 [[ 9.99769726e-01 2.11718542e-02 3.49970496e-03 1.49431117e+01] [-2.12264030e-02 9.99640779e-01 1.63631575e-02 4.14977317e-02] [-3.15200940e-03 -1.64336756e-02 9.99859990e-01 -2.09393891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36119381700001 meters Centerline goodness : 0.914798 Centerline is valid? [False, False] Translation: X:14.97, Y:0.04, Z:-2.10 [[ 9.99806122e-01 1.95133023e-02 2.63600155e-03 1.49655777e+01] [-1.95521275e-02 9.99687008e-01 1.56077224e-02 3.91746856e-02] [-2.33061829e-03 -1.56562358e-02 9.99874717e-01 -2.09543724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.39119381700002 meters Centerline goodness : 0.915374 Centerline is valid? [False, False] Translation: X:14.97, Y:0.04, Z:-2.10 [[ 9.99854197e-01 1.69411386e-02 2.14068633e-03 1.49669813e+01] [-1.69665323e-02 9.99778413e-01 1.24604294e-02 3.92388393e-02] [-1.92911812e-03 -1.24949327e-02 9.99920074e-01 -2.09592644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42119381700002 meters Centerline goodness : 0.917410 Centerline is valid? [False, False] Translation: X:14.98, Y:0.04, Z:-2.10 [[ 9.99906745e-01 1.33248346e-02 2.99181601e-03 1.49779995e+01] [-1.33812117e-02 9.99716606e-01 1.96888625e-02 3.67758806e-02] [-2.72861731e-03 -1.97270605e-02 9.99801679e-01 -2.09711374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.45119381700002 meters Centerline goodness : 0.916796 Centerline is valid? [False, False] Translation: X:15.00, Y:0.03, Z:-2.10 [[ 9.99934169e-01 1.10061020e-02 3.24409476e-03 1.49986532e+01] [-1.10670188e-02 9.99750561e-01 1.93994251e-02 3.43578050e-02] [-3.02977350e-03 -1.94340504e-02 9.99806550e-01 -2.09778507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48119381700002 meters Centerline goodness : 0.916649 Centerline is valid? [False, False] Translation: X:15.02, Y:0.02, Z:-2.10 [[ 9.99938288e-01 9.94456239e-03 4.95244837e-03 1.50179616e+01] [-1.00618921e-02 9.99655083e-01 2.42584617e-02 2.37554289e-02] [-4.70950040e-03 -2.43067957e-02 9.99693453e-01 -2.09936252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51119381700002 meters Centerline goodness : 0.916287 Centerline is valid? [False, False] Translation: X:15.04, Y:0.02, Z:-2.10 [[ 9.99929989e-01 8.75692121e-03 7.95821477e-03 1.50357652e+01] [-8.96536384e-03 9.99607409e-01 2.65452557e-02 1.85278396e-02] [-7.72263574e-03 -2.66147455e-02 9.99615934e-01 -2.09961094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54119381700002 meters Centerline goodness : 0.916741 Centerline is valid? [False, False] Translation: X:15.05, Y:0.02, Z:-2.10 [[ 9.99906709e-01 6.74770605e-03 1.18760885e-02 1.50523457e+01] [-7.05918711e-03 9.99626954e-01 2.63840829e-02 1.53535560e-02] [-1.16936262e-02 -2.64654570e-02 9.99581332e-01 -2.09906260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57119381700002 meters Centerline goodness : 0.918450 Centerline is valid? [False, False] Translation: X:15.07, Y:0.01, Z:-2.10 [[ 9.99867649e-01 4.90090799e-03 1.55134045e-02 1.50692123e+01] [-5.30592689e-03 9.99643292e-01 2.61750960e-02 1.30385845e-02] [-1.53795890e-02 -2.62539447e-02 9.99536992e-01 -2.09860703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60119381700002 meters Centerline goodness : 0.919086 Centerline is valid? [False, False] Translation: X:15.07, Y:0.01, Z:-2.10 [[ 9.99884856e-01 2.82942102e-03 1.49087095e-02 1.50709048e+01] [-3.18567328e-03 9.99708650e-01 2.39262693e-02 1.12636587e-02] [-1.48366684e-02 -2.39710086e-02 9.99602553e-01 -2.09905674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63119381700002 meters Centerline goodness : 0.917425 Centerline is valid? [False, False] Translation: X:15.09, Y:-0.00, Z:-2.10 [[ 9.99916463e-01 -4.75553276e-05 1.29253676e-02 1.50896537e+01] [-5.77511404e-04 9.98830208e-01 4.83516506e-02 -2.36309250e-03] [-1.29125470e-02 -4.83550760e-02 9.98746741e-01 -2.09594294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66119381700003 meters Centerline goodness : 0.918668 Centerline is valid? [False, False] Translation: X:15.09, Y:-0.00, Z:-2.10 [[ 9.99924238e-01 -2.13667845e-03 1.21224323e-02 1.50931842e+01] [ 1.57442949e-03 9.98930864e-01 4.62022657e-02 -4.77823447e-03] [-1.22081912e-02 -4.61796794e-02 9.98858547e-01 -2.09823998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69119381700003 meters Centerline goodness : 0.915350 Centerline is valid? [False, False] Translation: X:15.10, Y:-0.01, Z:-2.09 [[ 9.99951022e-01 -5.67982117e-03 8.10510089e-03 1.51015046e+01] [ 5.06320024e-03 9.97232792e-01 7.41695477e-02 -1.37794850e-02] [-8.50394216e-03 -7.41248773e-02 9.97212708e-01 -2.09303623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72119381700003 meters Centerline goodness : 0.913632 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.03, Z:-2.09 [[ 9.99952738e-01 -9.64420179e-03 1.22920259e-03 1.51117915e+01] [ 9.45542214e-03 9.94123620e-01 1.07837017e-01 -3.02976360e-02] [-2.26198128e-03 -1.07820298e-01 9.94167826e-01 -2.08565808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75119381700003 meters Centerline goodness : 0.913312 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.03, Z:-2.09 [[ 9.99898826e-01 -1.37427786e-02 3.67058790e-03 1.51079665e+01] [ 1.33034445e-02 9.94828436e-01 1.00694597e-01 -3.06455663e-02] [-5.03542878e-03 -1.00635578e-01 9.94910611e-01 -2.08682142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78119381700003 meters Centerline goodness : 0.916985 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.03, Z:-2.08 [[ 9.99879757e-01 -1.53636093e-02 -2.10483800e-03 1.51067170e+01] [ 1.54859038e-02 9.96368889e-01 8.37211090e-02 -2.98422536e-02] [ 8.10936687e-04 -8.37436375e-02 9.96487002e-01 -2.08447508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81119381700003 meters Centerline goodness : 0.917339 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.03, Z:-2.08 [[ 9.99793385e-01 -2.02312794e-02 1.97063139e-03 1.51080035e+01] [ 2.00558131e-02 9.97590834e-01 6.64100315e-02 -3.13245952e-02] [-3.30944372e-03 -6.63567875e-02 9.97790471e-01 -2.08132002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84119381700003 meters Centerline goodness : 0.917016 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.03, Z:-2.08 [[ 9.99728661e-01 -2.29051960e-02 4.23755696e-03 1.51152532e+01] [ 2.26524529e-02 9.98374157e-01 5.23059168e-02 -2.99106892e-02] [-5.42874463e-03 -5.21957331e-02 9.98622118e-01 -2.07943384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87119381700003 meters Centerline goodness : 0.915402 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.03, Z:-2.08 [[ 9.99666219e-01 -2.49288636e-02 6.78243897e-03 1.51228566e+01] [ 2.46468534e-02 9.98939335e-01 3.88939248e-02 -2.88606903e-02] [-7.74482642e-03 -3.87137770e-02 9.99220327e-01 -2.07816605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90119381700003 meters Centerline goodness : 0.917612 Centerline is valid? [False, False] Translation: X:15.13, Y:-0.03, Z:-2.07 [[ 9.99662924e-01 -2.57576337e-02 3.25323164e-03 1.51286435e+01] [ 2.56348671e-02 9.99113992e-01 3.33779043e-02 -2.98226670e-02] [-4.11008508e-03 -3.32832572e-02 9.99437508e-01 -2.07418980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93119381700004 meters Centerline goodness : 0.917612 Centerline is valid? [False, False] Translation: X:15.13, Y:-0.03, Z:-2.07 [[ 9.99662924e-01 -2.57576337e-02 3.25323164e-03 1.51286435e+01] [ 2.56348671e-02 9.99113992e-01 3.33779043e-02 -2.98226670e-02] [-4.11008508e-03 -3.32832572e-02 9.99437508e-01 -2.07418980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.961193817 meters Centerline goodness : 0.919376 Centerline is valid? [False, False] Translation: X:15.14, Y:-0.03, Z:-2.07 [[ 9.99636403e-01 -2.61862438e-02 6.42981412e-03 1.51374983e+01] [ 2.60405510e-02 9.99423514e-01 2.17836836e-02 -2.94183108e-02] [-6.99654027e-03 -2.16083272e-02 9.99742031e-01 -2.07438584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.991193817 meters Centerline goodness : 0.918272 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.03, Z:-2.07 [[ 9.99660098e-01 -2.51273444e-02 6.95023919e-03 1.51543719e+01] [ 2.50842914e-02 9.99666028e-01 6.21380790e-03 -3.08969908e-02] [-7.10405450e-03 -6.03735399e-03 9.99956540e-01 -2.07201037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.021193817 meters Centerline goodness : 0.920994 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.03, Z:-2.07 [[ 9.99653979e-01 -2.59918242e-02 4.04325428e-03 1.51599109e+01] [ 2.59803441e-02 9.99658344e-01 2.86639959e-03 -3.15247819e-02] [-4.11637583e-03 -2.76036262e-03 9.99987718e-01 -2.07103484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.051193817 meters Centerline goodness : 0.919465 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.03, Z:-2.07 [[ 9.99661382e-01 -2.57231874e-02 3.92914684e-03 1.51601694e+01] [ 2.57097592e-02 9.99663563e-01 3.43069988e-03 -3.27632681e-02] [-4.01607346e-03 -3.32852077e-03 9.99986396e-01 -2.07105427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.081193817 meters Centerline goodness : 0.921088 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.03, Z:-2.07 [[ 9.99666744e-01 -2.55467907e-02 3.70968885e-03 1.51606884e+01] [ 2.55318579e-02 9.99665932e-01 4.01841348e-03 -3.40315549e-02] [-3.81110713e-03 -3.92235907e-03 9.99985045e-01 -2.07119459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.11119381700001 meters Centerline goodness : 0.920194 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.03, Z:-2.07 [[ 9.99671312e-01 -2.53920494e-02 3.53711531e-03 1.51609618e+01] [ 2.53761122e-02 9.99667936e-01 4.47998134e-03 -3.49895155e-02] [-3.64969667e-03 -4.38875059e-03 9.99983709e-01 -2.07114273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14119381700002 meters Centerline goodness : 0.918760 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.04, Z:-2.07 [[ 9.99622717e-01 -2.73247469e-02 2.78947919e-03 1.51641762e+01] [ 2.73174256e-02 9.99623350e-01 2.62984281e-03 -3.51251746e-02] [-2.86028832e-03 -2.55264923e-03 9.99992651e-01 -2.07322673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.17119381700002 meters Centerline goodness : 0.919550 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.03, Z:-2.07 [[ 9.99627319e-01 -2.71727408e-02 2.62022725e-03 1.51650015e+01] [ 2.71656904e-02 9.99627326e-01 2.68982975e-03 -3.46044869e-02] [-2.69234080e-03 -2.61764702e-03 9.99992950e-01 -2.07391771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20119381700002 meters Centerline goodness : 0.916352 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.03, Z:-2.07 [[ 9.99716021e-01 -2.37180029e-02 2.30963195e-03 1.51658861e+01] [ 2.37024880e-02 9.99697744e-01 6.52790658e-03 -3.49139021e-02] [-2.46376275e-03 -6.47130876e-03 9.99976026e-01 -2.07461424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23119381700002 meters Centerline goodness : 0.917121 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.03, Z:-2.08 [[ 9.99820899e-01 -1.86413708e-02 3.26636345e-03 1.51865538e+01] [ 1.86542651e-02 9.99818141e-01 -3.96265233e-03 -3.23801266e-02] [-3.19190016e-03 4.02287423e-03 9.99986814e-01 -2.07643709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26119381700002 meters Centerline goodness : 0.914332 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.03, Z:-2.08 [[ 9.99892936e-01 -1.43332322e-02 2.94523594e-03 1.51867224e+01] [ 1.43349081e-02 9.99897099e-01 -5.48723035e-04 -3.04785042e-02] [-2.93706790e-03 5.90883973e-04 9.99995512e-01 -2.07573937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29119381700002 meters Centerline goodness : 0.917452 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.03, Z:-2.08 [[ 9.99939126e-01 -1.06920869e-02 2.72455716e-03 1.51870120e+01] [ 1.06833978e-02 9.99937862e-01 3.18402999e-03 -3.03773638e-02] [-2.75843179e-03 -3.15472864e-03 9.99991219e-01 -2.07562041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32119381700002 meters Centerline goodness : 0.915191 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.03, Z:-2.08 [[ 9.99943935e-01 -1.02737711e-02 2.56448626e-03 1.51873684e+01] [ 1.02667552e-02 9.99943558e-01 2.73412224e-03 -2.77044515e-02] [-2.59243126e-03 -2.70764000e-03 9.99992974e-01 -2.07549382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35119381700002 meters Centerline goodness : 0.919119 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.02, Z:-2.07 [[ 9.99971475e-01 -7.18328808e-03 2.33432233e-03 1.51873734e+01] [ 7.17067078e-03 9.99959875e-01 5.36927397e-03 -2.47108289e-02] [-2.37279770e-03 -5.35238216e-03 9.99982861e-01 -2.07492504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38119381700002 meters Centerline goodness : 0.916305 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.02, Z:-2.08 [[ 9.99971689e-01 -7.25454394e-03 1.99843450e-03 1.51881849e+01] [ 7.24436498e-03 9.99960985e-01 5.05447100e-03 -2.35626398e-02] [-2.03502441e-03 -5.03985051e-03 9.99985229e-01 -2.07512704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41119381700003 meters Centerline goodness : 0.915601 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.02, Z:-2.08 [[ 9.99970749e-01 -7.43522156e-03 1.79394590e-03 1.51889464e+01] [ 7.42653317e-03 9.99960892e-01 4.80217613e-03 -2.26929728e-02] [-1.82958099e-03 -4.78871287e-03 9.99986860e-01 -2.07555132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44119381700003 meters Centerline goodness : 0.917349 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.02, Z:-2.08 [[ 9.99969328e-01 -7.69166884e-03 1.47665167e-03 1.51898159e+01] [ 7.68484987e-03 9.99960032e-01 4.56929351e-03 -2.21435047e-02] [-1.51173815e-03 -4.55780552e-03 9.99988470e-01 -2.07582622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47119381700003 meters Centerline goodness : 0.914824 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.02, Z:-2.08 [[ 9.99949606e-01 -9.91864695e-03 1.55139450e-03 1.51890596e+01] [ 9.91483167e-03 9.99947851e-01 2.44791036e-03 -2.24148704e-02] [-1.57559355e-03 -2.43240518e-03 9.99995800e-01 -2.07513327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50119381700003 meters Centerline goodness : 0.913735 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.02, Z:-2.08 [[ 9.99949313e-01 -9.99064132e-03 1.24813258e-03 1.51899668e+01] [ 9.98721484e-03 9.99946422e-01 2.72200029e-03 -2.36255205e-02] [-1.27526024e-03 -2.70939695e-03 9.99995516e-01 -2.07551948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53119381700003 meters Centerline goodness : 0.913170 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.02, Z:-2.08 [[ 9.99951305e-01 -9.81495188e-03 1.02658198e-03 1.51904972e+01] [ 9.81171790e-03 9.99947030e-01 3.10920568e-03 -2.43223007e-02] [-1.05704431e-03 -3.09898174e-03 9.99994639e-01 -2.07560403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56119381700003 meters Centerline goodness : 0.911907 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.02, Z:-2.08 [[ 9.99958808e-01 -9.03796535e-03 8.35418518e-04 1.51907784e+01] [ 9.03505347e-03 9.99953314e-01 3.42596092e-03 -2.35539214e-02] [-8.66343232e-04 -3.41827174e-03 9.99993782e-01 -2.07538859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59119381700003 meters Centerline goodness : 0.911795 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.02, Z:-2.07 [[ 9.99986738e-01 -5.11583950e-03 5.94102484e-04 1.51908860e+01] [ 5.11110408e-03 9.99957169e-01 7.71599259e-03 -2.46878065e-02] [-6.33550818e-04 -7.71285373e-03 9.99970055e-01 -2.07492743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62119381700003 meters Centerline goodness : 0.910569 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.03, Z:-2.07 [[ 9.99999235e-01 -1.16367806e-03 4.19521019e-04 1.51907346e+01] [ 1.15860578e-03 9.99928585e-01 1.18946577e-02 -2.55829643e-02] [-4.33332610e-04 -1.18941625e-02 9.99929168e-01 -2.07421576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65119381700003 meters Centerline goodness : 0.911544 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.03, Z:-2.07 [[ 9.99995227e-01 3.08876065e-03 7.54301318e-05 1.51909116e+01] [-3.08958438e-03 9.99859354e-01 1.64841301e-02 -2.65347630e-02] [-2.45039903e-05 -1.64842845e-02 9.99864125e-01 -2.07337861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68119381700004 meters Centerline goodness : 0.910482 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.03, Z:-2.07 [[ 9.99965630e-01 8.28960539e-03 -1.49188920e-04 1.51912378e+01] [-8.28457566e-03 9.99740663e-01 2.12125482e-02 -2.66815642e-02] [ 3.24993884e-04 -2.12105831e-02 9.99774977e-01 -2.07305230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.711193817 meters Centerline goodness : 0.909172 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.03, Z:-2.07 [[ 9.99931405e-01 1.16841342e-02 -8.16000481e-04 1.51933887e+01] [-1.16600844e-02 9.99619377e-01 2.50028689e-02 -2.77319948e-02] [ 1.10782677e-03 -2.49916392e-02 9.99687046e-01 -2.07404936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.741193817 meters Centerline goodness : 0.909860 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.03, Z:-2.07 [[ 9.99924878e-01 1.21993764e-02 -1.18866915e-03 1.51947951e+01] [-1.21654334e-02 9.99606291e-01 2.52837023e-02 -2.78766484e-02] [ 1.49664656e-03 -2.52673423e-02 9.99679609e-01 -2.07493893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.771193817 meters Centerline goodness : 0.905814 Centerline is valid? [False, False] Translation: X:15.22, Y:-0.03, Z:-2.08 [[ 9.99930447e-01 1.17668143e-02 -8.02133019e-04 1.52155653e+01] [-1.17434127e-02 9.99625839e-01 2.47037310e-02 -2.84692170e-02] [ 1.09251711e-03 -2.46925930e-02 9.99694494e-01 -2.07581722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.801193817 meters Centerline goodness : 0.906867 Centerline is valid? [False, False] Translation: X:15.23, Y:-0.03, Z:-2.08 [[ 9.99943762e-01 1.01392931e-02 3.10939163e-03 1.52322186e+01] [-1.02109437e-02 9.99660645e-01 2.39651988e-02 -3.36012569e-02] [-2.86534627e-03 -2.39956009e-02 9.99707958e-01 -2.07503638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.831193817 meters Centerline goodness : 0.907297 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.04, Z:-2.08 [[ 9.99925787e-01 9.18172646e-03 8.00732388e-03 1.52420825e+01] [-9.45270812e-03 9.99360425e-01 3.44874950e-02 -3.96147636e-02] [-7.68554785e-03 -3.45606265e-02 9.99373051e-01 -2.07721987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86119381700001 meters Centerline goodness : 0.907771 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.05, Z:-2.06 [[ 9.99962167e-01 6.23577556e-03 6.06463031e-03 1.52648223e+01] [-6.67846946e-03 9.97089490e-01 7.59470058e-02 -5.39551495e-02] [-5.57339065e-03 -7.59846349e-02 9.97093412e-01 -2.06279561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.89119381700002 meters Centerline goodness : 0.906161 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.07, Z:-2.05 [[ 9.99992719e-01 3.67462283e-03 1.02919679e-03 1.52876967e+01] [-3.76672635e-03 9.93709812e-01 1.11922386e-01 -6.58229312e-02] [-6.11450400e-04 -1.11925447e-01 9.93716418e-01 -2.04714881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92119381700002 meters Centerline goodness : 0.906682 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.07, Z:-2.04 [[ 9.99990971e-01 4.24947794e-03 4.82146660e-06 1.52871778e+01] [-4.22162042e-03 9.93304528e-01 1.15448227e-01 -7.00441337e-02] [ 4.85805510e-04 -1.15447205e-01 9.93313499e-01 -2.04228104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.95119381700002 meters Centerline goodness : 0.909690 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.07, Z:-2.04 [[ 9.99989527e-01 4.48028236e-03 9.34090551e-04 1.52863021e+01] [-4.54930484e-03 9.95362929e-01 9.60830033e-02 -7.14704284e-02] [-4.99280122e-04 -9.60862465e-02 9.95372887e-01 -2.04041462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98119381700002 meters Centerline goodness : 0.912438 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.07, Z:-2.04 [[ 9.99960573e-01 6.34342534e-03 6.21396723e-03 1.52855945e+01] [-6.82351194e-03 9.96726601e-01 8.05575743e-02 -7.11671845e-02] [-5.68261548e-03 -8.05967992e-02 9.96730587e-01 -2.04095383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01119381700002 meters Centerline goodness : 0.910913 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.07, Z:-2.04 [[ 9.99911219e-01 9.23019297e-03 9.61033200e-03 1.52833262e+01] [-9.83535456e-03 9.97839803e-01 6.49537843e-02 -7.07062794e-02] [-8.99003582e-03 -6.50425386e-02 9.97841995e-01 -2.04017546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04119381700002 meters Centerline goodness : 0.912567 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.07, Z:-2.04 [[ 9.99823720e-01 1.28896103e-02 1.36523848e-02 1.52853762e+01] [-1.36156451e-02 9.98421217e-01 5.44948473e-02 -7.46263143e-02] [-1.29284133e-02 -5.46711269e-02 9.98420715e-01 -2.03978387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07119381700002 meters Centerline goodness : 0.912059 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.08, Z:-2.04 [[ 9.99837802e-01 1.49686715e-02 1.00153923e-02 1.52839476e+01] [-1.53947084e-02 9.98916979e-01 4.39075430e-02 -7.65391119e-02] [-9.34730778e-03 -4.40546053e-02 9.98985395e-01 -2.04190479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10119381700002 meters Centerline goodness : 0.910284 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.08, Z:-2.04 [[ 9.99847022e-01 1.67689844e-02 4.97334394e-03 1.52836635e+01] [-1.69148739e-02 9.99379115e-01 3.09074632e-02 -7.85335494e-02] [-4.45196930e-03 -3.09868585e-02 9.99509877e-01 -2.04266206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13119381700002 meters Centerline goodness : 0.912065 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.08, Z:-2.04 [[ 9.99886932e-01 1.42962250e-02 4.66281344e-03 1.52850916e+01] [-1.44237773e-02 9.99487532e-01 2.85766944e-02 -8.13712167e-02] [-4.25188505e-03 -2.86407186e-02 9.99580727e-01 -2.04386813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16119381700003 meters Centerline goodness : 0.909606 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.08, Z:-2.05 [[ 9.99900522e-01 1.35039179e-02 4.07300179e-03 1.52879976e+01] [-1.36137307e-02 9.99507892e-01 2.82602122e-02 -8.43963336e-02] [-3.68937385e-03 -2.83128497e-02 9.99592302e-01 -2.04613916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19119381700003 meters Centerline goodness : 0.911861 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.09, Z:-2.05 [[ 9.99901122e-01 1.35984327e-02 3.58160998e-03 1.52903512e+01] [-1.36983060e-02 9.99470393e-01 2.95176300e-02 -9.07187852e-02] [-3.17831963e-03 -2.95637734e-02 9.99557843e-01 -2.04815133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22119381700003 meters Centerline goodness : 0.909742 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.09, Z:-2.05 [[ 9.99939031e-01 1.06000059e-02 3.09407071e-03 1.52914536e+01] [-1.06782875e-02 9.99592111e-01 2.64874816e-02 -9.24601613e-02] [-2.81204121e-03 -2.65189061e-02 9.99644357e-01 -2.04847278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25119381700003 meters Centerline goodness : 0.912745 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.10, Z:-2.05 [[ 9.99975562e-01 6.19981831e-03 3.23085904e-03 1.52900073e+01] [-6.27193816e-03 9.99720102e-01 2.28118575e-02 -1.00074256e-01] [-3.08852536e-03 -2.28315638e-02 9.99734555e-01 -2.04677586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28119381700003 meters Centerline goodness : 0.915277 Centerline is valid? [False, False] Translation: X:15.30, Y:-0.10, Z:-2.05 [[ 9.99970966e-01 4.00829500e-03 6.48077667e-03 1.52973888e+01] [-4.06750756e-03 9.99949870e-01 9.14942682e-03 -1.01727806e-01] [-6.44377819e-03 -9.17552178e-03 9.99937142e-01 -2.04664918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31119381700003 meters Centerline goodness : 0.919908 Centerline is valid? [False, False] Translation: X:15.31, Y:-0.10, Z:-2.05 [[ 9.99945217e-01 1.28399212e-03 1.03881953e-02 1.53063374e+01] [-1.23798254e-03 9.99989402e-01 -4.43424397e-03 -1.03598125e-01] [-1.03937787e-02 4.42114065e-03 9.99936209e-01 -2.04835965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34119381700003 meters Centerline goodness : 0.921253 Centerline is valid? [False, False] Translation: X:15.31, Y:-0.11, Z:-2.05 [[ 9.99945830e-01 -2.11840038e-03 1.01906814e-02 1.53067521e+01] [ 2.18951445e-03 9.99973296e-01 -6.97225524e-03 -1.07660737e-01] [-1.01756393e-02 6.99419020e-03 9.99923766e-01 -2.04825922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37119381700003 meters Centerline goodness : 0.927804 Centerline is valid? [False, False] Translation: X:15.30, Y:-0.11, Z:-2.05 [[ 9.99905847e-01 -8.86145299e-03 1.04772221e-02 1.53045841e+01] [ 8.98593210e-03 9.99888885e-01 -1.18941550e-02 -1.14881904e-01] [-1.03706584e-02 1.19871827e-02 9.99874371e-01 -2.04564213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40119381700003 meters Centerline goodness : 0.929061 Centerline is valid? [False, False] Translation: X:15.30, Y:-0.12, Z:-2.04 [[ 9.99869504e-01 -1.22513574e-02 1.05299192e-02 1.53039668e+01] [ 1.24035600e-02 9.99817751e-01 -1.45126227e-02 -1.18534750e-01] [-1.03502008e-02 1.46413373e-02 9.99839239e-01 -2.04472449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43119381700004 meters Centerline goodness : 0.933117 Centerline is valid? [False, False] Translation: X:15.30, Y:-0.12, Z:-2.04 [[ 9.99819131e-01 -1.57656907e-02 1.06370872e-02 1.53035236e+01] [ 1.59492750e-02 9.99721380e-01 -1.74006542e-02 -1.21656534e-01] [-1.03597902e-02 1.75671608e-02 9.99792013e-01 -2.04417029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.461193817 meters Centerline goodness : 0.936691 Centerline is valid? [False, False] Translation: X:15.30, Y:-0.13, Z:-2.04 [[ 9.99807951e-01 -1.65214203e-02 1.05405962e-02 1.53040472e+01] [ 1.66975218e-02 9.99718702e-01 -1.68436548e-02 -1.25991419e-01] [-1.02593501e-02 1.70164219e-02 9.99802574e-01 -2.04434864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.491193817 meters Centerline goodness : 0.938865 Centerline is valid? [False, False] Translation: X:15.31, Y:-0.13, Z:-2.05 [[ 9.99701697e-01 -2.20903118e-02 1.04179822e-02 1.53062794e+01] [ 2.23084141e-02 9.99524091e-01 -2.13055337e-02 -1.29235215e-01] [-9.94237829e-03 2.15315869e-02 9.99718730e-01 -2.04653258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.521193817 meters Centerline goodness : 0.936999 Centerline is valid? [False, False] Translation: X:15.31, Y:-0.13, Z:-2.05 [[ 9.99693001e-01 -2.25910239e-02 1.01759110e-02 1.53075509e+01] [ 2.28016917e-02 9.99517624e-01 -2.10855901e-02 -1.30975666e-01] [-9.69465727e-03 2.13111448e-02 9.99725887e-01 -2.04750947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.551193817 meters Centerline goodness : 0.937816 Centerline is valid? [False, False] Translation: X:15.31, Y:-0.13, Z:-2.05 [[ 9.99685397e-01 -2.30457866e-02 9.89945289e-03 1.53088612e+01] [ 2.32506158e-02 9.99506982e-01 -2.10998000e-02 -1.31737371e-01] [-9.40831080e-03 2.13233303e-02 9.99728363e-01 -2.04839410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.581193817 meters Centerline goodness : 0.937167 Centerline is valid? [False, False] Translation: X:15.31, Y:-0.13, Z:-2.05 [[ 9.99672148e-01 -2.37812815e-02 9.48928588e-03 1.53106047e+01] [ 2.39817368e-02 9.99478989e-01 -2.16015374e-02 -1.31313710e-01] [-8.97062962e-03 2.18220249e-02 9.99721625e-01 -2.04960390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.61119381700001 meters Centerline goodness : 0.936763 Centerline is valid? [False, False] Translation: X:15.31, Y:-0.13, Z:-2.05 [[ 9.99672870e-01 -2.38539982e-02 9.22709284e-03 1.53116055e+01] [ 2.40502370e-02 9.99473558e-01 -2.17759807e-02 -1.30708395e-01] [-8.70279111e-03 2.19907709e-02 9.99720295e-01 -2.05015737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64119381700002 meters Centerline goodness : 0.938342 Centerline is valid? [False, False] Translation: X:15.31, Y:-0.13, Z:-2.05 [[ 9.99670349e-01 -2.40414858e-02 9.01113153e-03 1.53125214e+01] [ 2.42359856e-02 9.99461177e-01 -2.21353390e-02 -1.29610636e-01] [-8.47410968e-03 2.23464358e-02 9.99714372e-01 -2.05070935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.67119381700002 meters Centerline goodness : 0.937261 Centerline is valid? [False, False] Translation: X:15.31, Y:-0.13, Z:-2.05 [[ 9.99666252e-01 -2.43006367e-02 8.76716944e-03 1.53133174e+01] [ 2.44931547e-02 9.99445322e-01 -2.25640085e-02 -1.28110150e-01] [-8.21398671e-03 2.27712134e-02 9.99706958e-01 -2.05102227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70119381700002 meters Centerline goodness : 0.941364 Centerline is valid? [False, False] Translation: X:15.31, Y:-0.13, Z:-2.05 [[ 9.99728942e-01 -2.16854654e-02 8.47249671e-03 1.53142441e+01] [ 2.18455439e-02 9.99575403e-01 -1.92817688e-02 -1.28077602e-01] [-8.05076519e-03 1.94616286e-02 9.99778190e-01 -2.05145277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73119381700002 meters Centerline goodness : 0.939569 Centerline is valid? [False, False] Translation: X:15.31, Y:-0.12, Z:-2.05 [[ 9.99695755e-01 -2.32172459e-02 8.32804486e-03 1.53149441e+01] [ 2.33861449e-02 9.99510277e-01 -2.07916693e-02 -1.24329198e-01] [-7.84124113e-03 2.09801044e-02 9.99749144e-01 -2.05175242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76119381700002 meters Centerline goodness : 0.940144 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.12, Z:-2.05 [[ 9.99679066e-01 -2.39977267e-02 8.11627231e-03 1.53158988e+01] [ 2.41663053e-02 9.99479891e-01 -2.13526821e-02 -1.23365065e-01] [-7.59963514e-03 2.15419696e-02 9.99739061e-01 -2.05234026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79119381700002 meters Centerline goodness : 0.939810 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.12, Z:-2.05 [[ 9.99660204e-01 -2.48685128e-02 7.81235490e-03 1.53171332e+01] [ 2.50350672e-02 9.99444495e-01 -2.19987706e-02 -1.22524614e-01] [-7.26093839e-03 2.21868784e-02 9.99727473e-01 -2.05303398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82119381700002 meters Centerline goodness : 0.939810 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.12, Z:-2.05 [[ 9.99660204e-01 -2.48685128e-02 7.81235490e-03 1.53171332e+01] [ 2.50350672e-02 9.99444495e-01 -2.19987706e-02 -1.22524614e-01] [-7.26093839e-03 2.21868784e-02 9.99727473e-01 -2.05303398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85119381700002 meters Centerline goodness : 0.937192 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.12, Z:-2.05 [[ 9.99610623e-01 -2.68562634e-02 7.57259855e-03 1.53186818e+01] [ 2.70306014e-02 9.99347768e-01 -2.39454697e-02 -1.19378883e-01] [-6.92457362e-03 2.41408378e-02 9.99684585e-01 -2.05416162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88119381700002 meters Centerline goodness : 0.939289 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.12, Z:-2.05 [[ 9.99670099e-01 -2.46099419e-02 7.35148208e-03 1.53195336e+01] [ 2.47608977e-02 9.99468545e-01 -2.12020179e-02 -1.18109247e-01] [-6.82579467e-03 2.13770527e-02 9.99748183e-01 -2.05466175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91119381700003 meters Centerline goodness : 0.938582 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.12, Z:-2.06 [[ 9.99724184e-01 -2.24174430e-02 7.00097984e-03 1.53208400e+01] [ 2.25455660e-02 9.99569186e-01 -1.87919980e-02 -1.15560677e-01] [-6.57669518e-03 1.89446559e-02 9.99798903e-01 -2.05545395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94119381700003 meters Centerline goodness : 0.938368 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.11, Z:-2.06 [[ 9.99749199e-01 -2.14400143e-02 6.47035100e-03 1.53234273e+01] [ 2.15529081e-02 9.99607203e-01 -1.79140026e-02 -1.11257367e-01] [-6.08373299e-03 1.80489647e-02 9.99818595e-01 -2.05722412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97119381700003 meters Centerline goodness : 0.938899 Centerline is valid? [False, False] Translation: X:15.34, Y:-0.10, Z:-2.06 [[ 9.99718196e-01 -2.14858144e-02 1.00940176e-02 1.53407135e+01] [ 2.17102687e-02 9.99507029e-01 -2.26795899e-02 -9.95533932e-02] [-9.60175208e-03 2.28923425e-02 9.99691826e-01 -2.05913033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00119381700003 meters Centerline goodness : 0.935959 Centerline is valid? [False, False] Translation: X:15.36, Y:-0.10, Z:-2.06 [[ 9.99733104e-01 -2.05952489e-02 1.04668824e-02 1.53616832e+01] [ 2.08416529e-02 9.99494581e-01 -2.40043473e-02 -9.50025788e-02] [-9.96721677e-03 2.42160878e-02 9.99657059e-01 -2.06030280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03119381700003 meters Centerline goodness : 0.939514 Centerline is valid? [False, False] Translation: X:15.36, Y:-0.09, Z:-2.06 [[ 9.99768815e-01 -1.90609520e-02 9.94969199e-03 1.53639052e+01] [ 1.92851235e-02 9.99550749e-01 -2.29430472e-02 -9.01103586e-02] [-9.50790577e-03 2.31296241e-02 9.99687261e-01 -2.06170831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06119381700003 meters Centerline goodness : 0.940079 Centerline is valid? [False, False] Translation: X:15.38, Y:-0.08, Z:-2.06 [[ 9.99791233e-01 -1.76549306e-02 1.02856496e-02 1.53847923e+01] [ 1.79015418e-02 9.99542006e-01 -2.43990202e-02 -8.41497055e-02] [-9.85017582e-03 2.45780555e-02 9.99649385e-01 -2.06306035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09119381700003 meters Centerline goodness : 0.940329 Centerline is valid? [False, False] Translation: X:15.40, Y:-0.07, Z:-2.06 [[ 9.99801329e-01 -1.45178566e-02 1.36577418e-02 1.54017770e+01] [ 1.48823390e-02 9.99525321e-01 -2.69749614e-02 -6.95528853e-02] [-1.32596402e-02 2.71728614e-02 9.99542804e-01 -2.06438519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12119381700003 meters Centerline goodness : 0.940104 Centerline is valid? [False, False] Translation: X:15.42, Y:-0.06, Z:-2.07 [[ 9.99814898e-01 -1.17385514e-02 1.52439097e-02 1.54214250e+01] [ 1.21453648e-02 9.99565033e-01 -2.68744189e-02 -6.31991313e-02] [-1.49218124e-02 2.70545872e-02 9.99522580e-01 -2.06514478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15119381700003 meters Centerline goodness : 0.941598 Centerline is valid? [False, False] Translation: X:15.44, Y:-0.06, Z:-2.07 [[ 9.99833966e-01 -8.61597155e-03 1.60563524e-02 1.54415977e+01] [ 9.03826247e-03 9.99610169e-01 -2.64162756e-02 -5.67843414e-02] [-1.58224913e-02 2.65570111e-02 9.99522073e-01 -2.06574373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18119381700004 meters Centerline goodness : 0.944180 Centerline is valid? [False, False] Translation: X:15.44, Y:-0.05, Z:-2.07 [[ 9.99874597e-01 -3.28596914e-03 1.54917021e-02 1.54432028e+01] [ 3.61759849e-03 9.99763855e-01 -2.14277069e-02 -5.14380248e-02] [-1.54176330e-02 2.14810626e-02 9.99650369e-01 -2.06624204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.211193817 meters Centerline goodness : 0.942755 Centerline is valid? [False, False] Translation: X:15.45, Y:-0.05, Z:-2.07 [[ 9.99888390e-01 1.26427151e-03 1.48865402e-02 1.54454551e+01] [-1.00405255e-03 9.99846802e-01 -1.74746672e-02 -4.51386072e-02] [-1.49063523e-02 1.74577699e-02 9.99736479e-01 -2.06730112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.241193817 meters Centerline goodness : 0.943718 Centerline is valid? [False, False] Translation: X:15.48, Y:-0.03, Z:-2.07 [[ 9.99884272e-01 9.77175155e-03 1.16600041e-02 1.54757724e+01] [-9.49674763e-03 9.99680795e-01 -2.34119784e-02 -2.96624061e-02] [-1.18850582e-02 2.32985368e-02 9.99657903e-01 -2.06761842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.271193817 meters Centerline goodness : 0.943193 Centerline is valid? [False, False] Translation: X:15.48, Y:-0.03, Z:-2.07 [[ 9.99808675e-01 1.58669692e-02 1.14390516e-02 1.54774745e+01] [-1.56624050e-02 9.99719666e-01 -1.77560821e-02 -2.56756963e-02] [-1.17175800e-02 1.75735219e-02 9.99776910e-01 -2.06882555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.301193817 meters Centerline goodness : 0.942207 Centerline is valid? [False, False] Translation: X:15.48, Y:-0.02, Z:-2.07 [[ 9.99724545e-01 2.07766844e-02 1.09162088e-02 1.54805394e+01] [-2.06286343e-02 9.99696000e-01 -1.35043455e-02 -2.18787385e-02] [-1.11934658e-02 1.32754392e-02 9.99849223e-01 -2.07100603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.331193817 meters Centerline goodness : 0.944328 Centerline is valid? [False, False] Translation: X:15.48, Y:-0.01, Z:-2.07 [[ 9.99572069e-01 2.72827037e-02 1.05514865e-02 1.54830740e+01] [-2.71895409e-02 9.99590904e-01 -8.87427119e-03 -1.23976486e-02] [-1.07892840e-02 8.58358354e-03 9.99904952e-01 -2.07260292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36119381700001 meters Centerline goodness : 0.945091 Centerline is valid? [False, False] Translation: X:15.48, Y:-0.01, Z:-2.07 [[ 9.99486195e-01 3.02725929e-02 1.05316795e-02 1.54830806e+01] [-3.02060694e-02 9.99523079e-01 -6.41929096e-03 -8.30937109e-03] [-1.07209853e-02 6.09787206e-03 9.99923935e-01 -2.07212067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.39119381700002 meters Centerline goodness : 0.945649 Centerline is valid? [False, False] Translation: X:15.48, Y:-0.00, Z:-2.07 [[ 9.99410631e-01 3.26554112e-02 1.05837473e-02 1.54824436e+01] [-3.26109610e-02 9.99458674e-01 -4.34560831e-03 -4.40935216e-03] [-1.07199257e-02 3.99790097e-03 9.99934548e-01 -2.07098723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42119381700002 meters Centerline goodness : 0.947357 Centerline is valid? [False, False] Translation: X:15.48, Y:-0.00, Z:-2.07 [[ 9.99356187e-01 3.41911523e-02 1.08709492e-02 1.54807252e+01] [-3.41607482e-02 9.99411937e-01 -2.97036646e-03 -1.23063669e-03] [-1.09661166e-02 2.59709434e-03 9.99936498e-01 -2.06913228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.45119381700002 meters Centerline goodness : 0.948134 Centerline is valid? [False, False] Translation: X:15.48, Y:0.00, Z:-2.07 [[ 9.99421468e-01 3.22034003e-02 1.09394164e-02 1.54790826e+01] [-3.21427149e-02 9.99467157e-01 -5.67869847e-03 4.63827291e-03] [-1.11164608e-02 5.32379062e-03 9.99924038e-01 -2.06688536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48119381700002 meters Centerline goodness : 0.950967 Centerline is valid? [False, True] Translation: X:15.48, Y:0.01, Z:-2.07 [[ 9.99467067e-01 3.07450273e-02 1.09693239e-02 1.54781709e+01] [-3.06670463e-02 9.99503667e-01 -7.20780056e-03 6.50827816e-03] [-1.11854835e-02 6.86756252e-03 9.99913857e-01 -2.06570856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51119381700002 meters Centerline goodness : 0.951213 Centerline is valid? [True, True] Translation: X:15.51, Y:0.00, Z:-2.07 [[ 9.99530862e-01 2.79074612e-02 1.26186108e-02 1.55089584e+01] [-2.78996457e-02 9.99610413e-01 -7.95007893e-04 2.72024701e-03] [-1.26358814e-02 4.42580156e-04 9.99920066e-01 -2.06838110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54119381700002 meters Centerline goodness : 0.953369 Centerline is valid? [True, True] Translation: X:15.54, Y:0.00, Z:-2.07 [[ 9.99654185e-01 2.38839773e-02 1.10030067e-02 1.55412862e+01] [-2.38777773e-02 9.99714644e-01 -6.94519142e-04 4.43019731e-03] [-1.10164548e-02 4.31551623e-04 9.99939224e-01 -2.06878126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57119381700002 meters Centerline goodness : 0.951103 Centerline is valid? [True, True] Translation: X:15.57, Y:0.01, Z:-2.07 [[ 9.99690445e-01 2.27338048e-02 1.01087735e-02 1.55740276e+01] [-2.27284950e-02 9.99741470e-01 -6.39855618e-04 5.61932812e-03] [-1.01207065e-02 4.09900339e-04 9.99948700e-01 -2.07016599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60119381700002 meters Centerline goodness : 0.949670 Centerline is valid? [True, False] Translation: X:15.57, Y:0.01, Z:-2.07 [[ 9.99635570e-01 2.49530353e-02 1.02991626e-02 1.55745251e+01] [-2.49735402e-02 9.99686369e-01 1.86712316e-03 6.93220805e-03] [-1.02493421e-02 -2.12364928e-03 9.99945219e-01 -2.07103837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63119381700002 meters Centerline goodness : 0.948637 Centerline is valid? [False, False] Translation: X:15.58, Y:0.01, Z:-2.07 [[ 9.99646856e-01 2.46401174e-02 9.95124042e-03 1.55758406e+01] [-2.46526444e-02 9.99695430e-01 1.13811884e-03 9.47213905e-03] [-9.92016619e-03 -1.38304131e-03 9.99949837e-01 -2.07180323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66119381700003 meters Centerline goodness : 0.948851 Centerline is valid? [False, False] Translation: X:15.58, Y:0.01, Z:-2.07 [[ 9.99672043e-01 2.37291178e-02 9.62990008e-03 1.55769067e+01] [-2.37216702e-02 9.99718208e-01 -8.86889632e-04 1.46927050e-02] [-9.64823156e-03 6.58161457e-04 9.99953238e-01 -2.07221929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69119381700003 meters Centerline goodness : 0.950200 Centerline is valid? [False, True] Translation: X:15.57, Y:0.02, Z:-2.07 [[ 9.99620985e-01 2.47185205e-02 1.21194268e-02 1.55723677e+01] [-2.47424809e-02 9.99692181e-01 1.83106713e-03 1.65740353e-02] [-1.20704350e-02 -2.13023781e-03 9.99924881e-01 -2.07278476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72119381700003 meters Centerline goodness : 0.948093 Centerline is valid? [True, False] Translation: X:15.57, Y:0.02, Z:-2.07 [[ 9.99633929e-01 2.43630167e-02 1.17665126e-02 1.55732083e+01] [-2.43784177e-02 9.99702121e-01 1.16721293e-03 1.86768419e-02] [-1.17345708e-02 -1.45363460e-03 9.99930091e-01 -2.07286458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75119381700003 meters Centerline goodness : 0.946685 Centerline is valid? [False, False] Translation: X:15.57, Y:0.02, Z:-2.07 [[ 9.99646086e-01 2.39790358e-02 1.15198805e-02 1.55738751e+01] [-2.39889017e-02 9.99711966e-01 7.18988657e-04 1.97387819e-02] [-1.14993217e-02 -9.95083477e-04 9.99933385e-01 -2.07307446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78119381700003 meters Centerline goodness : 0.949956 Centerline is valid? [False, False] Translation: X:15.57, Y:0.02, Z:-2.07 [[ 9.99673573e-01 2.28299496e-02 1.14691599e-02 1.55734249e+01] [-2.28251401e-02 9.99739321e-01 -5.50082536e-04 2.21384675e-02] [-1.14787285e-02 2.88117793e-04 9.99934076e-01 -2.07229711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81119381700003 meters Centerline goodness : 0.949305 Centerline is valid? [False, False] Translation: X:15.57, Y:0.02, Z:-2.07 [[ 9.99688889e-01 2.22179709e-02 1.13352314e-02 1.55733578e+01] [-2.22059352e-02 9.99752714e-01 -1.18656634e-03 2.36888508e-02] [-1.13587915e-02 9.34487770e-04 9.99935050e-01 -2.07173559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84119381700003 meters Centerline goodness : 0.949726 Centerline is valid? [False, False] Translation: X:15.57, Y:0.02, Z:-2.07 [[ 9.99706585e-01 2.14567858e-02 1.12405501e-02 1.55735164e+01] [-2.14376787e-02 9.99768534e-01 -1.81759077e-03 2.44461347e-02] [-1.12769479e-02 1.57608616e-03 9.99935171e-01 -2.07166981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87119381700003 meters Centerline goodness : 0.949576 Centerline is valid? [False, False] Translation: X:15.56, Y:0.03, Z:-2.07 [[ 9.99844091e-01 1.52620707e-02 8.88052821e-03 1.55551642e+01] [-1.53265696e-02 9.99856323e-01 7.24080268e-03 2.56300444e-02] [-8.76874264e-03 -7.37578180e-03 9.99934351e-01 -2.07003541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90119381700003 meters Centerline goodness : 0.949655 Centerline is valid? [False, False] Translation: X:15.55, Y:0.03, Z:-2.07 [[ 9.99908988e-01 1.01692767e-02 8.86576626e-03 1.55546274e+01] [-1.01922409e-02 9.99944809e-01 2.54888017e-03 2.52649205e-02] [-8.83935668e-03 -2.63901021e-03 9.99957450e-01 -2.06946553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93119381700004 meters Centerline goodness : 0.951374 Centerline is valid? [False, True] Translation: X:15.55, Y:0.03, Z:-2.07 [[ 9.99925144e-01 8.17691964e-03 9.10186663e-03 1.55529344e+01] [-8.18694362e-03 9.99965920e-01 1.06459568e-03 2.51623271e-02] [-9.09285132e-03 -1.13903246e-03 9.99958010e-01 -2.06790847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.961193817 meters Centerline goodness : 0.953865 Centerline is valid? [True, True] Translation: X:15.59, Y:0.02, Z:-2.07 [[ 9.99939526e-01 4.13942987e-03 1.01887084e-02 1.55851915e+01] [-4.13180868e-03 9.99991168e-01 -7.68939100e-04 2.40813855e-02] [-1.01918013e-02 7.26794805e-04 9.99947798e-01 -2.06883896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.991193817 meters Centerline goodness : 0.953050 Centerline is valid? [True, True] Translation: X:15.62, Y:0.02, Z:-2.07 [[ 9.99933764e-01 -3.12430234e-06 1.15094979e-02 1.56178408e+01] [ 1.31634936e-05 9.99999620e-01 -8.72177103e-04 2.32663280e-02] [-1.15094908e-02 8.72270838e-04 9.99933383e-01 -2.06940887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.021193817 meters Centerline goodness : 0.953888 Centerline is valid? [True, True] Translation: X:15.65, Y:0.03, Z:-2.07 [[ 9.99901899e-01 -7.29317115e-03 1.19583375e-02 1.56498059e+01] [ 7.30458582e-03 9.99972906e-01 -9.11136737e-04 2.56259046e-02] [-1.19513685e-02 9.98398056e-04 9.99928081e-01 -2.07026718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.051193817 meters Centerline goodness : 0.953909 Centerline is valid? [True, True] Translation: X:15.68, Y:0.03, Z:-2.07 [[ 9.99876778e-01 -9.58881872e-03 1.24291232e-02 1.56832943e+01] [ 9.60143952e-03 9.99953448e-01 -9.56147136e-04 2.58306233e-02] [-1.24193763e-02 1.07536679e-03 9.99922298e-01 -2.07206569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.081193817 meters Centerline goodness : 0.955028 Centerline is valid? [True, True] Translation: X:15.71, Y:0.03, Z:-2.07 [[ 9.99855831e-01 -1.05858080e-02 1.32762111e-02 1.57149703e+01] [ 1.06003297e-02 9.99943291e-01 -1.02391740e-03 2.50656137e-02] [-1.32646193e-02 1.16450200e-03 9.99911343e-01 -2.07401779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.11119381700001 meters Centerline goodness : 0.956364 Centerline is valid? [True, True] Translation: X:15.75, Y:0.02, Z:-2.08 [[ 9.99834764e-01 -1.14541480e-02 1.41154683e-02 1.57476763e+01] [ 1.14706658e-02 9.99933616e-01 -1.08978324e-03 2.43010129e-02] [-1.41020487e-02 1.25151699e-03 9.99899778e-01 -2.07594739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14119381700002 meters Centerline goodness : 0.958863 Centerline is valid? [True, True] Translation: X:15.78, Y:0.03, Z:-2.08 [[ 9.99836940e-01 -1.20261683e-02 1.34708866e-02 1.57797752e+01] [ 1.20412527e-02 9.99926961e-01 -1.03922911e-03 2.97698691e-02] [-1.34574048e-02 1.20126601e-03 9.99908723e-01 -2.07867543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.17119381700002 meters Centerline goodness : 0.959123 Centerline is valid? [True, True] Translation: X:15.81, Y:0.03, Z:-2.08 [[ 9.99850435e-01 -1.11315426e-02 1.32361689e-02 1.58121632e+01] [ 1.11461071e-02 9.99937353e-01 -1.02709836e-03 3.19869779e-02] [-1.32239065e-02 1.17447650e-03 9.99911871e-01 -2.08031656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20119381700002 meters Centerline goodness : 0.960087 Centerline is valid? [True, True] Translation: X:15.85, Y:0.03, Z:-2.08 [[ 9.99859473e-01 -1.03854259e-02 1.31596862e-02 1.58456114e+01] [ 1.03997572e-02 9.99945400e-01 -1.02106557e-03 3.48405336e-02] [-1.31483635e-02 1.15777962e-03 9.99912886e-01 -2.08281138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23119381700002 meters Centerline goodness : 0.957719 Centerline is valid? [True, True] Translation: X:15.88, Y:0.04, Z:-2.08 [[ 9.99874010e-01 -9.62656889e-03 1.26211237e-02 1.58785146e+01] [ 9.63970783e-03 9.99953056e-01 -9.80605434e-04 3.74544871e-02] [-1.26110913e-02 1.10214583e-03 9.99919870e-01 -2.08406761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26119381700002 meters Centerline goodness : 0.960371 Centerline is valid? [True, True] Translation: X:15.91, Y:0.05, Z:-2.09 [[ 9.99866801e-01 -6.78017827e-03 1.48462242e-02 1.59116594e+01] [ 6.79810187e-03 9.99976223e-01 -1.15715051e-03 4.65329605e-02] [-1.48380255e-02 1.25792252e-03 9.99889119e-01 -2.08637732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29119381700002 meters Centerline goodness : 0.959659 Centerline is valid? [True, True] Translation: X:15.94, Y:0.05, Z:-2.09 [[ 9.99869473e-01 -5.13976321e-03 1.53172945e-02 1.59438002e+01] [ 5.15862282e-03 9.99985984e-01 -1.19200626e-03 4.91803927e-02] [-1.53109532e-02 1.27086682e-03 9.99881973e-01 -2.08799599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32119381700002 meters Centerline goodness : 0.958331 Centerline is valid? [True, True] Translation: X:15.98, Y:0.05, Z:-2.09 [[ 9.99881472e-01 -3.79994947e-03 1.49198790e-02 1.59759482e+01] [ 3.81774083e-03 9.99992035e-01 -1.16415951e-03 5.11434138e-02] [-1.49153364e-02 1.22098175e-03 9.99888015e-01 -2.08839092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35119381700002 meters Centerline goodness : 0.959624 Centerline is valid? [True, True] Translation: X:16.01, Y:0.06, Z:-2.09 [[ 9.99884265e-01 -3.45344043e-03 1.48165302e-02 1.60097500e+01] [ 3.47102038e-03 9.99993302e-01 -1.16095797e-03 5.68800626e-02] [-1.48124216e-02 1.21225209e-03 9.99889555e-01 -2.09089627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38119381700002 meters Centerline goodness : 0.959552 Centerline is valid? [True, True] Translation: X:16.04, Y:0.06, Z:-2.09 [[ 9.99855432e-01 -4.45683872e-03 1.64088967e-02 1.60423621e+01] [ 4.47854432e-03 9.99989144e-01 -1.28628597e-03 5.83011844e-02] [-1.64029858e-02 1.35958798e-03 9.99864538e-01 -2.09314407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41119381700003 meters Centerline goodness : 0.959574 Centerline is valid? [True, True] Translation: X:16.08, Y:0.06, Z:-2.09 [[ 9.99841376e-01 -6.10247991e-03 1.67326730e-02 1.60759757e+01] [ 6.12537437e-03 9.99980372e-01 -1.31733895e-03 5.97005343e-02] [-1.67243056e-02 1.41962387e-03 9.99859131e-01 -2.09454930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44119381700003 meters Centerline goodness : 0.960265 Centerline is valid? [True, True] Translation: X:16.11, Y:0.06, Z:-2.10 [[ 9.99836575e-01 -8.10360273e-03 1.61602886e-02 1.61092346e+01] [ 8.12524461e-03 9.99966178e-01 -1.27399281e-03 6.04542429e-02] [-1.61494181e-02 1.40509091e-03 9.99868602e-01 -2.09597101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47119381700003 meters Centerline goodness : 0.960057 Centerline is valid? [True, True] Translation: X:16.14, Y:0.06, Z:-2.10 [[ 9.99833943e-01 -1.06523311e-02 1.47856165e-02 1.61428012e+01] [ 1.06707406e-02 9.99942385e-01 -1.16675872e-03 6.13192995e-02] [-1.47723359e-02 1.32433845e-03 9.99890006e-01 -2.09757914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50119381700003 meters Centerline goodness : 0.960858 Centerline is valid? [True, True] Translation: X:16.17, Y:0.06, Z:-2.10 [[ 9.99753810e-01 -1.72933453e-02 1.39018163e-02 1.61749720e+01] [ 1.73102064e-02 9.99849569e-01 -1.09344376e-03 6.45017741e-02] [-1.38808158e-02 1.33381788e-03 9.99902767e-01 -2.09913187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53119381700003 meters Centerline goodness : 0.958588 Centerline is valid? [True, True] Translation: X:16.21, Y:0.07, Z:-2.10 [[ 9.99706298e-01 -2.02697772e-02 1.32836129e-02 1.62086284e+01] [ 2.02855446e-02 9.99793672e-01 -1.05330635e-03 6.56887951e-02] [-1.32595219e-02 1.32246231e-03 9.99911214e-01 -2.10085119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56119381700003 meters Centerline goodness : 0.958963 Centerline is valid? [True, True] Translation: X:16.24, Y:0.07, Z:-2.10 [[ 9.99633166e-01 -2.33129183e-02 1.37855315e-02 1.62417939e+01] [ 2.33302102e-02 9.99727214e-01 -1.09484033e-03 6.77746561e-02] [-1.37562471e-02 1.41605805e-03 9.99904376e-01 -2.10212898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59119381700003 meters Centerline goodness : 0.959960 Centerline is valid? [True, True] Translation: X:16.27, Y:0.07, Z:-2.10 [[ 9.99541958e-01 -2.61708615e-02 1.51974075e-02 1.62739594e+01] [ 2.61922083e-02 9.99656196e-01 -1.20726453e-03 7.06150563e-02] [-1.51605874e-02 1.60476521e-03 9.99883784e-01 -2.10320127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62119381700003 meters Centerline goodness : 0.960242 Centerline is valid? [True, True] Translation: X:16.31, Y:0.08, Z:-2.10 [[ 9.99407515e-01 -2.99696360e-02 1.69245085e-02 1.63075673e+01] [ 2.99967545e-02 9.99549084e-01 -1.35068488e-03 7.87130769e-02] [-1.68763975e-02 1.85756495e-03 9.99855858e-01 -2.10357606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65119381700003 meters Centerline goodness : 0.961186 Centerline is valid? [True, True] Translation: X:16.34, Y:0.08, Z:-2.11 [[ 9.99360566e-01 -3.08277611e-02 1.81137834e-02 1.63396955e+01] [ 3.08590187e-02 9.99522697e-01 -1.44859321e-03 8.24992829e-02] [-1.80604808e-02 2.00664051e-03 9.99834883e-01 -2.10536848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68119381700004 meters Centerline goodness : 0.963296 Centerline is valid? [True, True] Translation: X:16.37, Y:0.09, Z:-2.11 [[ 9.99367468e-01 -3.02613342e-02 1.86792634e-02 1.63727316e+01] [ 3.02945031e-02 9.99539898e-01 -1.49523731e-03 8.66373351e-02] [-1.86254211e-02 2.06017052e-03 9.99824409e-01 -2.10686680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.711193817 meters Centerline goodness : 0.962432 Centerline is valid? [True, True] Translation: X:16.41, Y:0.09, Z:-2.11 [[ 9.99381383e-01 -2.97158450e-02 1.88100778e-02 1.64061040e+01] [ 2.97494282e-02 9.99556250e-01 -1.50802625e-03 9.12909896e-02] [-1.87569186e-02 2.06668242e-03 9.99821938e-01 -2.10785728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.741193817 meters Centerline goodness : 0.962432 Centerline is valid? [True, True] Translation: X:16.44, Y:0.09, Z:-2.11 [[ 9.99385507e-01 -2.95769281e-02 1.88099315e-02 1.64394960e+01] [ 2.96105208e-02 9.99560372e-01 -1.50984847e-03 8.84643296e-02] [-1.87570054e-02 2.06589254e-03 9.99821938e-01 -2.10926284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.771193817 meters Centerline goodness : 0.963419 Centerline is valid? [True, True] Translation: X:16.47, Y:0.10, Z:-2.11 [[ 9.99461823e-01 -2.67244276e-02 1.90228666e-02 1.64733525e+01] [ 2.67583338e-02 9.99640761e-01 -1.53004881e-03 9.97081653e-02] [-1.89751432e-02 2.03824559e-03 9.99817878e-01 -2.11053967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.801193817 meters Centerline goodness : 0.963112 Centerline is valid? [True, True] Translation: X:16.51, Y:0.10, Z:-2.11 [[ 9.99516136e-01 -2.39085808e-02 1.98965662e-02 1.65056646e+01] [ 2.39451845e-02 9.99711987e-01 -1.60346835e-03 1.04600436e-01] [-1.98524991e-02 2.07911944e-03 9.99800758e-01 -2.11188256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.831193817 meters Centerline goodness : 0.965234 Centerline is valid? [True, True] Translation: X:16.54, Y:0.11, Z:-2.11 [[ 9.99587905e-01 -1.99367376e-02 2.06530004e-02 1.65390219e+01] [ 1.99753792e-02 9.99799084e-01 -1.66636538e-03 1.10144971e-01] [-2.06156289e-02 2.07823019e-03 9.99785315e-01 -2.11269145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86119381700001 meters Centerline goodness : 0.966347 Centerline is valid? [True, True] Translation: X:16.57, Y:0.12, Z:-2.11 [[ 9.99654034e-01 -1.64219379e-02 2.05458423e-02 1.65725621e+01] [ 1.64594926e-02 9.99863155e-01 -1.66006951e-03 1.16102937e-01] [-2.05157691e-02 1.99766933e-03 9.99787534e-01 -2.11268910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.89119381700002 meters Centerline goodness : 0.965829 Centerline is valid? [True, True] Translation: X:16.61, Y:0.13, Z:-2.11 [[ 9.99760390e-01 -8.52913270e-03 2.01597760e-02 1.66059340e+01] [ 8.56375472e-03 9.99961999e-01 -1.63167332e-03 1.27688218e-01] [-2.01450932e-02 1.80392573e-03 9.99795440e-01 -2.11249708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92119381700002 meters Centerline goodness : 0.966306 Centerline is valid? [True, True] Translation: X:16.64, Y:0.13, Z:-2.11 [[ 9.99814957e-01 -4.27103679e-03 1.87565923e-02 1.66393941e+01] [ 4.30028412e-03 9.99989600e-01 -1.51925365e-03 1.31175293e-01] [-1.87499084e-02 1.59963120e-03 9.99822925e-01 -2.11310366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.95119381700002 meters Centerline goodness : 0.965563 Centerline is valid? [True, True] Translation: X:16.67, Y:0.13, Z:-2.11 [[ 9.99826574e-01 -4.50004457e-04 1.86176939e-02 1.66722133e+01] [ 4.78211583e-04 9.99998745e-01 -1.51064665e-03 1.33960774e-01] [-1.86169907e-02 1.51928787e-03 9.99825534e-01 -2.11364504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98119381700002 meters Centerline goodness : 0.964855 Centerline is valid? [True, True] Translation: X:16.71, Y:0.14, Z:-2.11 [[ 9.99819147e-01 5.87050287e-03 1.80889725e-02 1.67057286e+01] [-5.84488063e-03 9.99981840e-01 -1.46899943e-03 1.41013157e-01] [-1.80972678e-02 1.36300587e-03 9.99835302e-01 -2.11384119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01119381700002 meters Centerline goodness : 0.965740 Centerline is valid? [True, True] Translation: X:16.74, Y:0.14, Z:-2.11 [[ 9.99797125e-01 8.20544163e-03 1.83950982e-02 1.67390737e+01] [-8.17938077e-03 9.99965436e-01 -1.49151914e-03 1.42930084e-01] [-1.84067009e-02 1.34075603e-03 9.99829683e-01 -2.11489767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04119381700002 meters Centerline goodness : 0.966584 Centerline is valid? [True, True] Translation: X:16.77, Y:0.14, Z:-2.11 [[ 9.99784650e-01 1.04026303e-02 1.79565666e-02 1.67724954e+01] [-1.03780549e-02 9.99945079e-01 -1.46124897e-03 1.44288549e-01] [-1.79707813e-02 1.27458006e-03 9.99837700e-01 -2.11458532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07119381700002 meters Centerline goodness : 0.966281 Centerline is valid? [True, True] Translation: X:16.81, Y:0.15, Z:-2.11 [[ 9.99764518e-01 1.20867179e-02 1.80227394e-02 1.68054912e+01] [-1.20621370e-02 9.99926166e-01 -1.47196384e-03 1.46057904e-01] [-1.80391999e-02 1.25422447e-03 9.99836494e-01 -2.11488287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10119381700002 meters Centerline goodness : 0.965470 Centerline is valid? [True, True] Translation: X:16.84, Y:0.15, Z:-2.11 [[ 9.99762562e-01 1.41363006e-02 1.65826321e-02 1.68381199e+01] [-1.41156855e-02 9.99899444e-01 -1.35956505e-03 1.51073022e-01] [-1.66001838e-02 1.12516702e-03 9.99861574e-01 -2.11434879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13119381700002 meters Centerline goodness : 0.964397 Centerline is valid? [True, True] Translation: X:16.87, Y:0.15, Z:-2.12 [[ 9.99762200e-01 1.54275940e-02 1.54121086e-02 1.68697849e+01] [-1.54097871e-02 9.99880451e-01 -1.27347902e-03 1.51708975e-01] [-1.54299129e-02 1.03567887e-03 9.99880415e-01 -2.11560828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16119381700003 meters Centerline goodness : 0.963879 Centerline is valid? [True, True] Translation: X:16.90, Y:0.15, Z:-2.12 [[ 9.99770467e-01 1.56738966e-02 1.46062406e-02 1.69000939e+01] [-1.56579460e-02 9.99876680e-01 -1.20576342e-03 1.51279341e-01] [-1.46233384e-02 9.76782926e-04 9.99892596e-01 -2.11723366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19119381700003 meters Centerline goodness : 0.965614 Centerline is valid? [True, True] Translation: X:16.93, Y:0.15, Z:-2.12 [[ 9.99772593e-01 1.60204913e-02 1.40750255e-02 1.69309486e+01] [-1.60056572e-02 9.99871221e-01 -1.16595202e-03 1.50015601e-01] [-1.40918920e-02 9.40406844e-04 9.99900262e-01 -2.11991064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22119381700003 meters Centerline goodness : 0.961221 Centerline is valid? [True, True] Translation: X:16.96, Y:0.15, Z:-2.12 [[ 9.99826291e-01 1.32863794e-02 1.30713710e-02 1.69608481e+01] [-1.32733383e-02 9.99911318e-01 -1.08393904e-03 1.52031994e-01] [-1.30846134e-02 9.10250023e-04 9.99913978e-01 -2.12011529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25119381700003 meters Centerline goodness : 0.963671 Centerline is valid? [True, True] Translation: X:16.99, Y:0.15, Z:-2.12 [[ 9.99862200e-01 1.12511200e-02 1.22062473e-02 1.69914145e+01] [-1.12396159e-02 9.99936323e-01 -1.01066589e-03 1.52255134e-01] [-1.22168411e-02 8.73333088e-04 9.99924990e-01 -2.12074570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28119381700003 meters Centerline goodness : 0.963818 Centerline is valid? [True, True] Translation: X:17.02, Y:0.15, Z:-2.12 [[ 9.99890392e-01 9.26405599e-03 1.15490625e-02 1.70220698e+01] [-9.25362557e-03 9.99956727e-01 -9.56251599e-04 1.52094564e-01] [-1.15574215e-02 8.49276086e-04 9.99932850e-01 -2.12168868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31119381700003 meters Centerline goodness : 0.961033 Centerline is valid? [True, True] Translation: X:17.05, Y:0.15, Z:-2.12 [[ 9.99947408e-01 6.65934395e-03 7.79965204e-03 1.70533804e+01] [-6.65451837e-03 9.99977651e-01 -6.44480059e-04 1.54530925e-01] [-7.80376954e-03 5.92543237e-04 9.99969375e-01 -2.12138868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34119381700003 meters Centerline goodness : 0.961969 Centerline is valid? [True, True] Translation: X:17.08, Y:0.15, Z:-2.12 [[ 9.99953057e-01 6.76788260e-03 6.93396950e-03 1.70840198e+01] [-6.76406134e-03 9.99976959e-01 -5.74396388e-04 1.53407537e-01] [-6.93769717e-03 5.27467629e-04 9.99975795e-01 -2.12267272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37119381700003 meters Centerline goodness : 0.962059 Centerline is valid? [True, True] Translation: X:17.11, Y:0.15, Z:-2.12 [[ 9.99943729e-01 7.54535131e-03 7.45695503e-03 1.71139991e+01] [-7.54095336e-03 9.99971376e-01 -6.17719481e-04 1.51847266e-01] [-7.46140249e-03 5.61452171e-04 9.99972006e-01 -2.12446131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40119381700003 meters Centerline goodness : 0.962919 Centerline is valid? [True, True] Translation: X:17.14, Y:0.15, Z:-2.13 [[ 9.99931159e-01 8.85727233e-03 7.69578859e-03 1.71447119e+01] [-8.85262678e-03 9.99960612e-01 -6.37503983e-04 1.50556171e-01] [-7.70113202e-03 5.69332153e-04 9.99970184e-01 -2.12598462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43119381700004 meters Centerline goodness : 0.962434 Centerline is valid? [True, True] Translation: X:17.17, Y:0.15, Z:-2.13 [[ 9.99900507e-01 1.10644180e-02 8.74952353e-03 1.71746198e+01] [-1.10584917e-02 9.99938590e-01 -7.25415907e-04 1.50890428e-01] [-8.75701252e-03 6.28587200e-04 9.99961459e-01 -2.12582994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.461193817 meters Centerline goodness : 0.963887 Centerline is valid? [True, True] Translation: X:17.20, Y:0.15, Z:-2.13 [[ 9.99892901e-01 1.07409916e-02 9.94071779e-03 1.72040688e+01] [-1.07333227e-02 9.99942056e-01 -8.24489232e-04 1.50276246e-01] [-9.94899762e-03 7.17703997e-04 9.99950250e-01 -2.12714495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.491193817 meters Centerline goodness : 0.964014 Centerline is valid? [True, True] Translation: X:17.23, Y:0.15, Z:-2.13 [[ 9.99894000e-01 1.01327471e-02 1.04553966e-02 1.72335008e+01] [-1.01242417e-02 9.99948373e-01 -8.66100272e-04 1.48594381e-01] [-1.04636328e-02 7.60155503e-04 9.99944966e-01 -2.12850843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.521193817 meters Centerline goodness : 0.963286 Centerline is valid? [True, True] Translation: X:17.26, Y:0.15, Z:-2.13 [[ 9.99905386e-01 9.45644129e-03 9.98977182e-03 1.72640596e+01] [-9.44865058e-03 9.99955019e-01 -8.26778006e-04 1.45278769e-01] [-9.99714084e-03 7.32309917e-04 9.99949759e-01 -2.12992109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.551193817 meters Centerline goodness : 0.963367 Centerline is valid? [True, True] Translation: X:17.29, Y:0.14, Z:-2.13 [[ 9.99930383e-01 6.15768170e-03 1.00653720e-02 1.72937147e+01] [-6.14961243e-03 9.99980744e-01 -8.32439177e-04 1.41368002e-01] [-1.00703041e-02 7.70483089e-04 9.99948996e-01 -2.13186976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.581193817 meters Centerline goodness : 0.964046 Centerline is valid? [True, True] Translation: X:17.32, Y:0.14, Z:-2.13 [[ 9.99949266e-01 4.40379010e-03 9.05941422e-03 1.73247936e+01] [-4.39718659e-03 9.99990052e-01 -7.48700491e-04 1.39200976e-01] [-9.06262122e-03 7.08826572e-04 9.99958682e-01 -2.13190321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.61119381700001 meters Centerline goodness : 0.967790 Centerline is valid? [True, True] Translation: X:17.36, Y:0.14, Z:-2.13 [[ 9.99975251e-01 9.58666275e-04 6.96987969e-03 1.73560146e+01] [-9.54725642e-04 9.99999383e-01 -5.68685465e-04 1.36977129e-01] [-6.97042056e-03 5.62017068e-04 9.99975548e-01 -2.13024676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64119381700002 meters Centerline goodness : 0.967790 Centerline is valid? [True, True] Translation: X:17.39, Y:0.13, Z:-2.13 [[ 9.99975165e-01 1.04843398e-03 6.96929139e-03 1.73885701e+01] [-1.04444647e-03 9.99999289e-01 -5.75769568e-04 1.34176358e-01] [-6.96989009e-03 5.68476217e-04 9.99975548e-01 -2.13161471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.67119381700002 meters Centerline goodness : 0.966012 Centerline is valid? [True, True] Translation: X:17.42, Y:0.13, Z:-2.13 [[ 9.99971067e-01 4.38714377e-06 7.60689828e-03 1.74208441e+01] [ 3.55887976e-07 9.99999806e-01 -6.23515712e-04 1.30657586e-01] [-7.60689954e-03 6.23500379e-04 9.99970873e-01 -2.13278032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70119381700002 meters Centerline goodness : 0.967539 Centerline is valid? [True, True] Translation: X:17.45, Y:0.13, Z:-2.13 [[ 9.99969470e-01 -1.98864218e-03 7.55668037e-03 1.74522492e+01] [ 1.99338938e-03 9.99997821e-01 -6.20732424e-04 1.26645043e-01] [-7.55542948e-03 6.35776880e-04 9.99971255e-01 -2.13333495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73119381700002 meters Centerline goodness : 0.968518 Centerline is valid? [True, True] Translation: X:17.48, Y:0.12, Z:-2.13 [[ 9.99961405e-01 -2.83538236e-03 8.31559394e-03 1.74849580e+01] [ 2.84123584e-03 9.99995724e-01 -6.92187254e-04 1.23744073e-01] [-8.31359577e-03 7.15787103e-04 9.99965185e-01 -2.13495546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76119381700002 meters Centerline goodness : 0.969228 Centerline is valid? [True, True] Translation: X:17.52, Y:0.12, Z:-2.14 [[ 9.99955175e-01 -3.99859323e-03 8.58245146e-03 1.75178417e+01] [ 4.00488106e-03 9.99991724e-01 -7.15576735e-04 1.21887241e-01] [-8.57951913e-03 7.49916357e-04 9.99962914e-01 -2.13564178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79119381700002 meters Centerline goodness : 0.970216 Centerline is valid? [True, True] Translation: X:17.55, Y:0.12, Z:-2.14 [[ 9.99962313e-01 -4.83216326e-03 7.21267349e-03 1.75502642e+01] [ 4.83663545e-03 9.99988122e-01 -6.02732103e-04 1.21336600e-01] [-7.20967531e-03 6.37594460e-04 9.99973807e-01 -2.13593942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82119381700002 meters Centerline goodness : 0.969653 Centerline is valid? [True, True] Translation: X:17.58, Y:0.12, Z:-2.14 [[ 9.99963391e-01 -4.97779520e-03 6.95973646e-03 1.75818571e+01] [ 4.98196107e-03 9.99987421e-01 -5.81358986e-04 1.20566857e-01] [-6.95675503e-03 6.16010839e-04 9.99975612e-01 -2.13715180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85119381700002 meters Centerline goodness : 0.969407 Centerline is valid? [True, True] Translation: X:17.61, Y:0.12, Z:-2.14 [[ 9.99966342e-01 -4.40030537e-03 6.92474017e-03 1.76139677e+01] [ 4.40442439e-03 9.99990132e-01 -5.79689124e-04 1.19800640e-01] [-6.92212103e-03 6.10169107e-04 9.99975856e-01 -2.13789536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88119381700002 meters Centerline goodness : 0.969641 Centerline is valid? [True, True] Translation: X:17.65, Y:0.12, Z:-2.14 [[ 9.99969580e-01 -3.23385693e-03 7.09798554e-03 1.76462607e+01] [ 3.23816006e-03 9.99994580e-01 -5.94838025e-04 1.19484926e-01] [-7.09602345e-03 6.17804343e-04 9.99974632e-01 -2.13915631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91119381700003 meters Centerline goodness : 0.970852 Centerline is valid? [True, True] Translation: X:17.68, Y:0.12, Z:-2.14 [[ 9.99970136e-01 6.97060946e-04 7.69678809e-03 1.76773029e+01] [-6.92123429e-04 9.99999553e-01 -6.44148504e-04 1.21729203e-01] [-7.69723366e-03 6.38802140e-04 9.99970172e-01 -2.14018911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94119381700003 meters Centerline goodness : 0.968793 Centerline is valid? [True, True] Translation: X:17.71, Y:0.12, Z:-2.14 [[ 9.99954922e-01 3.72122904e-03 8.73538985e-03 1.77094996e+01] [-3.71495259e-03 9.99992830e-01 -7.34624187e-04 1.21070722e-01] [-8.73806092e-03 7.02139513e-04 9.99961576e-01 -2.14083675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97119381700003 meters Centerline goodness : 0.968079 Centerline is valid? [True, True] Translation: X:17.74, Y:0.12, Z:-2.14 [[ 9.99924111e-01 7.37464986e-03 9.86843932e-03 1.77418003e+01] [-7.36680487e-03 9.99972519e-01 -8.31072916e-04 1.20359376e-01] [-9.87429700e-03 7.58310980e-04 9.99950960e-01 -2.14216292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00119381700003 meters Centerline goodness : 0.969298 Centerline is valid? [True, True] Translation: X:17.77, Y:0.12, Z:-2.14 [[ 9.99889053e-01 1.05755154e-02 1.04900453e-02 1.77720786e+01] [-1.05667971e-02 9.99943777e-01 -8.86182211e-04 1.20030579e-01] [-1.04988273e-02 7.75237712e-04 9.99944585e-01 -2.14368372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03119381700003 meters Centerline goodness : 0.968546 Centerline is valid? [True, True] Translation: X:17.80, Y:0.12, Z:-2.14 [[ 9.99819200e-01 1.66825065e-02 9.12476628e-03 1.78016130e+01] [-1.66761458e-02 9.99860645e-01 -7.72727430e-04 1.20685573e-01] [-9.13638573e-03 6.20421787e-04 9.99958070e-01 -2.14373553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06119381700003 meters Centerline goodness : 0.968482 Centerline is valid? [True, True] Translation: X:17.83, Y:0.12, Z:-2.15 [[ 9.99765815e-01 1.93543199e-02 9.68115203e-03 1.78302879e+01] [-1.93472766e-02 9.99812487e-01 -8.20662451e-04 1.19014419e-01] [-9.69522005e-03 6.33166339e-04 9.99952800e-01 -2.14561427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09119381700003 meters Centerline goodness : 0.967239 Centerline is valid? [True, True] Translation: X:17.86, Y:0.12, Z:-2.15 [[ 9.99709665e-01 2.19244147e-02 9.99532263e-03 1.78577100e+01] [-2.19170376e-02 9.99759434e-01 -8.47006133e-04 1.17503630e-01] [-1.00114882e-02 6.27692355e-04 9.99949687e-01 -2.14684029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12119381700003 meters Centerline goodness : 0.966428 Centerline is valid? [True, True] Translation: X:17.89, Y:0.12, Z:-2.15 [[ 9.99617707e-01 2.59036447e-02 9.66647749e-03 1.78853717e+01] [-2.58969385e-02 9.99664283e-01 -8.18312310e-04 1.15498751e-01] [-9.68442956e-03 5.67667302e-04 9.99952944e-01 -2.14841393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15119381700003 meters Centerline goodness : 0.965154 Centerline is valid? [True, True] Translation: X:17.91, Y:0.11, Z:-2.15 [[ 9.99509537e-01 2.99650257e-02 9.09852871e-03 1.79137603e+01] [-2.99592522e-02 9.99550824e-01 -7.70225535e-04 1.13801776e-01] [-9.11752170e-03 4.97262652e-04 9.99958311e-01 -2.14911856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18119381700004 meters Centerline goodness : 0.965358 Centerline is valid? [True, True] Translation: X:17.94, Y:0.11, Z:-2.15 [[ 9.99350030e-01 3.47819976e-02 9.47259913e-03 1.79406203e+01] [-3.47759619e-02 9.99394812e-01 -8.01195249e-04 1.11294669e-01] [-9.49473360e-03 4.71255750e-04 9.99954813e-01 -2.15022410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.211193817 meters Centerline goodness : 0.963375 Centerline is valid? [True, True] Translation: X:17.97, Y:0.11, Z:-2.15 [[ 9.98974189e-01 4.45181620e-02 8.28870357e-03 1.79684727e+01] [-4.45138824e-02 9.99008520e-01 -7.00183885e-04 1.07610269e-01] [-8.31165639e-03 3.30503253e-04 9.99965403e-01 -2.15240800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.241193817 meters Centerline goodness : 0.961373 Centerline is valid? [True, True] Translation: X:17.99, Y:0.10, Z:-2.15 [[ 9.98752504e-01 4.95087046e-02 6.50564959e-03 1.79949570e+01] [-4.95061679e-02 9.98773666e-01 -5.50472185e-04 1.03458121e-01] [-6.52492466e-03 2.27715692e-04 9.99978687e-01 -2.15354608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.271193817 meters Centerline goodness : 0.960805 Centerline is valid? [True, True] Translation: X:18.02, Y:0.10, Z:-2.16 [[ 9.98256346e-01 5.86006944e-02 7.08702630e-03 1.80210658e+01] [-5.85979270e-02 9.98281486e-01 -5.97679936e-04 9.76669428e-02] [-7.10987160e-03 1.81352740e-04 9.99974708e-01 -2.15546142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.301193817 meters Centerline goodness : 0.959316 Centerline is valid? [True, True] Translation: X:18.05, Y:0.09, Z:-2.16 [[ 9.98057809e-01 6.18672177e-02 7.28410967e-03 1.80492116e+01] [-6.18643884e-02 9.98084376e-01 -6.13321196e-04 9.34993092e-02] [-7.30810053e-03 1.61503020e-04 9.99973282e-01 -2.15599716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.331193817 meters Centerline goodness : 0.958834 Centerline is valid? [True, True] Translation: X:18.08, Y:0.09, Z:-2.16 [[ 9.97887126e-01 6.45942044e-02 6.99092748e-03 1.80768698e+01] [-6.45916689e-02 9.97911605e-01 -5.88097384e-04 8.89038829e-02] [-7.01431534e-03 1.35299136e-04 9.99975390e-01 -2.15740562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36119381700001 meters Centerline goodness : 0.957278 Centerline is valid? [True, True] Translation: X:18.10, Y:0.08, Z:-2.16 [[ 9.97744432e-01 6.68170057e-02 6.44482596e-03 1.81032705e+01] [-6.68148772e-02 9.97765240e-01 -5.45247328e-04 8.41634298e-02] [-6.46685511e-03 1.13407231e-04 9.99979083e-01 -2.15860903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.39119381700002 meters Centerline goodness : 0.956807 Centerline is valid? [True, True] Translation: X:18.13, Y:0.08, Z:-2.16 [[ 9.97443765e-01 7.10846963e-02 7.27330197e-03 1.81302557e+01] [-7.10821440e-02 9.97470279e-01 -6.09136617e-04 7.62500883e-02] [-7.29820283e-03 9.05776232e-05 9.99973364e-01 -2.15916149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42119381700002 meters Centerline goodness : 0.956067 Centerline is valid? [True, True] Translation: X:18.16, Y:0.07, Z:-2.16 [[ 9.97282389e-01 7.31081384e-02 9.11250031e-03 1.81567430e+01] [-7.31042323e-02 9.97324015e-01 -7.61451034e-04 7.03266408e-02] [-9.14378366e-03 9.32193667e-05 9.99958190e-01 -2.16030422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.45119381700002 meters Centerline goodness : 0.956717 Centerline is valid? [True, True] Translation: X:18.18, Y:0.06, Z:-2.16 [[ 9.97198696e-01 7.40075498e-02 1.08463371e-02 1.81842692e+01] [-7.40020380e-02 9.97257676e-01 -9.09182264e-04 6.40894619e-02] [-1.08838793e-02 1.03984318e-04 9.99940763e-01 -2.16086846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48119381700002 meters Centerline goodness : 0.956303 Centerline is valid? [True, True] Translation: X:18.21, Y:0.06, Z:-2.16 [[ 9.97130426e-01 7.46892036e-02 1.23465111e-02 1.82113022e+01] [-7.46822545e-02 9.97206856e-01 -1.02357956e-03 5.66346431e-02] [-1.23884758e-02 9.85770440e-05 9.99923255e-01 -2.16220416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51119381700002 meters Centerline goodness : 0.953628 Centerline is valid? [True, True] Translation: X:18.24, Y:0.04, Z:-2.17 [[ 9.97115382e-01 7.42756588e-02 1.56218110e-02 1.82380875e+01] [-7.42645333e-02 9.97237740e-01 -1.29188529e-03 4.27768971e-02] [-1.56746151e-02 1.28012185e-04 9.99877137e-01 -2.16521204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54119381700002 meters Centerline goodness : 0.954633 Centerline is valid? [True, True] Translation: X:18.27, Y:0.03, Z:-2.17 [[ 9.97245304e-01 7.23057203e-02 1.65434759e-02 1.82657679e+01] [-7.22930077e-02 9.97382502e-01 -1.36595984e-03 3.40310392e-02] [-1.65989401e-02 1.66219405e-04 9.99862214e-01 -2.16753033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57119381700002 meters Centerline goodness : 0.952009 Centerline is valid? [True, True] Translation: X:18.29, Y:0.02, Z:-2.17 [[ 9.97457303e-01 6.96137977e-02 1.52593320e-02 1.82919724e+01] [-6.96026491e-02 9.97573998e-01 -1.26111730e-03 2.49872693e-02] [-1.53101040e-02 1.95820733e-04 9.99882774e-01 -2.16845204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60119381700002 meters Centerline goodness : 0.950273 Centerline is valid? [True, True] Translation: X:18.32, Y:0.01, Z:-2.17 [[ 9.97784330e-01 6.47917170e-02 1.51150234e-02 1.83180975e+01] [-6.47803147e-02 9.97898775e-01 -1.24327565e-03 7.41303887e-03] [-1.51638173e-02 2.61364995e-04 9.99884989e-01 -2.17051791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63119381700002 meters Centerline goodness : 0.950273 Centerline is valid? [True, True] Translation: X:18.35, Y:0.01, Z:-2.17 [[ 9.97791014e-01 6.46886586e-02 1.51152230e-02 1.83464520e+01] [-6.46772813e-02 9.97905461e-01 -1.24084043e-03 5.22743566e-03] [-1.51638319e-02 2.60487901e-04 9.99884989e-01 -2.17171338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66119381700003 meters Centerline goodness : 0.948357 Centerline is valid? [True, False] Translation: X:18.36, Y:-0.00, Z:-2.18 [[ 9.97943816e-01 6.08589174e-02 2.01080393e-02 1.83591666e+01] [-6.09831666e-02 9.98122949e-01 5.62420751e-03 -4.83041759e-03] [-1.97280123e-02 -6.83889501e-03 9.99781994e-01 -2.17591440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69119381700003 meters Centerline goodness : 0.944822 Centerline is valid? [False, False] Translation: X:18.38, Y:-0.02, Z:-2.18 [[ 9.98078961e-01 5.74751414e-02 2.31299935e-02 1.83758642e+01] [-5.77451372e-02 9.98268767e-01 1.11789035e-02 -1.52563104e-02] [-2.24474410e-02 -1.24930730e-02 9.99669963e-01 -2.17953814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72119381700003 meters Centerline goodness : 0.943145 Centerline is valid? [False, False] Translation: X:18.40, Y:-0.02, Z:-2.18 [[ 9.98329676e-01 5.25899379e-02 2.39197949e-02 1.83951658e+01] [-5.29264249e-02 9.98505004e-01 1.36583291e-02 -2.49468467e-02] [-2.31657443e-02 -1.49015045e-02 9.99620575e-01 -2.18238421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75119381700003 meters Centerline goodness : 0.940510 Centerline is valid? [False, False] Translation: X:18.40, Y:-0.03, Z:-2.18 [[ 9.98452596e-01 5.06318363e-02 2.29963359e-02 1.83975920e+01] [-5.09364461e-02 9.98619110e-01 1.28588975e-02 -3.31100914e-02] [-2.23135109e-02 -1.40103512e-02 9.99652848e-01 -2.18373402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78119381700003 meters Centerline goodness : 0.940232 Centerline is valid? [False, False] Translation: X:18.42, Y:-0.05, Z:-2.19 [[ 9.98470582e-01 4.95979139e-02 2.44242598e-02 1.84197611e+01] [-5.00512295e-02 9.98578763e-01 1.83119872e-02 -5.21438843e-02] [-2.34813108e-02 -1.95064447e-02 9.99533955e-01 -2.18681076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81119381700003 meters Centerline goodness : 0.937717 Centerline is valid? [False, False] Translation: X:18.44, Y:-0.06, Z:-2.19 [[ 0.99849723 0.04737398 0.02754975 18.43682261] [-0.04801489 0.99857978 0.02308684 -0.06061524] [-0.02641691 -0.02437494 0.9993538 -2.18895706] [ 0. 0. 0. 1. ]] SLAMing on 149.84119381700003 meters Centerline goodness : 0.939988 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.07, Z:-2.19 [[ 0.99852785 0.04495924 0.03034461 18.45447941] [-0.04578721 0.99858178 0.02716556 -0.06889848] [-0.02908023 -0.02851496 0.99917027 -2.19095711] [ 0. 0. 0. 1. ]] SLAMing on 149.87119381700003 meters Centerline goodness : 0.939145 Centerline is valid? [False, False] Translation: X:18.46, Y:-0.07, Z:-2.19 [[ 0.99864596 0.04283987 0.02951241 18.45607715] [-0.04359762 0.99872294 0.02552916 -0.07429112] [-0.02838106 -0.02678126 0.99923835 -2.19112535] [ 0. 0. 0. 1. ]] SLAMing on 149.90119381700003 meters Centerline goodness : 0.934777 Centerline is valid? [False, False] Translation: X:18.48, Y:-0.09, Z:-2.19 [[ 0.9985397 0.04489076 0.03005478 18.48178828] [-0.04581443 0.99847554 0.03078374 -0.0920111 ] [-0.02862706 -0.03211573 0.99907411 -2.19331149] [ 0. 0. 0. 1. ]] SLAMing on 149.93119381700004 meters Centerline goodness : 0.935457 Centerline is valid? [False, False] Translation: X:18.48, Y:-0.10, Z:-2.19 [[ 0.99866 0.04270538 0.02923098 18.48297959] [-0.04355073 0.99863252 0.02892097 -0.09660004] [-0.02795593 -0.03015525 0.99915421 -2.19281631] [ 0. 0. 0. 1. ]] SLAMing on 149.961193817 meters Centerline goodness : 0.935047 Centerline is valid? [False, False] Translation: X:18.50, Y:-0.10, Z:-2.19 [[ 0.99865413 0.04091579 0.03187207 18.50142256] [-0.04192932 0.99861412 0.03180826 -0.10321285] [-0.03052644 -0.03310183 0.99898569 -2.19410628] [ 0. 0. 0. 1. ]] SLAMing on 149.991193817 meters Centerline goodness : 0.931498 Centerline is valid? [False, False] Translation: X:18.50, Y:-0.11, Z:-2.19 [[ 0.99872165 0.03991036 0.03101994 18.50363154] [-0.04085776 0.99869836 0.03053246 -0.10667117] [-0.029761 -0.03176083 0.99905232 -2.19468764] [ 0. 0. 0. 1. ]] SLAMing on 150.021193817 meters Centerline goodness : 0.933187 Centerline is valid? [False, False] Translation: X:18.51, Y:-0.12, Z:-2.19 [[ 0.9985985 0.04351698 0.03012161 18.50597228] [-0.04455403 0.99840558 0.03465899 -0.11757884] [-0.02856532 -0.03595245 0.99894517 -2.19487421] [ 0. 0. 0. 1. ]] SLAMing on 150.051193817 meters Centerline goodness : 0.930859 Centerline is valid? [False, False] Translation: X:18.51, Y:-0.12, Z:-2.19 [[ 0.99865879 0.04259426 0.02943379 18.50732536] [-0.04357807 0.99848373 0.03363323 -0.12225361] [-0.02795658 -0.03487078 0.99900073 -2.19482481] [ 0. 0. 0. 1. ]] SLAMing on 150.081193817 meters Centerline goodness : 0.932877 Centerline is valid? [False, False] Translation: X:18.51, Y:-0.13, Z:-2.19 [[ 0.99865587 0.04268568 0.02940058 18.5065963 ] [-0.04367496 0.99847146 0.03387081 -0.12738793] [-0.02790984 -0.03510936 0.99899368 -2.19359097] [ 0. 0. 0. 1. ]] SLAMing on 150.11119381700001 meters Centerline goodness : 0.932917 Centerline is valid? [False, False] Translation: X:18.51, Y:-0.13, Z:-2.19 [[ 0.9986149 0.04363287 0.0294016 18.50603385] [-0.04467093 0.9983663 0.03562628 -0.13258304] [-0.02779909 -0.03689033 0.99893259 -2.19265336] [ 0. 0. 0. 1. ]] SLAMing on 150.14119381700002 meters Centerline goodness : 0.935015 Centerline is valid? [False, False] Translation: X:18.51, Y:-0.14, Z:-2.19 [[ 0.99857327 0.04464297 0.02929907 18.50598455] [-0.04572113 0.99826053 0.03722226 -0.13688588] [-0.0275864 -0.03850874 0.9988774 -2.19206407] [ 0. 0. 0. 1. ]] SLAMing on 150.17119381700002 meters Centerline goodness : 0.934138 Centerline is valid? [False, False] Translation: X:18.51, Y:-0.15, Z:-2.19 [[ 0.99844207 0.04811846 0.02824963 18.5083556 ] [-0.04926185 0.99793251 0.04127914 -0.14831216] [-0.02620493 -0.04260646 0.99874821 -2.19184965] [ 0. 0. 0. 1. ]] SLAMing on 150.20119381700002 meters Centerline goodness : 0.933202 Centerline is valid? [False, False] Translation: X:18.51, Y:-0.15, Z:-2.19 [[ 0.99849712 0.04749371 0.02734675 18.51158395] [-0.04859124 0.99797791 0.04097536 -0.15445062] [-0.02534538 -0.04224259 0.99878585 -2.19377761] [ 0. 0. 0. 1. ]] SLAMing on 150.23119381700002 meters Centerline goodness : 0.928815 Centerline is valid? [False, False] Translation: X:18.52, Y:-0.17, Z:-2.20 [[ 0.99855207 0.04819351 0.02389883 18.52213497] [-0.04910602 0.99802436 0.03919141 -0.17122568] [-0.02196284 -0.04030824 0.99894588 -2.19583428] [ 0. 0. 0. 1. ]] SLAMing on 150.26119381700002 meters Centerline goodness : 0.926733 Centerline is valid? [False, False] Translation: X:18.55, Y:-0.18, Z:-2.19 [[ 9.98653096e-01 4.82039558e-02 1.91930529e-02 1.85501943e+01] [-4.88833298e-02 9.98131518e-01 3.66591565e-02 -1.79427025e-01] [-1.73900746e-02 -3.75480004e-02 9.99143500e-01 -2.19485831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29119381700002 meters Centerline goodness : 0.926080 Centerline is valid? [False, False] Translation: X:18.55, Y:-0.19, Z:-2.20 [[ 9.98734345e-01 4.67594338e-02 1.85273541e-02 1.85520682e+01] [-4.74035959e-02 9.98226683e-01 3.60054000e-02 -1.86188888e-01] [-1.68109072e-02 -3.68380929e-02 9.99179838e-01 -2.19572429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32119381700002 meters Centerline goodness : 0.925656 Centerline is valid? [False, False] Translation: X:18.55, Y:-0.19, Z:-2.20 [[ 9.98843175e-01 4.45596347e-02 1.80762575e-02 1.85530485e+01] [-4.51662400e-02 9.98377807e-01 3.46664745e-02 -1.92333558e-01] [-1.65022089e-02 -3.54428080e-02 9.99235450e-01 -2.19602945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35119381700002 meters Centerline goodness : 0.926634 Centerline is valid? [False, False] Translation: X:18.55, Y:-0.20, Z:-2.20 [[ 9.98927265e-01 4.28870877e-02 1.74647587e-02 1.85546178e+01] [-4.34622676e-02 9.98476143e-01 3.40062092e-02 -1.99858702e-01] [-1.59797176e-02 -3.47287876e-02 9.99269013e-01 -2.19656589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38119381700002 meters Centerline goodness : 0.922243 Centerline is valid? [False, False] Translation: X:18.56, Y:-0.21, Z:-2.20 [[ 9.99022384e-01 4.07737489e-02 1.70815001e-02 1.85555984e+01] [-4.13217306e-02 9.98598788e-01 3.30601875e-02 -2.07894981e-01] [-1.57095775e-02 -3.37337045e-02 9.99307383e-01 -2.19700814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41119381700003 meters Centerline goodness : 0.919900 Centerline is valid? [False, False] Translation: X:18.59, Y:-0.23, Z:-2.20 [[ 9.99065350e-01 3.90940617e-02 1.84412916e-02 1.85924353e+01] [-3.97877006e-02 9.98451459e-01 3.88796013e-02 -2.29610909e-01] [-1.68927729e-02 -3.95769990e-02 9.99073719e-01 -2.20006081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44119381700003 meters Centerline goodness : 0.920308 Centerline is valid? [False, False] Translation: X:18.59, Y:-0.24, Z:-2.20 [[ 9.99160864e-01 3.67423396e-02 1.80988744e-02 1.85929896e+01] [-3.74041106e-02 9.98589038e-01 3.76943822e-02 -2.37405766e-01] [-1.66883578e-02 -3.83397237e-02 9.99125400e-01 -2.19989027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47119381700003 meters Centerline goodness : 0.918130 Centerline is valid? [False, False] Translation: X:18.59, Y:-0.25, Z:-2.20 [[ 9.99244074e-01 3.46137960e-02 1.76964631e-02 1.85936165e+01] [-3.52462488e-02 9.98701904e-01 3.67723911e-02 -2.45307802e-01] [-1.64006593e-02 -3.73683279e-02 9.99166966e-01 -2.19957156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50119381700003 meters Centerline goodness : 0.919041 Centerline is valid? [False, False] Translation: X:18.59, Y:-0.25, Z:-2.20 [[ 9.99327957e-01 3.22819699e-02 1.73640289e-02 1.85944153e+01] [-3.28834426e-02 9.98826844e-01 3.55473616e-02 -2.52732757e-01] [-1.61961193e-02 -3.60944613e-02 9.99217131e-01 -2.19971498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53119381700003 meters Centerline goodness : 0.915574 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.27, Z:-2.20 [[ 9.99339186e-01 3.07217049e-02 1.94259799e-02 1.86138448e+01] [-3.15192789e-02 9.98612783e-01 4.21787330e-02 -2.72236607e-01] [-1.81032293e-02 -4.27631536e-02 9.98921211e-01 -2.20093453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56119381700003 meters Centerline goodness : 0.917404 Centerline is valid? [False, False] Translation: X:18.63, Y:-0.28, Z:-2.20 [[ 9.99425695e-01 3.05834482e-02 1.45922267e-02 1.86301550e+01] [-3.09821034e-02 9.99129796e-01 2.79241783e-02 -2.78924092e-01] [-1.37255108e-02 -2.83602392e-02 9.99503530e-01 -2.19683175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59119381700003 meters Centerline goodness : 0.915627 Centerline is valid? [False, False] Translation: X:18.63, Y:-0.29, Z:-2.20 [[ 9.99593973e-01 2.46848133e-02 1.42319587e-02 1.86307150e+01] [-2.50051548e-02 9.99427558e-01 2.27881085e-02 -2.85660236e-01] [-1.36612915e-02 -2.31347282e-02 9.99639012e-01 -2.19683610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62119381700003 meters Centerline goodness : 0.916363 Centerline is valid? [False, False] Translation: X:18.63, Y:-0.29, Z:-2.20 [[ 9.99736025e-01 1.83138344e-02 1.38738670e-02 1.86312957e+01] [-1.85496844e-02 9.99682279e-01 1.70660438e-02 -2.91529623e-01] [-1.35569143e-02 -1.73188946e-02 9.99758104e-01 -2.19695122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65119381700003 meters Centerline goodness : 0.919693 Centerline is valid? [False, False] Translation: X:18.63, Y:-0.30, Z:-2.20 [[ 9.99862875e-01 9.27372427e-03 1.37196936e-02 1.86306579e+01] [-9.41100906e-03 9.99905953e-01 9.97591326e-03 -3.04277231e-01] [-1.36258894e-02 -1.01036615e-02 9.99856115e-01 -2.19573955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68119381700004 meters Centerline goodness : 0.921034 Centerline is valid? [False, False] Translation: X:18.63, Y:-0.31, Z:-2.20 [[ 9.99907346e-01 3.47711259e-03 1.31608758e-02 1.86319419e+01] [-3.54192946e-03 9.99981698e-01 4.90486583e-03 -3.09807698e-01] [-1.31435801e-02 -4.95102627e-03 9.99901362e-01 -2.19590667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.711193817 meters Centerline goodness : 0.918642 Centerline is valid? [False, False] Translation: X:18.63, Y:-0.32, Z:-2.20 [[ 9.99921619e-01 -1.12688644e-03 1.24694307e-02 1.86337649e+01] [ 1.11229788e-03 9.99998689e-01 1.17681921e-03 -3.16381610e-01] [-1.24707405e-02 -1.16285725e-03 9.99921561e-01 -2.19644244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.741193817 meters Centerline goodness : 0.925533 Centerline is valid? [False, False] Translation: X:18.63, Y:-0.33, Z:-2.20 [[ 9.99905586e-01 -6.62433358e-03 1.20389805e-02 1.86343360e+01] [ 6.64199910e-03 9.99976922e-01 -1.42796968e-03 -3.30922648e-01] [-1.20292434e-02 1.50779776e-03 9.99926509e-01 -2.19547704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.771193817 meters Centerline goodness : 0.927254 Centerline is valid? [False, False] Translation: X:18.64, Y:-0.34, Z:-2.20 [[ 9.99890684e-01 -8.97198396e-03 1.17525733e-02 1.86352522e+01] [ 9.00604818e-03 9.99955387e-01 -2.84873691e-03 -3.36931894e-01] [-1.17264902e-02 2.95426974e-03 9.99926878e-01 -2.19573151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.801193817 meters Centerline goodness : 0.927760 Centerline is valid? [False, False] Translation: X:18.64, Y:-0.34, Z:-2.20 [[ 9.99889432e-01 -9.80184959e-03 1.11824768e-02 1.86372180e+01] [ 9.83594762e-03 9.99947131e-01 -2.99832520e-03 -3.42606198e-01] [-1.11524964e-02 3.10798394e-03 9.99932979e-01 -2.19663081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.831193817 meters Centerline goodness : 0.930675 Centerline is valid? [False, False] Translation: X:18.64, Y:-0.35, Z:-2.20 [[ 9.99893920e-01 -1.00177723e-02 1.05732428e-02 1.86391803e+01] [ 1.00450112e-02 9.99946356e-01 -2.52625402e-03 -3.47885601e-01] [-1.05473682e-02 2.63219438e-03 9.99940911e-01 -2.19748137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86119381700001 meters Centerline goodness : 0.934501 Centerline is valid? [False, False] Translation: X:18.64, Y:-0.35, Z:-2.20 [[ 9.99903685e-01 -9.34540136e-03 1.02608528e-02 1.86399893e+01] [ 9.35419030e-03 9.99955921e-01 -8.08891832e-04 -3.53169346e-01] [-1.02528411e-02 9.04795893e-04 9.99947029e-01 -2.19761490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.89119381700002 meters Centerline goodness : 0.934848 Centerline is valid? [False, False] Translation: X:18.64, Y:-0.36, Z:-2.20 [[ 9.99916104e-01 -8.44285649e-03 9.82363160e-03 1.86410856e+01] [ 8.42891470e-03 9.99963411e-01 1.45974778e-03 -3.64126558e-01] [-9.83559660e-03 -1.37682276e-03 9.99950681e-01 -2.19777111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92119381700002 meters Centerline goodness : 0.935812 Centerline is valid? [False, False] Translation: X:18.66, Y:-0.37, Z:-2.20 [[ 9.99950184e-01 -3.74205186e-03 9.25341378e-03 1.86617944e+01] [ 3.83583469e-03 9.99941251e-01 -1.01380517e-02 -3.68323040e-01] [-9.21493304e-03 1.01730413e-02 9.99905793e-01 -2.19931129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.95119381700002 meters Centerline goodness : 0.936205 Centerline is valid? [False, False] Translation: X:18.66, Y:-0.37, Z:-2.20 [[ 9.99957121e-01 -2.95618078e-03 8.77596617e-03 1.86632712e+01] [ 3.02892639e-03 9.99961071e-01 -8.28749966e-03 -3.73641371e-01] [-8.75112518e-03 8.31372606e-03 9.99927147e-01 -2.19993268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98119381700002 meters Centerline goodness : 0.938183 Centerline is valid? [False, False] Translation: X:18.67, Y:-0.38, Z:-2.20 [[ 9.99960767e-01 -3.59511825e-03 8.09561491e-03 1.86654754e+01] [ 3.66273021e-03 9.99958410e-01 -8.35239497e-03 -3.78771145e-01] [-8.06525037e-03 8.38171934e-03 9.99932347e-01 -2.20099063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01119381700002 meters Centerline goodness : 0.937967 Centerline is valid? [False, False] Translation: X:18.67, Y:-0.39, Z:-2.20 [[ 9.99952989e-01 -5.35416386e-03 8.08406487e-03 1.86654204e+01] [ 5.42128808e-03 9.99950823e-01 -8.30432025e-03 -3.89725057e-01] [-8.03920462e-03 8.34775590e-03 9.99932841e-01 -2.20055587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04119381700002 meters Centerline goodness : 0.938700 Centerline is valid? [False, False] Translation: X:18.67, Y:-0.39, Z:-2.20 [[ 9.99943356e-01 -7.40821327e-03 7.64222409e-03 1.86674134e+01] [ 7.48219808e-03 9.99924977e-01 -9.69832430e-03 -3.93660531e-01] [-7.56980349e-03 9.75495558e-03 9.99923767e-01 -2.20181941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07119381700002 meters Centerline goodness : 0.942504 Centerline is valid? [False, False] Translation: X:18.67, Y:-0.40, Z:-2.20 [[ 9.99944801e-01 -7.51208648e-03 7.34598523e-03 1.86684142e+01] [ 7.57419320e-03 9.99935498e-01 -8.46355882e-03 -3.98549806e-01] [-7.28193241e-03 8.51873155e-03 9.99937200e-01 -2.20205484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10119381700002 meters Centerline goodness : 0.942535 Centerline is valid? [False, False] Translation: X:18.67, Y:-0.40, Z:-2.20 [[ 9.99947640e-01 -7.38659470e-03 7.08209671e-03 1.86686961e+01] [ 7.43562169e-03 9.99948401e-01 -6.92150903e-03 -4.03479638e-01] [-7.03060490e-03 6.97380641e-03 9.99950967e-01 -2.20145384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13119381700002 meters Centerline goodness : 0.943480 Centerline is valid? [False, False] Translation: X:18.67, Y:-0.41, Z:-2.20 [[ 9.99914343e-01 -1.09637064e-02 7.14866518e-03 1.86685387e+01] [ 1.10241474e-02 9.99903351e-01 -8.47099630e-03 -4.11662072e-01] [-7.05510075e-03 8.54907864e-03 9.99938568e-01 -2.20082551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16119381700003 meters Centerline goodness : 0.944789 Centerline is valid? [False, False] Translation: X:18.67, Y:-0.41, Z:-2.20 [[ 9.99868553e-01 -1.46975322e-02 6.84539427e-03 1.86696962e+01] [ 1.47761856e-02 9.99823714e-01 -1.15847360e-02 -4.14289221e-01] [-6.67392049e-03 1.16843620e-02 9.99909463e-01 -2.20132382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19119381700003 meters Centerline goodness : 0.944559 Centerline is valid? [False, False] Translation: X:18.67, Y:-0.42, Z:-2.20 [[ 9.99803972e-01 -1.86859683e-02 6.54608628e-03 1.86713690e+01] [ 1.87824574e-02 9.99711032e-01 -1.50023861e-02 -4.16378585e-01] [-6.26386056e-03 1.51223968e-02 9.99866030e-01 -2.20250982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22119381700003 meters Centerline goodness : 0.946890 Centerline is valid? [False, False] Translation: X:18.68, Y:-0.42, Z:-2.21 [[ 9.99617518e-01 -2.70249104e-02 5.87135698e-03 1.86758590e+01] [ 2.71474849e-02 9.99391299e-01 -2.19099511e-02 -4.20906607e-01] [-5.27566861e-03 2.20609635e-02 9.99742708e-01 -2.20604391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25119381700003 meters Centerline goodness : 0.946488 Centerline is valid? [False, False] Translation: X:18.68, Y:-0.42, Z:-2.21 [[ 9.99497259e-01 -3.12187464e-02 5.53351310e-03 1.86776377e+01] [ 3.13505476e-02 9.99180750e-01 -2.55924109e-02 -4.22611406e-01] [-4.73001678e-03 2.57530232e-02 9.99657146e-01 -2.20717188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28119381700003 meters Centerline goodness : 0.944219 Centerline is valid? [False, False] Translation: X:18.68, Y:-0.43, Z:-2.21 [[ 9.99442455e-01 -3.30076132e-02 5.02758506e-03 1.86805171e+01] [ 3.31292837e-02 9.99101702e-01 -2.64242410e-02 -4.25064912e-01] [-4.15086766e-03 2.65760686e-02 9.99638176e-01 -2.20921459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31119381700003 meters Centerline goodness : 0.946132 Centerline is valid? [False, False] Translation: X:18.68, Y:-0.43, Z:-2.21 [[ 9.99416972e-01 -3.38513818e-02 4.44971525e-03 1.86827122e+01] [ 3.39571725e-02 9.99075675e-01 -2.63572833e-02 -4.26921663e-01] [-3.55337181e-03 2.64930160e-02 9.99642683e-01 -2.21045027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34119381700003 meters Centerline goodness : 0.945280 Centerline is valid? [False, False] Translation: X:18.68, Y:-0.43, Z:-2.21 [[ 9.99408345e-01 -3.41645517e-02 3.96768686e-03 1.86843021e+01] [ 3.42564824e-02 9.99073878e-01 -2.60361127e-02 -4.28282457e-01] [-3.07450018e-03 2.61566273e-02 9.99653129e-01 -2.21118090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37119381700003 meters Centerline goodness : 0.945603 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.43, Z:-2.21 [[ 9.99400336e-01 -3.44374372e-02 3.60997942e-03 1.86853680e+01] [ 3.45198368e-02 9.99065631e-01 -2.60047211e-02 -4.28627641e-01] [-2.71107042e-03 2.61137429e-02 9.99655302e-01 -2.21150527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40119381700003 meters Centerline goodness : 0.947942 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.43, Z:-2.21 [[ 9.99506297e-01 -3.12604053e-02 3.15420888e-03 1.86858368e+01] [ 3.13229394e-02 9.99261901e-01 -2.22379386e-02 -4.29161910e-01] [-2.45671379e-03 2.23257588e-02 9.99747731e-01 -2.21082848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43119381700004 meters Centerline goodness : 0.947006 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.43, Z:-2.21 [[ 9.99606581e-01 -2.79296670e-02 2.57215709e-03 1.86870656e+01] [ 2.79726730e-02 9.99436334e-01 -1.85618673e-02 -4.29122440e-01] [-2.05228048e-03 1.86265148e-02 9.99824405e-01 -2.21098698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.461193817 meters Centerline goodness : 0.946883 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.43, Z:-2.21 [[ 9.99648799e-01 -2.64354554e-02 1.85631171e-03 1.86896265e+01] [ 2.64633522e-02 9.99503704e-01 -1.70890901e-02 -4.27278401e-01] [-1.40363255e-03 1.71322126e-02 9.99852248e-01 -2.21228967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.491193817 meters Centerline goodness : 0.945499 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.43, Z:-2.21 [[ 9.99725348e-01 -2.33946147e-02 1.38569246e-03 1.86904848e+01] [ 2.34116245e-02 9.99629383e-01 -1.38921668e-02 -4.25962378e-01] [-1.06017701e-03 1.39207926e-02 9.99902539e-01 -2.21211656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.521193817 meters Centerline goodness : 0.948175 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.42, Z:-2.21 [[ 9.99852493e-01 -1.71400531e-02 1.10075802e-03 1.86901019e+01] [ 1.71484013e-02 9.99820269e-01 -8.08471090e-03 -4.20803838e-01] [-9.61987810e-04 8.10239459e-03 9.99966712e-01 -2.21093817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.551193817 meters Centerline goodness : 0.948175 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.42, Z:-2.21 [[ 9.99852493e-01 -1.71400531e-02 1.10075802e-03 1.86901019e+01] [ 1.71484013e-02 9.99820269e-01 -8.08471090e-03 -4.20803838e-01] [-9.61987810e-04 8.10239459e-03 9.99966712e-01 -2.21093817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.581193817 meters Centerline goodness : 0.946020 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.42, Z:-2.21 [[ 9.99905628e-01 -1.37298612e-02 4.76066751e-04 1.86910390e+01] [ 1.37320798e-02 9.99893104e-01 -5.02101667e-03 -4.18110244e-01] [-4.07077999e-04 5.02708021e-03 9.99987281e-01 -2.21057244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.61119381700001 meters Centerline goodness : 0.947812 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.42, Z:-2.21 [[ 9.99945951e-01 -1.03968445e-02 1.74103843e-05 1.86916308e+01] [ 1.03968582e-02 9.99943772e-01 -2.08760452e-03 -4.15640504e-01] [ 4.29509421e-06 2.08767270e-03 9.99997821e-01 -2.21011138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64119381700002 meters Centerline goodness : 0.947183 Centerline is valid? [False, False] Translation: X:18.72, Y:-0.41, Z:-2.21 [[ 9.99996001e-01 -2.81420675e-03 2.80121722e-04 1.87154073e+01] [ 2.81782145e-03 9.99899835e-01 -1.38701080e-02 -4.06361298e-01] [-2.41060312e-04 1.38708419e-02 9.99903766e-01 -2.21108079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.67119381700002 meters Centerline goodness : 0.946664 Centerline is valid? [False, False] Translation: X:18.72, Y:-0.40, Z:-2.21 [[ 9.99999900e-01 4.15274092e-04 -1.65696138e-04 1.87165661e+01] [-4.17090791e-04 9.99938096e-01 -1.11189389e-02 -4.03236952e-01] [ 1.61068473e-04 1.11190069e-02 9.99938169e-01 -2.21130491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70119381700002 meters Centerline goodness : 0.949537 Centerline is valid? [False, False] Translation: X:18.74, Y:-0.40, Z:-2.21 [[ 9.99995991e-01 2.82390240e-03 2.08941415e-04 1.87375681e+01] [-2.82082962e-03 9.99905176e-01 -1.34789655e-02 -3.98808626e-01] [-2.46984886e-04 1.34783221e-02 9.99909133e-01 -2.21333139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73119381700002 meters Centerline goodness : 0.947358 Centerline is valid? [False, False] Translation: X:18.76, Y:-0.39, Z:-2.21 [[ 9.99990638e-01 4.07355128e-03 1.45938129e-03 1.87566908e+01] [-4.04663136e-03 9.99829849e-01 -1.79971419e-02 -3.93267916e-01] [-1.53244526e-03 1.79910678e-02 9.99836973e-01 -2.21487764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76119381700002 meters Centerline goodness : 0.946290 Centerline is valid? [False, False] Translation: X:18.79, Y:-0.38, Z:-2.22 [[ 9.99958880e-01 8.69607653e-03 2.57216726e-03 1.87909191e+01] [-8.62722777e-03 9.99633367e-01 -2.56652191e-02 -3.83170839e-01] [-2.79441092e-03 2.56419731e-02 9.99667285e-01 -2.21787244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79119381700002 meters Centerline goodness : 0.946248 Centerline is valid? [False, False] Translation: X:18.79, Y:-0.38, Z:-2.22 [[ 9.99937253e-01 1.10597160e-02 1.78139739e-03 1.87934773e+01] [-1.10148132e-02 9.99663090e-01 -2.35027859e-02 -3.80098052e-01] [-2.04073135e-03 2.34816894e-02 9.99722184e-01 -2.21887214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82119381700002 meters Centerline goodness : 0.945168 Centerline is valid? [False, False] Translation: X:18.80, Y:-0.38, Z:-2.22 [[ 9.99917545e-01 1.28018263e-02 1.00837764e-03 1.87963170e+01] [-1.27767976e-02 9.99680503e-01 -2.18093077e-02 -3.77490123e-01] [-1.28725444e-03 2.17946256e-02 9.99761640e-01 -2.22019042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85119381700002 meters Centerline goodness : 0.944620 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.37, Z:-2.22 [[ 9.99915883e-01 1.27740522e-02 2.24711240e-03 1.88162402e+01] [-1.27125182e-02 9.99592841e-01 -2.55449300e-02 -3.74108826e-01] [-2.57250974e-03 2.55142148e-02 9.99671149e-01 -2.22134701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88119381700002 meters Centerline goodness : 0.945122 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.37, Z:-2.22 [[ 9.99921715e-01 1.23721298e-02 1.86946020e-03 1.88171315e+01] [-1.23187616e-02 9.99578824e-01 -2.62759099e-02 -3.72182805e-01] [-2.19376179e-03 2.62508235e-02 9.99652981e-01 -2.22141184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91119381700003 meters Centerline goodness : 0.944720 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.37, Z:-2.22 [[ 9.99936019e-01 1.12173138e-02 1.45924474e-03 1.88181174e+01] [-1.11723259e-02 9.99549498e-01 -2.78564224e-02 -3.68928256e-01] [-1.77106158e-03 2.78383370e-02 9.99610869e-01 -2.22139786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94119381700003 meters Centerline goodness : 0.944013 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.37, Z:-2.22 [[ 9.99946174e-01 1.03410020e-02 8.43797728e-04 1.88201304e+01] [-1.03123784e-02 9.99531046e-01 -2.88330122e-02 -3.67020148e-01] [-1.14156426e-03 2.88227586e-02 9.99583886e-01 -2.22234659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97119381700003 meters Centerline goodness : 0.944678 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.36, Z:-2.22 [[ 9.99957147e-01 9.25522005e-03 2.13074132e-04 1.88225864e+01] [-9.24465409e-03 9.99506631e-01 -3.00171825e-02 -3.64741528e-01] [-4.90784637e-04 3.00139264e-02 9.99549360e-01 -2.22383429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00119381700003 meters Centerline goodness : 0.945093 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.36, Z:-2.22 [[ 9.99966612e-01 8.16564171e-03 -3.11130945e-04 1.88243969e+01] [-8.17137200e-03 9.99480712e-01 -3.11694443e-02 -3.62470322e-01] [ 5.64508639e-05 3.11709460e-02 9.99514066e-01 -2.22470910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03119381700003 meters Centerline goodness : 0.943855 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.36, Z:-2.23 [[ 9.99984137e-01 4.49823958e-03 3.38992730e-03 1.88343458e+01] [-4.41539532e-03 9.99700720e-01 -2.40618938e-02 -3.61688915e-01] [-3.49714893e-03 2.40465443e-02 9.99704723e-01 -2.22590590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06119381700003 meters Centerline goodness : 0.942118 Centerline is valid? [False, False] Translation: X:18.84, Y:-0.36, Z:-2.23 [[ 9.99992402e-01 2.89435919e-03 2.61113305e-03 1.88367116e+01] [-2.82734653e-03 9.99675581e-01 -2.53128273e-02 -3.61162129e-01] [-2.68355036e-03 2.53052524e-02 9.99676169e-01 -2.22688010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09119381700003 meters Centerline goodness : 0.943205 Centerline is valid? [False, False] Translation: X:18.84, Y:-0.36, Z:-2.23 [[ 9.99997431e-01 1.23232723e-03 1.90246823e-03 1.88394943e+01] [-1.18117902e-03 9.99643964e-01 -2.66561555e-02 -3.60819501e-01] [-1.93463999e-03 2.66538399e-02 9.99642851e-01 -2.22851146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12119381700003 meters Centerline goodness : 0.944618 Centerline is valid? [False, False] Translation: X:18.84, Y:-0.36, Z:-2.23 [[ 9.99999180e-01 -5.78286659e-04 1.14242504e-03 1.88425035e+01] [ 6.10339701e-04 9.99600453e-01 -2.82588292e-02 -3.59867578e-01] [-1.12562688e-03 2.82595033e-02 9.99599987e-01 -2.23036215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15119381700003 meters Centerline goodness : 0.944786 Centerline is valid? [False, False] Translation: X:18.85, Y:-0.36, Z:-2.23 [[ 9.99994178e-01 -3.38539503e-03 4.28238994e-04 1.88454326e+01] [ 3.39702082e-03 9.99515794e-01 -3.09295550e-02 -3.56123582e-01] [-3.23322877e-04 3.09308297e-02 9.99521475e-01 -2.23210852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18119381700004 meters Centerline goodness : 0.946540 Centerline is valid? [False, False] Translation: X:18.85, Y:-0.35, Z:-2.23 [[ 9.99987298e-01 -5.03073146e-03 -3.09322975e-04 1.88475611e+01] [ 5.01802433e-03 9.99459349e-01 -3.24935288e-02 -3.53416532e-01] [ 4.72621957e-04 3.24915639e-02 9.99471898e-01 -2.23280895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21119381700004 meters Centerline goodness : 0.944255 Centerline is valid? [False, False] Translation: X:18.86, Y:-0.35, Z:-2.24 [[ 9.99962602e-01 -7.68913726e-03 3.95876807e-03 1.88581683e+01] [ 7.78401891e-03 9.99668602e-01 -2.45376087e-02 -3.53607388e-01] [-3.76878311e-03 2.45675062e-02 9.99691069e-01 -2.23506409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.241193817 meters Centerline goodness : 0.944037 Centerline is valid? [False, False] Translation: X:18.86, Y:-0.35, Z:-2.24 [[ 9.99956958e-01 -8.56638840e-03 3.56357726e-03 1.88590380e+01] [ 8.65318601e-03 9.99647501e-01 -2.50997231e-02 -3.52673508e-01] [-3.34730713e-03 2.51294791e-02 9.99678601e-01 -2.23502521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.271193817 meters Centerline goodness : 0.944419 Centerline is valid? [False, False] Translation: X:18.86, Y:-0.35, Z:-2.24 [[ 9.99891143e-01 -1.44342880e-02 3.05819245e-03 1.88604862e+01] [ 1.45226342e-02 9.99408849e-01 -3.11615911e-02 -3.48653500e-01] [-2.60658921e-03 3.12026120e-02 9.99509681e-01 -2.23523237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.301193817 meters Centerline goodness : 0.942329 Centerline is valid? [False, False] Translation: X:18.86, Y:-0.35, Z:-2.24 [[ 9.99855273e-01 -1.68640903e-02 2.24408308e-03 1.88631466e+01] [ 1.69293315e-02 9.99305291e-01 -3.32014160e-02 -3.46788697e-01] [-1.68261242e-03 3.32346017e-02 9.99446162e-01 -2.23638348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.331193817 meters Centerline goodness : 0.946589 Centerline is valid? [False, False] Translation: X:18.87, Y:-0.34, Z:-2.24 [[ 9.99824727e-01 -1.86535741e-02 1.59954119e-03 1.88650799e+01] [ 1.86980225e-02 9.99216844e-01 -3.48723806e-02 -3.44261667e-01] [-9.47793967e-04 3.48961766e-02 9.99390494e-01 -2.23705896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36119381700001 meters Centerline goodness : 0.946209 Centerline is valid? [False, False] Translation: X:18.87, Y:-0.34, Z:-2.24 [[ 9.99754067e-01 -2.21754784e-02 -2.32065088e-04 1.88693172e+01] [ 2.21510116e-02 9.99045111e-01 -3.76589877e-02 -3.36024638e-01] [ 1.06694956e-03 3.76445857e-02 9.99290622e-01 -2.23692316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.39119381700002 meters Centerline goodness : 0.945657 Centerline is valid? [False, False] Translation: X:18.87, Y:-0.33, Z:-2.24 [[ 9.99805164e-01 -1.97257190e-02 -7.27800937e-04 1.88704266e+01] [ 1.96882636e-02 9.99195661e-01 -3.49342790e-02 -3.33912002e-01] [ 1.41631931e-03 3.49131434e-02 9.99389347e-01 -2.23709274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42119381700002 meters Centerline goodness : 0.945366 Centerline is valid? [False, False] Translation: X:18.87, Y:-0.33, Z:-2.24 [[ 9.99832150e-01 -1.82597726e-02 -1.50095911e-03 1.88729658e+01] [ 1.81995199e-02 9.99276954e-01 -3.33818418e-02 -3.31084056e-01] [ 2.10941869e-03 3.33489220e-02 9.99441544e-01 -2.23823667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.45119381700002 meters Centerline goodness : 0.945458 Centerline is valid? [False, False] Translation: X:18.87, Y:-0.33, Z:-2.24 [[ 9.99884442e-01 -1.51008387e-02 -1.75140230e-03 1.88735996e+01] [ 1.50411669e-02 9.99431784e-01 -3.01640761e-02 -3.29499829e-01] [ 2.20590997e-03 3.01342472e-02 9.99543426e-01 -2.23841779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48119381700002 meters Centerline goodness : 0.947208 Centerline is valid? [False, False] Translation: X:18.88, Y:-0.33, Z:-2.24 [[ 9.99918065e-01 -1.25974132e-02 -2.27341297e-03 1.88754266e+01] [ 1.25291209e-02 9.99532223e-01 -2.78990479e-02 -3.26620686e-01] [ 2.62380535e-03 2.78682781e-02 9.99608161e-01 -2.23932744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51119381700002 meters Centerline goodness : 0.946354 Centerline is valid? [False, False] Translation: X:18.88, Y:-0.32, Z:-2.24 [[ 9.99975595e-01 -6.45433913e-03 -2.67404277e-03 1.88769355e+01] [ 6.39237455e-03 9.99724897e-01 -2.25669460e-02 -3.20515129e-01] [ 2.81896186e-03 2.25493018e-02 9.99741758e-01 -2.24012423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54119381700002 meters Centerline goodness : 0.946194 Centerline is valid? [False, False] Translation: X:18.88, Y:-0.32, Z:-2.24 [[ 9.99990230e-01 -3.29485469e-03 -2.94684993e-03 1.88777282e+01] [ 3.23624051e-03 9.99801116e-01 -1.96788116e-02 -3.17977814e-01] [ 3.01110267e-03 1.96690827e-02 9.99802011e-01 -2.24030647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57119381700002 meters Centerline goodness : 0.947965 Centerline is valid? [False, False] Translation: X:18.88, Y:-0.32, Z:-2.24 [[ 9.99994917e-01 -2.28173804e-04 -3.18024461e-03 1.88781943e+01] [ 1.74605306e-04 9.99858279e-01 -1.68342548e-02 -3.15387725e-01] [ 3.18363503e-03 1.68336139e-02 9.99853236e-01 -2.24011241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60119381700002 meters Centerline goodness : 0.949999 Centerline is valid? [False, False] Translation: X:18.88, Y:-0.31, Z:-2.24 [[ 9.99990809e-01 2.53699551e-03 -3.45624503e-03 1.88787247e+01] [-2.58601078e-03 9.99895094e-01 -1.42517808e-02 -3.12401516e-01] [ 3.41972574e-03 1.42605877e-02 9.99892465e-01 -2.23990104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63119381700002 meters Centerline goodness : 0.948669 Centerline is valid? [False, False] Translation: X:18.88, Y:-0.31, Z:-2.24 [[ 9.99984987e-01 4.07433232e-03 -3.66409870e-03 1.88785447e+01] [-4.12338318e-03 9.99900632e-01 -1.34804811e-02 -3.05153663e-01] [ 3.60881064e-03 1.34953872e-02 9.99902421e-01 -2.23876713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66119381700003 meters Centerline goodness : 0.948796 Centerline is valid? [False, False] Translation: X:18.88, Y:-0.30, Z:-2.24 [[ 9.99985561e-01 3.55630078e-03 -4.02879929e-03 1.88792362e+01] [-3.61416471e-03 9.99889097e-01 -1.44475169e-02 -3.02351465e-01] [ 3.97697277e-03 1.44618690e-02 9.99887513e-01 -2.23859243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69119381700003 meters Centerline goodness : 0.951503 Centerline is valid? [False, True] Translation: X:18.88, Y:-0.30, Z:-2.24 [[ 9.99985394e-01 3.20954920e-03 -4.34858909e-03 1.88799203e+01] [-3.27521529e-03 9.99879435e-01 -1.51785353e-02 -3.00136691e-01] [ 4.29934855e-03 1.51925562e-02 9.99875343e-01 -2.23855344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72119381700003 meters Centerline goodness : 0.951187 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.30, Z:-2.24 [[ 9.99991758e-01 2.13276708e-03 -3.45472190e-03 1.89084793e+01] [-2.13194965e-03 9.99997699e-01 2.40278220e-04 -3.04406800e-01] [ 3.45522640e-03 -2.32910946e-04 9.99994004e-01 -2.23881455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75119381700003 meters Centerline goodness : 0.951597 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.30, Z:-2.24 [[ 9.99994177e-01 -9.53943380e-05 -3.41137239e-03 1.89377458e+01] [ 9.62061096e-05 9.99999967e-01 2.37797118e-04 -2.95774232e-01] [ 3.41134960e-03 -2.38123928e-04 9.99994153e-01 -2.23922183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78119381700003 meters Centerline goodness : 0.952388 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.29, Z:-2.24 [[ 9.99991060e-01 -8.07293854e-04 -4.15077358e-03 1.89682253e+01] [ 8.08502055e-04 9.99999631e-01 2.89408662e-04 -2.91944975e-01] [ 4.15053841e-03 -2.92761984e-04 9.99991344e-01 -2.23981330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81119381700003 meters Centerline goodness : 0.951567 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.29, Z:-2.24 [[ 9.99982531e-01 -1.46323972e-03 -5.72681188e-03 1.89976578e+01] [ 1.46554792e-03 9.99998847e-01 3.98875539e-04 -2.88365179e-01] [ 5.72622163e-03 -4.07261488e-04 9.99983522e-01 -2.24042309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84119381700003 meters Centerline goodness : 0.950727 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.28, Z:-2.24 [[ 9.99951451e-01 -1.54768515e-03 -9.73142280e-03 1.90268610e+01] [ 1.55429064e-03 9.99998567e-01 6.71253068e-04 -2.81552846e-01] [ 9.73036996e-03 -6.86345939e-04 9.99952423e-01 -2.24127998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87119381700003 meters Centerline goodness : 0.951394 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.28, Z:-2.24 [[ 9.99933804e-01 -1.50932716e-03 -1.14065163e-02 1.90552577e+01] [ 1.51836030e-03 9.99998541e-01 7.83310358e-04 -2.79236669e-01] [ 1.14053173e-02 -8.00577708e-04 9.99934637e-01 -2.24152925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90119381700003 meters Centerline goodness : 0.951736 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.28, Z:-2.24 [[ 9.99932036e-01 -1.71356880e-03 -1.15319755e-02 1.90833631e+01] [ 1.72277240e-03 9.99998205e-01 7.88207096e-04 -2.76692741e-01] [ 1.15306042e-02 -8.08020495e-04 9.99933194e-01 -2.24249414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93119381700004 meters Centerline goodness : 0.953904 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.27, Z:-2.24 [[ 9.99936511e-01 -2.21019976e-03 -1.10494316e-02 1.91104071e+01] [ 2.21870165e-03 9.99997252e-01 7.57242710e-04 -2.73239634e-01] [ 1.10477276e-02 -7.81710026e-04 9.99938666e-01 -2.24282735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96119381700004 meters Centerline goodness : 0.954196 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.26, Z:-2.24 [[ 9.99941514e-01 -2.97428646e-03 -1.03981874e-02 1.91391081e+01] [ 2.98177882e-03 9.99995306e-01 7.05116929e-04 -2.64516050e-01] [ 1.03960413e-02 -7.36080785e-04 9.99945689e-01 -2.24305821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.991193817 meters Centerline goodness : 0.955686 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.26, Z:-2.24 [[ 9.99941864e-01 -3.93400313e-03 -1.00395255e-02 1.91663020e+01] [ 3.94105773e-03 9.99992001e-01 6.82995625e-04 -2.61064968e-01] [ 1.00367583e-02 -7.22522268e-04 9.99949369e-01 -2.24360836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.021193817 meters Centerline goodness : 0.954158 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.26, Z:-2.24 [[ 9.99923538e-01 -5.61479087e-03 -1.10177857e-02 1.91948547e+01] [ 5.62331520e-03 9.99983913e-01 7.42861017e-04 -2.57837109e-01] [ 1.10134374e-02 -8.04760699e-04 9.99939026e-01 -2.24298482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.051193817 meters Centerline goodness : 0.957875 Centerline is valid? [True, True] Translation: X:19.22, Y:-0.25, Z:-2.24 [[ 9.99905714e-01 -7.99040762e-03 -1.11676479e-02 1.92237641e+01] [ 7.99927546e-03 9.99967724e-01 7.49622322e-04 -2.50105917e-01] [ 1.11612977e-02 -8.38884735e-04 9.99937359e-01 -2.24411364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.081193817 meters Centerline goodness : 0.957037 Centerline is valid? [True, True] Translation: X:19.25, Y:-0.25, Z:-2.24 [[ 9.99901840e-01 -8.52170169e-03 -1.11216380e-02 1.92522669e+01] [ 8.53048501e-03 9.99963339e-01 7.42550683e-04 -2.46809716e-01] [ 1.11149025e-02 -8.37350760e-04 9.99937877e-01 -2.24455141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.11119381700001 meters Centerline goodness : 0.960318 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.24, Z:-2.24 [[ 9.99903299e-01 -8.73647570e-03 -1.08197447e-02 1.92800968e+01] [ 8.74476117e-03 9.99961506e-01 7.18699812e-04 -2.42842771e-01] [ 1.08130493e-02 -8.13246396e-04 9.99941207e-01 -2.24486823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14119381700002 meters Centerline goodness : 0.960142 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.24, Z:-2.25 [[ 9.99917789e-01 -7.77153825e-03 -1.01989144e-02 1.93085487e+01] [ 7.77881242e-03 9.99969518e-01 6.73754478e-04 -2.40250584e-01] [ 1.01933674e-02 -7.53034530e-04 9.99947763e-01 -2.24594890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.17119381700002 meters Centerline goodness : 0.958966 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.24, Z:-2.25 [[ 9.99928293e-01 -6.65198240e-03 -9.95789248e-03 1.93368301e+01] [ 6.65888104e-03 9.99977612e-01 6.59786830e-04 -2.38235436e-01] [ 9.95328065e-03 -7.26047940e-04 9.99950201e-01 -2.24593544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20119381700002 meters Centerline goodness : 0.961575 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.23, Z:-2.25 [[ 9.99935603e-01 -6.14669424e-03 -9.53983956e-03 1.93653433e+01] [ 6.15294266e-03 9.99980875e-01 6.25770030e-04 -2.32610946e-01] [ 9.53581069e-03 -6.84427818e-04 9.99954299e-01 -2.24791786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23119381700002 meters Centerline goodness : 0.962243 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.23, Z:-2.25 [[ 9.99919044e-01 -7.41453061e-03 -1.03406794e-02 1.93932559e+01] [ 7.42190574e-03 9.99972229e-01 6.75022526e-04 -2.30020514e-01] [ 1.03353873e-02 -7.51715427e-04 9.99946306e-01 -2.24842713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26119381700002 meters Centerline goodness : 0.965868 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.23, Z:-2.25 [[ 9.99894869e-01 -9.50539199e-03 -1.09497962e-02 1.94217411e+01] [ 9.51375242e-03 9.99954490e-01 7.11687426e-04 -2.26769248e-01] [ 1.09425330e-02 -8.15786256e-04 9.99939796e-01 -2.24915015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29119381700002 meters Centerline goodness : 0.965665 Centerline is valid? [True, True] Translation: X:19.45, Y:-0.22, Z:-2.25 [[ 9.99867122e-01 -1.16744492e-02 -1.13774146e-02 1.94499339e+01] [ 1.16836584e-02 9.99931467e-01 7.43299529e-04 -2.23380393e-01] [ 1.13679573e-02 -8.76130587e-04 9.99934999e-01 -2.24935506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32119381700002 meters Centerline goodness : 0.965626 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.22, Z:-2.25 [[ 9.99824413e-01 -1.58338514e-02 -1.00215850e-02 1.94787526e+01] [ 1.58411918e-02 9.99874307e-01 6.53494244e-04 -2.15984220e-01] [ 1.00099780e-02 -8.12133349e-04 9.99949569e-01 -2.24966216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35119381700002 meters Centerline goodness : 0.966527 Centerline is valid? [True, True] Translation: X:19.51, Y:-0.21, Z:-2.25 [[ 9.99786305e-01 -1.82956816e-02 -9.62354854e-03 1.95075069e+01] [ 1.83025026e-02 9.99832302e-01 6.21179976e-04 -2.13476828e-01] [ 9.61056978e-03 -7.97182255e-04 9.99953500e-01 -2.24972210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38119381700002 meters Centerline goodness : 0.965426 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.21, Z:-2.25 [[ 9.99775027e-01 -1.94730608e-02 -8.40803456e-03 1.95374348e+01] [ 1.94783412e-02 9.99810130e-01 5.46574667e-04 -2.11140692e-01] [ 8.39579464e-03 -7.10226269e-04 9.99964502e-01 -2.25044130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41119381700003 meters Centerline goodness : 0.967600 Centerline is valid? [True, True] Translation: X:19.57, Y:-0.21, Z:-2.25 [[ 9.99769511e-01 -1.96976393e-02 -8.53976866e-03 1.95673302e+01] [ 1.97030967e-02 9.99805721e-01 5.55394573e-04 -2.07975909e-01] [ 8.52716959e-03 -7.23526449e-04 9.99963381e-01 -2.25027113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44119381700003 meters Centerline goodness : 0.967600 Centerline is valid? [True, True] Translation: X:19.60, Y:-0.21, Z:-2.25 [[ 9.99769135e-01 -1.97167036e-02 -8.53977914e-03 1.95974255e+01] [ 1.97221604e-02 9.99805345e-01 5.55233411e-04 -2.09892823e-01] [ 8.52716946e-03 -7.23528121e-04 9.99963381e-01 -2.25090162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47119381700003 meters Centerline goodness : 0.968269 Centerline is valid? [True, True] Translation: X:19.63, Y:-0.20, Z:-2.25 [[ 9.99805119e-01 -1.75996621e-02 -8.94296029e-03 1.96278682e+01] [ 1.76055608e-02 9.99844841e-01 5.81299245e-04 -2.00095666e-01] [ 8.93134204e-03 -7.38631792e-04 9.99959842e-01 -2.25116914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50119381700003 meters Centerline goodness : 0.968008 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.20, Z:-2.25 [[ 9.99829015e-01 -1.60475723e-02 -9.18788262e-03 1.96572579e+01] [ 1.60537321e-02 9.99870952e-01 5.97063866e-04 -1.95999972e-01] [ 9.17711551e-03 -7.44461583e-04 9.99957612e-01 -2.25148432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53119381700003 meters Centerline goodness : 0.967577 Centerline is valid? [True, True] Translation: X:19.69, Y:-0.19, Z:-2.25 [[ 9.99863259e-01 -1.38869192e-02 -8.97867498e-03 1.96873838e+01] [ 1.38927085e-02 9.99903322e-01 5.82732217e-04 -1.92191215e-01] [ 8.96971459e-03 -7.07390648e-04 9.99959521e-01 -2.25254695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56119381700003 meters Centerline goodness : 0.969173 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.18, Z:-2.25 [[ 9.99932122e-01 -9.25843286e-03 -7.07333318e-03 1.97178384e+01] [ 9.26190719e-03 9.99957002e-01 4.58588273e-04 -1.82973410e-01] [ 7.06878324e-03 -5.24069701e-04 9.99974879e-01 -2.25297747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59119381700003 meters Centerline goodness : 0.966533 Centerline is valid? [True, True] Translation: X:19.75, Y:-0.18, Z:-2.25 [[ 9.99954798e-01 -7.63452465e-03 -5.66706021e-03 1.97476520e+01] [ 7.63672966e-03 9.99970772e-01 3.67555073e-04 -1.79614403e-01] [ 5.66408846e-03 -4.10816266e-04 9.99983875e-01 -2.25300524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62119381700003 meters Centerline goodness : 0.966900 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.18, Z:-2.25 [[ 9.99976088e-01 -5.19590558e-03 -4.56352535e-03 1.97778227e+01] [ 5.19731215e-03 9.99986450e-01 2.96415885e-04 -1.76702989e-01] [ 4.56192337e-03 -3.20126863e-04 9.99989543e-01 -2.25339728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65119381700003 meters Centerline goodness : 0.968175 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.17, Z:-2.25 [[ 9.99988713e-01 -3.03054050e-03 -3.65924042e-03 1.98081814e+01] [ 3.03142695e-03 9.99995377e-01 2.36727360e-04 -1.73742293e-01] [ 3.65850609e-03 -2.47817408e-04 9.99993277e-01 -2.25395337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68119381700004 meters Centerline goodness : 0.967148 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.17, Z:-2.25 [[ 9.99988505e-01 -6.44439346e-04 -4.75118544e-03 1.98382876e+01] [ 6.45907252e-04 9.99999744e-01 3.07427826e-04 -1.70763191e-01] [ 4.75098611e-03 -3.10493117e-04 9.99988666e-01 -2.25415133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71119381700004 meters Centerline goodness : 0.966897 Centerline is valid? [True, True] Translation: X:19.87, Y:-0.17, Z:-2.26 [[ 9.99971372e-01 4.28114334e-03 -6.23922707e-03 1.98675233e+01] [-4.27871039e-03 9.99990765e-01 4.03239752e-04 -1.65379676e-01] [ 6.24089578e-03 -3.76532362e-04 9.99980455e-01 -2.25588663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.741193817 meters Centerline goodness : 0.966871 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.16, Z:-2.26 [[ 9.99951024e-01 6.52868099e-03 -7.43807683e-03 1.98957465e+01] [-6.52530035e-03 9.99978595e-01 4.78682889e-04 -1.64262550e-01] [ 7.44104279e-03 -4.30123760e-04 9.99972223e-01 -2.25694223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.771193817 meters Centerline goodness : 0.966971 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.16, Z:-2.26 [[ 9.99926162e-01 9.01262032e-03 -8.15131841e-03 1.99242399e+01] [-9.00863922e-03 9.99959284e-01 5.24985421e-04 -1.62762169e-01] [ 8.15571801e-03 -4.51514370e-04 9.99966640e-01 -2.25741496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.801193817 meters Centerline goodness : 0.966787 Centerline is valid? [True, True] Translation: X:19.95, Y:-0.16, Z:-2.26 [[ 9.99889062e-01 1.26404602e-02 -7.87924284e-03 1.99513262e+01] [-1.26368715e-02 9.99920024e-01 5.05081434e-04 -1.56544195e-01] [ 7.88499715e-03 -4.05456422e-04 9.99968831e-01 -2.25823607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.831193817 meters Centerline goodness : 0.968559 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.16, Z:-2.26 [[ 9.99870767e-01 1.36672113e-02 -8.46502306e-03 1.99796529e+01] [-1.36631036e-02 9.99906508e-01 5.42905062e-04 -1.55059157e-01] [ 8.47165165e-03 -4.27176413e-04 9.99964024e-01 -2.25810034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86119381700001 meters Centerline goodness : 0.967268 Centerline is valid? [True, True] Translation: X:20.01, Y:-0.15, Z:-2.26 [[ 9.99869633e-01 1.39909528e-02 -8.06043818e-03 2.00075049e+01] [-1.39872456e-02 9.99902040e-01 5.16120101e-04 -1.54163334e-01] [ 8.06686959e-03 -4.03309487e-04 9.99967381e-01 -2.25981912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.89119381700002 meters Centerline goodness : 0.966139 Centerline is valid? [True, True] Translation: X:20.04, Y:-0.15, Z:-2.26 [[ 9.99867139e-01 1.36047869e-02 -8.97848956e-03 2.00368394e+01] [-1.36001730e-02 9.99907348e-01 5.74747904e-04 -1.52111466e-01] [ 8.98547701e-03 -4.52562532e-04 9.99959527e-01 -2.26036552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92119381700002 meters Centerline goodness : 0.966351 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.15, Z:-2.26 [[ 9.99869850e-01 1.29560420e-02 -9.61378076e-03 2.00656342e+01] [-1.29507281e-02 9.99915947e-01 6.14780913e-04 -1.51770891e-01] [ 9.62093781e-03 -4.90195438e-04 9.99953598e-01 -2.26093856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.95119381700002 meters Centerline goodness : 0.966387 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.15, Z:-2.26 [[ 9.99880677e-01 1.25902620e-02 -8.95080213e-03 2.00934380e+01] [-1.25856590e-02 9.99920635e-01 5.70390501e-04 -1.51499461e-01] [ 8.95727311e-03 -4.57670696e-04 9.99959778e-01 -2.26205657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98119381700002 meters Centerline goodness : 0.967438 Centerline is valid? [True, True] Translation: X:20.12, Y:-0.15, Z:-2.26 [[ 9.99888376e-01 1.26681956e-02 -7.92160202e-03 2.01216899e+01] [-1.26645978e-02 9.99919674e-01 5.04176713e-04 -1.51804676e-01] [ 7.92735272e-03 -4.03796531e-04 9.99968497e-01 -2.26319647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01119381700002 meters Centerline goodness : 0.968375 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.15, Z:-2.26 [[ 9.99864423e-01 1.46954938e-02 -7.42823075e-03 2.01497981e+01] [-1.46923921e-02 9.99891950e-01 4.71948165e-04 -1.50196735e-01] [ 7.43436364e-03 -3.62745700e-04 9.99972299e-01 -2.26247525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04119381700002 meters Centerline goodness : 0.968333 Centerline is valid? [True, True] Translation: X:20.18, Y:-0.15, Z:-2.26 [[ 9.99845807e-01 1.63219372e-02 -6.47740034e-03 2.01790201e+01] [-1.63196149e-02 9.99866742e-01 4.11216911e-04 -1.50144517e-01] [ 6.48324903e-03 -3.05444824e-04 9.99978937e-01 -2.26258521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07119381700002 meters Centerline goodness : 0.965755 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.15, Z:-2.26 [[ 9.99813376e-01 1.82991177e-02 -6.19324358e-03 2.02079097e+01] [-1.82970361e-02 9.99832518e-01 3.92606522e-04 -1.50725619e-01] [ 6.19939068e-03 -2.79215251e-04 9.99980745e-01 -2.26244411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10119381700002 meters Centerline goodness : 0.967474 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.15, Z:-2.26 [[ 9.99705414e-01 2.32129235e-02 -7.08840014e-03 2.02354381e+01] [-2.32103258e-02 9.99730503e-01 4.48525648e-04 -1.52628812e-01] [ 7.09690143e-03 -2.83869442e-04 9.99974776e-01 -2.26242335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13119381700002 meters Centerline goodness : 0.965333 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.16, Z:-2.26 [[ 9.99631476e-01 2.59710932e-02 -7.90034435e-03 2.02628136e+01] [-2.59679555e-02 9.99662651e-01 4.99497547e-04 -1.55297373e-01] [ 7.91065167e-03 -2.94157679e-04 9.99968667e-01 -2.26240748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16119381700003 meters Centerline goodness : 0.965411 Centerline is valid? [True, True] Translation: X:20.29, Y:-0.16, Z:-2.26 [[ 9.99587016e-01 2.77587389e-02 -7.43300793e-03 2.02891941e+01] [-2.77560242e-02 9.99614618e-01 4.68152832e-04 -1.57371756e-01] [ 7.44313872e-03 -2.61648744e-04 9.99972265e-01 -2.26309456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19119381700003 meters Centerline goodness : 0.964877 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.16, Z:-2.26 [[ 9.99531695e-01 2.96207020e-02 -7.68143285e-03 2.03174893e+01] [-2.96178615e-02 9.99561178e-01 4.83304384e-04 -1.59443704e-01] [ 7.69237789e-03 -2.55570436e-04 9.99970381e-01 -2.26245915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22119381700003 meters Centerline goodness : 0.962769 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.16, Z:-2.26 [[ 9.99464458e-01 3.15647614e-02 -8.62922897e-03 2.03444921e+01] [-3.15612596e-02 9.99501673e-01 5.41715194e-04 -1.61352239e-01] [ 8.64202790e-03 -2.69075747e-04 9.99962621e-01 -2.26162718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25119381700003 meters Centerline goodness : 0.962810 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.16, Z:-2.26 [[ 9.99470984e-01 3.09904960e-02 -9.86618139e-03 2.03728335e+01] [-3.09858975e-02 9.99519630e-01 6.18649328e-04 -1.63513112e-01] [ 9.88061423e-03 -3.12609567e-04 9.99951137e-01 -2.26237279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28119381700003 meters Centerline goodness : 0.962094 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.17, Z:-2.26 [[ 9.99468089e-01 3.05334401e-02 -1.14563964e-02 2.04001396e+01] [-3.05272215e-02 9.99533678e-01 7.17323945e-04 -1.67278178e-01] [ 1.14729564e-02 -3.67210440e-04 9.99934116e-01 -2.26262411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31119381700003 meters Centerline goodness : 0.961406 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.17, Z:-2.26 [[ 9.99539547e-01 2.81722784e-02 -1.12701563e-02 2.04277950e+01] [-2.81661277e-02 9.99603008e-01 7.04131088e-04 -1.74951158e-01] [ 1.12855191e-02 -3.86370208e-04 9.99936242e-01 -2.26481311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34119381700003 meters Centerline goodness : 0.960880 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.18, Z:-2.27 [[ 9.99604321e-01 2.62938074e-02 -9.99184257e-03 2.04544123e+01] [-2.62889012e-02 9.99654194e-01 6.22070654e-04 -1.79546770e-01] [ 1.00047439e-02 -3.59149952e-04 9.99949887e-01 -2.26551396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37119381700003 meters Centerline goodness : 0.957654 Centerline is valid? [True, True] Translation: X:20.48, Y:-0.18, Z:-2.27 [[ 9.99655476e-01 2.42798722e-02 -9.97079775e-03 2.04823891e+01] [-2.42748946e-02 9.99705129e-01 6.19955302e-04 -1.83412026e-01] [ 9.98291009e-03 -3.77701648e-04 9.99950098e-01 -2.26506303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40119381700003 meters Centerline goodness : 0.958485 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.19, Z:-2.27 [[ 9.99711992e-01 2.18894372e-02 -9.83800109e-03 2.05090844e+01] [-2.18844943e-02 9.99760320e-01 6.09814351e-04 -1.86558182e-01] [ 9.84899161e-03 -3.94339040e-04 9.99951420e-01 -2.26512615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43119381700004 meters Centerline goodness : 0.958241 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.19, Z:-2.27 [[ 9.99747972e-01 1.95924386e-02 -1.09603594e-02 2.05367297e+01] [-1.95861722e-02 9.99807942e-01 6.78792021e-04 -1.89923488e-01] [ 1.09715536e-02 -4.63949459e-04 9.99939703e-01 -2.26508685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46119381700004 meters Centerline goodness : 0.954651 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.20, Z:-2.27 [[ 9.99769738e-01 1.64608096e-02 -1.37663282e-02 2.05631086e+01] [-1.64506673e-02 9.99864318e-01 8.49664266e-04 -1.95622898e-01] [ 1.37784465e-02 -6.23003335e-04 9.99904879e-01 -2.26573006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.491193817 meters Centerline goodness : 0.953526 Centerline is valid? [True, True] Translation: X:20.59, Y:-0.20, Z:-2.27 [[ 9.99777265e-01 1.52254032e-02 -1.46153406e-02 2.05894942e+01] [-1.52138561e-02 9.99883857e-01 9.00937544e-04 -1.99080934e-01] [ 1.46273602e-02 -6.78381186e-04 9.99892784e-01 -2.26654079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.521193817 meters Centerline goodness : 0.952008 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.20, Z:-2.27 [[ 9.99764613e-01 1.48126978e-02 -1.58525011e-02 2.06166320e+01] [-1.47990917e-02 9.99890012e-01 9.75262837e-04 -2.02840925e-01] [ 1.58652038e-02 -7.40430655e-04 9.99873866e-01 -2.26665237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.551193817 meters Centerline goodness : 0.953499 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.21, Z:-2.27 [[ 9.99775940e-01 1.40550808e-02 -1.58279821e-02 2.06448806e+01] [-1.40414480e-02 9.99900941e-01 9.72117749e-04 -2.06612526e-01] [ 1.58400774e-02 -7.49652149e-04 9.99874257e-01 -2.26735473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.581193817 meters Centerline goodness : 0.951108 Centerline is valid? [True, True] Translation: X:20.67, Y:-0.21, Z:-2.27 [[ 9.99728928e-01 1.59454376e-02 -1.69650471e-02 2.06718711e+01] [-1.59300920e-02 9.99872568e-01 1.03930489e-03 -2.10894237e-01] [ 1.69794574e-02 -7.68768403e-04 9.99855543e-01 -2.26722468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.61119381700001 meters Centerline goodness : 0.950915 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.21, Z:-2.27 [[ 9.99668657e-01 1.80862649e-02 -1.83156706e-02 2.07001392e+01] [-1.80687622e-02 9.99836119e-01 1.12065949e-03 -2.13197093e-01] [ 1.83329376e-02 -7.89346671e-04 9.99831626e-01 -2.26684776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64119381700002 meters Centerline goodness : 0.949811 Centerline is valid? [True, False] Translation: X:20.70, Y:-0.21, Z:-2.27 [[ 9.99575995e-01 2.22510805e-02 -1.87808542e-02 2.07015765e+01] [-2.21486725e-02 9.99738761e-01 5.64331826e-03 -2.14841299e-01] [ 1.89015178e-02 -5.22495447e-03 9.99807698e-01 -2.26743457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.67119381700002 meters Centerline goodness : 0.949195 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.21, Z:-2.27 [[ 9.99548903e-01 2.31006499e-02 -1.91924572e-02 2.07027574e+01] [-2.29881748e-02 9.99717367e-01 6.06050633e-03 -2.14713196e-01] [ 1.93270344e-02 -5.61657290e-03 9.99797439e-01 -2.26770885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70119381700002 meters Centerline goodness : 0.946688 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.22, Z:-2.27 [[ 9.99462413e-01 2.61249338e-02 -1.98083899e-02 2.07041101e+01] [-2.59609131e-02 9.99626882e-01 8.49282766e-03 -2.17321744e-01] [ 2.00228736e-02 -7.97401813e-03 9.99767723e-01 -2.26750019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73119381700002 meters Centerline goodness : 0.948162 Centerline is valid? [False, False] Translation: X:20.71, Y:-0.22, Z:-2.26 [[ 9.99354020e-01 2.77248492e-02 -2.28664816e-02 2.07092651e+01] [-2.75691640e-02 9.99594713e-01 7.09588373e-03 -2.18853635e-01] [ 2.30539464e-02 -6.46089015e-03 9.99713345e-01 -2.26475994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76119381700002 meters Centerline goodness : 0.949617 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.22, Z:-2.27 [[ 9.99484591e-01 2.72403205e-02 -1.69858201e-02 2.07217916e+01] [-2.69890711e-02 9.99525427e-01 1.48495766e-02 -2.22490724e-01] [ 1.73822663e-02 -1.43834915e-02 9.99745454e-01 -2.26800336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79119381700002 meters Centerline goodness : 0.948966 Centerline is valid? [False, False] Translation: X:20.74, Y:-0.23, Z:-2.27 [[ 9.99520825e-01 2.82223242e-02 -1.27130564e-02 2.07375191e+01] [-2.79386556e-02 9.99368310e-01 2.19639019e-02 -2.28815982e-01] [ 1.33248980e-02 -2.15981916e-02 9.99677931e-01 -2.26922944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82119381700002 meters Centerline goodness : 0.947166 Centerline is valid? [False, False] Translation: X:20.74, Y:-0.23, Z:-2.27 [[ 9.99575490e-01 2.59024671e-02 -1.33380072e-02 2.07396188e+01] [-2.56399041e-02 9.99481159e-01 1.94937783e-02 -2.30089017e-01] [ 1.38360239e-02 -1.91435178e-02 9.99721006e-01 -2.27027649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85119381700002 meters Centerline goodness : 0.947969 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.23, Z:-2.27 [[ 9.99700453e-01 2.27188081e-02 -9.10273673e-03 2.07539569e+01] [-2.24891526e-02 9.99444787e-01 2.45836346e-02 -2.33742064e-01] [ 9.65619365e-03 -2.43715578e-02 9.99656333e-01 -2.27389371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88119381700002 meters Centerline goodness : 0.948678 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.23, Z:-2.27 [[ 9.99761969e-01 1.96200603e-02 -9.54241652e-03 2.07548943e+01] [-1.94129631e-02 9.99583962e-01 2.13316425e-02 -2.34392939e-01] [ 9.95697463e-03 -2.11413183e-02 9.99726914e-01 -2.27394932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91119381700003 meters Centerline goodness : 0.949295 Centerline is valid? [False, False] Translation: X:20.76, Y:-0.23, Z:-2.27 [[ 9.99824612e-01 1.59258857e-02 -9.85455357e-03 2.07550381e+01] [-1.57514090e-02 9.99722144e-01 1.75364745e-02 -2.34733537e-01] [ 1.01310993e-02 -1.73781757e-02 9.99797659e-01 -2.27327347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94119381700003 meters Centerline goodness : 0.949574 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.24, Z:-2.27 [[ 9.99944684e-01 7.66598099e-03 -7.20147655e-03 2.07839868e+01] [-7.50135657e-03 9.99716100e-01 2.26152219e-02 -2.39892355e-01] [ 7.37279991e-03 -2.25599501e-02 9.99718306e-01 -2.27475857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97119381700003 meters Centerline goodness : 0.948327 Centerline is valid? [False, False] Translation: X:20.80, Y:-0.24, Z:-2.27 [[ 9.99972260e-01 4.93633929e-03 -5.57775793e-03 2.08018976e+01] [-4.79828028e-03 9.99688321e-01 2.44997306e-02 -2.42495376e-01] [ 5.69695844e-03 -2.44722873e-02 9.99684276e-01 -2.27486966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00119381700003 meters Centerline goodness : 0.948063 Centerline is valid? [False, False] Translation: X:20.82, Y:-0.24, Z:-2.28 [[ 9.99983942e-01 9.17448206e-04 -5.59240309e-03 2.08228607e+01] [-7.82834910e-04 9.99711037e-01 2.40255856e-02 -2.44611500e-01] [ 5.61282933e-03 -2.40208219e-02 9.99695702e-01 -2.27609920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03119381700003 meters Centerline goodness : 0.946350 Centerline is valid? [False, False] Translation: X:20.84, Y:-0.25, Z:-2.28 [[ 9.99950013e-01 -5.88901004e-03 -8.08034980e-03 2.08423520e+01] [ 6.18603520e-03 9.99287197e-01 3.72401748e-02 -2.51626467e-01] [ 7.85528234e-03 -3.72882986e-02 9.99273675e-01 -2.27699717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06119381700003 meters Centerline goodness : 0.947347 Centerline is valid? [False, False] Translation: X:20.85, Y:-0.25, Z:-2.28 [[ 9.99936214e-01 -6.85392163e-03 -8.97727217e-03 2.08450631e+01] [ 7.17939311e-03 9.99299100e-01 3.67391609e-02 -2.52700682e-01] [ 8.71917266e-03 -3.68012689e-02 9.99284565e-01 -2.27824114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09119381700003 meters Centerline goodness : 0.946140 Centerline is valid? [False, False] Translation: X:20.85, Y:-0.25, Z:-2.28 [[ 9.99928910e-01 -7.18778683e-03 -9.51375682e-03 2.08466243e+01] [ 7.53263540e-03 9.99297126e-01 3.67221051e-02 -2.53466431e-01] [ 9.24311919e-03 -3.67911582e-02 9.99280229e-01 -2.27887283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12119381700003 meters Centerline goodness : 0.947686 Centerline is valid? [False, False] Translation: X:20.85, Y:-0.26, Z:-2.28 [[ 9.99926416e-01 -7.48111476e-03 -9.54963661e-03 2.08465211e+01] [ 7.83209540e-03 9.99274875e-01 3.72610063e-02 -2.55416041e-01] [ 9.26395806e-03 -3.73330582e-02 9.99259937e-01 -2.27855917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15119381700003 meters Centerline goodness : 0.945598 Centerline is valid? [False, False] Translation: X:20.85, Y:-0.26, Z:-2.28 [[ 9.99925780e-01 -7.34266992e-03 -9.72216119e-03 2.08470100e+01] [ 7.70401586e-03 9.99260656e-01 3.76668210e-02 -2.56084564e-01] [ 9.43839813e-03 -3.77389251e-02 9.99243059e-01 -2.27863056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18119381700004 meters Centerline goodness : 0.945709 Centerline is valid? [False, False] Translation: X:20.85, Y:-0.26, Z:-2.28 [[ 9.99924871e-01 -7.23108743e-03 -9.89770537e-03 2.08475201e+01] [ 7.59991369e-03 9.99258392e-01 3.77479330e-02 -2.55970160e-01] [ 9.61740656e-03 -3.78203188e-02 9.99238274e-01 -2.27883048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21119381700004 meters Centerline goodness : 0.941774 Centerline is valid? [False, False] Translation: X:20.83, Y:-0.26, Z:-2.28 [[ 9.99940656e-01 -5.91963661e-03 -9.14560714e-03 2.08266587e+01] [ 6.24658775e-03 9.99327049e-01 3.61445733e-02 -2.55232887e-01] [ 8.92548985e-03 -3.61995572e-02 9.99304722e-01 -2.27821880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.241193817 meters Centerline goodness : 0.942360 Centerline is valid? [False, False] Translation: X:20.83, Y:-0.26, Z:-2.28 [[ 9.99933691e-01 -5.99539744e-03 -9.83206575e-03 2.08284805e+01] [ 6.34853820e-03 9.99321195e-01 3.62883554e-02 -2.55550819e-01] [ 9.60782858e-03 -3.63483684e-02 9.99292993e-01 -2.27901043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.271193817 meters Centerline goodness : 0.940818 Centerline is valid? [False, False] Translation: X:20.81, Y:-0.26, Z:-2.28 [[ 9.99943761e-01 -3.65628204e-03 -9.95520417e-03 2.08091753e+01] [ 4.03084667e-03 9.99274595e-01 3.78686582e-02 -2.56052409e-01] [ 9.80952412e-03 -3.79066564e-02 9.99233135e-01 -2.27973342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.301193817 meters Centerline goodness : 0.941842 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.26, Z:-2.28 [[ 9.99961980e-01 -3.84518796e-03 -7.82645669e-03 2.07828919e+01] [ 4.18577323e-03 9.99023799e-01 4.39764528e-02 -2.56893684e-01] [ 7.64971877e-03 -4.40075406e-02 9.99001911e-01 -2.28281667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.331193817 meters Centerline goodness : 0.942510 Centerline is valid? [False, False] Translation: X:20.76, Y:-0.26, Z:-2.28 [[ 9.99974010e-01 -4.68142265e-03 -5.48300175e-03 2.07632031e+01] [ 4.89851623e-03 9.99176679e-01 4.02736645e-02 -2.56010115e-01] [ 5.28994943e-03 -4.02994764e-02 9.99173643e-01 -2.28416005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36119381700001 meters Centerline goodness : 0.942510 Centerline is valid? [False, False] Translation: X:20.76, Y:-0.26, Z:-2.28 [[ 9.99974091e-01 -4.68787927e-03 -5.46267471e-03 2.07631744e+01] [ 4.90385599e-03 9.99178887e-01 4.02181994e-02 -2.55872602e-01] [ 5.26965117e-03 -4.02439456e-02 9.99175988e-01 -2.28416603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.39119381700002 meters Centerline goodness : 0.942151 Centerline is valid? [False, False] Translation: X:20.74, Y:-0.26, Z:-2.29 [[ 9.99951754e-01 -9.54422199e-03 -2.32306306e-03 2.07380864e+01] [ 9.62337070e-03 9.99274393e-01 3.68521113e-02 -2.55456997e-01] [ 1.96965270e-03 -3.68726890e-02 9.99318030e-01 -2.28597409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42119381700002 meters Centerline goodness : 0.942492 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.25, Z:-2.28 [[ 9.99930894e-01 -1.17253397e-02 -8.50573690e-04 2.07160875e+01] [ 1.17456853e-02 9.99474619e-01 3.02080340e-02 -2.52110201e-01] [ 4.95927353e-04 -3.02159370e-02 9.99543271e-01 -2.28405655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.45119381700002 meters Centerline goodness : 0.943401 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.25, Z:-2.28 [[ 9.99920902e-01 -1.25386124e-02 -9.86841192e-04 2.07160312e+01] [ 1.25621855e-02 9.99489914e-01 2.93616045e-02 -2.50811072e-01] [ 6.18184038e-04 -2.93716790e-02 9.99568368e-01 -2.28364069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48119381700002 meters Centerline goodness : 0.941551 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.25, Z:-2.28 [[ 9.99910627e-01 -1.33324245e-02 -9.91793929e-04 2.07157433e+01] [ 1.33547685e-02 9.99527820e-01 2.76728488e-02 -2.46293423e-01] [ 6.22379455e-04 -2.76836208e-02 9.99616541e-01 -2.28308803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51119381700002 meters Centerline goodness : 0.942044 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.24, Z:-2.28 [[ 9.99942030e-01 -1.06116724e-02 -1.82431948e-03 2.07033412e+01] [ 1.06434764e-02 9.99773858e-01 1.84106003e-02 -2.42616186e-01] [ 1.62853966e-03 -1.84289501e-02 9.99828846e-01 -2.28026887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54119381700002 meters Centerline goodness : 0.940190 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.24, Z:-2.28 [[ 9.99940773e-01 -1.07463167e-02 -1.72229845e-03 2.07024019e+01] [ 1.07751990e-02 9.99784505e-01 1.77437008e-02 -2.40993390e-01] [ 1.53124787e-03 -1.77612081e-02 9.99841085e-01 -2.27901897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57119381700002 meters Centerline goodness : 0.943597 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.24, Z:-2.28 [[ 9.99936672e-01 -1.11436152e-02 -1.57191237e-03 2.07013837e+01] [ 1.11687160e-02 9.99793397e-01 1.69830252e-02 -2.39714402e-01] [ 1.38233531e-03 -1.69995059e-02 9.99854542e-01 -2.27784224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60119381700002 meters Centerline goodness : 0.944714 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.24, Z:-2.28 [[ 9.99927443e-01 -1.19705984e-02 -1.34649105e-03 2.07006904e+01] [ 1.19906552e-02 9.99799593e-01 1.60311657e-02 -2.38368908e-01] [ 1.15431856e-03 -1.60461478e-02 9.99870586e-01 -2.27742618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63119381700002 meters Centerline goodness : 0.941488 Centerline is valid? [False, False] Translation: X:20.68, Y:-0.24, Z:-2.28 [[ 9.99933765e-01 -1.09154567e-02 -3.64940808e-03 2.06829296e+01] [ 1.09671222e-02 9.99835441e-01 1.44503808e-02 -2.37374296e-01] [ 3.49107503e-03 -1.44894472e-02 9.99888928e-01 -2.27786321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66119381700003 meters Centerline goodness : 0.942534 Centerline is valid? [False, False] Translation: X:20.68, Y:-0.24, Z:-2.28 [[ 9.99930164e-01 -1.12023623e-02 -3.76493636e-03 2.06835198e+01] [ 1.12549523e-02 9.99835115e-01 1.42501950e-02 -2.37081729e-01] [ 3.60467973e-03 -1.42915740e-02 9.99891373e-01 -2.27836303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69119381700003 meters Centerline goodness : 0.941702 Centerline is valid? [False, False] Translation: X:20.67, Y:-0.24, Z:-2.28 [[ 9.99933749e-01 -1.05857642e-02 -4.52102600e-03 2.06650844e+01] [ 1.06384879e-02 9.99873765e-01 1.18015707e-02 -2.36194610e-01] [ 4.39552664e-03 -1.18488857e-02 9.99920138e-01 -2.27912228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72119381700003 meters Centerline goodness : 0.940660 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.24, Z:-2.28 [[ 9.99939414e-01 -9.53510293e-03 -5.50009525e-03 2.06460939e+01] [ 9.59848555e-03 9.99886474e-01 1.16149914e-02 -2.36991958e-01] [ 5.38872071e-03 -1.16670803e-02 9.99917417e-01 -2.27982653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75119381700003 meters Centerline goodness : 0.941581 Centerline is valid? [False, False] Translation: X:20.63, Y:-0.24, Z:-2.28 [[ 9.99933706e-01 -1.02190031e-02 -5.30622653e-03 2.06253040e+01] [ 1.02735869e-02 9.99893520e-01 1.03634678e-02 -2.36610525e-01] [ 5.19975721e-03 -1.04172947e-02 9.99932219e-01 -2.27969524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78119381700003 meters Centerline goodness : 0.940301 Centerline is valid? [False, False] Translation: X:20.60, Y:-0.24, Z:-2.28 [[ 9.99954208e-01 -9.04269877e-03 -3.13247875e-03 2.06048293e+01] [ 9.06979627e-03 9.99920610e-01 8.74708900e-03 -2.35474747e-01] [ 3.05313277e-03 -8.77509939e-03 9.99956837e-01 -2.28020118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81119381700003 meters Centerline goodness : 0.941354 Centerline is valid? [False, False] Translation: X:20.61, Y:-0.24, Z:-2.28 [[ 9.99951622e-01 -9.27465488e-03 -3.27639202e-03 2.06051993e+01] [ 9.30240408e-03 9.99920108e-01 8.55823874e-03 -2.35021126e-01] [ 3.19675555e-03 -8.58830303e-03 9.99958010e-01 -2.28029548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84119381700003 meters Centerline goodness : 0.939371 Centerline is valid? [False, False] Translation: X:20.58, Y:-0.23, Z:-2.28 [[ 9.99973458e-01 -6.69049616e-03 -2.88439109e-03 2.05843825e+01] [ 6.71655885e-03 9.99935829e-01 9.12281036e-03 -2.34774947e-01] [ 2.82316987e-03 -9.14194141e-03 9.99954226e-01 -2.28015574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87119381700003 meters Centerline goodness : 0.939310 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.23, Z:-2.28 [[ 9.99976016e-01 -6.25846665e-03 -2.96640916e-03 2.05850185e+01] [ 6.28394764e-03 9.99942758e-01 8.65980179e-03 -2.32076012e-01] [ 2.91204227e-03 -8.67823485e-03 9.99958103e-01 -2.28058946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90119381700003 meters Centerline goodness : 0.939123 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.23, Z:-2.28 [[ 9.99991238e-01 -2.85360123e-03 -3.06268429e-03 2.05853382e+01] [ 2.89015054e-03 9.99923864e-01 1.19964233e-02 -2.30937743e-01] [ 3.02821810e-03 -1.20051698e-02 9.99923350e-01 -2.28084297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93119381700004 meters Centerline goodness : 0.939071 Centerline is valid? [False, False] Translation: X:20.57, Y:-0.23, Z:-2.28 [[ 9.99981983e-01 5.96039299e-04 -5.97309978e-03 2.05678441e+01] [-5.38834825e-04 9.99954023e-01 9.57405363e-03 -2.26500902e-01] [ 5.97853166e-03 -9.57066263e-03 9.99936328e-01 -2.27957768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96119381700004 meters Centerline goodness : 0.938894 Centerline is valid? [False, False] Translation: X:20.57, Y:-0.22, Z:-2.28 [[ 9.99972091e-01 4.25978968e-03 -6.13771041e-03 2.05682926e+01] [-4.18002082e-03 9.99907392e-01 1.29512502e-02 -2.24950092e-01] [ 6.19231161e-03 -1.29252330e-02 9.99897292e-01 -2.27976712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.991193817 meters Centerline goodness : 0.936560 Centerline is valid? [False, False] Translation: X:20.57, Y:-0.22, Z:-2.28 [[ 9.99940335e-01 8.87147426e-03 -6.37359120e-03 2.05692023e+01] [-8.76567648e-03 9.99826432e-01 1.64398638e-02 -2.22236908e-01] [ 6.51833078e-03 -1.63830140e-02 9.99844542e-01 -2.28013753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.021193817 meters Centerline goodness : 0.939507 Centerline is valid? [False, False] Translation: X:20.57, Y:-0.22, Z:-2.28 [[ 9.99900365e-01 1.25977725e-02 -6.36837313e-03 2.05693427e+01] [-1.24674589e-02 9.99720155e-01 2.01041028e-02 -2.21940272e-01] [ 6.61985789e-03 -2.00227023e-02 9.99777610e-01 -2.28024140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.051193817 meters Centerline goodness : 0.939158 Centerline is valid? [False, False] Translation: X:20.54, Y:-0.22, Z:-2.28 [[ 9.99868988e-01 1.56368077e-02 -4.18284030e-03 2.05421693e+01] [-1.55303151e-02 9.99582043e-01 2.43833753e-02 -2.18856646e-01] [ 4.56237021e-03 -2.43152200e-02 9.99693931e-01 -2.28167555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.081193817 meters Centerline goodness : 0.943190 Centerline is valid? [False, False] Translation: X:20.54, Y:-0.22, Z:-2.28 [[ 9.99703760e-01 2.40191487e-02 -3.93366049e-03 2.05419708e+01] [-2.38821202e-02 9.99208814e-01 3.18023639e-02 -2.16500996e-01] [ 4.69441394e-03 -3.16989986e-02 9.99486436e-01 -2.28138656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.11119381700001 meters Centerline goodness : 0.941108 Centerline is valid? [False, False] Translation: X:20.54, Y:-0.21, Z:-2.28 [[ 9.99673329e-01 2.52188718e-02 -4.15246346e-03 2.05423776e+01] [-2.50747906e-02 9.99182646e-01 3.17063826e-02 -2.13981656e-01] [ 4.94866863e-03 -3.15919029e-02 9.99488600e-01 -2.28096486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14119381700002 meters Centerline goodness : 0.943635 Centerline is valid? [False, False] Translation: X:20.54, Y:-0.21, Z:-2.28 [[ 9.99622902e-01 2.70776873e-02 -4.56655546e-03 2.05442592e+01] [-2.69133829e-02 9.99097780e-01 3.28526330e-02 -2.13368237e-01] [ 5.45200874e-03 -3.27173428e-02 9.99449774e-01 -2.28198044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.17119381700002 meters Centerline goodness : 0.942662 Centerline is valid? [False, False] Translation: X:20.55, Y:-0.21, Z:-2.28 [[ 9.99585929e-01 2.83084613e-02 -5.15762517e-03 2.05459423e+01] [-2.81205732e-02 9.99044892e-01 3.34445408e-02 -2.12836882e-01] [ 6.09946257e-03 -3.32856570e-02 9.99427267e-01 -2.28254518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20119381700002 meters Centerline goodness : 0.943894 Centerline is valid? [False, False] Translation: X:20.55, Y:-0.21, Z:-2.28 [[ 9.99447176e-01 3.28577448e-02 -5.07057627e-03 2.05457534e+01] [-3.26433287e-02 9.98753277e-01 3.77664397e-02 -2.13097060e-01] [ 6.30517470e-03 -3.75800410e-02 9.99273729e-01 -2.28208148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23119381700002 meters Centerline goodness : 0.947437 Centerline is valid? [False, False] Translation: X:20.55, Y:-0.21, Z:-2.28 [[ 9.99412505e-01 3.38318993e-02 -5.48164206e-03 2.05466078e+01] [-3.35990547e-02 9.98708613e-01 3.81078808e-02 -2.12237395e-01] [ 6.76382512e-03 -3.79013146e-02 9.99258596e-01 -2.28191324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26119381700002 meters Centerline goodness : 0.945939 Centerline is valid? [False, False] Translation: X:20.55, Y:-0.21, Z:-2.28 [[ 9.99372418e-01 3.49196512e-02 -5.94873754e-03 2.05477080e+01] [-3.46638151e-02 9.98648318e-01 3.87292712e-02 -2.12361120e-01] [ 7.29310938e-03 -3.84987595e-02 9.99232033e-01 -2.28199840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29119381700002 meters Centerline goodness : 0.944230 Centerline is valid? [False, False] Translation: X:20.55, Y:-0.21, Z:-2.28 [[ 9.99328777e-01 3.60830984e-02 -6.32495757e-03 2.05492211e+01] [-3.58053144e-02 9.98574452e-01 3.95858974e-02 -2.13391712e-01] [ 7.74432287e-03 -3.93328594e-02 9.99196153e-01 -2.28286027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32119381700002 meters Centerline goodness : 0.944573 Centerline is valid? [False, False] Translation: X:20.55, Y:-0.21, Z:-2.28 [[ 9.98983475e-01 4.36599933e-02 -1.12170622e-02 2.05549866e+01] [-4.33805967e-02 9.98769137e-01 2.40485961e-02 -2.14381100e-01] [ 1.22532170e-02 -2.35375473e-02 9.99647859e-01 -2.27996105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35119381700002 meters Centerline goodness : 0.944849 Centerline is valid? [False, False] Translation: X:20.56, Y:-0.22, Z:-2.28 [[ 9.98948214e-01 4.43892975e-02 -1.14915976e-02 2.05558909e+01] [-4.40952405e-02 9.98722216e-01 2.46889774e-02 -2.15620903e-01] [ 1.25728402e-02 -2.41562851e-02 9.99629130e-01 -2.28032808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38119381700002 meters Centerline goodness : 0.945976 Centerline is valid? [False, False] Translation: X:20.56, Y:-0.22, Z:-2.28 [[ 9.98879074e-01 4.58445900e-02 -1.17842625e-02 2.05565725e+01] [-4.55180876e-02 9.98608674e-01 2.66236544e-02 -2.19600806e-01] [ 1.29884173e-02 -2.60574142e-02 9.99576066e-01 -2.28038511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41119381700003 meters Centerline goodness : 0.942938 Centerline is valid? [False, False] Translation: X:20.56, Y:-0.22, Z:-2.28 [[ 9.99015324e-01 4.26962639e-02 -1.20586614e-02 2.05563039e+01] [-4.24040374e-02 9.98823417e-01 2.35303980e-02 -2.21462880e-01] [ 1.30491335e-02 -2.29958922e-02 9.99650393e-01 -2.27961288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44119381700003 meters Centerline goodness : 0.945367 Centerline is valid? [False, False] Translation: X:20.57, Y:-0.23, Z:-2.28 [[ 9.99176784e-01 3.96500465e-02 -8.58064001e-03 2.05730732e+01] [-3.94272440e-02 9.98916128e-01 2.47398929e-02 -2.27281436e-01] [ 9.55227759e-03 -2.43812156e-02 9.99657096e-01 -2.27965198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47119381700003 meters Centerline goodness : 0.943838 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.23, Z:-2.28 [[ 9.99354506e-01 3.54631144e-02 -5.73915206e-03 2.05906887e+01] [-3.53099077e-02 9.99066249e-01 2.48965893e-02 -2.33331130e-01] [ 6.61670371e-03 -2.46778698e-02 9.99673558e-01 -2.28015811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50119381700003 meters Centerline goodness : 0.942307 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.24, Z:-2.28 [[ 9.99572666e-01 2.85692897e-02 -6.18713499e-03 2.05909601e+01] [-2.84531969e-02 9.99431199e-01 1.81023252e-02 -2.36019759e-01] [ 6.70078631e-03 -1.79185457e-02 9.99816996e-01 -2.27979201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53119381700003 meters Centerline goodness : 0.944117 Centerline is valid? [False, False] Translation: X:20.61, Y:-0.25, Z:-2.28 [[ 9.99779064e-01 2.05698709e-02 -4.32479178e-03 2.06091106e+01] [-2.04889251e-02 9.99628129e-01 1.79946701e-02 -2.50040268e-01] [ 4.69333156e-03 -1.79020841e-02 9.99828729e-01 -2.28148085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56119381700003 meters Centerline goodness : 0.942269 Centerline is valid? [False, False] Translation: X:20.62, Y:-0.26, Z:-2.29 [[ 9.99904349e-01 1.37820454e-02 1.16085899e-03 2.06212745e+01] [-1.38032160e-02 9.99688382e-01 2.07992836e-02 -2.57165413e-01] [-8.73840572e-04 -2.08133177e-02 9.99782998e-01 -2.28503344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59119381700003 meters Centerline goodness : 0.944860 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.26, Z:-2.29 [[ 9.99955042e-01 8.69227987e-03 3.78931783e-03 2.06383629e+01] [-8.77143254e-03 9.99732563e-01 2.13977706e-02 -2.64301758e-01] [-3.60230901e-03 -2.14300463e-02 9.99763860e-01 -2.28555473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62119381700003 meters Centerline goodness : 0.942498 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.30, Z:-2.28 [[ 9.99962293e-01 -7.89592228e-03 3.61478476e-03 2.06453244e+01] [ 7.45492384e-03 9.94013761e-01 1.09000310e-01 -2.96316101e-01] [-4.45380377e-03 -1.08969252e-01 9.94035143e-01 -2.27686127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65119381700003 meters Centerline goodness : 0.941423 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.30, Z:-2.27 [[ 9.99910784e-01 -1.33511192e-02 -4.13179962e-04 2.06372839e+01] [ 1.33324945e-02 9.95668287e-01 9.20157961e-02 -2.95459703e-01] [-8.17123677e-04 -9.20130955e-02 9.95757462e-01 -2.27402975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68119381700004 meters Centerline goodness : 0.942416 Centerline is valid? [False, False] Translation: X:20.61, Y:-0.30, Z:-2.27 [[ 9.99869826e-01 -1.58858295e-02 -2.82348268e-03 2.06141986e+01] [ 1.60499489e-02 9.97187236e-01 7.32121267e-02 -2.96388059e-01] [ 1.65250552e-03 -7.32479131e-02 9.97312395e-01 -2.27090349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71119381700004 meters Centerline goodness : 0.941123 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.30, Z:-2.27 [[ 9.99713217e-01 -2.30521423e-02 -6.48702570e-03 2.05887496e+01] [ 2.33968163e-02 9.97963981e-01 5.93336460e-02 -3.04534283e-01] [ 5.10605035e-03 -5.94684059e-02 9.98217129e-01 -2.27007390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.741193817 meters Centerline goodness : 0.940686 Centerline is valid? [False, False] Translation: X:20.58, Y:-0.30, Z:-2.27 [[ 9.99593575e-01 -2.69436746e-02 -9.31256188e-03 2.05830037e+01] [ 2.73228628e-02 9.98687423e-01 4.33231152e-02 -3.04102075e-01] [ 8.13305451e-03 -4.35599535e-02 9.99017709e-01 -2.27181369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.771193817 meters Centerline goodness : 0.940049 Centerline is valid? [False, False] Translation: X:20.58, Y:-0.30, Z:-2.27 [[ 9.99514232e-01 -2.88571646e-02 -1.17713384e-02 2.05771629e+01] [ 2.91933364e-02 9.99139459e-01 2.94633766e-02 -3.03133430e-01] [ 1.09109792e-02 -2.97927089e-02 9.99496546e-01 -2.27356759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.801193817 meters Centerline goodness : 0.940325 Centerline is valid? [False, False] Translation: X:20.58, Y:-0.30, Z:-2.27 [[ 9.99419176e-01 -3.16851085e-02 -1.25445050e-02 2.05795547e+01] [ 3.20098488e-02 9.99133715e-01 2.65930434e-02 -3.03603160e-01] [ 1.16910344e-02 -2.69791452e-02 9.99567629e-01 -2.27437679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.831193817 meters Centerline goodness : 0.941202 Centerline is valid? [False, False] Translation: X:20.58, Y:-0.31, Z:-2.27 [[ 9.99435961e-01 -3.10248107e-02 -1.28538267e-02 2.05789257e+01] [ 3.13701652e-02 9.99126720e-01 2.75990908e-02 -3.05999737e-01] [ 1.19863451e-02 -2.79867505e-02 9.99536427e-01 -2.27253379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86119381700001 meters Centerline goodness : 0.944733 Centerline is valid? [False, False] Translation: X:20.58, Y:-0.31, Z:-2.27 [[ 9.99447521e-01 -3.05035156e-02 -1.31980778e-02 2.05786136e+01] [ 3.08620448e-02 9.99134950e-01 2.78726639e-02 -3.06002334e-01] [ 1.23364466e-02 -2.82645845e-02 9.99524350e-01 -2.27118084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.89119381700002 meters Centerline goodness : 0.945079 Centerline is valid? [False, False] Translation: X:20.58, Y:-0.31, Z:-2.27 [[ 9.99470695e-01 -2.95901729e-02 -1.35185834e-02 2.05785151e+01] [ 2.99623756e-02 9.99152754e-01 2.82140194e-02 -3.05378038e-01] [ 1.26722721e-02 -2.86041344e-02 9.99510489e-01 -2.27016091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92119381700002 meters Centerline goodness : 0.946901 Centerline is valid? [False, False] Translation: X:20.58, Y:-0.31, Z:-2.27 [[ 9.99582471e-01 -2.54054709e-02 -1.37639317e-02 2.05782793e+01] [ 2.58423964e-02 9.99135782e-01 3.25554870e-02 -3.06001138e-01] [ 1.29249491e-02 -3.28975871e-02 9.99375152e-01 -2.26936567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.95119381700002 meters Centerline goodness : 0.947519 Centerline is valid? [False, False] Translation: X:20.58, Y:-0.30, Z:-2.27 [[ 9.99741700e-01 -1.83247303e-02 -1.34438799e-02 2.05829388e+01] [ 1.86972009e-02 9.99429568e-01 2.81238775e-02 -3.01917000e-01] [ 1.29208486e-02 -2.83679760e-02 9.99514037e-01 -2.26546750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98119381700002 meters Centerline goodness : 0.949072 Centerline is valid? [False, False] Translation: X:20.58, Y:-0.30, Z:-2.26 [[ 9.99765843e-01 -1.71174392e-02 -1.32382893e-02 2.05818779e+01] [ 1.74880802e-02 9.99443421e-01 2.84079988e-02 -3.00498780e-01] [ 1.27446489e-02 -2.86328592e-02 9.99508746e-01 -2.26463770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01119381700002 meters Centerline goodness : 0.947880 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.30, Z:-2.26 [[ 9.99823387e-01 -1.47223479e-02 -1.16810685e-02 2.05864047e+01] [ 1.49381007e-02 9.99715347e-01 1.86032015e-02 -2.97133188e-01] [ 1.14038606e-02 -1.87744089e-02 9.99758708e-01 -2.26170606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04119381700002 meters Centerline goodness : 0.949873 Centerline is valid? [False, False] Translation: X:20.58, Y:-0.30, Z:-2.26 [[ 9.99885827e-01 -1.01109551e-02 -1.12295261e-02 2.05849683e+01] [ 1.03630635e-02 9.99690334e-01 2.26239441e-02 -2.95869676e-01] [ 1.09972990e-02 -2.27377334e-02 9.99680977e-01 -2.26090799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07119381700002 meters Centerline goodness : 0.947796 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.29, Z:-2.26 [[ 9.99893141e-01 -9.33243925e-03 -1.12521877e-02 2.05852404e+01] [ 9.58594279e-03 9.99696594e-01 2.26898739e-02 -2.93945698e-01] [ 1.10370219e-02 -2.27953121e-02 9.99679227e-01 -2.26110753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10119381700002 meters Centerline goodness : 0.948653 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.29, Z:-2.26 [[ 9.99913040e-01 -5.70326316e-03 -1.18905392e-02 2.05869347e+01] [ 6.01485839e-03 9.99635042e-01 2.63363697e-02 -2.93625603e-01] [ 1.17359964e-02 -2.64055994e-02 9.99582418e-01 -2.26185362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13119381700002 meters Centerline goodness : 0.947071 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.29, Z:-2.26 [[ 9.99911214e-01 -4.48657545e-03 -1.25473100e-02 2.05896217e+01] [ 4.82632739e-03 9.99618910e-01 2.71797869e-02 -2.93502182e-01] [ 1.24205842e-02 -2.72379312e-02 9.99551812e-01 -2.26353932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16119381700003 meters Centerline goodness : 0.945985 Centerline is valid? [False, False] Translation: X:20.61, Y:-0.29, Z:-2.26 [[ 9.99899132e-01 -2.47507839e-03 -1.39856660e-02 2.06103123e+01] [ 2.90464825e-03 9.99522005e-01 3.07786525e-02 -2.94260279e-01] [ 1.39028014e-02 -3.08161714e-02 9.99428374e-01 -2.26368279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19119381700003 meters Centerline goodness : 0.947655 Centerline is valid? [False, False] Translation: X:20.61, Y:-0.29, Z:-2.27 [[ 9.99889851e-01 -6.17335645e-04 -1.48291773e-02 2.06134904e+01] [ 1.09077863e-03 9.99489205e-01 3.19396119e-02 -2.94898543e-01] [ 1.48018852e-02 -3.19522692e-02 9.99379786e-01 -2.26570463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22119381700003 meters Centerline goodness : 0.945385 Centerline is valid? [False, False] Translation: X:20.61, Y:-0.30, Z:-2.27 [[ 9.99884540e-01 -4.17017088e-04 -1.51898826e-02 2.06146863e+01] [ 9.03752654e-04 9.99485837e-01 3.20506516e-02 -2.95244221e-01] [ 1.51687068e-02 -3.20606789e-02 9.99370814e-01 -2.26629382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25119381700003 meters Centerline goodness : 0.945385 Centerline is valid? [False, False] Translation: X:20.61, Y:-0.30, Z:-2.27 [[ 9.99884755e-01 -4.06306429e-04 -1.51760263e-02 2.06146671e+01] [ 8.92666396e-04 9.99485711e-01 3.20549029e-02 -2.95244555e-01] [ 1.51551974e-02 -3.20647559e-02 9.99370888e-01 -2.26629263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28119381700003 meters Centerline goodness : 0.945099 Centerline is valid? [False, False] Translation: X:20.62, Y:-0.30, Z:-2.27 [[ 9.99878064e-01 -3.84491684e-04 -1.56111881e-02 2.06159476e+01] [ 8.85317097e-04 9.99484689e-01 3.20869616e-02 -2.95947770e-01] [ 1.55908063e-02 -3.20968699e-02 9.99363156e-01 -2.26686385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31119381700003 meters Centerline goodness : 0.946413 Centerline is valid? [False, False] Translation: X:20.63, Y:-0.30, Z:-2.27 [[ 9.99891798e-01 -2.10958201e-03 -1.45581932e-02 2.06348767e+01] [ 2.56459371e-03 9.99506521e-01 3.13071299e-02 -2.96180469e-01] [ 1.44849641e-02 -3.13410783e-02 9.99403784e-01 -2.26654509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34119381700003 meters Centerline goodness : 0.942175 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.30, Z:-2.27 [[ 9.99901650e-01 -5.59556499e-03 -1.28600009e-02 2.06576329e+01] [ 6.17353109e-03 9.98952006e-01 4.53517115e-02 -3.01033070e-01] [ 1.25927552e-02 -4.54266427e-02 9.98888303e-01 -2.26835377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37119381700003 meters Centerline goodness : 0.942118 Centerline is valid? [False, False] Translation: X:20.68, Y:-0.30, Z:-2.27 [[ 9.99909006e-01 -5.65457062e-03 -1.22476473e-02 2.06771579e+01] [ 6.24272288e-03 9.98802302e-01 4.85282329e-02 -3.03743531e-01] [ 1.19585720e-02 -4.86002758e-02 9.98746718e-01 -2.26868290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40119381700003 meters Centerline goodness : 0.942891 Centerline is valid? [False, False] Translation: X:20.69, Y:-0.31, Z:-2.27 [[ 9.99937793e-01 -6.34987799e-03 -9.17000103e-03 2.06888646e+01] [ 6.88148965e-03 9.98225073e-01 5.91552992e-02 -3.08720149e-01] [ 8.77809601e-03 -5.92147226e-02 9.98206673e-01 -2.27159001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43119381700004 meters Centerline goodness : 0.940773 Centerline is valid? [False, False] Translation: X:20.71, Y:-0.31, Z:-2.27 [[ 9.99929850e-01 -5.71100880e-03 -1.03768409e-02 2.07089986e+01] [ 6.36001000e-03 9.97953512e-01 6.36265472e-02 -3.12779539e-01] [ 9.99223307e-03 -6.36880807e-02 9.97919828e-01 -2.27124900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46119381700004 meters Centerline goodness : 0.940217 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.32, Z:-2.27 [[ 9.99895632e-01 -3.06003638e-03 -1.41195534e-02 2.07178943e+01] [ 3.95247080e-03 9.97966557e-01 6.36170489e-02 -3.19719093e-01] [ 1.38961716e-02 -6.36662164e-02 9.97874496e-01 -2.27133677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.491193817 meters Centerline goodness : 0.940063 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.32, Z:-2.27 [[ 9.99891183e-01 -2.45594668e-03 -1.45461641e-02 2.07191214e+01] [ 3.38872459e-03 9.97915053e-01 6.44520212e-02 -3.21836507e-01] [ 1.43575454e-02 -6.44943007e-02 9.97814785e-01 -2.27160778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.521193817 meters Centerline goodness : 0.939957 Centerline is valid? [False, False] Translation: X:20.73, Y:-0.32, Z:-2.27 [[ 9.99826800e-01 -1.02824042e-03 -1.85825708e-02 2.07276211e+01] [ 2.14554596e-03 9.98183605e-01 6.02070420e-02 -3.23858967e-01] [ 1.84869102e-02 -6.02364839e-02 9.98012926e-01 -2.26863424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.551193817 meters Centerline goodness : 0.938634 Centerline is valid? [False, False] Translation: X:20.73, Y:-0.33, Z:-2.27 [[ 9.99819622e-01 -6.83753644e-04 -1.89804033e-02 2.07284754e+01] [ 1.83838486e-03 9.98143264e-01 6.08822237e-02 -3.26829873e-01] [ 1.89035333e-02 -6.09061352e-02 9.97964478e-01 -2.26832555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.581193817 meters Centerline goodness : 0.939718 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.33, Z:-2.27 [[ 9.99830059e-01 4.47642721e-03 -1.78833490e-02 2.07475669e+01] [-3.57468659e-03 9.98735752e-01 5.01409881e-02 -3.33955038e-01] [ 1.80851925e-02 -5.00685397e-02 9.98582028e-01 -2.26754401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.61119381700001 meters Centerline goodness : 0.939533 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.34, Z:-2.27 [[ 9.99823853e-01 4.68233600e-03 -1.81752037e-02 2.07485961e+01] [-3.75618549e-03 9.98708864e-01 5.06605941e-02 -3.37249633e-01] [ 1.83889470e-02 -5.05834009e-02 9.98550533e-01 -2.26781399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64119381700002 meters Centerline goodness : 0.940723 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.34, Z:-2.27 [[ 9.99819221e-01 4.29926818e-03 -1.85213836e-02 2.07497131e+01] [-3.36186788e-03 9.98726033e-01 5.03488799e-02 -3.40409646e-01] [ 1.87142513e-02 -5.02775114e-02 9.98559937e-01 -2.26796620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.67119381700002 meters Centerline goodness : 0.941761 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.35, Z:-2.27 [[ 9.99850406e-01 7.56203843e-03 -1.55557209e-02 2.07743075e+01] [-6.81630627e-03 9.98850538e-01 4.74461815e-02 -3.50360635e-01] [ 1.58966300e-02 -4.73330513e-02 9.98752662e-01 -2.26528686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70119381700002 meters Centerline goodness : 0.942695 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.35, Z:-2.26 [[ 9.99898933e-01 5.83185036e-03 -1.29658720e-02 2.07818108e+01] [-5.38182077e-03 9.99391007e-01 3.44768144e-02 -3.51438676e-01] [ 1.31590395e-02 -3.44035499e-02 9.99321387e-01 -2.26407745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73119381700002 meters Centerline goodness : 0.944441 Centerline is valid? [False, False] Translation: X:20.80, Y:-0.35, Z:-2.26 [[ 9.99944604e-01 4.03224858e-03 -9.72264908e-03 2.07988643e+01] [-3.70864776e-03 9.99446006e-01 3.30745687e-02 -3.54509073e-01] [ 9.85062768e-03 -3.30366786e-02 9.99405595e-01 -2.26306087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76119381700002 meters Centerline goodness : 0.945255 Centerline is valid? [False, False] Translation: X:20.81, Y:-0.36, Z:-2.27 [[ 9.99981987e-01 2.98555361e-03 -5.20693978e-03 2.08095561e+01] [-2.75538214e-03 9.99042420e-01 4.36652241e-02 -3.60356836e-01] [ 5.33231858e-03 -4.36500905e-02 9.99032650e-01 -2.26572323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79119381700002 meters Centerline goodness : 0.944425 Centerline is valid? [False, False] Translation: X:20.81, Y:-0.37, Z:-2.27 [[ 9.99978123e-01 -3.37241861e-03 -5.69032541e-03 2.08113246e+01] [ 3.58815688e-03 9.99258351e-01 3.83389188e-02 -3.65301510e-01] [ 5.55681031e-03 -3.83584978e-02 9.99248591e-01 -2.26630832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82119381700002 meters Centerline goodness : 0.946039 Centerline is valid? [False, False] Translation: X:20.82, Y:-0.37, Z:-2.26 [[ 9.99919820e-01 -7.53172837e-03 -1.01797345e-02 2.08212686e+01] [ 7.81313824e-03 9.99580378e-01 2.78930542e-02 -3.67357966e-01] [ 9.96538000e-03 -2.79703534e-02 9.99559078e-01 -2.26373864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85119381700002 meters Centerline goodness : 0.944395 Centerline is valid? [False, False] Translation: X:20.83, Y:-0.37, Z:-2.26 [[ 9.99819121e-01 -1.20877066e-02 -1.46837863e-02 2.08311190e+01] [ 1.23663690e-02 9.99742292e-01 1.90373713e-02 -3.70831555e-01] [ 1.44498840e-02 -1.92155129e-02 9.99710941e-01 -2.26240667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88119381700002 meters Centerline goodness : 0.943955 Centerline is valid? [False, False] Translation: X:20.83, Y:-0.37, Z:-2.26 [[ 9.99703358e-01 -1.89808786e-02 -1.52617594e-02 2.08337739e+01] [ 1.91760925e-02 9.99734847e-01 1.27480966e-02 -3.73674699e-01] [ 1.50157426e-02 -1.30369759e-02 9.99802263e-01 -2.26385149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91119381700003 meters Centerline goodness : 0.946230 Centerline is valid? [False, False] Translation: X:20.83, Y:-0.38, Z:-2.26 [[ 9.99389858e-01 -3.14273012e-02 -1.52393029e-02 2.08346828e+01] [ 3.14629242e-02 9.99502706e-01 2.10342645e-03 -3.78735302e-01] [ 1.51656194e-02 -2.58161610e-03 9.99881663e-01 -2.26407300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94119381700003 meters Centerline goodness : 0.948578 Centerline is valid? [False, False] Translation: X:20.84, Y:-0.38, Z:-2.27 [[ 9.99181272e-01 -3.73290720e-02 -1.55989105e-02 2.08368481e+01] [ 3.72851552e-02 9.99299868e-01 -3.09688135e-03 -3.80777869e-01] [ 1.57035929e-02 2.51273804e-03 9.99873534e-01 -2.26514390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97119381700003 meters Centerline goodness : 0.948251 Centerline is valid? [False, False] Translation: X:20.86, Y:-0.38, Z:-2.27 [[ 9.98944254e-01 -4.38635268e-02 -1.36516685e-02 2.08562404e+01] [ 4.37378594e-02 9.98999084e-01 -9.37173200e-03 -3.81824751e-01] [ 1.40490815e-02 8.76474307e-03 9.99862892e-01 -2.26510039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00119381700003 meters Centerline goodness : 0.949367 Centerline is valid? [False, False] Translation: X:20.86, Y:-0.38, Z:-2.26 [[ 9.98755518e-01 -4.80043138e-02 -1.35278131e-02 2.08560944e+01] [ 4.78318112e-02 9.98773396e-01 -1.27992708e-02 -3.83900218e-01] [ 1.41256400e-02 1.21362825e-02 9.99826573e-01 -2.26458742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03119381700003 meters Centerline goodness : 0.949382 Centerline is valid? [False, False] Translation: X:20.87, Y:-0.39, Z:-2.26 [[ 9.98725762e-01 -4.95203138e-02 -9.72581507e-03 2.08726995e+01] [ 4.94155214e-02 9.98720617e-01 -1.07347374e-02 -3.87551981e-01] [ 1.02449596e-02 1.02404525e-02 9.99895081e-01 -2.26440700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06119381700003 meters Centerline goodness : 0.949567 Centerline is valid? [False, False] Translation: X:20.88, Y:-0.39, Z:-2.27 [[ 9.98501130e-01 -5.45890465e-02 -3.94069031e-03 2.08821136e+01] [ 5.45688169e-02 9.98497138e-01 -5.07052302e-03 -3.90805387e-01] [ 4.21156301e-03 4.84788416e-03 9.99979380e-01 -2.26657082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09119381700003 meters Centerline goodness : 0.949919 Centerline is valid? [False, False] Translation: X:20.88, Y:-0.39, Z:-2.27 [[ 9.98413428e-01 -5.61303324e-02 -4.47350884e-03 2.08845778e+01] [ 5.61019431e-02 9.98405563e-01 -6.23733386e-03 -3.90873820e-01] [ 4.81647973e-03 5.97646534e-03 9.99970541e-01 -2.26808937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12119381700003 meters Centerline goodness : 0.948620 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.39, Z:-2.27 [[ 9.98332511e-01 -5.75310854e-02 -4.72985428e-03 2.08863197e+01] [ 5.74937703e-02 9.98316330e-01 -7.67928917e-03 -3.88455001e-01] [ 5.16368861e-03 7.39454689e-03 9.99959328e-01 -2.26950086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15119381700003 meters Centerline goodness : 0.948306 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.39, Z:-2.27 [[ 9.98300615e-01 -5.80628727e-02 -4.95831797e-03 2.08875266e+01] [ 5.80187670e-02 9.98278288e-01 -8.61871888e-03 -3.85584804e-01] [ 5.45020876e-03 8.31639687e-03 9.99950565e-01 -2.27049899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18119381700004 meters Centerline goodness : 0.947596 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.38, Z:-2.27 [[ 9.98338808e-01 -5.73430023e-02 -5.60403468e-03 2.08905622e+01] [ 5.72966020e-02 9.98324206e-01 -8.11662826e-03 -3.82817372e-01] [ 6.06007531e-03 7.78205283e-03 9.99951356e-01 -2.27279996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21119381700004 meters Centerline goodness : 0.946431 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.38, Z:-2.27 [[ 9.98421238e-01 -5.58161242e-02 -6.29222650e-03 2.08933535e+01] [ 5.57741180e-02 9.98421168e-01 -6.66473109e-03 -3.79656097e-01] [ 6.65429159e-03 6.30326568e-03 9.99957994e-01 -2.27488475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.241193817 meters Centerline goodness : 0.945935 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.37, Z:-2.28 [[ 9.98450749e-01 -5.51996007e-02 -7.00750717e-03 2.08970907e+01] [ 5.51484340e-02 9.98451508e-01 -7.29636693e-03 -3.71240699e-01] [ 7.39941264e-03 6.89860999e-03 9.99948828e-01 -2.27825207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.271193817 meters Centerline goodness : 0.944989 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.37, Z:-2.28 [[ 9.98465347e-01 -5.48292059e-02 -7.79161104e-03 2.09008676e+01] [ 5.47712854e-02 9.98471041e-01 -7.46235890e-03 -3.67310821e-01] [ 8.18885319e-03 7.02415022e-03 9.99941800e-01 -2.28116011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.301193817 meters Centerline goodness : 0.945245 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.36, Z:-2.28 [[ 9.98471855e-01 -5.46159415e-02 -8.42933012e-03 2.09043050e+01] [ 5.45506476e-02 9.98480610e-01 -7.79092747e-03 -3.63259401e-01] [ 8.84203152e-03 7.31919639e-03 9.99934122e-01 -2.28392305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.331193817 meters Centerline goodness : 0.945091 Centerline is valid? [False, False] Translation: X:20.91, Y:-0.36, Z:-2.29 [[ 9.98462065e-01 -5.46807868e-02 -9.13869724e-03 2.09078465e+01] [ 5.46036032e-02 9.98471997e-01 -8.49224083e-03 -3.58165793e-01] [ 9.58909569e-03 7.98017452e-03 9.99922180e-01 -2.28664257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36119381700001 meters Centerline goodness : 0.945710 Centerline is valid? [False, False] Translation: X:20.92, Y:-0.35, Z:-2.29 [[ 9.98590483e-01 -5.26692792e-02 -6.55705722e-03 2.09233105e+01] [ 5.25738699e-02 9.98519462e-01 -1.39596561e-02 -3.52004323e-01] [ 7.28259427e-03 1.35952498e-02 9.99881059e-01 -2.29086698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.39119381700002 meters Centerline goodness : 0.944087 Centerline is valid? [False, False] Translation: X:20.94, Y:-0.34, Z:-2.29 [[ 9.98635514e-01 -5.17871249e-02 -6.72345064e-03 2.09445596e+01] [ 5.16594726e-02 9.98503541e-01 -1.79437096e-02 -3.39153751e-01] [ 7.64264240e-03 1.75718957e-02 9.99816392e-01 -2.29262828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42119381700002 meters Centerline goodness : 0.946182 Centerline is valid? [False, False] Translation: X:20.95, Y:-0.34, Z:-2.29 [[ 9.98795190e-01 -4.85386625e-02 -7.22259808e-03 2.09452967e+01] [ 4.84229581e-02 9.98707973e-01 -1.54143303e-02 -3.35079466e-01] [ 7.96145726e-03 1.50460194e-02 9.99855106e-01 -2.29273381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.45119381700002 meters Centerline goodness : 0.943554 Centerline is valid? [False, False] Translation: X:20.95, Y:-0.33, Z:-2.29 [[ 9.99107703e-01 -4.15526894e-02 -7.56123332e-03 2.09451205e+01] [ 4.14882234e-02 9.99102905e-01 -8.49188065e-03 -3.33153555e-01] [ 7.90731065e-03 8.17060123e-03 9.99935356e-01 -2.29242124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48119381700002 meters Centerline goodness : 0.946412 Centerline is valid? [False, False] Translation: X:20.95, Y:-0.32, Z:-2.29 [[ 9.99534925e-01 -2.99934992e-02 -5.50670997e-03 2.09511386e+01] [ 2.99394430e-02 9.99505135e-01 -9.64959887e-03 -3.23172770e-01] [ 5.79341013e-03 9.48024325e-03 9.99938279e-01 -2.29014425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51119381700002 meters Centerline goodness : 0.946886 Centerline is valid? [False, False] Translation: X:20.95, Y:-0.32, Z:-2.29 [[ 9.99731951e-01 -2.24459645e-02 -5.67500453e-03 2.09502822e+01] [ 2.24309325e-02 9.99744753e-01 -2.69872463e-03 -3.19588074e-01] [ 5.73413148e-03 2.57070559e-03 9.99980255e-01 -2.28907814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54119381700002 meters Centerline goodness : 0.948840 Centerline is valid? [False, False] Translation: X:20.95, Y:-0.32, Z:-2.29 [[ 9.99870061e-01 -1.51283853e-02 -5.56720089e-03 2.09487316e+01] [ 1.51496619e-02 9.99878018e-01 3.79964423e-03 -3.15216391e-01] [ 5.50903931e-03 -3.88349172e-03 9.99977284e-01 -2.28762388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57119381700002 meters Centerline goodness : 0.947391 Centerline is valid? [False, False] Translation: X:20.95, Y:-0.31, Z:-2.29 [[ 9.99952470e-01 -8.01217305e-03 -5.55542817e-03 2.09472504e+01] [ 8.07045438e-03 9.99911789e-01 1.05490527e-02 -3.11754417e-01] [ 5.47041728e-03 -1.05933861e-02 9.99928925e-01 -2.28576637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60119381700002 meters Centerline goodness : 0.947921 Centerline is valid? [False, False] Translation: X:20.95, Y:-0.31, Z:-2.28 [[ 9.99984958e-01 -1.37199832e-03 -5.31044405e-03 2.09451228e+01] [ 1.45578015e-03 9.99874030e-01 1.58052259e-02 -3.06866222e-01] [ 5.28809035e-03 -1.58127190e-02 9.99860987e-01 -2.28368017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63119381700002 meters Centerline goodness : 0.947364 Centerline is valid? [False, False] Translation: X:20.95, Y:-0.31, Z:-2.28 [[ 9.99983212e-01 2.14355570e-03 -5.38346906e-03 2.09450904e+01] [-2.03918930e-03 9.99811317e-01 1.93176887e-02 -3.06007328e-01] [ 5.42386183e-03 -1.93063865e-02 9.99798902e-01 -2.28340764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66119381700003 meters Centerline goodness : 0.950117 Centerline is valid? [False, True] Translation: X:20.94, Y:-0.30, Z:-2.28 [[ 9.99978930e-01 3.87005401e-03 -5.21182226e-03 2.09436012e+01] [-3.75923384e-03 9.99770139e-01 2.11077432e-02 -3.04100850e-01] [ 5.29231237e-03 -2.10877060e-02 9.99763622e-01 -2.28205031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69119381700003 meters Centerline goodness : 0.949187 Centerline is valid? [True, False] Translation: X:20.95, Y:-0.30, Z:-2.28 [[ 9.99968810e-01 5.13798726e-03 -5.99826397e-03 2.09459102e+01] [-5.00089153e-03 9.99730916e-01 2.26514133e-02 -3.01808598e-01] [ 6.11303261e-03 -2.26207101e-02 9.99725429e-01 -2.28301104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72119381700003 meters Centerline goodness : 0.946980 Centerline is valid? [False, False] Translation: X:20.94, Y:-0.30, Z:-2.28 [[ 9.99937222e-01 1.32429462e-03 -1.11265082e-02 2.09429989e+01] [-9.45856965e-04 9.99423121e-01 3.39489323e-02 -3.00450911e-01] [ 1.11650479e-02 -3.39362770e-02 9.99361632e-01 -2.28119242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75119381700003 meters Centerline goodness : 0.945833 Centerline is valid? [False, False] Translation: X:20.94, Y:-0.30, Z:-2.28 [[ 9.99934955e-01 2.43212954e-04 -1.14029470e-02 2.09436478e+01] [ 1.36335303e-04 9.99446307e-01 3.32725148e-02 -3.00035328e-01] [ 1.14047256e-02 -3.32719052e-02 9.99381265e-01 -2.28132939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78119381700003 meters Centerline goodness : 0.945546 Centerline is valid? [False, False] Translation: X:20.94, Y:-0.30, Z:-2.28 [[ 9.99930073e-01 -9.12845197e-04 -1.17904594e-02 2.09447346e+01] [ 1.29833003e-03 9.99463436e-01 3.27284824e-02 -3.00309878e-01] [ 1.17542570e-02 -3.27415018e-02 9.99394733e-01 -2.28187641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81119381700003 meters Centerline goodness : 0.944228 Centerline is valid? [False, False] Translation: X:20.92, Y:-0.30, Z:-2.29 [[ 9.99914560e-01 -5.38247812e-03 -1.19122838e-02 2.09215622e+01] [ 5.79302869e-03 9.99380891e-01 3.47026610e-02 -3.01696623e-01] [ 1.17181225e-02 -3.47687042e-02 9.99326685e-01 -2.28514827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84119381700003 meters Centerline goodness : 0.943170 Centerline is valid? [False, False] Translation: X:20.92, Y:-0.30, Z:-2.28 [[ 9.99895941e-01 -7.94151839e-03 -1.20432620e-02 2.09208715e+01] [ 8.32705493e-03 9.99443278e-01 3.23077953e-02 -3.00978588e-01] [ 1.17799843e-02 -3.24047183e-02 9.99405406e-01 -2.28410634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87119381700003 meters Centerline goodness : 0.940302 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.30, Z:-2.28 [[ 9.99863081e-01 -9.14628778e-03 -1.37899997e-02 2.09015349e+01] [ 9.58335124e-03 9.99442930e-01 3.19685607e-02 -3.01020796e-01] [ 1.34899240e-02 -3.20963380e-02 9.99393740e-01 -2.28323507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90119381700003 meters Centerline goodness : 0.941669 Centerline is valid? [False, False] Translation: X:20.88, Y:-0.30, Z:-2.28 [[ 9.99844810e-01 -1.09000369e-02 -1.38399840e-02 2.08809639e+01] [ 1.13071249e-02 9.99495361e-01 2.96845550e-02 -3.00274755e-01] [ 1.35094370e-02 -2.98364387e-02 9.99463497e-01 -2.28269326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93119381700004 meters Centerline goodness : 0.937631 Centerline is valid? [False, False] Translation: X:20.88, Y:-0.30, Z:-2.28 [[ 9.99831153e-01 -1.16101942e-02 -1.42431789e-02 2.08817500e+01] [ 1.20275621e-02 9.99490169e-01 2.95760058e-02 -3.01067485e-01] [ 1.38925341e-02 -2.97423227e-02 9.99461051e-01 -2.28275008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96119381700004 meters Centerline goodness : 0.938803 Centerline is valid? [False, False] Translation: X:20.88, Y:-0.30, Z:-2.28 [[ 9.99770599e-01 -1.58011594e-02 -1.44593136e-02 2.08824469e+01] [ 1.61688242e-02 9.99539598e-01 2.56741480e-02 -3.01496703e-01] [ 1.40469752e-02 -2.59020484e-02 9.99565789e-01 -2.28294126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.991193817 meters Centerline goodness : 0.938843 Centerline is valid? [False, False] Translation: X:20.88, Y:-0.30, Z:-2.28 [[ 9.99698636e-01 -1.96591477e-02 -1.47021880e-02 2.08833083e+01] [ 1.99728860e-02 9.99569190e-01 2.15062287e-02 -3.00329187e-01] [ 1.42730600e-02 -2.17933926e-02 9.99660606e-01 -2.28326220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.021193817 meters Centerline goodness : 0.937525 Centerline is valid? [False, False] Translation: X:20.88, Y:-0.30, Z:-2.28 [[ 9.99607812e-01 -2.36129823e-02 -1.50549068e-02 2.08843722e+01] [ 2.38710949e-02 9.99567038e-01 1.72019765e-02 -2.98933100e-01] [ 1.46421987e-02 -1.75546072e-02 9.99738687e-01 -2.28359280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.051193817 meters Centerline goodness : 0.933848 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.30, Z:-2.28 [[ 9.99503698e-01 -2.74967322e-02 -1.53716608e-02 2.08856292e+01] [ 2.77009116e-02 9.99528682e-01 1.32315617e-02 -2.98503329e-01] [ 1.50005911e-02 -1.36508039e-02 9.99794298e-01 -2.28413962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.081193817 meters Centerline goodness : 0.935524 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.30, Z:-2.28 [[ 9.99401437e-01 -3.06838258e-02 -1.59772095e-02 2.08874815e+01] [ 3.08421880e-02 9.99476600e-01 9.76147872e-03 -2.97610955e-01] [ 1.56693275e-02 -1.02484080e-02 9.99824706e-01 -2.28470901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.11119381700001 meters Centerline goodness : 0.935080 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.30, Z:-2.28 [[ 9.99392862e-01 -3.09127147e-02 -1.60720524e-02 2.08872048e+01] [ 3.10759157e-02 9.99466945e-01 1.00056786e-02 -2.98539413e-01] [ 1.57541825e-02 -1.04990576e-02 9.99820772e-01 -2.28404221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14119381700002 meters Centerline goodness : 0.935099 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.30, Z:-2.29 [[ 9.99405541e-01 -3.22907624e-02 -1.20776855e-02 2.08964988e+01] [ 3.22702551e-02 9.99477395e-01 -1.88904453e-03 -2.96313134e-01] [ 1.21323723e-02 1.49817158e-03 9.99925278e-01 -2.28532753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.17119381700002 meters Centerline goodness : 0.935099 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.30, Z:-2.29 [[ 9.99405541e-01 -3.22907624e-02 -1.20776855e-02 2.08964988e+01] [ 3.22702551e-02 9.99477395e-01 -1.88904453e-03 -2.96313134e-01] [ 1.21323723e-02 1.49817158e-03 9.99925278e-01 -2.28532753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20119381700002 meters Centerline goodness : 0.936115 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.30, Z:-2.28 [[ 9.99389222e-01 -3.27130804e-02 -1.22897374e-02 2.08965967e+01] [ 3.26918519e-02 9.99463626e-01 -1.92432467e-03 -2.96613082e-01] [ 1.23460961e-02 1.52137506e-03 9.99922627e-01 -2.28487503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23119381700002 meters Centerline goodness : 0.936730 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.30, Z:-2.28 [[ 9.99319910e-01 -3.49206512e-02 -1.18434180e-02 2.08942192e+01] [ 3.48810011e-02 9.99385210e-01 -3.53811446e-03 -2.96077803e-01] [ 1.19596901e-02 3.12259795e-03 9.99923605e-01 -2.28285034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26119381700002 meters Centerline goodness : 0.936728 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.30, Z:-2.28 [[ 9.99298071e-01 -3.55223556e-02 -1.18965530e-02 2.08943431e+01] [ 3.54796433e-02 9.99363242e-01 -3.78237743e-03 -2.95999827e-01] [ 1.20233367e-02 3.35763701e-03 9.99922080e-01 -2.28279310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29119381700002 meters Centerline goodness : 0.938587 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.30, Z:-2.28 [[ 9.99273629e-01 -3.61705214e-02 -1.19961934e-02 2.08946532e+01] [ 3.61239278e-02 9.99338996e-01 -4.07830087e-03 -2.95874406e-01] [ 1.21357781e-02 3.64198889e-03 9.99919726e-01 -2.28291091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32119381700002 meters Centerline goodness : 0.937187 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.30, Z:-2.28 [[ 9.99255987e-01 -3.66360121e-02 -1.20530436e-02 2.08948110e+01] [ 3.65882497e-02 9.99321768e-01 -4.15968754e-03 -2.96404648e-01] [ 1.21972632e-02 3.71559291e-03 9.99918707e-01 -2.28295348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35119381700002 meters Centerline goodness : 0.938453 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.30, Z:-2.28 [[ 9.99225953e-01 -3.74683727e-02 -1.19839625e-02 2.08949137e+01] [ 3.74164526e-02 9.99289502e-01 -4.52779234e-03 -2.96897778e-01] [ 1.21450969e-02 4.07589025e-03 9.99917939e-01 -2.28317099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38119381700002 meters Centerline goodness : 0.938485 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.30, Z:-2.28 [[ 9.99328324e-01 -3.45947915e-02 -1.20872232e-02 2.08952757e+01] [ 3.45857528e-02 9.99401277e-01 -9.56085504e-04 -2.97436132e-01] [ 1.21130619e-02 5.37397610e-04 9.99926490e-01 -2.28369094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41119381700003 meters Centerline goodness : 0.939761 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.30, Z:-2.28 [[ 9.99429639e-01 -3.15005450e-02 -1.21701428e-02 2.08956169e+01] [ 3.15340758e-02 9.99499365e-01 2.57312191e-03 -2.97089526e-01] [ 1.20829952e-02 -2.95542851e-03 9.99922630e-01 -2.28422705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44119381700003 meters Centerline goodness : 0.936409 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.29, Z:-2.29 [[ 9.99486057e-01 -2.93447856e-02 -1.29037296e-02 2.08992329e+01] [ 2.94029344e-02 9.99558219e-01 4.33994145e-03 -2.93496894e-01] [ 1.27706743e-02 -4.71711848e-03 9.99907325e-01 -2.28715809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47119381700003 meters Centerline goodness : 0.934359 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.29, Z:-2.29 [[ 9.99507620e-01 -2.84677066e-02 -1.31949821e-02 2.09012278e+01] [ 2.85340286e-02 9.99580980e-01 4.86556133e-03 -2.92191182e-01] [ 1.30509418e-02 -5.23967162e-03 9.99901104e-01 -2.28891735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50119381700003 meters Centerline goodness : 0.934635 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.29, Z:-2.29 [[ 9.99594996e-01 -2.51379042e-02 -1.33390449e-02 2.09015548e+01] [ 2.52501583e-02 9.99646584e-01 8.31482331e-03 -2.91717836e-01] [ 1.31253134e-02 -8.64826877e-03 9.99876459e-01 -2.28926806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53119381700003 meters Centerline goodness : 0.933519 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.29, Z:-2.29 [[ 9.99680368e-01 -2.14566455e-02 -1.33706481e-02 2.09013433e+01] [ 2.16047887e-02 9.99705681e-01 1.10355698e-02 -2.87566687e-01] [ 1.31299266e-02 -1.13209125e-02 9.99849710e-01 -2.28912807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56119381700003 meters Centerline goodness : 0.934722 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.29, Z:-2.29 [[ 9.99746538e-01 -1.79878203e-02 -1.35387795e-02 2.09010393e+01] [ 1.81831444e-02 9.99730323e-01 1.44449002e-02 -2.86407424e-01] [ 1.32752962e-02 -1.46874165e-02 9.99804004e-01 -2.28854145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59119381700003 meters Centerline goodness : 0.933663 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.29, Z:-2.29 [[ 9.99803620e-01 -1.43623872e-02 -1.36544049e-02 2.09007858e+01] [ 1.46079045e-02 9.99730287e-01 1.80544148e-02 -2.85757261e-01] [ 1.33914177e-02 -1.82503315e-02 9.99743765e-01 -2.28809884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62119381700003 meters Centerline goodness : 0.933467 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.28, Z:-2.29 [[ 9.99806385e-01 -1.40645531e-02 -1.37615606e-02 2.09009043e+01] [ 1.43055546e-02 9.99743223e-01 1.75738152e-02 -2.83139123e-01] [ 1.35108591e-02 -1.77672794e-02 9.99750859e-01 -2.28797007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65119381700003 meters Centerline goodness : 0.935372 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.28, Z:-2.29 [[ 9.99802178e-01 -1.39565971e-02 -1.41710316e-02 2.09019820e+01] [ 1.41976865e-02 9.99753708e-01 1.70572031e-02 -2.80715487e-01] [ 1.39294809e-02 -1.72550247e-02 9.99754087e-01 -2.28831675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68119381700004 meters Centerline goodness : 0.934547 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.28, Z:-2.29 [[ 9.99806866e-01 -1.35464098e-02 -1.42381670e-02 2.09025550e+01] [ 1.37800039e-02 9.99769923e-01 1.64381688e-02 -2.76973978e-01] [ 1.40122129e-02 -1.66311960e-02 9.99763503e-01 -2.28884139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71119381700004 meters Centerline goodness : 0.933213 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.28, Z:-2.29 [[ 9.99801538e-01 -1.37330461e-02 -1.44321969e-02 2.09032510e+01] [ 1.39623485e-02 9.99775946e-01 1.59094502e-02 -2.75568605e-01] [ 1.42104781e-02 -1.61078001e-02 9.99769274e-01 -2.28924896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.741193817 meters Centerline goodness : 0.930468 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.27, Z:-2.29 [[ 9.99790835e-01 -1.41992391e-02 -1.47196629e-02 2.09044163e+01] [ 1.44175464e-02 9.99786043e-01 1.48325158e-02 -2.72772524e-01] [ 1.45059030e-02 -1.50416348e-02 9.99781640e-01 -2.29003739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.771193817 meters Centerline goodness : 0.930396 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.27, Z:-2.29 [[ 9.99782605e-01 -1.45736428e-02 -1.49114844e-02 2.09047708e+01] [ 1.47835053e-02 9.99791835e-01 1.40618078e-02 -2.70421068e-01] [ 1.47034486e-02 -1.42791949e-02 9.99789935e-01 -2.29000470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.801193817 meters Centerline goodness : 0.931950 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.27, Z:-2.29 [[ 9.99774453e-01 -1.50542343e-02 -1.49804060e-02 2.09048119e+01] [ 1.52506168e-02 9.99798112e-01 1.30825648e-02 -2.67588351e-01] [ 1.47804336e-02 -1.33080745e-02 9.99802197e-01 -2.28983568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.831193817 meters Centerline goodness : 0.931294 Centerline is valid? [False, False] Translation: X:20.91, Y:-0.27, Z:-2.29 [[ 9.99766180e-01 -1.54213578e-02 -1.51580518e-02 2.09051118e+01] [ 1.56077451e-02 9.99803077e-01 1.22558427e-02 -2.65115663e-01] [ 1.49660651e-02 -1.24895600e-02 9.99809996e-01 -2.28975022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86119381700001 meters Centerline goodness : 0.931385 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.26, Z:-2.29 [[ 9.99750373e-01 -1.65047812e-02 -1.50593635e-02 2.09042497e+01] [ 1.66604773e-02 9.99808433e-01 1.02726101e-02 -2.60227284e-01] [ 1.48869315e-02 -1.05209420e-02 9.99833831e-01 -2.28883013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.89119381700002 meters Centerline goodness : 0.932991 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.26, Z:-2.29 [[ 9.99739804e-01 -1.70634284e-02 -1.51381794e-02 2.09038647e+01] [ 1.72074388e-02 9.99807430e-01 9.43435807e-03 -2.58122087e-01] [ 1.49742818e-02 -9.69239258e-03 9.99840902e-01 -2.28807908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92119381700002 meters Centerline goodness : 0.934721 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.26, Z:-2.29 [[ 9.99729165e-01 -1.77156778e-02 -1.50914499e-02 2.09034906e+01] [ 1.78470350e-02 9.99803619e-01 8.61432408e-03 -2.56265812e-01] [ 1.49358776e-02 -8.88132865e-03 9.99849009e-01 -2.28768409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.95119381700002 meters Centerline goodness : 0.933199 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.25, Z:-2.29 [[ 9.99716580e-01 -1.84325150e-02 -1.50665820e-02 2.09032601e+01] [ 1.85510232e-02 9.99797769e-01 7.76408076e-03 -2.54362352e-01] [ 1.49204235e-02 -8.04138078e-03 9.99856348e-01 -2.28741016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98119381700002 meters Centerline goodness : 0.935072 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.25, Z:-2.29 [[ 9.99685975e-01 -2.02104655e-02 -1.48151606e-02 2.09014113e+01] [ 2.02916574e-02 9.99779785e-01 5.35062955e-03 -2.48654405e-01] [ 1.47037594e-02 -5.64957348e-03 9.99875933e-01 -2.28567910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01119381700002 meters Centerline goodness : 0.933296 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.25, Z:-2.28 [[ 9.99724720e-01 -1.83666754e-02 -1.45996277e-02 2.08994425e+01] [ 1.84767115e-02 9.99801623e-01 7.43809198e-03 -2.46941220e-01] [ 1.44601184e-02 -7.70579753e-03 9.99865754e-01 -2.28399078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04119381700002 meters Centerline goodness : 0.934470 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.24, Z:-2.28 [[ 9.99751898e-01 -1.69945814e-02 -1.43988558e-02 2.08976927e+01] [ 1.71233695e-02 9.99814050e-01 8.86875227e-03 -2.44918648e-01] [ 1.42454576e-02 -9.11310884e-03 9.99856999e-01 -2.28256253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07119381700002 meters Centerline goodness : 0.934764 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.24, Z:-2.28 [[ 9.99736454e-01 -1.78205488e-02 -1.44723744e-02 2.08989104e+01] [ 1.79239230e-02 9.99814534e-01 7.04483495e-03 -2.38752048e-01] [ 1.43441475e-02 -7.30238004e-03 9.99870452e-01 -2.28384743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10119381700002 meters Centerline goodness : 0.931795 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.24, Z:-2.29 [[ 9.99734401e-01 -1.76756469e-02 -1.47884895e-02 2.09007530e+01] [ 1.77759201e-02 9.99819703e-01 6.67673085e-03 -2.35453541e-01] [ 1.46678076e-02 -6.93783653e-03 9.99868352e-01 -2.28529235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13119381700002 meters Centerline goodness : 0.929952 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.23, Z:-2.29 [[ 9.99772814e-01 -1.52091360e-02 -1.49332867e-02 2.09017610e+01] [ 1.53424145e-02 9.99843120e-01 8.85129626e-03 -2.32392811e-01] [ 1.47963234e-02 -9.07839804e-03 9.99849314e-01 -2.28634502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16119381700003 meters Centerline goodness : 0.929802 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.23, Z:-2.29 [[ 9.99810358e-01 -1.22627175e-02 -1.51285614e-02 2.09024197e+01] [ 1.24351613e-02 9.99858175e-01 1.13576429e-02 -2.29170354e-01] [ 1.49871402e-02 -1.15436152e-02 9.99821049e-01 -2.28686076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19119381700003 meters Centerline goodness : 0.931335 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.23, Z:-2.29 [[ 9.99841246e-01 -9.38206664e-03 -1.51479117e-02 2.09025301e+01] [ 9.58974762e-03 9.99860215e-01 1.36962808e-02 -2.25314105e-01] [ 1.50172948e-02 -1.38393711e-02 9.99791455e-01 -2.28710884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22119381700003 meters Centerline goodness : 0.929689 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.22, Z:-2.29 [[ 9.99863202e-01 -6.49289705e-03 -1.52124983e-02 2.09024703e+01] [ 6.73559284e-03 9.99849989e-01 1.59571669e-02 -2.21392601e-01] [ 1.51066080e-02 -1.60574492e-02 9.99756945e-01 -2.28694644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25119381700003 meters Centerline goodness : 0.930806 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.21, Z:-2.29 [[ 9.99872092e-01 -4.52691074e-03 -1.53396867e-02 2.09026307e+01] [ 4.76995254e-03 9.99863088e-01 1.58446177e-02 -2.11424954e-01] [ 1.52658594e-02 -1.59157606e-02 9.99756791e-01 -2.28660004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28119381700003 meters Centerline goodness : 0.929145 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.21, Z:-2.29 [[ 9.99866217e-01 -5.10188478e-03 -1.55408707e-02 2.09031228e+01] [ 5.32100350e-03 9.99886560e-01 1.40909490e-02 -2.05701182e-01] [ 1.54672174e-02 -1.41717569e-02 9.99779939e-01 -2.28656019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31119381700003 meters Centerline goodness : 0.930272 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.20, Z:-2.29 [[ 9.99859176e-01 -5.77008613e-03 -1.57586053e-02 2.09036086e+01] [ 5.96475386e-03 9.99906141e-01 1.23341707e-02 -2.00335575e-01] [ 1.56859569e-02 -1.24264300e-02 9.99799747e-01 -2.28652920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34119381700003 meters Centerline goodness : 0.931218 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.20, Z:-2.29 [[ 9.99852681e-01 -6.58795413e-03 -1.58497719e-02 2.09038651e+01] [ 6.75679846e-03 9.99920746e-01 1.06229316e-02 -1.95258624e-01] [ 1.57785324e-02 -1.07284604e-02 9.99817952e-01 -2.28651542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37119381700003 meters Centerline goodness : 0.929638 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.19, Z:-2.29 [[ 9.99837921e-01 -8.57206465e-03 -1.58319640e-02 2.09037707e+01] [ 8.68717821e-03 9.99936225e-01 7.21655436e-03 -1.85648922e-01] [ 1.57690935e-02 -7.35291980e-03 9.99848624e-01 -2.28622078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40119381700003 meters Centerline goodness : 0.929570 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.18, Z:-2.29 [[ 9.99828451e-01 -9.47245985e-03 -1.59167183e-02 2.09038209e+01] [ 9.56596095e-03 9.99937375e-01 5.80856456e-03 -1.81686844e-01] [ 1.58607002e-02 -5.95982681e-03 9.99856449e-01 -2.28597780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43119381700004 meters Centerline goodness : 0.931488 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.18, Z:-2.29 [[ 9.99817166e-01 -1.04219544e-02 -1.60317752e-02 2.09039187e+01] [ 1.04940499e-02 9.99935169e-01 4.41950099e-03 -1.77982681e-01] [ 1.59846760e-02 -4.58693121e-03 9.99861716e-01 -2.28570598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46119381700004 meters Centerline goodness : 0.931837 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.17, Z:-2.28 [[ 9.99795487e-01 -1.25068879e-02 -1.58921881e-02 2.09028155e+01] [ 1.25315402e-02 9.99920422e-01 1.45257821e-03 -1.70694504e-01] [ 1.58727562e-02 -1.65143473e-03 9.99872656e-01 -2.28457528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.491193817 meters Centerline goodness : 0.932604 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.17, Z:-2.28 [[ 9.99785384e-01 -1.31059218e-02 -1.60443204e-02 2.09031674e+01] [ 1.31137254e-02 9.99913939e-01 3.81260556e-04 -1.67267238e-01] [ 1.60379428e-02 -5.91579544e-04 9.99871209e-01 -2.28451586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.521193817 meters Centerline goodness : 0.931744 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.16, Z:-2.28 [[ 9.99812791e-01 -1.12070155e-02 -1.57729732e-02 2.09016554e+01] [ 1.12460884e-02 9.99933903e-01 2.39069173e-03 -1.64867890e-01] [ 1.57451382e-02 -2.56762842e-03 9.99872741e-01 -2.28351714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.551193817 meters Centerline goodness : 0.931871 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.16, Z:-2.28 [[ 9.99840971e-01 -8.90378686e-03 -1.54516896e-02 2.09004776e+01] [ 8.97757377e-03 9.99948596e-01 4.71255318e-03 -1.62547100e-01] [ 1.54089357e-02 -4.85052243e-03 9.99869510e-01 -2.28297928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.581193817 meters Centerline goodness : 0.930472 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.16, Z:-2.28 [[ 9.99856905e-01 -6.74756555e-03 -1.55125651e-02 2.09006963e+01] [ 6.84346219e-03 9.99957751e-01 6.13711907e-03 -1.56795044e-01] [ 1.54704991e-02 -6.24240053e-03 9.99860838e-01 -2.28316117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.61119381700001 meters Centerline goodness : 0.930062 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.15, Z:-2.28 [[ 9.99851970e-01 -7.04943889e-03 -1.56953446e-02 2.09016722e+01] [ 7.12914360e-03 9.99961946e-01 5.02809212e-03 -1.53141693e-01] [ 1.56593021e-02 -5.13924218e-03 9.99864178e-01 -2.28373135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64119381700002 meters Centerline goodness : 0.930048 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.15, Z:-2.28 [[ 9.99848022e-01 -7.13902438e-03 -1.59049600e-02 2.09025051e+01] [ 7.20480933e-03 9.99965711e-01 4.08267413e-03 -1.49290103e-01] [ 1.58752684e-02 -4.19664586e-03 9.99865173e-01 -2.28410763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.67119381700002 meters Centerline goodness : 0.930254 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.14, Z:-2.28 [[ 9.99861548e-01 -4.67140597e-03 -1.59706986e-02 2.09024417e+01] [ 4.75157924e-03 9.99976282e-01 4.98576830e-03 -1.41058340e-01] [ 1.59470293e-02 -5.06096405e-03 9.99860030e-01 -2.28366740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70119381700002 meters Centerline goodness : 0.932597 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.14, Z:-2.28 [[ 9.99870821e-01 -1.84109783e-03 -1.59671813e-02 2.09019581e+01] [ 1.96064575e-03 9.99970142e-01 7.47468324e-03 -1.38246056e-01] [ 1.59529429e-02 -7.50502365e-03 9.99844577e-01 -2.28317940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73119381700002 meters Centerline goodness : 0.929889 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.14, Z:-2.28 [[ 9.99873649e-01 8.02033114e-04 -1.58758724e-02 2.09011345e+01] [-6.47282038e-04 9.99952255e-01 9.75030310e-03 -1.35302293e-01] [ 1.58829345e-02 -9.73879497e-03 9.99826429e-01 -2.28243390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76119381700002 meters Centerline goodness : 0.930841 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.13, Z:-2.28 [[ 9.99870044e-01 6.10386495e-04 -1.61097223e-02 2.09013484e+01] [-4.91448980e-04 9.99972603e-01 7.38589138e-03 -1.27767774e-01] [ 1.61137892e-02 -7.37701443e-03 9.99842950e-01 -2.28126439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79119381700002 meters Centerline goodness : 0.932582 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.13, Z:-2.28 [[ 9.99868615e-01 3.18972854e-03 -1.58927010e-02 2.08999679e+01] [-3.03717666e-03 9.99949174e-01 9.61377166e-03 -1.25193787e-01] [ 1.59225586e-02 -9.56423962e-03 9.99827484e-01 -2.28011905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82119381700002 meters Centerline goodness : 0.933658 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.12, Z:-2.28 [[ 9.99861609e-01 5.75445640e-03 -1.56092754e-02 2.08984330e+01] [-5.57053757e-03 9.99914853e-01 1.18006608e-02 -1.22332012e-01] [ 1.56758527e-02 -1.17120756e-02 9.99808529e-01 -2.27891889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85119381700002 meters Centerline goodness : 0.934436 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.12, Z:-2.28 [[ 9.99849536e-01 8.13535193e-03 -1.53206530e-02 2.08966920e+01] [-7.92529550e-03 9.99874443e-01 1.37218337e-02 -1.18961579e-01] [ 1.54303613e-02 -1.35983484e-02 9.99788472e-01 -2.27742773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88119381700002 meters Centerline goodness : 0.933287 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.11, Z:-2.28 [[ 9.99851657e-01 7.63036878e-03 -1.54415222e-02 2.08966516e+01] [-7.44123072e-03 9.99897041e-01 1.22692757e-02 -1.14371367e-01] [ 1.55335514e-02 -1.21525518e-02 9.99805493e-01 -2.27679894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91119381700003 meters Centerline goodness : 0.930548 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.11, Z:-2.28 [[ 9.99841387e-01 9.41246656e-03 -1.51197446e-02 2.08952782e+01] [-9.21026388e-03 9.99867960e-01 1.33878403e-02 -1.09000012e-01] [ 1.52437608e-02 -1.32464600e-02 9.99796059e-01 -2.27585905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94119381700003 meters Centerline goodness : 0.931829 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.11, Z:-2.28 [[ 9.99849048e-01 8.62716969e-03 -1.50815715e-02 2.08951360e+01] [-8.44263310e-03 9.99889237e-01 1.22570424e-02 -1.06756778e-01] [ 1.51856446e-02 -1.21278640e-02 9.99811138e-01 -2.27574668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97119381700003 meters Centerline goodness : 0.931299 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.10, Z:-2.28 [[ 9.99855545e-01 7.79297517e-03 -1.51048911e-02 2.08949983e+01] [-7.62665711e-03 9.99910001e-01 1.10373787e-02 -1.04436536e-01] [ 1.51895457e-02 -1.09205844e-02 9.99824994e-01 -2.27547088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00119381700003 meters Centerline goodness : 0.932810 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.10, Z:-2.28 [[ 9.99865429e-01 6.13974245e-03 -1.52127641e-02 2.08952365e+01] [-6.01026915e-03 9.99945454e-01 8.54198527e-03 -9.86978284e-02] [ 1.52643799e-02 -8.44940295e-03 9.99847792e-01 -2.27543227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03119381700003 meters Centerline goodness : 0.929703 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.10, Z:-2.28 [[ 9.99866529e-01 5.38835793e-03 -1.54236487e-02 2.08959230e+01] [-5.27563782e-03 9.99959148e-01 7.33964685e-03 -9.56120063e-02] [ 1.54625672e-02 -7.25729764e-03 9.99854110e-01 -2.27567283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06119381700003 meters Centerline goodness : 0.929703 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.10, Z:-2.28 [[ 9.99866529e-01 5.38835793e-03 -1.54236487e-02 2.08959230e+01] [-5.27563782e-03 9.99959148e-01 7.33964685e-03 -9.56120063e-02] [ 1.54625672e-02 -7.25729764e-03 9.99854110e-01 -2.27567283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09119381700003 meters Centerline goodness : 0.930245 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.09, Z:-2.28 [[ 9.99855704e-01 7.47494665e-03 -1.52544156e-02 2.08951761e+01] [-7.32985531e-03 9.99927578e-01 9.54527959e-03 -9.36877400e-02] [ 1.53246613e-02 -9.43208958e-03 9.99838082e-01 -2.27537559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12119381700003 meters Centerline goodness : 0.929275 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.09, Z:-2.28 [[ 9.99857719e-01 6.70558738e-03 -1.54782621e-02 2.08960395e+01] [-6.57666762e-03 9.99943385e-01 8.36501304e-03 -9.04807440e-02] [ 1.55334781e-02 -8.26202747e-03 9.99845213e-01 -2.27585562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15119381700003 meters Centerline goodness : 0.929133 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.09, Z:-2.28 [[ 9.99860617e-01 5.92641813e-03 -1.56084398e-02 2.08965106e+01] [-5.81699127e-03 9.99958251e-01 7.04684303e-03 -8.71261275e-02] [ 1.56495507e-02 -6.95506667e-03 9.99853349e-01 -2.27606478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18119381700004 meters Centerline goodness : 0.925843 Centerline is valid? [False, False] Translation: X:20.90, Y:-0.08, Z:-2.28 [[ 9.99869245e-01 4.10989718e-03 -1.56397685e-02 2.08966572e+01] [-4.04523082e-03 9.99983148e-01 4.16413035e-03 -7.98415315e-02] [ 1.56566191e-02 -4.10031939e-03 9.99869020e-01 -2.27593864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21119381700004 meters Centerline goodness : 0.929317 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.08, Z:-2.27 [[ 9.99865994e-01 5.98380135e-03 -1.52377517e-02 2.08949974e+01] [-5.89563348e-03 9.99965658e-01 5.82450940e-03 -7.64866213e-02] [ 1.52720811e-02 -5.73389268e-03 9.99866934e-01 -2.27493943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.241193817 meters Centerline goodness : 0.929064 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.07, Z:-2.27 [[ 9.99854432e-01 8.13182629e-03 -1.49996154e-02 2.08937482e+01] [-8.01794637e-03 9.99938694e-01 7.63676614e-03 -7.29316447e-02] [ 1.50607967e-02 -7.51538836e-03 9.99858336e-01 -2.27398009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.271193817 meters Centerline goodness : 0.931415 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.07, Z:-2.27 [[ 9.99838874e-01 1.03495368e-02 -1.46667442e-02 2.08918875e+01] [-1.02111522e-02 9.99902936e-01 9.47895044e-03 -6.98275558e-02] [ 1.47634233e-02 -9.32765878e-03 9.99847506e-01 -2.27245425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.301193817 meters Centerline goodness : 0.932513 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.06, Z:-2.27 [[ 9.99834719e-01 1.17320783e-02 -1.38886129e-02 2.08881517e+01] [-1.16043368e-02 9.99889950e-01 9.24271137e-03 -6.18600488e-02] [ 1.39955207e-02 -9.08001558e-03 9.99860830e-01 -2.26897712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.331193817 meters Centerline goodness : 0.934543 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.06, Z:-2.27 [[ 9.99814480e-01 1.37539125e-02 -1.34846272e-02 2.08859751e+01] [-1.36074317e-02 9.99848056e-01 1.08950362e-02 -5.83895939e-02] [ 1.36324277e-02 -1.07095238e-02 9.99849720e-01 -2.26719619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36119381700001 meters Centerline goodness : 0.935102 Centerline is valid? [False, False] Translation: X:20.88, Y:-0.06, Z:-2.27 [[ 9.99784166e-01 1.61416866e-02 -1.30792989e-02 2.08843607e+01] [-1.59732484e-02 9.99789433e-01 1.28819520e-02 -5.53415868e-02] [ 1.32844813e-02 -1.26702527e-02 9.99831479e-01 -2.26608965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.39119381700002 meters Centerline goodness : 0.934777 Centerline is valid? [False, False] Translation: X:20.88, Y:-0.05, Z:-2.27 [[ 9.99729550e-01 1.92431947e-02 -1.30585540e-02 2.08847202e+01] [-1.90513031e-02 9.99710975e-01 1.46633599e-02 -4.84299832e-02] [ 1.33369496e-02 -1.44106117e-02 9.99807211e-01 -2.26609515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42119381700002 meters Centerline goodness : 0.935138 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.05, Z:-2.27 [[ 9.99640834e-01 2.31556907e-02 -1.34913761e-02 2.08867939e+01] [-2.29129233e-02 9.99577576e-01 1.78792337e-02 -4.53686067e-02] [ 1.38996831e-02 -1.75636852e-02 9.99749126e-01 -2.26746587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.45119381700002 meters Centerline goodness : 0.934696 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.04, Z:-2.27 [[ 9.99540587e-01 2.70586324e-02 -1.36545084e-02 2.08879160e+01] [-2.67673347e-02 9.99419332e-01 2.10833623e-02 -4.25002571e-02] [ 1.42170667e-02 -2.07081815e-02 9.99684473e-01 -2.26818935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48119381700002 meters Centerline goodness : 0.933501 Centerline is valid? [False, False] Translation: X:20.91, Y:-0.04, Z:-2.27 [[ 9.99508683e-01 2.70537054e-02 -1.58268911e-02 2.09098807e+01] [-2.66801893e-02 9.99371194e-01 2.33534783e-02 -3.92762431e-02] [ 1.64487371e-02 -2.29197399e-02 9.99601983e-01 -2.26831116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51119381700002 meters Centerline goodness : 0.935407 Centerline is valid? [False, False] Translation: X:20.91, Y:-0.03, Z:-2.27 [[ 9.99162242e-01 3.77055199e-02 -1.59093914e-02 2.09073451e+01] [-3.74725477e-02 9.99189586e-01 1.46962285e-02 -3.03188273e-02] [ 1.64506271e-02 -1.40877511e-02 9.99765429e-01 -2.26757242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54119381700002 meters Centerline goodness : 0.935194 Centerline is valid? [False, False] Translation: X:20.91, Y:-0.03, Z:-2.27 [[ 9.98989795e-01 4.20063211e-02 -1.59642810e-02 2.09080861e+01] [-4.17185431e-02 9.98968127e-01 1.79511436e-02 -2.72027182e-02] [ 1.67018694e-02 -1.72670027e-02 9.99711407e-01 -2.26764916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57119381700002 meters Centerline goodness : 0.933525 Centerline is valid? [False, False] Translation: X:20.91, Y:-0.02, Z:-2.27 [[ 9.98381356e-01 5.47128785e-02 -1.55296321e-02 2.09090471e+01] [-5.42445641e-02 9.98102802e-01 2.91259914e-02 -2.29314541e-02] [ 1.70937361e-02 -2.82364487e-02 9.99455105e-01 -2.26805209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60119381700002 meters Centerline goodness : 0.935020 Centerline is valid? [False, False] Translation: X:20.91, Y:-0.02, Z:-2.27 [[ 9.98129075e-01 5.91390522e-02 -1.55216485e-02 2.09100099e+01] [-5.86077663e-02 9.97745298e-01 3.27024323e-02 -2.05440083e-02] [ 1.74206427e-02 -3.17315593e-02 9.99344600e-01 -2.26841660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63119381700002 meters Centerline goodness : 0.934304 Centerline is valid? [False, False] Translation: X:20.91, Y:-0.02, Z:-2.27 [[ 9.97856470e-01 6.35885362e-02 -1.54584537e-02 2.09107379e+01] [-6.29904779e-02 9.97346224e-01 3.65062765e-02 -1.90640086e-02] [ 1.77388111e-02 -3.54542888e-02 9.99213855e-01 -2.26868692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66119381700003 meters Centerline goodness : 0.932286 Centerline is valid? [False, False] Translation: X:20.91, Y:-0.02, Z:-2.27 [[ 9.97755740e-01 6.51126201e-02 -1.56150416e-02 2.09122447e+01] [-6.45025356e-02 9.97237917e-01 3.68233710e-02 -1.66727206e-02] [ 1.79695777e-02 -3.57335201e-02 9.99199785e-01 -2.26923619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69119381700003 meters Centerline goodness : 0.932399 Centerline is valid? [False, False] Translation: X:20.91, Y:-0.02, Z:-2.27 [[ 9.97701280e-01 6.58931083e-02 -1.58193988e-02 2.09129180e+01] [-6.52777615e-02 9.97192416e-01 3.66892314e-02 -1.50039485e-02] [ 1.81925520e-02 -3.55722382e-02 9.99201505e-01 -2.26895504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72119381700003 meters Centerline goodness : 0.934175 Centerline is valid? [False, False] Translation: X:20.91, Y:-0.01, Z:-2.27 [[ 9.97657886e-01 6.64922521e-02 -1.60475128e-02 2.09136339e+01] [-6.58655370e-02 9.97147873e-01 3.68490348e-02 -1.47879953e-02] [ 1.84519186e-02 -3.57057522e-02 9.99191987e-01 -2.26898802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75119381700003 meters Centerline goodness : 0.933849 Centerline is valid? [False, False] Translation: X:20.91, Y:-0.02, Z:-2.27 [[ 9.97569932e-01 6.77256295e-02 -1.63545027e-02 2.09149827e+01] [-6.70598714e-02 9.97013413e-01 3.83044132e-02 -1.82397615e-02] [ 1.88998490e-02 -3.71146001e-02 9.99132275e-01 -2.26979476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78119381700003 meters Centerline goodness : 0.933099 Centerline is valid? [False, False] Translation: X:20.92, Y:-0.02, Z:-2.27 [[ 9.97763046e-01 6.46834642e-02 -1.68805734e-02 2.09158931e+01] [-6.40632719e-02 9.97331713e-01 3.50050214e-02 -1.90974962e-02] [ 1.90997772e-02 -3.38452921e-02 9.99244562e-01 -2.26988076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81119381700003 meters Centerline goodness : 0.934765 Centerline is valid? [False, False] Translation: X:20.92, Y:-0.02, Z:-2.27 [[ 9.97938562e-01 6.17228097e-02 -1.75761303e-02 2.09171957e+01] [-6.11400196e-02 9.97617337e-01 3.19616326e-02 -2.05037046e-02] [ 1.95070141e-02 -3.08211407e-02 9.99334545e-01 -2.27002019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84119381700003 meters Centerline goodness : 0.935296 Centerline is valid? [False, False] Translation: X:20.92, Y:-0.03, Z:-2.27 [[ 9.98122286e-01 5.85650341e-02 -1.79454569e-02 2.09169388e+01] [-5.80145763e-02 9.97870981e-01 2.97962031e-02 -2.65446421e-02] [ 1.96522664e-02 -2.86991563e-02 9.99394890e-01 -2.26944310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87119381700003 meters Centerline goodness : 0.935824 Centerline is valid? [False, False] Translation: X:20.93, Y:-0.03, Z:-2.27 [[ 9.98413174e-01 5.45009010e-02 -1.41698925e-02 2.09324781e+01] [-5.39992770e-02 9.97973686e-01 3.36541381e-02 -3.23212480e-02] [ 1.59753607e-02 -3.28355709e-02 9.99333084e-01 -2.27148428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90119381700003 meters Centerline goodness : 0.935512 Centerline is valid? [False, False] Translation: X:20.93, Y:-0.04, Z:-2.27 [[ 9.98593942e-01 5.09749154e-02 -1.45498258e-02 2.09323721e+01] [-5.05101052e-02 9.98251542e-01 3.07015945e-02 -3.58551046e-02] [ 1.60893972e-02 -2.99235130e-02 9.99422691e-01 -2.27089027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93119381700004 meters Centerline goodness : 0.937708 Centerline is valid? [False, False] Translation: X:20.93, Y:-0.04, Z:-2.27 [[ 9.98858176e-01 4.52073896e-02 -1.54478843e-02 2.09343881e+01] [-4.48141924e-02 9.98684574e-01 2.49160464e-02 -3.85517755e-02] [ 1.65539532e-02 -2.41953122e-02 9.99570184e-01 -2.27146683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96119381700004 meters Centerline goodness : 0.934353 Centerline is valid? [False, False] Translation: X:20.95, Y:-0.05, Z:-2.27 [[ 9.99200267e-01 3.76141777e-02 -1.35646735e-02 2.09521490e+01] [-3.72490879e-02 9.98961665e-01 2.62315949e-02 -4.95593721e-02] [ 1.45372687e-02 -2.57053449e-02 9.99563856e-01 -2.27414066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.991193817 meters Centerline goodness : 0.935652 Centerline is valid? [False, False] Translation: X:20.97, Y:-0.06, Z:-2.28 [[ 9.99397446e-01 3.31378532e-02 -1.03260386e-02 2.09682093e+01] [-3.28124169e-02 9.99004105e-01 3.02348031e-02 -5.57607054e-02] [ 1.13176714e-02 -2.98777627e-02 9.99489484e-01 -2.27687219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.021193817 meters Centerline goodness : 0.936143 Centerline is valid? [False, False] Translation: X:20.98, Y:-0.06, Z:-2.28 [[ 9.99576754e-01 2.83509524e-02 -6.52191787e-03 2.09833547e+01] [-2.81171573e-02 9.99042757e-01 3.35111344e-02 -6.14638899e-02] [ 7.46574739e-03 -3.33135732e-02 9.99417064e-01 -2.27869769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.051193817 meters Centerline goodness : 0.936507 Centerline is valid? [False, False] Translation: X:21.00, Y:-0.07, Z:-2.28 [[ 9.99795563e-01 2.00607252e-02 -2.52977048e-03 2.09981923e+01] [-1.99656217e-02 9.99247861e-01 3.32428479e-02 -7.06959529e-02] [ 3.19474338e-03 -3.31855434e-02 9.99444102e-01 -2.27936277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.081193817 meters Centerline goodness : 0.937274 Centerline is valid? [False, False] Translation: X:21.01, Y:-0.08, Z:-2.28 [[ 9.99889673e-01 1.48127143e-02 1.10697870e-03 2.10137992e+01] [-1.48427949e-02 9.99252376e-01 3.56984778e-02 -7.61414652e-02] [-5.77359749e-04 -3.57109700e-02 9.99361993e-01 -2.28116858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.11119381700001 meters Centerline goodness : 0.937239 Centerline is valid? [False, False] Translation: X:21.03, Y:-0.08, Z:-2.28 [[ 9.99945120e-01 9.41020322e-03 4.60482022e-03 2.10297789e+01] [-9.57667922e-03 9.99247907e-01 3.75753616e-02 -8.16057872e-02] [-4.24776517e-03 -3.76173984e-02 9.99283187e-01 -2.28273804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14119381700002 meters Centerline goodness : 0.938206 Centerline is valid? [False, False] Translation: X:21.06, Y:-0.09, Z:-2.28 [[ 9.99977003e-01 4.11107054e-03 5.39367455e-03 2.10563292e+01] [-4.29549602e-03 9.99390657e-01 3.46390472e-02 -9.20843642e-02] [-5.24798438e-03 -3.46614191e-02 9.99385333e-01 -2.28378892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.17119381700002 meters Centerline goodness : 0.939358 Centerline is valid? [False, False] Translation: X:21.07, Y:-0.10, Z:-2.29 [[ 9.99977981e-01 -5.11881034e-04 6.61633773e-03 2.10747765e+01] [ 2.66005317e-04 9.99311170e-01 3.71094985e-02 -9.67916861e-02] [-6.63077584e-03 -3.71069214e-02 9.99289302e-01 -2.28587716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20119381700002 meters Centerline goodness : 0.938685 Centerline is valid? [False, False] Translation: X:21.09, Y:-0.10, Z:-2.29 [[ 9.99952192e-01 -4.50028060e-03 8.68103850e-03 2.10928742e+01] [ 4.15105688e-03 9.99197639e-01 3.98352475e-02 -1.01077001e-01] [-8.85334297e-03 -3.97973076e-02 9.99168551e-01 -2.28799555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23119381700002 meters Centerline goodness : 0.939081 Centerline is valid? [False, False] Translation: X:21.09, Y:-0.10, Z:-2.29 [[ 9.99939181e-01 -7.46542469e-03 8.11802175e-03 2.10944757e+01] [ 7.16035050e-03 9.99290320e-01 3.69808838e-02 -1.03208458e-01] [-8.38833855e-03 -3.69205067e-02 9.99282999e-01 -2.28818017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26119381700002 meters Centerline goodness : 0.941691 Centerline is valid? [False, False] Translation: X:21.11, Y:-0.11, Z:-2.29 [[ 9.99896583e-01 -9.66847593e-03 1.06462642e-02 2.11134378e+01] [ 9.20866695e-03 9.99057299e-01 4.24230339e-02 -1.12392960e-01] [-1.10463940e-02 -4.23206088e-02 9.99043014e-01 -2.29130339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29119381700002 meters Centerline goodness : 0.941974 Centerline is valid? [False, False] Translation: X:21.11, Y:-0.11, Z:-2.29 [[ 9.99867217e-01 -1.26546196e-02 1.02669208e-02 2.11144632e+01] [ 1.22415156e-02 9.99150588e-01 3.93477709e-02 -1.14145178e-01] [-1.07561311e-02 -3.92168635e-02 9.99172830e-01 -2.29127676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32119381700002 meters Centerline goodness : 0.942543 Centerline is valid? [False, False] Translation: X:21.12, Y:-0.12, Z:-2.29 [[ 9.99838380e-01 -1.51680051e-02 9.65121062e-03 2.11163427e+01] [ 1.48049831e-02 9.99219050e-01 3.66347144e-02 -1.16104102e-01] [-1.01993490e-02 -3.64859075e-02 9.99282118e-01 -2.29178181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35119381700002 meters Centerline goodness : 0.942082 Centerline is valid? [False, False] Translation: X:21.12, Y:-0.12, Z:-2.29 [[ 9.99831828e-01 -1.60890107e-02 8.80105605e-03 2.11192029e+01] [ 1.57690881e-02 9.99252840e-01 3.52859328e-02 -1.19000790e-01] [-9.36219601e-03 -3.51412141e-02 9.99338503e-01 -2.29260495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38119381700002 meters Centerline goodness : 0.942122 Centerline is valid? [False, False] Translation: X:21.12, Y:-0.12, Z:-2.29 [[ 9.99844256e-01 -1.55509809e-02 8.34452765e-03 2.11204479e+01] [ 1.52424309e-02 9.99241062e-01 3.58464443e-02 -1.19833757e-01] [-8.89564205e-03 -3.57136706e-02 9.99322471e-01 -2.29296429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41119381700003 meters Centerline goodness : 0.942112 Centerline is valid? [False, False] Translation: X:21.12, Y:-0.12, Z:-2.29 [[ 9.99867113e-01 -1.43950820e-02 7.65101381e-03 2.11224401e+01] [ 1.41034954e-02 9.99219878e-01 3.68880285e-02 -1.20943202e-01] [-8.17605128e-03 -3.67752205e-02 9.99290116e-01 -2.29371474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44119381700003 meters Centerline goodness : 0.941191 Centerline is valid? [False, False] Translation: X:21.13, Y:-0.12, Z:-2.29 [[ 9.99888277e-01 -1.34387395e-02 6.54475982e-03 2.11255422e+01] [ 1.31841908e-02 9.99209801e-01 3.74960174e-02 -1.21826372e-01] [-7.04348737e-03 -3.74055409e-02 9.99275345e-01 -2.29486814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47119381700003 meters Centerline goodness : 0.938127 Centerline is valid? [False, False] Translation: X:21.13, Y:-0.12, Z:-2.30 [[ 9.99911718e-01 -1.19738410e-02 5.76050242e-03 2.11281943e+01] [ 1.17415723e-02 9.99178288e-01 3.87928490e-02 -1.22936842e-01] [-6.22026835e-03 -3.87217870e-02 9.99230670e-01 -2.29621245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50119381700003 meters Centerline goodness : 0.938727 Centerline is valid? [False, False] Translation: X:21.13, Y:-0.12, Z:-2.29 [[ 9.99960630e-01 -6.82773937e-03 5.66749920e-03 2.11279829e+01] [ 6.68813822e-03 9.99682442e-01 2.42957710e-02 -1.21292266e-01] [-5.83158463e-03 -2.42569095e-02 9.99688749e-01 -2.29459609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53119381700003 meters Centerline goodness : 0.939176 Centerline is valid? [False, False] Translation: X:21.12, Y:-0.12, Z:-2.29 [[ 9.99996856e-01 1.69900627e-03 1.84432232e-03 2.11238051e+01] [-1.72649843e-03 9.99885875e-01 1.50085625e-02 -1.20593052e-01] [-1.81861220e-03 -1.50116995e-02 9.99885664e-01 -2.28978656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56119381700003 meters Centerline goodness : 0.940271 Centerline is valid? [False, False] Translation: X:21.13, Y:-0.12, Z:-2.29 [[ 9.99995051e-01 2.84806364e-03 1.33689362e-03 2.11251726e+01] [-2.86871302e-03 9.99872526e-01 1.57067370e-02 -1.20508957e-01] [-1.29198942e-03 -1.57104944e-02 9.99875748e-01 -2.29002085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59119381700003 meters Centerline goodness : 0.940583 Centerline is valid? [False, False] Translation: X:21.13, Y:-0.12, Z:-2.29 [[ 9.99993233e-01 3.57145531e-03 8.82865395e-04 2.11263234e+01] [-3.58524372e-03 9.99863258e-01 1.61434820e-02 -1.20743499e-01] [-8.25088946e-04 -1.61465381e-02 9.99869296e-01 -2.29018405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62119381700003 meters Centerline goodness : 0.938497 Centerline is valid? [False, False] Translation: X:21.13, Y:-0.12, Z:-2.29 [[ 9.99991113e-01 4.18409087e-03 5.17674731e-04 2.11273747e+01] [-4.19213215e-03 9.99852535e-01 1.66533557e-02 -1.21566621e-01] [-4.47919239e-04 -1.66553778e-02 9.99861189e-01 -2.29051896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65119381700003 meters Centerline goodness : 0.940222 Centerline is valid? [False, False] Translation: X:21.13, Y:-0.12, Z:-2.29 [[ 9.99986673e-01 5.15410759e-03 2.97021828e-04 2.11281343e+01] [-5.15858906e-03 9.99827312e-01 1.78531669e-02 -1.24724797e-01] [-2.04953393e-04 -1.78544612e-02 9.99840575e-01 -2.29084970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68119381700004 meters Centerline goodness : 0.941371 Centerline is valid? [False, False] Translation: X:21.13, Y:-0.12, Z:-2.29 [[ 9.99998413e-01 1.78088683e-03 -5.20403304e-05 2.11286714e+01] [-1.77998345e-03 9.99900360e-01 1.40036274e-02 -1.24621197e-01] [ 7.69740207e-05 -1.40035126e-02 9.99901943e-01 -2.29044139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71119381700004 meters Centerline goodness : 0.940635 Centerline is valid? [False, False] Translation: X:21.13, Y:-0.13, Z:-2.29 [[ 9.99999497e-01 -5.68188591e-04 -8.26266247e-04 2.11313548e+01] [ 5.77703258e-04 9.99933003e-01 1.15609759e-02 -1.25580478e-01] [ 8.19642074e-04 -1.15614474e-02 9.99932828e-01 -2.29171307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.741193817 meters Centerline goodness : 0.942123 Centerline is valid? [False, False] Translation: X:21.13, Y:-0.13, Z:-2.29 [[ 9.99994703e-01 -2.96449679e-03 -1.34399730e-03 2.11335042e+01] [ 2.97667419e-03 9.99953698e-01 9.15097628e-03 -1.26672927e-01] [ 1.31680703e-03 -9.15492845e-03 9.99957226e-01 -2.29284784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.771193817 meters Centerline goodness : 0.941610 Centerline is valid? [False, False] Translation: X:21.15, Y:-0.13, Z:-2.30 [[ 9.99983443e-01 -5.42236904e-03 1.92631862e-03 2.11506502e+01] [ 5.39031000e-03 9.99853020e-01 1.62752413e-02 -1.33813938e-01] [-2.01428585e-03 -1.62645884e-02 9.99865694e-01 -2.29755318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.801193817 meters Centerline goodness : 0.941880 Centerline is valid? [False, False] Translation: X:21.15, Y:-0.14, Z:-2.30 [[ 9.99963005e-01 -8.48060988e-03 1.43813818e-03 2.11522202e+01] [ 8.46064818e-03 9.99874950e-01 1.33604641e-02 -1.35543298e-01] [-1.55126323e-03 -1.33478022e-02 9.99909711e-01 -2.29809336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.831193817 meters Centerline goodness : 0.942420 Centerline is valid? [False, False] Translation: X:21.15, Y:-0.14, Z:-2.30 [[ 9.99936166e-01 -1.12642076e-02 8.84165238e-04 2.11543638e+01] [ 1.12537936e-02 9.99876042e-01 1.10115272e-02 -1.38272156e-01] [-1.00809177e-03 -1.10008741e-02 9.99938980e-01 -2.29923267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86119381700001 meters Centerline goodness : 0.940716 Centerline is valid? [False, False] Translation: X:21.17, Y:-0.15, Z:-2.30 [[ 9.99869333e-01 -1.56478179e-02 4.05735195e-03 2.11705176e+01] [ 1.55751936e-02 9.99728116e-01 1.73524663e-02 -1.48015219e-01] [-4.32777705e-03 -1.72870048e-02 9.99841202e-01 -2.30366413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.89119381700002 meters Centerline goodness : 0.941311 Centerline is valid? [False, False] Translation: X:21.17, Y:-0.15, Z:-2.30 [[ 9.99818183e-01 -1.87159700e-02 3.64885573e-03 2.11720681e+01] [ 1.86605262e-02 9.99718119e-01 1.46788261e-02 -1.50473322e-01] [-3.92255565e-03 -1.46080676e-02 9.99885602e-01 -2.30426572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92119381700002 meters Centerline goodness : 0.941920 Centerline is valid? [False, False] Translation: X:21.17, Y:-0.15, Z:-2.30 [[ 9.99752745e-01 -2.19744033e-02 3.40200013e-03 2.11730981e+01] [ 2.19332350e-02 9.99690983e-01 1.16992581e-02 -1.52290810e-01] [-3.65803307e-03 -1.16217485e-02 9.99925774e-01 -2.30450331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.95119381700002 meters Centerline goodness : 0.941136 Centerline is valid? [False, False] Translation: X:21.19, Y:-0.16, Z:-2.31 [[ 9.99683386e-01 -2.38865149e-02 7.90965798e-03 2.11860355e+01] [ 2.37177217e-02 9.99502555e-01 2.07872915e-02 -1.57715387e-01] [-8.40225931e-03 -2.05931109e-02 9.99752632e-01 -2.30900953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98119381700002 meters Centerline goodness : 0.941136 Centerline is valid? [False, False] Translation: X:21.19, Y:-0.16, Z:-2.31 [[ 9.99683466e-01 -2.38802271e-02 7.91848111e-03 2.11860244e+01] [ 2.37112299e-02 9.99502651e-01 2.07900779e-02 -1.57716795e-01] [-8.41101464e-03 -2.05957402e-02 9.99752505e-01 -2.30900951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01119381700002 meters Centerline goodness : 0.941242 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.17, Z:-2.31 [[ 9.99597819e-01 -2.56548972e-02 1.20841158e-02 2.11998801e+01] [ 2.52746768e-02 9.99211157e-01 3.06309237e-02 -1.66676629e-01] [-1.28604165e-02 -3.03131824e-02 9.99457713e-01 -2.31357202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04119381700002 meters Centerline goodness : 0.940618 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.17, Z:-2.31 [[ 9.99607218e-01 -2.53031458e-02 1.20482752e-02 2.12003964e+01] [ 2.49103441e-02 9.99186756e-01 3.17064837e-02 -1.69448785e-01] [-1.28407508e-02 -3.13939032e-02 9.99424603e-01 -2.31379236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07119381700002 meters Centerline goodness : 0.941550 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.17, Z:-2.31 [[ 9.99618085e-01 -2.49971692e-02 1.17824106e-02 2.12012398e+01] [ 2.46025616e-02 9.99168112e-01 3.25237996e-02 -1.71656948e-01] [-1.25856119e-02 -3.22215008e-02 9.99401510e-01 -2.31417092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10119381700002 meters Centerline goodness : 0.941790 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.17, Z:-2.31 [[ 9.99636722e-01 -2.44708913e-02 1.12959903e-02 2.12026111e+01] [ 2.40766559e-02 9.99138294e-01 3.38080349e-02 -1.74239048e-01] [-1.21135692e-02 -3.35237835e-02 9.99364507e-01 -2.31464509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13119381700002 meters Centerline goodness : 0.941024 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.18, Z:-2.31 [[ 9.99639981e-01 -2.44846138e-02 1.09731996e-02 2.12034138e+01] [ 2.40994963e-02 9.99132862e-01 3.39520126e-02 -1.75003937e-01] [-1.17949863e-02 -3.36753406e-02 9.99363222e-01 -2.31479412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16119381700003 meters Centerline goodness : 0.939842 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.18, Z:-2.32 [[ 9.99651704e-01 -2.41680214e-02 1.06008484e-02 2.12048883e+01] [ 2.37887231e-02 9.99119652e-01 3.45545504e-02 -1.76098980e-01] [-1.14266310e-02 -3.42903346e-02 9.99346589e-01 -2.31558983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19119381700003 meters Centerline goodness : 0.938253 Centerline is valid? [False, False] Translation: X:21.21, Y:-0.18, Z:-2.32 [[ 9.99656527e-01 -2.41382982e-02 1.02064113e-02 2.12060092e+01] [ 2.37673938e-02 9.99103921e-01 3.50209303e-02 -1.77839691e-01] [-1.10426112e-02 -3.47663217e-02 9.99334460e-01 -2.31607364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22119381700003 meters Centerline goodness : 0.939471 Centerline is valid? [False, False] Translation: X:21.21, Y:-0.18, Z:-2.32 [[ 9.99663813e-01 -2.38682435e-02 1.01275794e-02 2.12060647e+01] [ 2.34901363e-02 9.99077811e-01 3.59407944e-02 -1.80466326e-01] [-1.09760835e-02 -3.56908134e-02 9.99302603e-01 -2.31561100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25119381700003 meters Centerline goodness : 0.944282 Centerline is valid? [False, False] Translation: X:21.21, Y:-0.18, Z:-2.31 [[ 9.99661932e-01 -2.41197173e-02 9.70883199e-03 2.12064441e+01] [ 2.37606099e-02 9.99085629e-01 3.55434878e-02 -1.79581041e-01] [-1.05572534e-02 -3.53007839e-02 9.99320969e-01 -2.31489201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28119381700003 meters Centerline goodness : 0.945926 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.18, Z:-2.31 [[ 9.99705569e-01 -2.22452290e-02 9.69149236e-03 2.12047975e+01] [ 2.18606526e-02 9.99033715e-01 3.81280387e-02 -1.79637747e-01] [-1.05302946e-02 -3.79049503e-02 9.99225864e-01 -2.31281280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31119381700003 meters Centerline goodness : 0.946375 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.18, Z:-2.31 [[ 9.99691623e-01 -2.28878801e-02 9.63347297e-03 2.12035435e+01] [ 2.25083771e-02 9.99031298e-01 3.78132122e-02 -1.79328803e-01] [-1.04896053e-02 -3.75847177e-02 9.99238389e-01 -2.31071476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34119381700003 meters Centerline goodness : 0.945036 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.18, Z:-2.31 [[ 9.99673310e-01 -2.37497283e-02 9.44585859e-03 2.12034756e+01] [ 2.33815543e-02 9.99028883e-01 3.73442740e-02 -1.79752812e-01] [-1.03236019e-02 -3.71112151e-02 9.99257815e-01 -2.31006897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37119381700003 meters Centerline goodness : 0.947758 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.18, Z:-2.31 [[ 9.99658252e-01 -2.44174627e-02 9.33634083e-03 2.12036062e+01] [ 2.40556526e-02 9.99022806e-01 3.70777480e-02 -1.80571962e-01] [-1.02325619e-02 -3.68404849e-02 9.99268769e-01 -2.30999315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40119381700003 meters Centerline goodness : 0.945560 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.18, Z:-2.31 [[ 9.99580770e-01 -2.74503024e-02 9.20682387e-03 2.12041009e+01] [ 2.71301024e-02 9.99078250e-01 3.32657077e-02 -1.78981485e-01] [-1.01114912e-02 -3.30019796e-02 9.99404136e-01 -2.30981585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43119381700004 meters Centerline goodness : 0.945835 Centerline is valid? [False, False] Translation: X:21.19, Y:-0.18, Z:-2.31 [[ 9.99718384e-01 -2.29289504e-02 6.11686971e-03 2.11934027e+01] [ 2.27641492e-02 9.99408592e-01 2.57732472e-02 -1.76592159e-01] [-6.70420565e-03 -2.56267437e-02 9.99649100e-01 -2.30660883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46119381700004 meters Centerline goodness : 0.948389 Centerline is valid? [False, False] Translation: X:21.19, Y:-0.17, Z:-2.31 [[ 9.99733917e-01 -2.22940603e-02 5.92191849e-03 2.11938082e+01] [ 2.21354894e-02 9.99426815e-01 2.56136822e-02 -1.74618193e-01] [-6.48955711e-03 -2.54757823e-02 9.99654375e-01 -2.30642871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.491193817 meters Centerline goodness : 0.948327 Centerline is valid? [False, False] Translation: X:21.19, Y:-0.17, Z:-2.31 [[ 9.99751474e-01 -2.15118753e-02 5.85064687e-03 2.11939718e+01] [ 2.13552510e-02 9.99443351e-01 2.56308642e-02 -1.72753189e-01] [-6.39875807e-03 -2.54995522e-02 9.99654355e-01 -2.30623585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.521193817 meters Centerline goodness : 0.949408 Centerline is valid? [False, False] Translation: X:21.19, Y:-0.17, Z:-2.31 [[ 9.99833771e-01 -1.73454413e-02 5.61841732e-03 2.11944764e+01] [ 1.71704667e-02 9.99407720e-01 2.98225511e-02 -1.72781067e-01] [-6.13237496e-03 -2.97211228e-02 9.99539418e-01 -2.30650580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.551193817 meters Centerline goodness : 0.948220 Centerline is valid? [False, False] Translation: X:21.19, Y:-0.17, Z:-2.31 [[ 9.99887759e-01 -9.00285860e-03 1.19757536e-02 2.11948610e+01] [ 8.73571660e-03 9.99715933e-01 2.21752297e-02 -1.69591047e-01] [-1.21719921e-02 -2.20681240e-02 9.99682370e-01 -2.30713441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.581193817 meters Centerline goodness : 0.947696 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.17, Z:-2.31 [[ 9.99920019e-01 -4.78368503e-03 1.17078150e-02 2.11957858e+01] [ 4.47473124e-03 9.99644761e-01 2.62741030e-02 -1.69492417e-01] [-1.18293430e-02 -2.62196123e-02 9.99586214e-01 -2.30770776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.61119381700001 meters Centerline goodness : 0.947747 Centerline is valid? [False, False] Translation: X:21.19, Y:-0.17, Z:-2.31 [[ 9.99978152e-01 9.80334051e-04 6.53720767e-03 2.11936593e+01] [-1.08054462e-03 9.99881699e-01 1.53433907e-02 -1.66285979e-01] [-6.52139266e-03 -1.53501193e-02 9.99860913e-01 -2.30556930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64119381700002 meters Centerline goodness : 0.941834 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.17, Z:-2.31 [[ 9.99935424e-01 9.62990593e-03 6.03434999e-03 2.11976419e+01] [-9.76843875e-03 9.99679284e-01 2.33646496e-02 -1.66269227e-01] [-5.80741530e-03 -2.34220869e-02 9.99708797e-01 -2.30900372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.67119381700002 meters Centerline goodness : 0.941650 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.17, Z:-2.31 [[ 9.99883383e-01 1.41291334e-02 5.79546760e-03 2.11986507e+01] [-1.42841002e-02 9.99516113e-01 2.76315948e-02 -1.66379175e-01] [-5.40225276e-03 -2.77111555e-02 9.99601374e-01 -2.30954355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70119381700002 meters Centerline goodness : 0.940933 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.17, Z:-2.31 [[ 9.99810203e-01 1.86509096e-02 5.63049909e-03 2.11995471e+01] [-1.88217921e-02 9.99310686e-01 3.19983218e-02 -1.66591056e-01] [-5.02982010e-03 -3.20982246e-02 9.99472063e-01 -2.31007049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73119381700002 meters Centerline goodness : 0.940389 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.17, Z:-2.31 [[ 9.99765175e-01 2.10555589e-02 5.12425769e-03 2.12020282e+01] [-2.12162178e-02 9.99209134e-01 3.36300179e-02 -1.66384773e-01] [-4.41210626e-03 -3.37308381e-02 9.99421214e-01 -2.31159651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76119381700002 meters Centerline goodness : 0.939153 Centerline is valid? [False, False] Translation: X:21.21, Y:-0.17, Z:-2.31 [[ 9.99599567e-01 2.81089081e-02 3.25508651e-03 2.12071182e+01] [-2.82152247e-02 9.98828867e-01 3.93038906e-02 -1.70444366e-01] [-2.14648492e-03 -3.93799950e-02 9.99222002e-01 -2.31232643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79119381700002 meters Centerline goodness : 0.937838 Centerline is valid? [False, False] Translation: X:21.21, Y:-0.17, Z:-2.31 [[ 9.99639284e-01 2.67249169e-02 2.66088416e-03 2.12094033e+01] [-2.68058877e-02 9.98938704e-01 3.74554497e-02 -1.72192515e-01] [-1.65706639e-03 -3.75132663e-02 9.99294756e-01 -2.31360252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82119381700002 meters Centerline goodness : 0.937367 Centerline is valid? [False, False] Translation: X:21.21, Y:-0.17, Z:-2.31 [[ 9.99713070e-01 2.38426734e-02 2.30319268e-03 2.12103855e+01] [-2.39081114e-02 9.99115629e-01 3.45884565e-02 -1.74638512e-01] [-1.47647454e-03 -3.46335971e-02 9.99398986e-01 -2.31402819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85119381700002 meters Centerline goodness : 0.937382 Centerline is valid? [False, False] Translation: X:21.21, Y:-0.18, Z:-2.31 [[ 9.99784418e-01 2.06710196e-02 1.95633805e-03 2.12110213e+01] [-2.07228914e-02 9.99277234e-01 3.18680199e-02 -1.78256169e-01] [-1.29617962e-03 -3.19016907e-02 9.99490171e-01 -2.31406351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88119381700002 meters Centerline goodness : 0.936975 Centerline is valid? [False, False] Translation: X:21.23, Y:-0.19, Z:-2.32 [[ 9.99881633e-01 1.41356592e-02 6.07473506e-03 2.12265824e+01] [-1.43260572e-02 9.99367944e-01 3.25342220e-02 -1.89387254e-01] [-5.61100282e-03 -3.26173980e-02 9.99452161e-01 -2.31540895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91119381700003 meters Centerline goodness : 0.935223 Centerline is valid? [False, False] Translation: X:21.23, Y:-0.19, Z:-2.32 [[ 9.99954234e-01 7.71527876e-03 5.65732933e-03 2.12272979e+01] [-7.86193597e-03 9.99621165e-01 2.63764403e-02 -1.93062245e-01] [-5.45168455e-03 -2.64197107e-02 9.99636073e-01 -2.31518762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94119381700003 meters Centerline goodness : 0.936783 Centerline is valid? [False, False] Translation: X:21.23, Y:-0.20, Z:-2.32 [[ 9.99985925e-01 1.57977815e-03 5.06498324e-03 2.12287803e+01] [-1.68428274e-03 9.99784410e-01 2.06953236e-02 -1.97713404e-01] [-5.03119726e-03 -2.07035631e-02 9.99772999e-01 -2.31541939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97119381700003 meters Centerline goodness : 0.930992 Centerline is valid? [False, False] Translation: X:21.26, Y:-0.22, Z:-2.32 [[ 9.99944622e-01 -7.80965120e-03 7.05429942e-03 2.12624488e+01] [ 7.61930136e-03 9.99616617e-01 2.66189003e-02 -2.16265272e-01] [-7.25947925e-03 -2.65636773e-02 9.99620764e-01 -2.31954611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00119381700003 meters Centerline goodness : 0.930040 Centerline is valid? [False, False] Translation: X:21.28, Y:-0.22, Z:-2.32 [[ 9.99854849e-01 -1.45513491e-02 8.86223529e-03 2.12810295e+01] [ 1.43142064e-02 9.99552690e-01 2.62587785e-02 -2.24888639e-01] [-9.24037177e-03 -2.61281112e-02 9.99615895e-01 -2.32127377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03119381700003 meters Centerline goodness : 0.929899 Centerline is valid? [False, False] Translation: X:21.31, Y:-0.23, Z:-2.32 [[ 9.99692320e-01 -2.24963522e-02 1.04489308e-02 2.13063032e+01] [ 2.21108434e-02 9.99119694e-01 3.56503631e-02 -2.33884358e-01] [-1.12417357e-02 -3.54083595e-02 9.99309697e-01 -2.32141142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06119381700003 meters Centerline goodness : 0.929488 Centerline is valid? [False, False] Translation: X:21.32, Y:-0.24, Z:-2.32 [[ 9.99562148e-01 -2.62443346e-02 1.36655181e-02 2.13234280e+01] [ 2.56839174e-02 9.98882072e-01 3.96855509e-02 -2.42840074e-01] [-1.46917619e-02 -3.93171905e-02 9.99118767e-01 -2.32293839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09119381700003 meters Centerline goodness : 0.929206 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.27, Z:-2.32 [[ 9.99240531e-01 -3.70924871e-02 1.19377002e-02 2.13417831e+01] [ 3.59013740e-02 9.95473562e-01 8.79970397e-02 -2.68127905e-01] [-1.51476940e-02 -8.75016289e-02 9.96049202e-01 -2.31740462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12119381700003 meters Centerline goodness : 0.926608 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.27, Z:-2.31 [[ 9.99066954e-01 -4.20995152e-02 9.63599612e-03 2.13493464e+01] [ 4.12590592e-02 9.96319425e-01 7.51351674e-02 -2.70294622e-01] [-1.27636842e-02 -7.46674906e-02 9.97126799e-01 -2.31367142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15119381700003 meters Centerline goodness : 0.927764 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.27, Z:-2.31 [[ 9.98796136e-01 -4.80807615e-02 9.72206047e-03 2.13501366e+01] [ 4.72929097e-02 9.96466105e-01 6.94167333e-02 -2.73734941e-01] [-1.30253131e-02 -6.88733804e-02 9.97540374e-01 -2.31351541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18119381700004 meters Centerline goodness : 0.926023 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.28, Z:-2.31 [[ 9.98389971e-01 -5.54643884e-02 1.18813903e-02 2.13471527e+01] [ 5.46344361e-02 9.96613804e-01 6.14492070e-02 -2.79060161e-01] [-1.52494003e-02 -6.07011390e-02 9.98039492e-01 -2.31310565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21119381700004 meters Centerline goodness : 0.926368 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.28, Z:-2.31 [[ 9.98276507e-01 -5.81187612e-02 8.13794549e-03 2.13559205e+01] [ 5.76199709e-02 9.96985264e-01 5.19646285e-02 -2.78073605e-01] [-1.11335316e-02 -5.14061596e-02 9.98615768e-01 -2.31031221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.241193817 meters Centerline goodness : 0.925187 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.28, Z:-2.31 [[ 9.98057145e-01 -6.17136785e-02 8.56490553e-03 2.13555320e+01] [ 6.12352818e-02 9.96971991e-01 4.79279611e-02 -2.77665118e-01] [-1.14967817e-02 -4.73103697e-02 9.98814073e-01 -2.31025213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.271193817 meters Centerline goodness : 0.926411 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.28, Z:-2.31 [[ 9.97828946e-01 -6.48373314e-02 1.15548914e-02 2.13510828e+01] [ 6.43194803e-02 9.97101582e-01 4.06378989e-02 -2.78638576e-01] [-1.41562534e-02 -3.98064672e-02 9.99107124e-01 -2.31199158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.301193817 meters Centerline goodness : 0.925868 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.28, Z:-2.31 [[ 9.97606263e-01 -6.82254833e-02 1.12706558e-02 2.13526442e+01] [ 6.77657368e-02 9.97011478e-01 3.70933614e-02 -2.79191180e-01] [-1.37676857e-02 -3.62408054e-02 9.99248245e-01 -2.31273701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.331193817 meters Centerline goodness : 0.924472 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.28, Z:-2.31 [[ 9.97338752e-01 -7.20045258e-02 1.14351045e-02 2.13530463e+01] [ 7.15924743e-02 9.96885196e-01 3.30820646e-02 -2.79083164e-01] [-1.37815447e-02 -3.21753576e-02 9.99387220e-01 -2.31294208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36119381700001 meters Centerline goodness : 0.925057 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.28, Z:-2.31 [[ 9.97066759e-01 -7.56610039e-02 1.15451702e-02 2.13536223e+01] [ 7.52987111e-02 9.96735760e-01 2.91192242e-02 -2.78264885e-01] [-1.37106737e-02 -2.81644740e-02 9.99509270e-01 -2.31320354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.39119381700002 meters Centerline goodness : 0.926033 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.28, Z:-2.31 [[ 9.96761606e-01 -7.95856884e-02 1.15073439e-02 2.13540660e+01] [ 7.92847912e-02 9.96548652e-01 2.45907903e-02 -2.76142126e-01] [-1.34247031e-02 -2.35987983e-02 9.99631369e-01 -2.31302878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42119381700002 meters Centerline goodness : 0.924873 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.27, Z:-2.31 [[ 9.96463509e-01 -8.31943293e-02 1.17974093e-02 2.13538880e+01] [ 8.29436595e-02 9.96346490e-01 2.03475206e-02 -2.74454691e-01] [-1.34471057e-02 -1.92970415e-02 9.99723362e-01 -2.31273040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.45119381700002 meters Centerline goodness : 0.923140 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.27, Z:-2.31 [[ 9.96225226e-01 -8.60449749e-02 1.14699860e-02 2.13560236e+01] [ 8.58409923e-02 9.96159906e-01 1.72268888e-02 -2.73980050e-01] [-1.29082274e-02 -1.61772662e-02 9.99785814e-01 -2.31391541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48119381700002 meters Centerline goodness : 0.921963 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.27, Z:-2.31 [[ 9.96234022e-01 -8.59623024e-02 1.13250072e-02 2.13564420e+01] [ 8.57616336e-02 9.96168042e-01 1.71515390e-02 -2.73308193e-01] [-1.27559960e-02 -1.61156955e-02 9.99788762e-01 -2.31414029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51119381700002 meters Centerline goodness : 0.921487 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.27, Z:-2.31 [[ 9.96250695e-01 -8.57661506e-02 1.13455136e-02 2.13567268e+01] [ 8.55690243e-02 9.96189766e-01 1.68490921e-02 -2.71744947e-01] [-1.27473663e-02 -1.58150952e-02 9.99793672e-01 -2.31463905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54119381700002 meters Centerline goodness : 0.918933 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.27, Z:-2.32 [[ 9.96592300e-01 -8.17116940e-02 1.12688382e-02 2.13567834e+01] [ 8.14795904e-02 9.96480046e-01 1.97127869e-02 -2.68072941e-01] [-1.28399376e-02 -1.87274313e-02 9.99742176e-01 -2.31557425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57119381700002 meters Centerline goodness : 0.919308 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.27, Z:-2.32 [[ 9.96892044e-01 -7.80291440e-02 1.08492170e-02 2.13569533e+01] [ 7.77622028e-02 9.96702737e-01 2.31666517e-02 -2.66278713e-01] [-1.26211183e-02 -2.22509917e-02 9.99672747e-01 -2.31565080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60119381700002 meters Centerline goodness : 0.920951 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.26, Z:-2.32 [[ 9.97174389e-01 -7.43794958e-02 1.05323032e-02 2.13567139e+01] [ 7.40808383e-02 9.96903679e-01 2.63644496e-02 -2.64321678e-01] [-1.24606663e-02 -2.55097121e-02 9.99596912e-01 -2.31546512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63119381700002 meters Centerline goodness : 0.922643 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.26, Z:-2.31 [[ 9.97674482e-01 -6.73232199e-02 1.06401123e-02 2.13535907e+01] [ 6.69475040e-02 9.97229797e-01 3.24154963e-02 -2.60714418e-01] [-1.27929526e-02 -3.16277845e-02 9.99417842e-01 -2.31296877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66119381700003 meters Centerline goodness : 0.926938 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.26, Z:-2.31 [[ 9.97923771e-01 -6.35610361e-02 1.03991763e-02 2.13528400e+01] [ 6.31517955e-02 9.97360577e-01 3.58291678e-02 -2.59098738e-01] [-1.26490675e-02 -3.50980516e-02 9.99303822e-01 -2.31214565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69119381700003 meters Centerline goodness : 0.926527 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.25, Z:-2.31 [[ 9.97957514e-01 -6.29851853e-02 1.06614375e-02 2.13516112e+01] [ 6.25843882e-02 9.97443837e-01 3.44816963e-02 -2.54537986e-01] [-1.28060211e-02 -3.37440283e-02 9.99348461e-01 -2.31168292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72119381700003 meters Centerline goodness : 0.929319 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.25, Z:-2.31 [[ 9.97975040e-01 -6.26635933e-02 1.09129876e-02 2.13504508e+01] [ 6.22717808e-02 9.97508493e-01 3.31516507e-02 -2.50346793e-01] [-1.29631993e-02 -3.24049488e-02 9.99390752e-01 -2.31127729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75119381700003 meters Centerline goodness : 0.928514 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.24, Z:-2.31 [[ 9.98288443e-01 -5.80858337e-02 6.79855846e-03 2.13413292e+01] [ 5.79036466e-02 9.98022083e-01 2.44762975e-02 -2.43290896e-01] [-8.20683762e-03 -2.40407436e-02 9.99677293e-01 -2.30974565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78119381700003 meters Centerline goodness : 0.925178 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.24, Z:-2.31 [[ 9.98272785e-01 -5.83694994e-02 6.66689824e-03 2.13418503e+01] [ 5.82019772e-02 9.98038987e-01 2.30371320e-02 -2.40256487e-01] [-7.99849023e-03 -2.26093153e-02 9.99712380e-01 -2.31067803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81119381700003 meters Centerline goodness : 0.928398 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.24, Z:-2.31 [[ 9.98261080e-01 -5.85786897e-02 6.58427829e-03 2.13420101e+01] [ 5.84207619e-02 9.98048453e-01 2.20521909e-02 -2.37792789e-01] [-7.86321722e-03 -2.16291853e-02 9.99735139e-01 -2.31105908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84119381700003 meters Centerline goodness : 0.926901 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.24, Z:-2.31 [[ 9.98258664e-01 -5.86327443e-02 6.46844255e-03 2.13422581e+01] [ 5.84838039e-02 9.98062976e-01 2.12117997e-02 -2.35935198e-01] [-7.69961905e-03 -2.07965637e-02 9.99754079e-01 -2.31141495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87119381700003 meters Centerline goodness : 0.926901 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.24, Z:-2.31 [[ 9.98258664e-01 -5.86327443e-02 6.46844255e-03 2.13422581e+01] [ 5.84838039e-02 9.98062976e-01 2.12117997e-02 -2.35935198e-01] [-7.69961905e-03 -2.07965637e-02 9.99754079e-01 -2.31141495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90119381700003 meters Centerline goodness : 0.926518 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.23, Z:-2.31 [[ 9.98287445e-01 -5.81128950e-02 6.71330326e-03 2.13417501e+01] [ 5.79658816e-02 9.98111391e-01 2.03373298e-02 -2.33177608e-01] [-7.88248557e-03 -1.99133585e-02 9.99770636e-01 -2.31185539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93119381700004 meters Centerline goodness : 0.925925 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.23, Z:-2.31 [[ 9.98307534e-01 -5.77875443e-02 6.53204450e-03 2.13422767e+01] [ 5.76463476e-02 9.98135551e-01 2.00579269e-02 -2.31949672e-01] [-7.67896418e-03 -1.96474310e-02 9.99777481e-01 -2.31239051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96119381700004 meters Centerline goodness : 0.925515 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.23, Z:-2.31 [[ 9.98319530e-01 -5.75797292e-02 6.53384446e-03 2.13422066e+01] [ 5.74410138e-02 9.98153837e-01 1.97344430e-02 -2.30776227e-01] [-7.65808581e-03 -1.93259692e-02 9.99783907e-01 -2.31256045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.991193817 meters Centerline goodness : 0.920710 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.23, Z:-2.31 [[ 9.98329411e-01 -5.73886219e-02 6.70328525e-03 2.13418869e+01] [ 5.72494674e-02 9.98171869e-01 1.93757140e-02 -2.29957874e-01] [-7.80297629e-03 -1.89595856e-02 9.99789802e-01 -2.31276288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.021193817 meters Centerline goodness : 0.918968 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.23, Z:-2.31 [[ 9.98439819e-01 -5.53689173e-02 7.22572748e-03 2.13409223e+01] [ 5.52098217e-02 9.98261840e-01 2.06197770e-02 -2.30757062e-01] [-8.35486273e-03 -2.01886753e-02 9.99761278e-01 -2.31299903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.051193817 meters Centerline goodness : 0.921822 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.23, Z:-2.31 [[ 9.98517073e-01 -5.39985311e-02 6.91474500e-03 2.13421932e+01] [ 5.38371963e-02 9.98313710e-01 2.17092868e-02 -2.31825482e-01] [-8.07535433e-03 -2.13048230e-02 9.99740413e-01 -2.31409228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.081193817 meters Centerline goodness : 0.917896 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.23, Z:-2.31 [[ 9.98551229e-01 -5.33526374e-02 6.99564034e-03 2.13424512e+01] [ 5.31861602e-02 9.98339046e-01 2.21445794e-02 -2.32899248e-01] [-8.16549262e-03 -2.17404257e-02 9.99730303e-01 -2.31470923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.11119381700001 meters Centerline goodness : 0.919337 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.23, Z:-2.31 [[ 9.98584892e-01 -5.27079545e-02 7.07713003e-03 2.13425621e+01] [ 5.25333633e-02 9.98355893e-01 2.29293637e-02 -2.34674464e-01] [-8.27405433e-03 -2.25251307e-02 9.99712038e-01 -2.31494661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14119381700002 meters Centerline goodness : 0.918819 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.24, Z:-2.31 [[ 9.98668054e-01 -5.10895369e-02 7.20956951e-03 2.13427175e+01] [ 5.08892853e-02 9.98374617e-01 2.56594122e-02 -2.40761205e-01] [-8.50877868e-03 -2.52583454e-02 9.99644745e-01 -2.31479931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.17119381700002 meters Centerline goodness : 0.918278 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.24, Z:-2.31 [[ 9.98717679e-01 -5.01300171e-02 7.06965250e-03 2.13431117e+01] [ 4.99150792e-02 9.98364774e-01 2.78615081e-02 -2.44885278e-01] [-8.45478989e-03 -2.74728985e-02 9.99586793e-01 -2.31429584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20119381700002 meters Centerline goodness : 0.918703 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.25, Z:-2.31 [[ 9.98603399e-01 -5.22759580e-02 7.64691478e-03 2.13419122e+01] [ 5.20519411e-02 9.98278434e-01 2.70326287e-02 -2.51055967e-01] [-9.04690668e-03 -2.65968381e-02 9.99605303e-01 -2.31278188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23119381700002 meters Centerline goodness : 0.917160 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.25, Z:-2.31 [[ 9.98481444e-01 -5.45597423e-02 7.61837618e-03 2.13429975e+01] [ 5.43539004e-02 9.98208192e-01 2.50211826e-02 -2.54003901e-01] [-8.96987479e-03 -2.45690981e-02 9.99657892e-01 -2.31335777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26119381700002 meters Centerline goodness : 0.915125 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.26, Z:-2.31 [[ 9.98372514e-01 -5.65304932e-02 7.52511980e-03 2.13443419e+01] [ 5.63388026e-02 9.98132128e-01 2.36261439e-02 -2.57674796e-01] [-8.84666141e-03 -2.31637364e-02 9.99692542e-01 -2.31401147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29119381700002 meters Centerline goodness : 0.914946 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.26, Z:-2.31 [[ 9.98373523e-01 -5.65605285e-02 7.15643090e-03 2.13453450e+01] [ 5.63606499e-02 9.98082599e-01 2.55851976e-02 -2.63145680e-01] [-8.58982145e-03 -2.51402428e-02 9.99647029e-01 -2.31353015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32119381700002 meters Centerline goodness : 0.915391 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.27, Z:-2.31 [[ 9.98191596e-01 -5.96944587e-02 7.07873814e-03 2.13460908e+01] [ 5.95152332e-02 9.97955794e-01 2.32845502e-02 -2.66891291e-01] [-8.45422636e-03 -2.28211496e-02 9.99703817e-01 -2.31327422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35119381700002 meters Centerline goodness : 0.911620 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.28, Z:-2.31 [[ 9.97972064e-01 -6.33506305e-02 6.20140803e-03 2.13489846e+01] [ 6.31917795e-02 9.97733433e-01 2.31256330e-02 -2.77135865e-01] [-7.65237556e-03 -2.26868576e-02 9.99713333e-01 -2.31294604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38119381700002 meters Centerline goodness : 0.914091 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.28, Z:-2.31 [[ 9.97793032e-01 -6.61914660e-02 5.26822287e-03 2.13632377e+01] [ 6.61631400e-02 9.97794310e-01 5.38094462e-03 -2.77409439e-01] [-5.61277541e-03 -5.02050689e-03 9.99971645e-01 -2.31029932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41119381700003 meters Centerline goodness : 0.914952 Centerline is valid? [False, False] Translation: X:21.38, Y:-0.30, Z:-2.28 [[ 9.96858407e-01 -7.83440086e-02 -1.16418945e-02 2.13838730e+01] [ 7.90982063e-02 9.92315087e-01 9.51537755e-02 -2.99559521e-01] [ 4.09769931e-03 -9.57756940e-02 9.95394507e-01 -2.28456046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44119381700003 meters Centerline goodness : 0.914818 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.30, Z:-2.28 [[ 9.96296012e-01 -8.51556956e-02 -1.19483505e-02 2.13914305e+01] [ 8.58380921e-02 9.93141678e-01 7.93815483e-02 -3.00290891e-01] [ 5.10661388e-03 -8.01131437e-02 9.96772696e-01 -2.28068521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47119381700003 meters Centerline goodness : 0.917667 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.31, Z:-2.28 [[ 9.94948086e-01 -9.99144452e-02 -9.76779950e-03 2.14001394e+01] [ 1.00305256e-01 9.93398959e-01 5.56539712e-02 -3.05319602e-01] [ 4.14268619e-03 -5.63525738e-02 9.98402337e-01 -2.27684720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50119381700003 meters Centerline goodness : 0.918526 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.31, Z:-2.28 [[ 9.94102593e-01 -1.08051831e-01 -9.21071266e-03 2.14006451e+01] [ 1.08372717e-01 9.92934587e-01 4.83348793e-02 -3.08305294e-01] [ 3.92296294e-03 -4.90480187e-02 9.98788718e-01 -2.27632697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53119381700003 meters Centerline goodness : 0.915407 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.31, Z:-2.28 [[ 9.92631218e-01 -1.20899973e-01 -8.15242953e-03 2.14015634e+01] [ 1.21122960e-01 9.91923246e-01 3.76497361e-02 -3.14737556e-01] [ 3.53473227e-03 -3.83597498e-02 9.99257742e-01 -2.27600128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56119381700003 meters Centerline goodness : 0.916933 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.32, Z:-2.28 [[ 9.91836238e-01 -1.27320758e-01 -7.09229124e-03 2.14004810e+01] [ 1.27482310e-01 9.91341116e-01 3.14809970e-02 -3.16609347e-01] [ 3.02269549e-03 -3.21281354e-02 9.99479187e-01 -2.27501963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59119381700003 meters Centerline goodness : 0.914185 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.32, Z:-2.28 [[ 9.91274255e-01 -1.31637052e-01 -6.85837424e-03 2.14016161e+01] [ 1.31778331e-01 9.90888817e-01 2.78176800e-02 -3.18620503e-01] [ 3.13404896e-03 -2.84787351e-02 9.99589485e-01 -2.27542150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62119381700003 meters Centerline goodness : 0.914016 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.32, Z:-2.28 [[ 9.90721196e-01 -1.35752061e-01 -6.54908813e-03 2.14026205e+01] [ 1.35871238e-01 9.90438424e-01 2.38900493e-02 -3.19310308e-01] [ 3.24334511e-03 -2.45582109e-02 9.99693140e-01 -2.27595348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65119381700003 meters Centerline goodness : 0.915869 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.32, Z:-2.28 [[ 9.90138807e-01 -1.39959329e-01 -6.04385585e-03 2.14035107e+01] [ 1.40052940e-01 9.89946024e-01 1.98000818e-02 -3.19726206e-01] [ 3.21188490e-03 -2.04512891e-02 9.99785691e-01 -2.27682150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68119381700004 meters Centerline goodness : 0.914729 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.32, Z:-2.28 [[ 9.90083591e-01 -1.40348318e-01 -6.06891584e-03 2.14039781e+01] [ 1.40440936e-01 9.89899728e-01 1.93616064e-02 -3.19045205e-01] [ 3.29024925e-03 -2.00219330e-02 9.99794127e-01 -2.27731965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71119381700004 meters Centerline goodness : 0.915712 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.32, Z:-2.28 [[ 9.90019254e-01 -1.40796343e-01 -6.18597720e-03 2.14045212e+01] [ 1.40888544e-01 9.89850990e-01 1.85858811e-02 -3.17160222e-01] [ 3.50637156e-03 -1.92719135e-02 9.99808131e-01 -2.27775977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.741193817 meters Centerline goodness : 0.916117 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.31, Z:-2.28 [[ 9.89952974e-01 -1.41255734e-01 -6.31873204e-03 2.14050089e+01] [ 1.41346677e-01 9.89804135e-01 1.75752893e-02 -3.14255536e-01] [ 3.77169671e-03 -1.82918417e-02 9.99825576e-01 -2.27820991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.771193817 meters Centerline goodness : 0.913815 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.31, Z:-2.28 [[ 9.89891362e-01 -1.41688969e-01 -6.27109370e-03 2.14053384e+01] [ 1.41772777e-01 9.89770598e-01 1.59575437e-02 -3.07919659e-01] [ 3.94593625e-03 -1.66853050e-02 9.99853004e-01 -2.27928352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.801193817 meters Centerline goodness : 0.911422 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.30, Z:-2.28 [[ 9.89844612e-01 -1.42012247e-01 -6.33769887e-03 2.14057326e+01] [ 1.42092267e-01 9.89743219e-01 1.47698373e-02 -3.04038046e-01] [ 4.17519671e-03 -1.55203818e-02 9.99870834e-01 -2.27987345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.831193817 meters Centerline goodness : 0.913806 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.30, Z:-2.28 [[ 9.89785628e-01 -1.42419781e-01 -6.40440551e-03 2.14061147e+01] [ 1.42495223e-01 9.89703666e-01 1.34820217e-02 -2.99894474e-01] [ 4.41835703e-03 -1.42569086e-02 9.99888603e-01 -2.28050227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86119381700001 meters Centerline goodness : 0.912622 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.29, Z:-2.28 [[ 9.89647213e-01 -1.43380771e-01 -6.35201172e-03 2.14068283e+01] [ 1.43445124e-01 9.89594787e-01 1.12095492e-02 -2.91160382e-01] [ 4.67868387e-03 -1.20046643e-02 9.99916996e-01 -2.28216737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.89119381700002 meters Centerline goodness : 0.912520 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.29, Z:-2.28 [[ 9.89527183e-01 -1.44193454e-01 -6.64847010e-03 2.14079003e+01] [ 1.44253509e-01 9.89493532e-01 9.66825599e-03 -2.87175655e-01] [ 5.18451894e-03 -1.05260673e-02 9.99931159e-01 -2.28297985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92119381700002 meters Centerline goodness : 0.912701 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.28, Z:-2.28 [[ 9.89373471e-01 -1.45235397e-01 -6.84207259e-03 2.14094233e+01] [ 1.45288216e-01 9.89357160e-01 7.98398997e-03 -2.83488492e-01] [ 5.60969555e-03 -8.89322040e-03 9.99944719e-01 -2.28447559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.95119381700002 meters Centerline goodness : 0.911834 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.28, Z:-2.29 [[ 9.89251677e-01 -1.46056095e-01 -6.98122922e-03 2.14102756e+01] [ 1.46102689e-01 9.89246696e-01 6.70657381e-03 -2.80497762e-01] [ 5.92662196e-03 -7.65446574e-03 9.99953141e-01 -2.28529496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98119381700002 meters Centerline goodness : 0.911553 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.27, Z:-2.29 [[ 9.89028231e-01 -1.47576136e-01 -6.66655890e-03 2.14095504e+01] [ 1.47605663e-01 9.89037477e-01 4.17573507e-03 -2.73754323e-01] [ 5.97723775e-03 -5.11394171e-03 9.99969060e-01 -2.28541942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01119381700002 meters Centerline goodness : 0.911741 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.27, Z:-2.29 [[ 9.88912693e-01 -1.48347266e-01 -6.69133687e-03 2.14096268e+01] [ 1.48367596e-01 9.88928733e-01 2.64897527e-03 -2.69416732e-01] [ 6.22428705e-03 -3.61238283e-03 9.99974104e-01 -2.28563561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04119381700002 meters Centerline goodness : 0.914725 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.27, Z:-2.29 [[ 9.89268227e-01 -1.45952627e-01 -6.79747270e-03 2.14083593e+01] [ 1.45987161e-01 9.89274380e-01 4.89383255e-03 -2.66458802e-01] [ 6.01029787e-03 -5.83365679e-03 9.99964922e-01 -2.28507632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07119381700002 meters Centerline goodness : 0.913646 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.26, Z:-2.29 [[ 9.89657080e-01 -1.43276213e-01 -7.12676130e-03 2.14079766e+01] [ 1.43327850e-01 9.89647938e-01 7.35432494e-03 -2.63620915e-01] [ 5.99928480e-03 -8.29972312e-03 9.99947560e-01 -2.28506787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10119381700002 meters Centerline goodness : 0.915486 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.26, Z:-2.28 [[ 9.90347848e-01 -1.38412672e-01 -7.28511947e-03 2.14045959e+01] [ 1.38486502e-01 9.90304847e-01 1.08535088e-02 -2.55269494e-01] [ 5.71222597e-03 -1.17576398e-02 9.99914561e-01 -2.28302179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13119381700002 meters Centerline goodness : 0.916103 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.25, Z:-2.28 [[ 9.90745363e-01 -1.35527305e-01 -7.48163275e-03 2.14027432e+01] [ 1.35614304e-01 9.90680320e-01 1.26990065e-02 -2.50191345e-01] [ 5.69084419e-03 -1.35960983e-02 9.99891374e-01 -2.28162274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16119381700003 meters Centerline goodness : 0.920378 Centerline is valid? [False, False] Translation: X:21.38, Y:-0.25, Z:-2.28 [[ 9.91538620e-01 -1.29702102e-01 -5.34141817e-03 2.13802387e+01] [ 1.29771536e-01 9.91417576e-01 1.58284287e-02 -2.47433941e-01] [ 3.24259538e-03 -1.63876624e-02 9.99860455e-01 -2.27993226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19119381700003 meters Centerline goodness : 0.920160 Centerline is valid? [False, False] Translation: X:21.38, Y:-0.24, Z:-2.28 [[ 9.91987181e-01 -1.26212646e-01 -5.63928385e-03 2.13789205e+01] [ 1.26295180e-01 9.91827853e-01 1.80842018e-02 -2.42008215e-01] [ 3.31074384e-03 -1.86515107e-02 9.99820564e-01 -2.27904649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22119381700003 meters Centerline goodness : 0.924182 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.23, Z:-2.28 [[ 9.93123722e-01 -1.16828355e-01 -7.51047686e-03 2.13593837e+01] [ 1.16970203e-01 9.92879116e-01 2.25617436e-02 -2.32994894e-01] [ 4.82114423e-03 -2.32851048e-02 9.99717240e-01 -2.27603398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25119381700003 meters Centerline goodness : 0.922391 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.23, Z:-2.28 [[ 9.93141857e-01 -1.16677374e-01 -7.45936523e-03 2.13592085e+01] [ 1.16807208e-01 9.92946153e-01 2.03473128e-02 -2.25752559e-01] [ 5.03267699e-03 -2.10790756e-02 9.99765145e-01 -2.27685073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28119381700003 meters Centerline goodness : 0.921572 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.22, Z:-2.28 [[ 9.93818429e-01 -1.10543681e-01 -1.02481531e-02 2.13492237e+01] [ 1.10688180e-01 9.93744890e-01 1.48061095e-02 -2.21282864e-01] [ 8.54732796e-03 -1.58489339e-02 9.99837864e-01 -2.27512161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31119381700003 meters Centerline goodness : 0.922316 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.21, Z:-2.27 [[ 9.94409464e-01 -1.04234532e-01 -1.68813480e-02 2.13376218e+01] [ 1.04457130e-01 9.94445887e-01 1.28874514e-02 -2.11797871e-01] [ 1.54442696e-02 -1.45787808e-02 9.99774441e-01 -2.27193204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34119381700003 meters Centerline goodness : 0.920890 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.21, Z:-2.27 [[ 9.94713547e-01 -1.01201211e-01 -1.74147588e-02 2.13379401e+01] [ 1.01462219e-01 9.94729022e-01 1.48185846e-02 -2.07634117e-01] [ 1.58233073e-02 -1.65071869e-02 9.99738534e-01 -2.27253495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37119381700003 meters Centerline goodness : 0.921606 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.20, Z:-2.27 [[ 9.95021583e-01 -9.80281923e-02 -1.79589014e-02 2.13381158e+01] [ 9.83299708e-02 9.95012565e-01 1.67694100e-02 -2.03128001e-01] [ 1.62254576e-02 -1.84518232e-02 9.99698087e-01 -2.27298032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40119381700003 meters Centerline goodness : 0.919724 Centerline is valid? [False, False] Translation: X:21.33, Y:-0.19, Z:-2.27 [[ 9.95886699e-01 -8.77556227e-02 -2.25529108e-02 2.13340046e+01] [ 8.79744052e-02 9.96083001e-01 8.89711775e-03 -1.92497505e-01] [ 2.16837990e-02 -1.08446001e-02 9.99706061e-01 -2.27213880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43119381700004 meters Centerline goodness : 0.919470 Centerline is valid? [False, False] Translation: X:21.33, Y:-0.19, Z:-2.27 [[ 9.96372334e-01 -7.84496379e-02 -3.29822048e-02 2.13284538e+01] [ 7.88730175e-02 9.96815590e-01 1.17357381e-02 -1.90950859e-01] [ 3.19565115e-02 -1.42945708e-02 9.99387035e-01 -2.26839414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46119381700004 meters Centerline goodness : 0.916081 Centerline is valid? [False, False] Translation: X:21.33, Y:-0.19, Z:-2.27 [[ 9.96675937e-01 -7.41877495e-02 -3.36638561e-02 2.13298096e+01] [ 7.46984911e-02 9.97105414e-01 1.41749041e-02 -1.86874153e-01] [ 3.25148089e-02 -1.66424251e-02 9.99332686e-01 -2.27008368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49119381700004 meters Centerline goodness : 0.917526 Centerline is valid? [False, False] Translation: X:21.32, Y:-0.18, Z:-2.27 [[ 9.97307233e-01 -6.21946486e-02 -3.88601050e-02 2.13229736e+01] [ 6.24894767e-02 9.98024989e-01 6.41772826e-03 -1.79155876e-01] [ 3.83842075e-02 -8.82879444e-03 9.99224051e-01 -2.26652677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.521193817 meters Centerline goodness : 0.920267 Centerline is valid? [False, False] Translation: X:21.32, Y:-0.18, Z:-2.27 [[ 9.97440720e-01 -6.03950496e-02 -3.82681142e-02 2.13219037e+01] [ 6.06457188e-02 9.98144625e-01 5.42266996e-03 -1.76062651e-01] [ 3.78696100e-02 -7.72958912e-03 9.99252794e-01 -2.26753785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.551193817 meters Centerline goodness : 0.921636 Centerline is valid? [False, False] Translation: X:21.32, Y:-0.17, Z:-2.27 [[ 9.97567268e-01 -5.85338205e-02 -3.78594407e-02 2.13209347e+01] [ 5.87785310e-02 9.98256538e-01 5.38226539e-03 -1.74734802e-01] [ 3.74783896e-02 -7.59449409e-03 9.99268579e-01 -2.26793041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.581193817 meters Centerline goodness : 0.921942 Centerline is valid? [False, False] Translation: X:21.32, Y:-0.18, Z:-2.27 [[ 9.97941508e-01 -5.22075285e-02 -3.72440617e-02 2.13192393e+01] [ 5.26342553e-02 9.98557916e-01 1.05699339e-02 -1.76321851e-01] [ 3.66385225e-02 -1.25084892e-02 9.99250297e-01 -2.26804270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.61119381700001 meters Centerline goodness : 0.922251 Centerline is valid? [False, False] Translation: X:21.32, Y:-0.18, Z:-2.27 [[ 9.97970301e-01 -5.13686329e-02 -3.76369747e-02 2.13201545e+01] [ 5.18229503e-02 9.98593527e-01 1.11959314e-02 -1.76770994e-01] [ 3.70089197e-02 -1.31236661e-02 9.99228757e-01 -2.26818513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64119381700002 meters Centerline goodness : 0.921539 Centerline is valid? [False, False] Translation: X:21.32, Y:-0.18, Z:-2.27 [[ 9.97990197e-01 -5.07095076e-02 -3.80014805e-02 2.13210433e+01] [ 5.11976334e-02 9.98616646e-01 1.19831607e-02 -1.78349405e-01] [ 3.73412509e-02 -1.39046628e-02 9.99205830e-01 -2.26839527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.67119381700002 meters Centerline goodness : 0.920181 Centerline is valid? [False, False] Translation: X:21.32, Y:-0.18, Z:-2.27 [[ 9.97899106e-01 -5.20988354e-02 -3.85108486e-02 2.13237850e+01] [ 5.25353992e-02 9.98564784e-01 1.04117568e-02 -1.80332449e-01] [ 3.79131368e-02 -1.24130656e-02 9.99203938e-01 -2.26985623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70119381700002 meters Centerline goodness : 0.921328 Centerline is valid? [False, False] Translation: X:21.33, Y:-0.18, Z:-2.27 [[ 9.97776312e-01 -5.39985269e-02 -3.90716098e-02 2.13263723e+01] [ 5.43729304e-02 9.98483805e-01 8.58340277e-03 -1.83277789e-01] [ 3.85488785e-02 -1.06887539e-02 9.99199547e-01 -2.27103709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73119381700002 meters Centerline goodness : 0.921133 Centerline is valid? [False, False] Translation: X:21.33, Y:-0.19, Z:-2.27 [[ 9.97645398e-01 -5.60646496e-02 -3.95020959e-02 2.13281254e+01] [ 5.64193997e-02 9.98375721e-01 7.92285891e-03 -1.91875922e-01] [ 3.89937412e-02 -1.01328883e-02 9.99188077e-01 -2.27136535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76119381700002 meters Centerline goodness : 0.921473 Centerline is valid? [False, False] Translation: X:21.33, Y:-0.20, Z:-2.27 [[ 9.97658222e-01 -5.56608014e-02 -3.97485604e-02 2.13291924e+01] [ 5.60820831e-02 9.98380367e-01 9.56260869e-03 -1.97412385e-01] [ 3.91519198e-02 -1.17693972e-02 9.99163955e-01 -2.27189024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79119381700002 meters Centerline goodness : 0.921473 Centerline is valid? [False, False] Translation: X:21.33, Y:-0.20, Z:-2.27 [[ 9.97658222e-01 -5.56608014e-02 -3.97485604e-02 2.13291924e+01] [ 5.60820831e-02 9.98380367e-01 9.56260869e-03 -1.97412385e-01] [ 3.91519198e-02 -1.17693972e-02 9.99163955e-01 -2.27189024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82119381700002 meters Centerline goodness : 0.919547 Centerline is valid? [False, False] Translation: X:21.33, Y:-0.20, Z:-2.27 [[ 9.97613096e-01 -5.57193669e-02 -4.07855786e-02 2.13322018e+01] [ 5.62557781e-02 9.98342778e-01 1.21237336e-02 -2.03332471e-01] [ 4.00424611e-02 -1.43892198e-02 9.99094366e-01 -2.27220690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85119381700002 meters Centerline goodness : 0.920722 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.21, Z:-2.27 [[ 9.97268006e-01 -6.00105697e-02 -4.30726834e-02 2.13370271e+01] [ 6.06658085e-02 9.98058980e-01 1.40688217e-02 -2.14644770e-01] [ 4.21448004e-02 -1.66434249e-02 9.98972879e-01 -2.27184241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88119381700002 meters Centerline goodness : 0.921408 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.22, Z:-2.27 [[ 9.97011922e-01 -6.38405970e-02 -4.34925872e-02 2.13380875e+01] [ 6.44446987e-02 9.97841342e-01 1.26307928e-02 -2.20022574e-01] [ 4.25923442e-02 -1.53959177e-02 9.98973903e-01 -2.27051687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91119381700003 meters Centerline goodness : 0.921030 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.23, Z:-2.27 [[ 9.96751374e-01 -6.75910061e-02 -4.37967320e-02 2.13388907e+01] [ 6.81557882e-02 9.97608045e-01 1.15315466e-02 -2.26130534e-01] [ 4.29125434e-02 -1.44790857e-02 9.98973908e-01 -2.26900770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94119381700003 meters Centerline goodness : 0.923238 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.23, Z:-2.27 [[ 9.96472885e-01 -7.14594082e-02 -4.39925286e-02 2.13395877e+01] [ 7.19749072e-02 9.97353819e-01 1.02455962e-02 -2.32752687e-01] [ 4.31439722e-02 -1.33758169e-02 9.98979322e-01 -2.26762753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97119381700003 meters Centerline goodness : 0.924103 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.24, Z:-2.27 [[ 9.96192197e-01 -7.50818495e-02 -4.43150431e-02 2.13401808e+01] [ 7.55868281e-02 9.97090776e-01 9.82936467e-03 -2.39789178e-01] [ 4.34481138e-02 -1.31415699e-02 9.98969249e-01 -2.26550996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00119381700003 meters Centerline goodness : 0.926638 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.25, Z:-2.26 [[ 9.95603898e-01 -8.25352549e-02 -4.42810438e-02 2.13412052e+01] [ 8.29039918e-02 9.96535992e-01 6.55326231e-03 -2.50192042e-01] [ 4.35867788e-02 -1.01955288e-02 9.98997620e-01 -2.26386039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03119381700003 meters Centerline goodness : 0.926634 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.25, Z:-2.26 [[ 9.95307618e-01 -8.59887304e-02 -4.43698531e-02 2.13423678e+01] [ 8.62591432e-02 9.96263827e-01 4.21278854e-03 -2.53596040e-01] [ 4.38418273e-02 -8.02032604e-03 9.99006291e-01 -2.26387702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06119381700003 meters Centerline goodness : 0.924565 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.26, Z:-2.26 [[ 9.95280370e-01 -8.60808082e-02 -4.48004387e-02 2.13437304e+01] [ 8.64315743e-02 9.96240030e-01 5.94865358e-03 -2.58736254e-01] [ 4.41199255e-02 -9.79275059e-03 9.98978245e-01 -2.26386277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09119381700003 meters Centerline goodness : 0.924850 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.26, Z:-2.26 [[ 9.95029564e-01 -8.87471768e-02 -4.51675362e-02 2.13461471e+01] [ 8.90164191e-02 9.96022203e-01 3.98095680e-03 -2.61762369e-01] [ 4.46345702e-02 -7.98182204e-03 9.98971494e-01 -2.26495685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12119381700003 meters Centerline goodness : 0.924269 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.27, Z:-2.27 [[ 9.94754695e-01 -9.15811954e-02 -4.55629495e-02 2.13480887e+01] [ 9.17986342e-02 9.95773934e-01 2.69857580e-03 -2.67001147e-01] [ 4.51232587e-02 -6.86703749e-03 9.98957825e-01 -2.26514867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15119381700003 meters Centerline goodness : 0.924650 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.27, Z:-2.27 [[ 9.94748563e-01 -9.14180735e-02 -4.60220883e-02 2.13492220e+01] [ 9.16924717e-02 9.95779803e-01 3.88255342e-03 -2.70061980e-01] [ 4.54729305e-02 -8.08204346e-03 9.98932877e-01 -2.26515625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18119381700004 meters Centerline goodness : 0.924737 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.27, Z:-2.27 [[ 9.94749954e-01 -9.11761694e-02 -4.64697332e-02 2.13501556e+01] [ 9.15105565e-02 9.95790967e-01 5.11549942e-03 -2.73018692e-01] [ 4.58077289e-02 -9.34111395e-03 9.98906600e-01 -2.26500706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21119381700004 meters Centerline goodness : 0.927599 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.28, Z:-2.26 [[ 9.94437589e-01 -9.45778191e-02 -4.63564108e-02 2.13501980e+01] [ 9.47862410e-02 9.95494960e-01 2.31378536e-03 -2.75526984e-01] [ 4.59287405e-02 -6.69486506e-03 9.98922284e-01 -2.26427014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24119381700004 meters Centerline goodness : 0.931010 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.28, Z:-2.26 [[ 9.94424482e-01 -9.46133161e-02 -4.65646807e-02 2.13501311e+01] [ 9.48397805e-02 9.95488960e-01 2.67344329e-03 -2.76442615e-01] [ 4.61016822e-02 -7.07472155e-03 9.98911699e-01 -2.26361760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.271193817 meters Centerline goodness : 0.930260 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.28, Z:-2.26 [[ 9.94430558e-01 -9.45186685e-02 -4.66270965e-02 2.13495823e+01] [ 9.47558962e-02 9.95496316e-01 2.89901082e-03 -2.76581789e-01] [ 4.61430922e-02 -7.30105727e-03 9.98908159e-01 -2.26280657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.301193817 meters Centerline goodness : 0.930843 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.28, Z:-2.26 [[ 9.94667513e-01 -9.18099232e-02 -4.69837932e-02 2.13495516e+01] [ 9.22144803e-02 9.95717872e-01 6.51216884e-03 -2.78173515e-01] [ 4.61847208e-02 -1.08100289e-02 9.98874424e-01 -2.26255002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.331193817 meters Centerline goodness : 0.930514 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.28, Z:-2.26 [[ 9.94666710e-01 -9.17862888e-02 -4.70469301e-02 2.13497385e+01] [ 9.21883368e-02 9.95720738e-01 6.44374567e-03 -2.77751122e-01] [ 4.62541565e-02 -1.07465575e-02 9.98871896e-01 -2.26264078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36119381700001 meters Centerline goodness : 0.930618 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.28, Z:-2.26 [[ 9.94650512e-01 -9.18468694e-02 -4.72706238e-02 2.13506609e+01] [ 9.22329017e-02 9.95719103e-01 6.04647122e-03 -2.76417683e-01] [ 4.65129137e-02 -1.03740325e-02 9.98863819e-01 -2.26330663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.39119381700002 meters Centerline goodness : 0.928775 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.27, Z:-2.26 [[ 9.94648052e-01 -9.19141630e-02 -4.71915138e-02 2.13510882e+01] [ 9.22576933e-02 9.95721851e-01 5.14911417e-03 -2.72978179e-01] [ 4.65163449e-02 -9.47533658e-03 9.98872588e-01 -2.26415584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42119381700002 meters Centerline goodness : 0.929111 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.27, Z:-2.26 [[ 9.94856898e-01 -8.94279463e-02 -4.75646307e-02 2.13519358e+01] [ 8.98959378e-02 9.95920711e-01 7.78835079e-03 -2.72441943e-01] [ 4.66741046e-02 -1.20241616e-02 9.98837798e-01 -2.26484132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.45119381700002 meters Centerline goodness : 0.927870 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.27, Z:-2.27 [[ 9.95132656e-01 -8.60810491e-02 -4.79692655e-02 2.13523254e+01] [ 8.67064284e-02 9.96171971e-01 1.11085739e-02 -2.71626655e-01] [ 4.68294000e-02 -1.52137484e-02 9.98787039e-01 -2.26513024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48119381700002 meters Centerline goodness : 0.928188 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.27, Z:-2.27 [[ 9.95445838e-01 -8.21067826e-02 -4.84361370e-02 2.13525985e+01] [ 8.29104677e-02 9.96446793e-01 1.48203341e-02 -2.70274889e-01] [ 4.70471835e-02 -1.87687027e-02 9.98716325e-01 -2.26525073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51119381700002 meters Centerline goodness : 0.929219 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.27, Z:-2.27 [[ 9.95732193e-01 -7.82367163e-02 -4.89531984e-02 2.13529098e+01] [ 7.91995506e-02 9.96695443e-01 1.80450622e-02 -2.68316032e-01] [ 4.73796434e-02 -2.18451207e-02 9.98638053e-01 -2.26533422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54119381700002 meters Centerline goodness : 0.928903 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.27, Z:-2.26 [[ 0.99633297 -0.06987355 -0.04937905 21.35142982] [ 0.07117745 0.99714635 0.02515821 -0.2655187 ] [ 0.04748025 -0.02858063 0.99846321 -2.2640666 ] [ 0. 0. 0. 1. ]] SLAMing on 167.57119381700002 meters Centerline goodness : 0.931482 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.26, Z:-2.26 [[ 0.99642156 -0.06880251 -0.04909468 21.35039117] [ 0.07007386 0.99723694 0.02466056 -0.2628048 ] [ 0.04726232 -0.02801256 0.99848964 -2.26384788] [ 0. 0. 0. 1. ]] SLAMing on 167.60119381700002 meters Centerline goodness : 0.933573 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.26, Z:-2.26 [[ 0.99651252 -0.06767571 -0.04881396 21.34938338] [ 0.0689128 0.99733107 0.02411976 -0.25965802] [ 0.04705135 -0.02739954 0.99851662 -2.26375518] [ 0. 0. 0. 1. ]] SLAMing on 167.63119381700002 meters Centerline goodness : 0.932809 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.26, Z:-2.26 [[ 0.99675737 -0.06371113 -0.04914912 21.34916197] [ 0.06511507 0.99749844 0.02751156 -0.25793899] [ 0.04727338 -0.0306227 0.99841248 -2.26351489] [ 0. 0. 0. 1. ]] SLAMing on 167.66119381700003 meters Centerline goodness : 0.932151 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.25, Z:-2.26 [[ 0.99680562 -0.06292448 -0.0491841 21.34935644] [ 0.06428944 0.99757459 0.0266797 -0.2545203 ] [ 0.047386 -0.02975649 0.99843333 -2.26433276] [ 0. 0. 0. 1. ]] SLAMing on 167.69119381700003 meters Centerline goodness : 0.932608 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.25, Z:-2.27 [[ 0.99683001 -0.06259158 -0.04911437 21.34956822] [ 0.06389426 0.99763297 0.02541609 -0.25108417] [ 0.04740728 -0.02847365 0.99846973 -2.2654218 ] [ 0. 0. 0. 1. ]] SLAMing on 167.72119381700003 meters Centerline goodness : 0.935696 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.25, Z:-2.27 [[ 0.99681099 -0.06261139 -0.04947388 21.35040984] [ 0.06394425 0.99761908 0.02583217 -0.25226502] [ 0.0477387 -0.02891336 0.9984413 -2.26544608] [ 0. 0. 0. 1. ]] SLAMing on 167.75119381700003 meters Centerline goodness : 0.936493 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.25, Z:-2.27 [[ 9.96408657e-01 -6.90066799e-02 -4.90700172e-02 2.13520982e+01] [ 7.00341751e-02 9.97353282e-01 1.95357518e-02 -2.54320116e-01] [ 4.75920453e-02 -2.29021703e-02 9.98604270e-01 -2.26716276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78119381700003 meters Centerline goodness : 0.935130 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.26, Z:-2.27 [[ 9.96118083e-01 -7.30840488e-02 -4.90661396e-02 2.13533280e+01] [ 7.39365958e-02 9.97137949e-01 1.57889234e-02 -2.55024302e-01] [ 4.77717913e-02 -1.93554155e-02 9.98670728e-01 -2.26794081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81119381700003 meters Centerline goodness : 0.934589 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.26, Z:-2.27 [[ 9.95880910e-01 -7.61694707e-02 -4.91876469e-02 2.13552853e+01] [ 7.68963109e-02 9.96953624e-01 1.30548681e-02 -2.56153231e-01] [ 4.80434204e-02 -1.67834425e-02 9.98704233e-01 -2.26923730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84119381700003 meters Centerline goodness : 0.933985 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.26, Z:-2.27 [[ 9.95660362e-01 -7.88311599e-02 -4.94579884e-02 2.13576643e+01] [ 7.94490861e-02 9.96782012e-01 1.06519405e-02 -2.56943704e-01] [ 4.84591284e-02 -1.45351069e-02 9.98719402e-01 -2.27074743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87119381700003 meters Centerline goodness : 0.933169 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.26, Z:-2.27 [[ 9.95572293e-01 -7.95179771e-02 -5.01268370e-02 2.13594464e+01] [ 8.02116707e-02 9.96705867e-01 1.19792650e-02 -2.60599850e-01] [ 4.90091456e-02 -1.59469817e-02 9.98671016e-01 -2.27078507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90119381700003 meters Centerline goodness : 0.931427 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.26, Z:-2.27 [[ 9.95538483e-01 -7.96054433e-02 -5.06567040e-02 2.13607708e+01] [ 8.03384584e-02 9.96688011e-01 1.25992427e-02 -2.62104574e-01] [ 4.94859612e-02 -1.66127124e-02 9.98636649e-01 -2.27094132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93119381700004 meters Centerline goodness : 0.930862 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.26, Z:-2.27 [[ 9.95504254e-01 -7.97649718e-02 -5.10767072e-02 2.13619414e+01] [ 8.05270892e-02 9.96667147e-01 1.30378989e-02 -2.63852645e-01] [ 4.98665084e-02 -1.70923424e-02 9.98609625e-01 -2.27116340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96119381700004 meters Centerline goodness : 0.932652 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.27, Z:-2.27 [[ 9.95469323e-01 -7.99238542e-02 -5.15073225e-02 2.13633145e+01] [ 8.07237933e-02 9.96643193e-01 1.36387331e-02 -2.66215516e-01] [ 5.02443622e-02 -1.77348069e-02 9.98579481e-01 -2.27157032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99119381700004 meters Centerline goodness : 0.932470 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.27, Z:-2.27 [[ 9.95140189e-01 -8.39721178e-02 -5.14265211e-02 2.13637901e+01] [ 8.45883675e-02 9.96366577e-01 9.92235953e-03 -2.66965764e-01] [ 5.04064652e-02 -1.42242242e-02 9.98627488e-01 -2.27147045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.021193817 meters Centerline goodness : 0.934576 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.27, Z:-2.27 [[ 9.95113030e-01 -8.41790738e-02 -5.16133726e-02 2.13639452e+01] [ 8.48155078e-02 9.96343815e-01 1.02631835e-02 -2.68106887e-01] [ 5.05607192e-02 -1.45906420e-02 9.98614403e-01 -2.27104668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.051193817 meters Centerline goodness : 0.935434 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.27, Z:-2.27 [[ 9.95046505e-01 -8.48046417e-02 -5.18712392e-02 2.13643731e+01] [ 8.54397890e-02 9.96291651e-01 1.01483410e-02 -2.68861538e-01] [ 5.08182561e-02 -1.45299390e-02 9.98602216e-01 -2.27079175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.081193817 meters Centerline goodness : 0.934841 Centerline is valid? [False, False] Translation: X:21.37, Y:-0.27, Z:-2.27 [[ 9.94610677e-01 -8.97725577e-02 -5.18699226e-02 2.13650996e+01] [ 9.01937378e-02 9.95907161e-01 5.83231081e-03 -2.69405904e-01] [ 5.11340459e-02 -1.04792208e-02 9.98636819e-01 -2.27067984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.11119381700001 meters Centerline goodness : 0.937064 Centerline is valid? [False, False] Translation: X:21.37, Y:-0.27, Z:-2.27 [[ 9.94557307e-01 -9.02953614e-02 -5.19856868e-02 2.13653068e+01] [ 9.07291654e-02 9.95857280e-01 6.04130576e-03 -2.70953123e-01] [ 5.12248227e-02 -1.07250428e-02 9.98629556e-01 -2.27050218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14119381700002 meters Centerline goodness : 0.936397 Centerline is valid? [False, False] Translation: X:21.37, Y:-0.27, Z:-2.27 [[ 9.94260614e-01 -9.33270452e-02 -5.23057829e-02 2.13675151e+01] [ 9.36121536e-02 9.95604153e-01 3.02229361e-03 -2.70457953e-01] [ 5.17937930e-02 -7.90140448e-03 9.98626542e-01 -2.27157452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.17119381700002 meters Centerline goodness : 0.935451 Centerline is valid? [False, False] Translation: X:21.37, Y:-0.27, Z:-2.27 [[ 9.94175869e-01 -9.41156690e-02 -5.25031565e-02 2.13677155e+01] [ 9.43744746e-02 9.95533713e-01 2.46659381e-03 -2.69232964e-01] [ 5.20365172e-02 -7.40718585e-03 9.98617712e-01 -2.27135366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20119381700002 meters Centerline goodness : 0.937284 Centerline is valid? [False, False] Translation: X:21.37, Y:-0.27, Z:-2.27 [[ 9.94458466e-01 -9.07777086e-02 -5.30260910e-02 2.13676894e+01] [ 9.12437246e-02 9.95807834e-01 6.42968561e-03 -2.70068542e-01] [ 5.22201247e-02 -1.12323533e-02 9.98572427e-01 -2.27085462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23119381700002 meters Centerline goodness : 0.937250 Centerline is valid? [False, False] Translation: X:21.37, Y:-0.27, Z:-2.27 [[ 9.94438878e-01 -9.07962780e-02 -5.33606059e-02 2.13679563e+01] [ 9.12510695e-02 9.95808963e-01 6.14430342e-03 -2.68789760e-01] [ 5.25790897e-02 -1.09793466e-02 9.98556405e-01 -2.27042425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26119381700002 meters Centerline goodness : 0.938645 Centerline is valid? [False, False] Translation: X:21.37, Y:-0.27, Z:-2.27 [[ 9.94852673e-01 -8.61048639e-02 -5.34238841e-02 2.13665903e+01] [ 8.67734420e-02 9.96174622e-01 1.03195513e-02 -2.68312430e-01] [ 5.23309539e-02 -1.49022075e-02 9.98518600e-01 -2.26936193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29119381700002 meters Centerline goodness : 0.940606 Centerline is valid? [False, False] Translation: X:21.37, Y:-0.27, Z:-2.27 [[ 9.95182781e-01 -8.20917516e-02 -5.35926913e-02 2.13658149e+01] [ 8.29460842e-02 9.96456915e-01 1.39127410e-02 -2.67430878e-01] [ 5.22606866e-02 -1.82910242e-02 9.98465953e-01 -2.26884928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32119381700002 meters Centerline goodness : 0.940363 Centerline is valid? [False, False] Translation: X:21.37, Y:-0.27, Z:-2.27 [[ 9.95488825e-01 -7.80534987e-02 -5.39411771e-02 2.13653438e+01] [ 7.90819391e-02 9.96719744e-01 1.71987981e-02 -2.65290870e-01] [ 5.24218099e-02 -2.13869842e-02 9.98395989e-01 -2.26835090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35119381700002 meters Centerline goodness : 0.940497 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.26, Z:-2.27 [[ 9.95819158e-01 -7.34909275e-02 -5.42520865e-02 2.13649518e+01] [ 7.47052456e-02 9.96990744e-01 2.07022508e-02 -2.62583382e-01] [ 5.25674004e-02 -2.46686134e-02 9.98312640e-01 -2.26811900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38119381700002 meters Centerline goodness : 0.940156 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.26, Z:-2.27 [[ 0.99644575 -0.0644929 -0.05418976 21.36333978] [ 0.06605139 0.99743784 0.02747678 -0.25840184] [ 0.05227886 -0.03095843 0.99815254 -2.2680873 ] [ 0. 0. 0. 1. ]] SLAMing on 168.41119381700003 meters Centerline goodness : 0.938031 Centerline is valid? [False, False] Translation: X:21.36, Y:-0.26, Z:-2.27 [[ 0.99654653 -0.0630696 -0.05401146 21.36330374] [ 0.06459491 0.99754692 0.02697495 -0.25556071] [ 0.05217767 -0.03037066 0.99817589 -2.26910629] [ 0. 0. 0. 1. ]] SLAMing on 168.44119381700003 meters Centerline goodness : 0.937459 Centerline is valid? [False, False] Translation: X:21.37, Y:-0.25, Z:-2.27 [[ 9.96552704e-01 -6.02014302e-02 -5.70832402e-02 2.13708811e+01] [ 6.14963333e-02 9.97882046e-01 2.12043134e-02 -2.51008987e-01] [ 5.56858105e-02 -2.46416259e-02 9.98144218e-01 -2.26682033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47119381700003 meters Centerline goodness : 0.937565 Centerline is valid? [False, False] Translation: X:21.37, Y:-0.25, Z:-2.27 [[ 0.99675395 -0.05528614 -0.05852364 21.37446063] [ 0.05693081 0.99801789 0.02681744 -0.25128399] [ 0.056925 -0.03006218 0.99792575 -2.26803896] [ 0. 0. 0. 1. ]] SLAMing on 168.50119381700003 meters Centerline goodness : 0.936405 Centerline is valid? [False, False] Translation: X:21.38, Y:-0.25, Z:-2.27 [[ 9.96865487e-01 -4.81661010e-02 -6.27632681e-02 2.13801376e+01] [ 4.93171281e-02 9.98639842e-01 1.69200149e-02 -2.48135183e-01] [ 6.18629290e-02 -1.99622830e-02 9.97885006e-01 -2.27110717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53119381700003 meters Centerline goodness : 0.935061 Centerline is valid? [False, False] Translation: X:21.38, Y:-0.25, Z:-2.27 [[ 9.96901891e-01 -4.76565798e-02 -6.25737101e-02 2.13804050e+01] [ 4.87867231e-02 9.98670296e-01 1.66582077e-02 -2.47454329e-01] [ 6.16966324e-02 -1.96593650e-02 9.97901315e-01 -2.27220127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56119381700003 meters Centerline goodness : 0.934198 Centerline is valid? [False, False] Translation: X:21.38, Y:-0.25, Z:-2.27 [[ 9.96926405e-01 -4.69786437e-02 -6.26956942e-02 2.13810200e+01] [ 4.81171655e-02 9.98700841e-01 1.67740677e-02 -2.46957665e-01] [ 6.18262196e-02 -1.97392501e-02 9.97891718e-01 -2.27289851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59119381700003 meters Centerline goodness : 0.933995 Centerline is valid? [False, False] Translation: X:21.38, Y:-0.25, Z:-2.27 [[ 9.96953758e-01 -4.65020314e-02 -6.26160083e-02 2.13811033e+01] [ 4.76499093e-02 9.98720028e-01 1.69644501e-02 -2.46847036e-01] [ 6.17469801e-02 -1.98964194e-02 9.97893503e-01 -2.27325046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62119381700003 meters Centerline goodness : 0.935013 Centerline is valid? [False, False] Translation: X:21.38, Y:-0.25, Z:-2.27 [[ 0.99715221 -0.04156827 -0.0629249 21.38143228] [ 0.04311548 0.99879525 0.02343277 -0.25243484] [ 0.06187503 -0.02607908 0.99774313 -2.27247329] [ 0. 0. 0. 1. ]] SLAMing on 168.65119381700003 meters Centerline goodness : 0.934510 Centerline is valid? [False, False] Translation: X:21.38, Y:-0.25, Z:-2.27 [[ 9.97087394e-01 -4.40992545e-02 -6.22252650e-02 2.13806126e+01] [ 4.54251543e-02 9.98766393e-01 2.00560890e-02 -2.52980501e-01] [ 6.12640450e-02 -2.28242658e-02 9.97860596e-01 -2.27295739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68119381700004 meters Centerline goodness : 0.934510 Centerline is valid? [False, False] Translation: X:21.38, Y:-0.25, Z:-2.27 [[ 9.97087394e-01 -4.40992545e-02 -6.22252650e-02 2.13806126e+01] [ 4.54251543e-02 9.98766393e-01 2.00560890e-02 -2.52980501e-01] [ 6.12640450e-02 -2.28242658e-02 9.97860596e-01 -2.27295739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71119381700004 meters Centerline goodness : 0.932419 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.25, Z:-2.27 [[ 9.97363427e-01 -4.41764054e-02 -5.75729117e-02 2.13862886e+01] [ 4.46571778e-02 9.98977208e-01 7.09037719e-03 -2.51823819e-01] [ 5.72007993e-02 -9.64272664e-03 9.98316125e-01 -2.27425393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74119381700004 meters Centerline goodness : 0.935252 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.26, Z:-2.27 [[ 9.97280864e-01 -4.63557056e-02 -5.72889750e-02 2.13861295e+01] [ 4.67978376e-02 9.98883882e-01 6.39949882e-03 -2.58061597e-01] [ 5.69283805e-02 -9.06309786e-03 9.98337127e-01 -2.27368370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.771193817 meters Centerline goodness : 0.935452 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.26, Z:-2.27 [[ 9.97112711e-01 -5.01467208e-02 -5.70223542e-02 2.13856260e+01] [ 5.04244330e-02 9.98721951e-01 3.44097147e-03 -2.60458980e-01] [ 5.67769234e-02 -6.30635627e-03 9.98366972e-01 -2.27290764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.801193817 meters Centerline goodness : 0.935163 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.27, Z:-2.27 [[ 9.97043614e-01 -5.07594567e-02 -5.76845696e-02 2.13867058e+01] [ 5.12047227e-02 9.98668518e-01 6.26632662e-03 -2.66700488e-01] [ 5.72896883e-02 -9.20152333e-03 9.98315193e-01 -2.27124212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.831193817 meters Centerline goodness : 0.937352 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.28, Z:-2.27 [[ 9.96394653e-01 -6.24500131e-02 -5.74255203e-02 2.13868716e+01] [ 6.24660194e-02 9.98045937e-01 -1.51803710e-03 -2.76639970e-01] [ 5.74081087e-02 -2.07457962e-03 9.98348639e-01 -2.26919862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86119381700001 meters Centerline goodness : 0.934261 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.28, Z:-2.27 [[ 9.96079698e-01 -6.70543654e-02 -5.76970351e-02 2.13878894e+01] [ 6.69678121e-02 9.97749225e-01 -3.43454524e-03 -2.82343441e-01] [ 5.77974733e-02 -4.42763415e-04 9.98328231e-01 -2.26832456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.89119381700002 meters Centerline goodness : 0.936023 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.29, Z:-2.27 [[ 9.95821767e-01 -7.27131994e-02 -5.52430873e-02 2.13984734e+01] [ 7.30301310e-02 9.97322732e-01 3.73743451e-03 -2.88307762e-01] [ 5.48234259e-02 -7.75622854e-03 9.98465940e-01 -2.26844236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92119381700002 meters Centerline goodness : 0.936514 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.29, Z:-2.27 [[ 9.95478801e-01 -7.72818700e-02 -5.52220062e-02 2.13989980e+01] [ 7.74354198e-02 9.96997163e-01 6.43108233e-04 -2.91555010e-01] [ 5.50064828e-02 -4.91633984e-03 9.98473894e-01 -2.26803729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95119381700002 meters Centerline goodness : 0.939162 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.29, Z:-2.27 [[ 9.94889026e-01 -8.47019106e-02 -5.49673791e-02 2.13991780e+01] [ 8.45083694e-02 9.96405655e-01 -5.84007063e-03 -2.94926650e-01] [ 5.52644726e-02 1.16501859e-03 9.98471072e-01 -2.26714515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98119381700002 meters Centerline goodness : 0.938631 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.30, Z:-2.27 [[ 9.94931640e-01 -8.41127979e-02 -5.51005430e-02 2.13992724e+01] [ 8.39708417e-02 9.96456211e-01 -4.89056250e-03 -2.97170068e-01] [ 5.53166371e-02 2.38936393e-04 9.98468834e-01 -2.26690097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01119381700002 meters Centerline goodness : 0.939879 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.30, Z:-2.27 [[ 9.95248116e-01 -8.00202916e-02 -5.54791989e-02 2.13995823e+01] [ 8.01339994e-02 9.96784085e-01 -1.75583706e-04 -3.00442364e-01] [ 5.53148328e-02 -4.27102074e-03 9.98459828e-01 -2.26691493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04119381700002 meters Centerline goodness : 0.940472 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.30, Z:-2.27 [[ 9.95494868e-01 -7.70003382e-02 -5.53255402e-02 2.13975209e+01] [ 7.72663656e-02 9.97006877e-01 2.68237232e-03 -3.02899822e-01] [ 5.49534005e-02 -6.94509130e-03 9.98464766e-01 -2.26527536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07119381700002 meters Centerline goodness : 0.940862 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.30, Z:-2.27 [[ 9.95525816e-01 -7.64554966e-02 -5.55239295e-02 2.13978537e+01] [ 7.67544415e-02 9.97044669e-01 3.26854908e-03 -3.03702333e-01] [ 5.51099394e-02 -7.51563320e-03 9.98452007e-01 -2.26522086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10119381700002 meters Centerline goodness : 0.940710 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.30, Z:-2.27 [[ 9.95535113e-01 -7.61602947e-02 -5.57624281e-02 2.13982989e+01] [ 7.64887841e-02 9.97063286e-01 3.77739418e-03 -3.04809684e-01] [ 5.53109823e-02 -8.02572887e-03 9.98436920e-01 -2.26518658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13119381700002 meters Centerline goodness : 0.940652 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.31, Z:-2.27 [[ 9.95522804e-01 -7.60843555e-02 -5.60849066e-02 2.13993461e+01] [ 7.64439581e-02 9.97064644e-01 4.29139973e-03 -3.06250689e-01] [ 5.55937690e-02 -8.55953855e-03 9.98416780e-01 -2.26565159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16119381700003 meters Centerline goodness : 0.941197 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.31, Z:-2.27 [[ 9.95502874e-01 -7.61807403e-02 -5.63074032e-02 2.14001227e+01] [ 7.65724070e-02 9.97052333e-01 4.82825351e-03 -3.08367728e-01] [ 5.57736078e-02 -9.11813364e-03 9.98401805e-01 -2.26595652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19119381700003 meters Centerline goodness : 0.937823 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.31, Z:-2.27 [[ 9.95215965e-01 -7.98308600e-02 -5.63224327e-02 2.14025711e+01] [ 8.00909276e-02 9.96784740e-01 2.37182145e-03 -3.12257852e-01] [ 5.59519969e-02 -6.87139045e-03 9.98409815e-01 -2.26801313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22119381700003 meters Centerline goodness : 0.939087 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.31, Z:-2.27 [[ 9.95190108e-01 -7.99752716e-02 -5.65738847e-02 2.14039106e+01] [ 8.02671112e-02 9.96769167e-01 2.90151974e-03 -3.14189588e-01] [ 5.61590541e-02 -7.42858604e-03 9.98394199e-01 -2.26893168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25119381700003 meters Centerline goodness : 0.939153 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.31, Z:-2.27 [[ 9.95170299e-01 -8.00130068e-02 -5.68682188e-02 2.14049394e+01] [ 8.03199080e-02 9.96764229e-01 3.12800080e-03 -3.14734610e-01] [ 5.64339255e-02 -7.68054359e-03 9.98376793e-01 -2.26947023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28119381700003 meters Centerline goodness : 0.937035 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.31, Z:-2.27 [[ 9.95186462e-01 -7.95725731e-02 -5.72023678e-02 2.14056429e+01] [ 7.98888557e-02 9.96798446e-01 3.26018875e-03 -3.14034965e-01] [ 5.67598097e-02 -7.81432742e-03 9.98357281e-01 -2.26956894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31119381700003 meters Centerline goodness : 0.937010 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.31, Z:-2.27 [[ 9.95222739e-01 -7.89916342e-02 -5.73761416e-02 2.14058531e+01] [ 7.93242577e-02 9.96842583e-01 3.53945727e-03 -3.14039033e-01] [ 5.69153936e-02 -8.07386819e-03 9.98346358e-01 -2.26938601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34119381700003 meters Centerline goodness : 0.940441 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.31, Z:-2.27 [[ 9.95274803e-01 -7.82824376e-02 -5.74449923e-02 2.14056058e+01] [ 7.86301545e-02 9.96896559e-01 3.81441101e-03 -3.13733116e-01] [ 5.69681138e-02 -8.31329579e-03 9.98341386e-01 -2.26893533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37119381700003 meters Centerline goodness : 0.938877 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.31, Z:-2.27 [[ 9.95318898e-01 -7.75125912e-02 -5.77242522e-02 2.14060007e+01] [ 7.78649174e-02 9.96956383e-01 3.87620787e-03 -3.12323806e-01] [ 5.72481068e-02 -8.35275707e-03 9.98325040e-01 -2.26883496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40119381700003 meters Centerline goodness : 0.942643 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.31, Z:-2.27 [[ 9.95669976e-01 -7.26657323e-02 -5.79740497e-02 2.14045450e+01] [ 7.32254084e-02 9.97286566e-01 7.58584184e-03 -3.09736440e-01] [ 5.72655102e-02 -1.17981684e-02 9.98289269e-01 -2.26722164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43119381700004 meters Centerline goodness : 0.943129 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.31, Z:-2.27 [[ 9.95697193e-01 -7.20220507e-02 -5.83088732e-02 2.14044351e+01] [ 7.25788242e-02 9.97334591e-01 7.48512025e-03 -3.07876223e-01] [ 5.76143625e-02 -1.16849027e-02 9.98270529e-01 -2.26639936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46119381700004 meters Centerline goodness : 0.942952 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.31, Z:-2.26 [[ 9.95849892e-01 -7.00302527e-02 -5.81270670e-02 2.14023674e+01] [ 7.06781051e-02 9.97457090e-01 9.16287859e-03 -3.08105449e-01] [ 5.73375764e-02 -1.32331626e-02 9.98267141e-01 -2.26477131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49119381700004 meters Centerline goodness : 0.944221 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.31, Z:-2.26 [[ 9.95917980e-01 -6.90400247e-02 -5.81450891e-02 2.14023573e+01] [ 6.97341960e-02 9.97515555e-01 9.99295057e-03 -3.09711481e-01] [ 5.73107172e-02 -1.40068602e-02 9.98258128e-01 -2.26472722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.521193817 meters Centerline goodness : 0.942412 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.31, Z:-2.27 [[ 9.95907757e-01 -6.89421774e-02 -5.84355759e-02 2.14033933e+01] [ 6.96556736e-02 9.97518332e-01 1.02598426e-02 -3.10802340e-01] [ 5.75832223e-02 -1.42882262e-02 9.98238458e-01 -2.26519445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.551193817 meters Centerline goodness : 0.940027 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.31, Z:-2.27 [[ 9.95912329e-01 -6.86798815e-02 -5.86660631e-02 2.14042613e+01] [ 6.94183567e-02 9.97530877e-01 1.06414997e-02 -3.11460263e-01] [ 5.77903525e-02 -1.46705025e-02 9.98220943e-01 -2.26568673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.581193817 meters Centerline goodness : 0.939894 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.31, Z:-2.27 [[ 9.95911522e-01 -6.83206089e-02 -5.90976789e-02 2.14056378e+01] [ 6.90854048e-02 9.97550169e-01 1.09939276e-02 -3.11750883e-01] [ 5.82017877e-02 -1.50317662e-02 9.98191664e-01 -2.26631176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.61119381700001 meters Centerline goodness : 0.936152 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.31, Z:-2.27 [[ 9.95973680e-01 -6.71501573e-02 -5.93909438e-02 2.14067059e+01] [ 6.79827711e-02 9.97613005e-01 1.21092614e-02 -3.12979398e-01] [ 5.84360391e-02 -1.60980666e-02 9.98161350e-01 -2.26688054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64119381700002 meters Centerline goodness : 0.937499 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.31, Z:-2.27 [[ 9.95966914e-01 -6.69443554e-02 -5.97357491e-02 2.14075067e+01] [ 6.78127909e-02 9.97618132e-01 1.26288424e-02 -3.14680896e-01] [ 5.87480367e-02 -1.66287570e-02 9.98134336e-01 -2.26693523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.67119381700002 meters Centerline goodness : 0.937349 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.32, Z:-2.27 [[ 9.95966044e-01 -6.67276316e-02 -5.99921894e-02 2.14083863e+01] [ 6.76511914e-02 9.97617758e-01 1.34954112e-02 -3.17609146e-01] [ 5.89487566e-02 -1.74995144e-02 9.98107615e-01 -2.26723339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70119381700002 meters Centerline goodness : 0.938592 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.32, Z:-2.27 [[ 9.95720443e-01 -7.02951261e-02 -5.99949516e-02 2.14090476e+01] [ 7.10691934e-02 9.97412215e-01 1.08647695e-02 -3.22048269e-01] [ 5.90759572e-02 -1.50820659e-02 9.98139551e-01 -2.26703507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73119381700002 meters Centerline goodness : 0.939490 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.32, Z:-2.27 [[ 9.95612994e-01 -7.20242176e-02 -5.97267010e-02 2.14073712e+01] [ 7.27180371e-02 9.97307077e-01 9.52271970e-03 -3.24057949e-01] [ 5.88799952e-02 -1.38241519e-02 9.98169344e-01 -2.26543858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76119381700002 meters Centerline goodness : 0.941619 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.33, Z:-2.26 [[ 9.95471562e-01 -7.43073356e-02 -5.92856641e-02 2.14055961e+01] [ 7.48843028e-02 9.97163516e-01 7.56725653e-03 -3.25944643e-01] [ 5.85551985e-02 -1.19725543e-02 9.98212376e-01 -2.26393687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79119381700002 meters Centerline goodness : 0.941065 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.33, Z:-2.26 [[ 9.95449676e-01 -7.44350218e-02 -5.94925984e-02 2.14059684e+01] [ 7.50534783e-02 9.97145577e-01 8.22636496e-03 -3.28924147e-01] [ 5.87104517e-02 -1.26540588e-02 9.98194850e-01 -2.26370190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82119381700002 meters Centerline goodness : 0.945496 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.33, Z:-2.26 [[ 9.95241993e-01 -7.74540217e-02 -5.91121883e-02 2.14051421e+01] [ 7.79481370e-02 9.96938778e-01 6.09588949e-03 -3.33082827e-01] [ 5.84590816e-02 -1.06745702e-02 9.98232733e-01 -2.26288611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85119381700002 meters Centerline goodness : 0.944785 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.33, Z:-2.26 [[ 9.95027223e-01 -7.98917182e-02 -5.94822485e-02 2.14078233e+01] [ 8.02600444e-02 9.96766619e-01 3.82519494e-03 -3.34042378e-01] [ 5.89843184e-02 -8.58022101e-03 9.98222034e-01 -2.26447810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88119381700002 meters Centerline goodness : 0.944804 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.34, Z:-2.27 [[ 9.94801804e-01 -8.22663345e-02 -6.00135137e-02 2.14110851e+01] [ 8.25165945e-02 9.96588242e-01 1.69954028e-03 -3.35010628e-01] [ 5.96689471e-02 -6.64281651e-03 9.98196118e-01 -2.26640063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91119381700003 meters Centerline goodness : 0.944340 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.34, Z:-2.27 [[ 9.94547863e-01 -8.49381911e-02 -6.04983561e-02 2.14142671e+01] [ 8.50492775e-02 9.96376471e-01 -7.41142130e-04 -3.35983422e-01] [ 6.03420898e-02 -4.40824016e-03 9.98168022e-01 -2.26821417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94119381700003 meters Centerline goodness : 0.939543 Centerline is valid? [False, False] Translation: X:21.42, Y:-0.34, Z:-2.27 [[ 9.94207676e-01 -8.88676024e-02 -6.04453979e-02 2.14158944e+01] [ 8.88024994e-02 9.96042127e-01 -3.76785016e-03 -3.38866422e-01] [ 6.05410025e-02 -1.62167686e-03 9.98164394e-01 -2.26930375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97119381700003 meters Centerline goodness : 0.940251 Centerline is valid? [False, False] Translation: X:21.42, Y:-0.34, Z:-2.27 [[ 9.93961607e-01 -9.13186066e-02 -6.08377809e-02 2.14184980e+01] [ 9.11301367e-02 9.95821684e-01 -5.87121192e-03 -3.40032685e-01] [ 6.11197323e-02 2.91603952e-04 9.98130399e-01 -2.27067131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00119381700003 meters Centerline goodness : 0.941356 Centerline is valid? [False, False] Translation: X:21.42, Y:-0.34, Z:-2.27 [[ 9.93703013e-01 -9.38398515e-02 -6.12242199e-02 2.14211679e+01] [ 9.35124744e-02 9.95584363e-01 -8.19710334e-03 -3.40869809e-01] [ 6.17230909e-02 2.42025799e-03 9.98090378e-01 -2.27210260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03119381700003 meters Centerline goodness : 0.938402 Centerline is valid? [False, False] Translation: X:21.42, Y:-0.34, Z:-2.27 [[ 9.93684903e-01 -9.38492160e-02 -6.15031619e-02 2.14218114e+01] [ 9.35457425e-02 9.95584416e-01 -7.80162995e-03 -3.42164534e-01] [ 6.19637664e-02 1.99900295e-03 9.98076398e-01 -2.27223990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06119381700003 meters Centerline goodness : 0.939571 Centerline is valid? [False, False] Translation: X:21.42, Y:-0.34, Z:-2.27 [[ 9.93638264e-01 -9.41159101e-02 -6.18481605e-02 2.14224641e+01] [ 9.37996205e-02 9.95558921e-01 -8.00414653e-03 -3.42105917e-01] [ 6.23268055e-02 2.15189228e-03 9.98053475e-01 -2.27209759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09119381700003 meters Centerline goodness : 0.938912 Centerline is valid? [False, False] Translation: X:21.42, Y:-0.34, Z:-2.27 [[ 9.93639291e-01 -9.39264994e-02 -6.21190195e-02 2.14227453e+01] [ 9.36107425e-02 9.95576888e-01 -7.98049020e-03 -3.41789731e-01] [ 6.25938396e-02 2.11472108e-03 9.98036843e-01 -2.27176627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12119381700003 meters Centerline goodness : 0.940883 Centerline is valid? [False, False] Translation: X:21.42, Y:-0.34, Z:-2.27 [[ 9.93885366e-01 -9.13187138e-02 -6.20706952e-02 2.14205256e+01] [ 9.11605382e-02 9.95821669e-01 -5.38142967e-03 -3.42785549e-01] [ 6.23027685e-02 -3.09873789e-04 9.98057247e-01 -2.26982347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15119381700003 meters Centerline goodness : 0.941063 Centerline is valid? [False, False] Translation: X:21.43, Y:-0.34, Z:-2.26 [[ 9.94128577e-01 -8.66317790e-02 -6.48329165e-02 2.14266451e+01] [ 8.62599502e-02 9.96236251e-01 -8.51785236e-03 -3.41694880e-01] [ 6.53268184e-02 2.87535630e-03 9.97859779e-01 -2.26494827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18119381700004 meters Centerline goodness : 0.941418 Centerline is valid? [False, False] Translation: X:21.43, Y:-0.34, Z:-2.26 [[ 9.94150009e-01 -8.61852284e-02 -6.50988869e-02 2.14270386e+01] [ 8.58247829e-02 9.96275519e-01 -8.31848947e-03 -3.41440713e-01] [ 6.55733583e-02 2.68272855e-03 9.97844145e-01 -2.26484108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21119381700004 meters Centerline goodness : 0.940854 Centerline is valid? [False, False] Translation: X:21.43, Y:-0.34, Z:-2.27 [[ 9.94159697e-01 -8.58861410e-02 -6.53457496e-02 2.14276593e+01] [ 8.55358289e-02 9.96301802e-01 -8.14503366e-03 -3.41429117e-01] [ 6.58036335e-02 2.50806135e-03 9.97829440e-01 -2.26500901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24119381700004 meters Centerline goodness : 0.939785 Centerline is valid? [False, False] Translation: X:21.43, Y:-0.34, Z:-2.27 [[ 9.94189292e-01 -8.55092975e-02 -6.53896881e-02 2.14278627e+01] [ 8.51893416e-02 9.96335252e-01 -7.67087682e-03 -3.42165340e-01] [ 6.58059827e-02 2.05579911e-03 9.97830319e-01 -2.26519486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.271193817 meters Centerline goodness : 0.943041 Centerline is valid? [False, False] Translation: X:21.43, Y:-0.34, Z:-2.27 [[ 9.94177479e-01 -8.55345030e-02 -6.55361609e-02 2.14285506e+01] [ 8.52398110e-02 9.96333833e-01 -7.28481470e-03 -3.43778842e-01] [ 6.59189973e-02 1.65610875e-03 9.97823603e-01 -2.26553989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.301193817 meters Centerline goodness : 0.941012 Centerline is valid? [False, False] Translation: X:21.43, Y:-0.35, Z:-2.27 [[ 9.94142664e-01 -8.57038482e-02 -6.58423451e-02 2.14296139e+01] [ 8.54342325e-02 9.96319886e-01 -6.90486878e-03 -3.45652222e-01] [ 6.61918116e-02 1.23923443e-03 9.97806148e-01 -2.26591642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.331193817 meters Centerline goodness : 0.940860 Centerline is valid? [False, False] Translation: X:21.43, Y:-0.35, Z:-2.27 [[ 9.93874229e-01 -8.83449328e-02 -6.64017250e-02 2.14324847e+01] [ 8.79150810e-02 9.96083868e-01 -9.37368800e-03 -3.46597712e-01] [ 6.69698049e-02 3.47855390e-03 9.97748939e-01 -2.26722434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36119381700001 meters Centerline goodness : 0.942217 Centerline is valid? [False, False] Translation: X:21.43, Y:-0.35, Z:-2.27 [[ 9.93829737e-01 -8.86170467e-02 -6.67043628e-02 2.14334831e+01] [ 8.82185542e-02 9.96061365e-01 -8.90187631e-03 -3.48826559e-01] [ 6.72304966e-02 2.96238695e-03 9.97733073e-01 -2.26750713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.39119381700002 meters Centerline goodness : 0.941711 Centerline is valid? [False, False] Translation: X:21.44, Y:-0.35, Z:-2.27 [[ 9.93755351e-01 -9.25826644e-02 -6.22796318e-02 2.14430119e+01] [ 9.26452859e-02 9.95697387e-01 -1.88775025e-03 -3.51823678e-01] [ 6.21864396e-02 -3.89395238e-03 9.98056954e-01 -2.26880455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42119381700002 meters Centerline goodness : 0.939703 Centerline is valid? [False, False] Translation: X:21.45, Y:-0.35, Z:-2.27 [[ 9.93547964e-01 -9.45032068e-02 -6.27023706e-02 2.14454413e+01] [ 9.44752403e-02 9.95521346e-01 -3.41736727e-03 -3.51702712e-01] [ 6.27445006e-02 -2.52850324e-03 9.98026420e-01 -2.27012361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45119381700002 meters Centerline goodness : 0.942472 Centerline is valid? [False, False] Translation: X:21.45, Y:-0.35, Z:-2.27 [[ 9.93493986e-01 -9.49779798e-02 -6.28401428e-02 2.14461752e+01] [ 9.49379853e-02 9.95476575e-01 -3.62883571e-03 -3.51884188e-01] [ 6.29005496e-02 -2.36069010e-03 9.98017008e-01 -2.27052030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48119381700002 meters Centerline goodness : 0.942776 Centerline is valid? [False, False] Translation: X:21.45, Y:-0.35, Z:-2.27 [[ 9.93416058e-01 -9.57072465e-02 -6.29655326e-02 2.14468726e+01] [ 9.56327982e-02 9.95407811e-01 -4.20203341e-03 -3.51501960e-01] [ 6.30785480e-02 -1.84720260e-03 9.98006856e-01 -2.27089037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51119381700002 meters Centerline goodness : 0.940508 Centerline is valid? [False, False] Translation: X:21.45, Y:-0.35, Z:-2.27 [[ 9.93370164e-01 -9.60810393e-02 -6.31201309e-02 2.14477480e+01] [ 9.59888674e-02 9.95372244e-01 -4.49813329e-03 -3.51620349e-01] [ 6.32602116e-02 -1.59051847e-03 9.97995800e-01 -2.27142827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54119381700002 meters Centerline goodness : 0.943266 Centerline is valid? [False, False] Translation: X:21.45, Y:-0.35, Z:-2.27 [[ 9.93345411e-01 -9.62572877e-02 -6.32410402e-02 2.14485792e+01] [ 9.61616179e-02 9.95355280e-01 -4.56187451e-03 -3.51952997e-01] [ 6.33864169e-02 -1.54984363e-03 9.97987856e-01 -2.27205503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57119381700002 meters Centerline goodness : 0.942661 Centerline is valid? [False, False] Translation: X:21.45, Y:-0.35, Z:-2.27 [[ 9.93288540e-01 -9.67136430e-02 -6.34377405e-02 2.14497026e+01] [ 9.65898408e-02 9.95311597e-01 -5.02269638e-03 -3.51459923e-01] [ 6.36260820e-02 -1.13845449e-03 9.97973159e-01 -2.27283334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60119381700002 meters Centerline goodness : 0.942661 Centerline is valid? [False, False] Translation: X:21.45, Y:-0.35, Z:-2.27 [[ 9.93288540e-01 -9.67136430e-02 -6.34377405e-02 2.14497026e+01] [ 9.65898408e-02 9.95311597e-01 -5.02269638e-03 -3.51459923e-01] [ 6.36260820e-02 -1.13845449e-03 9.97973159e-01 -2.27283334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63119381700002 meters Centerline goodness : 0.940731 Centerline is valid? [False, False] Translation: X:21.45, Y:-0.35, Z:-2.28 [[ 9.93048381e-01 -9.88620717e-02 -6.38842994e-02 2.14529568e+01] [ 9.86172244e-02 9.95100944e-01 -6.98240075e-03 -3.49560160e-01] [ 6.42616212e-02 6.33769473e-04 9.97932885e-01 -2.27512271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66119381700003 meters Centerline goodness : 0.940619 Centerline is valid? [False, False] Translation: X:21.45, Y:-0.35, Z:-2.28 [[ 9.92994805e-01 -9.92747326e-02 -6.40768696e-02 2.14538426e+01] [ 9.90095293e-02 9.95059643e-01 -7.30890398e-03 -3.48728379e-01] [ 6.44858964e-02 9.13482988e-04 9.97918200e-01 -2.27570561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69119381700003 meters Centerline goodness : 0.941526 Centerline is valid? [False, False] Translation: X:21.45, Y:-0.35, Z:-2.28 [[ 9.92918841e-01 -9.98225191e-02 -6.44021672e-02 2.14549634e+01] [ 9.95363053e-02 9.95004558e-01 -7.64552652e-03 -3.48241502e-01] [ 6.48436456e-02 1.18103355e-03 9.97894737e-01 -2.27619165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72119381700003 meters Centerline goodness : 0.941982 Centerline is valid? [False, False] Translation: X:21.46, Y:-0.35, Z:-2.28 [[ 9.92696721e-01 -1.01652982e-01 -6.49606951e-02 2.14573858e+01] [ 1.01278636e-01 9.94817040e-01 -9.03852593e-03 -3.47627788e-01] [ 6.55427996e-02 2.39338447e-03 9.97846889e-01 -2.27728998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75119381700003 meters Centerline goodness : 0.940532 Centerline is valid? [False, False] Translation: X:21.47, Y:-0.35, Z:-2.28 [[ 9.92569977e-01 -1.05776121e-01 -6.01352869e-02 2.14684917e+01] [ 1.05781958e-01 9.94384531e-01 -3.09540037e-03 -3.48499305e-01] [ 6.01250185e-02 -3.28882694e-03 9.98185437e-01 -2.27990523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78119381700003 meters Centerline goodness : 0.942973 Centerline is valid? [False, False] Translation: X:21.47, Y:-0.35, Z:-2.28 [[ 9.91987783e-01 -1.11518539e-01 -5.93620659e-02 2.14671802e+01] [ 1.11244298e-01 9.93761570e-01 -7.91504468e-03 -3.48332158e-01] [ 5.98744140e-02 1.24793626e-03 9.98205138e-01 -2.27872439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81119381700003 meters Centerline goodness : 0.943728 Centerline is valid? [False, False] Translation: X:21.47, Y:-0.35, Z:-2.28 [[ 9.91952281e-01 -1.14419887e-01 -5.42103407e-02 2.14743185e+01] [ 1.14580825e-01 9.93413919e-01 -1.40157633e-04 -3.47822728e-01] [ 5.38693439e-02 -6.07243588e-03 9.98529529e-01 -2.27903343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84119381700003 meters Centerline goodness : 0.943477 Centerline is valid? [False, False] Translation: X:21.48, Y:-0.34, Z:-2.28 [[ 9.92281722e-01 -1.14590603e-01 -4.73917448e-02 2.14834157e+01] [ 1.14305582e-01 9.93407628e-01 -8.69010180e-03 -3.43228673e-01] [ 4.80751248e-02 3.20588822e-03 9.98838578e-01 -2.28090515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87119381700003 meters Centerline goodness : 0.943530 Centerline is valid? [False, False] Translation: X:21.49, Y:-0.34, Z:-2.28 [[ 9.92786045e-01 -1.13000709e-01 -4.00837719e-02 2.14942604e+01] [ 1.12542175e-01 9.93554905e-01 -1.35243729e-02 -3.38680729e-01] [ 4.13536919e-02 8.91569382e-03 9.99104791e-01 -2.28358877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90119381700003 meters Centerline goodness : 0.941355 Centerline is valid? [False, False] Translation: X:21.50, Y:-0.33, Z:-2.29 [[ 9.93444208e-01 -1.09402328e-01 -3.31622789e-02 2.15037873e+01] [ 1.08851042e-01 9.93895050e-01 -1.80022400e-02 -3.29470364e-01] [ 3.49293118e-02 1.42744724e-02 9.99287838e-01 -2.28614524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93119381700004 meters Centerline goodness : 0.941212 Centerline is valid? [False, False] Translation: X:21.50, Y:-0.33, Z:-2.29 [[ 9.93737807e-01 -1.06561687e-01 -3.36121749e-02 2.15047572e+01] [ 1.06079069e-01 9.94231620e-01 -1.58340700e-02 -3.25885887e-01] [ 3.51055923e-02 1.21693658e-02 9.99309514e-01 -2.28709226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96119381700004 meters Centerline goodness : 0.937835 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.32, Z:-2.29 [[ 9.94275616e-01 -1.01208643e-01 -3.42463273e-02 2.15066674e+01] [ 1.00843701e-01 9.94827165e-01 -1.22253700e-02 -3.17778339e-01] [ 3.53064898e-02 8.70186086e-03 9.99338646e-01 -2.28953595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99119381700004 meters Centerline goodness : 0.938791 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.31, Z:-2.29 [[ 9.94524631e-01 -9.85347934e-02 -3.48088148e-02 2.15086790e+01] [ 9.82242689e-02 9.95108644e-01 -1.05252028e-02 -3.12720468e-01] [ 3.56756512e-02 7.04850305e-03 9.99338565e-01 -2.29146505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.021193817 meters Centerline goodness : 0.938524 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.31, Z:-2.29 [[ 9.94789401e-01 -9.56254526e-02 -3.53528114e-02 2.15105402e+01] [ 9.53755228e-02 9.95403402e-01 -8.69355672e-03 -3.07160374e-01] [ 3.60216340e-02 5.27646521e-03 9.99337081e-01 -2.29329964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.051193817 meters Centerline goodness : 0.936147 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.30, Z:-2.29 [[ 9.95065384e-01 -9.25382311e-02 -3.57988572e-02 2.15119134e+01] [ 9.23602127e-02 9.95703797e-01 -6.59846555e-03 -3.01746991e-01] [ 3.62556684e-02 3.25951459e-03 9.99337231e-01 -2.29478199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.081193817 meters Centerline goodness : 0.933801 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.29, Z:-2.30 [[ 9.95549198e-01 -8.70620373e-02 -3.60831876e-02 2.15125802e+01] [ 8.70261694e-02 9.96202720e-01 -2.56643580e-03 -2.92544467e-01] [ 3.61696087e-02 -5.85168490e-04 9.99345494e-01 -2.29650239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.11119381700001 meters Centerline goodness : 0.933650 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.29, Z:-2.30 [[ 9.95811449e-01 -8.38705758e-02 -3.64044473e-02 2.15126867e+01] [ 8.39365233e-02 9.96471063e-01 2.84284023e-04 -2.89937324e-01] [ 3.62521353e-02 -3.33875603e-03 9.99337098e-01 -2.29669630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14119381700002 meters Centerline goodness : 0.934860 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.29, Z:-2.30 [[ 9.96038098e-01 -8.10733030e-02 -3.65407646e-02 2.15123082e+01] [ 8.12351960e-02 9.96690549e-01 2.96532425e-03 -2.87704955e-01] [ 3.61794261e-02 -5.92197210e-03 9.99327764e-01 -2.29666674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.17119381700002 meters Centerline goodness : 0.935250 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.28, Z:-2.30 [[ 9.95984510e-01 -8.16912076e-02 -3.66251703e-02 2.15126193e+01] [ 8.18092192e-02 9.96646502e-01 1.73265552e-03 -2.84266336e-01] [ 3.63608051e-02 -4.72197464e-03 9.99327571e-01 -2.29685187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20119381700002 meters Centerline goodness : 0.935330 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.28, Z:-2.30 [[ 9.96111671e-01 -8.03277323e-02 -3.61800189e-02 2.15102813e+01] [ 8.04769435e-02 9.96752855e-01 2.68452271e-03 -2.79509350e-01] [ 3.58468955e-02 -5.58574174e-03 9.99341683e-01 -2.29572880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23119381700002 meters Centerline goodness : 0.933413 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.28, Z:-2.30 [[ 9.96082142e-01 -8.06448564e-02 -3.62873624e-02 2.15104611e+01] [ 8.07624585e-02 9.96731780e-01 1.78440747e-03 -2.76453277e-01] [ 3.60248640e-02 -4.70807302e-03 9.99339804e-01 -2.29575217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26119381700002 meters Centerline goodness : 0.932673 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.28, Z:-2.30 [[ 9.96336250e-01 -7.72654317e-02 -3.66623919e-02 2.15105618e+01] [ 7.75067299e-02 9.96978244e-01 5.20451973e-03 -2.75313386e-01] [ 3.61494776e-02 -8.02703378e-03 9.99314156e-01 -2.29572456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29119381700002 meters Centerline goodness : 0.932548 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.27, Z:-2.30 [[ 9.96584778e-01 -7.37741139e-02 -3.70966301e-02 2.15113271e+01] [ 7.41127379e-02 9.97219086e-01 7.83553790e-03 -2.70816515e-01] [ 3.64154077e-02 -1.05581106e-02 9.99280964e-01 -2.29653405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32119381700002 meters Centerline goodness : 0.931637 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.27, Z:-2.30 [[ 9.96834222e-01 -7.01114548e-02 -3.74955594e-02 2.15116111e+01] [ 7.05777065e-02 9.97442757e-01 1.12576102e-02 -2.69298455e-01] [ 3.66103868e-02 -1.38683217e-02 9.99233381e-01 -2.29666831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35119381700002 meters Centerline goodness : 0.931663 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.27, Z:-2.30 [[ 9.97068585e-01 -6.63570899e-02 -3.80916580e-02 2.15123512e+01] [ 6.69576554e-02 9.97647349e-01 1.47118792e-02 -2.67626397e-01] [ 3.70258041e-02 -1.72192807e-02 9.99165945e-01 -2.29684099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38119381700002 meters Centerline goodness : 0.931364 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.26, Z:-2.30 [[ 9.97078992e-01 -6.61290477e-02 -3.82156065e-02 2.15125003e+01] [ 6.66882760e-02 9.97681883e-01 1.35475084e-02 -2.63612501e-01] [ 3.72311344e-02 -1.60564690e-02 9.99177678e-01 -2.29709755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41119381700003 meters Centerline goodness : 0.934271 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.26, Z:-2.29 [[ 9.97430643e-01 -6.04028744e-02 -3.85175959e-02 2.15101852e+01] [ 6.11681422e-02 9.97946468e-01 1.90080468e-02 -2.60249520e-01] [ 3.72903582e-02 -2.13152581e-02 9.99077119e-01 -2.29465907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44119381700003 meters Centerline goodness : 0.934534 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.26, Z:-2.29 [[ 9.97403999e-01 -6.08345718e-02 -3.85281374e-02 2.15095558e+01] [ 6.15388078e-02 9.97953654e-01 1.73631485e-02 -2.56082229e-01] [ 3.73930158e-02 -1.96890494e-02 9.99106653e-01 -2.29419150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47119381700003 meters Centerline goodness : 0.934331 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.25, Z:-2.29 [[ 9.97398685e-01 -6.08583670e-02 -3.86280017e-02 2.15091182e+01] [ 6.15177926e-02 9.97975846e-01 1.61174570e-02 -2.51587838e-01] [ 3.75689305e-02 -1.84518398e-02 9.99123669e-01 -2.29378336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50119381700003 meters Centerline goodness : 0.934153 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.25, Z:-2.29 [[ 9.97546244e-01 -5.83117659e-02 -3.87457044e-02 2.15074128e+01] [ 5.90559425e-02 9.98086057e-01 1.83471465e-02 -2.48615159e-01] [ 3.76016928e-02 -2.05902912e-02 9.99080654e-01 -2.29204555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53119381700003 meters Centerline goodness : 0.933608 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.24, Z:-2.29 [[ 9.97579751e-01 -5.81893196e-02 -3.80610607e-02 2.15050788e+01] [ 5.88179928e-02 9.98146656e-01 1.56108073e-02 -2.41582282e-01] [ 3.70821381e-02 -1.78117004e-02 9.99153471e-01 -2.29111919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56119381700003 meters Centerline goodness : 0.934401 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.24, Z:-2.29 [[ 9.97760227e-01 -5.45856544e-02 -3.86643872e-02 2.15057114e+01] [ 5.53595971e-02 9.98281156e-01 1.92366701e-02 -2.41262276e-01] [ 3.75478829e-02 -2.13340292e-02 9.99067073e-01 -2.29092033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59119381700003 meters Centerline goodness : 0.933972 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.24, Z:-2.29 [[ 9.97791941e-01 -5.40555498e-02 -3.85906626e-02 2.15057935e+01] [ 5.47840544e-02 9.98334597e-01 1.80759382e-02 -2.37902395e-01] [ 3.75492888e-02 -2.01501784e-02 9.99091598e-01 -2.29181077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62119381700003 meters Centerline goodness : 0.933880 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.24, Z:-2.29 [[ 9.97959591e-01 -5.05681238e-02 -3.89810155e-02 2.15065473e+01] [ 5.14043639e-02 9.98462192e-01 2.07567248e-02 -2.35259179e-01] [ 3.78714416e-02 -2.27181669e-02 9.99024343e-01 -2.29270816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65119381700003 meters Centerline goodness : 0.929875 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.23, Z:-2.29 [[ 9.97980371e-01 -5.02963756e-02 -3.88001659e-02 2.15066119e+01] [ 5.10561852e-02 9.98517944e-01 1.88462373e-02 -2.30123601e-01] [ 3.77947645e-02 -2.07891634e-02 9.99069250e-01 -2.29410617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68119381700004 meters Centerline goodness : 0.926940 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.23, Z:-2.30 [[ 9.98142755e-01 -4.66950149e-02 -3.91230859e-02 2.15080147e+01] [ 4.75222411e-02 9.98660052e-01 2.04875110e-02 -2.25400623e-01] [ 3.81139983e-02 -2.23086774e-02 9.99024347e-01 -2.29633500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71119381700004 meters Centerline goodness : 0.925530 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.22, Z:-2.30 [[ 9.98144537e-01 -4.65590585e-02 -3.92394917e-02 2.15087591e+01] [ 4.73549309e-02 9.98685760e-01 1.96026188e-02 -2.23529745e-01] [ 3.82752421e-02 -2.14244303e-02 9.99037537e-01 -2.29740104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74119381700004 meters Centerline goodness : 0.924029 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.22, Z:-2.30 [[ 9.98150661e-01 -4.62486400e-02 -3.94502256e-02 2.15092124e+01] [ 4.70574928e-02 9.98695398e-01 1.98265940e-02 -2.23244439e-01] [ 3.84818058e-02 -2.16463566e-02 9.99024817e-01 -2.29752204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.771193817 meters Centerline goodness : 0.922872 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.22, Z:-2.30 [[ 9.98144473e-01 -4.63210736e-02 -3.95217489e-02 2.15095447e+01] [ 4.71471242e-02 9.98683058e-01 2.02311406e-02 -2.24747693e-01] [ 3.85325729e-02 -2.20569380e-02 9.99013880e-01 -2.29744808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.801193817 meters Centerline goodness : 0.922847 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.23, Z:-2.30 [[ 9.98127411e-01 -4.64279947e-02 -3.98260291e-02 2.15103151e+01] [ 4.72855703e-02 9.98663410e-01 2.08678676e-02 -2.26473876e-01] [ 3.88039448e-02 -2.27119872e-02 9.98988698e-01 -2.29735254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.831193817 meters Centerline goodness : 0.923083 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.23, Z:-2.30 [[ 9.97983731e-01 -4.91473644e-02 -4.01622910e-02 2.15118246e+01] [ 4.99020666e-02 9.98591731e-01 1.80094037e-02 -2.26459499e-01] [ 3.92206170e-02 -1.99772732e-02 9.99030856e-01 -2.29797143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86119381700001 meters Centerline goodness : 0.921634 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.23, Z:-2.30 [[ 9.97952111e-01 -4.93124378e-02 -4.07414754e-02 2.15133163e+01] [ 5.01139861e-02 9.98564808e-01 1.88921301e-02 -2.27910695e-01] [ 3.97513866e-02 -2.08951588e-02 9.98991101e-01 -2.29806516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.89119381700002 meters Centerline goodness : 0.917116 Centerline is valid? [False, False] Translation: X:21.52, Y:-0.23, Z:-2.30 [[ 9.97759150e-01 -5.25603491e-02 -4.14015577e-02 2.15167611e+01] [ 5.32752849e-02 9.98445875e-01 1.63578180e-02 -2.29694368e-01] [ 4.04774419e-02 -1.85268424e-02 9.99008675e-01 -2.30003589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92119381700002 meters Centerline goodness : 0.915740 Centerline is valid? [False, False] Translation: X:21.52, Y:-0.23, Z:-2.30 [[ 9.97558563e-01 -5.61927566e-02 -4.14642799e-02 2.15179808e+01] [ 5.67764141e-02 9.98301828e-01 1.30345074e-02 -2.31012115e-01] [ 4.06614215e-02 -1.53568776e-02 9.99054961e-01 -2.30078404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95119381700002 meters Centerline goodness : 0.913114 Centerline is valid? [False, False] Translation: X:21.52, Y:-0.23, Z:-2.30 [[ 9.97514689e-01 -5.66257080e-02 -4.19281946e-02 2.15196428e+01] [ 5.72708206e-02 9.98255583e-01 1.43472841e-02 -2.34968196e-01] [ 4.10426292e-02 -1.67128887e-02 9.99017608e-01 -2.30110857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98119381700002 meters Centerline goodness : 0.914207 Centerline is valid? [False, False] Translation: X:21.52, Y:-0.24, Z:-2.30 [[ 9.97277704e-01 -6.06303761e-02 -4.19659127e-02 2.15203702e+01] [ 6.11319240e-02 9.98071568e-01 1.07718451e-02 -2.36007165e-01] [ 4.12318833e-02 -1.33079779e-02 9.99060974e-01 -2.30119444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01119381700002 meters Centerline goodness : 0.914043 Centerline is valid? [False, False] Translation: X:21.52, Y:-0.24, Z:-2.30 [[ 9.96973105e-01 -6.53874417e-02 -4.20608030e-02 2.15211527e+01] [ 6.57612948e-02 9.97806702e-01 7.56558888e-03 -2.38303537e-01] [ 4.14738566e-02 -1.03086615e-02 9.99086408e-01 -2.30070549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04119381700002 meters Centerline goodness : 0.911422 Centerline is valid? [False, False] Translation: X:21.52, Y:-0.24, Z:-2.30 [[ 9.96934647e-01 -6.57803698e-02 -4.23586168e-02 2.15220141e+01] [ 6.61915917e-02 9.97771756e-01 8.37836724e-03 -2.40617208e-01] [ 4.17130993e-02 -1.11564689e-02 9.99067340e-01 -2.30066596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07119381700002 meters Centerline goodness : 0.911532 Centerline is valid? [False, False] Translation: X:21.52, Y:-0.24, Z:-2.30 [[ 9.96863584e-01 -6.64062885e-02 -4.30488100e-02 2.15239728e+01] [ 6.68467393e-02 9.97723807e-01 8.87237304e-03 -2.42855383e-01] [ 4.23616412e-02 -1.17222182e-02 9.99033573e-01 -2.30110040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10119381700002 meters Centerline goodness : 0.911397 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.24, Z:-2.30 [[ 9.96542106e-01 -7.08975718e-02 -4.33285753e-02 2.15251895e+01] [ 7.12002395e-02 9.97446985e-01 5.48061657e-03 -2.44925998e-01] [ 4.28293944e-02 -8.54667012e-03 9.99045843e-01 -2.30091800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13119381700002 meters Centerline goodness : 0.912019 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.25, Z:-2.30 [[ 9.96519047e-01 -7.10400516e-02 -4.36245386e-02 2.15259755e+01] [ 7.13707039e-02 9.97431406e-01 6.06739385e-03 -2.46510684e-01] [ 4.30814569e-02 -9.15978757e-03 9.99029572e-01 -2.30093305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16119381700003 meters Centerline goodness : 0.910984 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.25, Z:-2.30 [[ 9.96504997e-01 -7.11671532e-02 -4.37381682e-02 2.15262911e+01] [ 7.15104142e-02 9.97419753e-01 6.33224250e-03 -2.47383153e-01] [ 4.31746652e-02 -9.43784581e-03 9.99022960e-01 -2.30093465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19119381700003 meters Centerline goodness : 0.911507 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.25, Z:-2.30 [[ 9.96509229e-01 -7.09291555e-02 -4.40274000e-02 2.15272608e+01] [ 7.12954904e-02 9.97432026e-01 6.80492063e-03 -2.48146944e-01] [ 4.34316715e-02 -9.92012129e-03 9.99007148e-01 -2.30133948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22119381700003 meters Centerline goodness : 0.910426 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.25, Z:-2.30 [[ 9.96568023e-01 -7.00546320e-02 -4.40967490e-02 2.15274040e+01] [ 7.04587547e-02 9.97485159e-01 7.67598938e-03 -2.49363251e-01] [ 4.34481141e-02 -1.07566476e-02 9.98997776e-01 -2.30129363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25119381700003 meters Centerline goodness : 0.909806 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.25, Z:-2.30 [[ 9.96620576e-01 -6.92274064e-02 -4.42153053e-02 2.15276948e+01] [ 6.96571367e-02 9.97536864e-01 8.25157299e-03 -2.49728263e-01] [ 4.35351620e-02 -1.13035990e-02 9.98987947e-01 -2.30135917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28119381700003 meters Centerline goodness : 0.910266 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.25, Z:-2.30 [[ 9.96916933e-01 -6.45274776e-02 -4.46411703e-02 2.15277172e+01] [ 6.51835519e-02 9.97783329e-01 1.33989601e-02 -2.51383196e-01] [ 4.36776144e-02 -1.62675203e-02 9.98913226e-01 -2.30073703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31119381700003 meters Centerline goodness : 0.911627 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.25, Z:-2.30 [[ 9.97180022e-01 -6.01613739e-02 -4.48621645e-02 2.15273013e+01] [ 6.10001371e-02 9.97983164e-01 1.75666905e-02 -2.51393375e-01] [ 4.37148486e-02 -2.02537510e-02 9.98838725e-01 -2.30027756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34119381700003 meters Centerline goodness : 0.910581 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.25, Z:-2.30 [[ 0.99767437 -0.05096704 -0.04525716 21.52697376] [ 0.05218567 0.99829455 0.02616579 -0.25126172] [ 0.04384638 -0.02846671 0.99863264 -2.30008612] [ 0. 0. 0. 1. ]] SLAMing on 172.37119381700003 meters Centerline goodness : 0.910508 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.25, Z:-2.30 [[ 0.99788489 -0.04645393 -0.04547287 21.52734132] [ 0.04786207 0.99839175 0.03038321 -0.25177716] [ 0.04398832 -0.03249537 0.99850342 -2.30055352] [ 0. 0. 0. 1. ]] SLAMing on 172.40119381700003 meters Centerline goodness : 0.910530 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.25, Z:-2.30 [[ 9.98162094e-01 -4.40600392e-02 -4.16070604e-02 2.15316705e+01] [ 4.48975021e-02 9.98802973e-01 1.94122493e-02 -2.48137774e-01] [ 4.07019512e-02 -2.12446245e-02 9.98945453e-01 -2.30021252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43119381700004 meters Centerline goodness : 0.911955 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.25, Z:-2.30 [[ 0.99842304 -0.03833111 -0.04101404 21.52969963] [ 0.03936926 0.99891666 0.02481068 -0.25031651] [ 0.04001859 -0.02638625 0.99885048 -2.29937223] [ 0. 0. 0. 1. ]] SLAMing on 172.46119381700004 meters Centerline goodness : 0.913470 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.25, Z:-2.30 [[ 9.98560854e-01 -3.65131949e-02 -3.92811398e-02 2.15344290e+01] [ 3.71137924e-02 9.99203354e-01 1.46704859e-02 -2.47623936e-01] [ 3.87141804e-02 -1.61072450e-02 9.99120498e-01 -2.29738385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49119381700004 meters Centerline goodness : 0.913470 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.25, Z:-2.30 [[ 9.98560854e-01 -3.65131949e-02 -3.92811398e-02 2.15344290e+01] [ 3.71137924e-02 9.99203354e-01 1.46704859e-02 -2.47623936e-01] [ 3.87141804e-02 -1.61072450e-02 9.99120498e-01 -2.29738385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.521193817 meters Centerline goodness : 0.910107 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.25, Z:-2.30 [[ 9.98589558e-01 -3.58797824e-02 -3.91348421e-02 2.15345005e+01] [ 3.64873557e-02 9.99222690e-01 1.49227556e-02 -2.47770365e-01] [ 3.85689970e-02 -1.63296348e-02 9.99122503e-01 -2.29791558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.551193817 meters Centerline goodness : 0.910028 Centerline is valid? [False, False] Translation: X:21.54, Y:-0.25, Z:-2.30 [[ 9.98617410e-01 -3.52054645e-02 -3.90364459e-02 2.15353289e+01] [ 3.58369099e-02 9.99235955e-01 1.55955850e-02 -2.49374879e-01] [ 3.84575705e-02 -1.69729683e-02 9.99116076e-01 -2.29918472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.581193817 meters Centerline goodness : 0.907407 Centerline is valid? [False, False] Translation: X:21.54, Y:-0.25, Z:-2.30 [[ 9.98624398e-01 -3.46627654e-02 -3.93421549e-02 2.15365882e+01] [ 3.53563638e-02 9.99228922e-01 1.70730288e-02 -2.51933398e-01] [ 3.87200206e-02 -1.84405386e-02 9.99079930e-01 -2.29968985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.61119381700001 meters Centerline goodness : 0.907629 Centerline is valid? [False, False] Translation: X:21.54, Y:-0.25, Z:-2.30 [[ 9.98519896e-01 -3.79667483e-02 -3.89428270e-02 2.15365754e+01] [ 3.85177138e-02 9.99166769e-01 1.34964606e-02 -2.52728569e-01] [ 3.83979619e-02 -1.49764731e-02 9.99150290e-01 -2.30035657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64119381700002 meters Centerline goodness : 0.905629 Centerline is valid? [False, False] Translation: X:21.54, Y:-0.25, Z:-2.30 [[ 9.98415669e-01 -4.03225647e-02 -3.92459166e-02 2.15388086e+01] [ 4.07829921e-02 9.99107448e-01 1.10025107e-02 -2.54428985e-01] [ 3.87672381e-02 -1.25856450e-02 9.99169006e-01 -2.30212815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.67119381700002 meters Centerline goodness : 0.902612 Centerline is valid? [False, False] Translation: X:21.54, Y:-0.26, Z:-2.30 [[ 9.98417551e-01 -3.92421918e-02 -4.02795858e-02 2.15425612e+01] [ 3.98613759e-02 9.99097295e-01 1.46855942e-02 -2.61819857e-01] [ 3.96669303e-02 -1.62679547e-02 9.99080521e-01 -2.30349071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70119381700002 meters Centerline goodness : 0.902753 Centerline is valid? [False, False] Translation: X:21.55, Y:-0.26, Z:-2.31 [[ 9.98313437e-01 -4.13191255e-02 -4.07800249e-02 2.15451244e+01] [ 4.18585900e-02 9.99045795e-01 1.24642957e-02 -2.63459186e-01] [ 4.02260985e-02 -1.41502682e-02 9.99090402e-01 -2.30518609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73119381700002 meters Centerline goodness : 0.899290 Centerline is valid? [False, False] Translation: X:21.55, Y:-0.27, Z:-2.31 [[ 9.98315104e-01 -4.09389138e-02 -4.11212634e-02 2.15463266e+01] [ 4.15409675e-02 9.99040186e-01 1.38943986e-02 -2.66926357e-01] [ 4.05129731e-02 -1.55792050e-02 9.99057550e-01 -2.30556015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76119381700002 meters Centerline goodness : 0.900440 Centerline is valid? [False, False] Translation: X:21.55, Y:-0.27, Z:-2.31 [[ 9.98208141e-01 -4.29745499e-02 -4.16376610e-02 2.15487839e+01] [ 4.35081635e-02 9.98981061e-01 1.19949489e-02 -2.69286018e-01] [ 4.10797573e-02 -1.37850338e-02 9.99060772e-01 -2.30691394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79119381700002 meters Centerline goodness : 0.899371 Centerline is valid? [False, False] Translation: X:21.55, Y:-0.27, Z:-2.31 [[ 9.98203569e-01 -4.28535880e-02 -4.18712797e-02 2.15497215e+01] [ 4.34526940e-02 9.98964215e-01 1.35040854e-02 -2.73478543e-01] [ 4.12492116e-02 -1.52992462e-02 9.99031749e-01 -2.30702316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82119381700002 meters Centerline goodness : 0.898866 Centerline is valid? [False, False] Translation: X:21.55, Y:-0.28, Z:-2.31 [[ 9.98189805e-01 -4.28498906e-02 -4.22018982e-02 2.15504745e+01] [ 4.35289618e-02 9.98934921e-01 1.53053261e-02 -2.78591925e-01] [ 4.15011183e-02 -1.71146253e-02 9.98991865e-01 -2.30650552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85119381700002 meters Centerline goodness : 0.898021 Centerline is valid? [False, False] Translation: X:21.55, Y:-0.29, Z:-2.31 [[ 9.97857706e-01 -4.98767111e-02 -4.23357001e-02 2.15516407e+01] [ 5.03665611e-02 9.98674724e-01 1.05832775e-02 -2.86287786e-01] [ 4.17517345e-02 -1.26929086e-02 9.99047388e-01 -2.30594524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88119381700002 meters Centerline goodness : 0.898443 Centerline is valid? [False, False] Translation: X:21.55, Y:-0.29, Z:-2.31 [[ 9.97839775e-01 -4.98268543e-02 -4.28143518e-02 2.15526294e+01] [ 5.04300084e-02 9.98641360e-01 1.31243551e-02 -2.93117582e-01] [ 4.21022371e-02 -1.52551316e-02 9.98996838e-01 -2.30512448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91119381700003 meters Centerline goodness : 0.896013 Centerline is valid? [False, False] Translation: X:21.56, Y:-0.30, Z:-2.31 [[ 0.99784602 -0.05222157 -0.03970164 21.56318393] [ 0.05316503 0.99831874 0.02309062 -0.30036259] [ 0.03842906 -0.02515162 0.99894474 -2.30571244] [ 0. 0. 0. 1. ]] SLAMing on 172.94119381700003 meters Centerline goodness : 0.896274 Centerline is valid? [False, False] Translation: X:21.56, Y:-0.30, Z:-2.31 [[ 9.97643028e-01 -5.59112433e-02 -3.97784017e-02 2.15637766e+01] [ 5.67542424e-02 9.98179993e-01 2.03876931e-02 -3.04115919e-01] [ 3.85661035e-02 -2.25972329e-02 9.99000511e-01 -2.30544531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97119381700003 meters Centerline goodness : 0.899880 Centerline is valid? [False, False] Translation: X:21.56, Y:-0.31, Z:-2.30 [[ 9.97468816e-01 -5.89396915e-02 -3.97752962e-02 2.15637607e+01] [ 5.97229262e-02 9.98037974e-01 1.87982564e-02 -3.11883274e-01] [ 3.85892926e-02 -2.11261716e-02 9.99031807e-01 -2.30445722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00119381700003 meters Centerline goodness : 0.900835 Centerline is valid? [False, False] Translation: X:21.57, Y:-0.31, Z:-2.31 [[ 9.97353085e-01 -6.06064409e-02 -4.01706696e-02 2.15656475e+01] [ 6.13341636e-02 9.97970165e-01 1.71368183e-02 -3.13993195e-01] [ 3.90505282e-02 -1.95552930e-02 9.99045868e-01 -2.30519881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03119381700003 meters Centerline goodness : 0.899750 Centerline is valid? [False, False] Translation: X:21.57, Y:-0.32, Z:-2.31 [[ 9.97448391e-01 -5.88156466e-02 -4.04651422e-02 2.15663544e+01] [ 5.96378124e-02 9.98031180e-01 1.94189563e-02 -3.19407785e-01] [ 3.92433351e-02 -2.17826593e-02 9.98992230e-01 -2.30517600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06119381700003 meters Centerline goodness : 0.899659 Centerline is valid? [False, False] Translation: X:21.57, Y:-0.32, Z:-2.31 [[ 9.97509688e-01 -5.74626160e-02 -4.08958557e-02 2.15678332e+01] [ 5.83480752e-02 9.98079654e-01 2.07967867e-02 -3.21626536e-01] [ 3.96222837e-02 -2.31311907e-02 9.98946957e-01 -2.30592447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09119381700003 meters Centerline goodness : 0.897721 Centerline is valid? [False, False] Translation: X:21.57, Y:-0.32, Z:-2.31 [[ 0.99756442 -0.05628289 -0.0412004 21.56856711] [ 0.05721585 0.99812323 0.02182597 -0.32304397] [ 0.03989464 -0.02413013 0.99891249 -2.30611246] [ 0. 0. 0. 1. ]] SLAMing on 173.12119381700003 meters Centerline goodness : 0.901427 Centerline is valid? [False, False] Translation: X:21.57, Y:-0.32, Z:-2.31 [[ 0.99762505 -0.05503457 -0.04141816 21.56905113] [ 0.05601465 0.99816762 0.0228858 -0.32440956] [ 0.04008275 -0.02515147 0.99887976 -2.30614887] [ 0. 0. 0. 1. ]] SLAMing on 173.15119381700003 meters Centerline goodness : 0.901459 Centerline is valid? [False, False] Translation: X:21.57, Y:-0.33, Z:-2.30 [[ 0.99763638 -0.05249645 -0.04433715 21.57336416] [ 0.05354748 0.99830362 0.02285943 -0.32623023] [ 0.0430619 -0.02517955 0.99875506 -2.30383638] [ 0. 0. 0. 1. ]] SLAMing on 173.18119381700004 meters Centerline goodness : 0.902665 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.33, Z:-2.30 [[ 9.97677460e-01 -4.86741215e-02 -4.76499210e-02 2.15817308e+01] [ 4.96354363e-02 9.98582782e-01 1.92028929e-02 -3.29163427e-01] [ 4.66477067e-02 -2.15234181e-02 9.98679495e-01 -2.30023024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21119381700004 meters Centerline goodness : 0.901872 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.33, Z:-2.30 [[ 9.97692859e-01 -4.82704849e-02 -4.77380297e-02 2.15821314e+01] [ 4.92621931e-02 9.98589213e-01 1.98196849e-02 -3.30887508e-01] [ 4.67139758e-02 -2.21256382e-02 9.98663237e-01 -2.30044883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24119381700004 meters Centerline goodness : 0.901898 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.33, Z:-2.30 [[ 9.97694610e-01 -4.79304707e-02 -4.80430651e-02 2.15833045e+01] [ 4.89619727e-02 9.98589671e-01 2.05279000e-02 -3.32891565e-01] [ 4.69913967e-02 -2.28328584e-02 9.98634302e-01 -2.30108521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.271193817 meters Centerline goodness : 0.900639 Centerline is valid? [False, False] Translation: X:21.59, Y:-0.33, Z:-2.30 [[ 9.97578783e-01 -4.97832917e-02 -4.85612611e-02 2.15864454e+01] [ 5.07441497e-02 9.98535516e-01 1.87577958e-02 -3.34489456e-01] [ 4.75563191e-02 -2.11765790e-02 9.98644055e-01 -2.30317277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.301193817 meters Centerline goodness : 0.899266 Centerline is valid? [False, False] Translation: X:21.59, Y:-0.34, Z:-2.30 [[ 9.97415523e-01 -5.29357868e-02 -4.85806210e-02 2.15883673e+01] [ 5.38018975e-02 9.98412032e-01 1.66963951e-02 -3.41253794e-01] [ 4.76196398e-02 -1.92669733e-02 9.98679705e-01 -2.30452447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.331193817 meters Centerline goodness : 0.898169 Centerline is valid? [False, False] Translation: X:21.59, Y:-0.34, Z:-2.31 [[ 9.97261134e-01 -5.55459867e-02 -4.88351774e-02 2.15901034e+01] [ 5.63195898e-02 9.98305900e-01 1.46093813e-02 -3.44787151e-01] [ 4.79409532e-02 -1.73197453e-02 9.98700001e-01 -2.30537592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36119381700001 meters Centerline goodness : 0.899689 Centerline is valid? [False, False] Translation: X:21.59, Y:-0.35, Z:-2.31 [[ 9.97101171e-01 -5.82297535e-02 -4.89750007e-02 2.15914417e+01] [ 5.89002507e-02 9.98187359e-01 1.23594690e-02 -3.47876139e-01] [ 4.81665378e-02 -1.52082809e-02 9.98723532e-01 -2.30594787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.39119381700002 meters Centerline goodness : 0.900002 Centerline is valid? [False, False] Translation: X:21.59, Y:-0.35, Z:-2.31 [[ 9.96949072e-01 -6.04401276e-02 -4.93916812e-02 2.15936652e+01] [ 6.10348572e-02 9.98079120e-01 1.06215234e-02 -3.50672037e-01] [ 4.86548395e-02 -1.36037321e-02 9.98723007e-01 -2.30705744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42119381700002 meters Centerline goodness : 0.901269 Centerline is valid? [False, False] Translation: X:21.60, Y:-0.36, Z:-2.31 [[ 9.96825347e-01 -6.21850450e-02 -4.97217090e-02 2.15959633e+01] [ 6.27623822e-02 9.97977045e-01 1.01341226e-02 -3.56984220e-01] [ 4.89909334e-02 -1.32226031e-02 9.98711696e-01 -2.30831650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45119381700002 meters Centerline goodness : 0.902955 Centerline is valid? [False, False] Translation: X:21.60, Y:-0.36, Z:-2.31 [[ 9.96659633e-01 -6.42965850e-02 -5.03539956e-02 2.15983592e+01] [ 6.48006378e-02 9.97862531e-01 8.44077730e-03 -3.60284834e-01] [ 4.97036523e-02 -1.16755530e-02 9.98695764e-01 -2.30912331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48119381700002 meters Centerline goodness : 0.902448 Centerline is valid? [False, False] Translation: X:21.60, Y:-0.36, Z:-2.31 [[ 9.96494704e-01 -6.63974311e-02 -5.08889489e-02 2.16005585e+01] [ 6.68262638e-02 9.97741656e-01 6.77033291e-03 -3.64108188e-01] [ 5.03244915e-02 -1.01473192e-02 9.98681369e-01 -2.30986849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51119381700002 meters Centerline goodness : 0.903711 Centerline is valid? [False, False] Translation: X:21.60, Y:-0.37, Z:-2.31 [[ 9.96316320e-01 -6.87855815e-02 -5.12087292e-02 2.16020032e+01] [ 6.91217217e-02 9.97596588e-01 4.82023288e-03 -3.67873535e-01] [ 5.07540911e-02 -8.34211222e-03 9.98676340e-01 -2.31015555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54119381700002 meters Centerline goodness : 0.905426 Centerline is valid? [False, False] Translation: X:21.60, Y:-0.38, Z:-2.31 [[ 9.96166792e-01 -7.06846135e-02 -5.15306445e-02 2.16037933e+01] [ 7.09885681e-02 9.97468744e-01 4.09002337e-03 -3.75548326e-01] [ 5.11111055e-02 -7.73243213e-03 9.98663038e-01 -2.31067352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57119381700002 meters Centerline goodness : 0.905581 Centerline is valid? [False, False] Translation: X:21.61, Y:-0.38, Z:-2.31 [[ 9.96025770e-01 -7.23055127e-02 -5.20055539e-02 2.16063013e+01] [ 7.25427094e-02 9.97361691e-01 2.68547408e-03 -3.77869152e-01] [ 5.16741726e-02 -6.44742517e-03 9.98643185e-01 -2.31200450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60119381700002 meters Centerline goodness : 0.909629 Centerline is valid? [False, False] Translation: X:21.61, Y:-0.38, Z:-2.31 [[ 9.96018924e-01 -7.21978419e-02 -5.22855130e-02 2.16071086e+01] [ 7.24803632e-02 9.97363610e-01 3.52512724e-03 -3.80701900e-01] [ 5.18931614e-02 -7.30076640e-03 9.98625955e-01 -2.31217076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63119381700002 meters Centerline goodness : 0.908907 Centerline is valid? [False, False] Translation: X:21.61, Y:-0.38, Z:-2.31 [[ 9.95849489e-01 -7.42356899e-02 -5.26579321e-02 2.16091615e+01] [ 7.44262074e-02 9.97225136e-01 1.66365587e-03 -3.82445693e-01] [ 5.23883109e-02 -5.57588102e-03 9.98611223e-01 -2.31317878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66119381700003 meters Centerline goodness : 0.911212 Centerline is valid? [False, False] Translation: X:21.61, Y:-0.39, Z:-2.31 [[ 9.95607750e-01 -7.74552772e-02 -5.25917034e-02 2.16091796e+01] [ 7.75528548e-02 9.96988225e-01 -1.85884715e-04 -3.88400862e-01] [ 5.24477067e-02 -3.89356847e-03 9.98616081e-01 -2.31237140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69119381700003 meters Centerline goodness : 0.911391 Centerline is valid? [False, False] Translation: X:21.61, Y:-0.39, Z:-2.31 [[ 9.95332615e-01 -8.10010443e-02 -5.24577537e-02 2.16095652e+01] [ 8.09475697e-02 9.96713394e-01 -3.14671279e-03 -3.91127471e-01] [ 5.25402327e-02 -1.11430180e-03 9.98618186e-01 -2.31232393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72119381700003 meters Centerline goodness : 0.910011 Centerline is valid? [False, False] Translation: X:21.61, Y:-0.39, Z:-2.31 [[ 9.95027443e-01 -8.46729576e-02 -5.24488173e-02 2.16104574e+01] [ 8.44622784e-02 9.96407236e-01 -6.22440652e-03 -3.93651950e-01] [ 5.27874200e-02 1.76350869e-03 9.98604215e-01 -2.31254852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75119381700003 meters Centerline goodness : 0.909443 Centerline is valid? [False, False] Translation: X:21.61, Y:-0.40, Z:-2.31 [[ 9.95015359e-01 -8.46679995e-02 -5.26855294e-02 2.16115590e+01] [ 8.45124314e-02 9.96408973e-01 -5.17764742e-03 -3.97862841e-01] [ 5.29347153e-02 6.99256520e-04 9.98597730e-01 -2.31303420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78119381700003 meters Centerline goodness : 0.909980 Centerline is valid? [False, False] Translation: X:21.61, Y:-0.40, Z:-2.32 [[ 9.94743211e-01 -8.76502563e-02 -5.29469332e-02 2.16147022e+01] [ 8.74035457e-02 9.96148661e-01 -6.96172005e-03 -4.02791185e-01] [ 5.33532132e-02 2.29737405e-03 9.98573060e-01 -2.31518622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81119381700003 meters Centerline goodness : 0.909446 Centerline is valid? [False, False] Translation: X:21.62, Y:-0.41, Z:-2.32 [[ 9.94736122e-01 -8.74958667e-02 -5.33340505e-02 2.16158196e+01] [ 8.72927767e-02 9.96163839e-01 -6.13004847e-03 -4.05585238e-01] [ 5.36658064e-02 1.44210328e-03 9.98557911e-01 -2.31545982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84119381700003 meters Centerline goodness : 0.909623 Centerline is valid? [False, False] Translation: X:21.62, Y:-0.41, Z:-2.32 [[ 9.94716020e-01 -8.75443261e-02 -5.36286343e-02 2.16167677e+01] [ 8.73676330e-02 9.96160201e-01 -5.63484967e-03 -4.07743075e-01] [ 5.39160102e-02 9.19668400e-04 9.98545051e-01 -2.31570333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87119381700003 meters Centerline goodness : 0.910933 Centerline is valid? [False, False] Translation: X:21.63, Y:-0.41, Z:-2.32 [[ 9.94778877e-01 -8.94693312e-02 -4.90940329e-02 2.16263514e+01] [ 8.97059483e-02 9.95964813e-01 2.63324939e-03 -4.12004351e-01] [ 4.86603342e-02 -7.02352764e-03 9.98790690e-01 -2.31700427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90119381700003 meters Centerline goodness : 0.908786 Centerline is valid? [False, False] Translation: X:21.63, Y:-0.41, Z:-2.32 [[ 9.94663894e-01 -9.04918853e-02 -4.95475141e-02 2.16286721e+01] [ 9.06956000e-02 9.95876898e-01 1.87417404e-03 -4.12863717e-01] [ 4.91736270e-02 -6.35791477e-03 9.98770009e-01 -2.31827140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93119381700004 meters Centerline goodness : 0.909097 Centerline is valid? [False, False] Translation: X:21.63, Y:-0.41, Z:-2.32 [[ 9.94666986e-01 -9.04089898e-02 -4.96366903e-02 2.16293296e+01] [ 9.06380230e-02 9.95881064e-01 2.37824553e-03 -4.14642364e-01] [ 4.92172251e-02 -6.86453379e-03 9.98764508e-01 -2.31872785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96119381700004 meters Centerline goodness : 0.911635 Centerline is valid? [False, False] Translation: X:21.63, Y:-0.42, Z:-2.32 [[ 9.94331803e-01 -9.41423701e-02 -4.94113345e-02 2.16297527e+01] [ 9.42282082e-02 9.95550446e-01 -5.94488674e-04 -4.17276717e-01] [ 4.92474427e-02 -4.06482252e-03 9.98778337e-01 -2.31879120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99119381700004 meters Centerline goodness : 0.913220 Centerline is valid? [False, False] Translation: X:21.63, Y:-0.42, Z:-2.32 [[ 9.94276547e-01 -9.46246139e-02 -4.96017151e-02 2.16302800e+01] [ 9.47244043e-02 9.95503476e-01 -3.40279867e-04 -4.19595541e-01] [ 4.94108786e-02 -4.36016062e-03 9.98769019e-01 -2.31864670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.021193817 meters Centerline goodness : 0.915273 Centerline is valid? [False, False] Translation: X:21.63, Y:-0.42, Z:-2.32 [[ 9.94108713e-01 -9.61947933e-02 -4.99442500e-02 2.16323488e+01] [ 9.62436752e-02 9.95356774e-01 -1.43085598e-03 -4.20813672e-01] [ 4.98499884e-02 -3.38439178e-03 9.98750982e-01 -2.31967478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.051193817 meters Centerline goodness : 0.919583 Centerline is valid? [False, False] Translation: X:21.63, Y:-0.42, Z:-2.32 [[ 9.94058704e-01 -9.65889497e-02 -5.01783520e-02 2.16331314e+01] [ 9.66389594e-02 9.95318469e-01 -1.43421890e-03 -4.21650589e-01] [ 5.00819702e-02 -3.42348594e-03 9.98739243e-01 -2.31988602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.081193817 meters Centerline goodness : 0.919793 Centerline is valid? [False, False] Translation: X:21.63, Y:-0.42, Z:-2.32 [[ 9.94030160e-01 -9.67530783e-02 -5.04270021e-02 2.16340174e+01] [ 9.68017558e-02 9.95302579e-01 -1.48181618e-03 -4.21491414e-01] [ 5.03334955e-02 -3.40845237e-03 9.98726650e-01 -2.32031592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.11119381700001 meters Centerline goodness : 0.919831 Centerline is valid? [False, False] Translation: X:21.63, Y:-0.42, Z:-2.32 [[ 9.94012100e-01 -9.68919763e-02 -5.05162363e-02 2.16347429e+01] [ 9.69254349e-02 9.95290031e-01 -1.79274961e-03 -4.20312571e-01] [ 5.04520094e-02 -3.11429336e-03 9.98721631e-01 -2.32099105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14119381700002 meters Centerline goodness : 0.918392 Centerline is valid? [False, False] Translation: X:21.63, Y:-0.42, Z:-2.32 [[ 9.94038997e-01 -9.64845184e-02 -5.07662240e-02 2.16349959e+01] [ 9.64969023e-02 9.95330825e-01 -2.21271678e-03 -4.17740302e-01] [ 5.07426805e-02 -2.69925659e-03 9.98708113e-01 -2.32098378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.17119381700002 meters Centerline goodness : 0.921672 Centerline is valid? [False, False] Translation: X:21.64, Y:-0.42, Z:-2.32 [[ 9.94046096e-01 -9.63033919e-02 -5.09707328e-02 2.16351183e+01] [ 9.62960246e-02 9.95349328e-01 -2.60598801e-03 -4.15893647e-01] [ 5.09846501e-02 -2.31780673e-03 9.98696747e-01 -2.32078412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20119381700002 meters Centerline goodness : 0.925765 Centerline is valid? [False, False] Translation: X:21.65, Y:-0.41, Z:-2.32 [[ 9.94633187e-01 -9.26608634e-02 -4.60302864e-02 2.16453452e+01] [ 9.23501126e-02 9.95687383e-01 -8.83691584e-03 -4.12590422e-01] [ 4.66506116e-02 4.53858764e-03 9.98900957e-01 -2.32295132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23119381700002 meters Centerline goodness : 0.925664 Centerline is valid? [False, False] Translation: X:21.65, Y:-0.41, Z:-2.32 [[ 9.94652738e-01 -9.23864088e-02 -4.61593081e-02 2.16455011e+01] [ 9.20462861e-02 9.95709934e-01 -9.44499740e-03 -4.09578829e-01] [ 4.68338710e-02 5.14569964e-03 9.98889438e-01 -2.32297409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26119381700002 meters Centerline goodness : 0.928371 Centerline is valid? [False, False] Translation: X:21.66, Y:-0.40, Z:-2.33 [[ 9.95358093e-01 -8.61676023e-02 -4.28650216e-02 2.16565140e+01] [ 8.56480475e-02 9.96229651e-01 -1.38164654e-02 -4.03810275e-01] [ 4.38939372e-02 1.00810252e-02 9.98985333e-01 -2.32547750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29119381700002 meters Centerline goodness : 0.924045 Centerline is valid? [False, False] Translation: X:21.67, Y:-0.40, Z:-2.33 [[ 9.95824840e-01 -8.29144048e-02 -3.81849467e-02 2.16689728e+01] [ 8.22029588e-02 9.96418071e-01 -1.98419281e-02 -4.00166004e-01] [ 3.96933526e-02 1.66201693e-02 9.99073675e-01 -2.32912716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32119381700002 meters Centerline goodness : 0.927537 Centerline is valid? [False, False] Translation: X:21.67, Y:-0.40, Z:-2.33 [[ 9.96090142e-01 -7.94380468e-02 -3.86526382e-02 2.16694626e+01] [ 7.88598977e-02 9.96753069e-01 -1.62615079e-02 -3.99960184e-01] [ 3.98189182e-02 1.31497846e-02 9.99120382e-01 -2.32920678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35119381700002 meters Centerline goodness : 0.929116 Centerline is valid? [False, False] Translation: X:21.68, Y:-0.40, Z:-2.33 [[ 9.96448958e-01 -7.74551502e-02 -3.30177758e-02 2.16834506e+01] [ 7.68257993e-02 9.96845452e-01 -1.99234067e-02 -3.96252021e-01] [ 3.44567900e-02 1.73160408e-02 9.99256166e-01 -2.33166469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38119381700002 meters Centerline goodness : 0.932251 Centerline is valid? [False, False] Translation: X:21.68, Y:-0.39, Z:-2.33 [[ 9.96697091e-01 -7.40340098e-02 -3.33747450e-02 2.16832698e+01] [ 7.35100869e-02 9.97155265e-01 -1.66626835e-02 -3.94353279e-01] [ 3.45134079e-02 1.41542677e-02 9.99303998e-01 -2.33126955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41119381700003 meters Centerline goodness : 0.932251 Centerline is valid? [False, False] Translation: X:21.68, Y:-0.39, Z:-2.33 [[ 9.96697091e-01 -7.40340098e-02 -3.33747450e-02 2.16832698e+01] [ 7.35100869e-02 9.97155265e-01 -1.66626835e-02 -3.94353279e-01] [ 3.45134079e-02 1.41542677e-02 9.99303998e-01 -2.33126955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44119381700003 meters Centerline goodness : 0.932295 Centerline is valid? [False, False] Translation: X:21.68, Y:-0.39, Z:-2.33 [[ 9.96682037e-01 -7.41986246e-02 -3.34586367e-02 2.16837954e+01] [ 7.36581540e-02 9.97136793e-01 -1.71082744e-02 -3.92840628e-01] [ 3.46322481e-02 1.45870084e-02 9.99293664e-01 -2.33168291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47119381700003 meters Centerline goodness : 0.930908 Centerline is valid? [False, False] Translation: X:21.69, Y:-0.39, Z:-2.33 [[ 9.96894467e-01 -7.09719699e-02 -3.41233329e-02 2.16853691e+01] [ 7.05523486e-02 9.97418748e-01 -1.33494422e-02 -3.93770430e-01] [ 3.49826881e-02 1.09005037e-02 9.99328470e-01 -2.33253020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50119381700003 meters Centerline goodness : 0.932075 Centerline is valid? [False, False] Translation: X:21.69, Y:-0.39, Z:-2.34 [[ 9.96882854e-01 -7.07902438e-02 -3.48327055e-02 2.16891399e+01] [ 7.03726026e-02 9.97435083e-01 -1.30748340e-02 -3.93558351e-01] [ 3.56689332e-02 1.05828097e-02 9.99307626e-01 -2.33533835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53119381700003 meters Centerline goodness : 0.932978 Centerline is valid? [False, False] Translation: X:21.69, Y:-0.39, Z:-2.34 [[ 9.96870206e-01 -7.08871870e-02 -3.49971405e-02 2.16901211e+01] [ 7.04722606e-02 9.97429649e-01 -1.29520631e-02 -3.94120949e-01] [ 3.58253209e-02 1.04451982e-02 9.99303480e-01 -2.33608050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56119381700003 meters Centerline goodness : 0.931694 Centerline is valid? [False, False] Translation: X:21.69, Y:-0.39, Z:-2.34 [[ 9.96852197e-01 -7.10101907e-02 -3.52597455e-02 2.16908872e+01] [ 7.05957970e-02 9.97422062e-01 -1.28632637e-02 -3.94465658e-01] [ 3.60822709e-02 1.03335829e-02 9.99295395e-01 -2.33631144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59119381700003 meters Centerline goodness : 0.934951 Centerline is valid? [False, False] Translation: X:21.69, Y:-0.39, Z:-2.34 [[ 9.96838354e-01 -7.11111795e-02 -3.54470995e-02 2.16913495e+01] [ 7.06996162e-02 9.97416374e-01 -1.27335046e-02 -3.94859362e-01] [ 3.62610119e-02 1.01871494e-02 9.99290429e-01 -2.33635216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62119381700003 meters Centerline goodness : 0.934487 Centerline is valid? [False, False] Translation: X:21.70, Y:-0.40, Z:-2.34 [[ 9.96821958e-01 -7.33833863e-02 -3.09977715e-02 2.17017788e+01] [ 7.32683011e-02 9.97300551e-01 -4.83390260e-03 -3.95767899e-01] [ 3.12688228e-02 2.54738620e-03 9.99507765e-01 -2.33864777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65119381700003 meters Centerline goodness : 0.936199 Centerline is valid? [False, False] Translation: X:21.70, Y:-0.40, Z:-2.34 [[ 9.96793112e-01 -7.36558785e-02 -3.12778332e-02 2.17024045e+01] [ 7.35361165e-02 9.97280202e-01 -4.96373917e-03 -3.96058905e-01] [ 3.15583723e-02 2.64777064e-03 9.99498403e-01 -2.33861434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68119381700004 meters Centerline goodness : 0.934681 Centerline is valid? [False, False] Translation: X:21.70, Y:-0.40, Z:-2.34 [[ 9.96781102e-01 -7.37273778e-02 -3.14913947e-02 2.17029425e+01] [ 7.36077386e-02 9.97275020e-01 -4.94323428e-03 -3.96395452e-01] [ 3.17700330e-02 2.60931216e-03 9.99491799e-01 -2.33867113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71119381700004 meters Centerline goodness : 0.936425 Centerline is valid? [False, False] Translation: X:21.71, Y:-0.39, Z:-2.34 [[ 9.96990734e-01 -7.25902606e-02 -2.72053298e-02 2.17147913e+01] [ 7.22505697e-02 9.97298243e-01 -1.32691234e-02 -3.94641139e-01] [ 2.80950367e-02 1.12635925e-02 9.99541795e-01 -2.34189272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74119381700004 meters Centerline goodness : 0.937838 Centerline is valid? [False, False] Translation: X:21.72, Y:-0.39, Z:-2.34 [[ 9.96976647e-01 -7.26894620e-02 -2.74555657e-02 2.17155440e+01] [ 7.23443445e-02 9.97290202e-01 -1.33621812e-02 -3.94085854e-01] [ 2.83524565e-02 1.13355277e-02 9.99533713e-01 -2.34221842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.771193817 meters Centerline goodness : 0.937938 Centerline is valid? [False, False] Translation: X:21.73, Y:-0.39, Z:-2.35 [[ 9.97230260e-01 -7.04940441e-02 -2.37149504e-02 2.17310504e+01] [ 7.01067256e-02 9.97398248e-01 -1.67863681e-02 -3.92254614e-01] [ 2.48365890e-02 1.50772967e-02 9.99577820e-01 -2.34545209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.801193817 meters Centerline goodness : 0.938588 Centerline is valid? [False, False] Translation: X:21.73, Y:-0.39, Z:-2.35 [[ 9.97231372e-01 -7.04426655e-02 -2.38206153e-02 2.17312456e+01] [ 7.00520372e-02 9.97400937e-01 -1.68547835e-02 -3.91465225e-01] [ 2.49459999e-02 1.51394362e-02 9.99574157e-01 -2.34539583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.831193817 meters Centerline goodness : 0.938229 Centerline is valid? [False, False] Translation: X:21.74, Y:-0.39, Z:-2.35 [[ 9.97449239e-01 -6.91965386e-02 -1.75172829e-02 2.17426520e+01] [ 6.87673721e-02 9.97343527e-01 -2.40195321e-02 -3.88666425e-01] [ 1.91328172e-02 2.27536465e-02 9.99558006e-01 -2.34884911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86119381700001 meters Centerline goodness : 0.939780 Centerline is valid? [False, False] Translation: X:21.75, Y:-0.39, Z:-2.35 [[ 9.97495864e-01 -6.95572900e-02 -1.27978611e-02 2.17521758e+01] [ 6.93723564e-02 9.97487362e-01 -1.43679609e-02 -3.89745574e-01] [ 1.37651011e-02 1.34441638e-02 9.99814871e-01 -2.35086470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.89119381700002 meters Centerline goodness : 0.942106 Centerline is valid? [False, False] Translation: X:21.75, Y:-0.39, Z:-2.35 [[ 9.97493298e-01 -6.95678032e-02 -1.29398899e-02 2.17524394e+01] [ 6.93789449e-02 9.97484807e-01 -1.45128120e-02 -3.89239007e-01] [ 1.39169680e-02 1.35786768e-02 9.99810951e-01 -2.35078017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92119381700002 meters Centerline goodness : 0.941549 Centerline is valid? [False, False] Translation: X:21.75, Y:-0.39, Z:-2.35 [[ 9.97463002e-01 -6.99609165e-02 -1.31540528e-02 2.17531635e+01] [ 6.97589792e-02 9.97447596e-01 -1.52308286e-02 -3.87636116e-01] [ 1.41860411e-02 1.42745748e-02 9.99797476e-01 -2.35115777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95119381700002 meters Centerline goodness : 0.940090 Centerline is valid? [False, False] Translation: X:21.77, Y:-0.39, Z:-2.35 [[ 9.97464038e-01 -6.97667589e-02 -1.40744984e-02 2.17740170e+01] [ 6.95397172e-02 9.97450490e-01 -1.60233593e-02 -3.86364081e-01] [ 1.51565132e-02 1.50039880e-02 9.99772554e-01 -2.35151463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98119381700002 meters Centerline goodness : 0.943448 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.38, Z:-2.35 [[ 9.97291184e-01 -7.21219866e-02 -1.44469325e-02 2.17761460e+01] [ 7.18567906e-02 9.97250636e-01 -1.81044168e-02 -3.84738061e-01] [ 1.57129391e-02 1.70172651e-02 9.99731722e-01 -2.35284059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01119381700002 meters Centerline goodness : 0.941488 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.38, Z:-2.35 [[ 9.97255571e-01 -7.25610742e-02 -1.47043271e-02 2.17769528e+01] [ 7.22889823e-02 9.97216548e-01 -1.82608585e-02 -3.84883965e-01] [ 1.59884258e-02 1.71477820e-02 9.99725124e-01 -2.35310831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04119381700002 meters Centerline goodness : 0.941725 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.38, Z:-2.35 [[ 9.97218108e-01 -7.30283425e-02 -1.49300768e-02 2.17777391e+01] [ 7.27496149e-02 9.97179934e-01 -1.84302123e-02 -3.84979411e-01] [ 1.62339009e-02 1.72927841e-02 9.99718670e-01 -2.35341086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07119381700002 meters Centerline goodness : 0.940069 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.38, Z:-2.35 [[ 9.97097586e-01 -7.45647815e-02 -1.53784501e-02 2.17796933e+01] [ 7.42558914e-02 9.97043341e-01 -1.97645909e-02 -3.84283781e-01] [ 1.68067237e-02 1.85652854e-02 9.99686383e-01 -2.35446495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10119381700002 meters Centerline goodness : 0.941376 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.38, Z:-2.36 [[ 9.96989946e-01 -7.59268420e-02 -1.56895738e-02 2.17811253e+01] [ 7.55979948e-02 9.96925848e-01 -2.05863213e-02 -3.83901564e-01] [ 1.72043961e-02 1.93382550e-02 9.99664964e-01 -2.35526921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13119381700002 meters Centerline goodness : 0.939834 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.38, Z:-2.36 [[ 9.96953278e-01 -7.63575674e-02 -1.59274396e-02 2.17823998e+01] [ 7.60190390e-02 9.96887810e-01 -2.08758056e-02 -3.83545896e-01] [ 1.74718961e-02 1.96014141e-02 9.99655199e-01 -2.35618222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16119381700003 meters Centerline goodness : 0.940503 Centerline is valid? [False, False] Translation: X:21.80, Y:-0.38, Z:-2.36 [[ 9.96953971e-01 -7.58797668e-02 -1.80289011e-02 2.18044725e+01] [ 7.55161410e-02 9.96942771e-01 -2.00604831e-02 -3.82602734e-01] [ 1.94959675e-02 1.86379052e-02 9.99636202e-01 -2.35665276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19119381700003 meters Centerline goodness : 0.942126 Centerline is valid? [False, False] Translation: X:21.81, Y:-0.38, Z:-2.36 [[ 9.96918938e-01 -7.63191971e-02 -1.81110909e-02 2.18051129e+01] [ 7.59418650e-02 9.96897756e-01 -2.06808564e-02 -3.80517641e-01] [ 1.96332522e-02 1.92417473e-02 9.99622074e-01 -2.35718702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22119381700003 meters Centerline goodness : 0.938174 Centerline is valid? [False, False] Translation: X:21.82, Y:-0.38, Z:-2.36 [[ 9.96998678e-01 -7.55882550e-02 -1.67347770e-02 2.18242960e+01] [ 7.52289977e-02 9.96942018e-01 -2.11473529e-02 -3.77442537e-01] [ 1.82820939e-02 1.98249424e-02 9.99636302e-01 -2.35711010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25119381700003 meters Centerline goodness : 0.941419 Centerline is valid? [False, False] Translation: X:21.82, Y:-0.37, Z:-2.36 [[ 9.96976622e-01 -7.58420144e-02 -1.68998501e-02 2.18243148e+01] [ 7.54623432e-02 9.96904306e-01 -2.20734964e-02 -3.73719961e-01] [ 1.85216318e-02 2.07314575e-02 9.99613503e-01 -2.35671033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28119381700003 meters Centerline goodness : 0.941117 Centerline is valid? [False, False] Translation: X:21.84, Y:-0.37, Z:-2.36 [[ 9.97247071e-01 -7.31475160e-02 -1.21540411e-02 2.18386534e+01] [ 7.28053862e-02 9.96992918e-01 -2.65423839e-02 -3.66294038e-01] [ 1.40590024e-02 2.55844349e-02 9.99573800e-01 -2.35939569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31119381700003 meters Centerline goodness : 0.941083 Centerline is valid? [False, False] Translation: X:21.86, Y:-0.36, Z:-2.36 [[ 9.97321777e-01 -7.25473453e-02 -9.28197002e-03 2.18563005e+01] [ 7.22499279e-02 9.96960900e-01 -2.91360768e-02 -3.62238279e-01] [ 1.13675062e-02 2.83874222e-02 9.99532358e-01 -2.35967364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34119381700003 meters Centerline goodness : 0.943307 Centerline is valid? [False, False] Translation: X:21.87, Y:-0.36, Z:-2.36 [[ 9.97503032e-01 -7.03150048e-02 -6.59548452e-03 2.18742724e+01] [ 7.01031545e-02 9.97141472e-01 -2.81856759e-02 -3.59684729e-01] [ 8.55850707e-03 2.76529329e-02 9.99580946e-01 -2.35924231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37119381700003 meters Centerline goodness : 0.945610 Centerline is valid? [False, False] Translation: X:21.87, Y:-0.36, Z:-2.36 [[ 9.97514950e-01 -7.01309371e-02 -6.75099555e-03 2.18741272e+01] [ 6.99080800e-02 9.97132958e-01 -2.89607459e-02 -3.55750609e-01] [ 8.76268441e-03 2.84168278e-02 9.99557752e-01 -2.35873187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40119381700003 meters Centerline goodness : 0.949125 Centerline is valid? [False, False] Translation: X:21.89, Y:-0.35, Z:-2.36 [[ 9.97839995e-01 -6.55954670e-02 -3.54656206e-03 2.18908858e+01] [ 6.54715375e-02 9.97463955e-01 -2.79130101e-02 -3.46400521e-01] [ 5.36853475e-03 2.76205190e-02 9.99604065e-01 -2.35883366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43119381700004 meters Centerline goodness : 0.949339 Centerline is valid? [False, False] Translation: X:21.89, Y:-0.34, Z:-2.36 [[ 9.98068393e-01 -6.19932490e-02 -4.03986378e-03 2.18913525e+01] [ 6.18747710e-02 9.97776122e-01 -2.47855494e-02 -3.43692526e-01] [ 5.56741635e-03 2.44877078e-02 9.99684628e-01 -2.35871094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46119381700004 meters Centerline goodness : 0.947657 Centerline is valid? [False, False] Translation: X:21.90, Y:-0.34, Z:-2.36 [[ 9.98360027e-01 -5.72387100e-02 9.93733963e-04 2.19034735e+01] [ 5.72430491e-02 9.97922441e-01 -2.95640839e-02 -3.39519823e-01] [ 7.00540601e-04 2.95724839e-02 9.99562393e-01 -2.36252708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49119381700004 meters Centerline goodness : 0.947688 Centerline is valid? [False, False] Translation: X:21.93, Y:-0.33, Z:-2.36 [[ 9.98827101e-01 -4.84188495e-02 1.91026822e-04 2.19275303e+01] [ 4.83951601e-02 9.98198503e-01 -3.54634561e-02 -3.33990916e-01] [ 1.52641705e-03 3.54311058e-02 9.99370956e-01 -2.36382609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.521193817 meters Centerline goodness : 0.945551 Centerline is valid? [False, False] Translation: X:21.95, Y:-0.33, Z:-2.36 [[ 9.98980147e-01 -4.50824418e-02 -2.49767891e-03 2.19500604e+01] [ 4.49791834e-02 9.98471478e-01 -3.21182364e-02 -3.32581994e-01] [ 3.94182967e-03 3.19731370e-02 9.99480956e-01 -2.36494518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.551193817 meters Centerline goodness : 0.947127 Centerline is valid? [False, False] Translation: X:21.95, Y:-0.33, Z:-2.37 [[ 9.99132906e-01 -4.15353486e-02 -2.87237701e-03 2.19509124e+01] [ 4.14374769e-02 9.98738909e-01 -2.83465638e-02 -3.32406118e-01] [ 4.04613909e-03 2.82029606e-02 9.99594028e-01 -2.36546008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.581193817 meters Centerline goodness : 0.946261 Centerline is valid? [False, False] Translation: X:21.95, Y:-0.33, Z:-2.37 [[ 9.99205800e-01 -3.96898914e-02 -3.53287872e-03 2.19533166e+01] [ 3.95837427e-02 9.98871086e-01 -2.62617703e-02 -3.31456888e-01] [ 4.57121721e-03 2.61010686e-02 9.99648857e-01 -2.36694810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.61119381700001 meters Centerline goodness : 0.946830 Centerline is valid? [False, False] Translation: X:21.95, Y:-0.33, Z:-2.37 [[ 9.99182468e-01 -4.02534964e-02 -3.74848458e-03 2.19540298e+01] [ 4.01381618e-02 9.98830317e-01 -2.69615635e-02 -3.29780678e-01] [ 4.82939724e-03 2.67890643e-02 9.99629443e-01 -2.36717039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64119381700002 meters Centerline goodness : 0.944754 Centerline is valid? [False, False] Translation: X:21.95, Y:-0.33, Z:-2.37 [[ 9.99165716e-01 -4.06357688e-02 -4.07507414e-03 2.19548512e+01] [ 4.05101779e-02 9.98808087e-01 -2.72273895e-02 -3.29180009e-01] [ 5.17662291e-03 2.70395922e-02 9.99620960e-01 -2.36731974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.67119381700002 meters Centerline goodness : 0.947008 Centerline is valid? [False, False] Translation: X:21.96, Y:-0.33, Z:-2.37 [[ 9.98968709e-01 -4.52004375e-02 -4.29403211e-03 2.19562286e+01] [ 4.50413787e-02 9.98477731e-01 -3.18354357e-02 -3.27854157e-01] [ 5.72647106e-03 3.16091950e-02 9.99483900e-01 -2.36806099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70119381700002 meters Centerline goodness : 0.946077 Centerline is valid? [False, False] Translation: X:21.96, Y:-0.33, Z:-2.37 [[ 9.98946261e-01 -4.56583373e-02 -4.65664191e-03 2.19574182e+01] [ 4.54878750e-02 9.98458949e-01 -3.17896256e-02 -3.28995904e-01] [ 6.10092723e-03 3.15443069e-02 9.99483734e-01 -2.36864020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73119381700002 meters Centerline goodness : 0.945365 Centerline is valid? [False, False] Translation: X:21.97, Y:-0.33, Z:-2.37 [[ 9.98861764e-01 -4.76983901e-02 -1.97627017e-04 2.19683372e+01] [ 4.76811031e-02 9.98595465e-01 -2.30999930e-02 -3.31017920e-01] [ 1.29918192e-03 2.30642766e-02 9.99733140e-01 -2.37200193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76119381700002 meters Centerline goodness : 0.946322 Centerline is valid? [False, False] Translation: X:21.97, Y:-0.33, Z:-2.37 [[ 9.98805051e-01 -4.88711756e-02 -2.78916493e-04 2.19689534e+01] [ 4.88505777e-02 9.98520411e-01 -2.38874373e-02 -3.29674923e-01] [ 1.44591095e-03 2.38452678e-02 9.99714616e-01 -2.37246084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79119381700002 meters Centerline goodness : 0.946237 Centerline is valid? [False, False] Translation: X:21.97, Y:-0.33, Z:-2.37 [[ 9.98777214e-01 -4.94351079e-02 -4.96599518e-04 2.19696803e+01] [ 4.94083798e-02 9.98481806e-01 -2.43494403e-02 -3.28536788e-01] [ 1.69956279e-03 2.42951300e-02 9.99703385e-01 -2.37274144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82119381700002 meters Centerline goodness : 0.948942 Centerline is valid? [False, False] Translation: X:21.97, Y:-0.33, Z:-2.37 [[ 9.98749195e-01 -4.99949571e-02 -7.41469722e-04 2.19705931e+01] [ 4.99611667e-02 9.98442433e-01 -2.48312188e-02 -3.27387042e-01] [ 1.98175055e-03 2.47631151e-02 9.99691383e-01 -2.37316942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85119381700002 meters Centerline goodness : 0.948384 Centerline is valid? [False, False] Translation: X:21.97, Y:-0.33, Z:-2.37 [[ 9.98717558e-01 -5.06178119e-02 -1.03797582e-03 2.19716935e+01] [ 5.05755845e-02 9.98401642e-01 -2.52244223e-02 -3.26825563e-01] [ 2.31312182e-03 2.51395771e-02 9.99681275e-01 -2.37371858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88119381700002 meters Centerline goodness : 0.947638 Centerline is valid? [False, False] Translation: X:21.98, Y:-0.33, Z:-2.38 [[ 9.98458042e-01 -5.54457236e-02 2.70371358e-03 2.19826166e+01] [ 5.54873059e-02 9.98277475e-01 -1.90589059e-02 -3.26059254e-01] [-1.64232153e-03 1.91795397e-02 9.99814707e-01 -2.37636911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91119381700003 meters Centerline goodness : 0.949664 Centerline is valid? [False, False] Translation: X:21.98, Y:-0.32, Z:-2.38 [[ 9.98423760e-01 -5.60615497e-02 2.66440485e-03 2.19823207e+01] [ 5.61033057e-02 9.98230215e-01 -1.97194553e-02 -3.24453402e-01] [-1.55418621e-03 1.98378546e-02 9.99802002e-01 -2.37571456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94119381700003 meters Centerline goodness : 0.950227 Centerline is valid? [False, True] Translation: X:21.98, Y:-0.32, Z:-2.38 [[ 9.98554983e-01 -5.36829379e-02 2.46759847e-03 2.19820804e+01] [ 5.37166962e-02 9.98417287e-01 -1.66564377e-02 -3.23985952e-01] [-1.56952647e-03 1.67649201e-02 9.99858227e-01 -2.37519984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97119381700003 meters Centerline goodness : 0.951226 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.33, Z:-2.38 [[ 9.98436252e-01 -5.58264769e-02 2.90782229e-03 2.20128537e+01] [ 5.58268090e-02 9.98440467e-01 -3.30884333e-05 -3.26618554e-01] [-2.90144024e-03 1.95371131e-04 9.99995772e-01 -2.37549497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00119381700003 meters Centerline goodness : 0.951630 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.32, Z:-2.37 [[ 9.98339377e-01 -5.75738403e-02 1.93423033e-03 2.20424685e+01] [ 5.75739917e-02 9.98341242e-01 -2.26426865e-05 -3.23090165e-01] [-1.92971829e-03 1.33966447e-04 9.99998129e-01 -2.37488445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03119381700003 meters Centerline goodness : 0.953091 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.32, Z:-2.38 [[ 9.98319384e-01 -5.79137208e-02 2.09981021e-03 2.20719441e+01] [ 5.79138997e-02 9.98321581e-01 -2.44491130e-05 -3.19665996e-01] [-2.09486991e-03 1.46016221e-04 9.99997795e-01 -2.37556484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06119381700003 meters Centerline goodness : 0.953303 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.31, Z:-2.37 [[ 9.98251815e-01 -5.90628312e-02 2.21273650e-03 2.21028638e+01] [ 5.90630312e-02 9.98254255e-01 -2.50907201e-05 -3.10308134e-01] [-2.20739169e-03 1.55737782e-04 9.99997552e-01 -2.37476049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09119381700003 meters Centerline goodness : 0.953298 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.31, Z:-2.38 [[ 9.98283298e-01 -5.85282589e-02 2.21338288e-03 2.21330401e+01] [ 5.85284577e-02 9.98285740e-01 -2.50980496e-05 -3.05459056e-01] [-2.20811962e-03 1.54600850e-04 9.99997550e-01 -2.37558438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12119381700003 meters Centerline goodness : 0.955834 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.30, Z:-2.38 [[ 9.98335995e-01 -5.76246736e-02 2.15368894e-03 2.21637993e+01] [ 5.76248598e-02 9.98338307e-01 -2.44211665e-05 -3.00405810e-01] [-2.14870290e-03 1.48486552e-04 9.99997681e-01 -2.37611473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15119381700003 meters Centerline goodness : 0.954127 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.30, Z:-2.38 [[ 9.98444610e-01 -5.57234619e-02 1.80477059e-03 2.21941332e+01] [ 5.57235895e-02 9.98446233e-01 -2.04647024e-05 -2.95341459e-01] [-1.80082604e-03 1.21001167e-04 9.99998371e-01 -2.37628043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18119381700004 meters Centerline goodness : 0.954472 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.28, Z:-2.38 [[ 9.98652775e-01 -5.18638141e-02 1.66749550e-03 2.22259240e+01] [ 5.18639154e-02 9.98654161e-01 -1.75577152e-05 -2.84510267e-01] [-1.66434071e-03 1.04016907e-04 9.99998610e-01 -2.37793798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21119381700004 meters Centerline goodness : 0.953563 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.28, Z:-2.38 [[ 9.98769013e-01 -4.95882850e-02 1.20897416e-03 2.22563254e+01] [ 4.95883370e-02 9.98769742e-01 -1.30813464e-05 -2.78994842e-01] [-1.20683813e-03 7.30162614e-05 9.99999269e-01 -2.37892379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24119381700004 meters Centerline goodness : 0.955314 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.27, Z:-2.38 [[ 9.98868085e-01 -4.75583201e-02 8.68882784e-04 2.22874926e+01] [ 4.75583455e-02 9.98868462e-01 -8.55070886e-06 -2.73242696e-01] [-8.67492953e-04 4.98636578e-05 9.99999622e-01 -2.37890901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.271193817 meters Centerline goodness : 0.953770 Centerline is valid? [True, True] Translation: X:22.32, Y:-0.26, Z:-2.38 [[ 9.99056162e-01 -4.33843287e-02 2.14136365e-03 2.23180291e+01] [ 4.33844761e-02 9.99058450e-01 -2.24163842e-05 -2.60671855e-01] [-2.13837493e-03 1.15297167e-04 9.99997707e-01 -2.37936640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.301193817 meters Centerline goodness : 0.953770 Centerline is valid? [True, True] Translation: X:22.35, Y:-0.26, Z:-2.38 [[ 9.99058866e-01 -4.33220040e-02 2.14135999e-03 2.23498508e+01] [ 4.33221519e-02 9.99061155e-01 -2.27392654e-05 -2.61096538e-01] [-2.13836447e-03 1.15486188e-04 9.99997707e-01 -2.38041364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.331193817 meters Centerline goodness : 0.955146 Centerline is valid? [True, True] Translation: X:22.38, Y:-0.26, Z:-2.38 [[ 9.99189929e-01 -4.01066029e-02 3.30863800e-03 2.23808221e+01] [ 4.01069430e-02 9.99195392e-01 -3.64648878e-05 -2.55947722e-01] [-3.30451336e-03 1.69134704e-04 9.99994526e-01 -2.38204179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36119381700001 meters Centerline goodness : 0.954871 Centerline is valid? [True, True] Translation: X:22.41, Y:-0.25, Z:-2.38 [[ 9.99324024e-01 -3.66283706e-02 3.13959978e-03 2.24125686e+01] [ 3.66286580e-02 9.99328945e-01 -3.40791144e-05 -2.51135028e-01] [-3.13624467e-03 1.49055404e-04 9.99995071e-01 -2.38324687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.39119381700002 meters Centerline goodness : 0.952123 Centerline is valid? [True, True] Translation: X:22.44, Y:-0.24, Z:-2.39 [[ 9.99560684e-01 -2.94778945e-02 3.08086875e-03 2.24433990e+01] [ 2.94781399e-02 9.99565425e-01 -3.42725233e-05 -2.42542731e-01] [-3.07851960e-03 1.25075747e-04 9.99995254e-01 -2.38581708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42119381700002 meters Centerline goodness : 0.951381 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.24, Z:-2.39 [[ 9.99651615e-01 -2.62943776e-02 2.29234674e-03 2.24760770e+01] [ 2.62945028e-02 9.99654239e-01 -2.44844620e-05 -2.39029065e-01] [-2.29091034e-03 8.47520497e-05 9.99997372e-01 -2.38641185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45119381700002 meters Centerline goodness : 0.952022 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.24, Z:-2.39 [[ 9.99737568e-01 -2.27637180e-02 2.57059509e-03 2.25087523e+01] [ 2.27638652e-02 9.99740869e-01 -2.79959551e-05 -2.35722988e-01] [-2.56929167e-03 8.65052880e-05 9.99996696e-01 -2.38778405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48119381700002 meters Centerline goodness : 0.950836 Centerline is valid? [True, True] Translation: X:22.54, Y:-0.23, Z:-2.39 [[ 9.99808730e-01 -1.94096484e-02 2.40201419e-03 2.25411054e+01] [ 1.94097673e-02 9.99811612e-01 -2.61885776e-05 -2.32935349e-01] [-2.40105337e-03 7.28061051e-05 9.99997115e-01 -2.38866690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51119381700002 meters Centerline goodness : 0.952457 Centerline is valid? [True, True] Translation: X:22.57, Y:-0.23, Z:-2.39 [[ 9.99863398e-01 -1.65109682e-02 7.57799061e-04 2.25728679e+01] [ 1.65109779e-02 9.99863684e-01 -6.46708504e-06 -2.31046949e-01] [-7.57588983e-04 1.89782051e-05 9.99999713e-01 -2.38942480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54119381700002 meters Centerline goodness : 0.952987 Centerline is valid? [True, True] Translation: X:22.60, Y:-0.23, Z:-2.39 [[ 9.99898881e-01 -1.42156397e-02 3.77620961e-04 2.26039145e+01] [ 1.42156417e-02 9.99898953e-01 -2.57154037e-06 -2.30017253e-01] [-3.77546248e-04 7.93940464e-06 9.99999929e-01 -2.39127409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57119381700002 meters Centerline goodness : 0.951390 Centerline is valid? [True, True] Translation: X:22.63, Y:-0.23, Z:-2.39 [[ 9.99947999e-01 -1.00335818e-02 -1.82389222e-03 2.26342020e+01] [ 1.00336432e-02 9.99949661e-01 2.45320994e-05 -2.28017635e-01] [ 1.82355427e-03 -4.28311075e-05 9.99998336e-01 -2.39226965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60119381700002 meters Centerline goodness : 0.949864 Centerline is valid? [True, False] Translation: X:22.65, Y:-0.23, Z:-2.40 [[ 9.99970886e-01 -7.39129329e-03 1.89629536e-03 2.26466347e+01] [ 7.36443487e-03 9.99877657e-01 1.37998332e-02 -2.31143336e-01] [-1.99806198e-03 -1.37854663e-02 9.99902980e-01 -2.39683190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63119381700002 meters Centerline goodness : 0.950120 Centerline is valid? [False, True] Translation: X:22.67, Y:-0.23, Z:-2.40 [[ 9.99988296e-01 -4.08771716e-03 2.58813471e-03 2.26667331e+01] [ 4.03160554e-03 9.99764435e-01 2.13265127e-02 -2.33897037e-01] [-2.67470178e-03 -2.13158287e-02 9.99769214e-01 -2.39893829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66119381700003 meters Centerline goodness : 0.950161 Centerline is valid? [True, True] Translation: X:22.70, Y:-0.23, Z:-2.40 [[ 9.99996585e-01 -3.41474599e-04 2.59109334e-03 2.26977532e+01] [ 3.41567722e-04 9.99999941e-01 -3.54969786e-05 -2.28453333e-01] [-2.59108106e-03 3.63818912e-05 9.99996642e-01 -2.39774543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69119381700003 meters Centerline goodness : 0.950361 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.23, Z:-2.40 [[ 9.99992358e-01 2.33778531e-03 3.13334272e-03 2.27280591e+01] [-2.33765856e-03 9.99997267e-01 -4.41124941e-05 -2.30765687e-01] [-3.13343728e-03 3.67874716e-05 9.99995090e-01 -2.39887190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72119381700003 meters Centerline goodness : 0.952755 Centerline is valid? [True, True] Translation: X:22.76, Y:-0.24, Z:-2.40 [[ 9.99973072e-01 6.21431741e-03 3.90364853e-03 2.27587688e+01] [-6.21414332e-03 9.99980690e-01 -5.67248426e-05 -2.35607771e-01] [-3.90392566e-03 3.24654837e-05 9.99992379e-01 -2.40002466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75119381700003 meters Centerline goodness : 0.951612 Centerline is valid? [True, True] Translation: X:22.79, Y:-0.24, Z:-2.40 [[ 9.99967856e-01 7.01004791e-03 3.89185920e-03 2.27899744e+01] [-7.00989007e-03 9.99975429e-01 -5.41962463e-05 -2.38268750e-01] [-3.89214349e-03 2.69129990e-05 9.99992425e-01 -2.40010723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78119381700003 meters Centerline goodness : 0.952379 Centerline is valid? [True, True] Translation: X:22.82, Y:-0.24, Z:-2.40 [[ 9.99965267e-01 6.78755746e-03 4.83679544e-03 2.28207283e+01] [-6.78730456e-03 9.99976964e-01 -6.86980702e-05 -2.42203727e-01] [-4.83715031e-03 3.58668803e-05 9.99988300e-01 -2.40143574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81119381700003 meters Centerline goodness : 0.954549 Centerline is valid? [True, True] Translation: X:22.85, Y:-0.25, Z:-2.40 [[ 9.99974416e-01 1.98228358e-03 6.87301124e-03 2.28522100e+01] [-1.98166050e-03 9.99998032e-01 -9.74656184e-05 -2.53233431e-01] [-6.87319092e-03 8.38431499e-05 9.99976376e-01 -2.40298870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84119381700003 meters Centerline goodness : 0.955012 Centerline is valid? [True, True] Translation: X:22.88, Y:-0.26, Z:-2.40 [[ 9.99970027e-01 -2.09594565e-03 7.45336831e-03 2.28842885e+01] [ 2.09673808e-03 9.99997797e-01 -9.85053796e-05 -2.60282510e-01] [-7.45314543e-03 1.14130188e-04 9.99972218e-01 -2.40447289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87119381700003 meters Centerline goodness : 0.956207 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.27, Z:-2.41 [[ 9.99943340e-01 -7.29911185e-03 7.74850182e-03 2.29168196e+01] [ 7.30013268e-03 9.99973348e-01 -1.03470934e-04 -2.66422995e-01] [-7.74754006e-03 1.60030163e-04 9.99969975e-01 -2.40559485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90119381700003 meters Centerline goodness : 0.955511 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.27, Z:-2.41 [[ 9.99886942e-01 -1.26235720e-02 8.16997700e-03 2.29495473e+01] [ 1.26249112e-02 9.99920296e-01 -1.12364509e-04 -2.72468444e-01] [-8.16790738e-03 2.15497040e-04 9.99966619e-01 -2.40696571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93119381700004 meters Centerline goodness : 0.956168 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.28, Z:-2.41 [[ 9.99819435e-01 -1.68581463e-02 8.76932623e-03 2.29804267e+01] [ 1.68599397e-02 9.99857853e-01 -1.30623935e-04 -2.78334228e-01] [-8.76587762e-03 2.78450660e-04 9.99961540e-01 -2.40831140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96119381700004 meters Centerline goodness : 0.957114 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.29, Z:-2.41 [[ 9.99638093e-01 -2.54733495e-02 8.64818574e-03 2.30117056e+01] [ 2.54754466e-02 9.99675439e-01 -1.32394937e-04 -2.86890043e-01] [-8.64200634e-03 3.52663416e-04 9.99962595e-01 -2.40968240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99119381700004 meters Centerline goodness : 0.956860 Centerline is valid? [True, True] Translation: X:23.04, Y:-0.29, Z:-2.41 [[ 9.99564427e-01 -2.84787379e-02 7.74068457e-03 2.30435393e+01] [ 2.84805041e-02 9.99594341e-01 -1.18022201e-04 -2.91158074e-01] [-7.73418337e-03 3.38429392e-04 9.99970033e-01 -2.41114235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.021193817 meters Centerline goodness : 0.956269 Centerline is valid? [True, True] Translation: X:23.08, Y:-0.29, Z:-2.41 [[ 9.99510009e-01 -3.06709632e-02 6.24767494e-03 2.30750782e+01] [ 3.06721448e-02 9.99529495e-01 -9.33675524e-05 -2.94980515e-01] [-6.24187171e-03 2.84951394e-04 9.99980479e-01 -2.41195324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.051193817 meters Centerline goodness : 0.956962 Centerline is valid? [True, True] Translation: X:23.11, Y:-0.30, Z:-2.41 [[ 9.99462607e-01 -3.22022827e-02 6.12448677e-03 2.31070368e+01] [ 3.22034626e-02 9.99481330e-01 -9.41035005e-05 -2.98189740e-01] [-6.11827983e-03 2.91282610e-04 9.99981241e-01 -2.41365513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.081193817 meters Centerline goodness : 0.955085 Centerline is valid? [True, True] Translation: X:23.14, Y:-0.30, Z:-2.41 [[ 9.99465157e-01 -3.23071554e-02 5.06441886e-03 2.31395076e+01] [ 3.23079628e-02 9.99477958e-01 -7.76773704e-05 -3.01072120e-01] [-5.05926549e-03 2.41256881e-04 9.99987173e-01 -2.41367158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.11119381700001 meters Centerline goodness : 0.955362 Centerline is valid? [True, True] Translation: X:23.17, Y:-0.30, Z:-2.41 [[ 9.99501167e-01 -3.11709026e-02 5.07861420e-03 2.31705006e+01] [ 3.11717092e-02 9.99514041e-01 -7.97182512e-05 -3.02131621e-01] [-5.07366131e-03 2.37987570e-04 9.99987101e-01 -2.41437586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14119381700002 meters Centerline goodness : 0.956533 Centerline is valid? [True, True] Translation: X:23.20, Y:-0.30, Z:-2.42 [[ 9.99525390e-01 -3.03214707e-02 5.44095919e-03 2.32013889e+01] [ 3.03223858e-02 9.99540167e-01 -8.57501845e-05 -3.03464926e-01] [-5.43585719e-03 2.50692350e-04 9.99985194e-01 -2.41510457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.17119381700002 meters Centerline goodness : 0.955674 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.30, Z:-2.42 [[ 9.99549424e-01 -2.93478856e-02 6.29685359e-03 2.32325839e+01] [ 2.93490910e-02 9.99569218e-01 -9.90945304e-05 -3.04753458e-01] [-6.29123280e-03 2.83856810e-04 9.99980170e-01 -2.41664576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20119381700002 meters Centerline goodness : 0.957296 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.31, Z:-2.42 [[ 9.99531407e-01 -2.94878115e-02 8.21192861e-03 2.32645630e+01] [ 2.94898715e-02 9.99565071e-01 -1.29852489e-04 -3.05510035e-01] [-8.20452793e-03 3.71960360e-04 9.99966273e-01 -2.41764805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23119381700002 meters Centerline goodness : 0.957175 Centerline is valid? [True, True] Translation: X:23.30, Y:-0.31, Z:-2.42 [[ 9.99526995e-01 -2.94043504e-02 9.00942986e-03 2.32958858e+01] [ 2.94068417e-02 9.99567515e-01 -1.44139925e-04 -3.05479039e-01] [-9.00129508e-03 4.09010624e-04 9.99959404e-01 -2.41880468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26119381700002 meters Centerline goodness : 0.957061 Centerline is valid? [True, True] Translation: X:23.33, Y:-0.31, Z:-2.42 [[ 9.99558448e-01 -2.82618580e-02 9.17477691e-03 2.33282221e+01] [ 2.82643937e-02 9.99600471e-01 -1.46806195e-04 -3.05551843e-01] [-9.16696231e-03 4.06060879e-04 9.99957900e-01 -2.42060631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29119381700002 meters Centerline goodness : 0.956054 Centerline is valid? [True, True] Translation: X:23.36, Y:-0.31, Z:-2.42 [[ 9.99615502e-01 -2.65207917e-02 8.09289015e-03 2.33601562e+01] [ 2.65227100e-02 9.99648203e-01 -1.29786727e-04 -3.05428559e-01] [-8.08660105e-03 3.44382202e-04 9.99967244e-01 -2.42116401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32119381700002 meters Centerline goodness : 0.953987 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.31, Z:-2.42 [[ 9.99680120e-01 -2.41988207e-02 7.35354061e-03 2.33920528e+01] [ 2.42003441e-02 9.99707122e-01 -1.18238125e-04 -3.05334323e-01] [-7.34852569e-03 2.96158516e-04 9.99972955e-01 -2.42297221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35119381700002 meters Centerline goodness : 0.955668 Centerline is valid? [True, True] Translation: X:23.42, Y:-0.30, Z:-2.42 [[ 9.99836342e-01 -1.67871330e-02 6.74404049e-03 2.34233670e+01] [ 1.67882524e-02 9.99859061e-01 -1.09406929e-04 -3.04243098e-01] [-6.74125336e-03 2.22609678e-04 9.99977253e-01 -2.42390455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38119381700002 meters Centerline goodness : 0.954059 Centerline is valid? [True, True] Translation: X:23.46, Y:-0.30, Z:-2.43 [[ 9.99892385e-01 -1.26447087e-02 7.43841514e-03 2.34552276e+01] [ 1.26459567e-02 9.99920029e-01 -1.20770612e-04 -3.03721129e-01] [-7.43629318e-03 2.14823491e-04 9.99972327e-01 -2.42586459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41119381700003 meters Centerline goodness : 0.955167 Centerline is valid? [True, True] Translation: X:23.49, Y:-0.30, Z:-2.43 [[ 9.99927351e-01 -8.75052268e-03 8.28981576e-03 2.34869896e+01] [ 8.75194718e-03 9.99961692e-01 -1.35575941e-04 -3.03624158e-01] [-8.28831183e-03 2.08118122e-04 9.99965630e-01 -2.42698739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44119381700003 meters Centerline goodness : 0.956856 Centerline is valid? [True, True] Translation: X:23.52, Y:-0.30, Z:-2.43 [[ 9.99950165e-01 -5.53237401e-03 8.31028700e-03 2.35195993e+01] [ 5.53370016e-03 9.99984680e-01 -1.36594582e-04 -3.04006863e-01] [-8.30940400e-03 1.82574411e-04 9.99965460e-01 -2.42735044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47119381700003 meters Centerline goodness : 0.952822 Centerline is valid? [True, True] Translation: X:23.55, Y:-0.30, Z:-2.43 [[ 9.99953663e-01 -1.76471448e-03 9.46344412e-03 2.35513847e+01] [ 1.76627648e-03 9.99998428e-01 -1.56701180e-04 -3.04461253e-01] [-9.46315271e-03 1.73408978e-04 9.99955208e-01 -2.43007778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50119381700003 meters Centerline goodness : 0.955797 Centerline is valid? [True, True] Translation: X:23.58, Y:-0.30, Z:-2.43 [[ 9.99956608e-01 -1.28806837e-03 9.22616065e-03 2.35825455e+01] [ 1.28954503e-03 9.99999157e-01 -1.54104070e-04 -3.04417921e-01] [-9.22595438e-03 1.65994933e-04 9.99957426e-01 -2.43106998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53119381700003 meters Centerline goodness : 0.952345 Centerline is valid? [True, True] Translation: X:23.61, Y:-0.30, Z:-2.43 [[ 9.99954478e-01 -2.25310503e-03 9.27170392e-03 2.36141917e+01] [ 2.25463236e-03 9.99997446e-01 -1.54282037e-04 -3.04516404e-01] [-9.27133263e-03 1.75179297e-04 9.99957005e-01 -2.43243589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56119381700003 meters Centerline goodness : 0.952194 Centerline is valid? [True, True] Translation: X:23.65, Y:-0.31, Z:-2.43 [[ 9.99943709e-01 -3.49942850e-03 1.00166347e-02 2.36475908e+01] [ 3.50128077e-03 9.99993856e-01 -1.67389383e-04 -3.06075146e-01] [-1.00159874e-02 2.02451011e-04 9.99949818e-01 -2.43418511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59119381700003 meters Centerline goodness : 0.950324 Centerline is valid? [True, True] Translation: X:23.68, Y:-0.31, Z:-2.44 [[ 9.99901293e-01 -9.17156834e-03 1.06435825e-02 2.36799097e+01] [ 9.17394387e-03 9.99957903e-01 -1.74385874e-04 -3.09207313e-01] [-1.06415351e-02 2.72012290e-04 9.99943340e-01 -2.43672837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62119381700003 meters Centerline goodness : 0.949501 Centerline is valid? [True, False] Translation: X:23.68, Y:-0.31, Z:-2.44 [[ 9.99888316e-01 -1.04868921e-02 1.06479901e-02 2.36796889e+01] [ 1.04938646e-02 9.99944758e-01 -5.99152541e-04 -3.10278095e-01] [-1.06411186e-02 7.10824192e-04 9.99943129e-01 -2.43636595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65119381700003 meters Centerline goodness : 0.948893 Centerline is valid? [False, False] Translation: X:23.68, Y:-0.31, Z:-2.44 [[ 9.99873551e-01 -1.18482637e-02 1.06066149e-02 2.36795889e+01] [ 1.18602868e-02 9.99929090e-01 -1.07136154e-03 -3.11366586e-01] [-1.05931690e-02 1.19702357e-03 9.99943174e-01 -2.43610590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68119381700004 meters Centerline goodness : 0.947190 Centerline is valid? [False, False] Translation: X:23.68, Y:-0.31, Z:-2.44 [[ 9.99815808e-01 -1.61972656e-02 1.02955280e-02 2.36806036e+01] [ 1.62545933e-02 9.99852708e-01 -5.50914134e-03 -3.10679470e-01] [-1.02047785e-02 5.67547622e-03 9.99931823e-01 -2.43650841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71119381700004 meters Centerline goodness : 0.944585 Centerline is valid? [False, False] Translation: X:23.68, Y:-0.31, Z:-2.44 [[ 9.99744939e-01 -2.02628628e-02 9.97358346e-03 2.36816587e+01] [ 2.03591121e-02 9.99746204e-01 -9.64539412e-03 -3.10170374e-01] [-9.77560891e-03 9.84598726e-03 9.99903742e-01 -2.43685709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74119381700004 meters Centerline goodness : 0.944420 Centerline is valid? [False, False] Translation: X:23.68, Y:-0.31, Z:-2.44 [[ 9.99633934e-01 -2.52393019e-02 9.74549550e-03 2.36823940e+01] [ 2.53746785e-02 9.99579599e-01 -1.40268281e-02 -3.10606196e-01] [-9.38737113e-03 1.42689821e-02 9.99854126e-01 -2.43692416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.771193817 meters Centerline goodness : 0.942921 Centerline is valid? [False, False] Translation: X:23.68, Y:-0.31, Z:-2.44 [[ 9.99621605e-01 -2.57819919e-02 9.58830012e-03 2.36826301e+01] [ 2.59133663e-02 9.99568391e-01 -1.38394304e-02 -3.12078615e-01] [-9.22735364e-03 1.40826587e-02 9.99858257e-01 -2.43678682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.801193817 meters Centerline goodness : 0.942271 Centerline is valid? [False, False] Translation: X:23.68, Y:-0.31, Z:-2.44 [[ 9.99612361e-01 -2.61585808e-02 9.53187762e-03 2.36828014e+01] [ 2.62879517e-02 9.99560396e-01 -1.37097884e-02 -3.12993034e-01] [-9.16905876e-03 1.39550475e-02 9.99860583e-01 -2.43683921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.831193817 meters Centerline goodness : 0.940539 Centerline is valid? [False, False] Translation: X:23.68, Y:-0.31, Z:-2.44 [[ 9.99593279e-01 -2.69182273e-02 9.41726642e-03 2.36826349e+01] [ 2.70524180e-02 9.99529937e-01 -1.44246907e-02 -3.11288942e-01] [-9.02455260e-03 1.46735837e-02 9.99851611e-01 -2.43615177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86119381700001 meters Centerline goodness : 0.941814 Centerline is valid? [False, False] Translation: X:23.68, Y:-0.31, Z:-2.44 [[ 9.99678984e-01 -2.36180589e-02 9.17149973e-03 2.36831024e+01] [ 2.37151169e-02 9.99662325e-01 -1.06220670e-02 -3.11295689e-01] [-8.91753014e-03 1.08361604e-02 9.99901523e-01 -2.43639266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.89119381700002 meters Centerline goodness : 0.939030 Centerline is valid? [False, False] Translation: X:23.68, Y:-0.31, Z:-2.44 [[ 9.99759140e-01 -2.00510398e-02 8.92289619e-03 2.36838768e+01] [ 2.01107505e-02 9.99775621e-01 -6.65320329e-03 -3.11454196e-01] [-8.78749044e-03 6.83104694e-03 9.99938056e-01 -2.43701047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92119381700002 meters Centerline goodness : 0.938497 Centerline is valid? [False, False] Translation: X:23.67, Y:-0.31, Z:-2.44 [[ 9.99843797e-01 -1.62459384e-02 6.96074852e-03 2.36660777e+01] [ 1.62750695e-02 9.99858944e-01 -4.14904472e-03 -3.10385131e-01] [-6.89236154e-03 4.26168329e-03 9.99967166e-01 -2.43753920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95119381700002 meters Centerline goodness : 0.937719 Centerline is valid? [False, False] Translation: X:23.67, Y:-0.31, Z:-2.44 [[ 9.99901329e-01 -1.23691899e-02 6.65847795e-03 2.36668770e+01] [ 1.23715784e-02 9.99923419e-01 -3.17645002e-04 -3.09567357e-01] [-6.65403903e-03 3.99989542e-04 9.99977782e-01 -2.43799012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98119381700002 meters Centerline goodness : 0.936226 Centerline is valid? [False, False] Translation: X:23.67, Y:-0.30, Z:-2.44 [[ 9.99967896e-01 -4.73672348e-03 6.46298643e-03 2.36674892e+01] [ 4.69757056e-03 9.99970605e-01 6.05981317e-03 -3.04472357e-01] [-6.49150011e-03 -6.02925829e-03 9.99960753e-01 -2.43837260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01119381700002 meters Centerline goodness : 0.936176 Centerline is valid? [False, False] Translation: X:23.67, Y:-0.30, Z:-2.44 [[ 9.99979852e-01 -9.77445216e-04 6.27224229e-03 2.36678525e+01] [ 9.21162904e-04 9.99959346e-01 8.96985988e-03 -3.00739136e-01] [-6.28075484e-03 -8.96390140e-03 9.99940099e-01 -2.43833260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04119381700002 meters Centerline goodness : 0.935682 Centerline is valid? [False, False] Translation: X:23.67, Y:-0.30, Z:-2.44 [[ 9.99976802e-01 2.89819853e-03 6.16415616e-03 2.36679474e+01] [-2.97120078e-03 9.99925170e-01 1.18670247e-02 -2.96892785e-01] [-6.12930191e-03 -1.18850643e-02 9.99910584e-01 -2.43807625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07119381700002 meters Centerline goodness : 0.935085 Centerline is valid? [False, False] Translation: X:23.67, Y:-0.29, Z:-2.43 [[ 9.99928670e-01 1.12797229e-02 3.92721237e-03 2.36738111e+01] [-1.13222335e-02 9.99875658e-01 1.09761163e-02 -2.90195258e-01] [-3.80291650e-03 -1.10197982e-02 9.99932049e-01 -2.43361363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10119381700002 meters Centerline goodness : 0.936897 Centerline is valid? [False, False] Translation: X:23.67, Y:-0.29, Z:-2.43 [[ 9.99875028e-01 1.53311725e-02 3.85784136e-03 2.36740326e+01] [-1.53853243e-02 9.99777622e-01 1.44221561e-02 -2.88784288e-01] [-3.63587490e-03 -1.44797079e-02 9.99888553e-01 -2.43356048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13119381700002 meters Centerline goodness : 0.936312 Centerline is valid? [False, False] Translation: X:23.67, Y:-0.29, Z:-2.43 [[ 9.99805159e-01 1.94027653e-02 3.62993747e-03 2.36747723e+01] [-1.94652868e-02 9.99647333e-01 1.80641331e-02 -2.87981106e-01] [-3.27816318e-03 -1.81312712e-02 9.99830241e-01 -2.43384066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16119381700003 meters Centerline goodness : 0.935965 Centerline is valid? [False, False] Translation: X:23.68, Y:-0.29, Z:-2.43 [[ 9.99714881e-01 2.36092280e-02 3.57228232e-03 2.36754570e+01] [-2.36822872e-02 9.99477048e-01 2.20176963e-02 -2.87405842e-01] [-3.05059337e-03 -2.20960185e-02 9.99751199e-01 -2.43436392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19119381700003 meters Centerline goodness : 0.934929 Centerline is valid? [False, False] Translation: X:23.68, Y:-0.28, Z:-2.43 [[ 9.99695045e-01 2.44688131e-02 3.33087636e-03 2.36764430e+01] [-2.45356987e-02 9.99461443e-01 2.17904229e-02 -2.84920662e-01] [-2.79589671e-03 -2.18655032e-02 9.99757012e-01 -2.43489982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22119381700003 meters Centerline goodness : 0.934929 Centerline is valid? [False, False] Translation: X:23.68, Y:-0.28, Z:-2.43 [[ 9.99695045e-01 2.44688131e-02 3.33087636e-03 2.36764430e+01] [-2.45356987e-02 9.99461443e-01 2.17904229e-02 -2.84920662e-01] [-2.79589671e-03 -2.18655032e-02 9.99757012e-01 -2.43489982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25119381700003 meters Centerline goodness : 0.932538 Centerline is valid? [False, False] Translation: X:23.68, Y:-0.28, Z:-2.43 [[ 9.99558928e-01 2.94825106e-02 3.56803761e-03 2.36763531e+01] [-2.95657493e-02 9.99221942e-01 2.61032123e-02 -2.84004637e-01] [-2.79567324e-03 -2.61971906e-02 9.99652885e-01 -2.43489646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28119381700003 meters Centerline goodness : 0.931952 Centerline is valid? [False, False] Translation: X:23.68, Y:-0.28, Z:-2.43 [[ 9.99543030e-01 3.00203872e-02 3.53650586e-03 2.36764657e+01] [-3.01038848e-02 9.99193713e-01 2.65646473e-02 -2.84981867e-01] [-2.73617342e-03 -2.66589707e-02 9.99640842e-01 -2.43487677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31119381700003 meters Centerline goodness : 0.930428 Centerline is valid? [False, False] Translation: X:23.68, Y:-0.29, Z:-2.44 [[ 9.99627144e-01 2.71172116e-02 3.19843813e-03 2.36772958e+01] [-2.71845139e-02 9.99358587e-01 2.33113189e-02 -2.86041484e-01] [-2.56424864e-03 -2.33895751e-02 9.99723138e-01 -2.43527330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34119381700003 meters Centerline goodness : 0.930855 Centerline is valid? [False, False] Translation: X:23.68, Y:-0.29, Z:-2.44 [[ 9.99707246e-01 2.40209015e-02 2.90149896e-03 2.36779536e+01] [-2.40751683e-02 9.99502067e-01 2.03961726e-02 -2.88826239e-01] [-2.41011976e-03 -2.04600556e-02 9.99787766e-01 -2.43555421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37119381700003 meters Centerline goodness : 0.928610 Centerline is valid? [False, False] Translation: X:23.70, Y:-0.30, Z:-2.44 [[ 9.99797752e-01 1.94986546e-02 4.92528940e-03 2.36965817e+01] [-1.96002690e-02 9.99576651e-01 2.15022939e-02 -3.00289668e-01] [-4.50393849e-03 -2.15944821e-02 9.99756667e-01 -2.43746163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40119381700003 meters Centerline goodness : 0.927176 Centerline is valid? [False, False] Translation: X:23.71, Y:-0.31, Z:-2.44 [[ 9.99817181e-01 1.66203965e-02 9.45346063e-03 2.37106098e+01] [-1.68740942e-02 9.99481523e-01 2.74217157e-02 -3.07270117e-01] [-8.99279944e-03 -2.75762210e-02 9.99579252e-01 -2.44160054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43119381700004 meters Centerline goodness : 0.926839 Centerline is valid? [False, False] Translation: X:23.73, Y:-0.31, Z:-2.44 [[ 9.99855984e-01 1.37068856e-02 1.00066715e-02 2.37300523e+01] [-1.39801282e-02 9.99516660e-01 2.77669127e-02 -3.12232403e-01] [-9.62123697e-03 -2.79028083e-02 9.99564338e-01 -2.44224771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46119381700004 meters Centerline goodness : 0.925200 Centerline is valid? [False, False] Translation: X:23.75, Y:-0.32, Z:-2.44 [[ 9.99890251e-01 1.07343949e-02 1.02107328e-02 2.37495838e+01] [-1.10118121e-02 9.99560804e-01 2.75125428e-02 -3.16961320e-01] [-9.91091782e-03 -2.76219620e-02 9.99569308e-01 -2.44252795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49119381700004 meters Centerline goodness : 0.922860 Centerline is valid? [False, False] Translation: X:23.78, Y:-0.33, Z:-2.44 [[ 9.99929845e-01 6.14579072e-03 1.01259573e-02 2.37786367e+01] [-6.51374697e-03 9.99304552e-01 3.67148845e-02 -3.29293290e-01] [-9.89327319e-03 -3.67782667e-02 9.99274478e-01 -2.44297693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.521193817 meters Centerline goodness : 0.922065 Centerline is valid? [False, False] Translation: X:23.80, Y:-0.34, Z:-2.44 [[ 9.99930036e-01 5.89345191e-03 1.02562549e-02 2.37988238e+01] [-6.30879932e-03 9.99141389e-01 4.09473243e-02 -3.36407448e-01] [-1.00061277e-02 -4.10091641e-02 9.99108666e-01 -2.44462880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.551193817 meters Centerline goodness : 0.920739 Centerline is valid? [False, False] Translation: X:23.80, Y:-0.34, Z:-2.45 [[ 9.99945623e-01 2.67125461e-03 1.00804788e-02 2.38002383e+01] [-3.05635035e-03 9.99258460e-01 3.83821431e-02 -3.39888292e-01] [-9.97047522e-03 -3.84108655e-02 9.99212287e-01 -2.44550564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.581193817 meters Centerline goodness : 0.919312 Centerline is valid? [False, False] Translation: X:23.81, Y:-0.35, Z:-2.44 [[ 9.99961461e-01 -1.08874576e-03 8.71154331e-03 2.38111313e+01] [ 5.33425227e-04 9.97981981e-01 6.34955214e-02 -3.50004088e-01] [-8.76309373e-03 -6.34884274e-02 9.97944101e-01 -2.44488017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.61119381700001 meters Centerline goodness : 0.917413 Centerline is valid? [False, False] Translation: X:23.82, Y:-0.37, Z:-2.44 [[ 9.99947596e-01 -8.98625582e-03 4.90431106e-03 2.38238285e+01] [ 8.48755171e-03 9.95568314e-01 9.36573200e-02 -3.65693988e-01] [-5.72420533e-03 -9.36107864e-02 9.95592414e-01 -2.43978858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64119381700002 meters Centerline goodness : 0.916772 Centerline is valid? [False, False] Translation: X:23.80, Y:-0.37, Z:-2.44 [[ 9.99913563e-01 -1.28487950e-02 2.78848058e-03 2.38046581e+01] [ 1.25356840e-02 9.95630053e-01 9.25400148e-02 -3.69037682e-01] [-3.96532275e-03 -9.24970604e-02 9.95705062e-01 -2.43742441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.67119381700002 meters Centerline goodness : 0.916323 Centerline is valid? [False, False] Translation: X:23.81, Y:-0.37, Z:-2.44 [[ 9.99828907e-01 -1.68607966e-02 7.60720831e-03 2.38079592e+01] [ 1.62418712e-02 9.97038991e-01 7.51628355e-02 -3.69212745e-01] [-8.85198858e-03 -7.50264204e-02 9.97142256e-01 -2.43759874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70119381700002 meters Centerline goodness : 0.917499 Centerline is valid? [False, False] Translation: X:23.81, Y:-0.37, Z:-2.44 [[ 9.99686428e-01 -2.24146406e-02 1.11637853e-02 2.38141264e+01] [ 2.17329151e-02 9.98089287e-01 5.78399117e-02 -3.68297903e-01] [-1.24389153e-02 -5.75791531e-02 9.98263449e-01 -2.43663362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73119381700002 meters Centerline goodness : 0.917542 Centerline is valid? [False, False] Translation: X:23.82, Y:-0.37, Z:-2.44 [[ 9.99547887e-01 -2.66632372e-02 1.38958038e-02 2.38220862e+01] [ 2.60551422e-02 9.98767531e-01 4.22439247e-02 -3.67759855e-01] [-1.50050374e-02 -4.18627685e-02 9.99010689e-01 -2.43618188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76119381700002 meters Centerline goodness : 0.917179 Centerline is valid? [False, False] Translation: X:23.83, Y:-0.37, Z:-2.44 [[ 9.99297246e-01 -3.36860685e-02 1.64396508e-02 2.38296485e+01] [ 3.32839007e-02 9.99154057e-01 2.41526866e-02 -3.67895404e-01] [-1.72393528e-02 -2.35885375e-02 9.99573102e-01 -2.43502188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79119381700002 meters Centerline goodness : 0.917421 Centerline is valid? [False, False] Translation: X:23.83, Y:-0.37, Z:-2.44 [[ 9.99189403e-01 -3.68626301e-02 1.61766024e-02 2.38313534e+01] [ 3.65198151e-02 9.99112276e-01 2.09990977e-02 -3.68675334e-01] [-1.69363240e-02 -2.03913094e-02 9.99648616e-01 -2.43619562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82119381700002 meters Centerline goodness : 0.918731 Centerline is valid? [False, False] Translation: X:23.83, Y:-0.37, Z:-2.44 [[ 9.99085154e-01 -3.97314493e-02 1.58198461e-02 2.38336035e+01] [ 3.94464834e-02 9.99060708e-01 1.79353218e-02 -3.69021848e-01] [-1.65175829e-02 -1.72948764e-02 9.99713987e-01 -2.43788249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85119381700002 meters Centerline goodness : 0.917585 Centerline is valid? [False, False] Translation: X:23.84, Y:-0.37, Z:-2.44 [[ 9.99001497e-01 -4.19849216e-02 1.52733642e-02 2.38364460e+01] [ 4.17473294e-02 9.99007095e-01 1.55558367e-02 -3.69268190e-01] [-1.59113098e-02 -1.49026820e-02 9.99762342e-01 -2.43989289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88119381700002 meters Centerline goodness : 0.918423 Centerline is valid? [False, False] Translation: X:23.84, Y:-0.37, Z:-2.44 [[ 9.98879265e-01 -4.49281568e-02 1.48887658e-02 2.38391603e+01] [ 4.47412426e-02 9.98918412e-01 1.26581052e-02 -3.70037283e-01] [-1.54413676e-02 -1.19777770e-02 9.99809030e-01 -2.44206264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91119381700003 meters Centerline goodness : 0.917225 Centerline is valid? [False, False] Translation: X:23.84, Y:-0.37, Z:-2.44 [[ 9.98866981e-01 -4.52719199e-02 1.46699545e-02 2.38399735e+01] [ 4.50896337e-02 9.98904397e-01 1.25272089e-02 -3.70433338e-01] [-1.52210128e-02 -1.18515525e-02 9.99813913e-01 -2.44252565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94119381700003 meters Centerline goodness : 0.915126 Centerline is valid? [False, False] Translation: X:23.84, Y:-0.37, Z:-2.44 [[ 9.98854488e-01 -4.56198747e-02 1.44408791e-02 2.38405093e+01] [ 4.54445562e-02 9.98891819e-01 1.22444566e-02 -3.70385447e-01] [-1.49834665e-02 -1.15741711e-02 9.99820751e-01 -2.44259393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97119381700003 meters Centerline goodness : 0.917098 Centerline is valid? [False, False] Translation: X:23.84, Y:-0.37, Z:-2.44 [[ 9.98865954e-01 -4.54867908e-02 1.40626626e-02 2.38411831e+01] [ 4.53218568e-02 9.98902353e-01 1.18329374e-02 -3.68472154e-01] [-1.45854691e-02 -1.11821723e-02 9.99831097e-01 -2.44267631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00119381700003 meters Centerline goodness : 0.915454 Centerline is valid? [False, False] Translation: X:23.85, Y:-0.37, Z:-2.44 [[ 9.98941856e-01 -4.33626871e-02 1.53246876e-02 2.38516291e+01] [ 4.33285391e-02 9.99057615e-01 2.55349520e-03 -3.65186161e-01] [-1.54209722e-02 -1.88679691e-03 9.99879310e-01 -2.44341557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03119381700003 meters Centerline goodness : 0.915355 Centerline is valid? [False, False] Translation: X:23.85, Y:-0.36, Z:-2.44 [[ 9.98970363e-01 -4.28492270e-02 1.49049629e-02 2.38526453e+01] [ 4.28190748e-02 9.99080111e-01 2.33638797e-03 -3.62689438e-01] [-1.49913644e-02 -1.69576562e-03 9.99886185e-01 -2.44380366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06119381700003 meters Centerline goodness : 0.916603 Centerline is valid? [False, False] Translation: X:23.87, Y:-0.36, Z:-2.44 [[ 9.99218817e-01 -3.61901191e-02 1.58754947e-02 2.38723779e+01] [ 3.62996760e-02 9.99318704e-01 -6.66791037e-03 -3.60597658e-01] [-1.56233663e-02 7.23897683e-03 9.99851743e-01 -2.44496426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09119381700003 meters Centerline goodness : 0.913441 Centerline is valid? [False, False] Translation: X:23.87, Y:-0.36, Z:-2.45 [[ 9.99349476e-01 -3.25454710e-02 1.55376016e-02 2.38730488e+01] [ 3.25953643e-02 9.99464221e-01 -2.96869950e-03 -3.60272625e-01] [-1.54326591e-02 3.47322208e-03 9.99874877e-01 -2.44527782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12119381700003 meters Centerline goodness : 0.911646 Centerline is valid? [False, False] Translation: X:23.90, Y:-0.36, Z:-2.45 [[ 9.99556284e-01 -2.45553085e-02 1.68603826e-02 2.38957423e+01] [ 2.47775780e-02 9.99607113e-01 -1.31030648e-02 -3.55327754e-01] [-1.65320086e-02 1.35150102e-02 9.99771993e-01 -2.44761754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15119381700003 meters Centerline goodness : 0.909736 Centerline is valid? [False, False] Translation: X:23.90, Y:-0.35, Z:-2.45 [[ 9.99641970e-01 -2.10160513e-02 1.65607385e-02 2.38966792e+01] [ 2.11768938e-02 9.99729677e-01 -9.59749703e-03 -3.54213277e-01] [-1.63545603e-02 9.94476584e-03 9.99816798e-01 -2.44830459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18119381700004 meters Centerline goodness : 0.911586 Centerline is valid? [False, False] Translation: X:23.91, Y:-0.35, Z:-2.45 [[ 9.99638663e-01 -1.76761828e-02 2.02508080e-02 2.39082878e+01] [ 1.80210910e-02 9.99693449e-01 -1.69778519e-02 -3.50818432e-01] [-1.99444964e-02 1.73366588e-02 9.99650768e-01 -2.45166781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21119381700004 meters Centerline goodness : 0.909179 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.35, Z:-2.45 [[ 9.99735479e-01 -1.45055561e-02 1.78482669e-02 2.39354146e+01] [ 1.48972134e-02 9.99646754e-01 -2.20100197e-02 -3.48746299e-01] [-1.75226945e-02 2.22700870e-02 9.99598419e-01 -2.45015704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24119381700004 meters Centerline goodness : 0.910728 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.35, Z:-2.45 [[ 9.99779235e-01 -1.12958018e-02 1.77168139e-02 2.39353549e+01] [ 1.16236274e-02 9.99761086e-01 -1.85111275e-02 -3.48560331e-01] [-1.75034830e-02 1.87129745e-02 9.99671672e-01 -2.44962531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.271193817 meters Centerline goodness : 0.910693 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.35, Z:-2.45 [[ 9.99813815e-01 -8.04290501e-03 1.75398488e-02 2.39354510e+01] [ 8.29533402e-03 9.99862382e-01 -1.43667941e-02 -3.50215051e-01] [-1.74218842e-02 1.45096181e-02 9.99742941e-01 -2.44941135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.301193817 meters Centerline goodness : 0.913130 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.35, Z:-2.45 [[ 9.99837803e-01 -5.03886537e-03 1.72909924e-02 2.39359124e+01] [ 5.21854094e-03 9.99932696e-01 -1.03619427e-02 -3.52234173e-01] [-1.72376162e-02 1.04504958e-02 9.99796805e-01 -2.44948773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.331193817 meters Centerline goodness : 0.913761 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.35, Z:-2.45 [[ 9.99840283e-01 -5.13230642e-03 1.71192466e-02 2.39365348e+01] [ 5.30969003e-03 9.99932523e-01 -1.03323396e-02 -3.52280674e-01] [-1.70650627e-02 1.04215872e-02 9.99800067e-01 -2.44985959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36119381700001 meters Centerline goodness : 0.913046 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.35, Z:-2.45 [[ 9.99901150e-01 -6.44019800e-03 1.24985543e-02 2.39286561e+01] [ 6.44630401e-03 9.99979122e-01 -4.48311372e-04 -3.53538879e-01] [-1.24954061e-02 5.28836537e-04 9.99921790e-01 -2.44865720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.39119381700002 meters Centerline goodness : 0.914288 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.35, Z:-2.45 [[ 9.99903738e-01 -6.43462388e-03 1.22927262e-02 2.39292772e+01] [ 6.43844900e-03 9.99979236e-01 -2.71619842e-04 -3.53838900e-01] [-1.22907231e-02 3.50739786e-04 9.99924405e-01 -2.44898004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42119381700002 meters Centerline goodness : 0.913499 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.36, Z:-2.45 [[ 9.99907418e-01 -6.42669282e-03 1.19938920e-02 2.39302228e+01] [ 6.42626606e-03 9.99979349e-01 7.41208738e-05 -3.55067597e-01] [-1.19941207e-02 2.96192984e-06 9.99928068e-01 -2.44950676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45119381700002 meters Centerline goodness : 0.912476 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.36, Z:-2.45 [[ 9.99889970e-01 -9.63861659e-03 1.12758288e-02 2.39347357e+01] [ 9.67167452e-03 9.99949078e-01 -2.88090357e-03 -3.57133370e-01] [-1.12474867e-02 2.98964273e-03 9.99932276e-01 -2.45340350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48119381700002 meters Centerline goodness : 0.911535 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.36, Z:-2.46 [[ 9.99879861e-01 -1.13630378e-02 1.05425464e-02 2.39385842e+01] [ 1.14102012e-02 9.99925114e-01 -4.42431486e-03 -3.57889630e-01] [-1.04914833e-02 4.54407590e-03 9.99934638e-01 -2.45645125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51119381700002 meters Centerline goodness : 0.913219 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.36, Z:-2.46 [[ 9.99865868e-01 -1.30777950e-02 9.85988985e-03 2.39421490e+01] [ 1.31369024e-02 9.99895980e-01 -5.95399085e-03 -3.58488167e-01] [-9.78099915e-03 6.08272064e-03 9.99933664e-01 -2.45920545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54119381700002 meters Centerline goodness : 0.912802 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.36, Z:-2.46 [[ 9.99856383e-01 -1.41720220e-02 9.29338688e-03 2.39450796e+01] [ 1.42337749e-02 9.99876828e-01 -6.61268780e-03 -3.59605407e-01] [-9.19852704e-03 6.74401808e-03 9.99934951e-01 -2.46147144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57119381700002 meters Centerline goodness : 0.907589 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.36, Z:-2.46 [[ 9.99820521e-01 -1.67709746e-02 8.81254702e-03 2.39475784e+01] [ 1.68462069e-02 9.99821679e-01 -8.53321938e-03 -3.63412511e-01] [-8.66786515e-03 8.68014583e-03 9.99924759e-01 -2.46333719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60119381700002 meters Centerline goodness : 0.909314 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.37, Z:-2.47 [[ 9.99795262e-01 -1.84914096e-02 8.21594948e-03 2.39502644e+01] [ 1.85734818e-02 9.99777208e-01 -1.00279627e-02 -3.65185005e-01] [-8.02868787e-03 1.01785084e-02 9.99915966e-01 -2.46510906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63119381700002 meters Centerline goodness : 0.909964 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.37, Z:-2.47 [[ 9.99769831e-01 -2.00554502e-02 7.61996849e-03 2.39527673e+01] [ 2.01400966e-02 9.99734443e-01 -1.11990776e-02 -3.66726018e-01] [-7.39334241e-03 1.13499668e-02 9.99908254e-01 -2.46666033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66119381700003 meters Centerline goodness : 0.910633 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.37, Z:-2.47 [[ 9.99768375e-01 -2.02080925e-02 7.40471122e-03 2.39532011e+01] [ 2.02856931e-02 9.99738464e-01 -1.05591024e-02 -3.69117393e-01] [-7.18939530e-03 1.07068663e-02 9.99916834e-01 -2.46663191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69119381700003 meters Centerline goodness : 0.911391 Centerline is valid? [False, False] Translation: X:23.96, Y:-0.37, Z:-2.47 [[ 9.99735651e-01 -2.19538198e-02 6.83063758e-03 2.39553883e+01] [ 2.20332079e-02 9.99687922e-01 -1.17726906e-02 -3.70476310e-01] [-6.57005036e-03 1.19200794e-02 9.99907369e-01 -2.46776422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72119381700003 meters Centerline goodness : 0.912882 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.37, Z:-2.47 [[ 9.99633067e-01 -2.61429825e-02 7.09054273e-03 2.39539574e+01] [ 2.62490038e-02 9.99538404e-01 -1.52960390e-02 -3.72295254e-01] [-6.68738568e-03 1.54765460e-02 9.99857868e-01 -2.46605208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75119381700003 meters Centerline goodness : 0.915723 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.37, Z:-2.47 [[ 9.99621366e-01 -2.66154130e-02 6.98168470e-03 2.39535715e+01] [ 2.67172141e-02 9.99531722e-01 -1.49173779e-02 -3.74293679e-01] [-6.58138315e-03 1.50982609e-02 9.99864355e-01 -2.46510099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78119381700003 meters Centerline goodness : 0.916888 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.38, Z:-2.46 [[ 9.99606634e-01 -2.71799637e-02 6.91574747e-03 2.39532989e+01] [ 2.72799816e-02 9.99518203e-01 -1.48041956e-02 -3.75607588e-01] [-6.51003799e-03 1.49870336e-02 9.99866495e-01 -2.46441886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81119381700003 meters Centerline goodness : 0.923009 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.38, Z:-2.46 [[ 9.99588791e-01 -2.78750726e-02 6.72522122e-03 2.39535910e+01] [ 2.79739131e-02 9.99494898e-01 -1.50801190e-02 -3.75749414e-01] [-6.30146489e-03 1.52620486e-02 9.99863671e-01 -2.46420013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84119381700003 meters Centerline goodness : 0.923995 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.37, Z:-2.46 [[ 9.99550459e-01 -2.92360816e-02 6.64307924e-03 2.39540361e+01] [ 2.93414683e-02 9.99435507e-01 -1.63629151e-02 -3.73436077e-01] [-6.16094175e-03 1.65504770e-02 9.99844050e-01 -2.46441480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87119381700003 meters Centerline goodness : 0.922636 Centerline is valid? [False, False] Translation: X:23.96, Y:-0.37, Z:-2.47 [[ 9.99537358e-01 -2.97262348e-02 6.43585506e-03 2.39550838e+01] [ 2.98320242e-02 9.99410046e-01 -1.70179439e-02 -3.71665897e-01] [-5.92617881e-03 1.72020652e-02 9.99834471e-01 -2.46520746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90119381700003 meters Centerline goodness : 0.924132 Centerline is valid? [False, False] Translation: X:23.96, Y:-0.37, Z:-2.47 [[ 9.99520805e-01 -3.03066852e-02 6.29796018e-03 2.39559485e+01] [ 3.04146966e-02 9.99378371e-01 -1.78274235e-02 -3.69582115e-01] [-5.75375508e-03 1.80104312e-02 9.99821243e-01 -2.46595563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93119381700004 meters Centerline goodness : 0.920542 Centerline is valid? [False, False] Translation: X:23.96, Y:-0.37, Z:-2.47 [[ 9.99504870e-01 -3.08628748e-02 6.12348272e-03 2.39567091e+01] [ 3.09725325e-02 9.99345227e-01 -1.87034870e-02 -3.67198426e-01] [-5.54222984e-03 1.88838861e-02 9.99806323e-01 -2.46642613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96119381700004 meters Centerline goodness : 0.922181 Centerline is valid? [False, False] Translation: X:23.96, Y:-0.36, Z:-2.47 [[ 9.99553895e-01 -2.92888804e-02 5.84568101e-03 2.39581708e+01] [ 2.93864580e-02 9.99417195e-01 -1.73697180e-02 -3.63192260e-01] [-5.33353452e-03 1.75337531e-02 9.99832046e-01 -2.46760419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99119381700004 meters Centerline goodness : 0.920867 Centerline is valid? [False, False] Translation: X:23.96, Y:-0.36, Z:-2.47 [[ 9.99607632e-01 -2.75079439e-02 5.28152517e-03 2.39603799e+01] [ 2.75875312e-02 9.99497048e-01 -1.56390450e-02 -3.61165603e-01] [-4.84867084e-03 1.57786130e-02 9.99863754e-01 -2.46903652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.021193817 meters Centerline goodness : 0.924299 Centerline is valid? [False, False] Translation: X:23.96, Y:-0.36, Z:-2.47 [[ 9.99637091e-01 -2.65079491e-02 4.79738590e-03 2.39625911e+01] [ 2.65774914e-02 9.99533241e-01 -1.50644358e-02 -3.57692933e-01] [-4.39581938e-03 1.51864713e-02 9.99875016e-01 -2.47054639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.051193817 meters Centerline goodness : 0.923943 Centerline is valid? [False, False] Translation: X:23.96, Y:-0.35, Z:-2.47 [[ 9.99716077e-01 -2.34008603e-02 4.49060689e-03 2.39637765e+01] [ 2.34544506e-02 9.99649517e-01 -1.22773305e-02 -3.54712386e-01] [-4.20173291e-03 1.23791694e-02 9.99914547e-01 -2.47138782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.081193817 meters Centerline goodness : 0.923409 Centerline is valid? [False, False] Translation: X:23.97, Y:-0.35, Z:-2.47 [[ 9.99832244e-01 -1.79113057e-02 3.83003369e-03 2.39669724e+01] [ 1.79407345e-02 9.99808685e-01 -7.79258598e-03 -3.48489440e-01] [-3.68972555e-03 7.85999235e-03 9.99962303e-01 -2.47408755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.11119381700001 meters Centerline goodness : 0.923409 Centerline is valid? [False, False] Translation: X:23.97, Y:-0.35, Z:-2.47 [[ 9.99832244e-01 -1.79113057e-02 3.83003369e-03 2.39669724e+01] [ 1.79407345e-02 9.99808685e-01 -7.79258598e-03 -3.48489440e-01] [-3.68972555e-03 7.85999235e-03 9.99962303e-01 -2.47408755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14119381700002 meters Centerline goodness : 0.923452 Centerline is valid? [False, False] Translation: X:23.97, Y:-0.35, Z:-2.48 [[ 9.99893540e-01 -1.41414404e-02 3.59549309e-03 2.39680522e+01] [ 1.41573880e-02 9.99889880e-01 -4.44937168e-03 -3.46144331e-01] [-3.53217663e-03 4.49980079e-03 9.99983638e-01 -2.47502435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.17119381700002 meters Centerline goodness : 0.921675 Centerline is valid? [False, False] Translation: X:23.97, Y:-0.34, Z:-2.48 [[ 9.99940551e-01 -1.03771177e-02 3.34826449e-03 2.39690912e+01] [ 1.03813402e-02 9.99945336e-01 -1.24619192e-03 -3.43030805e-01] [-3.33514958e-03 1.28087730e-03 9.99993618e-01 -2.47582230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20119381700002 meters Centerline goodness : 0.922670 Centerline is valid? [False, False] Translation: X:23.97, Y:-0.34, Z:-2.48 [[ 9.99972324e-01 -6.76061087e-03 3.10585805e-03 2.39697923e+01] [ 6.75519211e-03 9.99975649e-01 1.75187965e-03 -3.39595500e-01] [-3.11762620e-03 -1.73085050e-03 9.99993642e-01 -2.47615680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23119381700002 meters Centerline goodness : 0.925616 Centerline is valid? [False, False] Translation: X:23.97, Y:-0.34, Z:-2.48 [[ 9.99990190e-01 -3.25258547e-03 3.00687931e-03 2.39698810e+01] [ 3.23869678e-03 9.99984118e-01 4.61235961e-03 -3.35880670e-01] [-3.02183365e-03 -4.60257599e-03 9.99984842e-01 -2.47600300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26119381700002 meters Centerline goodness : 0.926684 Centerline is valid? [False, False] Translation: X:23.97, Y:-0.33, Z:-2.47 [[ 9.99988974e-01 3.51312647e-03 3.11619740e-03 2.39689691e+01] [-3.54387852e-03 9.99944531e-01 9.91844616e-03 -3.29034115e-01] [-3.08117979e-03 -9.92938022e-03 9.99945955e-01 -2.47498905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29119381700002 meters Centerline goodness : 0.925730 Centerline is valid? [False, False] Translation: X:23.97, Y:-0.32, Z:-2.47 [[ 9.99988635e-01 3.75207001e-03 2.94156014e-03 2.39692110e+01] [-3.77736866e-03 9.99955518e-01 8.64256283e-03 -3.23565651e-01] [-2.90900180e-03 -8.65357596e-03 9.99958326e-01 -2.47465173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32119381700002 meters Centerline goodness : 0.929658 Centerline is valid? [False, False] Translation: X:23.97, Y:-0.32, Z:-2.47 [[ 9.99971603e-01 6.95259320e-03 2.90775330e-03 2.39691357e+01] [-6.98466220e-03 9.99913241e-01 1.11680215e-02 -3.19802072e-01] [-2.82985432e-03 -1.11880140e-02 9.99933408e-01 -2.47435234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35119381700002 meters Centerline goodness : 0.929848 Centerline is valid? [False, False] Translation: X:23.97, Y:-0.31, Z:-2.47 [[ 9.99972649e-01 6.86210437e-03 2.75914926e-03 2.39693883e+01] [-6.88841769e-03 9.99929778e-01 9.64311510e-03 -3.14097744e-01] [-2.69278344e-03 -9.66185752e-03 9.99949697e-01 -2.47411137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38119381700002 meters Centerline goodness : 0.930241 Centerline is valid? [False, False] Translation: X:23.97, Y:-0.31, Z:-2.47 [[ 9.99953685e-01 9.20027714e-03 2.82530858e-03 2.39688352e+01] [-9.22965589e-03 9.99901564e-01 1.05676692e-02 -3.06735131e-01] [-2.72780498e-03 -1.05932564e-02 9.99940169e-01 -2.47339847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41119381700003 meters Centerline goodness : 0.930514 Centerline is valid? [False, False] Translation: X:23.97, Y:-0.30, Z:-2.47 [[ 9.99935038e-01 1.09721169e-02 3.08761055e-03 2.39678875e+01] [-1.10093702e-02 9.99863511e-01 1.23187938e-02 -3.04577856e-01] [-2.95202588e-03 -1.23519862e-02 9.99919354e-01 -2.47279791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44119381700003 meters Centerline goodness : 0.929589 Centerline is valid? [False, False] Translation: X:23.97, Y:-0.30, Z:-2.47 [[ 9.99910455e-01 1.29748447e-02 3.27652852e-03 2.39672094e+01] [-1.30203294e-02 9.99813476e-01 1.42647893e-02 -3.02589900e-01] [-3.09083394e-03 -1.43061734e-02 9.99892884e-01 -2.47237474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47119381700003 meters Centerline goodness : 0.928748 Centerline is valid? [False, False] Translation: X:23.97, Y:-0.30, Z:-2.47 [[ 9.99890733e-01 1.43993061e-02 3.34385384e-03 2.39665235e+01] [-1.44504301e-02 9.99770679e-01 1.58042573e-02 -3.00376220e-01] [-3.11551668e-03 -1.58508505e-02 9.99869514e-01 -2.47167125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50119381700003 meters Centerline goodness : 0.928199 Centerline is valid? [False, False] Translation: X:23.97, Y:-0.29, Z:-2.47 [[ 9.99914005e-01 1.27616092e-02 3.02062506e-03 2.39672089e+01] [-1.28004954e-02 9.99830612e-01 1.32247500e-02 -2.94542048e-01] [-2.85134432e-03 -1.32622782e-02 9.99907987e-01 -2.47181007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53119381700003 meters Centerline goodness : 0.928272 Centerline is valid? [False, False] Translation: X:23.96, Y:-0.29, Z:-2.47 [[ 9.99927453e-01 1.14040034e-02 3.87769776e-03 2.39578480e+01] [-1.14834035e-02 9.99711195e-01 2.11106121e-02 -2.93160563e-01] [-3.63583237e-03 -2.11536098e-02 9.99769626e-01 -2.47301388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56119381700003 meters Centerline goodness : 0.926846 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.29, Z:-2.47 [[ 9.99926468e-01 1.12377989e-02 4.55747553e-03 2.39539674e+01] [-1.13280866e-02 9.99729873e-01 2.02942068e-02 -2.88012477e-01] [-4.32818222e-03 -2.03443420e-02 9.99783664e-01 -2.46963105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59119381700003 meters Centerline goodness : 0.926846 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.29, Z:-2.47 [[ 9.99927232e-01 1.11811635e-02 4.52894937e-03 2.39539834e+01] [-1.12704500e-02 9.99732558e-01 2.01937956e-02 -2.87681778e-01] [-4.30194801e-03 -2.02433694e-02 9.99785827e-01 -2.46957167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62119381700003 meters Centerline goodness : 0.931993 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.28, Z:-2.47 [[ 9.99934831e-01 1.04697873e-02 4.55153377e-03 2.39529691e+01] [-1.05539286e-02 9.99766183e-01 1.88731011e-02 -2.84823128e-01] [-4.35287219e-03 -1.89199078e-02 9.99811527e-01 -2.46809899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65119381700003 meters Centerline goodness : 0.931390 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.28, Z:-2.47 [[ 9.99942444e-01 9.61555849e-03 4.75912435e-03 2.39512662e+01] [-9.69823091e-03 9.99796937e-01 1.76643422e-02 -2.83174366e-01] [-4.58830543e-03 -1.77094806e-02 9.99832647e-01 -2.46624178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68119381700004 meters Centerline goodness : 0.929191 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.28, Z:-2.47 [[ 9.99915283e-01 1.18668599e-02 5.34831135e-03 2.39501707e+01] [-1.19752937e-02 9.99713592e-01 2.07201890e-02 -2.84513511e-01] [-5.10089597e-03 -2.07824813e-02 9.99771008e-01 -2.46620458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71119381700004 meters Centerline goodness : 0.928798 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.28, Z:-2.47 [[ 9.99950181e-01 8.54586090e-03 5.15795769e-03 2.39510176e+01] [-8.62952984e-03 9.99827891e-01 1.64231367e-02 -2.82009563e-01] [-5.01672012e-03 -1.64668293e-02 9.99851827e-01 -2.46668712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74119381700004 meters Centerline goodness : 0.928554 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.28, Z:-2.47 [[ 9.99920601e-01 1.15770646e-02 4.97636429e-03 2.39518087e+01] [-1.16721216e-02 9.99741389e-01 1.95170883e-02 -2.80284672e-01] [-4.74912676e-03 -1.95736234e-02 9.99797139e-01 -2.46727823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77119381700004 meters Centerline goodness : 0.927193 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.28, Z:-2.46 [[ 9.99913392e-01 1.30861632e-02 -1.40011819e-03 2.39412318e+01] [-1.30699375e-02 9.99853744e-01 1.10302778e-02 -2.75979400e-01] [ 1.54425743e-03 -1.10110230e-02 9.99938184e-01 -2.46354764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.801193817 meters Centerline goodness : 0.926815 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.28, Z:-2.46 [[ 9.99864595e-01 1.63777540e-02 -1.60043478e-03 2.39420262e+01] [-1.63526428e-02 9.99759502e-01 1.46126680e-02 -2.75862917e-01] [ 1.83937256e-03 -1.45845180e-02 9.99891948e-01 -2.46406490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.831193817 meters Centerline goodness : 0.926840 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.28, Z:-2.46 [[ 9.99811424e-01 1.93379705e-02 -1.77730729e-03 2.39426214e+01] [-1.93031616e-02 9.99653992e-01 1.78685416e-02 -2.75114355e-01] [ 2.12223366e-03 -1.78308644e-02 9.99838765e-01 -2.46427540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86119381700001 meters Centerline goodness : 0.927439 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.27, Z:-2.46 [[ 9.99783882e-01 2.07221977e-02 -1.66724638e-03 2.39415003e+01] [-2.06865939e-02 9.99603412e-01 1.91071685e-02 -2.72874926e-01] [ 2.06252769e-03 -1.90685494e-02 9.99816051e-01 -2.46318073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.89119381700002 meters Centerline goodness : 0.924421 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.27, Z:-2.46 [[ 9.99783160e-01 2.07366437e-02 -1.90365371e-03 2.39423664e+01] [-2.06969276e-02 9.99606491e-01 1.89341229e-02 -2.72066302e-01] [ 2.29553476e-03 -1.88906175e-02 9.99818921e-01 -2.46367889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92119381700002 meters Centerline goodness : 0.925970 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.27, Z:-2.46 [[ 9.99793388e-01 2.02127028e-02 -2.15131801e-03 2.39432085e+01] [-2.01704503e-02 9.99632293e-01 1.81226675e-02 -2.70386085e-01] [ 2.51683504e-03 -1.80755301e-02 9.99833457e-01 -2.46415933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95119381700002 meters Centerline goodness : 0.924556 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.27, Z:-2.46 [[ 9.99805684e-01 1.95646062e-02 -2.41245635e-03 2.39439529e+01] [-1.95206970e-02 9.99664079e-01 1.70490866e-02 -2.67988126e-01] [ 2.74520462e-03 -1.69986808e-02 9.99851743e-01 -2.46441167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98119381700002 meters Centerline goodness : 0.922996 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.26, Z:-2.47 [[ 9.99829405e-01 1.83060068e-02 -2.45984046e-03 2.39446803e+01] [-1.82671224e-02 9.99720679e-01 1.49958619e-02 -2.62917878e-01] [ 2.73366773e-03 -1.49483695e-02 9.99884530e-01 -2.46521903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01119381700002 meters Centerline goodness : 0.923385 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.26, Z:-2.47 [[ 9.99841808e-01 1.75935450e-02 -2.61284760e-03 2.39452371e+01] [-1.75555235e-02 9.99748930e-01 1.39240650e-02 -2.60414454e-01] [ 2.85716526e-03 -1.38759924e-02 9.99899642e-01 -2.46553100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04119381700002 meters Centerline goodness : 0.921643 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.26, Z:-2.47 [[ 9.99850823e-01 1.70626434e-02 -2.68297376e-03 2.39455957e+01] [-1.70262019e-02 9.99769687e-01 1.30644785e-02 -2.58382408e-01] [ 2.90527037e-03 -1.30168488e-02 9.99911057e-01 -2.46580753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07119381700002 meters Centerline goodness : 0.922705 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.26, Z:-2.47 [[ 9.99861813e-01 1.63766183e-02 -2.85665871e-03 2.39458523e+01] [-1.63404677e-02 9.99791445e-01 1.22496868e-02 -2.56524230e-01] [ 3.05667139e-03 -1.22013149e-02 9.99920889e-01 -2.46570034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10119381700002 meters Centerline goodness : 0.924126 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.25, Z:-2.46 [[ 9.99898274e-01 1.40643483e-02 -2.37401879e-03 2.39434764e+01] [-1.40406299e-02 9.99854102e-01 9.72810362e-03 -2.52937660e-01] [ 2.51049186e-03 -9.69378130e-03 9.99949863e-01 -2.46367182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13119381700002 meters Centerline goodness : 0.924068 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.25, Z:-2.46 [[ 9.99906232e-01 1.34865432e-02 -2.37476458e-03 2.39430841e+01] [-1.34643936e-02 9.99867866e-01 9.10826888e-03 -2.51515916e-01] [ 2.49728986e-03 -9.07544005e-03 9.99955699e-01 -2.46299671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16119381700003 meters Centerline goodness : 0.924960 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.25, Z:-2.46 [[ 9.99913095e-01 1.29666884e-02 -2.38051142e-03 2.39426558e+01] [-1.29459865e-02 9.99879941e-01 8.51502717e-03 -2.50210674e-01] [ 2.49063732e-03 -8.48346911e-03 9.99960913e-01 -2.46228936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19119381700003 meters Centerline goodness : 0.926898 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.25, Z:-2.46 [[ 9.99919668e-01 1.24338929e-02 -2.46086942e-03 2.39423140e+01] [-1.24141618e-02 9.99891914e-01 7.87708802e-03 -2.48725081e-01] [ 2.55854631e-03 -7.84590561e-03 9.99965947e-01 -2.46148146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22119381700003 meters Centerline goodness : 0.929698 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.25, Z:-2.46 [[ 9.99927613e-01 1.17725324e-02 -2.48506743e-03 2.39419331e+01] [-1.17545878e-02 9.99905591e-01 7.11612601e-03 -2.47476919e-01] [ 2.56860764e-03 -7.08639996e-03 9.99971592e-01 -2.46086573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25119381700003 meters Centerline goodness : 0.926739 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.25, Z:-2.46 [[ 9.99931510e-01 1.13633625e-02 -2.80148623e-03 2.39432224e+01] [-1.13441115e-02 9.99912570e-01 6.79440904e-03 -2.45977668e-01] [ 2.87844863e-03 -6.76216332e-03 9.99972993e-01 -2.46179392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28119381700003 meters Centerline goodness : 0.927719 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.25, Z:-2.46 [[ 9.99932320e-01 1.11724782e-02 -3.24508484e-03 2.39444574e+01] [-1.11505007e-02 9.99915294e-01 6.71349125e-03 -2.45363173e-01] [ 3.31981630e-03 -6.67685256e-03 9.99972199e-01 -2.46227547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31119381700003 meters Centerline goodness : 0.927751 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.24, Z:-2.46 [[ 9.99936403e-01 1.07893663e-02 -3.28322954e-03 2.39447265e+01] [-1.07686007e-02 9.99922309e-01 6.27803290e-03 -2.44604044e-01] [ 3.35071046e-03 -6.24227785e-03 9.99974903e-01 -2.46251282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34119381700003 meters Centerline goodness : 0.927881 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.24, Z:-2.46 [[ 9.99938205e-01 1.05477714e-02 -3.51137180e-03 2.39451304e+01] [-1.05265394e-02 9.99926526e-01 6.01117624e-03 -2.43588628e-01] [ 3.57451832e-03 -5.97384219e-03 9.99975768e-01 -2.46244506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37119381700003 meters Centerline goodness : 0.929855 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.24, Z:-2.46 [[ 9.99950201e-01 9.32702370e-03 -3.54998117e-03 2.39447064e+01] [-9.31172922e-03 9.99947396e-01 4.30074365e-03 -2.40041988e-01] [ 3.58990757e-03 -4.26747301e-03 9.99984450e-01 -2.46169487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40119381700003 meters Centerline goodness : 0.930447 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.24, Z:-2.46 [[ 9.99955171e-01 8.76993994e-03 -3.56982819e-03 2.39446634e+01] [-8.75757655e-03 9.99955651e-01 3.46432493e-03 -2.38080890e-01] [ 3.60005179e-03 -3.43290658e-03 9.99987627e-01 -2.46148912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43119381700004 meters Centerline goodness : 0.930131 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.24, Z:-2.46 [[ 9.99959111e-01 8.27280186e-03 -3.65195830e-03 2.39447300e+01] [-8.26327939e-03 9.99962439e-01 2.61492976e-03 -2.36072552e-01] [ 3.67345393e-03 -2.58464569e-03 9.99989913e-01 -2.46130440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46119381700004 meters Centerline goodness : 0.930090 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.23, Z:-2.46 [[ 9.99962245e-01 7.81304134e-03 -3.80319057e-03 2.39450780e+01] [-7.80650877e-03 9.99968033e-01 1.72948179e-03 -2.34042201e-01] [ 3.81658150e-03 -1.69972686e-03 9.99991272e-01 -2.46127088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49119381700004 meters Centerline goodness : 0.930243 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.23, Z:-2.46 [[ 9.99953876e-01 9.00269150e-03 -3.34616390e-03 2.39431142e+01] [-8.99411511e-03 9.99956251e-01 2.56932305e-03 -2.30119414e-01] [ 3.36914833e-03 -2.53910876e-03 9.99991101e-01 -2.45989182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52119381700004 meters Centerline goodness : 0.931669 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.23, Z:-2.46 [[ 9.99955085e-01 8.82423804e-03 -3.45829660e-03 2.39433656e+01] [-8.81815514e-03 9.99959552e-01 1.77024661e-03 -2.27459259e-01] [ 3.47377780e-03 -1.73967131e-03 9.99992453e-01 -2.45979208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.551193817 meters Centerline goodness : 0.931412 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.23, Z:-2.46 [[ 9.99937500e-01 1.07158199e-02 -3.18856379e-03 2.39417328e+01] [-1.07044571e-02 9.99936370e-01 3.55960197e-03 -2.25689400e-01] [ 3.22650495e-03 -3.52524765e-03 9.99988581e-01 -2.45839722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.581193817 meters Centerline goodness : 0.933280 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.22, Z:-2.46 [[ 9.99899853e-01 1.37753623e-02 -3.24390858e-03 2.39417561e+01] [-1.37560907e-02 9.99888032e-01 5.89005381e-03 -2.21653728e-01] [ 3.32468299e-03 -5.84484044e-03 9.99977392e-01 -2.45809990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.61119381700001 meters Centerline goodness : 0.933809 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.22, Z:-2.46 [[ 9.99851378e-01 1.69537459e-02 -3.12936840e-03 2.39415012e+01] [-1.69246444e-02 9.99815331e-01 9.10280562e-03 -2.20556950e-01] [ 3.28311716e-03 -9.04848929e-03 9.99953672e-01 -2.45797725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64119381700002 meters Centerline goodness : 0.931846 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.22, Z:-2.46 [[ 9.99806362e-01 1.94684923e-02 -2.86636861e-03 2.39402815e+01] [-1.94336124e-02 9.99742322e-01 1.17313286e-02 -2.19358641e-01] [ 3.09402129e-03 -1.16733531e-02 9.99927077e-01 -2.45706032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.67119381700002 meters Centerline goodness : 0.932704 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.22, Z:-2.46 [[ 9.99778482e-01 2.08836296e-02 -2.61922031e-03 2.39386728e+01] [-2.08480231e-02 9.99698715e-01 1.29552806e-02 -2.17277494e-01] [ 2.88898446e-03 -1.28978052e-02 9.99912646e-01 -2.45564811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70119381700002 meters Centerline goodness : 0.932536 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.22, Z:-2.46 [[ 9.99784118e-01 2.06070674e-02 -2.65810989e-03 2.39387128e+01] [-2.05720311e-02 9.99709025e-01 1.25958899e-02 -2.16650330e-01] [ 2.91690080e-03 -1.25384880e-02 9.99917136e-01 -2.45558237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73119381700002 meters Centerline goodness : 0.933218 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.22, Z:-2.46 [[ 9.99793584e-01 2.01317834e-02 -2.73883795e-03 2.39386343e+01] [-2.00967867e-02 9.99722918e-01 1.22558616e-02 -2.16607306e-01] [ 2.98481142e-03 -1.21982899e-02 9.99921143e-01 -2.45521621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76119381700002 meters Centerline goodness : 0.933344 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.22, Z:-2.46 [[ 9.99806573e-01 1.94687495e-02 -2.79007229e-03 2.39385852e+01] [-1.94343209e-02 9.99740590e-01 1.18768778e-02 -2.16812348e-01] [ 3.02057648e-03 -1.18203573e-02 9.99925575e-01 -2.45511857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79119381700002 meters Centerline goodness : 0.931025 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.22, Z:-2.46 [[ 9.99818638e-01 1.88393111e-02 -2.78771772e-03 2.39388203e+01] [-1.88059842e-02 9.99756625e-01 1.15336656e-02 -2.16954098e-01] [ 3.00432557e-03 -1.14791480e-02 9.99929599e-01 -2.45546638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82119381700002 meters Centerline goodness : 0.933138 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.22, Z:-2.46 [[ 9.99819039e-01 1.87902062e-02 -2.96938019e-03 2.39398330e+01] [-1.87541312e-02 9.99755167e-01 1.17425932e-02 -2.17202513e-01] [ 3.18929894e-03 -1.16847801e-02 9.99926644e-01 -2.45639607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85119381700002 meters Centerline goodness : 0.930703 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.22, Z:-2.46 [[ 9.99828784e-01 1.82433061e-02 -3.09598316e-03 2.39407938e+01] [-1.82082106e-02 9.99773609e-01 1.10087494e-02 -2.15444885e-01] [ 3.29611824e-03 -1.09504922e-02 9.99934609e-01 -2.45742023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88119381700002 meters Centerline goodness : 0.933687 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.21, Z:-2.46 [[ 9.99835453e-01 1.78542399e-02 -3.20820873e-03 2.39409398e+01] [-1.78205440e-02 9.99788749e-01 1.02413952e-02 -2.13407215e-01] [ 3.39038332e-03 -1.01825380e-02 9.99942409e-01 -2.45715610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91119381700003 meters Centerline goodness : 0.933064 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.21, Z:-2.46 [[ 9.99843258e-01 1.73898696e-02 -3.32455038e-03 2.39408522e+01] [-1.73587268e-02 9.99807206e-01 9.17747611e-03 -2.10743955e-01] [ 3.48350454e-03 -9.11832764e-03 9.99952360e-01 -2.45656263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94119381700003 meters Centerline goodness : 0.934462 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.21, Z:-2.46 [[ 9.99847164e-01 1.71302961e-02 -3.49314378e-03 2.39407624e+01] [-1.71014222e-02 9.99820668e-01 8.13467773e-03 -2.07863987e-01] [ 3.63186678e-03 -8.07369673e-03 9.99960812e-01 -2.45582576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97119381700003 meters Centerline goodness : 0.936378 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.20, Z:-2.46 [[ 9.99786673e-01 2.03954192e-02 -3.26129990e-03 2.39401740e+01] [-2.03616488e-02 9.99741937e-01 1.00729079e-02 -2.02779795e-01] [ 3.46589946e-03 -1.00043537e-02 9.99943949e-01 -2.45515191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00119381700003 meters Centerline goodness : 0.938863 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.20, Z:-2.45 [[ 9.99782747e-01 2.05714253e-02 -3.35771958e-03 2.39404966e+01] [-2.05413136e-02 9.99750551e-01 8.76869611e-03 -1.98182582e-01] [ 3.53726658e-03 -8.69781912e-03 9.99955917e-01 -2.45482951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03119381700003 meters Centerline goodness : 0.938863 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.20, Z:-2.45 [[ 9.99783527e-01 2.05348178e-02 -3.34966831e-03 2.39404804e+01] [-2.05050369e-02 9.99751938e-01 8.69512370e-03 -1.97986706e-01] [ 3.52739017e-03 -8.62455637e-03 9.99956586e-01 -2.45482231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06119381700003 meters Centerline goodness : 0.938293 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.20, Z:-2.45 [[ 9.99704172e-01 2.40863897e-02 -3.37862937e-03 2.39405054e+01] [-2.40456335e-02 9.99643267e-01 1.16251998e-02 -1.95192181e-01] [ 3.65743319e-03 -1.15405194e-02 9.99926717e-01 -2.45445271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09119381700003 meters Centerline goodness : 0.940197 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.19, Z:-2.45 [[ 9.99614279e-01 2.75670128e-02 -3.36932440e-03 2.39406620e+01] [-2.75156083e-02 9.99516873e-01 1.44537874e-02 -1.92289875e-01] [ 3.76614433e-03 -1.43555033e-02 9.99889862e-01 -2.45433804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12119381700003 meters Centerline goodness : 0.940458 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.19, Z:-2.45 [[ 9.99391996e-01 3.47357624e-02 -3.01089335e-03 2.39403705e+01] [-3.46665937e-02 9.99186781e-01 2.05913639e-02 -1.87438604e-01] [ 3.72370156e-03 -2.04744669e-02 9.99783442e-01 -2.45415380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15119381700003 meters Centerline goodness : 0.940971 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.18, Z:-2.45 [[ 9.99266300e-01 3.81890947e-02 -2.90767225e-03 2.39402568e+01] [-3.81105990e-02 9.98998215e-01 2.34552342e-02 -1.84992979e-01] [ 3.80049355e-03 -2.33272120e-02 9.99720660e-01 -2.45383185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18119381700004 meters Centerline goodness : 0.941708 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.18, Z:-2.45 [[ 9.99122861e-01 4.17644270e-02 -3.03995395e-03 2.39406897e+01] [-4.16687178e-02 9.98775202e-01 2.66798403e-02 -1.83456065e-01] [ 4.15049886e-03 -2.65297673e-02 9.99639407e-01 -2.45370216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21119381700004 meters Centerline goodness : 0.941900 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.18, Z:-2.45 [[ 9.99070217e-01 4.29931506e-02 -3.20793193e-03 2.39416305e+01] [-4.28942981e-02 9.98733933e-01 2.62794649e-02 -1.80233724e-01] [ 4.33370747e-03 -2.61174287e-02 9.99649488e-01 -2.45390379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24119381700004 meters Centerline goodness : 0.941791 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.18, Z:-2.45 [[ 9.99036216e-01 4.37452897e-02 -3.60392465e-03 2.39430056e+01] [-4.36362046e-02 9.98703775e-01 2.62040256e-02 -1.78808452e-01] [ 4.74555584e-03 -2.60215090e-02 9.99650119e-01 -2.45448532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27119381700004 meters Centerline goodness : 0.942901 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.18, Z:-2.46 [[ 9.98949694e-01 4.56491429e-02 -3.95781408e-03 2.39453902e+01] [-4.55246857e-02 9.98590829e-01 2.72737917e-02 -1.77521644e-01] [ 5.19726206e-03 -2.70649677e-02 9.99620166e-01 -2.45612015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.301193817 meters Centerline goodness : 0.940387 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.18, Z:-2.46 [[ 9.98731098e-01 5.01955802e-02 -4.07398321e-03 2.39468149e+01] [-5.00433025e-02 9.98252330e-01 3.14317375e-02 -1.76897628e-01] [ 5.64459754e-03 -3.11879782e-02 9.99497598e-01 -2.45710003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.331193817 meters Centerline goodness : 0.940531 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.18, Z:-2.46 [[ 9.98472619e-01 5.50825415e-02 -4.28285390e-03 2.39482918e+01] [-5.48945185e-02 9.97849458e-01 3.58196954e-02 -1.76206803e-01] [ 6.24668330e-03 -3.55298799e-02 9.99349091e-01 -2.45778113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36119381700001 meters Centerline goodness : 0.939592 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.18, Z:-2.46 [[ 9.97539328e-01 6.94109685e-02 -9.86948752e-03 2.39473683e+01] [-6.90515141e-02 9.97066866e-01 3.30083806e-02 -1.75868032e-01] [ 1.21316827e-02 -3.22456548e-02 9.99406344e-01 -2.45594324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.39119381700002 meters Centerline goodness : 0.940335 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.18, Z:-2.46 [[ 9.97331072e-01 7.22695551e-02 -1.03848220e-02 2.39503464e+01] [-7.18636540e-02 9.96792063e-01 3.52306381e-02 -1.77139583e-01] [ 1.28976107e-02 -3.43903188e-02 9.99325251e-01 -2.45778214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42119381700002 meters Centerline goodness : 0.937689 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.18, Z:-2.46 [[ 9.97198237e-01 7.40219475e-02 -1.07901247e-02 2.39522000e+01] [-7.35819854e-02 9.96615135e-01 3.66601035e-02 -1.78855716e-01] [ 1.34672538e-02 -3.57634318e-02 9.99269538e-01 -2.45884693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45119381700002 meters Centerline goodness : 0.939515 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.18, Z:-2.46 [[ 9.97111175e-01 7.51374683e-02 -1.11204797e-02 2.39533825e+01] [-7.46690341e-02 9.96491203e-01 3.78129265e-02 -1.81212589e-01] [ 1.39226278e-02 -3.68733361e-02 9.99222957e-01 -2.45941146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48119381700002 meters Centerline goodness : 0.937175 Centerline is valid? [False, False] Translation: X:23.96, Y:-0.19, Z:-2.46 [[ 9.96828319e-01 7.83875573e-02 -1.37365384e-02 2.39596588e+01] [-7.77927033e-02 9.96186557e-01 3.95049339e-02 -1.91166313e-01] [ 1.67808502e-02 -3.83110344e-02 9.99124951e-01 -2.45928508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51119381700002 meters Centerline goodness : 0.936864 Centerline is valid? [False, False] Translation: X:23.96, Y:-0.20, Z:-2.46 [[ 9.96977673e-01 7.63230611e-02 -1.45020613e-02 2.39612321e+01] [-7.57279836e-02 9.96407608e-01 3.79097719e-02 -1.96143507e-01] [ 1.73433541e-02 -3.66969843e-02 9.99175930e-01 -2.45986598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54119381700002 meters Centerline goodness : 0.935370 Centerline is valid? [False, False] Translation: X:23.96, Y:-0.20, Z:-2.46 [[ 9.97163182e-01 7.37517029e-02 -1.50424074e-02 2.39619917e+01] [-7.31704909e-02 9.96666173e-01 3.60918207e-02 -2.01611852e-01] [ 1.76540919e-02 -3.48887744e-02 9.99235261e-01 -2.46007169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57119381700002 meters Centerline goodness : 0.935486 Centerline is valid? [False, False] Translation: X:23.96, Y:-0.21, Z:-2.46 [[ 9.97368505e-01 7.08092546e-02 -1.55600181e-02 2.39624354e+01] [-7.02475657e-02 9.96947072e-01 3.40854006e-02 -2.07432535e-01] [ 1.79260763e-02 -3.29026517e-02 9.99297789e-01 -2.45997212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60119381700002 meters Centerline goodness : 0.936849 Centerline is valid? [False, False] Translation: X:23.98, Y:-0.22, Z:-2.46 [[ 9.97830924e-01 6.48057987e-02 -1.15609706e-02 2.39776814e+01] [-6.43598314e-02 9.97295476e-01 3.54900852e-02 -2.23985961e-01] [ 1.38296670e-02 -3.46690424e-02 9.99303156e-01 -2.46147292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63119381700002 meters Centerline goodness : 0.936132 Centerline is valid? [False, False] Translation: X:23.98, Y:-0.23, Z:-2.46 [[ 9.98152405e-01 5.94474393e-02 -1.25609557e-02 2.39791760e+01] [-5.90388177e-02 9.97782833e-01 3.07219053e-02 -2.30097238e-01] [ 1.43594446e-02 -2.99235597e-02 9.99449042e-01 -2.46172659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66119381700003 meters Centerline goodness : 0.936549 Centerline is valid? [False, False] Translation: X:24.00, Y:-0.24, Z:-2.46 [[ 9.98425008e-01 5.52208963e-02 -9.90733615e-03 2.39969746e+01] [-5.48790293e-02 9.97980858e-01 3.19765339e-02 -2.39169926e-01] [ 1.16531047e-02 -3.13824661e-02 9.99439516e-01 -2.46325590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69119381700003 meters Centerline goodness : 0.934968 Centerline is valid? [False, False] Translation: X:24.02, Y:-0.26, Z:-2.47 [[ 9.98804413e-01 4.82228794e-02 -8.01868687e-03 2.40155794e+01] [-4.79455984e-02 9.98344503e-01 3.17721969e-02 -2.55616923e-01] [ 9.53755878e-03 -3.13497498e-02 9.99462970e-01 -2.46581919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72119381700003 meters Centerline goodness : 0.932565 Centerline is valid? [False, False] Translation: X:24.02, Y:-0.26, Z:-2.47 [[ 9.99090050e-01 4.17544997e-02 -8.69677993e-03 2.40164569e+01] [-4.15171346e-02 9.98802368e-01 2.58874098e-02 -2.60770144e-01] [ 9.76728023e-03 -2.55027881e-02 9.99627034e-01 -2.46592619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75119381700003 meters Centerline goodness : 0.932886 Centerline is valid? [False, False] Translation: X:24.04, Y:-0.27, Z:-2.47 [[ 9.99281048e-01 3.71856011e-02 -7.39041711e-03 2.40355819e+01] [-3.69798418e-02 9.98970901e-01 2.62608147e-02 -2.69695340e-01] [ 8.35933582e-03 -2.59686380e-02 9.99627806e-01 -2.46699186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78119381700003 meters Centerline goodness : 0.932612 Centerline is valid? [False, False] Translation: X:24.05, Y:-0.28, Z:-2.47 [[ 9.99471660e-01 3.23827728e-02 -2.78526086e-03 2.40501467e+01] [-3.22889760e-02 9.99061100e-01 2.88849555e-02 -2.78616945e-01] [ 3.71802072e-03 -2.87797612e-02 9.99578862e-01 -2.46936765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81119381700003 meters Centerline goodness : 0.931834 Centerline is valid? [False, False] Translation: X:24.08, Y:-0.31, Z:-2.47 [[ 9.99726739e-01 2.31454715e-02 3.27623251e-03 2.40823422e+01] [-2.33283542e-02 9.96795640e-01 7.65130081e-02 -3.08172079e-01] [-1.49480463e-03 -7.65685292e-02 9.97063201e-01 -2.46515730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84119381700003 meters Centerline goodness : 0.930841 Centerline is valid? [False, False] Translation: X:24.10, Y:-0.32, Z:-2.46 [[ 9.99782879e-01 1.93986282e-02 7.60843690e-03 2.40978092e+01] [-1.99387343e-02 9.96685539e-01 7.88694091e-02 -3.17372406e-01] [-6.05326069e-03 -7.90039875e-02 9.96855921e-01 -2.46391617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87119381700003 meters Centerline goodness : 0.930218 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.34, Z:-2.46 [[ 9.99849287e-01 1.40778217e-02 1.01596097e-02 2.41187013e+01] [-1.51498391e-02 9.93298653e-01 1.14578660e-01 -3.35388177e-01] [-8.47850873e-03 -1.14715308e-01 9.93362226e-01 -2.45729399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90119381700003 meters Centerline goodness : 0.931417 Centerline is valid? [False, False] Translation: X:24.13, Y:-0.35, Z:-2.45 [[ 9.99920956e-01 8.75036575e-03 9.02842836e-03 2.41330035e+01] [-9.94705569e-03 9.89761690e-01 1.42382771e-01 -3.49864243e-01] [-7.69009118e-03 -1.42461323e-01 9.89770496e-01 -2.44829640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93119381700004 meters Centerline goodness : 0.929187 Centerline is valid? [False, False] Translation: X:24.14, Y:-0.36, Z:-2.44 [[ 9.99981266e-01 -4.61113786e-04 6.10364241e-03 2.41422164e+01] [-4.90984171e-04 9.87902880e-01 1.55073077e-01 -3.64483628e-01] [-6.10131224e-03 -1.55073169e-01 9.87884146e-01 -2.43891909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96119381700004 meters Centerline goodness : 0.931033 Centerline is valid? [False, False] Translation: X:24.13, Y:-0.37, Z:-2.44 [[ 9.99987807e-01 -3.64174376e-03 3.33511526e-03 2.41330483e+01] [ 3.13173818e-03 9.89878941e-01 1.41879791e-01 -3.65139013e-01] [-3.81805021e-03 -1.41867616e-01 9.89878276e-01 -2.43645738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99119381700004 meters Centerline goodness : 0.929359 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.36, Z:-2.43 [[ 9.99978071e-01 -6.50573777e-03 1.23815505e-03 2.41182315e+01] [ 6.29996298e-03 9.92137520e-01 1.24993805e-01 -3.64309132e-01] [-2.04159700e-03 -1.24983264e-01 9.92156749e-01 -2.43482994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02119381700004 meters Centerline goodness : 0.930625 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.36, Z:-2.43 [[ 9.99952656e-01 -9.31316371e-03 -2.81975528e-03 2.41120605e+01] [ 9.56863570e-03 9.93773920e-01 1.11003771e-01 -3.64115920e-01] [ 1.76840296e-03 -1.11025497e-01 9.93815985e-01 -2.43414926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.051193817 meters Centerline goodness : 0.935825 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.36, Z:-2.43 [[ 9.99919146e-01 -1.18371511e-02 -4.64569719e-03 2.41098099e+01] [ 1.22012850e-02 9.96017873e-01 8.83149179e-02 -3.61644680e-01] [ 3.58180041e-03 -8.83644608e-02 9.96081770e-01 -2.43211519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.081193817 meters Centerline goodness : 0.937376 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.36, Z:-2.43 [[ 9.99808978e-01 -1.67777513e-02 -1.00257235e-02 2.41078571e+01] [ 1.74261744e-02 9.97496629e-01 6.85332362e-02 -3.61813336e-01] [ 8.85079176e-03 -6.86948548e-02 9.97598456e-01 -2.43019247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.11119381700001 meters Centerline goodness : 0.936882 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.36, Z:-2.43 [[ 9.99749646e-01 -1.92299864e-02 -1.14390617e-02 2.41168024e+01] [ 1.98482989e-02 9.98196805e-01 5.66496533e-02 -3.60630468e-01] [ 1.03290627e-02 -5.68625168e-02 9.98328586e-01 -2.42801794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14119381700002 meters Centerline goodness : 0.936525 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.36, Z:-2.43 [[ 9.99672204e-01 -2.18011381e-02 -1.34236935e-02 2.41103362e+01] [ 2.23535472e-02 9.98847304e-01 4.24780115e-02 -3.57705673e-01] [ 1.24821511e-02 -4.27641546e-02 9.99007219e-01 -2.42998768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.17119381700002 meters Centerline goodness : 0.936890 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.35, Z:-2.43 [[ 9.99466599e-01 -2.98605240e-02 -1.32237258e-02 2.41104640e+01] [ 3.02906404e-02 9.98975650e-01 3.36173832e-02 -3.54316768e-01] [ 1.22063474e-02 -3.40000067e-02 9.99347289e-01 -2.43010314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20119381700002 meters Centerline goodness : 0.937697 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.35, Z:-2.43 [[ 9.99338454e-01 -3.38195957e-02 -1.33749419e-02 2.41112616e+01] [ 3.41968354e-02 9.98992508e-01 2.90610500e-02 -3.51703974e-01] [ 1.23786338e-02 -2.94992055e-02 9.99488152e-01 -2.43037456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23119381700002 meters Centerline goodness : 0.938817 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.35, Z:-2.43 [[ 9.99334639e-01 -3.49847936e-02 -1.03122514e-02 2.41219781e+01] [ 3.51565167e-02 9.99237728e-01 1.69700362e-02 -3.47792178e-01] [ 9.71069745e-03 -1.73212878e-02 9.99802818e-01 -2.43226869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26119381700002 meters Centerline goodness : 0.932740 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.35, Z:-2.43 [[ 9.99313230e-01 -3.55531349e-02 -1.04424020e-02 2.41224667e+01] [ 3.57177733e-02 9.99233389e-01 1.60273369e-02 -3.45621767e-01] [ 9.86457469e-03 -1.63893092e-02 9.99817024e-01 -2.43246692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29119381700002 meters Centerline goodness : 0.932969 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.34, Z:-2.43 [[ 9.99289323e-01 -3.62591357e-02 -1.03016550e-02 2.41228426e+01] [ 3.63999249e-02 9.99241675e-01 1.38246560e-02 -3.39144052e-01] [ 9.79257287e-03 -1.41898106e-02 9.99851366e-01 -2.43321584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32119381700002 meters Centerline goodness : 0.932846 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.33, Z:-2.43 [[ 9.99286803e-01 -3.62775417e-02 -1.04797823e-02 2.41236520e+01] [ 3.64099351e-02 9.99255837e-01 1.27314024e-02 -3.34544732e-01] [ 1.00101196e-02 -1.31038906e-02 9.99864034e-01 -2.43379260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35119381700002 meters Centerline goodness : 0.933333 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.33, Z:-2.43 [[ 9.99398353e-01 -3.30238505e-02 -1.05998598e-02 2.41235965e+01] [ 3.31842150e-02 9.99331715e-01 1.53274372e-02 -3.30947003e-01] [ 1.00866051e-02 -1.56699635e-02 9.99826341e-01 -2.43371364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38119381700002 meters Centerline goodness : 0.933902 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.33, Z:-2.43 [[ 9.99507492e-01 -2.94657683e-02 -1.07955043e-02 2.41237589e+01] [ 2.96573660e-02 9.99397320e-01 1.80398878e-02 -3.27162566e-01] [ 1.02574389e-02 -1.83511692e-02 9.99778985e-01 -2.43375436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41119381700003 meters Centerline goodness : 0.938481 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.32, Z:-2.43 [[ 9.99702705e-01 -2.18106276e-02 -1.08994189e-02 2.41233509e+01] [ 2.20590168e-02 9.99487127e-01 2.32138269e-02 -3.18887893e-01] [ 1.03875207e-02 -2.34473560e-02 9.99671106e-01 -2.43346135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44119381700003 meters Centerline goodness : 0.938721 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.31, Z:-2.43 [[ 9.99787318e-01 -1.74292958e-02 -1.10244846e-02 2.41232773e+01] [ 1.77139245e-02 9.99497929e-01 2.62698893e-02 -3.14150480e-01] [ 1.05610839e-02 -2.64595890e-02 9.99594094e-01 -2.43324525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47119381700003 meters Centerline goodness : 0.940675 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.31, Z:-2.43 [[ 9.99847595e-01 -1.34171894e-02 -1.11698941e-02 2.41234261e+01] [ 1.37310932e-02 9.99498990e-01 2.85171206e-02 -3.08471652e-01] [ 1.07816783e-02 -2.86661493e-02 9.99530894e-01 -2.43353865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50119381700003 meters Centerline goodness : 0.940367 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.30, Z:-2.44 [[ 9.99949605e-01 -4.04538386e-03 -9.18811582e-03 2.41188979e+01] [ 4.28543703e-03 9.99645991e-01 2.62588453e-02 -2.96926665e-01] [ 9.07863604e-03 -2.62968971e-02 9.99612951e-01 -2.43757985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53119381700003 meters Centerline goodness : 0.938708 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.29, Z:-2.44 [[ 9.99953192e-01 -4.10003283e-04 -9.66674723e-03 2.41199819e+01] [ 6.92053845e-04 9.99573579e-01 2.91921362e-02 -2.93688955e-01] [ 9.65065626e-03 -2.91974597e-02 9.99527075e-01 -2.43791661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56119381700003 meters Centerline goodness : 0.939700 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.29, Z:-2.44 [[ 9.99947119e-01 8.94730232e-05 -1.02834966e-02 2.41216684e+01] [ 2.03534974e-04 9.99594101e-01 2.84884538e-02 -2.90139458e-01] [ 1.02818715e-02 -2.84890404e-02 9.99541224e-01 -2.43868766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59119381700003 meters Centerline goodness : 0.940318 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.29, Z:-2.44 [[ 9.99943298e-01 1.20280002e-04 -1.06483372e-02 2.41228519e+01] [ 1.75354406e-04 9.99614653e-01 2.77581477e-02 -2.87546792e-01] [ 1.06475726e-02 -2.77584409e-02 9.99557951e-01 -2.43935800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62119381700003 meters Centerline goodness : 0.938769 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.29, Z:-2.44 [[ 9.99938924e-01 -1.31942835e-04 -1.10513053e-02 2.41241661e+01] [ 4.30674028e-04 9.99634441e-01 2.70332882e-02 -2.85678794e-01] [ 1.10436986e-02 -2.70363966e-02 9.99573444e-01 -2.44014903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65119381700003 meters Centerline goodness : 0.938810 Centerline is valid? [False, False] Translation: X:24.13, Y:-0.28, Z:-2.44 [[ 9.99936030e-01 -3.86370903e-04 -1.13043118e-02 2.41252720e+01] [ 6.86804847e-04 9.99646317e-01 2.65851356e-02 -2.84611681e-01] [ 1.12900419e-02 -2.65911988e-02 9.99582634e-01 -2.44083391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68119381700004 meters Centerline goodness : 0.940269 Centerline is valid? [False, False] Translation: X:24.14, Y:-0.28, Z:-2.44 [[ 9.99960931e-01 -1.88152010e-03 -8.63697018e-03 2.41431281e+01] [ 2.11445010e-03 9.99632129e-01 2.70395217e-02 -2.83967744e-01] [ 8.58291749e-03 -2.70567277e-02 9.99597052e-01 -2.44064343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71119381700004 meters Centerline goodness : 0.937939 Centerline is valid? [False, False] Translation: X:24.16, Y:-0.28, Z:-2.44 [[ 9.99974498e-01 -1.87607669e-03 -6.89078659e-03 2.41616074e+01] [ 2.07404031e-03 9.99582037e-01 2.88348580e-02 -2.83419347e-01] [ 6.83381009e-03 -2.88484145e-02 9.99560437e-01 -2.44023727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74119381700004 meters Centerline goodness : 0.937646 Centerline is valid? [False, False] Translation: X:24.16, Y:-0.28, Z:-2.44 [[ 9.99972565e-01 -1.85144505e-03 -7.17220026e-03 2.41625037e+01] [ 2.05503642e-03 9.99592147e-01 2.84836028e-02 -2.81815541e-01] [ 7.11653923e-03 -2.84975605e-02 9.99568529e-01 -2.44059011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77119381700004 meters Centerline goodness : 0.937025 Centerline is valid? [False, False] Translation: X:24.17, Y:-0.28, Z:-2.44 [[ 9.99992259e-01 -7.03007123e-04 -3.87141131e-03 2.41728453e+01] [ 8.62146302e-04 9.99148104e-01 4.12592157e-02 -2.83940966e-01] [ 3.83910774e-03 -4.12622340e-02 9.99140976e-01 -2.44292738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.801193817 meters Centerline goodness : 0.935965 Centerline is valid? [False, False] Translation: X:24.19, Y:-0.28, Z:-2.44 [[ 9.99996498e-01 -1.01263935e-03 -2.44512680e-03 2.41920748e+01] [ 1.11392013e-03 9.99126138e-01 4.17817973e-02 -2.84428691e-01] [ 2.40068020e-03 -4.17843747e-02 9.99123767e-01 -2.44298608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.831193817 meters Centerline goodness : 0.934267 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.44 [[ 9.99995971e-01 -1.75597078e-03 -2.23041317e-03 2.41972187e+01] [ 1.87302945e-03 9.98560019e-01 5.36132456e-02 -2.87298830e-01] [ 2.13305812e-03 -5.36172072e-02 9.98559285e-01 -2.43768464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86119381700001 meters Centerline goodness : 0.935507 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.44 [[ 9.99982713e-01 -5.30180818e-03 -2.54237760e-03 2.41977317e+01] [ 5.42128774e-03 9.98756897e-01 4.95506800e-02 -2.86483635e-01] [ 2.27650897e-03 -4.95636064e-02 9.98768375e-01 -2.43750262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.89119381700002 meters Centerline goodness : 0.936746 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.44 [[ 9.99952119e-01 -9.45131717e-03 -2.53624368e-03 2.41977389e+01] [ 9.55771211e-03 9.98902125e-01 4.58606089e-02 -2.88011908e-01] [ 2.10001604e-03 -4.58826537e-02 9.98944629e-01 -2.43728489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92119381700002 meters Centerline goodness : 0.936746 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.44 [[ 9.99952119e-01 -9.45131717e-03 -2.53624368e-03 2.41977389e+01] [ 9.55771211e-03 9.98902125e-01 4.58606089e-02 -2.88011908e-01] [ 2.10001604e-03 -4.58826537e-02 9.98944629e-01 -2.43728489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95119381700002 meters Centerline goodness : 0.936702 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.44 [[ 9.99937496e-01 -1.09207937e-02 -2.39608674e-03 2.41963700e+01] [ 1.10174910e-02 9.98928330e-01 4.49533802e-02 -2.88375584e-01] [ 1.90259233e-03 -4.49769693e-02 9.98986212e-01 -2.43577185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98119381700002 meters Centerline goodness : 0.934478 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.44 [[ 9.99932715e-01 -1.13154095e-02 -2.55466052e-03 2.41968545e+01] [ 1.14196432e-02 9.98906068e-01 4.53460020e-02 -2.90082088e-01] [ 2.03875731e-03 -4.53721242e-02 9.98968074e-01 -2.43596653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01119381700002 meters Centerline goodness : 0.934246 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.44 [[ 9.99881830e-01 -1.51062304e-02 -2.85099207e-03 2.41975580e+01] [ 1.52114258e-02 9.99025598e-01 4.14302705e-02 -2.89732284e-01] [ 2.22235885e-03 -4.14687423e-02 9.99137330e-01 -2.43599301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04119381700002 meters Centerline goodness : 0.933017 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.44 [[ 9.99750535e-01 -2.21827113e-02 -2.60678094e-03 2.41977804e+01] [ 2.22579250e-02 9.99185724e-01 3.36522509e-02 -2.89386470e-01] [ 1.85816014e-03 -3.37018774e-02 9.99430203e-01 -2.43662815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07119381700002 meters Centerline goodness : 0.929528 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.44 [[ 9.99714448e-01 -2.38945138e-02 -2.72925084e-04 2.42030949e+01] [ 2.38954394e-02 9.99539627e-01 1.86960671e-02 -2.86358362e-01] [-1.73933998e-04 -1.86972501e-02 9.99825176e-01 -2.43602264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10119381700002 meters Centerline goodness : 0.929616 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.43 [[ 9.99799194e-01 -2.00109427e-02 -1.06469508e-03 2.42041555e+01] [ 2.00320079e-02 9.99454346e-01 2.62626853e-02 -2.91492099e-01] [ 5.38573034e-04 -2.62787396e-02 9.99654509e-01 -2.43419168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13119381700002 meters Centerline goodness : 0.928456 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.44 [[ 9.99817128e-01 -1.88847569e-02 -3.01263913e-03 2.41978314e+01] [ 1.89281951e-02 9.99706688e-01 1.51083139e-02 -2.90774345e-01] [ 2.72643865e-03 -1.51625748e-02 9.99881324e-01 -2.43664613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16119381700003 meters Centerline goodness : 0.929212 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.44 [[ 9.99820446e-01 -1.86357750e-02 -3.43267300e-03 2.41988518e+01] [ 1.86877107e-02 9.99700897e-01 1.57761363e-02 -2.91824217e-01] [ 3.13764575e-03 -1.58374524e-02 9.99869657e-01 -2.43675492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19119381700003 meters Centerline goodness : 0.928093 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.44 [[ 9.99818798e-01 -1.86603586e-02 -3.76326801e-03 2.41992502e+01] [ 1.87183472e-02 9.99696567e-01 1.60124258e-02 -2.92394849e-01] [ 3.46332850e-03 -1.60799665e-02 9.99864711e-01 -2.43630316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22119381700003 meters Centerline goodness : 0.928228 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.44 [[ 9.99816064e-01 -1.87090352e-02 -4.22032796e-03 2.42000205e+01] [ 1.87759080e-02 9.99689118e-01 1.64052416e-02 -2.93355557e-01] [ 3.91208969e-03 -1.64814646e-02 9.99856518e-01 -2.43597190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25119381700003 meters Centerline goodness : 0.927346 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.30, Z:-2.44 [[ 9.99748452e-01 -2.19774651e-02 -4.47478590e-03 2.42004348e+01] [ 2.20362720e-02 9.99665392e-01 1.35464815e-02 -2.95704378e-01] [ 4.17557127e-03 -1.36416815e-02 9.99898229e-01 -2.43544549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28119381700003 meters Centerline goodness : 0.930558 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.30, Z:-2.43 [[ 9.99667843e-01 -2.54044713e-02 -4.33788436e-03 2.41999677e+01] [ 2.54463723e-02 9.99627226e-01 9.89397878e-03 -2.95980101e-01] [ 4.08491601e-03 -1.00010758e-02 9.99941644e-01 -2.43484213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31119381700003 meters Centerline goodness : 0.931465 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.30, Z:-2.43 [[ 9.99666248e-01 -2.54410539e-02 -4.48846545e-03 2.41999186e+01] [ 2.54875092e-02 9.99618776e-01 1.06155487e-02 -2.97816898e-01] [ 4.21668359e-03 -1.07264056e-02 9.99933580e-01 -2.43422987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34119381700003 meters Centerline goodness : 0.929506 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.30, Z:-2.43 [[ 9.99657241e-01 -2.57946776e-02 -4.47613672e-03 2.41994530e+01] [ 2.58413765e-02 9.99608693e-01 1.07090475e-02 -2.98600565e-01] [ 4.19814875e-03 -1.08210465e-02 9.99932638e-01 -2.43345123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37119381700003 meters Centerline goodness : 0.930190 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.30, Z:-2.43 [[ 9.99645380e-01 -2.62252889e-02 -4.62053892e-03 2.41996017e+01] [ 2.62715301e-02 9.99602307e-01 1.02486803e-02 -2.97842737e-01] [ 4.34992676e-03 -1.03664345e-02 9.99936806e-01 -2.43320853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40119381700003 meters Centerline goodness : 0.931497 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.30, Z:-2.43 [[ 9.99701636e-01 -2.39894942e-02 -4.59807327e-03 2.41981027e+01] [ 2.40476578e-02 9.99625741e-01 1.30417660e-02 -2.98145715e-01] [ 4.28348703e-03 -1.31484477e-02 9.99904380e-01 -2.43151752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43119381700004 meters Centerline goodness : 0.932609 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.43 [[ 9.99853101e-01 -1.59957562e-02 -6.15733179e-03 2.41966481e+01] [ 1.60091954e-02 9.99869555e-01 2.13955533e-03 -2.94454004e-01] [ 6.12230480e-03 -2.23781496e-03 9.99978755e-01 -2.43136013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46119381700004 meters Centerline goodness : 0.932392 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.43 [[ 9.99904452e-01 -1.20662717e-02 -6.74473797e-03 2.41977357e+01] [ 1.21072051e-02 9.99908333e-01 6.06140826e-03 -2.94236753e-01] [ 6.67098110e-03 -6.14248903e-03 9.99958883e-01 -2.43146698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49119381700004 meters Centerline goodness : 0.929770 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.43 [[ 9.99940547e-01 -8.34393346e-03 -7.02011179e-03 2.41980795e+01] [ 8.41211309e-03 9.99917188e-01 9.73922840e-03 -2.93446177e-01] [ 6.93826697e-03 -9.79770334e-03 9.99927930e-01 -2.43138190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52119381700004 meters Centerline goodness : 0.932326 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.29, Z:-2.43 [[ 9.99962906e-01 -4.70776747e-03 -7.21274893e-03 2.41979728e+01] [ 4.80320378e-03 9.99900388e-01 1.32719291e-02 -2.92566480e-01] [ 7.14954929e-03 -1.33060811e-02 9.99885910e-01 -2.43074660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.551193817 meters Centerline goodness : 0.932292 Centerline is valid? [False, False] Translation: X:24.17, Y:-0.29, Z:-2.43 [[ 9.99993798e-01 -7.83034784e-04 -3.43387213e-03 2.41710726e+01] [ 8.59424938e-04 9.99750925e-01 2.23013132e-02 -2.92585672e-01] [ 3.41555413e-03 -2.23041260e-02 9.99745398e-01 -2.43238911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.581193817 meters Centerline goodness : 0.933461 Centerline is valid? [False, False] Translation: X:24.17, Y:-0.29, Z:-2.43 [[ 9.99993125e-01 5.15471011e-04 -3.67218530e-03 2.41704039e+01] [-4.27732050e-04 9.99715369e-01 2.38536936e-02 -2.92006709e-01] [ 3.68343597e-03 -2.38519589e-02 9.99708716e-01 -2.43112703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.61119381700001 meters Centerline goodness : 0.931868 Centerline is valid? [False, False] Translation: X:24.15, Y:-0.29, Z:-2.43 [[ 9.99990546e-01 -2.44031555e-03 -3.59899505e-03 2.41537735e+01] [ 2.57130435e-03 9.99317426e-01 3.68520067e-02 -2.92759433e-01] [ 3.50660794e-03 -3.68609125e-02 9.99314253e-01 -2.43233721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64119381700002 meters Centerline goodness : 0.930052 Centerline is valid? [False, False] Translation: X:24.13, Y:-0.29, Z:-2.43 [[ 9.99986940e-01 -3.07776014e-03 -4.08012394e-03 2.41347328e+01] [ 3.21679655e-03 9.99398841e-01 3.45196919e-02 -2.92283254e-01] [ 3.97142781e-03 -3.45323660e-02 9.99395689e-01 -2.43289187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.67119381700002 meters Centerline goodness : 0.932956 Centerline is valid? [False, False] Translation: X:24.13, Y:-0.29, Z:-2.44 [[ 9.99994358e-01 -3.02010609e-03 -1.47055684e-03 2.41306282e+01] [ 3.07502529e-03 9.99238453e-01 3.88980558e-02 -2.93607000e-01] [ 1.35196068e-03 -3.89023584e-02 9.99242102e-01 -2.43572349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70119381700002 meters Centerline goodness : 0.932101 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.29, Z:-2.44 [[ 9.99979763e-01 -4.75286638e-03 -4.22888482e-03 2.41123246e+01] [ 4.89437774e-03 9.99406203e-01 3.41069957e-02 -2.91300455e-01] [ 4.06426773e-03 -3.41270032e-02 9.99409240e-01 -2.43558692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73119381700002 meters Centerline goodness : 0.931636 Centerline is valid? [False, False] Translation: X:24.10, Y:-0.29, Z:-2.44 [[ 9.99953683e-01 -3.80907804e-03 -8.83865341e-03 2.40969011e+01] [ 4.11337447e-03 9.99390382e-01 3.46690818e-02 -2.91852028e-01] [ 8.70120796e-03 -3.47038328e-02 9.99359762e-01 -2.43702666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76119381700002 meters Centerline goodness : 0.932730 Centerline is valid? [False, False] Translation: X:24.07, Y:-0.29, Z:-2.44 [[ 9.99937145e-01 -3.92535730e-03 -1.05022634e-02 2.40745985e+01] [ 4.36651271e-03 9.99094650e-01 4.23179993e-02 -2.94777605e-01] [ 1.03266419e-02 -4.23611977e-02 9.99048992e-01 -2.43964999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79119381700002 meters Centerline goodness : 0.930794 Centerline is valid? [False, False] Translation: X:24.06, Y:-0.30, Z:-2.44 [[ 9.99911561e-01 -2.06631037e-03 -1.31377889e-02 2.40555952e+01] [ 2.65082965e-03 9.99000029e-01 4.46308808e-02 -2.95845567e-01] [ 1.30324302e-02 -4.46617597e-02 9.98917155e-01 -2.43863665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82119381700002 meters Centerline goodness : 0.927884 Centerline is valid? [False, False] Translation: X:24.04, Y:-0.29, Z:-2.44 [[ 9.99888442e-01 -2.20317088e-03 -1.47732428e-02 2.40356330e+01] [ 2.80953693e-03 9.99149006e-01 4.11505801e-02 -2.93809547e-01] [ 1.46700091e-02 -4.11874954e-02 9.99043733e-01 -2.43749036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85119381700002 meters Centerline goodness : 0.929939 Centerline is valid? [False, False] Translation: X:24.02, Y:-0.30, Z:-2.44 [[ 9.99860542e-01 1.56072977e-03 -1.66271200e-02 2.40158329e+01] [-7.94594142e-04 9.98941823e-01 4.59848074e-02 -2.95465542e-01] [ 1.66812955e-02 -4.59651826e-02 9.98803753e-01 -2.43558469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88119381700002 meters Centerline goodness : 0.931805 Centerline is valid? [False, False] Translation: X:24.01, Y:-0.30, Z:-2.43 [[ 9.99845070e-01 5.37436727e-03 -1.67616559e-02 2.40142951e+01] [-4.53935953e-03 9.98765655e-01 4.94627267e-02 -2.95633922e-01] [ 1.70067971e-02 -4.93789762e-02 9.98635312e-01 -2.43318855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91119381700003 meters Centerline goodness : 0.933679 Centerline is valid? [False, False] Translation: X:24.01, Y:-0.29, Z:-2.43 [[ 9.99832696e-01 6.18241753e-03 -1.72150582e-02 2.40149202e+01] [-5.32169816e-03 9.98754855e-01 4.96026038e-02 -2.94767648e-01] [ 1.75002870e-02 -4.95026917e-02 9.98620660e-01 -2.43274066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94119381700003 meters Centerline goodness : 0.932614 Centerline is valid? [False, False] Translation: X:24.02, Y:-0.29, Z:-2.43 [[ 9.99821919e-01 6.90282151e-03 -1.75636654e-02 2.40155481e+01] [-6.01997188e-03 9.98739505e-01 4.98313239e-02 -2.94522307e-01] [ 1.78855032e-02 -4.97167170e-02 9.98603203e-01 -2.43255701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97119381700003 meters Centerline goodness : 0.932981 Centerline is valid? [False, False] Translation: X:24.03, Y:-0.29, Z:-2.43 [[ 9.99876460e-01 7.10862232e-03 -1.40189680e-02 2.40328401e+01] [-6.40221071e-03 9.98738372e-01 4.98063838e-02 -2.94138480e-01] [ 1.43553361e-02 -4.97104783e-02 9.98660499e-01 -2.43207482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00119381700003 meters Centerline goodness : 0.935526 Centerline is valid? [False, False] Translation: X:24.05, Y:-0.29, Z:-2.43 [[ 9.99917510e-01 5.17363985e-03 -1.17561550e-02 2.40516107e+01] [-4.61200985e-03 9.98869693e-01 4.73082091e-02 -2.92972111e-01] [ 1.19876226e-02 -4.72500872e-02 9.98811156e-01 -2.43211879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03119381700003 meters Centerline goodness : 0.935692 Centerline is valid? [False, False] Translation: X:24.07, Y:-0.30, Z:-2.43 [[ 9.99958935e-01 2.28067038e-03 -8.77078231e-03 2.40696671e+01] [-1.87339376e-03 9.98931994e-01 4.61666660e-02 -2.95656327e-01] [ 8.86670601e-03 -4.61483391e-02 9.98895246e-01 -2.43151331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06119381700003 meters Centerline goodness : 0.934079 Centerline is valid? [False, False] Translation: X:24.09, Y:-0.30, Z:-2.43 [[ 9.99971641e-01 -1.83944891e-03 -7.30298544e-03 2.40908510e+01] [ 2.26385316e-03 9.98282639e-01 5.85375738e-02 -3.00137000e-01] [ 7.18276670e-03 -5.85524466e-02 9.98258493e-01 -2.43349462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09119381700003 meters Centerline goodness : 0.936020 Centerline is valid? [False, False] Translation: X:24.09, Y:-0.30, Z:-2.43 [[ 9.99957205e-01 -4.65578640e-03 -7.99447115e-03 2.40932717e+01] [ 5.09708282e-03 9.98412281e-01 5.60975665e-02 -3.01629782e-01] [ 7.72059989e-03 -5.61359143e-02 9.98393285e-01 -2.43398972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12119381700003 meters Centerline goodness : 0.938936 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.32, Z:-2.43 [[ 9.99867803e-01 -8.64805010e-03 -1.37690607e-02 2.41065316e+01] [ 9.86494381e-03 9.95809706e-01 9.09159680e-02 -3.16091886e-01] [ 1.29251184e-02 -9.10397802e-02 9.95763375e-01 -2.42625229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15119381700003 meters Centerline goodness : 0.933973 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.32, Z:-2.43 [[ 9.99821452e-01 -1.19700345e-02 -1.46212716e-02 2.41085065e+01] [ 1.32065008e-02 9.96065923e-01 8.76257163e-02 -3.16595053e-01] [ 1.35148676e-02 -8.78031668e-02 9.96046160e-01 -2.42625147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18119381700004 meters Centerline goodness : 0.934458 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.32, Z:-2.42 [[ 9.99816748e-01 -1.17615869e-02 -1.51041381e-02 2.41087876e+01] [ 1.30648646e-02 9.95918559e-01 8.93058421e-02 -3.19315091e-01] [ 1.39921130e-02 -8.94868102e-02 9.95889719e-01 -2.42437697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21119381700004 meters Centerline goodness : 0.936736 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.32, Z:-2.42 [[ 9.99784502e-01 -1.39744933e-02 -1.53512901e-02 2.41083142e+01] [ 1.52584487e-02 9.96093151e-01 8.69805393e-02 -3.20128928e-01] [ 1.40758060e-02 -8.71960321e-02 9.96091725e-01 -2.42285668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24119381700004 meters Centerline goodness : 0.935158 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.32, Z:-2.42 [[ 9.99733659e-01 -1.65416048e-02 -1.60930279e-02 2.41073106e+01] [ 1.78675916e-02 9.96128059e-01 8.60792618e-02 -3.24875861e-01] [ 1.46068275e-02 -8.63438790e-02 9.96158308e-01 -2.41868210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27119381700004 meters Centerline goodness : 0.934988 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.32, Z:-2.42 [[ 9.99789254e-01 -1.74614029e-02 -1.07957348e-02 2.41064539e+01] [ 1.81601791e-02 9.97490522e-01 6.84314744e-02 -3.24310766e-01] [ 9.57373356e-03 -6.86131052e-02 9.97597406e-01 -2.41865630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.301193817 meters Centerline goodness : 0.937190 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.32, Z:-2.42 [[ 9.99779476e-01 -1.94653379e-02 -7.88030966e-03 2.41125975e+01] [ 1.98696504e-02 9.98290042e-01 5.49744478e-02 -3.24241652e-01] [ 6.79673846e-03 -5.51189036e-02 9.98456664e-01 -2.41718634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.331193817 meters Centerline goodness : 0.939917 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.33, Z:-2.42 [[ 9.99714010e-01 -2.04705171e-02 -1.23635189e-02 2.41112204e+01] [ 2.09323380e-02 9.99040982e-01 3.84571736e-02 -3.26283606e-01] [ 1.15644239e-02 -3.87049726e-02 9.99183761e-01 -2.41525419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36119381700001 meters Centerline goodness : 0.941337 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.33, Z:-2.42 [[ 9.99646832e-01 -2.33561234e-02 -1.26768223e-02 2.41122984e+01] [ 2.37931370e-02 9.99086636e-01 3.54933757e-02 -3.26949432e-01] [ 1.18362561e-02 -3.57824620e-02 9.99289507e-01 -2.41550709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.39119381700002 meters Centerline goodness : 0.942584 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.33, Z:-2.42 [[ 9.99578309e-01 -2.59714090e-02 -1.29880405e-02 2.41135260e+01] [ 2.63835455e-02 9.99118975e-01 3.26371237e-02 -3.27227407e-01] [ 1.21289656e-02 -3.29660315e-02 9.99382874e-01 -2.41596080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42119381700002 meters Centerline goodness : 0.943716 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.33, Z:-2.42 [[ 9.99513193e-01 -2.81661574e-02 -1.34180445e-02 2.41149840e+01] [ 2.85603477e-02 9.99137191e-01 3.01526014e-02 -3.27563246e-01] [ 1.25571844e-02 -3.05211469e-02 9.99455240e-01 -2.41636224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45119381700002 meters Centerline goodness : 0.944619 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.33, Z:-2.41 [[ 9.99461133e-01 -2.82476721e-02 -1.67186295e-02 2.41238745e+01] [ 2.86151814e-02 9.99344685e-01 2.21669282e-02 -3.29043528e-01] [ 1.60815094e-02 -2.26333898e-02 9.99614483e-01 -2.41292853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48119381700002 meters Centerline goodness : 0.943840 Centerline is valid? [False, False] Translation: X:24.14, Y:-0.33, Z:-2.41 [[ 9.99511210e-01 -2.65704706e-02 -1.64727129e-02 2.41431142e+01] [ 2.66913842e-02 9.99618048e-01 7.16431784e-03 -3.28136766e-01] [ 1.62760619e-02 -7.60049551e-03 9.99838648e-01 -2.41262920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51119381700002 meters Centerline goodness : 0.944215 Centerline is valid? [False, False] Translation: X:24.16, Y:-0.33, Z:-2.41 [[ 9.99603597e-01 -2.33747514e-02 -1.56929991e-02 2.41630565e+01] [ 2.32873107e-02 9.99712383e-01 -5.73178507e-03 -3.28153281e-01] [ 1.58224645e-02 5.36406523e-03 9.99860428e-01 -2.41326352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54119381700002 meters Centerline goodness : 0.944883 Centerline is valid? [False, False] Translation: X:24.16, Y:-0.33, Z:-2.41 [[ 9.99599334e-01 -2.33451684e-02 -1.60054769e-02 2.41639869e+01] [ 2.32575154e-02 9.99713593e-01 -5.64089969e-03 -3.28525649e-01] [ 1.61325805e-02 5.26639194e-03 9.99855992e-01 -2.41356106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57119381700002 meters Centerline goodness : 0.947250 Centerline is valid? [False, False] Translation: X:24.18, Y:-0.33, Z:-2.42 [[ 9.99679034e-01 -2.22810884e-02 -1.20574272e-02 2.41758904e+01] [ 2.21028062e-02 9.99647292e-01 -1.47226836e-02 -3.26760260e-01] [ 1.23812119e-02 1.44514552e-02 9.99818914e-01 -2.41670557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60119381700002 meters Centerline goodness : 0.947894 Centerline is valid? [False, False] Translation: X:24.19, Y:-0.33, Z:-2.42 [[ 9.99788569e-01 -1.94252180e-02 -6.74381872e-03 2.41876161e+01] [ 1.92798210e-02 9.99593685e-01 -2.09941420e-02 -3.25464843e-01] [ 7.14889439e-03 2.08596836e-02 9.99756854e-01 -2.42035781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63119381700002 meters Centerline goodness : 0.949129 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.32, Z:-2.42 [[ 9.99849748e-01 -1.72597304e-02 -1.60727585e-03 2.41995932e+01] [ 1.72084198e-02 9.99465553e-01 -2.77934944e-02 -3.24174365e-01] [ 2.08612506e-03 2.77616596e-02 9.99612394e-01 -2.42430677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66119381700003 meters Centerline goodness : 0.946550 Centerline is valid? [False, False] Translation: X:24.22, Y:-0.33, Z:-2.42 [[ 9.99884979e-01 -1.51458400e-02 -7.95684961e-04 2.42195477e+01] [ 1.51227109e-02 9.99604232e-01 -2.37209256e-02 -3.26632125e-01] [ 1.15464340e-03 2.37061643e-02 9.99718303e-01 -2.42463266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69119381700003 meters Centerline goodness : 0.949401 Centerline is valid? [False, False] Translation: X:24.22, Y:-0.33, Z:-2.43 [[ 9.99887863e-01 -1.49380481e-02 -1.05600751e-03 2.42204022e+01] [ 1.49092290e-02 9.99614517e-01 -2.34207791e-02 -3.27469184e-01] [ 1.40546117e-03 2.34024086e-02 9.99725138e-01 -2.42501432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72119381700003 meters Centerline goodness : 0.948591 Centerline is valid? [False, False] Translation: X:24.22, Y:-0.33, Z:-2.43 [[ 9.99901184e-01 -1.39649235e-02 -1.61349291e-03 2.42227893e+01] [ 1.39262462e-02 9.99663008e-01 -2.19073270e-02 -3.30215321e-01] [ 1.91888332e-03 2.18826923e-02 9.99758704e-01 -2.42676283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75119381700003 meters Centerline goodness : 0.947790 Centerline is valid? [False, False] Translation: X:24.25, Y:-0.33, Z:-2.43 [[ 9.99908247e-01 -1.32622340e-02 -2.75872977e-03 2.42450087e+01] [ 1.32050347e-02 9.99716546e-01 -1.98104491e-02 -3.32377670e-01] [ 3.02067862e-03 1.97722024e-02 9.99799948e-01 -2.42833355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78119381700003 meters Centerline goodness : 0.947782 Centerline is valid? [False, False] Translation: X:24.25, Y:-0.33, Z:-2.43 [[ 9.99904648e-01 -1.34545417e-02 -3.10955621e-03 2.42461843e+01] [ 1.33909635e-02 9.99717543e-01 -1.96345624e-02 -3.33500681e-01] [ 3.37285194e-03 1.95910503e-02 9.99802388e-01 -2.42891623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81119381700003 meters Centerline goodness : 0.945568 Centerline is valid? [False, False] Translation: X:24.27, Y:-0.34, Z:-2.43 [[ 9.99885007e-01 -1.42508682e-02 -5.18510476e-03 2.42687246e+01] [ 1.41470369e-02 9.99709004e-01 -1.95388849e-02 -3.35101941e-01] [ 5.46204199e-03 1.94632842e-02 9.99795652e-01 -2.42999499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84119381700003 meters Centerline goodness : 0.945568 Centerline is valid? [False, False] Translation: X:24.27, Y:-0.34, Z:-2.43 [[ 9.99885007e-01 -1.42508682e-02 -5.18510476e-03 2.42687246e+01] [ 1.41470369e-02 9.99709004e-01 -1.95388849e-02 -3.35101941e-01] [ 5.46204199e-03 1.94632842e-02 9.99795652e-01 -2.42999499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87119381700003 meters Centerline goodness : 0.944999 Centerline is valid? [False, False] Translation: X:24.27, Y:-0.34, Z:-2.43 [[ 9.99861062e-01 -1.56777659e-02 -5.66254983e-03 2.42713927e+01] [ 1.55603768e-02 9.99674627e-01 -2.02117351e-02 -3.37927370e-01] [ 5.97758224e-03 2.01208156e-02 9.99779686e-01 -2.43199957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90119381700003 meters Centerline goodness : 0.942221 Centerline is valid? [False, False] Translation: X:24.27, Y:-0.34, Z:-2.43 [[ 9.99856015e-01 -1.58561323e-02 -6.04425358e-03 2.42722229e+01] [ 1.57346201e-02 9.99683151e-01 -1.96473763e-02 -3.40373091e-01] [ 6.35386987e-03 1.95494433e-02 9.99788701e-01 -2.43210452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93119381700004 meters Centerline goodness : 0.945790 Centerline is valid? [False, False] Translation: X:24.29, Y:-0.34, Z:-2.43 [[ 9.99853237e-01 -1.64394542e-02 -4.82176052e-03 2.42922231e+01] [ 1.63445548e-02 9.99683946e-01 -1.91014183e-02 -3.43144485e-01] [ 5.13425348e-03 1.90198054e-02 9.99805924e-01 -2.43266635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96119381700004 meters Centerline goodness : 0.945675 Centerline is valid? [False, False] Translation: X:24.29, Y:-0.35, Z:-2.43 [[ 9.99849092e-01 -1.65875107e-02 -5.16223200e-03 2.42929857e+01] [ 1.64882339e-02 9.99688918e-01 -1.87138004e-02 -3.45240002e-01] [ 5.47104148e-03 1.86258602e-02 9.99811555e-01 -2.43274102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99119381700004 meters Centerline goodness : 0.947058 Centerline is valid? [False, False] Translation: X:24.31, Y:-0.35, Z:-2.43 [[ 9.99874491e-01 -1.56714333e-02 -2.32541427e-03 2.43111662e+01] [ 1.56349695e-02 9.99766030e-01 -1.49476420e-02 -3.51145244e-01] [ 2.55912117e-03 1.49094082e-02 9.99885574e-01 -2.43283460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02119381700004 meters Centerline goodness : 0.945632 Centerline is valid? [False, False] Translation: X:24.31, Y:-0.35, Z:-2.43 [[ 9.99876292e-01 -1.55264281e-02 -2.51601735e-03 2.43115585e+01] [ 1.54887510e-02 9.99776922e-01 -1.43598488e-02 -3.52815999e-01] [ 2.73841324e-03 1.43191024e-02 9.99893727e-01 -2.43281763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.051193817 meters Centerline goodness : 0.945746 Centerline is valid? [False, False] Translation: X:24.31, Y:-0.35, Z:-2.43 [[ 9.99877581e-01 -1.54106936e-02 -2.70791172e-03 2.43122260e+01] [ 1.53717225e-02 9.99785687e-01 -1.38668394e-02 -3.54039505e-01] [ 2.92102900e-03 1.38235166e-02 9.99900184e-01 -2.43310452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.081193817 meters Centerline goodness : 0.946241 Centerline is valid? [False, False] Translation: X:24.31, Y:-0.35, Z:-2.43 [[ 9.99878334e-01 -1.53293270e-02 -2.88607982e-03 2.43129318e+01] [ 1.52885734e-02 9.99789952e-01 -1.36495956e-02 -3.54167051e-01] [ 3.09471271e-03 1.36038108e-02 9.99902675e-01 -2.43349645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.11119381700001 meters Centerline goodness : 0.945950 Centerline is valid? [False, False] Translation: X:24.31, Y:-0.35, Z:-2.43 [[ 9.99878411e-01 -1.52718555e-02 -3.15174592e-03 2.43137591e+01] [ 1.52278602e-02 9.99792364e-01 -1.35403680e-02 -3.53863852e-01] [ 3.35787805e-03 1.34907273e-02 9.99903358e-01 -2.43384324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14119381700002 meters Centerline goodness : 0.946865 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.35, Z:-2.44 [[ 9.99918721e-01 -1.25551869e-02 2.21795776e-03 2.43257147e+01] [ 1.25970640e-02 9.99720600e-01 -2.00009191e-02 -3.52288300e-01] [-1.96622279e-03 2.00272332e-02 9.99797501e-01 -2.43774170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.17119381700002 meters Centerline goodness : 0.944788 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.35, Z:-2.44 [[ 9.99926868e-01 -1.19497109e-02 1.86087914e-03 2.43267084e+01] [ 1.19839834e-02 9.99735152e-01 -1.96471571e-02 -3.52327745e-01] [-1.62560844e-03 1.96680210e-02 9.99805244e-01 -2.43804720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20119381700002 meters Centerline goodness : 0.945579 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.35, Z:-2.44 [[ 9.99947951e-01 -1.01395190e-02 1.13339771e-03 2.43295065e+01] [ 1.01582831e-02 9.99786377e-01 -1.80002495e-02 -3.52867492e-01] [-9.50641721e-04 1.80108260e-02 9.99837340e-01 -2.43974031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23119381700002 meters Centerline goodness : 0.944908 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.35, Z:-2.44 [[ 9.99982187e-01 -5.91309389e-03 8.12683713e-04 2.43306945e+01] [ 5.92350019e-03 9.99891837e-01 -1.34620205e-02 -3.54214100e-01] [-7.32993620e-04 1.34665946e-02 9.99909053e-01 -2.44051041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26119381700002 meters Centerline goodness : 0.943998 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.35, Z:-2.44 [[ 9.99999042e-01 7.49921430e-04 -1.16351299e-03 2.43601461e+01] [-7.71667511e-04 9.99822900e-01 -1.88035303e-02 -3.51342122e-01] [ 1.14920577e-03 1.88044102e-02 9.99822521e-01 -2.44042539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29119381700002 meters Centerline goodness : 0.943535 Centerline is valid? [False, False] Translation: X:24.38, Y:-0.35, Z:-2.44 [[ 9.99997998e-01 1.93712191e-03 5.01487533e-04 2.43796587e+01] [-1.92670473e-03 9.99798115e-01 -2.00004308e-02 -3.49622178e-01] [-5.40129563e-04 1.99994246e-02 9.99799846e-01 -2.44063130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32119381700002 meters Centerline goodness : 0.946634 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.35, Z:-2.44 [[ 9.99968990e-01 5.05902647e-03 6.03536297e-03 2.43902420e+01] [-4.89553714e-03 9.99628760e-01 -2.68025352e-02 -3.48336019e-01] [-6.16871713e-03 2.67721577e-02 9.99622528e-01 -2.44358196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35119381700002 meters Centerline goodness : 0.944868 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.35, Z:-2.44 [[ 9.99938155e-01 9.47399218e-03 5.82483829e-03 2.43900316e+01] [-9.34500249e-03 9.99718962e-01 -2.17868835e-02 -3.51050468e-01] [-6.02961005e-03 2.17311030e-02 9.99745669e-01 -2.44269044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38119381700002 meters Centerline goodness : 0.946931 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.36, Z:-2.44 [[ 9.99858901e-01 1.55944729e-02 6.24422803e-03 2.43876035e+01] [-1.54997948e-02 9.99768337e-01 -1.49341719e-02 -3.56072663e-01] [-6.47567201e-03 1.48352805e-02 9.99868981e-01 -2.44031279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41119381700003 meters Centerline goodness : 0.947155 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.36, Z:-2.44 [[ 9.99799253e-01 1.91195712e-02 5.99124888e-03 2.43885471e+01] [-1.90546650e-02 9.99761084e-01 -1.07095168e-02 -3.59218626e-01] [-6.19457885e-03 1.05932057e-02 9.99924703e-01 -2.44074882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44119381700003 meters Centerline goodness : 0.946659 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.36, Z:-2.44 [[ 9.99780035e-01 2.01639825e-02 5.77024061e-03 2.43893544e+01] [-2.01085583e-02 9.99752599e-01 -9.50719946e-03 -3.61218564e-01] [-5.96051605e-03 9.38907698e-03 9.99938157e-01 -2.44119704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47119381700003 meters Centerline goodness : 0.946080 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.37, Z:-2.44 [[ 9.99744755e-01 2.18927045e-02 5.57978786e-03 2.43905615e+01] [-2.18521352e-02 9.99735064e-01 -7.23089206e-03 -3.65990223e-01] [-5.73661336e-03 7.10711614e-03 9.99958289e-01 -2.44233146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50119381700003 meters Centerline goodness : 0.946174 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.37, Z:-2.44 [[ 9.99721938e-01 2.29375768e-02 5.46940441e-03 2.43913524e+01] [-2.29069610e-02 9.99721939e-01 -5.59609955e-03 -3.69516846e-01] [-5.59624455e-03 5.46925606e-03 9.99969384e-01 -2.44307688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53119381700003 meters Centerline goodness : 0.947226 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.37, Z:-2.44 [[ 9.99779496e-01 2.03699826e-02 5.10136224e-03 2.43922052e+01] [-2.03272344e-02 9.99758962e-01 -8.29592293e-03 -3.71960485e-01] [-5.26912042e-03 8.19039706e-03 9.99952576e-01 -2.44350757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56119381700003 meters Centerline goodness : 0.945887 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.38, Z:-2.44 [[ 9.99832526e-01 1.76738731e-02 4.74914296e-03 2.43928911e+01] [-1.76219719e-02 9.99786857e-01 -1.07567462e-02 -3.75507323e-01] [-4.93824407e-03 1.06712555e-02 9.99930867e-01 -2.44377821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59119381700003 meters Centerline goodness : 0.945140 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.38, Z:-2.44 [[ 9.99823083e-01 1.81890331e-02 4.79186227e-03 2.43931216e+01] [-1.81478896e-02 9.99799232e-01 -8.49405403e-03 -3.82089192e-01] [-4.94539885e-03 8.40558910e-03 9.99952443e-01 -2.44454646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62119381700003 meters Centerline goodness : 0.945294 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.39, Z:-2.45 [[ 9.99870682e-01 1.53449393e-02 4.81168487e-03 2.43931868e+01] [-1.53043267e-02 9.99847877e-01 -8.36657685e-03 -3.92252823e-01] [-4.93933751e-03 8.29185531e-03 9.99953423e-01 -2.44567327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65119381700003 meters Centerline goodness : 0.946125 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.40, Z:-2.45 [[ 9.99916858e-01 1.20715497e-02 4.53379007e-03 2.43937444e+01] [-1.20241647e-02 9.99874272e-01 -1.03372751e-02 -3.96879868e-01] [-4.65800698e-03 1.02819006e-02 9.99936291e-01 -2.44623599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68119381700004 meters Centerline goodness : 0.948258 Centerline is valid? [False, False] Translation: X:24.40, Y:-0.40, Z:-2.45 [[ 9.99967551e-01 6.99473013e-03 3.99634851e-03 2.43959499e+01] [-6.93546132e-03 9.99868528e-01 -1.46569415e-02 -4.01083217e-01] [-4.09834446e-03 1.46287494e-02 9.99884595e-01 -2.44778378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71119381700004 meters Centerline goodness : 0.945486 Centerline is valid? [False, False] Translation: X:24.40, Y:-0.41, Z:-2.45 [[ 9.99988060e-01 3.10308646e-03 3.77502688e-03 2.43964654e+01] [-3.03762817e-03 9.99847047e-01 -1.72237016e-02 -4.06406705e-01] [-3.82789612e-03 1.72120288e-02 9.99844535e-01 -2.44787577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74119381700004 meters Centerline goodness : 0.950031 Centerline is valid? [False, True] Translation: X:24.40, Y:-0.42, Z:-2.45 [[ 9.99983811e-01 -4.40971724e-03 3.59599959e-03 2.43975998e+01] [ 4.48887511e-03 9.99741020e-01 -2.23101324e-02 -4.16236895e-01] [-3.49668693e-03 2.23259132e-02 9.99744631e-01 -2.44887532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77119381700004 meters Centerline goodness : 0.946830 Centerline is valid? [True, False] Translation: X:24.40, Y:-0.42, Z:-2.45 [[ 9.99965303e-01 -7.63494874e-03 3.33175382e-03 2.43988412e+01] [ 7.71440096e-03 9.99669475e-01 -2.45240508e-02 -4.21247275e-01] [-3.14341272e-03 2.45489024e-02 9.99693688e-01 -2.44978135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.801193817 meters Centerline goodness : 0.945866 Centerline is valid? [False, False] Translation: X:24.40, Y:-0.43, Z:-2.45 [[ 9.99936510e-01 -1.08453660e-02 3.05857140e-03 2.44002328e+01] [ 1.09238970e-02 9.99577138e-01 -2.69483497e-02 -4.25360705e-01] [-2.76501333e-03 2.69800503e-02 9.99632148e-01 -2.45079248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.831193817 meters Centerline goodness : 0.947009 Centerline is valid? [False, False] Translation: X:24.40, Y:-0.43, Z:-2.45 [[ 9.99936396e-01 -1.08966738e-02 2.90983883e-03 2.44012012e+01] [ 1.09678993e-02 9.99609533e-01 -2.56999238e-02 -4.30622725e-01] [-2.62865895e-03 2.57302040e-02 9.99665467e-01 -2.45160864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86119381700001 meters Centerline goodness : 0.946861 Centerline is valid? [False, False] Translation: X:24.40, Y:-0.44, Z:-2.45 [[ 9.99901792e-01 -1.37437078e-02 2.74168924e-03 2.44020263e+01] [ 1.38131589e-02 9.99535519e-01 -2.71651008e-02 -4.37220102e-01] [-2.36706657e-03 2.72003044e-02 9.99627201e-01 -2.45213559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.89119381700002 meters Centerline goodness : 0.945809 Centerline is valid? [False, False] Translation: X:24.40, Y:-0.44, Z:-2.45 [[ 9.99906957e-01 -1.34076530e-02 2.51259774e-03 2.44024576e+01] [ 1.34680787e-02 9.99576073e-01 -2.58124974e-02 -4.41399970e-01] [-2.16544758e-03 2.58439355e-02 9.99663644e-01 -2.45207847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92119381700002 meters Centerline goodness : 0.945293 Centerline is valid? [False, False] Translation: X:24.40, Y:-0.45, Z:-2.45 [[ 9.99914494e-01 -1.29026207e-02 2.12782762e-03 2.44030737e+01] [ 1.29507041e-02 9.99618644e-01 -2.43894538e-02 -4.45363338e-01] [-1.81232829e-03 2.44149252e-02 9.99700269e-01 -2.45193581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95119381700002 meters Centerline goodness : 0.945876 Centerline is valid? [False, False] Translation: X:24.40, Y:-0.45, Z:-2.45 [[ 9.99914920e-01 -1.29014946e-02 1.92475500e-03 2.44033763e+01] [ 1.29421347e-02 9.99655022e-01 -2.28547143e-02 -4.50689230e-01] [-1.62923102e-03 2.28776802e-02 9.99736944e-01 -2.45169744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98119381700002 meters Centerline goodness : 0.943677 Centerline is valid? [False, False] Translation: X:24.40, Y:-0.45, Z:-2.45 [[ 9.99915794e-01 -1.28614980e-02 1.72835876e-03 2.44037918e+01] [ 1.28966473e-02 9.99671388e-01 -2.21538237e-02 -4.52834727e-01] [-1.44285944e-03 2.21742482e-02 9.99753080e-01 -2.45165756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01119381700002 meters Centerline goodness : 0.943157 Centerline is valid? [False, False] Translation: X:24.40, Y:-0.46, Z:-2.45 [[ 9.99917862e-01 -1.27188478e-02 1.58144662e-03 2.44038281e+01] [ 1.27496005e-02 9.99692802e-01 -2.12543889e-02 -4.55402669e-01] [-1.31062946e-03 2.12728059e-02 9.99772849e-01 -2.45128125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04119381700002 meters Centerline goodness : 0.943596 Centerline is valid? [False, False] Translation: X:24.40, Y:-0.46, Z:-2.45 [[ 9.99918694e-01 -1.26758080e-02 1.38911819e-03 2.44040948e+01] [ 1.27015788e-02 9.99710117e-01 -2.04536748e-02 -4.57990811e-01] [-1.12944865e-03 2.04696558e-02 9.99789837e-01 -2.45110362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07119381700002 meters Centerline goodness : 0.942095 Centerline is valid? [False, False] Translation: X:24.41, Y:-0.46, Z:-2.45 [[ 9.99836850e-01 -1.66408789e-02 7.02534769e-03 2.44120958e+01] [ 1.67366853e-02 9.99764609e-01 -1.38061370e-02 -4.63002069e-01] [-6.79394774e-03 1.39214656e-02 9.99880010e-01 -2.45210766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10119381700002 meters Centerline goodness : 0.941772 Centerline is valid? [False, False] Translation: X:24.41, Y:-0.46, Z:-2.45 [[ 9.99834272e-01 -1.68650053e-02 6.85567971e-03 2.44126983e+01] [ 1.69560292e-02 9.99765859e-01 -1.34432353e-02 -4.64467929e-01] [-6.62735428e-03 1.35572524e-02 9.99886133e-01 -2.45240431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13119381700002 meters Centerline goodness : 0.941881 Centerline is valid? [False, False] Translation: X:24.43, Y:-0.47, Z:-2.45 [[ 9.99848769e-01 -1.66411525e-02 5.05086859e-03 2.44344374e+01] [ 1.67081056e-02 9.99769046e-01 -1.35164135e-02 -4.65991800e-01] [-4.82477337e-03 1.35987598e-02 9.99895892e-01 -2.45344026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16119381700003 meters Centerline goodness : 0.940606 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.47, Z:-2.45 [[ 9.99843212e-01 -1.70219358e-02 4.87909197e-03 2.44352998e+01] [ 1.70873467e-02 9.99760223e-01 -1.36937974e-02 -4.65782506e-01] [-4.64482713e-03 1.37750211e-02 9.99894332e-01 -2.45410086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19119381700003 meters Centerline goodness : 0.939560 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.46, Z:-2.45 [[ 9.99836005e-01 -1.75013106e-02 4.65487461e-03 2.44362846e+01] [ 1.75659076e-02 9.99744602e-01 -1.42186493e-02 -4.64419539e-01] [-4.40484076e-03 1.42980846e-02 9.99888075e-01 -2.45472954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22119381700003 meters Centerline goodness : 0.938152 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.46, Z:-2.46 [[ 9.99817586e-01 -1.85577914e-02 4.51687532e-03 2.44370155e+01] [ 1.86265693e-02 9.99703339e-01 -1.56934920e-02 -4.60194432e-01] [-4.22429878e-03 1.57747631e-02 9.99866647e-01 -2.45520870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25119381700003 meters Centerline goodness : 0.938125 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.46, Z:-2.46 [[ 9.99862830e-01 -1.59982715e-02 4.28686576e-03 2.44377030e+01] [ 1.60507024e-02 9.99793181e-01 -1.24888400e-02 -4.60126829e-01] [-4.08617930e-03 1.25559341e-02 9.99912822e-01 -2.45539428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28119381700003 meters Centerline goodness : 0.937781 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.46, Z:-2.46 [[ 9.99854579e-01 -1.65441760e-02 4.13660119e-03 2.44383476e+01] [ 1.65979511e-02 9.99773487e-01 -1.33222621e-02 -4.58091822e-01] [-3.91525834e-03 1.33889839e-02 9.99902698e-01 -2.45576990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31119381700003 meters Centerline goodness : 0.935361 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.46, Z:-2.46 [[ 9.99843985e-01 -1.72236348e-02 3.91824468e-03 2.44391214e+01] [ 1.72784298e-02 9.99746883e-01 -1.44092500e-02 -4.55329802e-01] [-3.66907325e-03 1.44747030e-02 9.99888504e-01 -2.45616976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34119381700003 meters Centerline goodness : 0.931704 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.45, Z:-2.46 [[ 9.99856401e-01 -1.65561407e-02 3.61537291e-03 2.44405286e+01] [ 1.66070971e-02 9.99756204e-01 -1.45511652e-02 -4.46647177e-01] [-3.37358036e-03 1.46091166e-02 9.99887590e-01 -2.45697498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37119381700003 meters Centerline goodness : 0.932066 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.44, Z:-2.46 [[ 9.99891098e-01 -1.43967769e-02 3.24424247e-03 2.44418179e+01] [ 1.44372595e-02 9.99813577e-01 -1.28209546e-02 -4.42164601e-01] [-3.05905724e-03 1.28663963e-02 9.99912545e-01 -2.45761731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40119381700003 meters Centerline goodness : 0.931592 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.44, Z:-2.46 [[ 9.99923452e-01 -1.20242326e-02 2.91689575e-03 2.44429143e+01] [ 1.20555980e-02 9.99866988e-01 -1.09849310e-02 -4.37768458e-01] [-2.78442241e-03 1.10192551e-02 9.99935409e-01 -2.45808724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43119381700004 meters Centerline goodness : 0.931863 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.43, Z:-2.46 [[ 9.99946158e-01 -1.00576405e-02 2.55459013e-03 2.44440996e+01] [ 1.00849877e-02 9.99889431e-01 -1.09278763e-02 -4.27729909e-01] [-2.44439902e-03 1.09530509e-02 9.99937026e-01 -2.45863295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46119381700004 meters Centerline goodness : 0.929924 Centerline is valid? [False, False] Translation: X:24.45, Y:-0.42, Z:-2.46 [[ 9.99967558e-01 -7.72619804e-03 2.27787636e-03 2.44454353e+01] [ 7.74689209e-03 9.99927482e-01 -9.22043689e-03 -4.23019609e-01] [-2.20647226e-03 9.23778423e-03 9.99954896e-01 -2.45953558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49119381700004 meters Centerline goodness : 0.930420 Centerline is valid? [False, False] Translation: X:24.45, Y:-0.42, Z:-2.46 [[ 9.99983720e-01 -5.36023399e-03 1.95626706e-03 2.44468719e+01] [ 5.37491087e-03 9.99956857e-01 -7.57597716e-03 -4.17890956e-01] [-1.91557365e-03 7.58636859e-03 9.99969388e-01 -2.46045981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52119381700004 meters Centerline goodness : 0.927243 Centerline is valid? [False, False] Translation: X:24.45, Y:-0.41, Z:-2.46 [[ 9.99993824e-01 -3.05560087e-03 1.73618958e-03 2.44481659e+01] [ 3.06605730e-03 9.99976985e-01 -6.05222956e-03 -4.12420144e-01] [-1.71765643e-03 6.05751544e-03 9.99980178e-01 -2.46137827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.551193817 meters Centerline goodness : 0.926193 Centerline is valid? [False, False] Translation: X:24.45, Y:-0.41, Z:-2.46 [[ 9.99998678e-01 -6.61226654e-04 1.48535755e-03 2.44494957e+01] [ 6.67758292e-04 9.99990092e-01 -4.40116711e-03 -4.07177719e-01] [-1.48243266e-03 4.40215315e-03 9.99989212e-01 -2.46226666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.581193817 meters Centerline goodness : 0.921798 Centerline is valid? [False, False] Translation: X:24.46, Y:-0.39, Z:-2.47 [[ 9.99987185e-01 9.72844677e-04 4.96831996e-03 2.44648507e+01] [-9.10863416e-04 9.99921927e-01 -1.24623578e-02 -3.93543344e-01] [-4.98005601e-03 1.24576726e-02 9.99909999e-01 -2.46676317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.61119381700001 meters Centerline goodness : 0.921307 Centerline is valid? [False, False] Translation: X:24.49, Y:-0.39, Z:-2.47 [[ 9.99992317e-01 2.32058067e-03 3.15921174e-03 2.44870643e+01] [-2.27917174e-03 9.99912268e-01 -1.30484586e-02 -3.89299832e-01] [-3.18921458e-03 1.30411580e-02 9.99909874e-01 -2.46809895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64119381700002 meters Centerline goodness : 0.920829 Centerline is valid? [False, False] Translation: X:24.49, Y:-0.38, Z:-2.47 [[ 9.99986333e-01 4.40284425e-03 2.81940053e-03 2.44889080e+01] [-4.37010896e-03 9.99924168e-01 -1.15134918e-02 -3.84780043e-01] [-2.86987884e-03 1.15010134e-02 9.99929743e-01 -2.46937771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.67119381700002 meters Centerline goodness : 0.917444 Centerline is valid? [False, False] Translation: X:24.51, Y:-0.37, Z:-2.47 [[ 9.99977800e-01 5.22694131e-03 4.13255628e-03 2.45096764e+01] [-5.15719649e-03 9.99847058e-01 -1.67111803e-02 -3.72368674e-01] [-4.21927259e-03 1.66894969e-02 9.99851818e-01 -2.47282014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70119381700002 meters Centerline goodness : 0.916072 Centerline is valid? [False, False] Translation: X:24.51, Y:-0.37, Z:-2.47 [[ 9.99959534e-01 8.05408355e-03 4.00776628e-03 2.45105291e+01] [-7.99553140e-03 9.99864097e-01 -1.44172896e-02 -3.68198468e-01] [-4.12333967e-03 1.43846620e-02 9.99888034e-01 -2.47335887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73119381700002 meters Centerline goodness : 0.916072 Centerline is valid? [False, False] Translation: X:24.51, Y:-0.37, Z:-2.47 [[ 9.99959534e-01 8.05408355e-03 4.00776628e-03 2.45105291e+01] [-7.99553140e-03 9.99864097e-01 -1.44172896e-02 -3.68198468e-01] [-4.12333967e-03 1.43846620e-02 9.99888034e-01 -2.47335887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76119381700002 meters Centerline goodness : 0.915773 Centerline is valid? [False, False] Translation: X:24.53, Y:-0.36, Z:-2.47 [[ 9.99946010e-01 9.21178269e-03 4.80844036e-03 2.45311359e+01] [-9.13118286e-03 9.99821786e-01 -1.65232687e-02 -3.62296559e-01] [-4.95979219e-03 1.64784698e-02 9.99851919e-01 -2.47479691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79119381700002 meters Centerline goodness : 0.916770 Centerline is valid? [False, False] Translation: X:24.53, Y:-0.35, Z:-2.47 [[ 9.99864410e-01 1.57026038e-02 4.95881576e-03 2.45315903e+01] [-1.56402324e-02 9.99801093e-01 -1.23756855e-02 -3.51465146e-01] [-5.15215990e-03 1.22964505e-02 9.99911122e-01 -2.47457967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82119381700002 meters Centerline goodness : 0.912877 Centerline is valid? [False, False] Translation: X:24.53, Y:-0.35, Z:-2.47 [[ 9.99794271e-01 1.96674970e-02 4.96036841e-03 2.45316986e+01] [-1.96192504e-02 9.99761488e-01 -9.59443047e-03 -3.46726323e-01] [-5.14788374e-03 9.49513791e-03 9.99941669e-01 -2.47433843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85119381700002 meters Centerline goodness : 0.914684 Centerline is valid? [False, False] Translation: X:24.53, Y:-0.34, Z:-2.47 [[ 9.99712745e-01 2.34895359e-02 4.76112793e-03 2.45324274e+01] [-2.34562039e-02 9.99700778e-01 -6.93981249e-03 -3.42382707e-01] [-4.92271627e-03 6.82614101e-03 9.99964585e-01 -2.47437495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88119381700002 meters Centerline goodness : 0.912334 Centerline is valid? [False, False] Translation: X:24.53, Y:-0.34, Z:-2.47 [[ 9.99551318e-01 2.94814726e-02 5.29201792e-03 2.45305804e+01] [-2.94741757e-02 9.99564488e-01 -1.45160615e-03 -3.39215261e-01] [-5.33250867e-03 1.29497698e-03 9.99984944e-01 -2.47282127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91119381700003 meters Centerline goodness : 0.913006 Centerline is valid? [False, False] Translation: X:24.53, Y:-0.33, Z:-2.47 [[ 9.99277266e-01 3.75998727e-02 5.58534833e-03 2.45305248e+01] [-3.76229039e-02 9.99283690e-01 4.07727038e-03 -3.29957972e-01] [-5.42804264e-03 -4.28446062e-03 9.99976090e-01 -2.47215545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94119381700003 meters Centerline goodness : 0.912879 Centerline is valid? [False, False] Translation: X:24.53, Y:-0.33, Z:-2.47 [[ 9.99034004e-01 4.35389568e-02 5.95126037e-03 2.45290851e+01] [-4.35956324e-02 9.99001675e-01 9.75060905e-03 -3.27259738e-01] [-5.52078773e-03 -1.00006390e-02 9.99934752e-01 -2.47053679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97119381700003 meters Centerline goodness : 0.909247 Centerline is valid? [False, False] Translation: X:24.53, Y:-0.33, Z:-2.47 [[ 9.98846259e-01 4.76535697e-02 5.94036551e-03 2.45293410e+01] [-4.77290650e-02 9.98771892e-01 1.32907772e-02 -3.25311633e-01] [-5.29971712e-03 -1.35589712e-02 9.99894028e-01 -2.47035027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00119381700003 meters Centerline goodness : 0.906297 Centerline is valid? [False, False] Translation: X:24.53, Y:-0.32, Z:-2.47 [[ 9.98658794e-01 5.14262180e-02 5.99642984e-03 2.45292821e+01] [-5.15190223e-02 9.98535476e-01 1.65134300e-02 -3.23485761e-01] [-5.13842467e-03 -1.68002123e-02 9.99845663e-01 -2.46987041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03119381700003 meters Centerline goodness : 0.907849 Centerline is valid? [False, False] Translation: X:24.53, Y:-0.32, Z:-2.47 [[ 9.98647896e-01 5.16637695e-02 5.76500818e-03 2.45295555e+01] [-5.17513001e-02 9.98527997e-01 1.62370448e-02 -3.22325277e-01] [-4.91765513e-03 -1.65134373e-02 9.99851551e-01 -2.46957628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06119381700003 meters Centerline goodness : 0.904793 Centerline is valid? [False, False] Translation: X:24.54, Y:-0.32, Z:-2.47 [[ 9.98597480e-01 5.17592900e-02 1.11377620e-02 2.45402196e+01] [-5.20394034e-02 9.98292525e-01 2.65317902e-02 -3.24923003e-01] [-9.74547791e-03 -2.70741813e-02 9.99585921e-01 -2.47286688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09119381700003 meters Centerline goodness : 0.904412 Centerline is valid? [False, False] Translation: X:24.54, Y:-0.33, Z:-2.47 [[ 9.98601334e-01 5.17013884e-02 1.10608098e-02 2.45403892e+01] [-5.19794273e-02 9.98295673e-01 2.65308926e-02 -3.25242012e-01] [-9.67027460e-03 -2.70687193e-02 9.99586800e-01 -2.47259919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12119381700003 meters Centerline goodness : 0.903205 Centerline is valid? [False, False] Translation: X:24.54, Y:-0.33, Z:-2.47 [[ 9.98640675e-01 5.10014385e-02 1.07542811e-02 2.45417620e+01] [-5.12733441e-02 9.98326653e-01 2.67383413e-02 -3.30096507e-01] [-9.37259159e-03 -2.72534031e-02 9.99584617e-01 -2.47344069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15119381700003 meters Centerline goodness : 0.902387 Centerline is valid? [False, False] Translation: X:24.54, Y:-0.33, Z:-2.47 [[ 9.98632471e-01 5.11634193e-02 1.07466925e-02 2.45422710e+01] [-5.14472015e-02 9.98282031e-01 2.80387524e-02 -3.33231950e-01] [-9.29367160e-03 -2.85532958e-02 9.99549067e-01 -2.47334532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18119381700004 meters Centerline goodness : 0.902445 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.34, Z:-2.47 [[ 9.98801909e-01 4.74527480e-02 1.19575558e-02 2.45574006e+01] [-4.79360416e-02 9.97879525e-01 4.40294147e-02 -3.39400716e-01] [-9.84288336e-03 -4.45498614e-02 9.98958672e-01 -2.46976225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21119381700004 meters Centerline goodness : 0.898801 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.35, Z:-2.47 [[ 9.98958527e-01 4.41491199e-02 1.15202581e-02 2.45682663e+01] [-4.47491001e-02 9.97288202e-01 5.84273984e-02 -3.49096519e-01] [-8.90949929e-03 -5.88820690e-02 9.98225186e-01 -2.46506649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24119381700004 meters Centerline goodness : 0.899456 Centerline is valid? [False, False] Translation: X:24.58, Y:-0.36, Z:-2.46 [[ 9.99117458e-01 4.09115466e-02 9.51585384e-03 2.45764614e+01] [-4.16034825e-02 9.95066418e-01 9.00664929e-02 -3.60243603e-01] [-5.78414708e-03 -9.03828980e-02 9.95890293e-01 -2.45792684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27119381700004 meters Centerline goodness : 0.895757 Centerline is valid? [False, False] Translation: X:24.58, Y:-0.36, Z:-2.46 [[ 9.99250848e-01 3.76894459e-02 8.78908195e-03 2.45775512e+01] [-3.83143832e-02 9.95435009e-01 8.74136739e-02 -3.61815262e-01] [-5.45438693e-03 -8.76849361e-02 9.96133325e-01 -2.45724728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.301193817 meters Centerline goodness : 0.895264 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.37, Z:-2.45 [[ 9.99328587e-01 3.65548227e-02 2.47379052e-03 2.45703961e+01] [-3.66172991e-02 9.94180093e-01 1.01316907e-01 -3.68227323e-01] [ 1.24422827e-03 -1.01339465e-01 9.94851127e-01 -2.45094286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.331193817 meters Centerline goodness : 0.894770 Centerline is valid? [False, False] Translation: X:24.58, Y:-0.38, Z:-2.44 [[ 9.99426272e-01 3.34782725e-02 -5.13139705e-03 2.45751161e+01] [-3.25169663e-02 9.90829749e-01 1.31145170e-01 -3.83096035e-01] [ 9.47485459e-03 -1.30903071e-01 9.91349894e-01 -2.43857034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36119381700001 meters Centerline goodness : 0.893554 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.38, Z:-2.43 [[ 9.99384503e-01 3.31260951e-02 -1.15445355e-02 2.45638935e+01] [-3.14342820e-02 9.91724481e-01 1.24476660e-01 -3.83723690e-01] [ 1.55724241e-02 -1.24037151e-01 9.92155373e-01 -2.43205011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.39119381700002 meters Centerline goodness : 0.891704 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.38, Z:-2.43 [[ 9.99406563e-01 3.23159527e-02 -1.19247756e-02 2.45582498e+01] [-3.09627652e-02 9.94495442e-01 1.00100569e-01 -3.81851822e-01] [ 1.50939803e-02 -9.96719417e-02 9.94905863e-01 -2.43295355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42119381700002 meters Centerline goodness : 0.892834 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.38, Z:-2.43 [[ 9.99389850e-01 3.09456188e-02 -1.61955401e-02 2.45589598e+01] [-2.95432089e-02 9.96304960e-01 8.06450631e-02 -3.81765649e-01] [ 1.86313083e-02 -8.01173893e-02 9.96611297e-01 -2.43209277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45119381700002 meters Centerline goodness : 0.888767 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.39, Z:-2.43 [[ 9.99422509e-01 2.78417186e-02 -1.94804194e-02 2.45580557e+01] [-2.65182189e-02 9.97520909e-01 6.51829690e-02 -3.87701033e-01] [ 2.12469316e-02 -6.46287405e-02 9.97683163e-01 -2.43367006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48119381700002 meters Centerline goodness : 0.891013 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.39, Z:-2.43 [[ 9.99391234e-01 2.57169673e-02 -2.35754011e-02 2.45662744e+01] [-2.43042210e-02 9.97999147e-01 5.83695708e-02 -3.90385013e-01] [ 2.50293186e-02 -5.77610556e-02 9.98016630e-01 -2.43187405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51119381700002 meters Centerline goodness : 0.890896 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.39, Z:-2.43 [[ 9.99550435e-01 1.83341568e-02 -2.37231283e-02 2.45658285e+01] [-1.70820082e-02 9.98503632e-01 5.19490262e-02 -3.94428534e-01] [ 2.46400714e-02 -5.15204330e-02 9.98367924e-01 -2.43135635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54119381700002 meters Centerline goodness : 0.891565 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.40, Z:-2.43 [[ 9.99610708e-01 1.43377840e-02 -2.39344835e-02 2.45659145e+01] [-1.31662999e-02 9.98740991e-01 4.84053959e-02 -3.96164618e-01] [ 2.45983758e-02 -4.80714235e-02 9.98540965e-01 -2.43111225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57119381700002 meters Centerline goodness : 0.890758 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.40, Z:-2.43 [[ 9.99658503e-01 1.01346328e-02 -2.40866617e-02 2.45662157e+01] [-9.05564281e-03 9.98968757e-01 4.44906485e-02 -3.96943469e-01] [ 2.45127189e-02 -4.42573348e-02 9.98719387e-01 -2.43118864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60119381700002 meters Centerline goodness : 0.891733 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.40, Z:-2.43 [[ 9.99688439e-01 5.98799503e-03 -2.42315728e-02 2.45661122e+01] [-5.00410885e-03 9.99168533e-01 4.04623528e-02 -3.97070248e-01] [ 2.44537134e-02 -4.03284889e-02 9.98887195e-01 -2.43068557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63119381700002 meters Centerline goodness : 0.890622 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.40, Z:-2.43 [[ 9.99768021e-01 2.77273594e-03 -2.13592370e-02 2.45740209e+01] [-2.21580046e-03 9.99658072e-01 2.60543680e-02 -3.95163704e-01] [ 2.14241756e-02 -2.60009961e-02 9.99432315e-01 -2.43046389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66119381700003 meters Centerline goodness : 0.890086 Centerline is valid? [False, False] Translation: X:24.58, Y:-0.39, Z:-2.43 [[ 9.99837504e-01 -2.05461057e-03 -1.79093437e-02 2.45834360e+01] [ 2.23975218e-03 9.99944200e-01 1.03237901e-02 -3.92906129e-01] [ 1.78871330e-02 -1.03622250e-02 9.99786315e-01 -2.43183603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69119381700003 meters Centerline goodness : 0.890270 Centerline is valid? [False, False] Translation: X:24.59, Y:-0.39, Z:-2.43 [[ 9.99892775e-01 -3.22328888e-03 -1.42845611e-02 2.45930753e+01] [ 3.19711126e-03 9.99993169e-01 -1.85503857e-03 -3.91184803e-01] [ 1.42904429e-02 1.80917033e-03 9.99896250e-01 -2.43397749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72119381700003 meters Centerline goodness : 0.892902 Centerline is valid? [False, False] Translation: X:24.59, Y:-0.39, Z:-2.43 [[ 9.99889839e-01 -3.64500024e-03 -1.43883377e-02 2.45933893e+01] [ 3.61447414e-03 9.99991163e-01 -2.14702159e-03 -3.91190666e-01] [ 1.43960365e-02 2.09477880e-03 9.99894177e-01 -2.43404731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75119381700003 meters Centerline goodness : 0.892386 Centerline is valid? [False, False] Translation: X:24.59, Y:-0.39, Z:-2.43 [[ 9.99889914e-01 -3.74265839e-03 -1.43580095e-02 2.45930946e+01] [ 3.70919748e-03 9.99990345e-01 -2.35639220e-03 -3.90478114e-01] [ 1.43666900e-02 2.30287610e-03 9.99894142e-01 -2.43365965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78119381700003 meters Centerline goodness : 0.891529 Centerline is valid? [False, False] Translation: X:24.60, Y:-0.39, Z:-2.44 [[ 9.99968577e-01 -6.07947290e-04 -7.90410225e-03 2.46048314e+01] [ 5.44792800e-04 9.99967933e-01 -7.98978948e-03 -3.86219332e-01] [ 7.90870616e-03 7.98523232e-03 9.99936842e-01 -2.43745181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81119381700003 meters Centerline goodness : 0.893285 Centerline is valid? [False, False] Translation: X:24.60, Y:-0.39, Z:-2.44 [[ 9.99964164e-01 2.89511532e-03 -7.95546975e-03 2.46049849e+01] [-2.93123374e-03 9.99985434e-01 -4.53217061e-03 -3.85300319e-01] [ 7.94223271e-03 4.55532754e-03 9.99958084e-01 -2.43747538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84119381700003 meters Centerline goodness : 0.894356 Centerline is valid? [False, False] Translation: X:24.61, Y:-0.38, Z:-2.44 [[ 9.99950117e-01 5.40630303e-03 -8.39852403e-03 2.46072886e+01] [-5.42582649e-03 9.99982627e-01 -2.30358671e-03 -3.83152099e-01] [ 8.38592423e-03 2.34904074e-03 9.99962078e-01 -2.43914611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87119381700003 meters Centerline goodness : 0.888859 Centerline is valid? [False, False] Translation: X:24.62, Y:-0.38, Z:-2.44 [[ 9.99946846e-01 9.22943653e-03 -4.59601709e-03 2.46219548e+01] [-9.27022862e-03 9.99917113e-01 -8.93476606e-03 -3.76093715e-01] [ 4.51317328e-03 8.97689726e-03 9.99949522e-01 -2.44446865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90119381700003 meters Centerline goodness : 0.889131 Centerline is valid? [False, False] Translation: X:24.62, Y:-0.37, Z:-2.45 [[ 9.99941725e-01 9.57555608e-03 -4.98551591e-03 2.46233422e+01] [-9.62378823e-03 9.99906233e-01 -9.74206051e-03 -3.72147681e-01] [ 4.89176278e-03 9.78947234e-03 9.99940117e-01 -2.44518611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93119381700004 meters Centerline goodness : 0.888201 Centerline is valid? [False, False] Translation: X:24.62, Y:-0.37, Z:-2.45 [[ 9.99905567e-01 1.27071188e-02 -5.23319805e-03 2.46249802e+01] [-1.27439564e-02 9.99893818e-01 -7.06707626e-03 -3.69668032e-01] [ 5.14284020e-03 7.13310054e-03 9.99961334e-01 -2.44635783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96119381700004 meters Centerline goodness : 0.888341 Centerline is valid? [False, False] Translation: X:24.63, Y:-0.37, Z:-2.45 [[ 9.99899069e-01 1.31081135e-02 -5.47985217e-03 2.46259558e+01] [-1.31508089e-02 9.99882872e-01 -7.82930202e-03 -3.65855555e-01] [ 5.37658294e-03 7.90057629e-03 9.99954336e-01 -2.44670474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99119381700004 meters Centerline goodness : 0.887189 Centerline is valid? [False, False] Translation: X:24.63, Y:-0.36, Z:-2.45 [[ 9.99892574e-01 1.35200963e-02 -5.66097301e-03 2.46265134e+01] [-1.35683071e-02 9.99871251e-01 -8.56636339e-03 -3.62346773e-01] [ 5.54442611e-03 8.64225296e-03 9.99947284e-01 -2.44672658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02119381700004 meters Centerline goodness : 0.890168 Centerline is valid? [False, False] Translation: X:24.64, Y:-0.36, Z:-2.45 [[ 9.99791864e-01 2.04003477e-02 -2.35163989e-04 2.46393595e+01] [-2.04017010e-02 9.99730549e-01 -1.10724829e-02 -3.56459888e-01] [ 9.21812278e-06 1.10749761e-02 9.99938671e-01 -2.45084579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.051193817 meters Centerline goodness : 0.887981 Centerline is valid? [False, False] Translation: X:24.64, Y:-0.35, Z:-2.45 [[ 9.99698478e-01 2.45527139e-02 -3.42352396e-04 2.46396949e+01] [-2.45545644e-02 9.99671621e-01 -7.32957311e-03 -3.54622556e-01] [ 1.62279063e-04 7.33576939e-03 9.99973080e-01 -2.45071492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.081193817 meters Centerline goodness : 0.889474 Centerline is valid? [False, False] Translation: X:24.64, Y:-0.35, Z:-2.45 [[ 9.99588235e-01 2.86914713e-02 -4.00139313e-04 2.46400137e+01] [-2.86927562e-02 9.99581442e-01 -3.69687634e-03 -3.52542072e-01] [ 2.93903010e-04 3.70683520e-03 9.99993086e-01 -2.45060510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.11119381700001 meters Centerline goodness : 0.887869 Centerline is valid? [False, False] Translation: X:24.64, Y:-0.35, Z:-2.45 [[ 9.99457934e-01 3.29184796e-02 -4.60874033e-04 2.46402664e+01] [-3.29183959e-02 9.99458025e-01 1.88100082e-04 -3.51240110e-01] [ 4.66816220e-04 -1.72826886e-04 9.99999876e-01 -2.45039861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14119381700002 meters Centerline goodness : 0.891932 Centerline is valid? [False, False] Translation: X:24.64, Y:-0.35, Z:-2.45 [[ 9.99160689e-01 4.09620873e-02 -1.55048876e-04 2.46401673e+01] [-4.09595761e-02 9.99129415e-01 7.91998261e-03 -3.50480211e-01] [ 4.79332912e-04 -7.90698455e-03 9.99968624e-01 -2.45022726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.17119381700002 meters Centerline goodness : 0.890548 Centerline is valid? [False, False] Translation: X:24.64, Y:-0.35, Z:-2.45 [[ 9.98996230e-01 4.47940275e-02 -1.63655165e-04 2.46406150e+01] [-4.47889107e-02 9.98925594e-01 1.19000476e-02 -3.51067131e-01] [ 6.96530392e-04 -1.18807728e-02 9.99929179e-01 -2.45031968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20119381700002 meters Centerline goodness : 0.891020 Centerline is valid? [False, False] Translation: X:24.64, Y:-0.35, Z:-2.45 [[ 9.98977319e-01 4.52113914e-02 -4.95482313e-04 2.46412584e+01] [-4.52023420e-02 9.98907393e-01 1.18645767e-02 -3.50401556e-01] [ 1.03135497e-03 -1.18300461e-02 9.99929491e-01 -2.45033373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23119381700002 meters Centerline goodness : 0.889854 Centerline is valid? [False, False] Translation: X:24.65, Y:-0.35, Z:-2.45 [[ 9.98918363e-01 4.63849008e-02 3.24734103e-03 2.46498512e+01] [-4.64520057e-02 9.98604482e-01 2.51256817e-02 -3.54873708e-01] [-2.07735705e-03 -2.52493504e-02 9.99679026e-01 -2.45104638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26119381700002 meters Centerline goodness : 0.892459 Centerline is valid? [False, False] Translation: X:24.65, Y:-0.36, Z:-2.45 [[ 9.99004967e-01 4.45215096e-02 2.62875420e-03 2.46520220e+01] [-4.45712494e-02 9.98727279e-01 2.36056342e-02 -3.57994632e-01] [-1.57445006e-03 -2.36993127e-02 9.99717892e-01 -2.45235622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29119381700002 meters Centerline goodness : 0.891631 Centerline is valid? [False, False] Translation: X:24.66, Y:-0.36, Z:-2.45 [[ 9.99046688e-01 4.33436620e-02 5.20019446e-03 2.46609997e+01] [-4.35011668e-02 9.98424354e-01 3.54465396e-02 -3.63494691e-01] [-3.65561796e-03 -3.56389626e-02 9.99358044e-01 -2.45218405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32119381700002 meters Centerline goodness : 0.891762 Centerline is valid? [False, False] Translation: X:24.66, Y:-0.37, Z:-2.45 [[ 9.99147765e-01 4.04854415e-02 8.04196760e-03 2.46622177e+01] [-4.08602829e-02 9.97716729e-01 5.37751459e-02 -3.70217482e-01] [-5.84649509e-03 -5.40579139e-02 9.98520686e-01 -2.45221799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35119381700002 meters Centerline goodness : 0.890244 Centerline is valid? [False, False] Translation: X:24.66, Y:-0.37, Z:-2.45 [[ 9.99288021e-01 3.69414382e-02 7.66685678e-03 2.46630533e+01] [-3.72876656e-02 9.97980384e-01 5.14274605e-02 -3.74698070e-01] [-5.75156832e-03 -5.16767244e-02 9.98647303e-01 -2.45218311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38119381700002 meters Centerline goodness : 0.891512 Centerline is valid? [False, False] Translation: X:24.67, Y:-0.38, Z:-2.45 [[ 9.99347871e-01 3.59365707e-02 3.52060738e-03 2.46727372e+01] [-3.60550804e-02 9.98419084e-01 4.31203313e-02 -3.76946565e-01] [-1.96544477e-03 -4.32191471e-02 9.99063683e-01 -2.44990978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41119381700003 meters Centerline goodness : 0.887929 Centerline is valid? [False, False] Translation: X:24.67, Y:-0.38, Z:-2.45 [[ 9.99467771e-01 3.24603335e-02 3.24048362e-03 2.46732266e+01] [-3.25637666e-02 9.98675297e-01 3.98403313e-02 -3.79028217e-01] [-1.94296050e-03 -3.99246495e-02 9.99200804e-01 -2.45012075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44119381700003 meters Centerline goodness : 0.890959 Centerline is valid? [False, False] Translation: X:24.67, Y:-0.38, Z:-2.45 [[ 9.99580478e-01 2.88089390e-02 2.98561933e-03 2.46737459e+01] [-2.88987673e-02 9.98916351e-01 3.64826743e-02 -3.81220814e-01] [-1.93135683e-03 -3.65536497e-02 9.99329826e-01 -2.45043386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47119381700003 meters Centerline goodness : 0.890521 Centerline is valid? [False, False] Translation: X:24.66, Y:-0.39, Z:-2.45 [[ 9.99723925e-01 2.34156531e-02 -1.94463024e-03 2.46581645e+01] [-2.33378000e-02 9.99170776e-01 3.33632743e-02 -3.87220681e-01] [ 2.72424056e-03 -3.33086801e-02 9.99441399e-01 -2.45075976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50119381700003 meters Centerline goodness : 0.889032 Centerline is valid? [False, False] Translation: X:24.66, Y:-0.39, Z:-2.45 [[ 9.99801164e-01 1.98129851e-02 -2.25339556e-03 2.46589570e+01] [-1.97359356e-02 9.99348769e-01 3.02081101e-02 -3.89692865e-01] [ 2.85044091e-03 -3.01576307e-02 9.99541091e-01 -2.45131848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53119381700003 meters Centerline goodness : 0.888098 Centerline is valid? [False, False] Translation: X:24.66, Y:-0.39, Z:-2.45 [[ 9.99865524e-01 1.61995692e-02 -2.55101823e-03 2.46597382e+01] [-1.61248418e-02 9.99505322e-01 2.70018503e-02 -3.91869614e-01] [ 2.98717464e-03 -2.69570844e-02 9.99632129e-01 -2.45188089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56119381700003 meters Centerline goodness : 0.889583 Centerline is valid? [False, False] Translation: X:24.66, Y:-0.40, Z:-2.45 [[ 9.99950796e-01 9.48785255e-03 -2.89606289e-03 2.46604864e+01] [-9.42515705e-03 9.99736213e-01 2.09444663e-02 -3.95904422e-01] [ 3.09401696e-03 -2.09161398e-02 9.99776446e-01 -2.45238654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59119381700003 meters Centerline goodness : 0.889205 Centerline is valid? [False, False] Translation: X:24.66, Y:-0.40, Z:-2.45 [[ 9.99968509e-01 7.09345897e-03 -3.55868459e-03 2.46626353e+01] [-7.02517190e-03 9.99797684e-01 1.88477476e-02 -3.98823205e-01] [ 3.69166033e-03 -1.88221537e-02 9.99816032e-01 -2.45355785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62119381700003 meters Centerline goodness : 0.889317 Centerline is valid? [False, False] Translation: X:24.66, Y:-0.40, Z:-2.45 [[ 9.99977995e-01 5.16644466e-03 -4.16135390e-03 2.46649327e+01] [-5.09466326e-03 9.99841159e-01 1.70792663e-02 -4.01778899e-01] [ 4.24893199e-03 -1.70576897e-02 9.99845479e-01 -2.45499596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65119381700003 meters Centerline goodness : 0.889317 Centerline is valid? [False, False] Translation: X:24.66, Y:-0.40, Z:-2.45 [[ 9.99977995e-01 5.16644466e-03 -4.16135390e-03 2.46649327e+01] [-5.09466326e-03 9.99841159e-01 1.70792663e-02 -4.01778899e-01] [ 4.24893199e-03 -1.70576897e-02 9.99845479e-01 -2.45499596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68119381700004 meters Centerline goodness : 0.890141 Centerline is valid? [False, False] Translation: X:24.67, Y:-0.40, Z:-2.46 [[ 9.99979817e-01 4.36411668e-03 -4.61733579e-03 2.46673491e+01] [-4.28722833e-03 9.99854130e-01 1.65329733e-02 -4.04145827e-01] [ 4.68881408e-03 -1.65128440e-02 9.99852660e-01 -2.45681904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71119381700004 meters Centerline goodness : 0.889726 Centerline is valid? [False, False] Translation: X:24.67, Y:-0.41, Z:-2.46 [[ 9.99966192e-01 6.49342794e-03 -5.04479310e-03 2.46692530e+01] [-6.39582934e-03 9.99796596e-01 1.91274546e-02 -4.08666195e-01] [ 5.16796972e-03 -1.90945423e-02 9.99804326e-01 -2.45809023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74119381700004 meters Centerline goodness : 0.891744 Centerline is valid? [False, False] Translation: X:24.68, Y:-0.41, Z:-2.46 [[ 9.99965474e-01 8.11846137e-03 -1.77262368e-03 2.46778644e+01] [-8.10210995e-03 9.99926273e-01 9.04456354e-03 -4.07994138e-01] [ 1.84592093e-03 -9.02988927e-03 9.99957526e-01 -2.45901338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77119381700004 meters Centerline goodness : 0.892552 Centerline is valid? [False, False] Translation: X:24.69, Y:-0.41, Z:-2.46 [[ 9.99949880e-01 9.84916467e-03 1.79759407e-03 2.46864763e+01] [-9.84754260e-03 9.99951099e-01 -9.08991070e-04 -4.07532629e-01] [-1.80645897e-03 8.91243628e-04 9.99997971e-01 -2.46005614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.801193817 meters Centerline goodness : 0.892073 Centerline is valid? [False, False] Translation: X:24.69, Y:-0.41, Z:-2.46 [[ 9.99934812e-01 1.12704468e-02 1.82998740e-03 2.46858183e+01] [-1.12713496e-02 9.99936359e-01 4.83764688e-04 -4.10231051e-01] [-1.82441869e-03 -5.04359580e-04 9.99998209e-01 -2.45916877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.831193817 meters Centerline goodness : 0.891671 Centerline is valid? [False, False] Translation: X:24.70, Y:-0.41, Z:-2.46 [[ 9.99896322e-01 1.29456238e-02 6.30531179e-03 2.46968085e+01] [-1.28901108e-02 9.99878488e-01 -8.76664143e-03 -4.09849392e-01] [-6.41803526e-03 8.68445636e-03 9.99941693e-01 -2.46285712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86119381700001 meters Centerline goodness : 0.893161 Centerline is valid? [False, False] Translation: X:24.70, Y:-0.41, Z:-2.46 [[ 9.99892167e-01 1.33650559e-02 6.08516937e-03 2.46972193e+01] [-1.33147770e-02 9.99877489e-01 -8.22940799e-03 -4.11294664e-01] [-6.19441037e-03 8.14749792e-03 9.99947622e-01 -2.46282929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.89119381700002 meters Centerline goodness : 0.895121 Centerline is valid? [False, False] Translation: X:24.70, Y:-0.41, Z:-2.46 [[ 9.99883792e-01 1.40540159e-02 5.90657890e-03 2.46973015e+01] [-1.40110446e-02 9.99875523e-01 -7.25464486e-03 -4.13388034e-01] [-6.00780055e-03 7.17104447e-03 9.99956240e-01 -2.46247757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92119381700002 meters Centerline goodness : 0.897768 Centerline is valid? [False, False] Translation: X:24.71, Y:-0.42, Z:-2.46 [[ 9.99861446e-01 1.29882730e-02 1.04112143e-02 2.47126835e+01] [-1.28829146e-02 9.99865762e-01 -1.01236849e-02 -4.16104566e-01] [-1.05413059e-02 9.98815544e-03 9.99894553e-01 -2.46158185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95119381700002 meters Centerline goodness : 0.897685 Centerline is valid? [False, False] Translation: X:24.73, Y:-0.42, Z:-2.46 [[ 9.99866297e-01 1.04122363e-02 1.26084916e-02 2.47312789e+01] [-1.02209751e-02 9.99833145e-01 -1.51398326e-02 -4.16375657e-01] [-1.27640273e-02 1.50089373e-02 9.99805887e-01 -2.46213992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98119381700002 meters Centerline goodness : 0.896657 Centerline is valid? [False, False] Translation: X:24.73, Y:-0.42, Z:-2.46 [[ 9.99891765e-01 8.59642714e-03 1.19398791e-02 2.47333644e+01] [-8.39947878e-03 9.99829436e-01 -1.64483441e-02 -4.18938019e-01] [-1.20792396e-02 1.63462750e-02 9.99793424e-01 -2.46324104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01119381700002 meters Centerline goodness : 0.897432 Centerline is valid? [False, False] Translation: X:24.73, Y:-0.42, Z:-2.46 [[ 9.99915751e-01 5.48711748e-03 1.17636043e-02 2.47333174e+01] [-5.26057886e-03 9.99801770e-01 -1.92027976e-02 -4.21869600e-01] [-1.18666404e-02 1.91392964e-02 9.99746403e-01 -2.46280166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04119381700002 meters Centerline goodness : 0.900873 Centerline is valid? [False, False] Translation: X:24.73, Y:-0.43, Z:-2.46 [[ 9.99927312e-01 -7.00312629e-04 1.20366242e-02 2.47315351e+01] [ 9.94397292e-04 9.99700709e-01 -2.44438952e-02 -4.28432948e-01] [-1.20159034e-02 2.44540876e-02 9.99628739e-01 -2.46129016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07119381700002 meters Centerline goodness : 0.900755 Centerline is valid? [False, False] Translation: X:24.73, Y:-0.43, Z:-2.46 [[ 9.99930742e-01 -1.10951744e-03 1.17166958e-02 2.47322446e+01] [ 1.38391592e-03 9.99724349e-01 -2.34373638e-02 -4.32927667e-01] [-1.16874619e-02 2.34519555e-02 9.99656646e-01 -2.46137175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10119381700002 meters Centerline goodness : 0.901985 Centerline is valid? [False, False] Translation: X:24.73, Y:-0.44, Z:-2.46 [[ 9.99932816e-01 -1.94504914e-03 1.14272050e-02 2.47333390e+01] [ 2.20767624e-03 9.99732679e-01 -2.30151404e-02 -4.37067721e-01] [-1.13793847e-02 2.30388217e-02 9.99669807e-01 -2.46203746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13119381700002 meters Centerline goodness : 0.904299 Centerline is valid? [False, False] Translation: X:24.73, Y:-0.44, Z:-2.46 [[ 9.99920042e-01 -5.29075277e-03 1.14855413e-02 2.47333906e+01] [ 5.57722611e-03 9.99670516e-01 -2.50550326e-02 -4.43046737e-01] [-1.13491970e-02 2.51170867e-02 9.99620092e-01 -2.46226557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16119381700003 meters Centerline goodness : 0.903304 Centerline is valid? [False, False] Translation: X:24.73, Y:-0.45, Z:-2.46 [[ 9.99923590e-01 -4.98589457e-03 1.13117166e-02 2.47339603e+01] [ 5.25452948e-03 9.99701875e-01 -2.38442875e-02 -4.46719676e-01] [-1.11894592e-02 2.39019034e-02 9.99651687e-01 -2.46256872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19119381700003 meters Centerline goodness : 0.901822 Centerline is valid? [False, False] Translation: X:24.73, Y:-0.45, Z:-2.46 [[ 9.99925922e-01 -4.73594086e-03 1.12125239e-02 2.47346114e+01] [ 4.99144385e-03 9.99725986e-01 -2.28700477e-02 -4.49897682e-01] [-1.11011403e-02 2.29243202e-02 9.99675567e-01 -2.46317602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22119381700003 meters Centerline goodness : 0.900587 Centerline is valid? [False, False] Translation: X:24.74, Y:-0.45, Z:-2.46 [[ 9.99929672e-01 -4.42951128e-03 1.10014106e-02 2.47353541e+01] [ 4.66961355e-03 9.99749354e-01 -2.18957467e-02 -4.52924311e-01] [-1.09016657e-02 2.19455791e-02 9.99699728e-01 -2.46363674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25119381700003 meters Centerline goodness : 0.900245 Centerline is valid? [False, False] Translation: X:24.74, Y:-0.46, Z:-2.47 [[ 9.99936692e-01 -3.88184001e-03 1.05613609e-02 2.47382529e+01] [ 4.09682210e-03 9.99783288e-01 -2.04106241e-02 -4.57863025e-01] [-1.04798413e-02 2.04525999e-02 9.99735897e-01 -2.46628249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28119381700003 meters Centerline goodness : 0.899905 Centerline is valid? [False, False] Translation: X:24.74, Y:-0.46, Z:-2.47 [[ 9.99940592e-01 -3.58306844e-03 1.02943692e-02 2.47397784e+01] [ 3.78538473e-03 9.99798744e-01 -1.97013058e-02 -4.59805052e-01] [-1.02217062e-02 1.97391035e-02 9.99752912e-01 -2.46764547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31119381700003 meters Centerline goodness : 0.897664 Centerline is valid? [False, False] Translation: X:24.74, Y:-0.46, Z:-2.47 [[ 9.99944145e-01 -3.44260982e-03 9.99277024e-03 2.47412925e+01] [ 3.63341540e-03 9.99810222e-01 -1.91394341e-02 -4.61691695e-01] [-9.92498423e-03 1.91746730e-02 9.99766886e-01 -2.46888796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34119381700003 meters Centerline goodness : 0.897070 Centerline is valid? [False, False] Translation: X:24.74, Y:-0.46, Z:-2.47 [[ 9.99946711e-01 -3.25664794e-03 9.79636796e-03 2.47423210e+01] [ 3.43733061e-03 9.99823249e-01 -1.84839036e-02 -4.63880112e-01] [-9.73444088e-03 1.85165919e-02 9.99781164e-01 -2.46972566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37119381700003 meters Centerline goodness : 0.893820 Centerline is valid? [False, False] Translation: X:24.74, Y:-0.47, Z:-2.47 [[ 9.99948615e-01 -3.68151282e-03 9.44526069e-03 2.47445301e+01] [ 3.85153565e-03 9.99829734e-01 -1.80462732e-02 -4.67653928e-01] [-9.37721490e-03 1.80817247e-02 9.99792538e-01 -2.47172846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40119381700003 meters Centerline goodness : 0.895673 Centerline is valid? [False, False] Translation: X:24.75, Y:-0.47, Z:-2.47 [[ 9.99951541e-01 -3.65423648e-03 9.14120368e-03 2.47456584e+01] [ 3.81230240e-03 9.99842481e-01 -1.73343470e-02 -4.70456136e-01] [-9.07641997e-03 1.73683560e-02 9.99807961e-01 -2.47244817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43119381700004 meters Centerline goodness : 0.896063 Centerline is valid? [False, False] Translation: X:24.75, Y:-0.47, Z:-2.47 [[ 9.99942055e-01 -6.18660478e-03 8.80977924e-03 2.47480434e+01] [ 6.35371287e-03 9.99797990e-01 -1.90685467e-02 -4.74927698e-01] [-8.69003001e-03 1.91234166e-02 9.99779365e-01 -2.47463486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46119381700004 meters Centerline goodness : 0.896697 Centerline is valid? [False, False] Translation: X:24.75, Y:-0.48, Z:-2.48 [[ 9.99943886e-01 -6.28669666e-03 8.52655719e-03 2.47491778e+01] [ 6.44269406e-03 9.99810075e-01 -1.83931069e-02 -4.77539868e-01] [-8.40930590e-03 1.84470088e-02 9.99794475e-01 -2.47540561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49119381700004 meters Centerline goodness : 0.893571 Centerline is valid? [False, False] Translation: X:24.75, Y:-0.48, Z:-2.48 [[ 9.99944711e-01 -6.67568072e-03 8.12472496e-03 2.47504314e+01] [ 6.82111481e-03 9.99814609e-01 -1.80060938e-02 -4.79725859e-01] [-8.00301578e-03 1.80605180e-02 9.99804866e-01 -2.47597245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52119381700004 meters Centerline goodness : 0.894683 Centerline is valid? [False, False] Translation: X:24.75, Y:-0.48, Z:-2.48 [[ 9.99944357e-01 -7.02152232e-03 7.87281936e-03 2.47512722e+01] [ 7.15885541e-03 9.99820294e-01 -1.75536305e-02 -4.81937598e-01] [-7.74815136e-03 1.76090141e-02 9.99814927e-01 -2.47632200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.551193817 meters Centerline goodness : 0.895863 Centerline is valid? [False, False] Translation: X:24.75, Y:-0.48, Z:-2.48 [[ 9.99904302e-01 -1.14137067e-02 7.81756789e-03 2.47519592e+01] [ 1.15795259e-02 9.99701682e-01 -2.15048984e-02 -4.82723060e-01] [-7.56978517e-03 2.15933641e-02 9.99738178e-01 -2.47689278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.581193817 meters Centerline goodness : 0.895335 Centerline is valid? [False, False] Translation: X:24.75, Y:-0.48, Z:-2.48 [[ 9.99901879e-01 -1.18262859e-02 7.50814113e-03 2.47529957e+01] [ 1.19841599e-02 9.99700398e-01 -2.13423284e-02 -4.84061812e-01] [-7.25349120e-03 2.14302130e-02 9.99744034e-01 -2.47735478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.61119381700001 meters Centerline goodness : 0.896082 Centerline is valid? [False, False] Translation: X:24.75, Y:-0.49, Z:-2.48 [[ 9.99900423e-01 -1.21287863e-02 7.21358029e-03 2.47537850e+01] [ 1.22795141e-02 9.99699178e-01 -2.12312886e-02 -4.85171133e-01] [-6.95390052e-03 2.13177537e-02 9.99748567e-01 -2.47753420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64119381700002 meters Centerline goodness : 0.896096 Centerline is valid? [False, False] Translation: X:24.75, Y:-0.49, Z:-2.48 [[ 9.99899114e-01 -1.23572336e-02 7.00431299e-03 2.47543873e+01] [ 1.25034596e-02 9.99696384e-01 -2.12321315e-02 -4.85666654e-01] [-6.73981596e-03 2.13175676e-02 9.99750037e-01 -2.47767722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.67119381700002 meters Centerline goodness : 0.898097 Centerline is valid? [False, False] Translation: X:24.75, Y:-0.48, Z:-2.48 [[ 9.99927938e-01 -9.88667771e-03 6.80977540e-03 2.47546002e+01] [ 1.00084439e-02 9.99786353e-01 -1.80853587e-02 -4.84965513e-01] [-6.62951639e-03 1.81522107e-02 9.99813256e-01 -2.47719910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70119381700002 meters Centerline goodness : 0.900054 Centerline is valid? [False, False] Translation: X:24.76, Y:-0.48, Z:-2.48 [[ 9.99950846e-01 -7.71002879e-03 6.23387861e-03 2.47561581e+01] [ 7.80547965e-03 9.99850405e-01 -1.54351063e-02 -4.83875288e-01] [-6.11394094e-03 1.54830061e-02 9.99861439e-01 -2.47758050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73119381700002 meters Centerline goodness : 0.899950 Centerline is valid? [False, False] Translation: X:24.76, Y:-0.48, Z:-2.48 [[ 9.99971899e-01 -4.55321600e-03 5.95567191e-03 2.47565696e+01] [ 4.62346303e-03 9.99919276e-01 -1.18348796e-02 -4.83552680e-01] [-5.90130439e-03 1.18620829e-02 9.99912229e-01 -2.47722867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76119381700002 meters Centerline goodness : 0.900305 Centerline is valid? [False, False] Translation: X:24.76, Y:-0.48, Z:-2.48 [[ 9.99981225e-01 -1.99185503e-03 5.79501670e-03 2.47565943e+01] [ 2.04583557e-03 9.99954438e-01 -9.32402483e-03 -4.81621135e-01] [-5.77618056e-03 9.33570542e-03 9.99939738e-01 -2.47669738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79119381700002 meters Centerline goodness : 0.902116 Centerline is valid? [False, False] Translation: X:24.78, Y:-0.48, Z:-2.48 [[ 9.99973804e-01 -1.77299659e-03 7.01767991e-03 2.47761310e+01] [ 1.86230783e-03 9.99917101e-01 -1.27405983e-02 -4.79518774e-01] [-6.99450912e-03 1.27533336e-02 9.99894209e-01 -2.47725363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82119381700002 meters Centerline goodness : 0.903402 Centerline is valid? [False, False] Translation: X:24.80, Y:-0.48, Z:-2.48 [[ 9.99983472e-01 -3.32214752e-04 5.73982246e-03 2.47978160e+01] [ 4.10324256e-04 9.99907261e-01 -1.36125346e-02 -4.78233259e-01] [-5.73476787e-03 1.36146648e-02 9.99890871e-01 -2.47817588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85119381700002 meters Centerline goodness : 0.901155 Centerline is valid? [False, False] Translation: X:24.80, Y:-0.48, Z:-2.48 [[ 9.99986111e-01 1.03474971e-03 5.16797742e-03 2.48004436e+01] [-9.71535515e-04 9.99924868e-01 -1.22194704e-02 -4.76121007e-01] [-5.18023323e-03 1.22142798e-02 9.99911984e-01 -2.47983230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88119381700002 meters Centerline goodness : 0.900962 Centerline is valid? [False, False] Translation: X:24.82, Y:-0.47, Z:-2.48 [[ 9.99984810e-01 1.53888932e-03 5.29268497e-03 2.48223476e+01] [-1.44876088e-03 9.99854597e-01 -1.69907502e-02 -4.68698928e-01] [-5.31806229e-03 1.69828242e-02 9.99841638e-01 -2.48307178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91119381700003 meters Centerline goodness : 0.899916 Centerline is valid? [False, False] Translation: X:24.85, Y:-0.47, Z:-2.48 [[ 9.99991826e-01 2.58398041e-03 3.10966950e-03 2.48454633e+01] [-2.52775845e-03 9.99835693e-01 -1.79498356e-02 -4.67034493e-01] [-3.15554059e-03 1.79418284e-02 9.99834053e-01 -2.48480774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94119381700003 meters Centerline goodness : 0.899315 Centerline is valid? [False, False] Translation: X:24.85, Y:-0.47, Z:-2.49 [[ 9.99990031e-01 3.68549246e-03 2.52085297e-03 2.48484128e+01] [-3.64262637e-03 9.99852186e-01 -1.68028973e-02 -4.65475389e-01] [-2.58240731e-03 1.67935473e-02 9.99855644e-01 -2.48678432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97119381700003 meters Centerline goodness : 0.899492 Centerline is valid? [False, False] Translation: X:24.85, Y:-0.46, Z:-2.49 [[ 9.99989163e-01 4.18094114e-03 2.04760342e-03 2.48511240e+01] [-4.14643814e-03 9.99854039e-01 -1.65743387e-02 -4.63168496e-01] [-2.11660088e-03 1.65656688e-02 9.99860540e-01 -2.48874847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00119381700003 meters Centerline goodness : 0.895459 Centerline is valid? [False, False] Translation: X:24.85, Y:-0.46, Z:-2.49 [[ 9.99990967e-01 4.03364386e-03 1.34001832e-03 2.48542646e+01] [-4.01006984e-03 9.99844847e-01 -1.71523108e-02 -4.56702112e-01] [-1.40899672e-03 1.71467823e-02 9.99851990e-01 -2.49057497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03119381700003 meters Centerline goodness : 0.896833 Centerline is valid? [False, False] Translation: X:24.86, Y:-0.45, Z:-2.49 [[ 9.99994364e-01 3.21310248e-03 9.74118960e-04 2.48554811e+01] [-3.19462723e-03 9.99825440e-01 -1.84088158e-02 -4.53493699e-01] [-1.03309833e-03 1.84056001e-02 9.99830069e-01 -2.49100907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06119381700003 meters Centerline goodness : 0.897641 Centerline is valid? [False, False] Translation: X:24.86, Y:-0.45, Z:-2.49 [[ 9.99996555e-01 2.52426520e-03 7.19700409e-04 2.48564948e+01] [-2.50971378e-03 9.99805742e-01 -1.95493966e-02 -4.50333826e-01] [-7.68908464e-04 1.95475231e-02 9.99808633e-01 -2.49146816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09119381700003 meters Centerline goodness : 0.897800 Centerline is valid? [False, False] Translation: X:24.86, Y:-0.45, Z:-2.49 [[ 9.99998339e-01 1.75815385e-03 4.80913067e-04 2.48573433e+01] [-1.74782571e-03 9.99784334e-01 -2.06937104e-02 -4.47248065e-01] [-5.17192077e-04 2.06928355e-02 9.99785747e-01 -2.49175066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12119381700003 meters Centerline goodness : 0.895984 Centerline is valid? [False, False] Translation: X:24.86, Y:-0.44, Z:-2.49 [[ 9.99999900e-01 -3.67979711e-04 2.53353371e-04 2.48577752e+01] [ 3.73850125e-04 9.99722014e-01 -2.35744652e-02 -4.40323510e-01] [-2.44608018e-04 2.35745575e-02 9.99722052e-01 -2.49136286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15119381700003 meters Centerline goodness : 0.898330 Centerline is valid? [False, False] Translation: X:24.87, Y:-0.44, Z:-2.49 [[ 9.99982642e-01 -2.57310404e-03 5.30048880e-03 2.48687592e+01] [ 2.65862348e-03 9.99865384e-01 -1.61908959e-02 -4.38646830e-01] [-5.25811441e-03 1.62047069e-02 9.99854869e-01 -2.49445406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18119381700004 meters Centerline goodness : 0.897488 Centerline is valid? [False, False] Translation: X:24.87, Y:-0.43, Z:-2.49 [[ 9.99980977e-01 -3.56771596e-03 5.03155344e-03 2.48696443e+01] [ 3.65563574e-03 9.99838881e-01 -1.75741100e-02 -4.34748532e-01] [-4.96804333e-03 1.75921692e-02 9.99832903e-01 -2.49466303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21119381700004 meters Centerline goodness : 0.898666 Centerline is valid? [False, False] Translation: X:24.87, Y:-0.43, Z:-2.50 [[ 9.99985864e-01 -2.64376146e-03 4.61318252e-03 2.48719838e+01] [ 2.71882745e-03 9.99862758e-01 -1.63423825e-02 -4.31977763e-01] [-4.56934404e-03 1.63546939e-02 9.99855812e-01 -2.49622996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24119381700004 meters Centerline goodness : 0.896425 Centerline is valid? [False, False] Translation: X:24.87, Y:-0.43, Z:-2.50 [[ 9.99984261e-01 -3.50060261e-03 4.38453728e-03 2.48728164e+01] [ 3.57756218e-03 9.99837483e-01 -1.76694056e-02 -4.28050734e-01] [-4.32197115e-03 1.76848134e-02 9.99834270e-01 -2.49648393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27119381700004 meters Centerline goodness : 0.897875 Centerline is valid? [False, False] Translation: X:24.87, Y:-0.42, Z:-2.50 [[ 9.99979552e-01 -4.80791672e-03 4.21666861e-03 2.48733626e+01] [ 4.89126016e-03 9.99788359e-01 -1.99828309e-02 -4.20557715e-01] [-4.11970041e-03 2.00030471e-02 9.99791431e-01 -2.49637429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.301193817 meters Centerline goodness : 0.898604 Centerline is valid? [False, False] Translation: X:24.88, Y:-0.42, Z:-2.50 [[ 9.99989159e-01 -2.73930078e-03 3.76540474e-03 2.48753408e+01] [ 2.80679686e-03 9.99833354e-01 -1.80384735e-02 -4.17294547e-01] [-3.71536444e-03 1.80488466e-02 9.99830203e-01 -2.49749877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.331193817 meters Centerline goodness : 0.898991 Centerline is valid? [False, False] Translation: X:24.88, Y:-0.41, Z:-2.50 [[ 9.99994284e-01 -8.00948182e-04 3.28492915e-03 2.48774504e+01] [ 8.55296540e-04 9.99862229e-01 -1.65768619e-02 -4.12542125e-01] [-3.27119937e-03 1.65795767e-02 9.99857198e-01 -2.49869252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36119381700001 meters Centerline goodness : 0.898888 Centerline is valid? [False, False] Translation: X:24.88, Y:-0.40, Z:-2.50 [[ 9.99993554e-01 2.63257689e-03 2.44176725e-03 2.48804830e+01] [-2.59832565e-03 9.99899654e-01 -1.39259084e-02 -4.01434040e-01] [-2.47818325e-03 1.39194741e-02 9.99900048e-01 -2.49976681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.39119381700002 meters Centerline goodness : 0.898795 Centerline is valid? [False, False] Translation: X:24.88, Y:-0.40, Z:-2.50 [[ 9.99989667e-01 4.12291164e-03 1.91524455e-03 2.48832100e+01] [-4.09790575e-03 9.99908631e-01 -1.28816553e-02 -3.96587454e-01] [-1.96817948e-03 1.28736737e-02 9.99915194e-01 -2.50160389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42119381700002 meters Centerline goodness : 0.896222 Centerline is valid? [False, False] Translation: X:24.89, Y:-0.39, Z:-2.50 [[ 9.99986515e-01 5.05461074e-03 1.19191358e-03 2.48863288e+01] [-5.03944281e-03 9.99910385e-01 -1.24026763e-02 -3.91591802e-01] [-1.25449747e-03 1.23965024e-02 9.99922373e-01 -2.50344545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45119381700002 meters Centerline goodness : 0.897683 Centerline is valid? [False, False] Translation: X:24.89, Y:-0.39, Z:-2.51 [[ 9.99986350e-01 5.19311342e-03 5.76066973e-04 2.48894555e+01] [-5.18534461e-03 9.99905215e-01 -1.27543528e-02 -3.86115227e-01] [-6.42247171e-04 1.27511916e-02 9.99918494e-01 -2.50546407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48119381700002 meters Centerline goodness : 0.898718 Centerline is valid? [False, False] Translation: X:24.91, Y:-0.37, Z:-2.51 [[ 9.99987822e-01 4.76821483e-03 -1.27263555e-03 2.49126185e+01] [-4.78787484e-03 9.99861801e-01 -1.59202451e-02 -3.74591639e-01] [ 1.19654852e-03 1.59261445e-02 9.99872455e-01 -2.50735479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51119381700002 meters Centerline goodness : 0.899475 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.37, Z:-2.51 [[ 9.99986642e-01 4.78128531e-03 -1.96358847e-03 2.49158346e+01] [-4.81289855e-03 9.99853540e-01 -1.64236122e-02 -3.68260833e-01] [ 1.88477490e-03 1.64328434e-02 9.99863195e-01 -2.50928223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54119381700002 meters Centerline goodness : 0.899475 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.37, Z:-2.51 [[ 9.99986642e-01 4.78128531e-03 -1.96358847e-03 2.49158346e+01] [-4.81289855e-03 9.99853540e-01 -1.64236122e-02 -3.68260833e-01] [ 1.88477490e-03 1.64328434e-02 9.99863195e-01 -2.50928223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57119381700002 meters Centerline goodness : 0.899843 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.36, Z:-2.51 [[ 9.99976977e-01 6.50036164e-03 -1.94716099e-03 2.49166422e+01] [-6.52928347e-03 9.99862626e-01 -1.52347356e-02 -3.62517028e-01] [ 1.84786221e-03 1.52470984e-02 9.99882049e-01 -2.50991702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60119381700002 meters Centerline goodness : 0.900273 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.36, Z:-2.51 [[ 9.99964328e-01 8.08802907e-03 -2.43440544e-03 2.49188776e+01] [-8.12164876e-03 9.99867145e-01 -1.41326108e-02 -3.56698473e-01] [ 2.31977705e-03 1.41518781e-02 9.99897166e-01 -2.51115148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63119381700002 meters Centerline goodness : 0.902767 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.34, Z:-2.51 [[ 9.99953342e-01 9.36145335e-03 -2.38283712e-03 2.49197123e+01] [-9.39482448e-03 9.99852154e-01 -1.44016724e-02 -3.44204774e-01] [ 2.24766424e-03 1.44233868e-02 9.99893451e-01 -2.51169459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66119381700003 meters Centerline goodness : 0.902296 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.34, Z:-2.51 [[ 9.99927017e-01 1.18064766e-02 -2.56292597e-03 2.49205078e+01] [-1.18379709e-02 9.99850006e-01 -1.26422917e-02 -3.38682855e-01] [ 2.41328062e-03 1.26717089e-02 9.99916798e-01 -2.51179877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69119381700003 meters Centerline goodness : 0.903149 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.33, Z:-2.51 [[ 9.99897728e-01 1.40890195e-02 -2.45629086e-03 2.49200475e+01] [-1.41159531e-02 9.99836329e-01 -1.13161862e-02 -3.32012367e-01] [ 2.29645487e-03 1.13497017e-02 9.99932953e-01 -2.51101254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72119381700003 meters Centerline goodness : 0.907986 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.32, Z:-2.51 [[ 9.99846381e-01 1.73275034e-02 -2.64062272e-03 2.49203898e+01] [-1.73505463e-02 9.99809243e-01 -8.96865712e-03 -3.16066775e-01] [ 2.48471457e-03 9.01309561e-03 9.99956294e-01 -2.50982963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75119381700003 meters Centerline goodness : 0.907851 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.31, Z:-2.51 [[ 9.99808194e-01 1.94245820e-02 -2.50226801e-03 2.49197547e+01] [-1.94437382e-02 9.99779952e-01 -7.87328992e-03 -3.08993931e-01] [ 2.34878202e-03 7.92043322e-03 9.99965874e-01 -2.50878417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78119381700003 meters Centerline goodness : 0.909756 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.30, Z:-2.51 [[ 9.99771131e-01 2.12656054e-02 -2.33660901e-03 2.49187475e+01] [-2.12815141e-02 9.99748956e-01 -7.00873057e-03 -3.02549098e-01] [ 2.18697752e-03 7.05685306e-03 9.99972709e-01 -2.50736114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81119381700003 meters Centerline goodness : 0.912624 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.29, Z:-2.51 [[ 9.99741773e-01 2.25886103e-02 -2.47810964e-03 2.49186674e+01] [-2.26076927e-02 9.99712697e-01 -7.96343563e-03 -2.89610714e-01] [ 2.29751473e-03 8.01740361e-03 9.99965221e-01 -2.50570538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84119381700003 meters Centerline goodness : 0.913869 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.28, Z:-2.51 [[ 9.99687887e-01 2.48684783e-02 -2.38472146e-03 2.49188169e+01] [-2.48835550e-02 9.99669121e-01 -6.51594947e-03 -2.84085787e-01] [ 2.22189066e-03 6.57325611e-03 9.99975927e-01 -2.50554873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87119381700003 meters Centerline goodness : 0.915120 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.28, Z:-2.51 [[ 9.99626146e-01 2.72397353e-02 -2.35916729e-03 2.49190669e+01] [-2.72514934e-02 9.99615578e-01 -5.10413827e-03 -2.78038306e-01] [ 2.21922500e-03 5.16652090e-03 9.99984191e-01 -2.50530185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90119381700003 meters Centerline goodness : 0.913852 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.27, Z:-2.51 [[ 9.99563758e-01 2.94193153e-02 -2.60713677e-03 2.49207761e+01] [-2.94294776e-02 9.99559058e-01 -3.94920782e-03 -2.71605606e-01] [ 2.48980418e-03 4.02421169e-03 9.99988803e-01 -2.50606295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93119381700004 meters Centerline goodness : 0.915737 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.26, Z:-2.51 [[ 9.99409939e-01 3.42645222e-02 -2.39083543e-03 2.49218873e+01] [-3.42670811e-02 9.99412172e-01 -1.03764724e-03 -2.57243758e-01] [ 2.35387554e-03 1.11896191e-03 9.99996604e-01 -2.50648201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96119381700004 meters Centerline goodness : 0.916501 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.25, Z:-2.51 [[ 9.99295624e-01 3.74521157e-02 -2.36517468e-03 2.49225565e+01] [-3.74502512e-02 9.99298150e-01 8.27761089e-04 -2.50812669e-01] [ 2.39451608e-03 -7.38601649e-04 9.99996860e-01 -2.50657460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99119381700004 meters Centerline goodness : 0.915650 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.25, Z:-2.51 [[ 9.99175727e-01 4.05191464e-02 -2.46285315e-03 2.49234565e+01] [-4.05124121e-02 9.99175318e-01 2.72537181e-03 -2.45168342e-01] [ 2.57125182e-03 -2.62334924e-03 9.99993253e-01 -2.50668263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02119381700004 meters Centerline goodness : 0.917786 Centerline is valid? [False, False] Translation: X:24.93, Y:-0.23, Z:-2.51 [[ 9.98910102e-01 4.66090417e-02 -2.49101359e-03 2.49254978e+01] [-4.65922376e-02 9.98893331e-01 6.42470396e-03 -2.34995717e-01] [ 2.78770616e-03 -6.30163979e-03 9.99976259e-01 -2.50743507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.051193817 meters Centerline goodness : 0.918951 Centerline is valid? [False, False] Translation: X:24.93, Y:-0.23, Z:-2.51 [[ 9.98753124e-01 4.98542501e-02 -2.59821922e-03 2.49268364e+01] [-4.98305222e-02 9.98721411e-01 8.51247878e-03 -2.29918301e-01] [ 3.01928041e-03 -8.37239416e-03 9.99960393e-01 -2.50803925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.081193817 meters Centerline goodness : 0.916798 Centerline is valid? [False, False] Translation: X:24.93, Y:-0.22, Z:-2.51 [[ 9.98583684e-01 5.31327866e-02 -2.74465661e-03 2.49280661e+01] [-5.31010023e-02 9.98533056e-01 1.05839406e-02 -2.24613209e-01] [ 3.30298461e-03 -1.04232064e-02 9.99940222e-01 -2.50839125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.11119381700001 meters Centerline goodness : 0.918703 Centerline is valid? [False, False] Translation: X:24.93, Y:-0.22, Z:-2.51 [[ 9.98408485e-01 5.63300753e-02 -2.72374624e-03 2.49293824e+01] [-5.62910760e-02 9.98333148e-01 1.27373808e-02 -2.19417622e-01] [ 3.43670378e-03 -1.25637865e-02 9.99915167e-01 -2.50916028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14119381700002 meters Centerline goodness : 0.917667 Centerline is valid? [False, False] Translation: X:24.93, Y:-0.21, Z:-2.51 [[ 9.98245314e-01 5.91561126e-02 -2.61679780e-03 2.49290399e+01] [-5.91154985e-02 9.98159222e-01 1.35471234e-02 -2.10012674e-01] [ 3.41337602e-03 -1.33686591e-02 9.99904809e-01 -2.50743417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.17119381700002 meters Centerline goodness : 0.917663 Centerline is valid? [False, False] Translation: X:24.93, Y:-0.21, Z:-2.51 [[ 9.98243004e-01 5.91667615e-02 -3.19352948e-03 2.49304408e+01] [-5.91226129e-02 9.98172533e-01 1.24944702e-02 -2.06843162e-01] [ 3.92695075e-03 -1.22837077e-02 9.99916841e-01 -2.50750820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20119381700002 meters Centerline goodness : 0.917637 Centerline is valid? [False, False] Translation: X:24.93, Y:-0.21, Z:-2.51 [[ 9.98217059e-01 5.95629166e-02 -3.86813786e-03 2.49329614e+01] [-5.95111645e-02 9.98151327e-01 1.23430394e-02 -2.05357046e-01] [ 4.59617436e-03 -1.20908351e-02 9.99916340e-01 -2.50872339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23119381700002 meters Centerline goodness : 0.919066 Centerline is valid? [False, False] Translation: X:24.94, Y:-0.20, Z:-2.51 [[ 9.98180026e-01 6.01454311e-02 -4.37747818e-03 2.49355596e+01] [-6.00874112e-02 9.98116609e-01 1.23587079e-02 -2.03830010e-01] [ 5.11255349e-03 -1.20731841e-02 9.99914046e-01 -2.51042386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26119381700002 meters Centerline goodness : 0.918208 Centerline is valid? [False, False] Translation: X:24.94, Y:-0.20, Z:-2.51 [[ 9.98131964e-01 6.08984878e-02 -4.89447272e-03 2.49381719e+01] [-6.08342543e-02 9.98071513e-01 1.23470047e-02 -1.98987659e-01] [ 5.63694771e-03 -1.20261884e-02 9.99911794e-01 -2.51185888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29119381700002 meters Centerline goodness : 0.917515 Centerline is valid? [False, False] Translation: X:24.94, Y:-0.20, Z:-2.51 [[ 9.98068965e-01 6.18678101e-02 -5.54211568e-03 2.49409224e+01] [-6.17930058e-02 9.98007146e-01 1.27812608e-02 -1.96778920e-01] [ 6.32181967e-03 -1.24141157e-02 9.99902957e-01 -2.51312008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32119381700002 meters Centerline goodness : 0.920281 Centerline is valid? [False, False] Translation: X:24.94, Y:-0.19, Z:-2.51 [[ 9.98061175e-01 6.19574817e-02 -5.92971368e-03 2.49422502e+01] [-6.18819333e-02 9.98009237e-01 1.21732683e-02 -1.94490077e-01] [ 6.67213407e-03 -1.17827243e-02 9.99908321e-01 -2.51340575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35119381700002 meters Centerline goodness : 0.918057 Centerline is valid? [False, False] Translation: X:24.94, Y:-0.19, Z:-2.51 [[ 9.97861013e-01 6.51141972e-02 -5.79144911e-03 2.49421741e+01] [-6.50211263e-02 9.97770813e-01 1.50219040e-02 -1.92658401e-01] [ 6.75667811e-03 -1.46132058e-02 9.99870392e-01 -2.51287591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38119381700002 meters Centerline goodness : 0.918911 Centerline is valid? [False, False] Translation: X:24.94, Y:-0.19, Z:-2.51 [[ 9.97788381e-01 6.61761452e-02 -6.25016608e-03 2.49446470e+01] [-6.60723932e-02 9.97693521e-01 1.55587994e-02 -1.91316134e-01] [ 7.26537157e-03 -1.51114258e-02 9.99859420e-01 -2.51420296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41119381700003 meters Centerline goodness : 0.919027 Centerline is valid? [False, False] Translation: X:24.95, Y:-0.19, Z:-2.52 [[ 9.97668095e-01 6.79045149e-02 -6.88104912e-03 2.49479785e+01] [-6.77822384e-02 9.97560859e-01 1.66703536e-02 -1.90073190e-01] [ 7.99625755e-03 -1.61650670e-02 9.99837362e-01 -2.51605569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44119381700003 meters Centerline goodness : 0.921663 Centerline is valid? [False, False] Translation: X:24.95, Y:-0.19, Z:-2.52 [[ 9.97608897e-01 6.87335823e-02 -7.22386777e-03 2.49498076e+01] [-6.86079331e-02 9.97508886e-01 1.64004466e-02 -1.87554097e-01] [ 8.33313373e-03 -1.58656168e-02 9.99839408e-01 -2.51695554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47119381700003 meters Centerline goodness : 0.922212 Centerline is valid? [False, False] Translation: X:24.95, Y:-0.19, Z:-2.52 [[ 9.97063738e-01 7.62588717e-02 -6.96321122e-03 2.49528327e+01] [-7.60813440e-02 9.96837607e-01 2.29437157e-02 -1.85244492e-01] [ 8.69085268e-03 -2.23465765e-02 9.99712508e-01 -2.51936989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50119381700003 meters Centerline goodness : 0.922243 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.18, Z:-2.52 [[ 9.96933934e-01 7.78975257e-02 -7.39645525e-03 2.49556569e+01] [-7.77025026e-02 9.96693553e-01 2.37546341e-02 -1.83449064e-01] [ 9.22242648e-03 -2.31070777e-02 9.99690457e-01 -2.52107689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53119381700003 meters Centerline goodness : 0.923844 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.18, Z:-2.52 [[ 9.96876920e-01 7.85952697e-02 -7.69344145e-03 2.49569737e+01] [-7.83943639e-02 9.96642224e-01 2.36347282e-02 -1.81913062e-01] [ 9.52518644e-03 -2.29577926e-02 9.99691058e-01 -2.52153362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56119381700003 meters Centerline goodness : 0.921605 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.18, Z:-2.52 [[ 9.96795002e-01 7.95732463e-02 -8.23548600e-03 2.49588271e+01] [-7.93542251e-02 9.96553314e-01 2.41743339e-02 -1.81698312e-01] [ 1.01307311e-02 -2.34433345e-02 9.99673836e-01 -2.52216048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59119381700003 meters Centerline goodness : 0.923026 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.18, Z:-2.52 [[ 9.96737253e-01 8.03136652e-02 -8.03521014e-03 2.49584205e+01] [-8.00950686e-02 9.96484003e-01 2.45847948e-02 -1.82694978e-01] [ 9.98145334e-03 -2.38610001e-02 9.99665456e-01 -2.52164775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62119381700003 meters Centerline goodness : 0.923867 Centerline is valid? [False, False] Translation: X:24.98, Y:-0.19, Z:-2.52 [[ 9.96956107e-01 7.78096869e-02 -4.91669369e-03 2.49757365e+01] [-7.76603988e-02 9.96653973e-01 2.54896237e-02 -1.85301248e-01] [ 6.88358194e-03 -2.50302036e-02 9.99662996e-01 -2.52136476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65119381700003 meters Centerline goodness : 0.923682 Centerline is valid? [False, False] Translation: X:24.98, Y:-0.19, Z:-2.52 [[ 9.97165879e-01 7.50234168e-02 -5.62991897e-03 2.49774832e+01] [-7.48790826e-02 9.96938097e-01 2.25289487e-02 -1.86343376e-01] [ 7.30287941e-03 -2.20435358e-02 9.99730339e-01 -2.52198863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68119381700004 meters Centerline goodness : 0.922888 Centerline is valid? [False, False] Translation: X:25.00, Y:-0.19, Z:-2.52 [[ 9.97489871e-01 7.07222841e-02 -3.50931110e-03 2.49967368e+01] [-7.06207266e-02 9.97225477e-01 2.35385170e-02 -1.94520147e-01] [ 5.16427212e-03 -2.32316022e-02 9.99716771e-01 -2.52396265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71119381700004 meters Centerline goodness : 0.922132 Centerline is valid? [False, False] Translation: X:25.01, Y:-0.20, Z:-2.53 [[ 9.97766066e-01 6.67976183e-02 9.77618775e-04 2.50105748e+01] [-6.67980468e-02 9.97351148e-01 2.87872891e-02 -2.00338438e-01] [ 9.47893140e-04 -2.87882832e-02 9.99585082e-01 -2.52814210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74119381700004 meters Centerline goodness : 0.921032 Centerline is valid? [False, False] Translation: X:25.01, Y:-0.20, Z:-2.53 [[ 9.97975587e-01 6.35966246e-02 4.44983634e-04 2.50117750e+01] [-6.35867072e-02 9.97638209e-01 2.59756650e-02 -2.03391278e-01] [ 1.20803194e-03 -2.59513746e-02 9.99662476e-01 -2.52876879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77119381700004 meters Centerline goodness : 0.922128 Centerline is valid? [False, False] Translation: X:25.01, Y:-0.21, Z:-2.53 [[ 9.98177720e-01 6.03426835e-02 -5.23528366e-06 2.50127859e+01] [-6.03265950e-02 9.97913582e-01 2.30039970e-02 -2.05972387e-01] [ 1.39334727e-03 -2.29617614e-02 9.99735373e-01 -2.52929825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.801193817 meters Centerline goodness : 0.921578 Centerline is valid? [False, False] Translation: X:25.03, Y:-0.22, Z:-2.53 [[ 9.98319150e-01 5.79174343e-02 2.10867038e-03 2.50333385e+01] [-5.79533807e-02 9.97949354e-01 2.71752019e-02 -2.16686106e-01] [-5.30428270e-04 -2.72517290e-02 9.99628462e-01 -2.53298592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.831193817 meters Centerline goodness : 0.921601 Centerline is valid? [False, False] Translation: X:25.03, Y:-0.22, Z:-2.53 [[ 9.98494521e-01 5.48291977e-02 1.56559423e-03 2.50344911e+01] [-5.48509914e-02 9.98205896e-01 2.40074594e-02 -2.18333086e-01] [-2.46475654e-04 -2.40571910e-02 9.99710554e-01 -2.53333143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86119381700001 meters Centerline goodness : 0.920933 Centerline is valid? [False, False] Translation: X:25.04, Y:-0.22, Z:-2.53 [[ 9.98653704e-01 5.18634459e-02 9.81312422e-04 2.50359792e+01] [-5.18726224e-02 9.98434625e-01 2.09172563e-02 -2.19807862e-01] [ 1.05064692e-04 -2.09399988e-02 9.99780729e-01 -2.53389172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.89119381700002 meters Centerline goodness : 0.921775 Centerline is valid? [False, False] Translation: X:25.04, Y:-0.22, Z:-2.53 [[ 9.98783998e-01 4.92986777e-02 4.07237109e-04 2.50376144e+01] [-4.92978036e-02 9.98614027e-01 1.84323698e-02 -2.22102288e-01] [ 5.02018769e-04 -1.84300319e-02 9.99830027e-01 -2.53466362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92119381700002 meters Centerline goodness : 0.924689 Centerline is valid? [False, False] Translation: X:25.06, Y:-0.23, Z:-2.54 [[ 9.98918693e-01 4.63861266e-02 3.12610358e-03 2.50571238e+01] [-4.64405204e-02 9.98711638e-01 2.04534306e-02 -2.31330536e-01] [-2.17332061e-03 -2.05764920e-02 9.99785919e-01 -2.53681835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95119381700002 meters Centerline goodness : 0.922480 Centerline is valid? [False, False] Translation: X:25.08, Y:-0.24, Z:-2.54 [[ 9.98955954e-01 4.53492531e-02 5.51798046e-03 2.50757937e+01] [-4.54754159e-02 9.98641969e-01 2.54205418e-02 -2.37515291e-01] [-4.35768428e-03 -2.56449340e-02 9.99661617e-01 -2.53920514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98119381700002 meters Centerline goodness : 0.922880 Centerline is valid? [False, False] Translation: X:25.09, Y:-0.24, Z:-2.54 [[ 9.99004488e-01 4.39559642e-02 7.60961437e-03 2.50946967e+01] [-4.41646880e-02 9.98577714e-01 2.98668590e-02 -2.43648709e-01] [-6.28596474e-03 -3.01732024e-02 9.99524919e-01 -2.54126683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01119381700002 meters Centerline goodness : 0.921370 Centerline is valid? [False, False] Translation: X:25.11, Y:-0.25, Z:-2.54 [[ 9.99182733e-01 3.96813115e-02 7.69802796e-03 2.51136730e+01] [-3.99990553e-02 9.98102661e-01 4.68097505e-02 -2.51539789e-01] [-5.82594990e-03 -4.70794083e-02 9.98874160e-01 -2.54203036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04119381700002 meters Centerline goodness : 0.921955 Centerline is valid? [False, False] Translation: X:25.12, Y:-0.27, Z:-2.54 [[ 9.99572321e-01 2.82990400e-02 7.37154455e-03 2.51181101e+01] [-2.88984582e-02 9.94486426e-01 1.00804896e-01 -2.70643780e-01] [-4.47821921e-03 -1.00974810e-01 9.94878904e-01 -2.53747664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07119381700002 meters Centerline goodness : 0.923222 Centerline is valid? [False, False] Translation: X:25.12, Y:-0.27, Z:-2.54 [[ 9.99659692e-01 2.54269018e-02 5.82863743e-03 2.51196016e+01] [-2.58816162e-02 9.94679649e-01 9.97122710e-02 -2.73356014e-01] [-3.26225292e-03 -9.98291927e-02 9.94999241e-01 -2.53528775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10119381700002 meters Centerline goodness : 0.922454 Centerline is valid? [False, False] Translation: X:25.12, Y:-0.28, Z:-2.53 [[ 9.99752429e-01 2.16634650e-02 5.07689059e-03 2.51203425e+01] [-2.20540200e-02 9.95037138e-01 9.70294472e-02 -2.75457705e-01] [-2.94970065e-03 -9.71173914e-02 9.95268563e-01 -2.53406822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13119381700002 meters Centerline goodness : 0.921203 Centerline is valid? [False, False] Translation: X:25.12, Y:-0.28, Z:-2.53 [[ 9.99831802e-01 1.77906755e-02 4.45637754e-03 2.51209825e+01] [-1.81307862e-02 9.95411421e-01 9.39541245e-02 -2.76984548e-01] [-2.76442175e-03 -9.40191193e-02 9.95566554e-01 -2.53308576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16119381700003 meters Centerline goodness : 0.923214 Centerline is valid? [False, False] Translation: X:25.09, Y:-0.28, Z:-2.53 [[ 9.99905346e-01 1.36722311e-02 1.53928805e-03 2.50892041e+01] [-1.37508746e-02 9.96820062e-01 7.84899806e-02 -2.76049787e-01] [-4.61260052e-04 -7.85037178e-02 9.96913714e-01 -2.52711759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19119381700003 meters Centerline goodness : 0.922695 Centerline is valid? [False, False] Translation: X:25.08, Y:-0.28, Z:-2.52 [[ 9.99924799e-01 1.22634154e-02 6.37693094e-05 2.50764508e+01] [-1.22419397e-02 9.97837957e-01 6.45720205e-02 -2.75058733e-01] [ 7.28242075e-04 -6.45679453e-02 9.97913047e-01 -2.52437327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22119381700003 meters Centerline goodness : 0.922523 Centerline is valid? [False, False] Translation: X:25.07, Y:-0.28, Z:-2.53 [[ 9.99950673e-01 9.50787464e-03 2.87249303e-03 2.50722821e+01] [-9.66069757e-03 9.98214389e-01 5.89466229e-02 -2.76468856e-01] [-2.30690677e-03 -5.89714655e-02 9.98257003e-01 -2.52566131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25119381700003 meters Centerline goodness : 0.922232 Centerline is valid? [False, False] Translation: X:25.06, Y:-0.27, Z:-2.52 [[ 9.99972081e-01 7.42040489e-03 -8.80315058e-04 2.50641580e+01] [-7.37328900e-03 9.98960196e-01 4.49906823e-02 -2.74995110e-01] [ 1.21324878e-03 -4.49829353e-02 9.98987019e-01 -2.52442867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28119381700003 meters Centerline goodness : 0.921235 Centerline is valid? [False, False] Translation: X:25.04, Y:-0.28, Z:-2.52 [[ 9.99993637e-01 2.82893799e-03 -2.17330436e-03 2.50447789e+01] [-2.74311455e-03 9.99253811e-01 3.85265739e-02 -2.75382067e-01] [ 2.28067195e-03 -3.85203672e-02 9.99255213e-01 -2.52350143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31119381700003 meters Centerline goodness : 0.920535 Centerline is valid? [False, False] Translation: X:25.04, Y:-0.27, Z:-2.52 [[ 9.99987522e-01 4.93036418e-04 -4.97112308e-03 2.50364150e+01] [-3.72934434e-04 9.99708712e-01 2.41319757e-02 -2.72944350e-01] [ 4.98157299e-03 -2.41298207e-02 9.99696422e-01 -2.52288029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34119381700003 meters Centerline goodness : 0.922239 Centerline is valid? [False, False] Translation: X:25.04, Y:-0.27, Z:-2.52 [[ 9.99980577e-01 -3.37848567e-03 -5.23749812e-03 2.50372197e+01] [ 3.48442944e-03 9.99786794e-01 2.03525442e-02 -2.73603717e-01] [ 5.16762067e-03 -2.03703986e-02 9.99779147e-01 -2.52314804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37119381700003 meters Centerline goodness : 0.919927 Centerline is valid? [False, False] Translation: X:25.02, Y:-0.27, Z:-2.52 [[ 9.99965902e-01 -5.89079461e-03 -5.78728921e-03 2.50166495e+01] [ 5.98269787e-03 9.99854199e-01 1.59933512e-02 -2.73882531e-01] [ 5.69223187e-03 -1.60274295e-02 9.99855350e-01 -2.52268609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40119381700003 meters Centerline goodness : 0.921268 Centerline is valid? [False, False] Translation: X:25.02, Y:-0.27, Z:-2.52 [[ 9.99964772e-01 -5.90073982e-03 -5.96965624e-03 2.50171712e+01] [ 5.99287728e-03 9.99861350e-01 1.55359826e-02 -2.72154308e-01] [ 5.87715476e-03 -1.55712107e-02 9.99861489e-01 -2.52268454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43119381700004 meters Centerline goodness : 0.922469 Centerline is valid? [False, False] Translation: X:25.02, Y:-0.27, Z:-2.52 [[ 9.99978090e-01 -2.45974317e-03 -6.14572638e-03 2.50175401e+01] [ 2.57469956e-03 9.99820555e-01 1.87677360e-02 -2.70476446e-01] [ 6.09845976e-03 -1.87831482e-02 9.99804982e-01 -2.52257750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46119381700004 meters Centerline goodness : 0.922469 Centerline is valid? [False, False] Translation: X:25.02, Y:-0.27, Z:-2.52 [[ 9.99978108e-01 -2.46266334e-03 -6.14158789e-03 2.50175343e+01] [ 2.57750262e-03 9.99820668e-01 1.87613507e-02 -2.70460437e-01] [ 6.09428362e-03 -1.87767699e-02 9.99805127e-01 -2.52258020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49119381700004 meters Centerline goodness : 0.922184 Centerline is valid? [False, False] Translation: X:25.02, Y:-0.27, Z:-2.52 [[ 9.99978257e-01 -1.93510185e-03 -6.30405087e-03 2.50178639e+01] [ 2.04821113e-03 9.99836149e-01 1.79855480e-02 -2.65963816e-01] [ 6.26821408e-03 -1.79980690e-02 9.99818373e-01 -2.52223754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52119381700004 meters Centerline goodness : 0.921375 Centerline is valid? [False, False] Translation: X:25.02, Y:-0.26, Z:-2.52 [[ 9.99978454e-01 -1.24736682e-03 -6.44480406e-03 2.50183128e+01] [ 1.35913110e-03 9.99848266e-01 1.73665898e-02 -2.61927715e-01] [ 6.42216366e-03 -1.73749749e-02 9.99828418e-01 -2.52205356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.551193817 meters Centerline goodness : 0.923721 Centerline is valid? [False, False] Translation: X:25.02, Y:-0.26, Z:-2.52 [[ 9.99976043e-01 3.13166926e-03 -6.17298238e-03 2.50176602e+01] [-3.00762692e-03 9.99795411e-01 2.00022743e-02 -2.56436936e-01] [ 6.23435996e-03 -1.99832291e-02 9.99780878e-01 -2.52129474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.581193817 meters Centerline goodness : 0.923456 Centerline is valid? [False, False] Translation: X:25.02, Y:-0.25, Z:-2.52 [[ 9.99960236e-01 6.39843209e-03 -6.21180356e-03 2.50176241e+01] [-6.25342525e-03 9.99713854e-01 2.30890456e-02 -2.54570217e-01] [ 6.35775977e-03 -2.30492824e-02 9.99714114e-01 -2.52093259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.61119381700001 meters Centerline goodness : 0.922929 Centerline is valid? [False, False] Translation: X:25.02, Y:-0.25, Z:-2.52 [[ 9.99965229e-01 5.70959760e-03 -6.07793676e-03 2.50174254e+01] [-5.58061484e-03 9.99763249e-01 2.10309940e-02 -2.48637803e-01] [ 6.19657632e-03 -2.09963441e-02 9.99760349e-01 -2.52067391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64119381700002 meters Centerline goodness : 0.921788 Centerline is valid? [False, False] Translation: X:25.00, Y:-0.24, Z:-2.52 [[ 9.99959264e-01 4.43364402e-03 -7.86211929e-03 2.50003676e+01] [-4.32450411e-03 9.99894804e-01 1.38448263e-02 -2.43178719e-01] [ 7.92267525e-03 -1.38102625e-02 9.99873246e-01 -2.52075450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.67119381700002 meters Centerline goodness : 0.920381 Centerline is valid? [False, False] Translation: X:25.00, Y:-0.24, Z:-2.52 [[ 9.99958637e-01 4.00828328e-03 -8.16448239e-03 2.50015837e+01] [-3.89980978e-03 9.99904492e-01 1.32588916e-02 -2.41094820e-01] [ 8.21684801e-03 -1.32265032e-02 9.99878764e-01 -2.52151424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70119381700002 meters Centerline goodness : 0.921268 Centerline is valid? [False, False] Translation: X:25.00, Y:-0.24, Z:-2.52 [[ 9.99959540e-01 3.16662462e-03 -8.41963421e-03 2.50025807e+01] [-3.06337149e-03 9.99920296e-01 1.22481184e-02 -2.38884569e-01] [ 8.45774833e-03 -1.22218304e-02 9.99889541e-01 -2.52215263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73119381700002 meters Centerline goodness : 0.920942 Centerline is valid? [False, False] Translation: X:24.98, Y:-0.24, Z:-2.53 [[ 9.99978167e-01 1.88338416e-03 -6.33395543e-03 2.49775112e+01] [-1.78959360e-03 9.99889157e-01 1.47807909e-02 -2.36155556e-01] [ 6.36109126e-03 -1.47691329e-02 9.99870696e-01 -2.52617236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76119381700002 meters Centerline goodness : 0.919327 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.23, Z:-2.53 [[ 9.99965462e-01 4.08876365e-04 -8.30108987e-03 2.49573216e+01] [-3.12690733e-04 9.99932842e-01 1.15851019e-02 -2.30853858e-01] [ 8.30526926e-03 -1.15821061e-02 9.99898434e-01 -2.52560275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79119381700002 meters Centerline goodness : 0.918605 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.23, Z:-2.53 [[ 9.99963006e-01 -9.12778727e-05 -8.60106079e-03 2.49580467e+01] [ 1.84664046e-04 9.99941040e-01 1.08573495e-02 -2.28835980e-01] [ 8.59956264e-03 -1.08585362e-02 9.99904065e-01 -2.52569511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82119381700002 meters Centerline goodness : 0.918683 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.23, Z:-2.53 [[ 9.99960184e-01 -3.34883518e-04 -8.91730903e-03 2.49588761e+01] [ 4.24275208e-04 9.99949663e-01 1.00245101e-02 -2.26137516e-01] [ 8.91350312e-03 -1.00278943e-02 9.99909991e-01 -2.52580371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85119381700002 meters Centerline goodness : 0.919068 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.22, Z:-2.53 [[ 9.99958458e-01 -2.79688548e-04 -9.11060314e-03 2.49594357e+01] [ 3.63821092e-04 9.99957297e-01 9.23422660e-03 -2.22987393e-01] [ 9.10763138e-03 -9.23715763e-03 9.99915859e-01 -2.52584771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88119381700002 meters Centerline goodness : 0.917575 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.22, Z:-2.53 [[ 9.99946917e-01 4.35594923e-03 -9.33748170e-03 2.49603097e+01] [-4.24188378e-03 9.99916567e-01 1.22010610e-02 -2.17681809e-01] [ 9.38984984e-03 -1.21608049e-02 9.99881966e-01 -2.52601770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91119381700003 meters Centerline goodness : 0.917927 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.22, Z:-2.53 [[ 9.99889128e-01 1.15814632e-02 -9.35957574e-03 2.49606293e+01] [-1.13975919e-02 9.99745564e-01 1.94654279e-02 -2.16826189e-01] [ 9.58263246e-03 -1.93565931e-02 9.99766721e-01 -2.52624576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94119381700003 meters Centerline goodness : 0.918009 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.21, Z:-2.53 [[ 9.99829496e-01 1.58339342e-02 -9.50076353e-03 2.49612346e+01] [-1.56153125e-02 9.99621271e-01 2.26600138e-02 -2.13307468e-01] [ 9.85596248e-03 -2.25077928e-02 9.99698084e-01 -2.52630585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97119381700003 meters Centerline goodness : 0.919500 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.21, Z:-2.53 [[ 9.99743447e-01 2.04221469e-02 -9.79677332e-03 2.49624426e+01] [-2.01595113e-02 9.99453504e-01 2.61970935e-02 -2.10148889e-01] [ 1.03264203e-02 -2.59928744e-02 9.99608791e-01 -2.52676386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00119381700003 meters Centerline goodness : 0.917720 Centerline is valid? [False, False] Translation: X:24.97, Y:-0.21, Z:-2.53 [[ 9.99632059e-01 2.62593832e-02 -6.79643848e-03 2.49726340e+01] [-2.61106952e-02 9.99436096e-01 2.11121359e-02 -2.06328678e-01] [ 7.34699760e-03 -2.09269082e-02 9.99754013e-01 -2.52777754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03119381700003 meters Centerline goodness : 0.918950 Centerline is valid? [False, False] Translation: X:24.97, Y:-0.20, Z:-2.53 [[ 9.99244274e-01 3.79948262e-02 -8.20209965e-03 2.49719016e+01] [-3.78979218e-02 9.99213548e-01 1.16633164e-02 -2.01056154e-01] [ 8.63879477e-03 -1.13436596e-02 9.99898341e-01 -2.52593750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06119381700003 meters Centerline goodness : 0.918039 Centerline is valid? [False, False] Translation: X:24.97, Y:-0.20, Z:-2.53 [[ 9.99204918e-01 3.89447485e-02 -8.53453172e-03 2.49730180e+01] [-3.88426734e-02 9.99175470e-01 1.18163586e-02 -1.99935662e-01] [ 8.98767986e-03 -1.14754596e-02 9.99893762e-01 -2.52626259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09119381700003 meters Centerline goodness : 0.918091 Centerline is valid? [False, False] Translation: X:24.97, Y:-0.20, Z:-2.53 [[ 9.99181023e-01 3.94786137e-02 -8.87254982e-03 2.49740482e+01] [-3.93721176e-02 9.99154075e-01 1.18731375e-02 -1.99190258e-01] [ 9.33377931e-03 -1.15140826e-02 9.99890147e-01 -2.52657624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12119381700003 meters Centerline goodness : 0.916110 Centerline is valid? [False, False] Translation: X:24.98, Y:-0.20, Z:-2.53 [[ 9.99120905e-01 4.08903797e-02 -9.24085589e-03 2.49756442e+01] [-4.07654337e-02 9.99079855e-01 1.33275082e-02 -2.01826866e-01] [ 9.77731984e-03 -1.29390846e-02 9.99868483e-01 -2.52749828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15119381700003 meters Centerline goodness : 0.916969 Centerline is valid? [False, False] Translation: X:24.98, Y:-0.20, Z:-2.53 [[ 9.99233794e-01 3.78921252e-02 -9.79852378e-03 2.49769849e+01] [-3.77940468e-02 9.99235431e-01 1.00081685e-02 -2.02476314e-01] [ 1.01702629e-02 -9.63017435e-03 9.99901908e-01 -2.52795458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18119381700004 meters Centerline goodness : 0.917469 Centerline is valid? [False, False] Translation: X:24.98, Y:-0.20, Z:-2.53 [[ 9.99307772e-01 3.57118972e-02 -1.04229303e-02 2.49791941e+01] [-3.56332361e-02 9.99335749e-01 7.63756257e-03 -2.04221620e-01] [ 1.06887588e-02 -7.26087289e-03 9.99916512e-01 -2.52918727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21119381700004 meters Centerline goodness : 0.916268 Centerline is valid? [False, False] Translation: X:24.98, Y:-0.21, Z:-2.53 [[ 9.99402564e-01 3.28423786e-02 -1.07653367e-02 2.49799899e+01] [-3.27963367e-02 9.99452256e-01 4.42591502e-03 -2.05266097e-01] [ 1.09047976e-02 -4.07020721e-03 9.99932257e-01 -2.52944456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24119381700004 meters Centerline goodness : 0.915003 Centerline is valid? [False, False] Translation: X:24.98, Y:-0.21, Z:-2.53 [[ 9.99421779e-01 3.21215762e-02 -1.11495658e-02 2.49817417e+01] [-3.20822734e-02 9.99478434e-01 3.68623503e-03 -2.10696790e-01] [ 1.12621583e-02 -3.32640015e-03 9.99931047e-01 -2.53064157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27119381700004 meters Centerline goodness : 0.916737 Centerline is valid? [False, False] Translation: X:24.98, Y:-0.21, Z:-2.53 [[ 9.99451563e-01 3.09422418e-02 -1.17962334e-02 2.49842236e+01] [-3.09176101e-02 9.99519370e-01 2.26482289e-03 -2.13032572e-01] [ 1.18606424e-02 -1.89886944e-03 9.99927857e-01 -2.53201058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.301193817 meters Centerline goodness : 0.915062 Centerline is valid? [False, False] Translation: X:24.99, Y:-0.22, Z:-2.53 [[ 9.99416678e-01 3.19607388e-02 -1.20338884e-02 2.49855178e+01] [-3.19145265e-02 9.99482546e-01 4.01288246e-03 -2.17540471e-01] [ 1.21559161e-02 -3.62648581e-03 9.99919538e-01 -2.53305000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.331193817 meters Centerline goodness : 0.916806 Centerline is valid? [False, False] Translation: X:25.00, Y:-0.23, Z:-2.54 [[ 9.99547935e-01 2.91120084e-02 -7.51104093e-03 2.49997933e+01] [-2.90373446e-02 9.99529645e-01 9.86514879e-03 -2.30305436e-01] [ 7.79470237e-03 -9.64258842e-03 9.99923129e-01 -2.53612391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36119381700001 meters Centerline goodness : 0.914734 Centerline is valid? [False, False] Translation: X:25.01, Y:-0.24, Z:-2.54 [[ 9.99713217e-01 2.39060673e-02 -1.40864875e-03 2.50111655e+01] [-2.38832318e-02 9.99610202e-01 1.44580328e-02 -2.37723076e-01] [ 1.75373437e-03 -1.44202434e-02 9.99894485e-01 -2.53979503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.39119381700002 meters Centerline goodness : 0.916454 Centerline is valid? [False, False] Translation: X:25.02, Y:-0.25, Z:-2.54 [[ 9.99824897e-01 1.82798238e-02 4.00298308e-03 2.50243728e+01] [-1.83489154e-02 9.99670267e-01 1.79631260e-02 -2.45524122e-01] [-3.67330039e-03 -1.80334310e-02 9.99830637e-01 -2.54356133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42119381700002 meters Centerline goodness : 0.918022 Centerline is valid? [False, False] Translation: X:25.04, Y:-0.25, Z:-2.54 [[ 9.99890505e-01 1.32457016e-02 6.59769340e-03 2.50418513e+01] [-1.33719644e-02 9.99720903e-01 1.94758205e-02 -2.53383308e-01] [-6.33788110e-03 -1.95619121e-02 9.99788559e-01 -2.54495050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45119381700002 meters Centerline goodness : 0.919560 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.29, Z:-2.54 [[ 9.99883859e-01 -7.01339922e-03 1.35307164e-02 2.50546656e+01] [ 5.54127093e-03 9.94358936e-01 1.05922612e-01 -2.88415902e-01] [-1.41972664e-02 -1.05835333e-01 9.94282314e-01 -2.54182142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48119381700002 meters Centerline goodness : 0.918648 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.29, Z:-2.54 [[ 9.99815308e-01 -1.31720048e-02 1.39945859e-02 2.50527787e+01] [ 1.16756984e-02 9.94706435e-01 1.02092048e-01 -2.93025253e-01] [-1.52652616e-02 -1.01909796e-01 9.94676513e-01 -2.53853125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51119381700002 meters Centerline goodness : 0.916145 Centerline is valid? [False, False] Translation: X:25.03, Y:-0.29, Z:-2.53 [[ 9.99809473e-01 -1.53282437e-02 1.20856725e-02 2.50308734e+01] [ 1.42639888e-02 9.96388590e-01 8.37037444e-02 -2.94805988e-01] [-1.33250576e-02 -8.35154066e-02 9.96417392e-01 -2.53332888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54119381700002 meters Centerline goodness : 0.917282 Centerline is valid? [False, False] Translation: X:25.04, Y:-0.30, Z:-2.53 [[ 9.99723499e-01 -2.20512278e-02 8.16505064e-03 2.50440911e+01] [ 2.14367980e-02 9.97391071e-01 6.89312388e-02 -3.01657987e-01] [-9.66376705e-03 -6.87371468e-02 9.97587999e-01 -2.53019203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57119381700002 meters Centerline goodness : 0.917005 Centerline is valid? [False, False] Translation: X:25.04, Y:-0.30, Z:-2.53 [[ 9.99619478e-01 -2.62726017e-02 8.40528428e-03 2.50433901e+01] [ 2.56701107e-02 9.97544203e-01 6.51660103e-02 -3.03675200e-01] [-1.00967232e-02 -6.49254486e-02 9.97839036e-01 -2.52917462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60119381700002 meters Centerline goodness : 0.916058 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.30, Z:-2.53 [[ 9.99523442e-01 -2.87953141e-02 1.11229207e-02 2.50487878e+01] [ 2.82022060e-02 9.98339306e-01 5.02321190e-02 -3.02649074e-01] [-1.25508986e-02 -4.98944896e-02 9.98675630e-01 -2.52795487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63119381700002 meters Centerline goodness : 0.916537 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.30, Z:-2.53 [[ 9.99466808e-01 -3.13561409e-02 9.10445992e-03 2.50525693e+01] [ 3.08918269e-02 9.98402630e-01 4.73062643e-02 -3.04676595e-01] [-1.05732586e-02 -4.69997876e-02 9.98838939e-01 -2.52744600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66119381700003 meters Centerline goodness : 0.917582 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.30, Z:-2.53 [[ 9.99477109e-01 -3.10924746e-02 8.87506793e-03 2.50524913e+01] [ 3.08448790e-02 9.99165091e-01 2.67901872e-02 -3.03993444e-01] [-9.70063127e-03 -2.65024284e-02 9.99601680e-01 -2.52724754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69119381700003 meters Centerline goodness : 0.916079 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.31, Z:-2.53 [[ 9.99479874e-01 -3.11000279e-02 8.53046827e-03 2.50535617e+01] [ 3.08575788e-02 9.99153197e-01 2.72157782e-02 -3.05531364e-01] [-9.36965610e-03 -2.69383929e-02 9.99593184e-01 -2.52763581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72119381700003 meters Centerline goodness : 0.915586 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.31, Z:-2.53 [[ 9.99483344e-01 -3.10350621e-02 8.35885696e-03 2.50539475e+01] [ 3.07950994e-02 9.99148709e-01 2.74503159e-02 -3.06377837e-01] [-9.20366340e-03 -2.71787217e-02 9.99588220e-01 -2.52760396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75119381700003 meters Centerline goodness : 0.916682 Centerline is valid? [False, False] Translation: X:25.06, Y:-0.31, Z:-2.53 [[ 9.99494842e-01 -3.07798860e-02 7.91580866e-03 2.50550422e+01] [ 3.05493694e-02 9.99147784e-01 2.77568283e-02 -3.06728651e-01] [-8.76341469e-03 -2.75009838e-02 9.99583362e-01 -2.52778454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78119381700003 meters Centerline goodness : 0.915533 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.30, Z:-2.53 [[ 9.99607051e-01 -2.77423860e-02 4.01281347e-03 2.50452035e+01] [ 2.76630000e-02 9.99443423e-01 1.86441178e-02 -3.04346094e-01] [-4.52781234e-03 -1.85257852e-02 9.99818131e-01 -2.52577142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81119381700003 meters Centerline goodness : 0.914657 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.30, Z:-2.53 [[ 9.99615288e-01 -2.74960151e-02 3.63951894e-03 2.50465006e+01] [ 2.74232724e-02 9.99448611e-01 1.87199980e-02 -3.04067482e-01] [-4.15223750e-03 -1.86129887e-02 9.99818141e-01 -2.52653911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84119381700003 meters Centerline goodness : 0.915229 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.30, Z:-2.53 [[ 9.99613854e-01 -2.75703800e-02 3.46647658e-03 2.50470482e+01] [ 2.75019088e-02 9.99451419e-01 1.84528321e-02 -3.03736556e-01] [-3.97332653e-03 -1.83503718e-02 9.99823723e-01 -2.52678646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87119381700003 meters Centerline goodness : 0.917412 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.30, Z:-2.53 [[ 9.99621192e-01 -2.73391914e-02 3.16876735e-03 2.50476656e+01] [ 2.72749361e-02 9.99451118e-01 1.88026798e-02 -3.03992978e-01] [-3.68107813e-03 -1.87091292e-02 9.99818193e-01 -2.52671791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90119381700003 meters Centerline goodness : 0.918096 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.30, Z:-2.52 [[ 9.99583660e-01 -2.83500327e-02 5.36486654e-03 2.50517882e+01] [ 2.83170976e-02 9.99580265e-01 6.11854187e-03 -3.00965816e-01] [-5.53607558e-03 -5.96407703e-03 9.99966890e-01 -2.52325041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93119381700004 meters Centerline goodness : 0.919759 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.30, Z:-2.52 [[ 9.99573607e-01 -2.87901304e-02 4.87164373e-03 2.50525586e+01] [ 2.87587000e-02 9.99565874e-01 6.40324756e-03 -3.01936346e-01] [-5.05387915e-03 -6.26041512e-03 9.99967632e-01 -2.52286681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96119381700004 meters Centerline goodness : 0.921899 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.30, Z:-2.52 [[ 9.99455650e-01 -3.26108746e-02 4.99342947e-03 2.50521929e+01] [ 3.25999547e-02 9.99465941e-01 2.25288530e-03 -3.00479693e-01] [-5.06423124e-03 -2.08887337e-03 9.99984995e-01 -2.52233400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99119381700004 meters Centerline goodness : 0.921812 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.30, Z:-2.52 [[ 9.99419749e-01 -3.37723639e-02 4.42642250e-03 2.50533341e+01] [ 3.37642552e-02 9.99428030e-01 1.89399082e-03 -3.01367651e-01] [-4.48785527e-03 -1.74343697e-03 9.99988410e-01 -2.52230349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02119381700004 meters Centerline goodness : 0.920624 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.30, Z:-2.52 [[ 9.99276989e-01 -3.77742551e-02 4.31332122e-03 2.50537934e+01] [ 3.77836921e-02 9.99283676e-01 -2.12772348e-03 -3.00912919e-01] [-4.22985832e-03 2.28915831e-03 9.99988434e-01 -2.52215490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.051193817 meters Centerline goodness : 0.920316 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.30, Z:-2.52 [[ 9.99088436e-01 -4.24802266e-02 4.21044797e-03 2.50546472e+01] [ 4.25065730e-02 9.99075823e-01 -6.37893253e-03 -3.01789017e-01] [-3.93557827e-03 6.55208944e-03 9.99970790e-01 -2.52245860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.081193817 meters Centerline goodness : 0.920044 Centerline is valid? [False, False] Translation: X:25.06, Y:-0.30, Z:-2.52 [[ 9.99082575e-01 -4.26412012e-02 3.96691996e-03 2.50555694e+01] [ 4.26656047e-02 9.99069639e-01 -6.28515158e-03 -3.02169776e-01] [-3.69522288e-03 6.44863647e-03 9.99972380e-01 -2.52303438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.11119381700001 meters Centerline goodness : 0.919833 Centerline is valid? [False, False] Translation: X:25.06, Y:-0.30, Z:-2.52 [[ 9.99217034e-01 -3.94044357e-02 3.55109324e-03 2.50565374e+01] [ 3.94124955e-02 9.99220540e-01 -2.22896467e-03 -3.03360398e-01] [-3.46049421e-03 2.36717691e-03 9.99991211e-01 -2.52359043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14119381700002 meters Centerline goodness : 0.917464 Centerline is valid? [False, False] Translation: X:25.06, Y:-0.30, Z:-2.52 [[ 9.99377465e-01 -3.51415768e-02 3.12297387e-03 2.50575515e+01] [ 3.51371995e-02 9.99381452e-01 1.44563909e-03 -3.01093695e-01] [-3.17184420e-03 -1.33500657e-03 9.99994079e-01 -2.52424573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.17119381700002 meters Centerline goodness : 0.918664 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.30, Z:-2.52 [[ 9.99567462e-01 -2.91775269e-02 -3.68248282e-03 2.50482617e+01] [ 2.91697805e-02 9.99572181e-01 -2.14005827e-03 -2.98624132e-01] [ 3.74334899e-03 2.03171540e-03 9.99990930e-01 -2.52082151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20119381700002 meters Centerline goodness : 0.915901 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.30, Z:-2.52 [[ 9.99759562e-01 -2.14865385e-02 -4.37580356e-03 2.50498859e+01] [ 2.15131665e-02 9.99749760e-01 6.13194988e-03 -2.99554424e-01] [ 4.24295418e-03 -6.22461291e-03 9.99971625e-01 -2.52172290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23119381700002 meters Centerline goodness : 0.915866 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.30, Z:-2.52 [[ 9.99843451e-01 -1.70826083e-02 -4.61059988e-03 2.50505428e+01] [ 1.71268706e-02 9.99805905e-01 9.73771637e-03 -2.97378515e-01] [ 4.44335939e-03 -9.81515709e-03 9.99941958e-01 -2.52235827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26119381700002 meters Centerline goodness : 0.915593 Centerline is valid? [False, False] Translation: X:25.04, Y:-0.29, Z:-2.52 [[ 9.99964762e-01 -5.66454392e-03 -6.19582834e-03 2.50417348e+01] [ 5.70732571e-03 9.99959844e-01 6.90918610e-03 -2.91698638e-01] [ 6.15644215e-03 -6.94430424e-03 9.99956937e-01 -2.52384736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29119381700002 meters Centerline goodness : 0.916586 Centerline is valid? [False, False] Translation: X:25.04, Y:-0.29, Z:-2.52 [[ 9.99979986e-01 -1.11716787e-03 -6.22735416e-03 2.50417607e+01] [ 1.18467885e-03 9.99940458e-01 1.08479105e-02 -2.90399808e-01] [ 6.21486444e-03 -1.08550708e-02 9.99921768e-01 -2.52379229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32119381700002 meters Centerline goodness : 0.918322 Centerline is valid? [False, False] Translation: X:25.04, Y:-0.29, Z:-2.52 [[ 9.99980838e-01 -3.17805191e-04 -6.18245989e-03 2.50418985e+01] [ 3.82688013e-04 9.99944839e-01 1.04963108e-02 -2.87913697e-01] [ 6.17878307e-03 -1.04984756e-02 9.99925800e-01 -2.52390572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35119381700002 meters Centerline goodness : 0.918322 Centerline is valid? [False, False] Translation: X:25.04, Y:-0.29, Z:-2.52 [[ 9.99981127e-01 -2.76931005e-04 -6.13745173e-03 2.50418388e+01] [ 3.41218141e-04 9.99945067e-01 1.04759942e-02 -2.87863876e-01] [ 6.13421346e-03 -1.04778907e-02 9.99926290e-01 -2.52391408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38119381700002 meters Centerline goodness : 0.914923 Centerline is valid? [False, False] Translation: X:25.04, Y:-0.29, Z:-2.52 [[ 9.99971538e-01 4.33326634e-03 -6.17626788e-03 2.50421345e+01] [-4.24189865e-03 9.99882503e-01 1.47304612e-02 -2.88155919e-01] [ 6.23937319e-03 -1.47038429e-02 9.99872425e-01 -2.52410128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41119381700003 meters Centerline goodness : 0.916084 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.29, Z:-2.53 [[ 9.99979802e-01 5.71880485e-03 -2.77318062e-03 2.50514898e+01] [-5.70426532e-03 9.99970092e-01 5.22277436e-03 -2.86120086e-01] [ 2.80296570e-03 -5.20684991e-03 9.99982516e-01 -2.52518371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44119381700003 meters Centerline goodness : 0.913374 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.29, Z:-2.53 [[ 9.99978215e-01 5.93362640e-03 -2.89177686e-03 2.50520548e+01] [-5.91795467e-03 9.99967918e-01 5.39816670e-03 -2.86564484e-01] [ 2.92371480e-03 -5.38093570e-03 9.99981249e-01 -2.52556656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47119381700003 meters Centerline goodness : 0.913112 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.29, Z:-2.53 [[ 9.99977492e-01 5.95264788e-03 -3.09537657e-03 2.50527734e+01] [-5.93465632e-03 9.99965630e-01 5.78945912e-03 -2.88166261e-01] [ 3.12973279e-03 -5.77095881e-03 9.99978450e-01 -2.52593301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50119381700003 meters Centerline goodness : 0.914379 Centerline is valid? [False, False] Translation: X:25.08, Y:-0.30, Z:-2.52 [[ 9.99991156e-01 3.13603261e-03 -2.80252428e-03 2.50772870e+01] [-3.08612711e-03 9.99839681e-01 1.76376799e-02 -2.98059192e-01] [ 2.85738732e-03 -1.76288750e-02 9.99840516e-01 -2.52327663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53119381700003 meters Centerline goodness : 0.913442 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.30, Z:-2.52 [[ 9.99997245e-01 2.31178533e-03 -4.06477115e-04 2.50955730e+01] [-2.30251794e-03 9.99766481e-01 2.14867934e-02 -3.04198899e-01] [ 4.56055048e-04 -2.14857983e-02 9.99769050e-01 -2.52377774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56119381700003 meters Centerline goodness : 0.914417 Centerline is valid? [False, False] Translation: X:25.11, Y:-0.31, Z:-2.52 [[ 9.99996486e-01 1.54269792e-03 2.15579519e-03 2.51132736e+01] [-1.59861692e-03 9.99655900e-01 2.61825541e-02 -3.10875563e-01] [-2.11466160e-03 -2.61859084e-02 9.99654854e-01 -2.52405595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59119381700003 meters Centerline goodness : 0.914945 Centerline is valid? [False, False] Translation: X:25.14, Y:-0.32, Z:-2.52 [[ 9.99998551e-01 -8.78760353e-04 1.45769674e-03 2.51372604e+01] [ 8.24849782e-04 9.99330368e-01 3.65805301e-02 -3.18137981e-01] [-1.48886614e-03 -3.65792748e-02 9.99329645e-01 -2.52111958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62119381700003 meters Centerline goodness : 0.914515 Centerline is valid? [False, False] Translation: X:25.15, Y:-0.35, Z:-2.51 [[ 9.99939585e-01 -1.09891204e-02 -2.54939592e-04 2.51465611e+01] [ 1.09435550e-02 9.93080955e-01 1.16920726e-01 -3.48161377e-01] [-1.03168028e-03 -1.16916452e-01 9.93141218e-01 -2.50696955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65119381700003 meters Centerline goodness : 0.913974 Centerline is valid? [False, False] Translation: X:25.15, Y:-0.35, Z:-2.51 [[ 9.99887865e-01 -1.49572318e-02 -7.34294703e-04 2.51469123e+01] [ 1.49434513e-02 9.93371298e-01 1.13974376e-01 -3.49916959e-01] [-9.75313881e-04 -1.13972568e-01 9.93483418e-01 -2.50538336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68119381700004 meters Centerline goodness : 0.914801 Centerline is valid? [False, False] Translation: X:25.14, Y:-0.35, Z:-2.51 [[ 9.99868854e-01 -1.60278816e-02 2.31991137e-03 2.51384347e+01] [ 1.57637838e-02 9.96046876e-01 8.74192475e-02 -3.47559358e-01] [-3.71188582e-03 -8.73712122e-02 9.96168908e-01 -2.50581542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71119381700004 meters Centerline goodness : 0.914406 Centerline is valid? [False, False] Translation: X:25.14, Y:-0.35, Z:-2.51 [[ 9.99871333e-01 -1.58022640e-02 2.75777590e-03 2.51387902e+01] [ 1.55755952e-02 9.97516536e-01 6.86888762e-02 -3.52139317e-01] [-3.83636682e-03 -6.86370842e-02 9.97634318e-01 -2.50535456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74119381700004 meters Centerline goodness : 0.914395 Centerline is valid? [False, False] Translation: X:25.14, Y:-0.35, Z:-2.51 [[ 9.99917572e-01 -1.28392411e-02 -5.80101629e-05 2.51437584e+01] [ 1.28240176e-02 9.98490682e-01 5.34032102e-02 -3.53237124e-01] [-6.27734086e-04 -5.33995522e-02 9.98573029e-01 -2.50778981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77119381700004 meters Centerline goodness : 0.913153 Centerline is valid? [False, False] Translation: X:25.15, Y:-0.35, Z:-2.51 [[ 9.99945154e-01 -8.70143333e-03 -5.82876649e-03 2.51463464e+01] [ 8.93512696e-03 9.99104968e-01 4.13452194e-02 -3.54637959e-01] [ 5.46378689e-03 -4.13950325e-02 9.99127919e-01 -2.50854755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80119381700004 meters Centerline goodness : 0.911891 Centerline is valid? [False, False] Translation: X:25.15, Y:-0.36, Z:-2.51 [[ 9.99920782e-01 -4.49328891e-03 -1.17575117e-02 2.51490104e+01] [ 4.83701131e-03 9.99556875e-01 2.93710375e-02 -3.55201773e-01] [ 1.16203291e-02 -2.94255820e-02 9.99499426e-01 -2.50948866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.831193817 meters Centerline goodness : 0.908146 Centerline is valid? [False, False] Translation: X:25.16, Y:-0.36, Z:-2.51 [[ 9.99881895e-01 2.89703303e-03 -1.50931315e-02 2.51562840e+01] [-2.28642533e-03 9.99184310e-01 4.03173232e-02 -3.64291462e-01] [ 1.51976208e-02 -4.02780522e-02 9.99072926e-01 -2.51118332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86119381700001 meters Centerline goodness : 0.907090 Centerline is valid? [False, False] Translation: X:25.16, Y:-0.37, Z:-2.51 [[ 9.99856745e-01 6.50720818e-03 -1.56251392e-02 2.51569590e+01] [-5.78636445e-03 9.98936450e-01 4.57437152e-02 -3.68741982e-01] [ 1.59061849e-02 -4.56467495e-02 9.98831000e-01 -2.50981309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.89119381700002 meters Centerline goodness : 0.907537 Centerline is valid? [False, False] Translation: X:25.17, Y:-0.38, Z:-2.51 [[ 9.99896132e-01 7.80303060e-03 -1.21176829e-02 2.51654755e+01] [-7.07083000e-03 9.98213136e-01 5.93341224e-02 -3.75419100e-01] [ 1.25590162e-02 -5.92422774e-02 9.98164628e-01 -2.50991766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92119381700002 meters Centerline goodness : 0.908174 Centerline is valid? [False, False] Translation: X:25.17, Y:-0.39, Z:-2.50 [[ 9.99877103e-01 1.05500079e-02 -1.15964247e-02 2.51665708e+01] [-9.63298878e-03 9.97025090e-01 7.64733685e-02 -3.87435251e-01] [ 1.23687210e-02 -7.63522619e-02 9.97004186e-01 -2.49830524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95119381700002 meters Centerline goodness : 0.908423 Centerline is valid? [False, False] Translation: X:25.17, Y:-0.39, Z:-2.50 [[ 9.99869704e-01 1.10554904e-02 -1.17622740e-02 2.51665535e+01] [-1.01094074e-02 9.96928728e-01 7.76589439e-02 -3.90370541e-01] [ 1.25847066e-02 -7.75299157e-02 9.96910596e-01 -2.49712421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98119381700002 meters Centerline goodness : 0.912297 Centerline is valid? [False, False] Translation: X:25.17, Y:-0.39, Z:-2.50 [[ 9.99910312e-01 1.19782481e-02 -5.99085329e-03 2.51677395e+01] [-1.15742610e-02 9.97918223e-01 6.34449095e-02 -3.91017620e-01] [ 6.73834053e-03 -6.33698795e-02 9.97967361e-01 -2.49791887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01119381700002 meters Centerline goodness : 0.910505 Centerline is valid? [False, False] Translation: X:25.17, Y:-0.40, Z:-2.50 [[ 9.99907899e-01 1.35319830e-02 -1.03903431e-03 2.51693898e+01] [-1.34621137e-02 9.98629094e-01 5.05836372e-02 -3.96201518e-01] [ 1.72210681e-03 -5.05649908e-02 9.98719288e-01 -2.49805550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04119381700002 meters Centerline goodness : 0.911152 Centerline is valid? [False, False] Translation: X:25.18, Y:-0.40, Z:-2.50 [[ 9.99892397e-01 1.45757757e-02 1.65569243e-03 2.51760398e+01] [-1.46300922e-02 9.99102194e-01 3.97588553e-02 -3.97595519e-01] [-1.07468978e-03 -3.97788001e-02 9.99207932e-01 -2.49753720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07119381700002 meters Centerline goodness : 0.910577 Centerline is valid? [False, False] Translation: X:25.18, Y:-0.40, Z:-2.50 [[ 9.99870660e-01 1.58067361e-02 2.96821386e-03 2.51836514e+01] [-1.58879546e-02 9.99432858e-01 2.96906516e-02 -3.99024410e-01] [-2.49721816e-03 -2.97339702e-02 9.99554728e-01 -2.49574660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10119381700002 meters Centerline goodness : 0.911059 Centerline is valid? [False, False] Translation: X:25.18, Y:-0.40, Z:-2.50 [[ 9.99911374e-01 1.30622411e-02 2.57323255e-03 2.51840524e+01] [-1.31271018e-02 9.99547922e-01 2.70486652e-02 -4.01599130e-01] [-2.21875307e-03 -2.70800471e-02 9.99630806e-01 -2.49534391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13119381700002 meters Centerline goodness : 0.913312 Centerline is valid? [False, False] Translation: X:25.18, Y:-0.41, Z:-2.49 [[ 9.99965943e-01 7.82386577e-03 2.62674754e-03 2.51831095e+01] [-7.88213023e-03 9.99705392e-01 2.29565246e-02 -4.09575981e-01] [-2.44636491e-03 -2.29764471e-02 9.99733013e-01 -2.49453479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16119381700003 meters Centerline goodness : 0.914634 Centerline is valid? [False, False] Translation: X:25.19, Y:-0.41, Z:-2.49 [[ 9.99973964e-01 7.06893582e-03 1.44958413e-03 2.51935436e+01] [-7.08644279e-03 9.99897380e-01 1.24503898e-02 -4.12630409e-01] [-1.36142437e-03 -1.24603381e-02 9.99921440e-01 -2.49402380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19119381700003 meters Centerline goodness : 0.913698 Centerline is valid? [False, False] Translation: X:25.19, Y:-0.42, Z:-2.49 [[ 9.99992160e-01 3.74191755e-03 1.29505352e-03 2.51942602e+01] [-3.75414475e-03 9.99947145e-01 9.57145681e-03 -4.15642105e-01] [-1.25916946e-03 -9.57624359e-03 9.99953354e-01 -2.49456626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22119381700003 meters Centerline goodness : 0.914445 Centerline is valid? [False, False] Translation: X:25.20, Y:-0.42, Z:-2.50 [[ 9.99999756e-01 -2.43644041e-04 6.54200456e-04 2.51968616e+01] [ 2.39391847e-04 9.99978898e-01 6.49206378e-03 -4.24803512e-01] [-6.55768404e-04 -6.49190559e-03 9.99978712e-01 -2.49625124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25119381700003 meters Centerline goodness : 0.914603 Centerline is valid? [False, False] Translation: X:25.20, Y:-0.43, Z:-2.50 [[ 9.99998472e-01 -1.74838022e-03 -8.67480496e-06 2.51990190e+01] [ 1.74840154e-03 9.99983726e-01 5.43051969e-03 -4.29976171e-01] [-8.19949397e-07 -5.43052656e-03 9.99985255e-01 -2.49734172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28119381700003 meters Centerline goodness : 0.915210 Centerline is valid? [False, False] Translation: X:25.20, Y:-0.43, Z:-2.50 [[ 9.99995325e-01 -2.97884201e-03 -6.89852147e-04 2.52010989e+01] [ 2.98193321e-03 9.99985320e-01 4.52414552e-03 -4.34531773e-01] [ 6.76365305e-04 -4.52618147e-03 9.99989528e-01 -2.49827428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31119381700003 meters Centerline goodness : 0.915301 Centerline is valid? [False, False] Translation: X:25.20, Y:-0.44, Z:-2.50 [[ 9.99996872e-01 -2.33370613e-03 -8.99868433e-04 2.52017498e+01] [ 2.33915414e-03 9.99978650e-01 6.10147343e-03 -4.39440505e-01] [ 8.85610175e-04 -6.10355928e-03 9.99980981e-01 -2.49843291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34119381700003 meters Centerline goodness : 0.914324 Centerline is valid? [False, False] Translation: X:25.20, Y:-0.45, Z:-2.50 [[ 9.99998936e-01 -7.79498589e-04 -1.23267890e-03 2.52030223e+01] [ 7.90613855e-04 9.99958803e-01 9.04253119e-03 -4.47702383e-01] [ 1.22557948e-03 -9.04349614e-03 9.99958356e-01 -2.49902241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37119381700003 meters Centerline goodness : 0.914561 Centerline is valid? [False, False] Translation: X:25.20, Y:-0.45, Z:-2.50 [[ 9.99998783e-01 -2.76744565e-04 -1.53517256e-03 2.52042014e+01] [ 2.92361495e-04 9.99948121e-01 1.01818725e-02 -4.51184647e-01] [ 1.53227514e-03 -1.01823089e-02 9.99946985e-01 -2.49970486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40119381700003 meters Centerline goodness : 0.915113 Centerline is valid? [False, False] Translation: X:25.22, Y:-0.45, Z:-2.50 [[ 9.99993374e-01 2.67879341e-03 -2.46494732e-03 2.52227490e+01] [-2.68982749e-03 9.99986329e-01 -4.48402103e-03 -4.53114539e-01] [ 2.45290186e-03 4.49062160e-03 9.99986909e-01 -2.49970699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43119381700004 meters Centerline goodness : 0.914817 Centerline is valid? [False, False] Translation: X:25.23, Y:-0.46, Z:-2.50 [[ 9.99995096e-01 7.89390315e-04 -3.03065041e-03 2.52252321e+01] [-8.07360711e-04 9.99982074e-01 -5.93291373e-03 -4.57335218e-01] [ 3.02591270e-03 5.93533146e-03 9.99977808e-01 -2.50141678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46119381700004 meters Centerline goodness : 0.914142 Centerline is valid? [False, False] Translation: X:25.23, Y:-0.46, Z:-2.50 [[ 9.99991277e-01 -2.61970802e-03 -3.25327283e-03 2.52258815e+01] [ 2.59134361e-03 9.99958861e-01 -8.69255212e-03 -4.61233895e-01] [ 3.27591095e-03 8.68404595e-03 9.99956927e-01 -2.50163027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49119381700004 meters Centerline goodness : 0.914026 Centerline is valid? [False, False] Translation: X:25.23, Y:-0.47, Z:-2.50 [[ 9.99952841e-01 -8.99784147e-03 -3.65430190e-03 2.52278111e+01] [ 8.94911432e-03 9.99873638e-01 -1.31385388e-02 -4.70654125e-01] [ 3.77205862e-03 1.31052164e-02 9.99907008e-01 -2.50287533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52119381700004 meters Centerline goodness : 0.918270 Centerline is valid? [False, False] Translation: X:25.23, Y:-0.48, Z:-2.50 [[ 9.99909428e-01 -1.28706925e-02 -3.93459944e-03 2.52288932e+01] [ 1.28071520e-02 9.99793637e-01 -1.57689345e-02 -4.75599349e-01] [ 4.13674459e-03 1.57171152e-02 9.99867921e-01 -2.50335574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55119381700004 meters Centerline goodness : 0.917316 Centerline is valid? [False, False] Translation: X:25.23, Y:-0.48, Z:-2.50 [[ 9.99848405e-01 -1.68989729e-02 -4.19421254e-03 2.52296395e+01] [ 1.68194159e-02 9.99690524e-01 -1.83292867e-02 -4.80854711e-01] [ 4.50266065e-03 1.82559639e-02 9.99823207e-01 -2.50336063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.581193817 meters Centerline goodness : 0.918651 Centerline is valid? [False, False] Translation: X:25.23, Y:-0.49, Z:-2.50 [[ 9.99767706e-01 -2.11207204e-02 -4.29517777e-03 2.52300003e+01] [ 2.10262129e-02 9.99558949e-01 -2.09715466e-02 -4.85965938e-01] [ 4.73621755e-03 2.08763637e-02 9.99770847e-01 -2.50308521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.61119381700001 meters Centerline goodness : 0.921308 Centerline is valid? [False, False] Translation: X:25.23, Y:-0.50, Z:-2.50 [[ 9.99364788e-01 -3.55722186e-02 -2.15373901e-03 2.52285364e+01] [ 3.55374467e-02 9.99263664e-01 -1.44644275e-02 -4.96414801e-01] [ 2.66668491e-03 1.43787011e-02 9.99893065e-01 -2.50186813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64119381700002 meters Centerline goodness : 0.919879 Centerline is valid? [False, False] Translation: X:25.23, Y:-0.50, Z:-2.50 [[ 9.99199774e-01 -3.99399385e-02 -2.14760343e-03 2.52290638e+01] [ 3.98962170e-02 9.99049682e-01 -1.75506614e-02 -5.00080958e-01] [ 2.84653486e-03 1.74509357e-02 9.99843669e-01 -2.50192375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.67119381700002 meters Centerline goodness : 0.920985 Centerline is valid? [False, False] Translation: X:25.23, Y:-0.50, Z:-2.50 [[ 9.99018665e-01 -4.42367457e-02 -2.19483732e-03 2.52295721e+01] [ 4.41816149e-02 9.98806567e-01 -2.08189169e-02 -5.03157879e-01] [ 3.11317906e-03 2.07015151e-02 9.99780854e-01 -2.50187250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70119381700002 meters Centerline goodness : 0.922085 Centerline is valid? [False, False] Translation: X:25.23, Y:-0.51, Z:-2.50 [[ 9.98809111e-01 -4.87250049e-02 -2.49672684e-03 2.52311395e+01] [ 4.86493088e-02 9.98514565e-01 -2.45338110e-02 -5.05536702e-01] [ 3.68842818e-03 2.43831299e-02 9.99695883e-01 -2.50256964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73119381700002 meters Centerline goodness : 0.921595 Centerline is valid? [False, False] Translation: X:25.23, Y:-0.51, Z:-2.51 [[ 9.98405109e-01 -5.64034722e-02 -2.42619824e-03 2.52339579e+01] [ 5.63004099e-02 9.97924830e-01 -3.12457741e-02 -5.08166251e-01] [ 4.18353362e-03 3.10593446e-02 9.99508787e-01 -2.50507614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76119381700002 meters Centerline goodness : 0.919232 Centerline is valid? [False, False] Translation: X:25.24, Y:-0.51, Z:-2.51 [[ 9.98380932e-01 -5.68157730e-02 -2.73546459e-03 2.52350437e+01] [ 5.67041771e-02 9.97910747e-01 -3.09641388e-02 -5.09899191e-01] [ 4.48900099e-03 3.07588935e-02 9.99516753e-01 -2.50556750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79119381700002 meters Centerline goodness : 0.919238 Centerline is valid? [False, False] Translation: X:25.24, Y:-0.51, Z:-2.51 [[ 9.98369630e-01 -5.69990041e-02 -3.03240629e-03 2.52361576e+01] [ 5.68783468e-02 9.97901843e-01 -3.09316140e-02 -5.10318747e-01] [ 4.78911502e-03 3.07087057e-02 9.99516903e-01 -2.50620626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82119381700002 meters Centerline goodness : 0.920108 Centerline is valid? [False, False] Translation: X:25.24, Y:-0.51, Z:-2.51 [[ 9.98547578e-01 -5.37524266e-02 -3.66214878e-03 2.52375389e+01] [ 5.36349584e-02 9.98198181e-01 -2.69013343e-02 -5.11919401e-01] [ 5.10156225e-03 2.66658430e-02 9.99631386e-01 -2.50672949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85119381700002 meters Centerline goodness : 0.917967 Centerline is valid? [False, False] Translation: X:25.26, Y:-0.51, Z:-2.51 [[ 9.98831445e-01 -4.78959865e-02 -6.45900198e-03 2.52605461e+01] [ 4.77332106e-02 9.98586952e-01 -2.33589484e-02 -5.10575899e-01] [ 7.56867498e-03 2.30233433e-02 9.99706277e-01 -2.50823044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88119381700002 meters Centerline goodness : 0.918574 Centerline is valid? [False, False] Translation: X:25.26, Y:-0.51, Z:-2.51 [[ 9.99003765e-01 -4.40734539e-02 -7.00062322e-03 2.52613307e+01] [ 4.39296667e-02 9.98844042e-01 -1.95131742e-02 -5.10306957e-01] [ 7.85254378e-03 1.91861995e-02 9.99785091e-01 -2.50823220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91119381700003 meters Centerline goodness : 0.917886 Centerline is valid? [False, False] Translation: X:25.26, Y:-0.51, Z:-2.51 [[ 9.99116166e-01 -4.13345878e-02 -7.63803535e-03 2.52634227e+01] [ 4.12009902e-02 9.99008098e-01 -1.68908062e-02 -5.09399032e-01] [ 8.32863368e-03 1.65611829e-02 9.99828166e-01 -2.50941925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94119381700003 meters Centerline goodness : 0.920100 Centerline is valid? [False, False] Translation: X:25.27, Y:-0.51, Z:-2.51 [[ 9.99367657e-01 -3.45451136e-02 -8.42144282e-03 2.52653594e+01] [ 3.44552040e-02 9.99350057e-01 -1.05973258e-02 -5.06821249e-01] [ 8.78205518e-03 1.03004621e-02 9.99908384e-01 -2.51044570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97119381700003 meters Centerline goodness : 0.918385 Centerline is valid? [False, False] Translation: X:25.27, Y:-0.50, Z:-2.51 [[ 9.99485847e-01 -3.08274919e-02 -8.81515562e-03 2.52663131e+01] [ 3.07618564e-02 9.99498702e-01 -7.48689095e-03 -5.03830687e-01] [ 9.04153867e-03 7.21187100e-03 9.99933118e-01 -2.51098959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00119381700003 meters Centerline goodness : 0.917389 Centerline is valid? [False, False] Translation: X:25.28, Y:-0.50, Z:-2.52 [[ 9.99675691e-01 -2.50941051e-02 -4.33564665e-03 2.52795928e+01] [ 2.50412820e-02 9.99616348e-01 -1.18360206e-02 -4.99175330e-01] [ 4.63099761e-03 1.17236119e-02 9.99920552e-01 -2.51536319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03119381700003 meters Centerline goodness : 0.917336 Centerline is valid? [False, False] Translation: X:25.28, Y:-0.50, Z:-2.52 [[ 9.99769718e-01 -2.09450428e-02 -4.67073065e-03 2.52798611e+01] [ 2.09058284e-02 9.99747061e-01 -8.29223967e-03 -4.96996624e-01] [ 4.84323055e-03 8.19268462e-03 9.99954710e-01 -2.51506083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06119381700003 meters Centerline goodness : 0.916753 Centerline is valid? [False, False] Translation: X:25.30, Y:-0.49, Z:-2.52 [[ 9.99926573e-01 -1.17662191e-02 -2.89904923e-03 2.53029298e+01] [ 1.17097158e-02 9.99754844e-01 -1.87918733e-02 -4.90748044e-01] [ 3.11944781e-03 1.87565464e-02 9.99819214e-01 -2.51646619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09119381700003 meters Centerline goodness : 0.916677 Centerline is valid? [False, False] Translation: X:25.32, Y:-0.49, Z:-2.52 [[ 9.99957653e-01 -8.68967217e-03 3.03012164e-03 2.53164891e+01] [ 8.75602081e-03 9.99705846e-01 -2.26175592e-02 -4.86965004e-01] [-2.83269114e-03 2.26431332e-02 9.99739598e-01 -2.51929925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12119381700003 meters Centerline goodness : 0.916426 Centerline is valid? [False, False] Translation: X:25.33, Y:-0.48, Z:-2.52 [[ 9.99952155e-01 -6.36578007e-03 7.42731999e-03 2.53329194e+01] [ 6.53442761e-03 9.99716234e-01 -2.29074954e-02 -4.84590088e-01] [-7.27938829e-03 2.29549326e-02 9.99709999e-01 -2.51908380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15119381700003 meters Centerline goodness : 0.919619 Centerline is valid? [False, False] Translation: X:25.35, Y:-0.48, Z:-2.52 [[ 9.99901754e-01 -6.49913070e-03 1.24194767e-02 2.53483753e+01] [ 6.80971117e-03 9.99660971e-01 -2.51310777e-02 -4.79672685e-01] [-1.22519360e-02 2.52131817e-02 9.99607016e-01 -2.51817994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18119381700004 meters Centerline goodness : 0.919244 Centerline is valid? [False, False] Translation: X:25.35, Y:-0.48, Z:-2.52 [[ 9.99894977e-01 -7.78255151e-03 1.22256944e-02 2.53487941e+01] [ 8.09925795e-03 9.99627239e-01 -2.60727001e-02 -4.78502332e-01] [-1.20182250e-02 2.61689809e-02 9.99585287e-01 -2.51802117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21119381700004 meters Centerline goodness : 0.919818 Centerline is valid? [False, False] Translation: X:25.35, Y:-0.48, Z:-2.52 [[ 9.99882086e-01 -9.78989407e-03 1.18310188e-02 2.53501003e+01] [ 1.01115577e-02 9.99572274e-01 -2.74413152e-02 -4.77818568e-01] [-1.15573108e-02 2.75577095e-02 9.99553401e-01 -2.51839778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24119381700004 meters Centerline goodness : 0.922008 Centerline is valid? [False, False] Translation: X:25.35, Y:-0.48, Z:-2.52 [[ 9.99824950e-01 -1.45989547e-02 1.17021607e-02 2.53509241e+01] [ 1.49720408e-02 9.99361052e-01 -3.24549692e-02 -4.75738029e-01] [-1.12208750e-02 3.26244931e-02 9.99404690e-01 -2.51890975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27119381700004 meters Centerline goodness : 0.922008 Centerline is valid? [False, False] Translation: X:25.35, Y:-0.48, Z:-2.52 [[ 9.99824950e-01 -1.45989547e-02 1.17021607e-02 2.53509241e+01] [ 1.49720408e-02 9.99361052e-01 -3.24549692e-02 -4.75738029e-01] [-1.12208750e-02 3.26244931e-02 9.99404690e-01 -2.51890975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30119381700004 meters Centerline goodness : 0.918500 Centerline is valid? [False, False] Translation: X:25.36, Y:-0.47, Z:-2.52 [[ 9.99653570e-01 -2.43696193e-02 9.94290599e-03 2.53574980e+01] [ 2.47583853e-02 9.98850067e-01 -4.10556402e-02 -4.70628412e-01] [-8.93096199e-03 4.12875876e-02 9.99107388e-01 -2.52166429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.331193817 meters Centerline goodness : 0.916868 Centerline is valid? [False, False] Translation: X:25.36, Y:-0.47, Z:-2.52 [[ 9.99592167e-01 -2.69948227e-02 9.31557802e-03 2.53608385e+01] [ 2.73752490e-02 9.98679834e-01 -4.34647644e-02 -4.68328189e-01] [-8.12995629e-03 4.37020543e-02 9.99011529e-01 -2.52405059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36119381700001 meters Centerline goodness : 0.919021 Centerline is valid? [False, False] Translation: X:25.36, Y:-0.47, Z:-2.53 [[ 9.99547645e-01 -2.87531093e-02 8.81843078e-03 2.53632617e+01] [ 2.91242280e-02 9.98547608e-01 -4.53260946e-02 -4.65473109e-01] [-7.50235680e-03 4.55624210e-02 9.98933321e-01 -2.52573922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.39119381700002 meters Centerline goodness : 0.916518 Centerline is valid? [False, False] Translation: X:25.36, Y:-0.46, Z:-2.53 [[ 9.99518474e-01 -2.98223996e-02 8.56998539e-03 2.53645903e+01] [ 3.01912321e-02 9.98451145e-01 -4.67311531e-02 -4.62310606e-01] [-7.16307661e-03 4.69673893e-02 9.98870740e-01 -2.52664305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42119381700002 meters Centerline goodness : 0.914123 Centerline is valid? [False, False] Translation: X:25.37, Y:-0.46, Z:-2.53 [[ 9.99544605e-01 -2.92092576e-02 7.57636012e-03 2.53681832e+01] [ 2.95303407e-02 9.98484077e-01 -4.64489625e-02 -4.55764042e-01] [-6.20813523e-03 4.66515424e-02 9.98891932e-01 -2.52847371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45119381700002 meters Centerline goodness : 0.914510 Centerline is valid? [False, False] Translation: X:25.37, Y:-0.45, Z:-2.53 [[ 9.99612172e-01 -2.70118017e-02 6.77267494e-03 2.53708500e+01] [ 2.72854239e-02 9.98648805e-01 -4.42274858e-02 -4.53438983e-01] [-5.56885966e-03 4.43951284e-02 9.98998529e-01 -2.52997514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48119381700002 meters Centerline goodness : 0.912002 Centerline is valid? [False, False] Translation: X:25.37, Y:-0.45, Z:-2.53 [[ 9.99685684e-01 -2.43230336e-02 6.07647857e-03 2.53732699e+01] [ 2.45555887e-02 9.98828834e-01 -4.16891336e-02 -4.50928208e-01] [-5.05535580e-03 4.18252416e-02 9.99112152e-01 -2.53142526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51119381700002 meters Centerline goodness : 0.912056 Centerline is valid? [False, False] Translation: X:25.38, Y:-0.45, Z:-2.53 [[ 9.99753732e-01 -2.14926997e-02 5.52622934e-03 2.53753277e+01] [ 2.16936812e-02 9.98990895e-01 -3.93265266e-02 -4.47510498e-01] [-4.67541957e-03 3.94367259e-02 9.99211131e-01 -2.53268989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54119381700002 meters Centerline goodness : 0.912867 Centerline is valid? [False, False] Translation: X:25.38, Y:-0.44, Z:-2.53 [[ 9.99824486e-01 -1.80173090e-02 5.13559903e-03 2.53764591e+01] [ 1.81927592e-02 9.99169693e-01 -3.64547491e-02 -4.43906701e-01] [-4.47451842e-03 3.65417815e-02 9.99322109e-01 -2.53322100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57119381700002 meters Centerline goodness : 0.910989 Centerline is valid? [False, False] Translation: X:25.40, Y:-0.44, Z:-2.54 [[ 9.99945815e-01 -8.39945267e-03 6.14947955e-03 2.53970586e+01] [ 8.59349959e-03 9.99443219e-01 -3.22397903e-02 -4.35349634e-01] [-5.87525904e-03 3.22908889e-02 9.99461245e-01 -2.53576971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60119381700002 meters Centerline goodness : 0.907418 Centerline is valid? [False, False] Translation: X:25.42, Y:-0.43, Z:-2.54 [[ 9.99960123e-01 -2.71039816e-03 8.50920305e-03 2.54158258e+01] [ 2.96674044e-03 9.99537699e-01 -3.02586495e-02 -4.30878730e-01] [-8.42325625e-03 3.02826875e-02 9.99505882e-01 -2.53671426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63119381700002 meters Centerline goodness : 0.909302 Centerline is valid? [False, False] Translation: X:25.43, Y:-0.43, Z:-2.54 [[ 9.99932198e-01 2.70008142e-03 1.13273812e-02 2.54343268e+01] [-2.37224712e-03 9.99580763e-01 -2.88560229e-02 -4.26209842e-01] [-1.14005460e-02 2.88271950e-02 9.99519395e-01 -2.53789913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66119381700003 meters Centerline goodness : 0.909704 Centerline is valid? [False, False] Translation: X:25.46, Y:-0.42, Z:-2.54 [[ 9.99851110e-01 1.30705165e-02 1.12658788e-02 2.54605221e+01] [-1.26884020e-02 9.99363293e-01 -3.33468515e-02 -4.17051960e-01] [-1.16945663e-02 3.31989405e-02 9.99380342e-01 -2.53638674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69119381700003 meters Centerline goodness : 0.908360 Centerline is valid? [False, False] Translation: X:25.49, Y:-0.41, Z:-2.54 [[ 9.99846218e-01 1.19543752e-02 1.28309591e-02 2.54858384e+01] [-1.15611857e-02 9.99474213e-01 -3.02925078e-02 -4.13012235e-01] [-1.31863408e-02 3.01395083e-02 9.99458719e-01 -2.53506379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72119381700003 meters Centerline goodness : 0.909566 Centerline is valid? [False, False] Translation: X:25.51, Y:-0.41, Z:-2.53 [[ 9.99864911e-01 9.75329051e-03 1.32300219e-02 2.55122171e+01] [-9.40028855e-03 9.99604968e-01 -2.64866511e-02 -4.10342529e-01] [-1.34831276e-02 2.63587070e-02 9.99561616e-01 -2.53311906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75119381700003 meters Centerline goodness : 0.909986 Centerline is valid? [False, False] Translation: X:25.53, Y:-0.41, Z:-2.53 [[ 9.99831222e-01 8.47451551e-03 1.63006420e-02 2.55306005e+01] [-7.97834365e-03 9.99510017e-01 -3.02666646e-02 -4.06770020e-01] [-1.65491503e-02 3.01315041e-02 9.99408934e-01 -2.53387941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78119381700003 meters Centerline goodness : 0.911255 Centerline is valid? [False, False] Translation: X:25.56, Y:-0.40, Z:-2.53 [[ 9.99849704e-01 1.97329322e-03 1.72242831e-02 2.55582274e+01] [-1.50770123e-03 9.99634232e-01 -2.70023905e-02 -4.03488256e-01] [-1.72712666e-02 2.69723631e-02 9.99486966e-01 -2.53206395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81119381700003 meters Centerline goodness : 0.911765 Centerline is valid? [False, False] Translation: X:25.56, Y:-0.40, Z:-2.53 [[ 9.99861702e-01 -4.14851958e-04 1.66254036e-02 2.55600129e+01] [ 8.95799428e-04 9.99580996e-01 -2.89314726e-02 -4.02430276e-01] [-1.66064352e-02 2.89423644e-02 9.99443128e-01 -2.53273630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84119381700003 meters Centerline goodness : 0.911193 Centerline is valid? [False, False] Translation: X:25.56, Y:-0.40, Z:-2.53 [[ 9.99851266e-01 -5.07507298e-03 1.64830041e-02 2.55604668e+01] [ 5.63336291e-03 9.99405863e-01 -3.40027426e-02 -4.00009067e-01] [-1.63006446e-02 3.40905400e-02 9.99285807e-01 -2.53280348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87119381700003 meters Centerline goodness : 0.910442 Centerline is valid? [False, False] Translation: X:25.56, Y:-0.40, Z:-2.53 [[ 9.99845641e-01 -7.42419371e-03 1.59240351e-02 2.55627003e+01] [ 7.99492437e-03 9.99316858e-01 -3.60818310e-02 -3.98148946e-01] [-1.56452782e-02 3.62035729e-02 9.99221961e-01 -2.53416705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90119381700003 meters Centerline goodness : 0.912340 Centerline is valid? [False, False] Translation: X:25.58, Y:-0.39, Z:-2.53 [[ 9.99779637e-01 -1.48652768e-02 1.48223248e-02 2.55807339e+01] [ 1.52605584e-02 9.99521061e-01 -2.69214380e-02 -3.94267626e-01] [-1.44150312e-02 2.71417025e-02 9.99527656e-01 -2.53293531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93119381700004 meters Centerline goodness : 0.911994 Centerline is valid? [False, False] Translation: X:25.58, Y:-0.39, Z:-2.53 [[ 9.99773628e-01 -1.55073063e-02 1.45676503e-02 2.55816156e+01] [ 1.59119660e-02 9.99478873e-01 -2.80854499e-02 -3.91109468e-01] [-1.41245290e-02 2.83108921e-02 9.99499370e-01 -2.53335035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96119381700004 meters Centerline goodness : 0.909939 Centerline is valid? [False, False] Translation: X:25.58, Y:-0.39, Z:-2.54 [[ 9.99804926e-01 -1.40158277e-02 1.39164372e-02 2.55843192e+01] [ 1.43815902e-02 9.99544292e-01 -2.65401341e-02 -3.89121626e-01] [-1.35381135e-02 2.67350973e-02 9.99550876e-01 -2.53512855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99119381700004 meters Centerline goodness : 0.907564 Centerline is valid? [False, False] Translation: X:25.59, Y:-0.38, Z:-2.54 [[ 9.99863043e-01 -9.98471787e-03 1.31985403e-02 2.55880213e+01] [ 1.02920791e-02 9.99672537e-01 -2.34284482e-02 -3.84005393e-01] [-1.29602918e-02 2.35610799e-02 9.99638388e-01 -2.53797988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02119381700004 meters Centerline goodness : 0.908024 Centerline is valid? [False, False] Translation: X:25.59, Y:-0.38, Z:-2.54 [[ 9.99896873e-01 -6.33824816e-03 1.28868375e-02 2.55891236e+01] [ 6.59877928e-03 9.99772647e-01 -2.02758532e-02 -3.81420597e-01] [-1.27553943e-02 2.03587996e-02 9.99711368e-01 -2.53865950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05119381700004 meters Centerline goodness : 0.908067 Centerline is valid? [False, False] Translation: X:25.61, Y:-0.38, Z:-2.54 [[ 9.99952465e-01 -1.99385887e-03 9.54424672e-03 2.56120770e+01] [ 2.15751255e-03 9.99850302e-01 -1.71673681e-02 -3.79166394e-01] [-9.50858866e-03 1.71871439e-02 9.99807076e-01 -2.53982425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.081193817 meters Centerline goodness : 0.907346 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.38, Z:-2.54 [[ 9.99973345e-01 1.79895220e-03 7.07618743e-03 2.56352046e+01] [-1.69066031e-03 9.99881824e-01 -1.52800308e-02 -3.76328967e-01] [-7.10283924e-03 1.52676601e-02 9.99858214e-01 -2.54183392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.11119381700001 meters Centerline goodness : 0.905260 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.37, Z:-2.54 [[ 9.99929574e-01 9.50474089e-03 7.10688467e-03 2.56358739e+01] [-9.44158182e-03 9.99916101e-01 -8.86838070e-03 -3.71270051e-01] [-7.19058007e-03 8.80065590e-03 9.99935420e-01 -2.54216857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14119381700002 meters Centerline goodness : 0.904703 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.37, Z:-2.54 [[ 9.99889509e-01 1.31023045e-02 7.02138717e-03 2.56363257e+01] [-1.30638188e-02 9.99899542e-01 -5.49932813e-03 -3.69616765e-01] [-7.09273569e-03 5.40699437e-03 9.99960228e-01 -2.54238387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.17119381700002 meters Centerline goodness : 0.904625 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.37, Z:-2.54 [[ 9.99836343e-01 1.67217428e-02 6.90433511e-03 2.56364813e+01] [-1.67099931e-02 9.99858836e-01 -1.75598512e-03 -3.68749986e-01] [-6.93272360e-03 1.64032635e-03 9.99974623e-01 -2.54205226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20119381700002 meters Centerline goodness : 0.905519 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.37, Z:-2.54 [[ 9.99838259e-01 1.66913087e-02 6.69742784e-03 2.56370336e+01] [-1.66752772e-02 9.99857975e-01 -2.44242598e-03 -3.66339060e-01] [-6.73724392e-03 2.33034948e-03 9.99974589e-01 -2.54223263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23119381700002 meters Centerline goodness : 0.902770 Centerline is valid? [False, False] Translation: X:25.62, Y:-0.37, Z:-2.54 [[ 9.99888402e-01 1.38237419e-02 5.66460342e-03 2.56181499e+01] [-1.38808293e-02 9.99851980e-01 1.01656709e-02 -3.65373792e-01] [-5.52323733e-03 -1.02431658e-02 9.99932283e-01 -2.54095717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26119381700002 meters Centerline goodness : 0.903720 Centerline is valid? [False, False] Translation: X:25.62, Y:-0.36, Z:-2.54 [[ 9.99837454e-01 1.71397200e-02 5.59428259e-03 2.56182596e+01] [-1.72153285e-02 9.99757129e-01 1.37592238e-02 -3.64954917e-01] [-5.35709466e-03 -1.38532947e-02 9.99889688e-01 -2.54066236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29119381700002 meters Centerline goodness : 0.903910 Centerline is valid? [False, False] Translation: X:25.62, Y:-0.36, Z:-2.54 [[ 9.99839346e-01 1.70542960e-02 5.51656721e-03 2.56183859e+01] [-1.71258394e-02 9.99766304e-01 1.31925633e-02 -3.63209261e-01] [-5.29028813e-03 -1.32849197e-02 9.99897757e-01 -2.54055394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32119381700002 meters Centerline goodness : 0.904141 Centerline is valid? [False, False] Translation: X:25.62, Y:-0.36, Z:-2.54 [[ 9.99837155e-01 1.72257858e-02 5.37918694e-03 2.56184785e+01] [-1.72950694e-02 9.99764468e-01 1.31106176e-02 -3.62028109e-01] [-5.15207928e-03 -1.32015160e-02 9.99899583e-01 -2.54029431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35119381700002 meters Centerline goodness : 0.902955 Centerline is valid? [False, False] Translation: X:25.60, Y:-0.36, Z:-2.54 [[ 9.99911829e-01 1.30228831e-02 2.59595587e-03 2.55952111e+01] [-1.30839022e-02 9.99600150e-01 2.50669528e-02 -3.61806550e-01] [-2.26847388e-03 -2.50987078e-02 9.99682404e-01 -2.53622489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38119381700002 meters Centerline goodness : 0.902503 Centerline is valid? [False, False] Translation: X:25.58, Y:-0.36, Z:-2.53 [[ 9.99961791e-01 8.40609955e-03 -2.39867773e-03 2.55843647e+01] [-8.32871797e-03 9.99496178e-01 3.06271400e-02 -3.62594515e-01] [ 2.65492401e-03 -3.06059919e-02 9.99528001e-01 -2.53240444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41119381700003 meters Centerline goodness : 0.902186 Centerline is valid? [False, False] Translation: X:25.58, Y:-0.36, Z:-2.53 [[ 9.99985522e-01 4.80664268e-03 -2.41921549e-03 2.55839150e+01] [-4.74086787e-03 9.99637653e-01 2.64969291e-02 -3.60804028e-01] [ 2.54570017e-03 -2.64850763e-02 9.99645967e-01 -2.53174046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44119381700003 meters Centerline goodness : 0.904453 Centerline is valid? [False, False] Translation: X:25.58, Y:-0.36, Z:-2.53 [[ 9.99993471e-01 2.73536943e-03 -2.36141087e-03 2.55822989e+01] [-2.67712504e-03 9.99700505e-01 2.43255591e-02 -3.59284401e-01] [ 2.42724303e-03 -2.43190785e-02 9.99701301e-01 -2.52990080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47119381700003 meters Centerline goodness : 0.906370 Centerline is valid? [False, False] Translation: X:25.58, Y:-0.36, Z:-2.53 [[ 9.99994801e-01 2.20815729e-03 -2.35002494e-03 2.55807660e+01] [-2.15227913e-03 9.99721042e-01 2.35203334e-02 -3.57828068e-01] [ 2.40130598e-03 -2.35151532e-02 9.99720597e-01 -2.52781083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50119381700003 meters Centerline goodness : 0.906759 Centerline is valid? [False, False] Translation: X:25.56, Y:-0.36, Z:-2.53 [[ 9.99992492e-01 3.46955108e-03 -1.72548259e-03 2.55584948e+01] [-3.42861119e-03 9.99725219e-01 2.31890291e-02 -3.55459616e-01] [ 1.80546398e-03 -2.31829390e-02 9.99729609e-01 -2.52619950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53119381700003 meters Centerline goodness : 0.906086 Centerline is valid? [False, False] Translation: X:25.54, Y:-0.35, Z:-2.53 [[ 9.99982879e-01 5.19364174e-03 -2.69585039e-03 2.55381452e+01] [-5.12966367e-03 9.99717222e-01 2.32198546e-02 -3.53226178e-01] [ 2.81568367e-03 -2.32056283e-02 9.99726748e-01 -2.52535989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56119381700003 meters Centerline goodness : 0.905456 Centerline is valid? [False, False] Translation: X:25.54, Y:-0.35, Z:-2.53 [[ 9.99956018e-01 8.87340310e-03 -3.03738740e-03 2.55390144e+01] [-8.78748174e-03 9.99590846e-01 2.72198632e-02 -3.53457048e-01] [ 3.27767746e-03 -2.71919750e-02 9.99624856e-01 -2.52550477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59119381700003 meters Centerline goodness : 0.904313 Centerline is valid? [False, False] Translation: X:25.54, Y:-0.35, Z:-2.53 [[ 9.99857502e-01 1.65336576e-02 -3.40805655e-03 2.55399906e+01] [-1.64024910e-02 9.99236210e-01 3.54676519e-02 -3.54758500e-01] [ 3.99186353e-03 -3.54066972e-02 9.99365014e-01 -2.52564732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62119381700003 meters Centerline goodness : 0.904965 Centerline is valid? [False, False] Translation: X:25.54, Y:-0.35, Z:-2.53 [[ 9.99847400e-01 1.71295112e-02 -3.42869049e-03 2.55402046e+01] [-1.69978064e-02 9.99231200e-01 3.53282180e-02 -3.53364385e-01] [ 4.03120962e-03 -3.52645467e-02 9.99369882e-01 -2.52581514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65119381700003 meters Centerline goodness : 0.903218 Centerline is valid? [False, False] Translation: X:25.54, Y:-0.35, Z:-2.53 [[ 9.99771212e-01 2.10720168e-02 -3.67325521e-03 2.55409961e+01] [-2.09095569e-02 9.98991145e-01 3.97427113e-02 -3.54862508e-01] [ 4.50700850e-03 -3.96568125e-02 9.99203195e-01 -2.52592447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68119381700004 meters Centerline goodness : 0.902911 Centerline is valid? [False, False] Translation: X:25.54, Y:-0.36, Z:-2.53 [[ 9.99749656e-01 2.19814860e-02 -4.17596056e-03 2.55419845e+01] [-2.17950431e-02 9.98945704e-01 4.04036658e-02 -3.55345731e-01] [ 5.05969047e-03 -4.03025358e-02 9.99174712e-01 -2.52579260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71119381700004 meters Centerline goodness : 0.900955 Centerline is valid? [False, False] Translation: X:25.54, Y:-0.36, Z:-2.53 [[ 9.99692277e-01 2.43880039e-02 -4.53604101e-03 2.55432088e+01] [-2.41703041e-02 9.98779578e-01 4.30714620e-02 -3.60513576e-01] [ 5.58093211e-03 -4.29485705e-02 9.99061697e-01 -2.52611475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74119381700004 meters Centerline goodness : 0.901151 Centerline is valid? [False, False] Translation: X:25.56, Y:-0.36, Z:-2.53 [[ 9.99696614e-01 2.45816669e-02 -1.55598179e-03 2.55609888e+01] [-2.44906086e-02 9.98750634e-01 4.35589382e-02 -3.63304711e-01] [ 2.62478911e-03 -4.35076161e-02 9.99049647e-01 -2.52587728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77119381700004 meters Centerline goodness : 0.901708 Centerline is valid? [False, False] Translation: X:25.58, Y:-0.37, Z:-2.52 [[ 9.99705180e-01 2.40888710e-02 3.04623542e-03 2.55766182e+01] [-2.41984981e-02 9.98763717e-01 4.34219939e-02 -3.66214876e-01] [-1.99648260e-03 -4.34829066e-02 9.99052176e-01 -2.52494496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80119381700004 meters Centerline goodness : 0.901579 Centerline is valid? [False, False] Translation: X:25.59, Y:-0.37, Z:-2.52 [[ 9.99658966e-01 2.55528905e-02 5.38532839e-03 2.55944988e+01] [-2.57858318e-02 9.98472179e-01 4.88712427e-02 -3.72406741e-01] [-4.12829906e-03 -4.89934411e-02 9.98790569e-01 -2.52404880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.831193817 meters Centerline goodness : 0.898227 Centerline is valid? [False, False] Translation: X:25.61, Y:-0.38, Z:-2.52 [[ 9.99718097e-01 2.32348698e-02 4.88542857e-03 2.56066389e+01] [-2.35123050e-02 9.97432554e-01 6.76422393e-02 -3.84720947e-01] [-3.30122687e-03 -6.77380384e-02 9.97697680e-01 -2.51625931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86119381700001 meters Centerline goodness : 0.902971 Centerline is valid? [False, False] Translation: X:25.63, Y:-0.39, Z:-2.51 [[ 9.99716233e-01 2.35302080e-02 3.71250684e-03 2.56292891e+01] [-2.37582554e-02 9.96217334e-01 8.35857004e-02 -3.91733823e-01] [-1.73167474e-03 -8.36501842e-02 9.96493677e-01 -2.50839184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.89119381700002 meters Centerline goodness : 0.900785 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.39, Z:-2.51 [[ 9.99698394e-01 2.42083656e-02 4.13222085e-03 2.56376220e+01] [-2.44460696e-02 9.97016046e-01 7.32215432e-02 -3.93536492e-01] [-2.34731660e-03 -7.33004757e-02 9.97307139e-01 -2.50697737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92119381700002 meters Centerline goodness : 0.902107 Centerline is valid? [False, False] Translation: X:25.63, Y:-0.40, Z:-2.51 [[ 9.99616983e-01 2.69642384e-02 6.23034391e-03 2.56272981e+01] [-2.72447521e-02 9.98353699e-01 5.04738993e-02 -3.98083668e-01] [-4.85909663e-03 -5.06243112e-02 9.98705947e-01 -2.50614600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95119381700002 meters Centerline goodness : 0.900607 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.40, Z:-2.50 [[ 9.99636393e-01 2.65573308e-02 4.66794167e-03 2.56366277e+01] [-2.67223903e-02 9.98849253e-01 3.98256626e-02 -4.00245931e-01] [-3.60490675e-03 -3.99359203e-02 9.99195740e-01 -2.50407052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98119381700002 meters Centerline goodness : 0.902898 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.40, Z:-2.50 [[ 9.99727668e-01 2.29198566e-02 4.38986013e-03 2.56372014e+01] [-2.30652007e-02 9.99065308e-01 3.65582751e-02 -4.02584232e-01] [-3.54784654e-03 -3.66495721e-02 9.99321881e-01 -2.50442403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01119381700002 meters Centerline goodness : 0.903212 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.41, Z:-2.51 [[ 9.99807471e-01 1.91889304e-02 4.09957584e-03 2.56380214e+01] [-1.93152719e-02 9.99255549e-01 3.33956389e-02 -4.05141766e-01] [-3.45569732e-03 -3.34683937e-02 9.99433802e-01 -2.50506171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04119381700002 meters Centerline goodness : 0.900492 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.41, Z:-2.51 [[ 9.99922306e-01 1.19623252e-02 3.50483205e-03 2.56392270e+01] [-1.20488682e-02 9.99594245e-01 2.58102671e-02 -4.05731786e-01] [-3.19465914e-03 -2.58504910e-02 9.99660716e-01 -2.50549437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07119381700002 meters Centerline goodness : 0.903192 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.41, Z:-2.51 [[ 9.99993405e-01 1.74284462e-03 3.18634672e-03 2.56400333e+01] [-1.79670295e-03 9.99854234e-01 1.69788583e-02 -4.12261354e-01] [-3.15629075e-03 -1.69844713e-02 9.99850772e-01 -2.50633131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10119381700002 meters Centerline goodness : 0.902880 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.42, Z:-2.51 [[ 9.99993318e-01 -2.23260637e-03 2.89467675e-03 2.56410107e+01] [ 2.19281425e-03 9.99904051e-01 1.36777141e-02 -4.15223526e-01] [-2.92493596e-03 -1.36712752e-02 9.99902266e-01 -2.50678283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13119381700002 meters Centerline goodness : 0.904001 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.42, Z:-2.51 [[ 9.99976756e-01 -6.26695105e-03 2.68567992e-03 2.56417918e+01] [ 6.23933497e-03 9.99928812e-01 1.01706005e-02 -4.17465006e-01] [-2.74922738e-03 -1.01536072e-02 9.99944671e-01 -2.50716513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16119381700003 meters Centerline goodness : 0.904001 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.42, Z:-2.51 [[ 9.99976756e-01 -6.26695105e-03 2.68567992e-03 2.56417918e+01] [ 6.23933497e-03 9.99928812e-01 1.01706005e-02 -4.17465006e-01] [-2.74922738e-03 -1.01536072e-02 9.99944671e-01 -2.50716513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19119381700003 meters Centerline goodness : 0.903077 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.42, Z:-2.51 [[ 9.99946544e-01 -1.00597627e-02 2.38947327e-03 2.56426133e+01] [ 1.00429815e-02 9.99925526e-01 6.93409917e-03 -4.19964458e-01] [-2.45905071e-03 -6.90973107e-03 9.99973104e-01 -2.50737253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22119381700003 meters Centerline goodness : 0.902871 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.42, Z:-2.51 [[ 9.99904858e-01 -1.36284641e-02 2.13049134e-03 2.56432909e+01] [ 1.36201149e-02 9.99899693e-01 3.88548518e-03 -4.22592373e-01] [-2.18323083e-03 -3.85609797e-03 9.99990182e-01 -2.50743757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25119381700003 meters Centerline goodness : 0.907760 Centerline is valid? [False, False] Translation: X:25.65, Y:-0.43, Z:-2.51 [[ 9.99837006e-01 -1.79859475e-02 1.57090912e-03 2.56464064e+01] [ 1.79847264e-02 9.99837951e-01 7.88012739e-04 -4.29256189e-01] [-1.58482771e-03 -7.59631926e-04 9.99998456e-01 -2.50959804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28119381700003 meters Centerline goodness : 0.905608 Centerline is valid? [False, False] Translation: X:25.65, Y:-0.43, Z:-2.51 [[ 9.99801320e-01 -1.99082414e-02 9.90838257e-04 2.56493003e+01] [ 1.99088387e-02 9.99801621e-01 -5.96612874e-04 -4.32648247e-01] [-9.78764183e-04 6.16220778e-04 9.99999331e-01 -2.51164080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31119381700003 meters Centerline goodness : 0.907194 Centerline is valid? [False, False] Translation: X:25.65, Y:-0.44, Z:-2.51 [[ 9.99801081e-01 -1.99371258e-02 5.57075741e-04 2.56506811e+01] [ 1.99368030e-02 9.99801074e-01 5.79241402e-04 -4.37119871e-01] [-5.68513334e-04 -5.68019870e-04 9.99999677e-01 -2.51227806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34119381700003 meters Centerline goodness : 0.906329 Centerline is valid? [False, False] Translation: X:25.65, Y:-0.44, Z:-2.51 [[ 9.99723273e-01 -2.35196746e-02 4.49398100e-04 2.56511595e+01] [ 2.35207499e-02 9.99720072e-01 -2.55957473e-03 -4.39521278e-01] [-3.89071936e-04 2.56943661e-03 9.99996623e-01 -2.51235043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37119381700003 meters Centerline goodness : 0.907748 Centerline is valid? [False, False] Translation: X:25.65, Y:-0.44, Z:-2.51 [[ 9.99620485e-01 -2.75460743e-02 3.16422423e-04 2.56520145e+01] [ 2.75473474e-02 9.99606995e-01 -5.19601513e-03 -4.44089735e-01] [-1.73168249e-04 5.20275976e-03 9.99986451e-01 -2.51270052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40119381700003 meters Centerline goodness : 0.909297 Centerline is valid? [False, False] Translation: X:25.65, Y:-0.45, Z:-2.51 [[ 9.99616449e-01 -2.76939155e-02 -3.39054989e-05 2.56529804e+01] [ 2.76934636e-02 9.99605794e-01 -4.61832582e-03 -4.46104453e-01] [ 1.61791658e-04 4.61561550e-03 9.99989335e-01 -2.51297794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43119381700004 meters Centerline goodness : 0.910303 Centerline is valid? [False, False] Translation: X:25.65, Y:-0.45, Z:-2.51 [[ 9.99619454e-01 -2.75842028e-02 -2.43445152e-04 2.56534616e+01] [ 2.75830542e-02 9.99612012e-01 -3.87293595e-03 -4.48833385e-01] [ 3.50182549e-04 3.86474715e-03 9.99992471e-01 -2.51292301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46119381700004 meters Centerline goodness : 0.908526 Centerline is valid? [False, False] Translation: X:25.65, Y:-0.45, Z:-2.51 [[ 9.99630876e-01 -2.71630512e-02 -5.30123135e-04 2.56540893e+01] [ 2.71610222e-02 9.99624878e-01 -3.51881636e-03 -4.49367360e-01] [ 6.25506063e-04 3.50311880e-03 9.99993668e-01 -2.51299743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49119381700004 meters Centerline goodness : 0.908984 Centerline is valid? [False, False] Translation: X:25.65, Y:-0.45, Z:-2.51 [[ 9.99647896e-01 -2.65249377e-02 -7.15820632e-04 2.56543783e+01] [ 2.65223332e-02 9.99642333e-01 -3.43113009e-03 -4.48227843e-01] [ 8.06575118e-04 3.41093674e-03 9.99993857e-01 -2.51296802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52119381700004 meters Centerline goodness : 0.911610 Centerline is valid? [False, False] Translation: X:25.67, Y:-0.45, Z:-2.52 [[ 9.99745696e-01 -2.21843741e-02 4.04926211e-03 2.56656403e+01] [ 2.22228951e-02 9.99705693e-01 -9.72984146e-03 -4.45565895e-01] [-3.83221994e-03 9.81735345e-03 9.99944465e-01 -2.51647401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55119381700004 meters Centerline goodness : 0.913747 Centerline is valid? [False, False] Translation: X:25.69, Y:-0.44, Z:-2.52 [[ 9.99895646e-01 -1.31408971e-02 6.00120390e-03 2.56868075e+01] [ 1.32387523e-02 9.99775090e-01 -1.65682122e-02 -4.41772732e-01] [-5.78213299e-03 1.66459317e-02 9.99844728e-01 -2.51697756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.581193817 meters Centerline goodness : 0.911815 Centerline is valid? [False, False] Translation: X:25.69, Y:-0.44, Z:-2.52 [[ 9.99898322e-01 -1.29680495e-02 5.93080153e-03 2.56867289e+01] [ 1.30673748e-02 9.99769635e-01 -1.70270358e-02 -4.39752230e-01] [-5.70862784e-03 1.71028045e-02 9.99837440e-01 -2.51663074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.61119381700001 meters Centerline goodness : 0.914304 Centerline is valid? [False, False] Translation: X:25.69, Y:-0.44, Z:-2.52 [[ 9.99899591e-01 -1.28746632e-02 5.92032918e-03 2.56865251e+01] [ 1.29759763e-02 9.99764314e-01 -1.74052098e-02 -4.38200598e-01] [-5.69484763e-03 1.74802843e-02 9.99830990e-01 -2.51625852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64119381700002 meters Centerline goodness : 0.915571 Centerline is valid? [False, False] Translation: X:25.70, Y:-0.43, Z:-2.52 [[ 9.99864654e-01 -1.13163171e-02 1.19421282e-02 2.56980617e+01] [ 1.16142494e-02 9.99615445e-01 -2.51807794e-02 -4.34957377e-01] [-1.16525821e-02 2.53160702e-02 9.99611582e-01 -2.52029980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.67119381700002 meters Centerline goodness : 0.914734 Centerline is valid? [False, False] Translation: X:25.70, Y:-0.43, Z:-2.52 [[ 9.99862854e-01 -1.16204996e-02 1.17998533e-02 2.56985611e+01] [ 1.19221314e-02 9.99595457e-01 -2.58221665e-02 -4.32942507e-01] [-1.14950133e-02 2.59593045e-02 9.99596908e-01 -2.52054372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70119381700002 meters Centerline goodness : 0.913775 Centerline is valid? [False, False] Translation: X:25.72, Y:-0.43, Z:-2.52 [[ 9.99887217e-01 -1.15074105e-02 9.65050576e-03 2.57214675e+01] [ 1.17601470e-02 9.99578190e-01 -2.65544738e-02 -4.30267118e-01] [-9.34086185e-03 2.66649703e-02 9.99600784e-01 -2.52231883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73119381700002 meters Centerline goodness : 0.914469 Centerline is valid? [False, False] Translation: X:25.72, Y:-0.43, Z:-2.52 [[ 9.99883405e-01 -1.20420847e-02 9.38959901e-03 2.57225449e+01] [ 1.22917066e-02 9.99559950e-01 -2.69966684e-02 -4.29499971e-01] [-9.06037095e-03 2.71089349e-02 9.99591424e-01 -2.52306240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76119381700002 meters Centerline goodness : 0.913055 Centerline is valid? [False, False] Translation: X:25.72, Y:-0.43, Z:-2.52 [[ 9.99876784e-01 -1.28731977e-02 8.98321776e-03 2.57242639e+01] [ 1.31184371e-02 9.99527508e-01 -2.77968888e-02 -4.28304196e-01] [-8.62113842e-03 2.79113096e-02 9.99573226e-01 -2.52423207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79119381700002 meters Centerline goodness : 0.913941 Centerline is valid? [False, False] Translation: X:25.73, Y:-0.43, Z:-2.52 [[ 9.99873445e-01 -1.33378134e-02 8.67162292e-03 2.57253840e+01] [ 1.35768322e-02 9.99512489e-01 -2.81150229e-02 -4.27785188e-01] [-8.29240248e-03 2.82291979e-02 9.99567081e-01 -2.52487997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82119381700002 meters Centerline goodness : 0.914507 Centerline is valid? [False, False] Translation: X:25.73, Y:-0.43, Z:-2.53 [[ 9.99868979e-01 -1.38846326e-02 8.32119814e-03 2.57263900e+01] [ 1.41160877e-02 9.99496000e-01 -2.84338158e-02 -4.27532137e-01] [-7.92221117e-03 2.85475531e-02 9.99561042e-01 -2.52526802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85119381700002 meters Centerline goodness : 0.914355 Centerline is valid? [False, False] Translation: X:25.73, Y:-0.43, Z:-2.53 [[ 9.99832634e-01 -1.65153180e-02 7.87069325e-03 2.57287687e+01] [ 1.67487729e-02 9.99391955e-01 -3.05810164e-02 -4.26446201e-01] [-7.36085231e-03 3.07077227e-02 9.99501302e-01 -2.52697404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88119381700002 meters Centerline goodness : 0.913940 Centerline is valid? [False, False] Translation: X:25.73, Y:-0.43, Z:-2.53 [[ 9.99827088e-01 -1.69609119e-02 7.62369795e-03 2.57295718e+01] [ 1.71890025e-02 9.99374005e-01 -3.09214593e-02 -4.25696633e-01] [-7.09446941e-03 3.10471564e-02 9.99492743e-01 -2.52736517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91119381700003 meters Centerline goodness : 0.912379 Centerline is valid? [False, False] Translation: X:25.75, Y:-0.42, Z:-2.53 [[ 9.99867251e-01 -1.51143055e-02 6.08591416e-03 2.57518213e+01] [ 1.52877217e-02 9.99446831e-01 -2.95350111e-02 -4.23806021e-01] [-5.63614645e-03 2.96241301e-02 9.99545219e-01 -2.52855641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94119381700003 meters Centerline goodness : 0.913902 Centerline is valid? [False, False] Translation: X:25.75, Y:-0.42, Z:-2.53 [[ 9.99919073e-01 -1.13958771e-02 5.65513304e-03 2.57526244e+01] [ 1.15369540e-02 9.99606334e-01 -2.55748949e-02 -4.23659398e-01] [-5.36145845e-03 2.56380683e-02 9.99656913e-01 -2.52859722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97119381700003 meters Centerline goodness : 0.914102 Centerline is valid? [False, False] Translation: X:25.77, Y:-0.42, Z:-2.53 [[ 9.99965962e-01 -7.15688190e-03 4.10526873e-03 2.57745636e+01] [ 7.24464522e-03 9.99736596e-01 -2.17773497e-02 -4.24161891e-01] [-3.94832946e-03 2.18063497e-02 9.99754417e-01 -2.52956939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00119381700003 meters Centerline goodness : 0.911419 Centerline is valid? [False, False] Translation: X:25.78, Y:-0.42, Z:-2.53 [[ 9.99987311e-01 -3.23248522e-03 3.86374367e-03 2.57752991e+01] [ 3.30122351e-03 9.99833999e-01 -1.79186303e-02 -4.23304363e-01] [-3.80518058e-03 1.79311580e-02 9.99831983e-01 -2.52993069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03119381700003 meters Centerline goodness : 0.909713 Centerline is valid? [False, False] Translation: X:25.80, Y:-0.42, Z:-2.53 [[ 9.99988366e-01 1.80452649e-03 4.47338262e-03 2.57966437e+01] [-1.72689674e-03 9.99848900e-01 -1.72972389e-02 -4.18148811e-01] [-4.50392002e-03 1.72893126e-02 9.99840384e-01 -2.53229078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06119381700003 meters Centerline goodness : 0.910682 Centerline is valid? [False, False] Translation: X:25.82, Y:-0.42, Z:-2.53 [[ 9.99980768e-01 5.30817121e-03 3.20733454e-03 2.58180647e+01] [-5.25961256e-03 9.99874211e-01 -1.49632324e-02 -4.17150855e-01] [-3.28635849e-03 1.49460753e-02 9.99882900e-01 -2.53296161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09119381700003 meters Centerline goodness : 0.911191 Centerline is valid? [False, False] Translation: X:25.82, Y:-0.42, Z:-2.53 [[ 9.99956006e-01 8.87857161e-03 3.02595603e-03 2.58187174e+01] [-8.84288628e-03 9.99893509e-01 -1.16091855e-02 -4.15686284e-01] [-3.12870678e-03 1.15819166e-02 9.99928033e-01 -2.53315797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12119381700003 meters Centerline goodness : 0.910293 Centerline is valid? [False, False] Translation: X:25.84, Y:-0.41, Z:-2.53 [[ 9.99941991e-01 9.61062918e-03 4.86322647e-03 2.58376578e+01] [-9.53158683e-03 9.99826187e-01 -1.60232751e-02 -4.10945933e-01] [-5.01637493e-03 1.59759913e-02 9.99859792e-01 -2.53481765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15119381700003 meters Centerline goodness : 0.911383 Centerline is valid? [False, False] Translation: X:25.86, Y:-0.41, Z:-2.54 [[ 9.99916321e-01 1.06367152e-02 7.36288533e-03 2.58563295e+01] [-1.04855929e-02 9.99739599e-01 -2.02678490e-02 -4.06141522e-01] [-7.57655137e-03 2.01889488e-02 9.99767474e-01 -2.53695251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18119381700004 meters Centerline goodness : 0.911072 Centerline is valid? [False, False] Translation: X:25.88, Y:-0.40, Z:-2.54 [[ 9.99829099e-01 1.71412456e-02 6.92467145e-03 2.58834358e+01] [-1.69356802e-02 9.99443812e-01 -2.87271416e-02 -3.99499346e-01] [-7.41323903e-03 2.86049581e-02 9.99563305e-01 -2.53629725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21119381700004 meters Centerline goodness : 0.912492 Centerline is valid? [False, False] Translation: X:25.88, Y:-0.40, Z:-2.54 [[ 9.99753814e-01 2.11125685e-02 6.82426824e-03 2.58837612e+01] [-2.09362246e-02 9.99469339e-01 -2.49542417e-02 -3.98683908e-01] [-7.34749501e-03 2.48052239e-02 9.99665302e-01 -2.53611008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24119381700004 meters Centerline goodness : 0.912573 Centerline is valid? [False, False] Translation: X:25.88, Y:-0.40, Z:-2.54 [[ 9.99669216e-01 2.48656215e-02 6.56963355e-03 2.58845050e+01] [-2.47215919e-02 9.99470334e-01 -2.11635298e-02 -3.98311637e-01] [-7.09239816e-03 2.09941175e-02 9.99754442e-01 -2.53618811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27119381700004 meters Centerline goodness : 0.910822 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.40, Z:-2.54 [[ 9.99569544e-01 2.86654968e-02 6.24626045e-03 2.58853024e+01] [-2.85531775e-02 9.99441090e-01 -1.73845929e-02 -3.98390083e-01] [-6.74110735e-03 1.71987590e-02 9.99829366e-01 -2.53609872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30119381700004 meters Centerline goodness : 0.912067 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.40, Z:-2.54 [[ 9.99477846e-01 3.17446079e-02 6.02622650e-03 2.58861039e+01] [-3.16625896e-02 9.99410787e-01 -1.32498807e-02 -4.00687830e-01] [-6.44328803e-03 1.30521563e-02 9.99894057e-01 -2.53655638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.331193817 meters Centerline goodness : 0.914198 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.40, Z:-2.54 [[ 9.99485318e-01 3.15813823e-02 5.63165816e-03 2.58869403e+01] [-3.15046390e-02 9.99416022e-01 -1.32315005e-02 -4.01212336e-01] [-6.04623847e-03 1.30472671e-02 9.99896601e-01 -2.53673808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36119381700001 meters Centerline goodness : 0.913445 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.40, Z:-2.54 [[ 9.99491299e-01 3.14414156e-02 5.34599501e-03 2.58877576e+01] [-3.13704977e-02 9.99424978e-01 -1.28688055e-02 -4.02826116e-01] [-5.74753441e-03 1.26945526e-02 9.99902902e-01 -2.53727909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.39119381700002 meters Centerline goodness : 0.914815 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.41, Z:-2.54 [[ 9.99490971e-01 3.14948086e-02 5.08690937e-03 2.58883514e+01] [-3.14374920e-02 9.99445412e-01 -1.09796570e-02 -4.08570602e-01] [-5.42989043e-03 1.08141484e-02 9.99926783e-01 -2.53802633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42119381700002 meters Centerline goodness : 0.913286 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.41, Z:-2.54 [[ 9.99489812e-01 3.15680661e-02 4.85526071e-03 2.58888589e+01] [-3.15180568e-02 9.99452625e-01 -1.00529839e-02 -4.11253328e-01] [-5.16995632e-03 9.89482662e-03 9.99937680e-01 -2.53837847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45119381700002 meters Centerline goodness : 0.914354 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.41, Z:-2.54 [[ 9.99483324e-01 3.17794331e-02 4.81166732e-03 2.58888022e+01] [-3.17347120e-02 9.99454885e-01 -9.10167758e-03 -4.13449730e-01] [-5.09829056e-03 8.94427809e-03 9.99947002e-01 -2.53836835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48119381700002 meters Centerline goodness : 0.913947 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.41, Z:-2.54 [[ 9.99565424e-01 2.91304451e-02 4.51453392e-03 2.58883531e+01] [-2.90744393e-02 9.99505085e-01 -1.20109234e-02 -4.14313519e-01] [-4.86218315e-03 1.18744462e-02 9.99917675e-01 -2.53727286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51119381700002 meters Centerline goodness : 0.915028 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.42, Z:-2.54 [[ 9.99651399e-01 2.60042934e-02 4.56704735e-03 2.58874180e+01] [-2.59383910e-02 9.99566336e-01 -1.39406107e-02 -4.18913882e-01] [-4.92758251e-03 1.38172891e-02 9.99892395e-01 -2.53681750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54119381700002 meters Centerline goodness : 0.917143 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.42, Z:-2.54 [[ 9.99670954e-01 2.52890022e-02 4.29535482e-03 2.58879373e+01] [-2.52297961e-02 9.99592936e-01 -1.33198761e-02 -4.22113539e-01] [-4.63045272e-03 1.32071224e-02 9.99902061e-01 -2.53728554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57119381700002 meters Centerline goodness : 0.918418 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.43, Z:-2.54 [[ 9.99682384e-01 2.48148110e-02 4.39953332e-03 2.58873872e+01] [-2.47599224e-02 9.99619955e-01 -1.21199303e-02 -4.25995946e-01] [-4.69861507e-03 1.20071487e-02 9.99916872e-01 -2.53725819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60119381700002 meters Centerline goodness : 0.918431 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.43, Z:-2.54 [[ 9.99701970e-01 2.39742145e-02 4.60526939e-03 2.58864558e+01] [-2.39218465e-02 9.99652114e-01 -1.11083794e-02 -4.30035919e-01] [-4.86998195e-03 1.09949022e-02 9.99927695e-01 -2.53703037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63119381700002 meters Centerline goodness : 0.918233 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.43, Z:-2.54 [[ 9.99792482e-01 1.99247027e-02 4.24250899e-03 2.58871332e+01] [-1.98606844e-02 9.99695683e-01 -1.46319924e-02 -4.31987524e-01] [-4.53275602e-03 1.45446969e-02 9.99883946e-01 -2.53726102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66119381700003 meters Centerline goodness : 0.920310 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.44, Z:-2.54 [[ 9.99935463e-01 7.89641245e-03 8.16799661e-03 2.58894442e+01] [-7.82173766e-03 9.99927690e-01 -9.13425773e-03 -4.37551551e-01] [-8.23953385e-03 9.06978030e-03 9.99924922e-01 -2.53877364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69119381700003 meters Centerline goodness : 0.920133 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.44, Z:-2.54 [[ 9.99963593e-01 3.40397586e-03 7.82470549e-03 2.58904960e+01] [-3.29967010e-03 9.99906043e-01 -1.33047899e-02 -4.38055574e-01] [-7.86925949e-03 1.32784865e-02 9.99880871e-01 -2.53931763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72119381700003 meters Centerline goodness : 0.921027 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.44, Z:-2.54 [[ 9.99971531e-01 -8.31959370e-04 7.49963816e-03 2.58914943e+01] [ 9.61563425e-04 9.99849979e-01 -1.72943667e-02 -4.38477701e-01] [-7.48412485e-03 1.73010857e-02 9.99822314e-01 -2.53978663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75119381700003 meters Centerline goodness : 0.921523 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.44, Z:-2.54 [[ 9.99955613e-01 -6.12233746e-03 7.16166026e-03 2.58925888e+01] [ 6.27966545e-03 9.99734806e-01 -2.21558767e-02 -4.38113349e-01] [-7.02411528e-03 2.21998660e-02 9.99728877e-01 -2.54021658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78119381700003 meters Centerline goodness : 0.924797 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.44, Z:-2.54 [[ 9.99954727e-01 -6.50736278e-03 6.94243129e-03 2.58933324e+01] [ 6.66075535e-03 9.99729013e-01 -2.23055056e-02 -4.37966756e-01] [-6.79539997e-03 2.23507376e-02 9.99727096e-01 -2.54054526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81119381700003 meters Centerline goodness : 0.921332 Centerline is valid? [False, False] Translation: X:25.89, Y:-0.44, Z:-2.54 [[ 9.99954707e-01 -6.79939877e-03 6.65970086e-03 2.58940911e+01] [ 6.94836666e-03 9.99720285e-01 -2.26068821e-02 -4.37010189e-01] [-6.50412483e-03 2.26521322e-02 9.99722250e-01 -2.54073658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84119381700003 meters Centerline goodness : 0.923179 Centerline is valid? [False, False] Translation: X:25.90, Y:-0.43, Z:-2.54 [[ 9.99968466e-01 -5.21587965e-03 5.98845292e-03 2.58967170e+01] [ 5.34100192e-03 9.99763703e-01 -2.10716097e-02 -4.33712673e-01] [-5.87713088e-03 2.11029296e-02 9.99760034e-01 -2.54234281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87119381700003 meters Centerline goodness : 0.921998 Centerline is valid? [False, False] Translation: X:25.90, Y:-0.43, Z:-2.54 [[ 9.99981147e-01 -2.65793863e-03 5.53551085e-03 2.58985030e+01] [ 2.75997098e-03 9.99824922e-01 -1.85069924e-02 -4.31947081e-01] [-5.48535125e-03 1.85219214e-02 9.99813407e-01 -2.54336917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90119381700003 meters Centerline goodness : 0.920202 Centerline is valid? [False, False] Translation: X:25.92, Y:-0.43, Z:-2.54 [[ 9.99989999e-01 3.69940659e-05 4.47219489e-03 2.59198650e+01] [ 3.76504842e-05 9.99860719e-01 -1.66895725e-02 -4.31055071e-01] [-4.47218941e-03 1.66895740e-02 9.99850718e-01 -2.54370558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93119381700004 meters Centerline goodness : 0.921094 Centerline is valid? [False, False] Translation: X:25.92, Y:-0.43, Z:-2.54 [[ 9.99985950e-01 3.20139955e-03 4.22491747e-03 2.59206625e+01] [-3.14307529e-03 9.99900662e-01 -1.37400062e-02 -4.29109834e-01] [-4.26848503e-03 1.37265339e-02 9.99896676e-01 -2.54398784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96119381700004 meters Centerline goodness : 0.925194 Centerline is valid? [False, False] Translation: X:25.94, Y:-0.42, Z:-2.55 [[ 9.99959989e-01 6.03285882e-03 6.60494505e-03 2.59400557e+01] [-5.91764403e-03 9.99832374e-01 -1.73264571e-02 -4.18859920e-01] [-6.70836596e-03 1.72866781e-02 9.99828070e-01 -2.54677937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99119381700004 meters Centerline goodness : 0.926211 Centerline is valid? [False, False] Translation: X:25.94, Y:-0.41, Z:-2.55 [[ 9.99937929e-01 9.09372215e-03 6.43753488e-03 2.59404378e+01] [-8.99700189e-03 9.99848552e-01 -1.48972367e-02 -4.14696643e-01] [-6.57203126e-03 1.48383935e-02 9.99868307e-01 -2.54657492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02119381700004 meters Centerline goodness : 0.923145 Centerline is valid? [False, False] Translation: X:25.96, Y:-0.41, Z:-2.55 [[ 9.99914276e-01 9.97306152e-03 8.48396923e-03 2.59598533e+01] [-9.81541383e-03 9.99782068e-01 -1.84248246e-02 -4.08386447e-01] [-8.66587221e-03 1.83399715e-02 9.99794253e-01 -2.54843485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05119381700004 meters Centerline goodness : 0.924632 Centerline is valid? [False, False] Translation: X:25.96, Y:-0.40, Z:-2.55 [[ 9.99886093e-01 1.26694824e-02 8.20276909e-03 2.59611449e+01] [-1.25350681e-02 9.99789617e-01 -1.62355756e-02 -4.04438828e-01] [-8.40673970e-03 1.61309040e-02 9.99834547e-01 -2.54911031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.081193817 meters Centerline goodness : 0.924632 Centerline is valid? [False, False] Translation: X:25.96, Y:-0.40, Z:-2.55 [[ 9.99886093e-01 1.26694824e-02 8.20276909e-03 2.59611449e+01] [-1.25350681e-02 9.99789617e-01 -1.62355756e-02 -4.04438828e-01] [-8.40673970e-03 1.61309040e-02 9.99834547e-01 -2.54911031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.11119381700001 meters Centerline goodness : 0.925995 Centerline is valid? [False, False] Translation: X:25.98, Y:-0.40, Z:-2.55 [[ 9.99870219e-01 1.27706592e-02 9.82118865e-03 2.59817401e+01] [-1.25602595e-02 9.99696474e-01 -2.11943371e-02 -3.95054169e-01] [-1.00888733e-02 2.10682298e-02 9.99727135e-01 -2.55220319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14119381700002 meters Centerline goodness : 0.928585 Centerline is valid? [False, False] Translation: X:25.98, Y:-0.39, Z:-2.55 [[ 9.99880853e-01 1.20877856e-02 9.60031798e-03 2.59826816e+01] [-1.18689414e-02 9.99675612e-01 -2.25343893e-02 -3.91330298e-01] [-9.86959462e-03 2.24177588e-02 9.99699973e-01 -2.55269172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17119381700002 meters Centerline goodness : 0.926236 Centerline is valid? [False, False] Translation: X:25.98, Y:-0.39, Z:-2.55 [[ 9.99892940e-01 1.12044221e-02 9.41116404e-03 2.59835845e+01] [-1.09754517e-02 9.99650778e-01 -2.40387513e-02 -3.87066370e-01] [-9.67721778e-03 2.39328860e-02 9.99666729e-01 -2.55319303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20119381700002 meters Centerline goodness : 0.927053 Centerline is valid? [False, False] Translation: X:25.99, Y:-0.38, Z:-2.55 [[ 9.99926542e-01 8.26396904e-03 8.86667495e-03 2.59856690e+01] [-8.01524329e-03 9.99583320e-01 -2.77297986e-02 -3.77288981e-01] [-9.09213858e-03 2.76566930e-02 9.99576130e-01 -2.55401204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23119381700002 meters Centerline goodness : 0.925948 Centerline is valid? [False, False] Translation: X:25.99, Y:-0.37, Z:-2.55 [[ 9.99939126e-01 7.05600761e-03 8.48280537e-03 2.59872555e+01] [-6.80333395e-03 9.99542948e-01 -2.94552133e-02 -3.73052610e-01] [-8.68676449e-03 2.93957089e-02 9.99530106e-01 -2.55492584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26119381700002 meters Centerline goodness : 0.924168 Centerline is valid? [False, False] Translation: X:25.99, Y:-0.37, Z:-2.56 [[ 9.99951108e-01 5.64164479e-03 8.12123341e-03 2.59892568e+01] [-5.38424695e-03 9.99493188e-01 -3.13747707e-02 -3.68930417e-01] [-8.29412278e-03 3.13295099e-02 9.99474697e-01 -2.55639295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29119381700002 meters Centerline goodness : 0.923802 Centerline is valid? [False, False] Translation: X:26.01, Y:-0.37, Z:-2.56 [[ 9.99975381e-01 5.03637859e-04 6.99887368e-03 2.60095496e+01] [-3.62255115e-04 9.99796148e-01 -2.01873903e-02 -3.66665444e-01] [-7.00761408e-03 2.01843579e-02 9.99771716e-01 -2.55682311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32119381700002 meters Centerline goodness : 0.926418 Centerline is valid? [False, False] Translation: X:26.01, Y:-0.36, Z:-2.56 [[ 9.99977619e-01 -3.73203366e-04 6.67993000e-03 2.60108684e+01] [ 5.19483090e-04 9.99759811e-01 -2.19100705e-02 -3.61753461e-01] [-6.67014864e-03 2.19130503e-02 9.99737629e-01 -2.55750248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35119381700002 meters Centerline goodness : 0.925144 Centerline is valid? [False, False] Translation: X:26.03, Y:-0.35, Z:-2.56 [[ 9.99987523e-01 2.28679747e-03 4.44110703e-03 2.60342141e+01] [-2.19230571e-03 9.99773568e-01 -2.11661876e-02 -3.53007352e-01] [-4.48850420e-03 2.11561873e-02 9.99766107e-01 -2.55921789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38119381700002 meters Centerline goodness : 0.925244 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.35, Z:-2.56 [[ 9.99976629e-01 5.45148354e-03 4.12575961e-03 2.60353380e+01] [-5.37227669e-03 9.99805588e-01 -1.89716742e-02 -3.47985055e-01] [-4.22838129e-03 1.89490661e-02 9.99811509e-01 -2.55956064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41119381700003 meters Centerline goodness : 0.924792 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.34, Z:-2.56 [[ 9.99934159e-01 1.08894207e-02 3.61909530e-03 2.60374884e+01] [-1.08373467e-02 9.99841723e-01 -1.41096096e-02 -3.42734660e-01] [-3.77216795e-03 1.40694592e-02 9.99893905e-01 -2.56069038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44119381700003 meters Centerline goodness : 0.927197 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.34, Z:-2.56 [[ 9.99843026e-01 1.73411508e-02 3.63428868e-03 2.60377733e+01] [-1.73095937e-02 9.99813690e-01 -8.54180589e-03 -3.37034539e-01] [-3.78173632e-03 8.47755699e-03 9.99956914e-01 -2.56061995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47119381700003 meters Centerline goodness : 0.927722 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.33, Z:-2.56 [[ 9.99708252e-01 2.38596685e-02 3.75870605e-03 2.60374699e+01] [-2.38490134e-02 9.99711496e-01 -2.85454452e-03 -3.31734586e-01] [-3.82573014e-03 2.76407028e-03 9.99988862e-01 -2.56002052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50119381700003 meters Centerline goodness : 0.930127 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.32, Z:-2.56 [[ 9.99487898e-01 3.17002743e-02 4.36293876e-03 2.60359188e+01] [-3.17052887e-02 9.99496672e-01 1.08498525e-03 -3.21086451e-01] [-4.32634844e-03 -1.22275786e-03 9.99989894e-01 -2.55731795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53119381700003 meters Centerline goodness : 0.930608 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.32, Z:-2.56 [[ 9.99369680e-01 3.52146624e-02 4.49117289e-03 2.60356675e+01] [-3.52302934e-02 9.99373265e-01 3.45009433e-03 -3.16233668e-01] [-4.36686421e-03 -3.60614500e-03 9.99983963e-01 -2.55667355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56119381700003 meters Centerline goodness : 0.929002 Centerline is valid? [False, False] Translation: X:26.03, Y:-0.31, Z:-2.56 [[ 9.99254431e-01 3.83260067e-02 4.65833604e-03 2.60349839e+01] [-3.83515261e-02 9.99249073e-01 5.51821431e-03 -3.11038952e-01] [-4.44334685e-03 -5.69275440e-03 9.99973924e-01 -2.55564191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59119381700003 meters Centerline goodness : 0.929026 Centerline is valid? [False, False] Translation: X:26.03, Y:-0.31, Z:-2.55 [[ 9.99125300e-01 4.15484748e-02 4.72853695e-03 2.60347695e+01] [-4.15853563e-02 9.99103017e-01 7.98873144e-03 -3.06724335e-01] [-4.39237592e-03 -8.17838159e-03 9.99956910e-01 -2.55495321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62119381700003 meters Centerline goodness : 0.929962 Centerline is valid? [False, False] Translation: X:26.03, Y:-0.30, Z:-2.55 [[ 9.98988810e-01 4.46983729e-02 4.83874689e-03 2.60343429e+01] [-4.47449582e-02 9.98948488e-01 9.99029887e-03 -3.01047978e-01] [-4.38710879e-03 -1.01967063e-02 9.99938388e-01 -2.55410149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65119381700003 meters Centerline goodness : 0.928636 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.30, Z:-2.55 [[ 9.98992472e-01 4.46563450e-02 4.45558089e-03 2.60354368e+01] [-4.46961530e-02 9.98957569e-01 9.27523532e-03 -2.98711804e-01] [-4.03673815e-03 -9.46503759e-03 9.99947058e-01 -2.55444044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68119381700004 meters Centerline goodness : 0.928940 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.30, Z:-2.55 [[ 9.99008289e-01 4.43082958e-02 4.38328798e-03 2.60357407e+01] [-4.43432191e-02 9.98982540e-01 8.21976877e-03 -2.95403794e-01] [-4.01462422e-03 -8.40598623e-03 9.99956610e-01 -2.55451967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71119381700004 meters Centerline goodness : 0.923877 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.30, Z:-2.56 [[ 9.99117488e-01 4.20007511e-02 4.26907256e-04 2.60382486e+01] [-4.19997339e-02 9.98864887e-01 2.24713224e-02 -2.95987171e-01] [ 5.17389753e-04 -2.24694212e-02 9.99747397e-01 -2.55546313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74119381700004 meters Centerline goodness : 0.922209 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.29, Z:-2.56 [[ 9.99123894e-01 4.18502387e-02 -4.64904836e-05 2.60398121e+01] [-4.18390926e-02 9.98882229e-01 2.19950675e-02 -2.94750837e-01] [ 9.66937344e-04 -2.19738524e-02 9.99758078e-01 -2.55632394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77119381700004 meters Centerline goodness : 0.920829 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.29, Z:-2.56 [[ 9.99102032e-01 4.23641819e-02 -6.37381453e-04 2.60424165e+01] [-4.23394867e-02 9.98854834e-01 2.22797831e-02 -2.94413612e-01] [ 1.58051633e-03 -2.22327901e-02 9.99751572e-01 -2.55807936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80119381700004 meters Centerline goodness : 0.921065 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.29, Z:-2.56 [[ 9.99107293e-01 4.22268212e-02 -1.22989974e-03 2.60441680e+01] [-4.21899587e-02 9.98871022e-01 2.18332246e-02 -2.93129575e-01] [ 2.15045888e-03 -2.17618445e-02 9.99760870e-01 -2.55903934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.831193817 meters Centerline goodness : 0.920850 Centerline is valid? [False, False] Translation: X:26.05, Y:-0.29, Z:-2.56 [[ 9.99102019e-01 4.21555562e-02 -4.25026821e-03 2.60506115e+01] [-4.20388560e-02 9.98813741e-01 2.45732526e-02 -2.92278780e-01] [ 5.28112543e-03 -2.43725098e-02 9.99688997e-01 -2.55910320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86119381700001 meters Centerline goodness : 0.918684 Centerline is valid? [False, False] Translation: X:26.05, Y:-0.29, Z:-2.56 [[ 9.99111034e-01 4.18701342e-02 -4.90239570e-03 2.60522656e+01] [-4.17402422e-02 9.98837027e-01 2.41318446e-02 -2.91480423e-01] [ 5.90709792e-03 -2.39057650e-02 9.99696764e-01 -2.55968559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.89119381700002 meters Centerline goodness : 0.916760 Centerline is valid? [False, False] Translation: X:26.05, Y:-0.29, Z:-2.56 [[ 9.99113846e-01 4.17147530e-02 -5.60372554e-03 2.60542810e+01] [-4.15695481e-02 9.98849251e-01 2.39195650e-02 -2.91170890e-01] [ 6.59507581e-03 -2.36654243e-02 9.99698181e-01 -2.56067524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92119381700002 meters Centerline goodness : 0.915523 Centerline is valid? [False, False] Translation: X:26.05, Y:-0.29, Z:-2.56 [[ 9.99162698e-01 4.03848824e-02 -6.55465958e-03 2.60512024e+01] [-4.01480918e-02 9.98650624e-01 3.29402697e-02 -2.91994723e-01] [ 7.87610380e-03 -3.26495317e-02 9.99435828e-01 -2.56447258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95119381700002 meters Centerline goodness : 0.915707 Centerline is valid? [False, False] Translation: X:26.05, Y:-0.29, Z:-2.57 [[ 9.99263044e-01 3.71154903e-02 -9.78822423e-03 2.60539726e+01] [-3.66253944e-02 9.98259306e-01 4.62270274e-02 -2.93348973e-01] [ 1.14869247e-02 -4.58344625e-02 9.98883002e-01 -2.56513086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98119381700002 meters Centerline goodness : 0.914026 Centerline is valid? [False, False] Translation: X:26.06, Y:-0.29, Z:-2.56 [[ 9.99326910e-01 3.58169956e-02 -7.92906154e-03 2.60616271e+01] [-3.53072758e-02 9.97744347e-01 5.70930275e-02 -2.94630701e-01] [ 9.95607705e-03 -5.67746452e-02 9.98337376e-01 -2.56340584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01119381700002 meters Centerline goodness : 0.915626 Centerline is valid? [False, False] Translation: X:26.06, Y:-0.29, Z:-2.56 [[ 9.99451732e-01 3.20393726e-02 -8.34947050e-03 2.60618549e+01] [-3.15606541e-02 9.98135114e-01 5.22515020e-02 -2.91807005e-01] [ 1.00080050e-02 -5.19593395e-02 9.98599052e-01 -2.56277319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04119381700002 meters Centerline goodness : 0.912371 Centerline is valid? [False, False] Translation: X:26.06, Y:-0.29, Z:-2.56 [[ 9.99480472e-01 3.11033753e-02 -8.44787286e-03 2.60606665e+01] [-3.06308783e-02 9.98216162e-01 5.12468888e-02 -2.91057979e-01] [ 1.00267544e-02 -5.09614988e-02 9.98650284e-01 -2.56093742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07119381700002 meters Centerline goodness : 0.915264 Centerline is valid? [False, False] Translation: X:26.06, Y:-0.29, Z:-2.56 [[ 9.99486577e-01 3.08947594e-02 -8.49091859e-03 2.60601497e+01] [-3.04201709e-02 9.98221782e-01 5.12629276e-02 -2.91306210e-01] [ 1.00595757e-02 -5.09783129e-02 9.98649096e-01 -2.55983615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10119381700002 meters Centerline goodness : 0.914404 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.29, Z:-2.56 [[ 9.99656233e-01 2.53551948e-02 -6.67304867e-03 2.60435171e+01] [-2.48308368e-02 9.97273117e-01 6.94964776e-02 -2.93862533e-01] [ 8.41694877e-03 -6.93068897e-02 9.97559878e-01 -2.55629790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13119381700002 meters Centerline goodness : 0.915339 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.29, Z:-2.55 [[ 9.99699475e-01 2.36149834e-02 -6.57970450e-03 2.60417432e+01] [-2.31155413e-02 9.97434265e-01 6.77536638e-02 -2.92785847e-01] [ 8.16282437e-03 -6.75812087e-02 9.97680384e-01 -2.55412732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16119381700003 meters Centerline goodness : 0.916775 Centerline is valid? [False, False] Translation: X:26.02, Y:-0.29, Z:-2.55 [[ 9.99775607e-01 1.99983973e-02 -6.98567348e-03 2.60220989e+01] [-1.95544289e-02 9.98084255e-01 5.86979099e-02 -2.88710288e-01] [ 8.14615483e-03 -5.85481376e-02 9.98251349e-01 -2.55231493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19119381700003 meters Centerline goodness : 0.916219 Centerline is valid? [False, False] Translation: X:26.00, Y:-0.29, Z:-2.55 [[ 9.99827833e-01 1.77857873e-02 -5.28864713e-03 2.59983185e+01] [-1.74591865e-02 9.98252882e-01 5.64478593e-02 -2.89075419e-01] [ 6.28337686e-03 -5.63458054e-02 9.98391541e-01 -2.54978939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22119381700003 meters Centerline goodness : 0.916264 Centerline is valid? [False, False] Translation: X:25.99, Y:-0.29, Z:-2.55 [[ 9.99809799e-01 1.63628443e-02 -1.06124012e-02 2.59875433e+01] [-1.58765912e-02 9.98888133e-01 4.43895343e-02 -2.86086257e-01] [ 1.13269407e-02 -4.42126026e-02 9.98957930e-01 -2.54584472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25119381700003 meters Centerline goodness : 0.915461 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.28, Z:-2.55 [[ 9.99842020e-01 1.18863782e-02 -1.32154995e-02 2.59698269e+01] [-1.14209924e-02 9.99330783e-01 3.47497663e-02 -2.82545310e-01] [ 1.36197043e-02 -3.45933424e-02 9.99308663e-01 -2.54502133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28119381700003 meters Centerline goodness : 0.914955 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.28, Z:-2.55 [[ 9.99878129e-01 8.05282142e-03 -1.33746086e-02 2.59703966e+01] [-7.63822569e-03 9.99497437e-01 3.07657275e-02 -2.82241119e-01] [ 1.36156379e-02 -3.06598198e-02 9.99437137e-01 -2.54539783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31119381700003 meters Centerline goodness : 0.915153 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.28, Z:-2.55 [[ 9.99900042e-01 3.80018873e-03 -1.36185438e-02 2.59716063e+01] [-3.43630948e-03 9.99639082e-01 2.66439045e-02 -2.82153450e-01] [ 1.37148805e-02 -2.65944437e-02 9.99552219e-01 -2.54640363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34119381700003 meters Centerline goodness : 0.915067 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.28, Z:-2.55 [[ 9.99905189e-01 5.52806095e-05 -1.37698951e-02 2.59723500e+01] [ 2.54225770e-04 9.99747389e-01 2.24742679e-02 -2.80568139e-01] [ 1.37676591e-02 -2.24756378e-02 9.99652588e-01 -2.54688092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37119381700003 meters Centerline goodness : 0.915904 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.28, Z:-2.55 [[ 9.99901433e-01 -6.56135894e-04 -1.40247695e-02 2.59731397e+01] [ 9.66538760e-04 9.99754476e-01 2.21371691e-02 -2.80959858e-01] [ 1.40068011e-02 -2.21485426e-02 9.99656567e-01 -2.54729009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40119381700003 meters Centerline goodness : 0.915443 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.28, Z:-2.55 [[ 9.99890188e-01 -4.93138655e-03 -1.39747738e-02 2.59734179e+01] [ 5.17471328e-03 9.99834703e-01 1.74295218e-02 -2.79132121e-01] [ 1.38865121e-02 -1.74999233e-02 9.99750428e-01 -2.54769745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43119381700004 meters Centerline goodness : 0.916545 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.28, Z:-2.55 [[ 9.99883989e-01 -5.90515492e-03 -1.40405406e-02 2.59735120e+01] [ 6.13640236e-03 9.99845294e-01 1.64843449e-02 -2.77666247e-01] [ 1.39410259e-02 -1.65685910e-02 9.99765537e-01 -2.54763102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46119381700004 meters Centerline goodness : 0.917601 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.28, Z:-2.55 [[ 9.99877085e-01 -6.93894016e-03 -1.40593590e-02 2.59732987e+01] [ 7.15495233e-03 9.99856233e-01 1.53727004e-02 -2.75778076e-01] [ 1.39506675e-02 -1.54714049e-02 9.99782984e-01 -2.54728741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49119381700004 meters Centerline goodness : 0.918868 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.27, Z:-2.55 [[ 9.99869065e-01 -8.07877392e-03 -1.40209477e-02 2.59728680e+01] [ 8.27669095e-03 9.99866113e-01 1.41156622e-02 -2.73393178e-01] [ 1.39050332e-02 -1.42298610e-02 9.99802061e-01 -2.54680819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52119381700004 meters Centerline goodness : 0.921090 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.27, Z:-2.54 [[ 9.99853718e-01 -1.07856209e-02 -1.32745382e-02 2.59693496e+01] [ 1.09291869e-02 9.99882052e-01 1.07905445e-02 -2.68023539e-01] [ 1.31565898e-02 -1.09340459e-02 9.99853665e-01 -2.54393648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55119381700004 meters Centerline goodness : 0.922833 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.27, Z:-2.54 [[ 9.99843726e-01 -1.18670098e-02 -1.31033305e-02 2.59683162e+01] [ 1.19903288e-02 9.99884181e-01 9.37316207e-03 -2.65459893e-01] [ 1.29905815e-02 -9.52881053e-03 9.99870215e-01 -2.54294569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.581193817 meters Centerline goodness : 0.924778 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.26, Z:-2.54 [[ 9.99835897e-01 -1.25057104e-02 -1.31067558e-02 2.59681531e+01] [ 1.26188593e-02 9.99883516e-01 8.58601656e-03 -2.63584253e-01] [ 1.29978548e-02 -8.74999987e-03 9.99877239e-01 -2.54264558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.61119381700001 meters Centerline goodness : 0.924446 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.26, Z:-2.54 [[ 9.99828751e-01 -1.30568032e-02 -1.31144492e-02 2.59683397e+01] [ 1.31591232e-02 9.99883409e-01 7.74632713e-03 -2.61399708e-01] [ 1.30117779e-02 -7.91757523e-03 9.99883996e-01 -2.54281299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64119381700002 meters Centerline goodness : 0.924951 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.26, Z:-2.54 [[ 9.99817781e-01 -1.37534597e-02 -1.32380966e-02 2.59688422e+01] [ 1.38410066e-02 9.99882791e-01 6.54450766e-03 -2.58557237e-01] [ 1.31465353e-02 -6.72654371e-03 9.99890955e-01 -2.54305958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67119381700002 meters Centerline goodness : 0.927198 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.25, Z:-2.54 [[ 9.99849405e-01 -1.15794292e-02 -1.29260899e-02 2.59679891e+01] [ 1.16811139e-02 9.99901202e-01 7.81903854e-03 -2.52554256e-01] [ 1.28342728e-02 -7.96885216e-03 9.99885883e-01 -2.54280329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70119381700002 meters Centerline goodness : 0.926300 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.25, Z:-2.54 [[ 9.99878401e-01 -8.41066938e-03 -1.31317968e-02 2.59684545e+01] [ 8.55041211e-03 9.99907028e-01 1.06219251e-02 -2.49766022e-01] [ 1.30412384e-02 -1.07329157e-02 9.99857355e-01 -2.54298810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73119381700002 meters Centerline goodness : 0.927795 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.25, Z:-2.54 [[ 9.99894433e-01 -5.37868196e-03 -1.34978418e-02 2.59697474e+01] [ 5.55596445e-03 9.99898346e-01 1.31311907e-02 -2.46427384e-01] [ 1.34258411e-02 -1.32047980e-02 9.99822674e-01 -2.54379611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76119381700002 meters Centerline goodness : 0.927266 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.24, Z:-2.54 [[ 9.99902136e-01 -2.04421785e-03 -1.38397476e-02 2.59708487e+01] [ 2.26375039e-03 9.99871574e-01 1.58654287e-02 -2.42749696e-01] [ 1.38055378e-02 -1.58952057e-02 9.99778350e-01 -2.54441475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79119381700002 meters Centerline goodness : 0.924901 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.24, Z:-2.55 [[ 9.99891320e-01 3.98056681e-03 -1.41952132e-02 2.59726303e+01] [-3.68797028e-03 9.99781422e-01 2.05792809e-02 -2.35394232e-01] [ 1.42740276e-02 -2.05246928e-02 9.99687446e-01 -2.54573006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82119381700002 meters Centerline goodness : 0.924895 Centerline is valid? [False, False] Translation: X:25.96, Y:-0.23, Z:-2.54 [[ 9.99835692e-01 5.81575455e-03 -1.71687433e-02 2.59552279e+01] [-5.54149436e-03 9.99856972e-01 1.59789731e-02 -2.28042707e-01] [ 1.72592175e-02 -1.58812072e-02 9.99724916e-01 -2.54444012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85119381700002 meters Centerline goodness : 0.925689 Centerline is valid? [False, False] Translation: X:25.96, Y:-0.22, Z:-2.54 [[ 9.99808890e-01 9.00068625e-03 -1.73542814e-02 2.59555853e+01] [-8.67788750e-03 9.99789587e-01 1.85869595e-02 -2.24748195e-01] [ 1.75179252e-02 -1.84328089e-02 9.99676625e-01 -2.54440258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88119381700002 meters Centerline goodness : 0.926639 Centerline is valid? [False, False] Translation: X:25.96, Y:-0.22, Z:-2.54 [[ 9.99778404e-01 1.19184916e-02 -1.73520105e-02 2.59554605e+01] [-1.15535127e-02 9.99713047e-01 2.09842577e-02 -2.21314232e-01] [ 1.75971320e-02 -2.07791310e-02 9.99629216e-01 -2.54414950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91119381700003 meters Centerline goodness : 0.929439 Centerline is valid? [False, False] Translation: X:25.95, Y:-0.21, Z:-2.54 [[ 9.99754292e-01 1.41755601e-02 -1.70413691e-02 2.59538348e+01] [-1.38108686e-02 9.99677075e-01 2.13308755e-02 -2.12382398e-01] [ 1.73382431e-02 -2.10902783e-02 9.99627223e-01 -2.54244298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94119381700003 meters Centerline goodness : 0.928366 Centerline is valid? [False, False] Translation: X:25.95, Y:-0.21, Z:-2.54 [[ 9.99723685e-01 1.62724611e-02 -1.69634928e-02 2.59528506e+01] [-1.58809461e-02 9.99610136e-01 2.29645564e-02 -2.08159615e-01] [ 1.73305692e-02 -2.26888146e-02 9.99592351e-01 -2.54141848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97119381700003 meters Centerline goodness : 0.928366 Centerline is valid? [False, False] Translation: X:25.95, Y:-0.21, Z:-2.54 [[ 9.99723812e-01 1.61967778e-02 -1.70283090e-02 2.59528754e+01] [-1.58061204e-02 9.99614377e-01 2.28312157e-02 -2.07620913e-01] [ 1.73915346e-02 -2.25557585e-02 9.99594304e-01 -2.54128585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00119381700003 meters Centerline goodness : 0.930226 Centerline is valid? [False, False] Translation: X:25.95, Y:-0.20, Z:-2.54 [[ 9.99716535e-01 1.68955946e-02 -1.67746561e-02 2.59515199e+01] [-1.65080507e-02 9.99599652e-01 2.29786704e-02 -2.02873085e-01] [ 1.71561787e-02 -2.26952398e-02 9.99595214e-01 -2.54025773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03119381700003 meters Centerline goodness : 0.928109 Centerline is valid? [False, False] Translation: X:25.95, Y:-0.20, Z:-2.54 [[ 9.99730990e-01 1.59002531e-02 -1.68857596e-02 2.59514637e+01] [-1.55423939e-02 9.99656198e-01 2.11168287e-02 -1.97744622e-01] [ 1.72157171e-02 -2.08487030e-02 9.99634409e-01 -2.53981520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06119381700003 meters Centerline goodness : 0.928079 Centerline is valid? [False, False] Translation: X:25.95, Y:-0.19, Z:-2.54 [[ 9.99768674e-01 1.33119604e-02 -1.68934842e-02 2.59509314e+01] [-1.30200498e-02 9.99766027e-01 1.72733926e-02 -1.89397186e-01] [ 1.71194743e-02 -1.70494428e-02 9.99708077e-01 -2.53899528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09119381700003 meters Centerline goodness : 0.930524 Centerline is valid? [False, False] Translation: X:25.95, Y:-0.19, Z:-2.54 [[ 9.99779202e-01 1.23870664e-02 -1.69737220e-02 2.59511726e+01] [-1.21206012e-02 9.99803082e-01 1.57126501e-02 -1.85648219e-01] [ 1.71650132e-02 -1.55034491e-02 9.99732467e-01 -2.53902687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12119381700003 meters Centerline goodness : 0.928072 Centerline is valid? [False, False] Translation: X:25.95, Y:-0.18, Z:-2.54 [[ 9.99785350e-01 1.16431591e-02 -1.71374264e-02 2.59515928e+01] [-1.13997736e-02 9.99833737e-01 1.42318115e-02 -1.82004631e-01] [ 1.73002803e-02 -1.40333938e-02 9.99751851e-01 -2.53910332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15119381700003 meters Centerline goodness : 0.928075 Centerline is valid? [False, False] Translation: X:25.95, Y:-0.18, Z:-2.54 [[ 9.99789136e-01 1.09745716e-02 -1.73563118e-02 2.59520947e+01] [-1.07548141e-02 9.99861454e-01 1.27045912e-02 -1.78001824e-01] [ 1.74933346e-02 -1.25152484e-02 9.99768649e-01 -2.53910376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18119381700004 meters Centerline goodness : 0.930606 Centerline is valid? [False, False] Translation: X:25.95, Y:-0.17, Z:-2.54 [[ 9.99759924e-01 1.34260112e-02 -1.73157819e-02 2.59521517e+01] [-1.31914319e-02 9.99820620e-01 1.35909472e-02 -1.69903039e-01] [ 1.74951480e-02 -1.33592644e-02 9.99757696e-01 -2.53895821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21119381700004 meters Centerline goodness : 0.929029 Centerline is valid? [False, False] Translation: X:25.95, Y:-0.17, Z:-2.54 [[ 9.99708849e-01 1.67399062e-02 -1.73779157e-02 2.59524805e+01] [-1.64575024e-02 9.99732207e-01 1.62684968e-02 -1.66360721e-01] [ 1.76455951e-02 -1.59777631e-02 9.99716632e-01 -2.53910974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24119381700004 meters Centerline goodness : 0.931791 Centerline is valid? [False, False] Translation: X:25.95, Y:-0.16, Z:-2.54 [[ 9.99648058e-01 2.00042283e-02 -1.74238850e-02 2.59526181e+01] [-1.96731327e-02 9.99626466e-01 1.89709223e-02 -1.63312667e-01] [ 1.77968753e-02 -1.86214632e-02 9.99668201e-01 -2.53902495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27119381700004 meters Centerline goodness : 0.929926 Centerline is valid? [False, False] Translation: X:25.95, Y:-0.16, Z:-2.54 [[ 9.99640767e-01 2.00579127e-02 -1.77768433e-02 2.59535057e+01] [-1.97400404e-02 9.99645257e-01 1.78799031e-02 -1.59403804e-01] [ 1.81291706e-02 -1.75225645e-02 9.99682096e-01 -2.53908519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30119381700004 meters Centerline goodness : 0.928425 Centerline is valid? [False, False] Translation: X:25.95, Y:-0.16, Z:-2.54 [[ 9.99559556e-01 2.36714143e-02 -1.78985718e-02 2.59538658e+01] [-2.33069011e-02 9.99522093e-01 2.03069761e-02 -1.55119561e-01] [ 1.83707128e-02 -1.98808718e-02 9.99633567e-01 -2.53900879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.331193817 meters Centerline goodness : 0.927141 Centerline is valid? [False, False] Translation: X:25.96, Y:-0.15, Z:-2.54 [[ 9.99479672e-01 2.64673598e-02 -1.84354141e-02 2.59566284e+01] [-2.60466135e-02 9.99402948e-01 2.27006935e-02 -1.53310993e-01] [ 1.90252346e-02 -2.22087016e-02 9.99572316e-01 -2.54100130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36119381700001 meters Centerline goodness : 0.926297 Centerline is valid? [False, False] Translation: X:25.96, Y:-0.15, Z:-2.54 [[ 9.99438238e-01 2.75248652e-02 -1.91204182e-02 2.59593061e+01] [-2.70834851e-02 9.99369190e-01 2.29718641e-02 -1.50728419e-01] [ 1.97406543e-02 -2.24411118e-02 9.99553252e-01 -2.54240318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.39119381700002 meters Centerline goodness : 0.927111 Centerline is valid? [False, False] Translation: X:25.96, Y:-0.15, Z:-2.54 [[ 9.99385742e-01 2.88501435e-02 -1.98949404e-02 2.59623666e+01] [-2.83836987e-02 9.99324525e-01 2.33422247e-02 -1.48306217e-01] [ 2.05549284e-02 -2.27631945e-02 9.99529555e-01 -2.54416531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42119381700002 meters Centerline goodness : 0.923511 Centerline is valid? [False, False] Translation: X:25.96, Y:-0.15, Z:-2.55 [[ 9.99271228e-01 3.24998980e-02 -2.00192333e-02 2.59635930e+01] [-3.19662172e-02 9.99139564e-01 2.64252270e-02 -1.45346304e-01] [ 2.08608252e-02 -2.57660299e-02 9.99450318e-01 -2.54513587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45119381700002 meters Centerline goodness : 0.921480 Centerline is valid? [False, False] Translation: X:25.96, Y:-0.14, Z:-2.55 [[ 9.99267952e-01 3.23291944e-02 -2.04544102e-02 2.59644796e+01] [-3.17948717e-02 9.99158013e-01 2.59297328e-02 -1.44054046e-01] [ 2.12754752e-02 -2.52604057e-02 9.99454484e-01 -2.54521552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48119381700002 meters Centerline goodness : 0.922333 Centerline is valid? [False, False] Translation: X:25.98, Y:-0.14, Z:-2.55 [[ 9.99431658e-01 2.79981749e-02 -1.87740202e-02 2.59834721e+01] [-2.75357105e-02 9.99321635e-01 2.44551352e-02 -1.43068820e-01] [ 1.94459838e-02 -2.39242803e-02 9.99524628e-01 -2.54525886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51119381700002 meters Centerline goodness : 0.920047 Centerline is valid? [False, False] Translation: X:25.98, Y:-0.14, Z:-2.54 [[ 9.99524184e-01 2.40198641e-02 -1.93507323e-02 2.59842314e+01] [-2.36313924e-02 9.99519464e-01 2.00598810e-02 -1.41504804e-01] [ 1.98232692e-02 -1.95930515e-02 9.99611500e-01 -2.54485644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54119381700002 meters Centerline goodness : 0.919864 Centerline is valid? [False, False] Translation: X:26.01, Y:-0.14, Z:-2.55 [[ 9.99758932e-01 1.53051114e-02 -1.57426939e-02 2.60061779e+01] [-1.48244095e-02 9.99433598e-01 3.02112696e-02 -1.42770611e-01] [ 1.61961640e-02 -2.99706105e-02 9.99419555e-01 -2.54655534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57119381700002 meters Centerline goodness : 0.921455 Centerline is valid? [False, False] Translation: X:26.02, Y:-0.14, Z:-2.55 [[ 9.99838208e-01 1.29428994e-02 -1.24915551e-02 2.60237647e+01] [-1.25198591e-02 9.99364648e-01 3.33699526e-02 -1.43709332e-01] [ 1.29155226e-02 -3.32081611e-02 9.99365002e-01 -2.54836302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60119381700002 meters Centerline goodness : 0.921895 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.15, Z:-2.55 [[ 9.99907542e-01 1.11681485e-02 -7.75762932e-03 2.60358107e+01] [-1.08313028e-02 9.99051134e-01 4.21842869e-02 -1.45697470e-01] [ 8.22138875e-03 -4.20963614e-02 9.99079729e-01 -2.55228005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63119381700002 meters Centerline goodness : 0.923367 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.14, Z:-2.55 [[ 9.99908740e-01 1.06790132e-02 -8.27472182e-03 2.60367465e+01] [-1.03262007e-02 9.99082356e-01 4.15670052e-02 -1.44974463e-01] [ 8.71102317e-03 -4.14777654e-02 9.99101453e-01 -2.55219269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66119381700003 meters Centerline goodness : 0.921542 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.14, Z:-2.55 [[ 9.99938158e-01 6.52056404e-03 -9.00896435e-03 2.60385665e+01] [-6.18408001e-03 9.99300347e-01 3.68859629e-02 -1.43749692e-01] [ 9.24317848e-03 -3.68279697e-02 9.99278872e-01 -2.55289157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69119381700003 meters Centerline goodness : 0.922238 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.14, Z:-2.55 [[ 9.99942750e-01 5.69997943e-03 -9.05581003e-03 2.60387497e+01] [-5.36819699e-03 9.99328381e-01 3.62487231e-02 -1.43304443e-01] [ 9.25634495e-03 -3.61980344e-02 9.99301767e-01 -2.55313990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72119381700003 meters Centerline goodness : 0.923816 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.14, Z:-2.55 [[ 9.99954941e-01 1.48303396e-03 -9.37640308e-03 2.60391262e+01] [-1.18861517e-03 9.99508453e-01 3.13279364e-02 -1.40224572e-01] [ 9.41825453e-03 -3.13153799e-02 9.99465179e-01 -2.55267059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75119381700003 meters Centerline goodness : 0.922968 Centerline is valid? [False, False] Translation: X:26.01, Y:-0.14, Z:-2.56 [[ 9.99973906e-01 1.37016209e-03 -7.09290264e-03 2.60132267e+01] [-1.13169335e-03 9.99437531e-01 3.35162645e-02 -1.38341385e-01] [ 7.13483582e-03 -3.35073629e-02 9.99413003e-01 -2.55571881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78119381700003 meters Centerline goodness : 0.923218 Centerline is valid? [False, False] Translation: X:26.01, Y:-0.13, Z:-2.56 [[ 9.99969469e-01 -2.59444523e-03 -7.37085035e-03 2.60135758e+01] [ 2.80394181e-03 9.99588273e-01 2.85556170e-02 -1.34875686e-01] [ 7.29372959e-03 -2.85754126e-02 9.99565029e-01 -2.55514275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81119381700003 meters Centerline goodness : 0.923575 Centerline is valid? [False, False] Translation: X:25.99, Y:-0.13, Z:-2.55 [[ 9.99968490e-01 -1.98291055e-03 -7.68681254e-03 2.59932995e+01] [ 2.15922709e-03 9.99733190e-01 2.29975120e-02 -1.29543012e-01] [ 7.63915961e-03 -2.30133849e-02 9.99705970e-01 -2.55366265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84119381700003 meters Centerline goodness : 0.923435 Centerline is valid? [False, False] Translation: X:25.99, Y:-0.13, Z:-2.55 [[ 9.99972061e-01 -4.97430805e-05 -7.47493828e-03 2.59917472e+01] [ 2.37061282e-04 9.99685903e-01 2.50607023e-02 -1.28303646e-01] [ 7.47134383e-03 -2.50617741e-02 9.99657985e-01 -2.55248418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87119381700003 meters Centerline goodness : 0.922384 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.12, Z:-2.55 [[ 9.99978388e-01 1.79350482e-03 -6.32502479e-03 2.59707320e+01] [-1.65828369e-03 9.99771337e-01 2.13195786e-02 -1.24506595e-01] [ 6.36181526e-03 -2.13086291e-02 9.99752704e-01 -2.55156313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90119381700003 meters Centerline goodness : 0.922458 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.12, Z:-2.55 [[ 9.99973804e-01 4.05192813e-03 -5.99779177e-03 2.59690306e+01] [-3.90940434e-03 9.99714152e-01 2.35866762e-02 -1.23258453e-01] [ 6.09164883e-03 -2.35626106e-02 9.99703804e-01 -2.55032951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93119381700004 meters Centerline goodness : 0.922561 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.12, Z:-2.55 [[ 9.99955472e-01 7.36153995e-03 -5.90430888e-03 2.59689235e+01] [-7.20373687e-03 9.99627694e-01 2.63168989e-02 -1.20259324e-01] [ 6.09584358e-03 -2.62731939e-02 9.99636214e-01 -2.55040879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96119381700004 meters Centerline goodness : 0.920525 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.12, Z:-2.55 [[ 9.99928769e-01 1.03498971e-02 -5.94447624e-03 2.59690120e+01] [-1.01711273e-02 9.99517307e-01 2.93547315e-02 -1.18778793e-01] [ 6.24542534e-03 -2.92921785e-02 9.99551381e-01 -2.55059479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99119381700004 meters Centerline goodness : 0.922755 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.12, Z:-2.55 [[ 9.99929694e-01 1.01012351e-02 -6.21064311e-03 2.59696653e+01] [-9.92062247e-03 9.99545850e-01 2.84548055e-02 -1.16164346e-01] [ 6.49525123e-03 -2.83911915e-02 9.99575786e-01 -2.55069664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02119381700004 meters Centerline goodness : 0.921155 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.11, Z:-2.55 [[ 9.99929972e-01 9.96290823e-03 -6.38689196e-03 2.59704195e+01] [-9.78658195e-03 9.99585673e-01 2.70685221e-02 -1.12351219e-01] [ 6.65392690e-03 -2.70041207e-02 9.99613177e-01 -2.55120455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05119381700004 meters Centerline goodness : 0.921886 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.11, Z:-2.55 [[ 9.99929111e-01 9.77751423e-03 -6.79508130e-03 2.59713606e+01] [-9.59723712e-03 9.99613916e-01 2.60751129e-02 -1.09568175e-01] [ 7.04740762e-03 -2.60080505e-02 9.99636892e-01 -2.55139861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.081193817 meters Centerline goodness : 0.921863 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.11, Z:-2.55 [[ 9.99925934e-01 9.81377873e-03 -7.19837660e-03 2.59726371e+01] [-9.62972875e-03 9.99636750e-01 2.51721156e-02 -1.06342185e-01] [ 7.44279537e-03 -2.51009328e-02 9.99657215e-01 -2.55198259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.11119381700001 meters Centerline goodness : 0.920866 Centerline is valid? [False, False] Translation: X:25.98, Y:-0.10, Z:-2.55 [[ 9.99909185e-01 1.09760502e-02 -7.81967079e-03 2.59753581e+01] [-1.07736144e-02 9.99617376e-01 2.54760806e-02 -1.03383451e-01] [ 8.09630554e-03 -2.53895208e-02 9.99644848e-01 -2.55355538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14119381700002 meters Centerline goodness : 0.923122 Centerline is valid? [False, False] Translation: X:25.98, Y:-0.10, Z:-2.55 [[ 9.99841420e-01 1.58662053e-02 -8.08690517e-03 2.59768802e+01] [-1.56285158e-02 9.99467233e-01 2.86530926e-02 -9.76977830e-02] [ 8.53721258e-03 -2.85221625e-02 9.99556703e-01 -2.55420745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17119381700002 meters Centerline goodness : 0.923647 Centerline is valid? [False, False] Translation: X:25.98, Y:-0.09, Z:-2.55 [[ 9.99822354e-01 1.68234572e-02 -8.49887354e-03 2.59783201e+01] [-1.65772401e-02 9.99463291e-01 2.82546445e-02 -9.36429741e-02] [ 8.96965292e-03 -2.81087373e-02 9.99564627e-01 -2.55451756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20119381700002 meters Centerline goodness : 0.924671 Centerline is valid? [False, False] Translation: X:25.98, Y:-0.09, Z:-2.55 [[ 9.99805958e-01 1.76593615e-02 -8.72885439e-03 2.59790584e+01] [-1.74116637e-02 9.99465131e-01 2.76818666e-02 -8.93764952e-02] [ 9.21302968e-03 -2.75245112e-02 9.99578672e-01 -2.55428412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23119381700002 meters Centerline goodness : 0.926286 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.08, Z:-2.55 [[ 9.99702968e-01 2.40085213e-02 -4.19133846e-03 2.59724796e+01] [-2.38809385e-02 9.99316518e-01 2.82169670e-02 -8.26262783e-02] [ 4.86592141e-03 -2.81084925e-02 9.99593035e-01 -2.55329614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26119381700002 meters Centerline goodness : 0.929090 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.08, Z:-2.55 [[ 9.99694551e-01 2.43009549e-02 -4.50208461e-03 2.59730460e+01] [-2.41689309e-02 9.99333261e-01 2.73659798e-02 -7.94785412e-02] [ 5.16410234e-03 -2.72488103e-02 9.99615343e-01 -2.55292918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29119381700002 meters Centerline goodness : 0.929887 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.08, Z:-2.55 [[ 9.99680721e-01 2.47943308e-02 -4.86799541e-03 2.59741005e+01] [-2.46539298e-02 9.99330107e-01 2.70466425e-02 -7.75973912e-02] [ 5.53533778e-03 -2.69179919e-02 9.99622320e-01 -2.55311719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32119381700002 meters Centerline goodness : 0.931823 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.08, Z:-2.55 [[ 9.99677621e-01 2.48662682e-02 -5.13063826e-03 2.59748355e+01] [-2.47214405e-02 9.99340789e-01 2.65864212e-02 -7.61641702e-02] [ 5.78836116e-03 -2.64510135e-02 9.99633352e-01 -2.55332154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35119381700002 meters Centerline goodness : 0.932259 Centerline is valid? [False, False] Translation: X:25.97, Y:-0.07, Z:-2.55 [[ 9.99683192e-01 2.46360155e-02 -5.15585375e-03 2.59744424e+01] [-2.44949111e-02 9.99365871e-01 2.58428896e-02 -7.40787876e-02] [ 5.78925010e-03 -2.57084102e-02 9.99652721e-01 -2.55258372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38119381700002 meters Centerline goodness : 0.932988 Centerline is valid? [False, False] Translation: X:25.98, Y:-0.07, Z:-2.55 [[ 9.99759866e-01 2.11851680e-02 -5.60339476e-03 2.59750769e+01] [-2.10586409e-02 9.99541632e-01 2.17499233e-02 -7.27232224e-02] [ 6.06160212e-03 -2.16267005e-02 9.99747740e-01 -2.55214027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41119381700003 meters Centerline goodness : 0.935517 Centerline is valid? [False, False] Translation: X:25.98, Y:-0.07, Z:-2.55 [[ 9.99835729e-01 1.71554497e-02 -5.84847926e-03 2.59751050e+01] [-1.70501765e-02 9.99699751e-01 1.75982776e-02 -7.27540281e-02] [ 6.14862963e-03 -1.74956691e-02 9.99828033e-01 -2.55161451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44119381700003 meters Centerline goodness : 0.933452 Centerline is valid? [False, False] Translation: X:25.99, Y:-0.08, Z:-2.55 [[ 9.99922440e-01 1.21190297e-02 -2.87104367e-03 2.59919990e+01] [-1.20635399e-02 9.99753952e-01 1.86146733e-02 -7.60437638e-02] [ 3.09592904e-03 -1.85785946e-02 9.99822610e-01 -2.55252614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47119381700003 meters Centerline goodness : 0.936273 Centerline is valid? [False, False] Translation: X:26.01, Y:-0.08, Z:-2.55 [[ 9.99972349e-01 7.43073415e-03 2.91706827e-04 2.60090069e+01] [-7.43518609e-03 9.99757238e-01 2.07408457e-02 -8.00090550e-02] [-1.37516301e-04 -2.07424411e-02 9.99784843e-01 -2.55399606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50119381700003 meters Centerline goodness : 0.936213 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.09, Z:-2.56 [[ 9.99997820e-01 -3.87476818e-04 2.05184433e-03 2.60421941e+01] [ 3.28550114e-04 9.99589687e-01 2.86417604e-02 -8.82140868e-02] [-2.06210045e-03 -2.86410238e-02 9.99587635e-01 -2.55702304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53119381700003 meters Centerline goodness : 0.936329 Centerline is valid? [False, False] Translation: X:26.04, Y:-0.09, Z:-2.56 [[ 9.99991566e-01 -3.78457438e-03 1.59555204e-03 2.60439005e+01] [ 3.74242150e-03 9.99664179e-01 2.56422260e-02 -9.05710467e-02] [-1.69206113e-03 -2.56360385e-02 9.99669911e-01 -2.55795517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56119381700003 meters Centerline goodness : 0.935840 Centerline is valid? [False, False] Translation: X:26.07, Y:-0.10, Z:-2.56 [[ 9.99968427e-01 -7.88826142e-03 9.59547372e-04 2.60726129e+01] [ 7.84330008e-03 9.99160368e-01 4.02124492e-02 -9.76603714e-02] [-1.27594802e-03 -4.02036536e-02 9.99190692e-01 -2.56157455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59119381700003 meters Centerline goodness : 0.937500 Centerline is valid? [False, False] Translation: X:26.09, Y:-0.10, Z:-2.57 [[ 9.99954599e-01 -9.12626757e-03 2.74069608e-03 2.60919510e+01] [ 8.98957849e-03 9.98886446e-01 4.63147390e-02 -1.02553695e-01] [-3.16032487e-03 -4.62879985e-02 9.98923137e-01 -2.56528084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62119381700003 meters Centerline goodness : 0.937932 Centerline is valid? [False, False] Translation: X:26.09, Y:-0.10, Z:-2.56 [[ 9.99955882e-01 -8.99736375e-03 2.69839682e-03 2.60916597e+01] [ 8.86234272e-03 9.98881211e-01 4.64519761e-02 -1.02861301e-01] [-3.11332321e-03 -4.64260126e-02 9.98916880e-01 -2.56458577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65119381700003 meters Centerline goodness : 0.940762 Centerline is valid? [False, False] Translation: X:26.09, Y:-0.10, Z:-2.56 [[ 9.99960135e-01 -8.63144443e-03 2.28628560e-03 2.60924676e+01] [ 8.51599680e-03 9.98885021e-01 4.64348125e-02 -1.02021922e-01] [-2.68453594e-03 -4.64134913e-02 9.98918706e-01 -2.56448706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68119381700004 meters Centerline goodness : 0.938823 Centerline is valid? [False, False] Translation: X:26.09, Y:-0.10, Z:-2.56 [[ 9.99962995e-01 -8.38628433e-03 1.91780291e-03 2.60935174e+01] [ 8.28847289e-03 9.98892351e-01 4.63181589e-02 -1.01499152e-01] [-2.30411591e-03 -4.63005493e-02 9.98924897e-01 -2.56482839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71119381700004 meters Centerline goodness : 0.939798 Centerline is valid? [False, False] Translation: X:26.10, Y:-0.10, Z:-2.56 [[ 9.99969570e-01 -7.53139190e-03 2.03413460e-03 2.61017899e+01] [ 7.44891511e-03 9.99253943e-01 3.78955327e-02 -1.00104893e-01] [-2.31802313e-03 -3.78792274e-02 9.99279636e-01 -2.56260778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74119381700004 meters Centerline goodness : 0.940461 Centerline is valid? [False, False] Translation: X:26.10, Y:-0.10, Z:-2.56 [[ 9.99973952e-01 -6.99169981e-03 1.79224385e-03 2.61028452e+01] [ 6.91835383e-03 9.99250023e-01 3.80989278e-02 -1.00345675e-01] [-2.05727598e-03 -3.80855360e-02 9.99272365e-01 -2.56329335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77119381700004 meters Centerline goodness : 0.941015 Centerline is valid? [False, False] Translation: X:26.10, Y:-0.10, Z:-2.56 [[ 9.99974429e-01 -6.97727976e-03 1.56807532e-03 2.61032664e+01] [ 6.91284808e-03 9.99257654e-01 3.78992579e-02 -9.99281415e-02] [-1.83134499e-03 -3.78874489e-02 9.99280335e-01 -2.56325996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80119381700004 meters Centerline goodness : 0.941270 Centerline is valid? [False, False] Translation: X:26.10, Y:-0.10, Z:-2.56 [[ 9.99948676e-01 -1.00767949e-02 1.05071918e-03 2.61044547e+01] [ 1.00354103e-02 9.99375314e-01 3.38861538e-02 -9.76978612e-02] [-1.39152664e-03 -3.38738702e-02 9.99425147e-01 -2.56317314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.831193817 meters Centerline goodness : 0.942166 Centerline is valid? [False, False] Translation: X:26.11, Y:-0.10, Z:-2.56 [[ 9.99908010e-01 -1.35462455e-02 6.85577811e-04 2.61052584e+01] [ 1.35197526e-02 9.99463031e-01 2.98473692e-02 -9.62715184e-02] [-1.08952947e-03 -2.98353547e-02 9.99554233e-01 -2.56295723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86119381700001 meters Centerline goodness : 0.943127 Centerline is valid? [False, False] Translation: X:26.11, Y:-0.10, Z:-2.56 [[ 9.99876244e-01 -1.57319610e-02 4.92458068e-05 2.61078273e+01] [ 1.57247830e-02 9.99505291e-01 2.72379216e-02 -9.51653649e-02] [-4.77727366e-04 -2.72337764e-02 9.99628978e-01 -2.56430558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.89119381700002 meters Centerline goodness : 0.943127 Centerline is valid? [False, False] Translation: X:26.11, Y:-0.10, Z:-2.56 [[ 9.99876244e-01 -1.57319610e-02 4.92458068e-05 2.61078273e+01] [ 1.57247830e-02 9.99505291e-01 2.72379216e-02 -9.51653649e-02] [-4.77727366e-04 -2.72337764e-02 9.99628978e-01 -2.56430558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92119381700002 meters Centerline goodness : 0.941974 Centerline is valid? [False, False] Translation: X:26.11, Y:-0.10, Z:-2.56 [[ 9.99876660e-01 -1.57035109e-02 -2.54095344e-04 2.61088004e+01] [ 1.57045951e-02 9.99504024e-01 2.72960129e-02 -9.52120520e-02] [-1.74673918e-04 -2.72966367e-02 9.99627362e-01 -2.56477314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95119381700002 meters Centerline goodness : 0.940322 Centerline is valid? [False, False] Translation: X:26.11, Y:-0.10, Z:-2.57 [[ 9.99896672e-01 -1.43522840e-02 -8.10586717e-04 2.61105314e+01] [ 1.43694895e-02 9.99495346e-01 2.83296782e-02 -9.61272081e-02] [ 4.03582063e-04 -2.83383987e-02 9.99598305e-01 -2.56544513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98119381700002 meters Centerline goodness : 0.941319 Centerline is valid? [False, False] Translation: X:26.11, Y:-0.10, Z:-2.57 [[ 9.99907707e-01 -1.35286629e-02 -1.24612225e-03 2.61115968e+01] [ 1.35588465e-02 9.99496592e-01 2.86831101e-02 -9.60348739e-02] [ 8.57450812e-04 -2.86973588e-02 9.99587778e-01 -2.56559211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01119381700002 meters Centerline goodness : 0.942061 Centerline is valid? [False, False] Translation: X:26.11, Y:-0.10, Z:-2.57 [[ 9.99920281e-01 -1.25145078e-02 -1.67895183e-03 2.61126172e+01] [ 1.25581158e-02 9.99496806e-01 2.91277946e-02 -9.57137387e-02] [ 1.31358698e-03 -2.91465570e-02 9.99574286e-01 -2.56562399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04119381700002 meters Centerline goodness : 0.941964 Centerline is valid? [False, False] Translation: X:26.11, Y:-0.10, Z:-2.57 [[ 9.99933297e-01 -1.13662128e-02 -2.05198718e-03 2.61137435e+01] [ 1.14220305e-02 9.99495885e-01 2.96228312e-02 -9.52075401e-02] [ 1.71425334e-03 -2.96442931e-02 9.99559041e-01 -2.56591773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07119381700002 meters Centerline goodness : 0.938907 Centerline is valid? [False, False] Translation: X:26.11, Y:-0.09, Z:-2.56 [[ 9.99974906e-01 -2.36868930e-03 -6.67655079e-03 2.61099874e+01] [ 2.51676292e-03 9.99749098e-01 2.22577169e-02 -9.45640113e-02] [ 6.62215401e-03 -2.22739617e-02 9.99729972e-01 -2.56298337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10119381700002 meters Centerline goodness : 0.939117 Centerline is valid? [False, False] Translation: X:26.11, Y:-0.09, Z:-2.56 [[ 9.99974287e-01 -8.35180301e-04 -7.12234685e-03 2.61117577e+01] [ 1.00116834e-03 9.99727233e-01 2.33336154e-02 -9.48499748e-02] [ 7.10091633e-03 -2.33401461e-02 9.99702363e-01 -2.56389466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13119381700002 meters Centerline goodness : 0.937948 Centerline is valid? [False, False] Translation: X:26.11, Y:-0.10, Z:-2.56 [[ 9.99969803e-01 6.91532360e-04 -7.74048978e-03 2.61136675e+01] [-5.01381201e-04 9.99698703e-01 2.45408169e-02 -9.59333203e-02] [ 7.75512836e-03 -2.45361949e-02 9.99668862e-01 -2.56461212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16119381700003 meters Centerline goodness : 0.939640 Centerline is valid? [False, False] Translation: X:26.12, Y:-0.10, Z:-2.57 [[ 9.99964263e-01 1.96631723e-03 -8.22232564e-03 2.61152800e+01] [-1.75438384e-03 9.99668068e-01 2.57036051e-02 -9.75730857e-02] [ 8.27013783e-03 -2.56882615e-02 9.99635793e-01 -2.56531456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19119381700003 meters Centerline goodness : 0.937793 Centerline is valid? [False, False] Translation: X:26.12, Y:-0.10, Z:-2.57 [[ 9.99955065e-01 3.80565636e-03 -8.68250025e-03 2.61165883e+01] [-3.56171304e-03 9.99603242e-01 2.79405054e-02 -1.02972941e-01] [ 8.78538736e-03 -2.79083253e-02 9.99571880e-01 -2.56565038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22119381700003 meters Centerline goodness : 0.937014 Centerline is valid? [False, False] Translation: X:26.12, Y:-0.10, Z:-2.57 [[ 9.99954413e-01 1.63938647e-03 -9.40664551e-03 2.61185050e+01] [-1.40017980e-03 9.99676895e-01 2.53800160e-02 -1.04592635e-01] [ 9.44521383e-03 -2.53656880e-02 9.99633618e-01 -2.56596149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25119381700003 meters Centerline goodness : 0.938751 Centerline is valid? [False, False] Translation: X:26.12, Y:-0.11, Z:-2.57 [[ 9.99948831e-01 -8.99347042e-04 -1.00759953e-02 2.61200441e+01] [ 1.12902611e-03 9.99739130e-01 2.28122283e-02 -1.06877700e-01] [ 1.00528507e-02 -2.28224371e-02 9.99688990e-01 -2.56597911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28119381700003 meters Centerline goodness : 0.939071 Centerline is valid? [False, False] Translation: X:26.12, Y:-0.11, Z:-2.57 [[ 9.99937276e-01 -3.77878929e-03 -1.05434846e-02 2.61211587e+01] [ 3.99108928e-03 9.99788239e-01 2.01878083e-02 -1.09661328e-01] [ 1.04649664e-02 -2.02286221e-02 9.99740610e-01 -2.56598448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31119381700003 meters Centerline goodness : 0.936895 Centerline is valid? [False, False] Translation: X:26.12, Y:-0.11, Z:-2.57 [[ 9.99916220e-01 -6.93978427e-03 -1.09266381e-02 2.61218787e+01] [ 7.13071599e-03 9.99820856e-01 1.75330720e-02 -1.13029904e-01] [ 1.08030049e-02 -1.76095178e-02 9.99786577e-01 -2.56566482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34119381700003 meters Centerline goodness : 0.936389 Centerline is valid? [False, False] Translation: X:26.14, Y:-0.13, Z:-2.57 [[ 9.99903042e-01 -1.24905604e-02 -6.15573904e-03 2.61359589e+01] [ 1.26162054e-02 9.99703773e-01 2.08133821e-02 -1.25515431e-01] [ 5.89394474e-03 -2.08890262e-02 9.99764427e-01 -2.56752273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37119381700003 meters Centerline goodness : 0.937967 Centerline is valid? [False, False] Translation: X:26.14, Y:-0.13, Z:-2.57 [[ 9.99852502e-01 -1.59190633e-02 -6.44646167e-03 2.61369028e+01] [ 1.60352465e-02 9.99702275e-01 1.83910951e-02 -1.30777150e-01] [ 6.15177339e-03 -1.84917531e-02 9.99810087e-01 -2.56774249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40119381700003 meters Centerline goodness : 0.938432 Centerline is valid? [False, False] Translation: X:26.14, Y:-0.14, Z:-2.57 [[ 9.99799371e-01 -1.87856578e-02 -6.95105242e-03 2.61388482e+01] [ 1.88980962e-02 9.99685586e-01 1.64800061e-02 -1.36142300e-01] [ 6.63927916e-03 -1.66080613e-02 9.99840033e-01 -2.56866550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43119381700004 meters Centerline goodness : 0.938746 Centerline is valid? [False, False] Translation: X:26.14, Y:-0.14, Z:-2.57 [[ 9.99740761e-01 -2.14625495e-02 -7.60069504e-03 2.61415793e+01] [ 2.15725831e-02 9.99659158e-01 1.47034529e-02 -1.41094067e-01] [ 7.28253081e-03 -1.48636078e-02 9.99863010e-01 -2.57008461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46119381700004 meters Centerline goodness : 0.936361 Centerline is valid? [False, False] Translation: X:26.18, Y:-0.15, Z:-2.58 [[ 9.99632602e-01 -2.60398871e-02 -7.52231258e-03 2.61781221e+01] [ 2.62274522e-02 9.99317399e-01 2.60164719e-02 -1.54879488e-01] [ 6.83971185e-03 -2.62042046e-02 9.99633212e-01 -2.57553312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49119381700004 meters Centerline goodness : 0.933625 Centerline is valid? [False, False] Translation: X:26.20, Y:-0.16, Z:-2.58 [[ 9.99566107e-01 -2.86861463e-02 -6.68601305e-03 2.61989367e+01] [ 2.88700672e-02 9.99154797e-01 2.92610876e-02 -1.61154029e-01] [ 5.84097417e-03 -2.94414171e-02 9.99549441e-01 -2.57794045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52119381700004 meters Centerline goodness : 0.934913 Centerline is valid? [False, False] Translation: X:26.22, Y:-0.17, Z:-2.58 [[ 9.99510894e-01 -3.08628516e-02 -5.04555104e-03 2.62181553e+01] [ 3.10188509e-02 9.98923305e-01 3.44972557e-02 -1.68120383e-01] [ 3.97543484e-03 -3.46368900e-02 9.99392056e-01 -2.58013622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55119381700004 meters Centerline goodness : 0.935507 Centerline is valid? [False, False] Translation: X:26.24, Y:-0.18, Z:-2.58 [[ 9.99326534e-01 -3.64009616e-02 -4.63120098e-03 2.62389043e+01] [ 3.65917540e-02 9.97995701e-01 5.16296900e-02 -1.75716827e-01] [ 2.74254831e-03 -5.17643829e-02 9.98655560e-01 -2.58133038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.581193817 meters Centerline goodness : 0.937760 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.19, Z:-2.58 [[ 9.98935477e-01 -4.59456543e-02 -4.11224425e-03 2.62602533e+01] [ 4.61287517e-02 9.95386681e-01 8.41278451e-02 -1.93977181e-01] [ 2.27964262e-04 -8.42279817e-02 9.96446484e-01 -2.58047709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.61119381700001 meters Centerline goodness : 0.938486 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.20, Z:-2.58 [[ 9.98615741e-01 -5.24532442e-02 -3.90639578e-03 2.62610869e+01] [ 5.25980905e-02 9.95555093e-01 7.81248881e-02 -1.97038658e-01] [-2.08871617e-04 -7.82222119e-02 9.96935927e-01 -2.58050137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64119381700002 meters Centerline goodness : 0.939283 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.20, Z:-2.58 [[ 9.98255699e-01 -5.89287646e-02 -3.60000508e-03 2.62616183e+01] [ 5.90351045e-02 9.95672706e-01 7.17685142e-02 -1.99285614e-01] [-6.44803086e-04 -7.18558550e-02 9.97414819e-01 -2.58044269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67119381700002 meters Centerline goodness : 0.938784 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.20, Z:-2.58 [[ 9.97820366e-01 -6.59212049e-02 -2.98535534e-03 2.62611103e+01] [ 6.59761646e-02 9.95724154e-01 6.46572130e-02 -2.00351536e-01] [-1.28969096e-03 -6.47132462e-02 9.97903068e-01 -2.57984968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70119381700002 meters Centerline goodness : 0.938445 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.21, Z:-2.58 [[ 9.97297973e-01 -7.34100124e-02 -2.77894466e-03 2.62616423e+01] [ 7.34457356e-02 9.95545178e-01 5.91229432e-02 -2.06354102e-01] [-1.57365104e-03 -5.91672931e-02 9.98246841e-01 -2.57841882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73119381700002 meters Centerline goodness : 0.939830 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.21, Z:-2.58 [[ 9.97027538e-01 -7.68825112e-02 -5.01681484e-03 2.62649752e+01] [ 7.70420771e-02 9.95519368e-01 5.48243153e-02 -2.07517883e-01] [ 7.79305311e-04 -5.50478579e-02 9.98483413e-01 -2.57581583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76119381700002 meters Centerline goodness : 0.941968 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.21, Z:-2.57 [[ 9.97104086e-01 -7.58986952e-02 -4.77800154e-03 2.62637085e+01] [ 7.60476254e-02 9.95486351e-01 5.67774866e-02 -2.11653013e-01] [ 4.47098175e-04 -5.69764195e-02 9.98375424e-01 -2.57397592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79119381700002 meters Centerline goodness : 0.942381 Centerline is valid? [False, False] Translation: X:26.27, Y:-0.21, Z:-2.57 [[ 9.97236325e-01 -7.38341886e-02 -8.25987384e-03 2.62686672e+01] [ 7.41701347e-02 9.95828594e-01 5.31432196e-02 -2.09201455e-01] [ 4.30163206e-03 -5.36089849e-02 9.98552739e-01 -2.56886422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82119381700002 meters Centerline goodness : 0.943092 Centerline is valid? [False, False] Translation: X:26.27, Y:-0.21, Z:-2.57 [[ 9.97564760e-01 -6.92103756e-02 -8.62976205e-03 2.62684804e+01] [ 6.95948657e-02 9.95899321e-01 5.78022279e-02 -2.09909536e-01] [ 4.59386026e-03 -5.82620527e-02 9.98290754e-01 -2.56830452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85119381700002 meters Centerline goodness : 0.944395 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.21, Z:-2.57 [[ 9.98074883e-01 -6.16816361e-02 -6.47331109e-03 2.62577074e+01] [ 6.19414512e-02 9.96624389e-01 5.38802724e-02 -2.09505581e-01] [ 3.12803636e-03 -5.41775129e-02 9.98526421e-01 -2.56949253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88119381700002 meters Centerline goodness : 0.945377 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.20, Z:-2.57 [[ 9.98326345e-01 -5.76932789e-02 -3.99922443e-03 2.62602564e+01] [ 5.78137951e-02 9.97349462e-01 4.41770927e-02 -2.04343497e-01] [ 1.43990300e-03 -4.43343658e-02 9.99015711e-01 -2.56724793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91119381700003 meters Centerline goodness : 0.945380 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.20, Z:-2.57 [[ 9.98713203e-01 -5.06950964e-02 -1.39466191e-03 2.62627415e+01] [ 5.07117471e-02 9.98011000e-01 3.74481280e-02 -2.00538823e-01] [-5.06548532e-04 -3.74706656e-02 9.99297600e-01 -2.56514803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94119381700003 meters Centerline goodness : 0.947063 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.20, Z:-2.56 [[ 9.98956588e-01 -4.54218060e-02 -4.75338102e-03 2.62589068e+01] [ 4.55289585e-02 9.98635204e-01 2.55898864e-02 -1.98395156e-01] [ 3.58455477e-03 -2.57796021e-02 9.99661224e-01 -2.56299140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97119381700003 meters Centerline goodness : 0.945857 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.20, Z:-2.56 [[ 9.98993137e-01 -4.45726832e-02 -5.09786179e-03 2.62599540e+01] [ 4.46903506e-02 9.98664193e-01 2.59345753e-02 -1.98503972e-01] [ 3.93507842e-03 -2.61362880e-02 9.99650644e-01 -2.56373764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00119381700003 meters Centerline goodness : 0.945428 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.20, Z:-2.56 [[ 9.99195688e-01 -3.89188195e-02 -9.65928962e-03 2.62586603e+01] [ 3.90585636e-02 9.99128395e-01 1.47268261e-02 -1.96808424e-01] [ 9.07771985e-03 -1.50922591e-02 9.99844897e-01 -2.56371105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03119381700003 meters Centerline goodness : 0.945919 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.20, Z:-2.56 [[ 9.99209737e-01 -3.84447149e-02 -1.00948629e-02 2.62599240e+01] [ 3.85954010e-02 9.99139575e-01 1.51824098e-02 -1.97169739e-01] [ 9.50249356e-03 -1.55600270e-02 9.99833780e-01 -2.56432000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06119381700003 meters Centerline goodness : 0.946746 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.20, Z:-2.56 [[ 9.99215743e-01 -3.82338573e-02 -1.02990733e-02 2.62603794e+01] [ 3.83911616e-02 9.99142018e-01 1.55353532e-02 -1.97937312e-01] [ 9.69626043e-03 -1.59185629e-02 9.99826276e-01 -2.56429654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09119381700003 meters Centerline goodness : 0.946544 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.20, Z:-2.56 [[ 9.99236496e-01 -3.76245991e-02 -1.05268841e-02 2.62603172e+01] [ 3.78073174e-02 9.99127695e-01 1.77329115e-02 -2.03099688e-01] [ 9.85050776e-03 -1.81173656e-02 9.99787342e-01 -2.56288094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12119381700003 meters Centerline goodness : 0.945125 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.21, Z:-2.56 [[ 9.99249630e-01 -3.72577425e-02 -1.05847463e-02 2.62604573e+01] [ 3.74564437e-02 9.99113043e-01 1.92390982e-02 -2.06772987e-01] [ 9.85855271e-03 -1.96211287e-02 9.99758881e-01 -2.56238558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15119381700003 meters Centerline goodness : 0.946713 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.21, Z:-2.56 [[ 9.99262907e-01 -3.68617196e-02 -1.07170764e-02 2.62610520e+01] [ 3.70765955e-02 9.99100186e-01 2.05947656e-02 -2.10248816e-01] [ 9.94827458e-03 -2.09769381e-02 9.99730464e-01 -2.56239060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18119381700004 meters Centerline goodness : 0.947383 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.21, Z:-2.56 [[ 9.99283224e-01 -3.63187906e-02 -1.06762678e-02 2.62614001e+01] [ 3.65457369e-02 9.99092167e-01 2.18917829e-02 -2.13415113e-01] [ 9.87149247e-03 -2.22662635e-02 9.99703340e-01 -2.56259154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21119381700004 meters Centerline goodness : 0.946133 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.22, Z:-2.56 [[ 9.99348181e-01 -3.45405144e-02 -1.04960173e-02 2.62616860e+01] [ 3.47956316e-02 9.99077134e-01 2.51822146e-02 -2.21265526e-01] [ 9.61652420e-03 -2.55310159e-02 9.99627776e-01 -2.56257347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24119381700004 meters Centerline goodness : 0.945295 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.23, Z:-2.56 [[ 9.99383597e-01 -3.34453034e-02 -1.06694386e-02 2.62625282e+01] [ 3.37243839e-02 9.99062393e-01 2.71477540e-02 -2.25526246e-01] [ 9.75146996e-03 -2.74908403e-02 9.99574491e-01 -2.56278549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27119381700004 meters Centerline goodness : 0.944142 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.23, Z:-2.56 [[ 9.99405412e-01 -3.27223514e-02 -1.08660167e-02 2.62633072e+01] [ 3.30247630e-02 9.99035820e-01 2.89274085e-02 -2.29512687e-01] [ 9.90896706e-03 -2.92690562e-02 9.99522453e-01 -2.56281697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30119381700004 meters Centerline goodness : 0.943117 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.23, Z:-2.56 [[ 9.99322276e-01 -3.52801085e-02 -1.05024668e-02 2.62629697e+01] [ 3.55459883e-02 9.99021694e-01 2.63085025e-02 -2.31629142e-01] [ 9.56402534e-03 -2.66639931e-02 9.99598700e-01 -2.56280167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.331193817 meters Centerline goodness : 0.944544 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.24, Z:-2.56 [[ 9.99256198e-01 -3.70306301e-02 -1.07602289e-02 2.62639722e+01] [ 3.73078654e-02 9.98943830e-01 2.68206489e-02 -2.41250461e-01] [ 9.75567875e-03 -2.72021408e-02 9.99582348e-01 -2.56194492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36119381700001 meters Centerline goodness : 0.942409 Centerline is valid? [False, False] Translation: X:26.26, Y:-0.25, Z:-2.56 [[ 9.99130073e-01 -4.02860055e-02 -1.07765502e-02 2.62644732e+01] [ 4.05397384e-02 9.98878357e-01 2.44654168e-02 -2.45221737e-01] [ 9.77884883e-03 -2.48810122e-02 9.99642591e-01 -2.56168639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.39119381700002 meters Centerline goodness : 0.942204 Centerline is valid? [False, False] Translation: X:26.27, Y:-0.25, Z:-2.56 [[ 9.99124088e-01 -4.01328941e-02 -1.18493605e-02 2.62668460e+01] [ 4.04448218e-02 9.98806661e-01 2.73764716e-02 -2.52129507e-01] [ 1.07365231e-02 -2.78317375e-02 9.99554962e-01 -2.56104941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42119381700002 meters Centerline goodness : 0.939810 Centerline is valid? [False, False] Translation: X:26.27, Y:-0.26, Z:-2.56 [[ 9.98863373e-01 -4.60747543e-02 -1.22097788e-02 2.62689660e+01] [ 4.63576372e-02 9.98636605e-01 2.39979501e-02 -2.62122116e-01] [ 1.10874324e-02 -2.45366899e-02 9.99637444e-01 -2.56090231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45119381700002 meters Centerline goodness : 0.940209 Centerline is valid? [False, False] Translation: X:26.27, Y:-0.27, Z:-2.56 [[ 9.98701465e-01 -4.93444854e-02 -1.26690768e-02 2.62704514e+01] [ 4.96153748e-02 9.98525171e-01 2.20408130e-02 -2.66875902e-01] [ 1.15627995e-02 -2.26407732e-02 9.99676796e-01 -2.56069491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48119381700002 meters Centerline goodness : 0.939795 Centerline is valid? [False, False] Translation: X:26.27, Y:-0.27, Z:-2.56 [[ 9.98511148e-01 -5.30105094e-02 -1.28597477e-02 2.62713011e+01] [ 5.32537935e-02 9.98392988e-01 1.93771750e-02 -2.70681724e-01] [ 1.18118880e-02 -2.00331557e-02 9.99729539e-01 -2.56042941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51119381700002 meters Centerline goodness : 0.940463 Centerline is valid? [False, False] Translation: X:26.27, Y:-0.28, Z:-2.56 [[ 9.98156425e-01 -5.93121191e-02 -1.28772630e-02 2.62720516e+01] [ 5.94967673e-02 9.98123713e-01 1.44633185e-02 -2.78311937e-01] [ 1.19952515e-02 -1.52028098e-02 9.99812477e-01 -2.55987596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54119381700002 meters Centerline goodness : 0.942293 Centerline is valid? [False, False] Translation: X:26.27, Y:-0.28, Z:-2.56 [[ 9.97933731e-01 -6.29046486e-02 -1.30871733e-02 2.62730703e+01] [ 6.30578767e-02 9.97941935e-01 1.16446383e-02 -2.81926237e-01] [ 1.23277371e-02 -1.24458267e-02 9.99846552e-01 -2.55987452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57119381700002 meters Centerline goodness : 0.942320 Centerline is valid? [False, False] Translation: X:26.27, Y:-0.29, Z:-2.56 [[ 9.97702098e-01 -6.64542527e-02 -1.32043706e-02 2.62741442e+01] [ 6.65747931e-02 9.97741666e-01 8.90871234e-03 -2.85870162e-01] [ 1.25825289e-02 -9.76731924e-03 9.99873132e-01 -2.56006229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60119381700002 meters Centerline goodness : 0.939755 Centerline is valid? [False, False] Translation: X:26.28, Y:-0.29, Z:-2.56 [[ 9.97465900e-01 -6.98683148e-02 -1.34237128e-02 2.62756560e+01] [ 6.99571071e-02 9.97530343e-01 6.26241462e-03 -2.89761703e-01] [ 1.29530165e-02 -7.18562915e-03 9.99890287e-01 -2.56057391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63119381700002 meters Centerline goodness : 0.940302 Centerline is valid? [False, False] Translation: X:26.28, Y:-0.29, Z:-2.56 [[ 9.97225780e-01 -7.32104036e-02 -1.34528725e-02 2.62768129e+01] [ 7.32655327e-02 9.97305786e-01 3.65118416e-03 -2.93452542e-01] [ 1.31493230e-02 -4.62668685e-03 9.99902840e-01 -2.56110475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66119381700003 meters Centerline goodness : 0.941333 Centerline is valid? [False, False] Translation: X:26.28, Y:-0.30, Z:-2.56 [[ 9.97018548e-01 -7.59359242e-02 -1.37021859e-02 2.62786691e+01] [ 7.59760714e-02 9.97106673e-01 2.43286810e-03 -3.00599749e-01] [ 1.34777989e-02 -3.46665287e-03 9.99903161e-01 -2.56194402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69119381700003 meters Centerline goodness : 0.940356 Centerline is valid? [False, False] Translation: X:26.28, Y:-0.30, Z:-2.56 [[ 9.96881624e-01 -7.76219356e-02 -1.42078627e-02 2.62811649e+01] [ 7.76426185e-02 9.96980841e-01 9.09138812e-04 -3.03122801e-01] [ 1.40943978e-02 -2.00943944e-03 9.99898650e-01 -2.56315142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72119381700003 meters Centerline goodness : 0.940111 Centerline is valid? [False, False] Translation: X:26.28, Y:-0.31, Z:-2.56 [[ 9.96750906e-01 -7.91915582e-02 -1.47081354e-02 2.62836117e+01] [ 7.91921832e-02 9.96859221e-01 -5.40834688e-04 -3.05734608e-01] [ 1.47047699e-02 -6.25691887e-04 9.99891683e-01 -2.56429563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75119381700003 meters Centerline goodness : 0.944561 Centerline is valid? [False, False] Translation: X:26.29, Y:-0.31, Z:-2.57 [[ 9.96589183e-01 -8.11098749e-02 -1.52048776e-02 2.62858855e+01] [ 8.10848881e-02 9.96704651e-01 -2.25369255e-03 -3.08532238e-01] [ 1.53375690e-02 1.01311981e-03 9.99881859e-01 -2.56523939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78119381700003 meters Centerline goodness : 0.944561 Centerline is valid? [False, False] Translation: X:26.29, Y:-0.31, Z:-2.57 [[ 9.96589183e-01 -8.11098749e-02 -1.52048776e-02 2.62858855e+01] [ 8.10848881e-02 9.96704651e-01 -2.25369255e-03 -3.08532238e-01] [ 1.53375690e-02 1.01311981e-03 9.99881859e-01 -2.56523939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81119381700003 meters Centerline goodness : 0.944930 Centerline is valid? [False, False] Translation: X:26.29, Y:-0.31, Z:-2.57 [[ 9.96384766e-01 -8.35652112e-02 -1.53053322e-02 2.62869958e+01] [ 8.35178429e-02 9.96499378e-01 -3.70946653e-03 -3.14272271e-01] [ 1.55617364e-02 2.41778761e-03 9.99875986e-01 -2.56546105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84119381700003 meters Centerline goodness : 0.946843 Centerline is valid? [False, False] Translation: X:26.29, Y:-0.32, Z:-2.57 [[ 9.96175686e-01 -8.59358151e-02 -1.57809684e-02 2.62893784e+01] [ 8.58515141e-02 9.96290205e-01 -5.94512997e-03 -3.15846045e-01] [ 1.62333238e-02 4.56757390e-03 9.99857798e-01 -2.56658242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87119381700003 meters Centerline goodness : 0.945588 Centerline is valid? [False, False] Translation: X:26.29, Y:-0.32, Z:-2.57 [[ 9.96024554e-01 -8.75816446e-02 -1.62647634e-02 2.62918470e+01] [ 8.74722052e-02 9.96140039e-01 -7.32372410e-03 -3.17544348e-01] [ 1.68434059e-02 5.87189431e-03 9.99840898e-01 -2.56782736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90119381700003 meters Centerline goodness : 0.947501 Centerline is valid? [False, False] Translation: X:26.30, Y:-0.32, Z:-2.57 [[ 9.96105811e-01 -8.74708563e-02 -1.10482370e-02 2.63043007e+01] [ 8.72931690e-02 9.96059652e-01 -1.56547894e-02 -3.17078927e-01] [ 1.23740409e-02 1.46293910e-02 9.99816415e-01 -2.57151896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93119381700004 meters Centerline goodness : 0.946266 Centerline is valid? [False, False] Translation: X:26.30, Y:-0.32, Z:-2.57 [[ 9.96110170e-01 -8.73838639e-02 -1.13397286e-02 2.63048296e+01] [ 8.72120750e-02 9.96079069e-01 -1.48506949e-02 -3.19461234e-01] [ 1.25929774e-02 1.38039670e-02 9.99825418e-01 -2.57136131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96119381700004 meters Centerline goodness : 0.948888 Centerline is valid? [False, False] Translation: X:26.32, Y:-0.32, Z:-2.57 [[ 9.96142848e-01 -8.72074118e-02 -9.71054476e-03 2.63240887e+01] [ 8.71001980e-02 9.96139202e-01 -1.09656425e-02 -3.23358826e-01] [ 1.06293396e-02 1.00775559e-02 9.99892724e-01 -2.57173542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99119381700004 meters Centerline goodness : 0.948875 Centerline is valid? [False, False] Translation: X:26.32, Y:-0.32, Z:-2.57 [[ 9.96133838e-01 -8.72852353e-02 -9.93297754e-03 2.63247507e+01] [ 8.71783292e-02 9.96134926e-01 -1.07306997e-02 -3.24238765e-01] [ 1.08312175e-02 9.82327266e-03 9.99893088e-01 -2.57192819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02119381700004 meters Centerline goodness : 0.946171 Centerline is valid? [False, False] Translation: X:26.33, Y:-0.32, Z:-2.57 [[ 9.96139654e-01 -8.71823614e-02 -1.02482038e-02 2.63256885e+01] [ 8.70752660e-02 9.96146716e-01 -1.04698962e-02 -3.24916135e-01] [ 1.11215049e-02 9.53711369e-03 9.99892672e-01 -2.57227481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05119381700004 meters Centerline goodness : 0.947348 Centerline is valid? [False, False] Translation: X:26.34, Y:-0.32, Z:-2.58 [[ 9.96438317e-01 -8.40911920e-02 -6.27311761e-03 2.63392574e+01] [ 8.39825126e-02 9.96339711e-01 -1.59410992e-02 -3.21632954e-01] [ 7.59066222e-03 1.53574898e-02 9.99853254e-01 -2.57664536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.081193817 meters Centerline goodness : 0.948994 Centerline is valid? [False, False] Translation: X:26.34, Y:-0.32, Z:-2.58 [[ 9.96550888e-01 -8.26850582e-02 -7.03623199e-03 2.63419836e+01] [ 8.25749993e-02 9.96476271e-01 -1.47109247e-02 -3.20529955e-01] [ 8.22781188e-03 1.40791682e-02 9.99867031e-01 -2.57841195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.11119381700001 meters Centerline goodness : 0.948309 Centerline is valid? [False, False] Translation: X:26.35, Y:-0.32, Z:-2.58 [[ 9.96848891e-01 -7.92873746e-02 -2.40838541e-03 2.63543672e+01] [ 7.92224040e-02 9.96649612e-01 -2.03312917e-02 -3.17550657e-01] [ 4.01233112e-03 2.00764275e-02 9.99790397e-01 -2.58217139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14119381700002 meters Centerline goodness : 0.949046 Centerline is valid? [False, False] Translation: X:26.37, Y:-0.31, Z:-2.59 [[ 9.97103664e-01 -7.59923703e-02 3.07306980e-03 2.63669714e+01] [ 7.60460774e-02 9.96779935e-01 -2.54313718e-02 -3.14314261e-01] [-1.13058409e-03 2.55914089e-02 9.99671847e-01 -2.58622479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17119381700002 meters Centerline goodness : 0.949388 Centerline is valid? [False, False] Translation: X:26.39, Y:-0.31, Z:-2.59 [[ 9.97302454e-01 -7.31871561e-02 5.60853593e-03 2.63852399e+01] [ 7.33057420e-02 9.96992973e-01 -2.51252927e-02 -3.10419338e-01] [-3.75282219e-03 2.54686540e-02 9.99668577e-01 -2.58657843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20119381700002 meters Centerline goodness : 0.948374 Centerline is valid? [False, False] Translation: X:26.39, Y:-0.31, Z:-2.59 [[ 9.97441197e-01 -7.13224640e-02 4.91570729e-03 2.63875497e+01] [ 7.14190734e-02 9.97167926e-01 -2.35678446e-02 -3.09891821e-01] [-3.22086889e-03 2.38586144e-02 9.99710154e-01 -2.58798172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23119381700002 meters Centerline goodness : 0.948996 Centerline is valid? [False, False] Translation: X:26.42, Y:-0.31, Z:-2.59 [[ 9.97791468e-01 -6.63746078e-02 2.56861801e-03 2.64159225e+01] [ 6.64202446e-02 9.97411228e-01 -2.75534525e-02 -3.07546071e-01] [-7.33118843e-04 2.76632081e-02 9.99617031e-01 -2.58665558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26119381700002 meters Centerline goodness : 0.947687 Centerline is valid? [False, False] Translation: X:26.43, Y:-0.30, Z:-2.59 [[ 9.98052255e-01 -6.19670832e-02 7.19564804e-03 2.64286143e+01] [ 6.21700476e-02 9.97531967e-01 -3.26321942e-02 -3.04620903e-01] [-5.15576705e-03 3.30159888e-02 9.99441525e-01 -2.59112187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29119381700002 meters Centerline goodness : 0.946889 Centerline is valid? [False, False] Translation: X:26.46, Y:-0.29, Z:-2.59 [[ 9.98491099e-01 -5.39298351e-02 1.03488554e-02 2.64618596e+01] [ 5.44556121e-02 9.96711845e-01 -6.00007003e-02 -2.94023499e-01] [-7.07899889e-03 6.04737184e-02 9.98144687e-01 -2.58926504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32119381700002 meters Centerline goodness : 0.948177 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.29, Z:-2.59 [[ 9.98568839e-01 -5.25402208e-02 9.98990981e-03 2.64833609e+01] [ 5.30438134e-02 9.96813960e-01 -5.95674734e-02 -2.92799142e-01] [-6.82839336e-03 6.00121256e-02 9.98174292e-01 -2.59051058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35119381700002 meters Centerline goodness : 0.946129 Centerline is valid? [False, False] Translation: X:26.50, Y:-0.30, Z:-2.60 [[ 9.98722291e-01 -4.89674791e-02 1.24888360e-02 2.64967026e+01] [ 4.94788895e-02 9.97779083e-01 -4.45953136e-02 -2.97171994e-01] [-1.02773792e-02 4.51562675e-02 9.98927068e-01 -2.59506338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38119381700002 meters Centerline goodness : 0.948187 Centerline is valid? [False, False] Translation: X:26.50, Y:-0.30, Z:-2.60 [[ 9.98780642e-01 -4.80011472e-02 1.15377355e-02 2.64996271e+01] [ 4.84587711e-02 9.97884282e-01 -4.33440523e-02 -2.98547980e-01] [-9.43276072e-03 4.38503048e-02 9.98993580e-01 -2.59667164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41119381700003 meters Centerline goodness : 0.949091 Centerline is valid? [False, False] Translation: X:26.50, Y:-0.30, Z:-2.60 [[ 9.98845413e-01 -4.68198337e-02 1.07584159e-02 2.65023317e+01] [ 4.72304137e-02 9.98011122e-01 -4.17503217e-02 -3.00628416e-01] [-8.78227560e-03 4.22102418e-02 9.99070151e-01 -2.59839080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44119381700003 meters Centerline goodness : 0.946896 Centerline is valid? [False, False] Translation: X:26.50, Y:-0.30, Z:-2.60 [[ 9.98887876e-01 -4.60196727e-02 1.02567327e-02 2.65039079e+01] [ 4.64001417e-02 9.98097551e-01 -4.05993260e-02 -3.03017750e-01] [-8.36885208e-03 4.10300884e-02 9.99122862e-01 -2.59923020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47119381700003 meters Centerline goodness : 0.944510 Centerline is valid? [False, False] Translation: X:26.51, Y:-0.31, Z:-2.60 [[ 9.99060336e-01 -4.22413561e-02 9.70122118e-03 2.65053035e+01] [ 4.25619655e-02 9.98457935e-01 -3.56402930e-02 -3.07834523e-01] [-8.18076697e-03 3.60197061e-02 9.99317595e-01 -2.59988692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50119381700003 meters Centerline goodness : 0.945807 Centerline is valid? [False, False] Translation: X:26.51, Y:-0.31, Z:-2.60 [[ 9.99232167e-01 -3.81155741e-02 9.07085595e-03 2.65065526e+01] [ 3.83743896e-02 9.98803591e-01 -3.03116046e-02 -3.12400909e-01] [-7.90465929e-03 3.06364189e-02 9.99499338e-01 -2.60021136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53119381700003 meters Centerline goodness : 0.946603 Centerline is valid? [False, False] Translation: X:26.51, Y:-0.32, Z:-2.60 [[ 9.99401485e-01 -3.35295160e-02 8.51137994e-03 2.65073376e+01] [ 3.37289952e-02 9.99130958e-01 -2.44884421e-02 -3.17242044e-01] [-7.68289758e-03 2.47608657e-02 9.99663880e-01 -2.60003142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56119381700003 meters Centerline goodness : 0.947925 Centerline is valid? [False, False] Translation: X:26.51, Y:-0.32, Z:-2.60 [[ 9.99428138e-01 -3.27979290e-02 8.22758177e-03 2.65076841e+01] [ 3.29813959e-02 9.99185411e-01 -2.32538392e-02 -3.19747572e-01] [-7.45820191e-03 2.35118983e-02 9.99695737e-01 -2.59977168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59119381700003 meters Centerline goodness : 0.948613 Centerline is valid? [False, False] Translation: X:26.51, Y:-0.32, Z:-2.60 [[ 9.99456313e-01 -3.20264642e-02 7.83484499e-03 2.65084007e+01] [ 3.21882158e-02 9.99251142e-01 -2.14726136e-02 -3.24148891e-01] [-7.14128592e-03 2.17131289e-02 9.99738737e-01 -2.59968027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62119381700003 meters Centerline goodness : 0.950801 Centerline is valid? [False, True] Translation: X:26.51, Y:-0.33, Z:-2.60 [[ 9.99469776e-01 -3.17029617e-02 7.42222922e-03 2.65091224e+01] [ 3.18438123e-02 9.99298748e-01 -1.96973265e-02 -3.29927994e-01] [-6.79256077e-03 1.99232346e-02 9.99778438e-01 -2.59936922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65119381700003 meters Centerline goodness : 0.950543 Centerline is valid? [True, True] Translation: X:26.54, Y:-0.35, Z:-2.60 [[ 9.99229239e-01 -3.85534843e-02 7.38628022e-03 2.65394607e+01] [ 3.85520050e-02 9.99256536e-01 3.42609170e-04 -3.47975703e-01] [-7.39399757e-03 -5.75891879e-05 9.99972662e-01 -2.59797335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68119381700004 meters Centerline goodness : 0.951609 Centerline is valid? [True, True] Translation: X:26.57, Y:-0.35, Z:-2.60 [[ 9.99041249e-01 -4.29752121e-02 8.34945824e-03 2.65681223e+01] [ 4.29734822e-02 9.99076138e-01 3.86569350e-04 -3.51636928e-01] [-8.35835740e-03 -2.73934318e-05 9.99965068e-01 -2.59834034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71119381700004 meters Centerline goodness : 0.952511 Centerline is valid? [True, True] Translation: X:26.60, Y:-0.35, Z:-2.60 [[ 9.98801863e-01 -4.81237091e-02 8.88522004e-03 2.65977855e+01] [ 4.81219435e-02 9.98841383e-01 4.12523464e-04 -3.54146146e-01] [-8.89477763e-03 1.55448521e-05 9.99960441e-01 -2.59918047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74119381700004 meters Centerline goodness : 0.953894 Centerline is valid? [True, True] Translation: X:26.63, Y:-0.36, Z:-2.60 [[ 9.98553039e-01 -5.28637742e-02 9.86149605e-03 2.66254863e+01] [ 5.28618383e-02 9.98601731e-01 4.57039824e-04 -3.56099305e-01] [-9.87186787e-03 6.49183045e-05 9.99951270e-01 -2.59950871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77119381700004 meters Centerline goodness : 0.954595 Centerline is valid? [True, True] Translation: X:26.65, Y:-0.36, Z:-2.60 [[ 9.98053294e-01 -6.15184215e-02 1.02521371e-02 2.66540809e+01] [ 6.15168238e-02 9.98105935e-01 4.71418061e-04 -3.61077985e-01] [-1.02617198e-02 1.60178562e-04 9.99947334e-01 -2.60031665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80119381700004 meters Centerline goodness : 0.956568 Centerline is valid? [True, True] Translation: X:26.68, Y:-0.36, Z:-2.60 [[ 9.97885737e-01 -6.41861422e-02 1.02075878e-02 2.66810700e+01] [ 6.41846243e-02 9.97937927e-01 4.76569832e-04 -3.63829838e-01] [-1.02171282e-02 1.79607947e-04 9.99947788e-01 -2.60096734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.831193817 meters Centerline goodness : 0.955927 Centerline is valid? [True, True] Translation: X:26.71, Y:-0.37, Z:-2.60 [[ 9.97712184e-01 -6.67809721e-02 1.05214114e-02 2.67092098e+01] [ 6.67795281e-02 9.97767636e-01 4.88892244e-04 -3.66772015e-01] [-1.05305725e-02 2.14841143e-04 9.99944529e-01 -2.60202660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86119381700001 meters Centerline goodness : 0.955577 Centerline is valid? [True, True] Translation: X:26.74, Y:-0.37, Z:-2.60 [[ 9.97469924e-01 -7.02070972e-02 1.11675627e-02 2.67364500e+01] [ 7.02056153e-02 9.97532403e-01 5.25153007e-04 -3.72045469e-01] [-1.11768751e-02 2.60201282e-04 9.99937503e-01 -2.60192912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.89119381700002 meters Centerline goodness : 0.955086 Centerline is valid? [True, True] Translation: X:26.76, Y:-0.37, Z:-2.60 [[ 9.97365277e-01 -7.18736498e-02 9.83268923e-03 2.67633591e+01] [ 7.18725514e-02 9.97413715e-01 4.65479426e-04 -3.73170435e-01] [-9.84071481e-03 2.42447445e-04 9.99951550e-01 -2.60254335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92119381700002 meters Centerline goodness : 0.956082 Centerline is valid? [True, True] Translation: X:26.79, Y:-0.37, Z:-2.60 [[ 9.97248306e-01 -7.37186348e-02 7.83445325e-03 2.67912316e+01] [ 7.37180267e-02 9.97279057e-01 3.66746876e-04 -3.73499633e-01] [-7.84017223e-03 2.11802733e-04 9.99969243e-01 -2.60304766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95119381700002 meters Centerline goodness : 0.957679 Centerline is valid? [True, True] Translation: X:26.82, Y:-0.37, Z:-2.60 [[ 9.97100642e-01 -7.58202610e-02 6.44962409e-03 2.68190048e+01] [ 7.58198912e-02 9.97121483e-01 3.02176609e-04 -3.73179896e-01] [-6.45396985e-03 1.87709306e-04 9.99979155e-01 -2.60431875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98119381700002 meters Centerline goodness : 0.957462 Centerline is valid? [True, True] Translation: X:26.85, Y:-0.37, Z:-2.61 [[ 9.96709639e-01 -8.08955017e-02 5.08075296e-03 2.68457006e+01] [ 8.08953272e-02 9.96722573e-01 2.40178522e-04 -3.73955440e-01] [-5.08353052e-03 1.71620925e-04 9.99987064e-01 -2.60567261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01119381700002 meters Centerline goodness : 0.959288 Centerline is valid? [True, True] Translation: X:26.87, Y:-0.37, Z:-2.61 [[ 9.96565052e-01 -8.26985568e-02 4.36408758e-03 2.68742297e+01] [ 8.26984570e-02 9.96574595e-01 2.03627484e-04 -3.74328919e-01] [-4.36597851e-03 1.57975275e-04 9.99990457e-01 -2.60633250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04119381700002 meters Centerline goodness : 0.958494 Centerline is valid? [True, True] Translation: X:26.90, Y:-0.37, Z:-2.61 [[ 9.96481319e-01 -8.36953673e-02 4.47945036e-03 2.69014415e+01] [ 8.36952437e-02 9.96491375e-01 2.15382019e-04 -3.74590766e-01] [-4.48176013e-03 1.60284532e-04 9.99989944e-01 -2.60789730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07119381700002 meters Centerline goodness : 0.958531 Centerline is valid? [True, True] Translation: X:26.93, Y:-0.37, Z:-2.61 [[ 9.96485864e-01 -8.37114724e-02 2.88322678e-03 2.69296567e+01] [ 8.37114388e-02 9.96490029e-01 1.32551649e-04 -3.74074094e-01] [-2.88420283e-03 1.09273218e-04 9.99995835e-01 -2.60811398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10119381700002 meters Centerline goodness : 0.956633 Centerline is valid? [True, True] Translation: X:26.96, Y:-0.37, Z:-2.61 [[ 9.96901055e-01 -7.86202600e-02 2.67222704e-03 2.69566801e+01] [ 7.86201991e-02 9.96904633e-01 1.27963404e-04 -3.73065672e-01] [-2.67401603e-03 8.25241696e-05 9.99996421e-01 -2.60933122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13119381700002 meters Centerline goodness : 0.957449 Centerline is valid? [True, True] Translation: X:26.98, Y:-0.37, Z:-2.61 [[ 9.97197872e-01 -7.47895006e-02 1.71305422e-03 2.69841438e+01] [ 7.47894807e-02 9.97199342e-01 7.57804541e-05 -3.70031109e-01] [-1.71392413e-03 5.25503282e-05 9.99998530e-01 -2.61059332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16119381700003 meters Centerline goodness : 0.957236 Centerline is valid? [True, True] Translation: X:27.01, Y:-0.37, Z:-2.61 [[ 9.97586513e-01 -6.94197443e-02 1.43080592e-03 2.70106663e+01] [ 6.94197192e-02 9.97587539e-01 6.72560810e-05 -3.67177937e-01] [-1.43202305e-03 3.22323857e-05 9.99998974e-01 -2.61138893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19119381700003 meters Centerline goodness : 0.958767 Centerline is valid? [True, True] Translation: X:27.04, Y:-0.36, Z:-2.61 [[ 9.97907468e-01 -6.46054760e-02 2.61111456e-03 2.70381233e+01] [ 6.46053788e-02 9.97910883e-01 1.21645505e-04 -3.63775510e-01] [-2.61351861e-03 4.73010880e-05 9.99996584e-01 -2.61290519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22119381700003 meters Centerline goodness : 0.956455 Centerline is valid? [True, True] Translation: X:27.07, Y:-0.36, Z:-2.61 [[ 9.98156912e-01 -6.05008830e-02 4.73519640e-03 2.70650757e+01] [ 6.05004535e-02 9.98168142e-01 2.34031450e-04 -3.60791770e-01] [-4.74068130e-03 5.28814194e-05 9.99988762e-01 -2.61372702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25119381700003 meters Centerline goodness : 0.956860 Centerline is valid? [True, True] Translation: X:27.09, Y:-0.36, Z:-2.61 [[ 9.98336801e-01 -5.72632558e-02 6.67471979e-03 2.70930502e+01] [ 5.72623497e-02 9.98359112e-01 3.26941322e-04 -3.58204919e-01] [-6.68248905e-03 5.58125853e-05 9.99977670e-01 -2.61473842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28119381700003 meters Centerline goodness : 0.955310 Centerline is valid? [True, True] Translation: X:27.12, Y:-0.36, Z:-2.62 [[ 9.98561224e-01 -5.29644991e-02 8.38117622e-03 2.71194686e+01] [ 5.29628340e-02 9.98596396e-01 4.20642795e-04 -3.55040197e-01] [-8.39169150e-03 2.38532613e-05 9.99964789e-01 -2.61535923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31119381700003 meters Centerline goodness : 0.955775 Centerline is valid? [True, True] Translation: X:27.15, Y:-0.35, Z:-2.62 [[ 9.98621235e-01 -5.19237585e-02 7.71701352e-03 2.71463793e+01] [ 5.19223092e-02 9.98651052e-01 3.88165037e-04 -3.52857884e-01] [-7.72675865e-03 1.30553130e-05 9.99970148e-01 -2.61611001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34119381700003 meters Centerline goodness : 0.956104 Centerline is valid? [True, True] Translation: X:27.17, Y:-0.35, Z:-2.62 [[ 9.98599047e-01 -5.21916986e-02 8.71610216e-03 2.71741235e+01] [ 5.21898816e-02 9.98637084e-01 4.35941175e-04 -3.50666731e-01] [-8.72697536e-03 1.95618985e-05 9.99961919e-01 -2.61759076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37119381700003 meters Centerline goodness : 0.953366 Centerline is valid? [True, True] Translation: X:27.20, Y:-0.35, Z:-2.62 [[ 9.98489832e-01 -5.43249088e-02 8.17674181e-03 2.72017331e+01] [ 5.43233696e-02 9.98523311e-01 4.10390761e-04 -3.49828467e-01] [-8.18696175e-03 3.44171647e-05 9.99966486e-01 -2.61875123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40119381700003 meters Centerline goodness : 0.954571 Centerline is valid? [True, True] Translation: X:27.23, Y:-0.35, Z:-2.62 [[ 9.98455110e-01 -5.50422273e-02 7.59906087e-03 2.72286455e+01] [ 5.50408688e-02 9.98484027e-01 3.87937642e-04 -3.49823316e-01] [-7.60889385e-03 3.09205912e-05 9.99971051e-01 -2.61925687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43119381700004 meters Centerline goodness : 0.955434 Centerline is valid? [True, True] Translation: X:27.26, Y:-0.35, Z:-2.62 [[ 9.98462940e-01 -5.50771328e-02 6.18599142e-03 2.72561762e+01] [ 5.50762639e-02 9.98482102e-01 3.10868446e-04 -3.49483768e-01] [-6.19372346e-03 3.03106728e-05 9.99980818e-01 -2.62014757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46119381700004 meters Centerline goodness : 0.952896 Centerline is valid? [True, True] Translation: X:27.28, Y:-0.35, Z:-2.62 [[ 9.98515421e-01 -5.44038412e-02 2.67873681e-03 2.72839115e+01] [ 5.44036911e-02 9.98519014e-01 1.28918800e-04 -3.49730183e-01] [-2.68178332e-03 1.70057603e-05 9.99996404e-01 -2.62233928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49119381700004 meters Centerline goodness : 0.952049 Centerline is valid? [True, True] Translation: X:27.31, Y:-0.35, Z:-2.62 [[ 9.98583117e-01 -5.32130769e-02 -3.55570300e-04 2.73107059e+01] [ 5.32130719e-02 9.98583181e-01 -2.35746724e-05 -3.49543131e-01] [ 3.56321002e-04 4.62028191e-06 9.99999937e-01 -2.62317576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52119381700004 meters Centerline goodness : 0.950566 Centerline is valid? [True, True] Translation: X:27.34, Y:-0.35, Z:-2.62 [[ 9.98646510e-01 -5.19969313e-02 -1.21135548e-03 2.73386608e+01] [ 5.19968792e-02 9.98647245e-01 -7.44648376e-05 -3.50248430e-01] [ 1.21358875e-03 1.13773457e-05 9.99999264e-01 -2.62432117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55119381700004 meters Centerline goodness : 0.951866 Centerline is valid? [True, True] Translation: X:27.37, Y:-0.35, Z:-2.63 [[ 9.98693508e-01 -5.10877413e-02 -1.14869796e-03 2.73663666e+01] [ 5.10876928e-02 9.98694169e-01 -7.15590951e-05 -3.50873960e-01] [ 1.15085375e-03 1.27812752e-05 9.99999338e-01 -2.62563496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.581193817 meters Centerline goodness : 0.950043 Centerline is valid? [True, True] Translation: X:27.39, Y:-0.36, Z:-2.63 [[ 9.98753672e-01 -4.98353566e-02 -2.74600780e-03 2.73944531e+01] [ 4.98351105e-02 9.98757446e-01 -1.58042472e-04 -3.55568249e-01] [ 2.75047184e-03 2.09978974e-05 9.99996217e-01 -2.62563843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.61119381700001 meters Centerline goodness : 0.951575 Centerline is valid? [True, True] Translation: X:27.42, Y:-0.36, Z:-2.63 [[ 9.98744914e-01 -4.99825166e-02 -3.21639888e-03 2.74226928e+01] [ 4.99821824e-02 9.98750093e-01 -1.84236398e-04 -3.57112215e-01] [ 3.22158728e-03 2.32425294e-05 9.99994810e-01 -2.62680235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64119381700002 meters Centerline goodness : 0.948653 Centerline is valid? [True, False] Translation: X:27.42, Y:-0.36, Z:-2.63 [[ 9.98752225e-01 -4.98072504e-02 -3.63751244e-03 2.74239555e+01] [ 4.98099705e-02 9.98758494e-01 6.61013652e-04 -3.60039076e-01] [ 3.60007317e-03 -8.41373243e-04 9.99993166e-01 -2.62729540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67119381700002 meters Centerline goodness : 0.950962 Centerline is valid? [False, True] Translation: X:27.43, Y:-0.36, Z:-2.63 [[ 9.98761704e-01 -4.95750038e-02 -4.16866178e-03 2.74254008e+01] [ 4.95815505e-02 9.98768979e-01 1.48199014e-03 -3.62634493e-01] [ 4.09006040e-03 -1.68684371e-03 9.99990213e-01 -2.62771145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70119381700002 meters Centerline goodness : 0.950962 Centerline is valid? [True, True] Translation: X:27.45, Y:-0.36, Z:-2.63 [[ 9.98747955e-01 -4.98588789e-02 -4.07612695e-03 2.74538165e+01] [ 4.98583452e-02 9.98756272e-01 -2.32511809e-04 -3.60217656e-01] [ 4.08265013e-03 2.89917493e-05 9.99991666e-01 -2.62886971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73119381700002 meters Centerline goodness : 0.948664 Centerline is valid? [True, False] Translation: X:27.46, Y:-0.37, Z:-2.63 [[ 9.98812693e-01 -4.84912595e-02 -4.66916603e-03 2.74552902e+01] [ 4.85014317e-02 9.98820925e-01 2.09050330e-03 -3.65637264e-01] [ 4.56228960e-03 -2.31448247e-03 9.99986914e-01 -2.62917907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76119381700002 meters Centerline goodness : 0.945402 Centerline is valid? [False, False] Translation: X:27.46, Y:-0.37, Z:-2.63 [[ 9.98830526e-01 -4.80859347e-02 -5.03230056e-03 2.74559053e+01] [ 4.81007073e-02 9.98838406e-01 2.85683104e-03 -3.67856676e-01] [ 4.88908168e-03 -3.09554726e-03 9.99983257e-01 -2.62889094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79119381700002 meters Centerline goodness : 0.948862 Centerline is valid? [False, False] Translation: X:27.47, Y:-0.37, Z:-2.63 [[ 9.98959090e-01 -4.55789154e-02 -1.81641963e-03 2.74659553e+01] [ 4.55677883e-02 9.98944658e-01 -5.75734039e-03 -3.68875868e-01] [ 2.07691601e-03 5.66857729e-03 9.99981777e-01 -2.63024448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82119381700002 meters Centerline goodness : 0.946703 Centerline is valid? [False, False] Translation: X:27.47, Y:-0.37, Z:-2.63 [[ 9.98993698e-01 -4.47958229e-02 -2.21924823e-03 2.74659443e+01] [ 4.47856567e-02 9.98986768e-01 -4.43642434e-03 -3.72073154e-01] [ 2.41573290e-03 4.33256947e-03 9.99987696e-01 -2.62908140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85119381700002 meters Centerline goodness : 0.944650 Centerline is valid? [False, False] Translation: X:27.46, Y:-0.38, Z:-2.63 [[ 9.98908356e-01 -4.66681002e-02 -2.04556351e-03 2.74640867e+01] [ 4.66549307e-02 9.98892612e-01 -6.07185730e-03 -3.76120707e-01] [ 2.32666032e-03 5.96979337e-03 9.99979474e-01 -2.62654080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88119381700002 meters Centerline goodness : 0.946047 Centerline is valid? [False, False] Translation: X:27.46, Y:-0.38, Z:-2.63 [[ 9.98917870e-01 -4.64507712e-02 -2.32719696e-03 2.74640871e+01] [ 4.64381568e-02 9.98907584e-01 -5.20924628e-03 -3.78542623e-01] [ 2.56662820e-03 5.09553845e-03 9.99983724e-01 -2.62562558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91119381700003 meters Centerline goodness : 0.944200 Centerline is valid? [False, False] Translation: X:27.46, Y:-0.38, Z:-2.63 [[ 9.98905687e-01 -4.66960677e-02 -2.62787498e-03 2.74645019e+01] [ 4.66832272e-02 9.98898440e-01 -4.75214292e-03 -3.80744298e-01] [ 2.84688661e-03 4.62426491e-03 9.99985256e-01 -2.62515982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94119381700003 meters Centerline goodness : 0.942453 Centerline is valid? [False, False] Translation: X:27.47, Y:-0.38, Z:-2.62 [[ 9.98910323e-01 -4.65709459e-02 -3.05173569e-03 2.74650851e+01] [ 4.65597195e-02 9.98908833e-01 -3.65193894e-03 -3.84133885e-01] [ 3.21847998e-03 3.50587155e-03 9.99988675e-01 -2.62462335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97119381700003 meters Centerline goodness : 0.937500 Centerline is valid? [False, False] Translation: X:27.47, Y:-0.39, Z:-2.63 [[ 9.98732301e-01 -5.02290798e-02 -3.29090565e-03 2.74668363e+01] [ 5.02094180e-02 9.98721829e-01 -5.80716106e-03 -3.90050289e-01] [ 3.57838766e-03 5.63456487e-03 9.99977723e-01 -2.62558812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00119381700003 meters Centerline goodness : 0.940302 Centerline is valid? [False, False] Translation: X:27.47, Y:-0.39, Z:-2.63 [[ 9.98670649e-01 -5.14028345e-02 -3.83189029e-03 2.74693660e+01] [ 5.13792186e-02 9.98661036e-01 -6.02585096e-03 -3.93789630e-01] [ 4.13650535e-03 5.82096096e-03 9.99974503e-01 -2.62703734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03119381700003 meters Centerline goodness : 0.938727 Centerline is valid? [False, False] Translation: X:27.47, Y:-0.40, Z:-2.63 [[ 9.98610516e-01 -5.25096235e-02 -4.44712729e-03 2.74723756e+01] [ 5.24814117e-02 9.98602410e-01 -6.23929834e-03 -3.97444238e-01] [ 4.76853524e-03 5.99723742e-03 9.99970647e-01 -2.62888456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06119381700003 meters Centerline goodness : 0.937304 Centerline is valid? [False, False] Translation: X:27.47, Y:-0.40, Z:-2.63 [[ 9.98608198e-01 -5.25114035e-02 -4.92136741e-03 2.74741745e+01] [ 5.24853840e-02 9.98607760e-01 -5.27502124e-03 -4.01066861e-01] [ 5.19151446e-03 5.00937960e-03 9.99973977e-01 -2.62988142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09119381700003 meters Centerline goodness : 0.935325 Centerline is valid? [False, False] Translation: X:27.48, Y:-0.41, Z:-2.63 [[ 9.98593215e-01 -5.27299272e-02 -5.58075921e-03 2.74775614e+01] [ 5.27061463e-02 9.98600695e-01 -4.32590511e-03 -4.05984973e-01] [ 5.80105469e-03 4.02567918e-03 9.99975071e-01 -2.63221793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12119381700003 meters Centerline goodness : 0.936023 Centerline is valid? [False, False] Translation: X:27.48, Y:-0.41, Z:-2.63 [[ 9.98607606e-01 -5.24127634e-02 -5.97931588e-03 2.74787548e+01] [ 5.23919501e-02 9.98620160e-01 -3.58609096e-03 -4.07972206e-01] [ 6.15902232e-03 3.26782969e-03 9.99975694e-01 -2.63269824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15119381700003 meters Centerline goodness : 0.934583 Centerline is valid? [False, False] Translation: X:27.48, Y:-0.41, Z:-2.63 [[ 9.98621291e-01 -5.21089954e-02 -6.33788951e-03 2.74797553e+01] [ 5.20917786e-02 9.98638229e-01 -2.85200416e-03 -4.10111772e-01] [ 6.47787383e-03 2.51792014e-03 9.99975848e-01 -2.63302570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18119381700004 meters Centerline goodness : 0.935474 Centerline is valid? [False, False] Translation: X:27.48, Y:-0.41, Z:-2.63 [[ 9.98619262e-01 -5.20953841e-02 -6.75574486e-03 2.74808705e+01] [ 5.20803472e-02 9.98640054e-01 -2.38306329e-03 -4.12435475e-01] [ 6.87070401e-03 2.02793137e-03 9.99974340e-01 -2.63322798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21119381700004 meters Centerline goodness : 0.933714 Centerline is valid? [False, False] Translation: X:27.48, Y:-0.42, Z:-2.63 [[ 9.98619757e-01 -5.20422520e-02 -7.08412521e-03 2.74818085e+01] [ 5.20315160e-02 9.98644011e-01 -1.69159588e-03 -4.15503040e-01] [ 7.16255367e-03 1.32066329e-03 9.99973476e-01 -2.63339935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24119381700004 meters Centerline goodness : 0.932955 Centerline is valid? [False, False] Translation: X:27.48, Y:-0.42, Z:-2.63 [[ 9.98625598e-01 -5.18874590e-02 -7.38968622e-03 2.74828281e+01] [ 5.18792578e-02 9.98652522e-01 -1.29734418e-03 -4.16522480e-01] [ 7.44704468e-03 9.12189673e-04 9.99971854e-01 -2.63392778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27119381700004 meters Centerline goodness : 0.933257 Centerline is valid? [False, False] Translation: X:27.48, Y:-0.42, Z:-2.63 [[ 9.98614722e-01 -5.20391188e-02 -7.78244637e-03 2.74839501e+01] [ 5.20321966e-02 9.98644814e-01 -1.08943975e-03 -4.17971602e-01] [ 7.82859319e-03 6.82992795e-04 9.99969123e-01 -2.63423824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30119381700004 meters Centerline goodness : 0.932972 Centerline is valid? [False, False] Translation: X:27.48, Y:-0.42, Z:-2.63 [[ 9.98422065e-01 -5.56119269e-02 -7.79057241e-03 2.74841079e+01] [ 5.55800964e-02 9.98445210e-01 -4.24453331e-03 -4.20256055e-01] [ 8.01450638e-03 3.80483495e-03 9.99960645e-01 -2.63382187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.331193817 meters Centerline goodness : 0.933472 Centerline is valid? [False, False] Translation: X:27.49, Y:-0.42, Z:-2.63 [[ 9.98414224e-01 -5.56923133e-02 -8.20991837e-03 2.74850010e+01] [ 5.56635772e-02 9.98442769e-01 -3.68825755e-03 -4.22398384e-01] [ 8.40254122e-03 3.22541538e-03 9.99959496e-01 -2.63371505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36119381700001 meters Centerline goodness : 0.932107 Centerline is valid? [False, False] Translation: X:27.49, Y:-0.42, Z:-2.64 [[ 9.98332280e-01 -5.70641552e-02 -8.73734799e-03 2.74876846e+01] [ 5.70251578e-02 9.98361916e-01 -4.64940204e-03 -4.23161218e-01] [ 8.98834968e-03 4.14339949e-03 9.99951020e-01 -2.63542940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.39119381700002 meters Centerline goodness : 0.931761 Centerline is valid? [False, False] Translation: X:27.49, Y:-0.42, Z:-2.64 [[ 9.98312091e-01 -5.73605307e-02 -9.09605589e-03 2.74888589e+01] [ 5.73232929e-02 9.98346394e-01 -4.30325315e-03 -4.24869276e-01] [ 9.32785148e-03 3.77457377e-03 9.99949371e-01 -2.63586102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42119381700002 meters Centerline goodness : 0.932665 Centerline is valid? [False, False] Translation: X:27.49, Y:-0.43, Z:-2.64 [[ 9.98066371e-01 -6.15090403e-02 -8.95300076e-03 2.74890228e+01] [ 6.14397856e-02 9.98080194e-01 -7.81537106e-03 -4.26579240e-01] [ 9.41652870e-03 7.25018859e-03 9.99929379e-01 -2.63564093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45119381700002 meters Centerline goodness : 0.933047 Centerline is valid? [False, False] Translation: X:27.49, Y:-0.43, Z:-2.64 [[ 9.98055927e-01 -6.16628274e-02 -9.05883873e-03 2.74890872e+01] [ 6.15976516e-02 9.98074322e-01 -7.30595372e-03 -4.28461153e-01] [ 9.49190009e-03 6.73374722e-03 9.99932278e-01 -2.63521294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48119381700002 meters Centerline goodness : 0.930171 Centerline is valid? [False, False] Translation: X:27.49, Y:-0.43, Z:-2.63 [[ 9.98031472e-01 -6.20180416e-02 -9.32435102e-03 2.74895789e+01] [ 6.19531992e-02 9.98053877e-01 -7.08941935e-03 -4.29749448e-01] [ 9.74587659e-03 6.49779025e-03 9.99931396e-01 -2.63496016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51119381700002 meters Centerline goodness : 0.928870 Centerline is valid? [False, False] Translation: X:27.49, Y:-0.43, Z:-2.64 [[ 9.98001144e-01 -6.24553678e-02 -9.64588666e-03 2.74905939e+01] [ 6.23877995e-02 9.98026343e-01 -7.15404197e-03 -4.30279948e-01] [ 1.00736573e-02 6.53795643e-03 9.99927886e-01 -2.63527907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54119381700002 meters Centerline goodness : 0.927497 Centerline is valid? [False, False] Translation: X:27.49, Y:-0.43, Z:-2.64 [[ 9.97948382e-01 -6.32352725e-02 -1.00163740e-02 2.74922554e+01] [ 6.31580940e-02 9.97972716e-01 -7.84304974e-03 -4.29370620e-01] [ 1.04920254e-02 7.19434370e-03 9.99919076e-01 -2.63641831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57119381700002 meters Centerline goodness : 0.926929 Centerline is valid? [False, False] Translation: X:27.49, Y:-0.43, Z:-2.64 [[ 9.98134025e-01 -6.01496509e-02 -1.05112632e-02 2.74930803e+01] [ 6.01108226e-02 9.98183807e-01 -3.97194587e-03 -4.31362796e-01] [ 1.07310839e-02 3.33269364e-03 9.99936867e-01 -2.63640488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60119381700002 meters Centerline goodness : 0.926937 Centerline is valid? [False, False] Translation: X:27.49, Y:-0.43, Z:-2.64 [[ 9.98123977e-01 -6.02592199e-02 -1.08329110e-02 2.74938456e+01] [ 6.02172337e-02 9.98176622e-01 -4.16136698e-03 -4.31235275e-01] [ 1.10639192e-02 3.50123223e-03 9.99932663e-01 -2.63652183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63119381700002 meters Centerline goodness : 0.924633 Centerline is valid? [False, False] Translation: X:27.49, Y:-0.43, Z:-2.64 [[ 9.98115075e-01 -6.03607366e-02 -1.10850669e-02 2.74944217e+01] [ 6.03132315e-02 9.98169033e-01 -4.57123841e-03 -4.29988785e-01] [ 1.13406938e-02 3.89404576e-03 9.99928110e-01 -2.63669227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66119381700003 meters Centerline goodness : 0.925159 Centerline is valid? [False, False] Translation: X:27.50, Y:-0.43, Z:-2.64 [[ 9.98259658e-01 -5.78517299e-02 -1.14382263e-02 2.74955200e+01] [ 5.78281610e-02 9.98323713e-01 -2.38092330e-03 -4.26419138e-01] [ 1.15567931e-02 1.71532808e-03 9.99931747e-01 -2.63765059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69119381700003 meters Centerline goodness : 0.923705 Centerline is valid? [False, False] Translation: X:27.50, Y:-0.42, Z:-2.64 [[ 9.98236723e-01 -5.81634689e-02 -1.18513948e-02 2.74967138e+01] [ 5.81322392e-02 9.98304494e-01 -2.96306720e-03 -4.24960401e-01] [ 1.20036430e-02 2.26889437e-03 9.99925380e-01 -2.63818723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72119381700003 meters Centerline goodness : 0.924185 Centerline is valid? [False, False] Translation: X:27.50, Y:-0.43, Z:-2.64 [[ 9.98226150e-01 -5.82727886e-02 -1.21998426e-02 2.74975004e+01] [ 5.82406320e-02 9.98298141e-01 -2.97500841e-03 -4.25114772e-01] [ 1.23524423e-02 2.25920465e-03 9.99921153e-01 -2.63828804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75119381700003 meters Centerline goodness : 0.922061 Centerline is valid? [False, False] Translation: X:27.50, Y:-0.43, Z:-2.64 [[ 9.98145908e-01 -5.95382324e-02 -1.26469641e-02 2.74996521e+01] [ 5.94913383e-02 9.98220595e-01 -4.05266957e-03 -4.25319821e-01] [ 1.28657488e-02 3.29277073e-03 9.99911811e-01 -2.63959053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78119381700003 meters Centerline goodness : 0.925653 Centerline is valid? [False, False] Translation: X:27.50, Y:-0.43, Z:-2.64 [[ 9.98114640e-01 -5.99879259e-02 -1.29851390e-02 2.75005355e+01] [ 5.99366107e-02 9.98192898e-01 -4.30592534e-03 -4.25545261e-01] [ 1.32199771e-02 3.51952190e-03 9.99906418e-01 -2.63974272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81119381700003 meters Centerline goodness : 0.922017 Centerline is valid? [False, False] Translation: X:27.50, Y:-0.42, Z:-2.64 [[ 9.98066131e-01 -6.07474764e-02 -1.31811590e-02 2.75016029e+01] [ 6.06820068e-02 9.98143016e-01 -5.31164584e-03 -4.22841524e-01] [ 1.34793509e-02 4.50151464e-03 9.99899017e-01 -2.64069139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84119381700003 meters Centerline goodness : 0.924391 Centerline is valid? [False, False] Translation: X:27.50, Y:-0.42, Z:-2.64 [[ 9.98194266e-01 -5.84309945e-02 -1.39293254e-02 2.75041453e+01] [ 5.84016736e-02 9.98290028e-01 -2.50288500e-03 -4.23043555e-01] [ 1.40517527e-02 1.68486954e-03 9.99899850e-01 -2.64221919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87119381700003 meters Centerline goodness : 0.922933 Centerline is valid? [False, False] Translation: X:27.51, Y:-0.42, Z:-2.64 [[ 9.98168376e-01 -5.87670724e-02 -1.43640012e-02 2.75052312e+01] [ 5.87297311e-02 9.98269387e-01 -3.00814834e-03 -4.21672404e-01] [ 1.45159228e-02 2.15904461e-03 9.99892307e-01 -2.64257905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90119381700003 meters Centerline goodness : 0.916762 Centerline is valid? [False, False] Translation: X:27.50, Y:-0.42, Z:-2.64 [[ 9.97928092e-01 -6.27457336e-02 -1.42301412e-02 2.75049431e+01] [ 6.26416340e-02 9.98006786e-01 -7.64726737e-03 -4.17529460e-01] [ 1.46816109e-02 6.74002364e-03 9.99869503e-01 -2.64221375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93119381700004 meters Centerline goodness : 0.920408 Centerline is valid? [False, False] Translation: X:27.52, Y:-0.41, Z:-2.64 [[ 9.98012168e-01 -6.26530914e-02 -6.80467223e-03 2.75164121e+01] [ 6.25502637e-02 9.97937955e-01 -1.43979924e-02 -4.14878104e-01] [ 7.69271942e-03 1.39437375e-02 9.99873189e-01 -2.64487768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96119381700004 meters Centerline goodness : 0.922964 Centerline is valid? [False, False] Translation: X:27.53, Y:-0.41, Z:-2.64 [[ 9.98083070e-01 -6.18786544e-02 -1.10341174e-03 2.75304745e+01] [ 6.18546601e-02 9.97968346e-01 -1.52702604e-02 -4.14206025e-01] [ 2.04607315e-03 1.51727372e-02 9.99882794e-01 -2.64315067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99119381700004 meters Centerline goodness : 0.919626 Centerline is valid? [False, False] Translation: X:27.53, Y:-0.41, Z:-2.64 [[ 9.98048271e-01 -6.24350993e-02 -1.22755878e-03 2.75303876e+01] [ 6.24075694e-02 9.97922618e-01 -1.59919701e-02 -4.12457733e-01] [ 2.22346891e-03 1.58841491e-02 9.99871367e-01 -2.64263110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02119381700004 meters Centerline goodness : 0.920928 Centerline is valid? [False, False] Translation: X:27.54, Y:-0.40, Z:-2.65 [[ 9.98097856e-01 -6.14681216e-02 4.72640590e-03 2.75425111e+01] [ 6.15634514e-02 9.97820995e-01 -2.37319070e-02 -4.04028595e-01] [-3.25735129e-03 2.39777394e-02 9.99707186e-01 -2.64599036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05119381700004 meters Centerline goodness : 0.919860 Centerline is valid? [False, False] Translation: X:27.54, Y:-0.40, Z:-2.65 [[ 9.98278267e-01 -5.84990360e-02 4.28526925e-03 2.75433572e+01] [ 5.85758811e-02 9.98066363e-01 -2.07942742e-02 -4.01788863e-01] [-3.06053810e-03 2.10094855e-02 9.99774592e-01 -2.64641591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08119381700004 meters Centerline goodness : 0.919521 Centerline is valid? [False, False] Translation: X:27.54, Y:-0.40, Z:-2.65 [[ 9.98465159e-01 -5.52458002e-02 3.90215766e-03 2.75438510e+01] [ 5.53070712e-02 9.98309179e-01 -1.78860566e-02 -3.98842259e-01] [-2.90743030e-03 1.80744213e-02 9.99832417e-01 -2.64661282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.11119381700001 meters Centerline goodness : 0.916637 Centerline is valid? [False, False] Translation: X:27.54, Y:-0.40, Z:-2.65 [[ 9.98650260e-01 -5.18249100e-02 3.44052767e-03 2.75444651e+01] [ 5.18712419e-02 9.98539322e-01 -1.51193935e-02 -3.95088529e-01] [-2.65194096e-03 1.52774507e-02 9.99879776e-01 -2.64679853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14119381700002 meters Centerline goodness : 0.918010 Centerline is valid? [False, False] Translation: X:27.55, Y:-0.38, Z:-2.65 [[ 9.98977155e-01 -4.51237692e-02 2.91371416e-03 2.75453076e+01] [ 4.51536863e-02 9.98917474e-01 -1.11814078e-02 -3.84145229e-01] [-2.40601273e-03 1.13015359e-02 9.99933241e-01 -2.64780629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17119381700002 meters Centerline goodness : 0.913982 Centerline is valid? [False, False] Translation: X:27.55, Y:-0.38, Z:-2.65 [[ 9.99142816e-01 -4.13241974e-02 2.43795485e-03 2.75462148e+01] [ 4.13439549e-02 9.99107068e-01 -8.70315523e-03 -3.78692790e-01] [-2.07612702e-03 8.79648972e-03 9.99959155e-01 -2.64834855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20119381700002 meters Centerline goodness : 0.913912 Centerline is valid? [False, False] Translation: X:27.56, Y:-0.37, Z:-2.65 [[ 9.99329609e-01 -3.60064434e-02 6.62326361e-03 2.75609201e+01] [ 3.60898314e-02 9.99264851e-01 -1.29337761e-02 -3.71737216e-01] [-6.15269524e-03 1.31641379e-02 9.99894419e-01 -2.65315160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23119381700002 meters Centerline goodness : 0.912876 Centerline is valid? [False, False] Translation: X:27.56, Y:-0.37, Z:-2.65 [[ 9.99448884e-01 -3.26249683e-02 6.12695184e-03 2.75620461e+01] [ 3.26888806e-02 9.99408958e-01 -1.06381868e-02 -3.66926165e-01] [-5.77626005e-03 1.08326072e-02 9.99924642e-01 -2.65369551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26119381700002 meters Centerline goodness : 0.912775 Centerline is valid? [False, False] Translation: X:27.59, Y:-0.36, Z:-2.65 [[ 9.99710169e-01 -2.37647195e-02 3.84909153e-03 2.75897828e+01] [ 2.38290930e-02 9.99560324e-01 -1.76446383e-02 -3.55498047e-01] [-3.42807930e-03 1.77312447e-02 9.99836912e-01 -2.65359297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29119381700002 meters Centerline goodness : 0.907441 Centerline is valid? [False, False] Translation: X:27.60, Y:-0.35, Z:-2.66 [[ 9.99811613e-01 -1.73559147e-02 8.68965998e-03 2.76022201e+01] [ 1.75362136e-02 9.99623116e-01 -2.11212539e-02 -3.50593392e-01] [-8.31980631e-03 2.12696586e-02 9.99739157e-01 -2.65770650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32119381700002 meters Centerline goodness : 0.909246 Centerline is valid? [False, False] Translation: X:27.62, Y:-0.34, Z:-2.66 [[ 9.99847734e-01 -1.44061867e-02 9.84740165e-03 2.76219120e+01] [ 1.46376691e-02 9.99608294e-01 -2.38536581e-02 -3.44603319e-01] [-9.49990411e-03 2.39941690e-02 9.99666960e-01 -2.65983443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35119381700002 meters Centerline goodness : 0.905260 Centerline is valid? [False, False] Translation: X:27.65, Y:-0.34, Z:-2.66 [[ 9.99953569e-01 -5.68426119e-03 7.78138736e-03 2.76518189e+01] [ 5.90424188e-03 9.99575063e-01 -2.85452959e-02 -3.38501762e-01] [-7.61582184e-03 2.85899137e-02 9.99562212e-01 -2.66063070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38119381700002 meters Centerline goodness : 0.904745 Centerline is valid? [False, False] Translation: X:27.67, Y:-0.34, Z:-2.66 [[ 9.99969001e-01 -3.31169549e-03 7.14353379e-03 2.76733864e+01] [ 3.51270281e-03 9.99592968e-01 -2.83118122e-02 -3.37855494e-01] [-7.04686604e-03 2.83360277e-02 9.99573615e-01 -2.66208634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41119381700003 meters Centerline goodness : 0.902255 Centerline is valid? [False, False] Translation: X:27.69, Y:-0.34, Z:-2.66 [[ 9.99982489e-01 -1.05992107e-03 5.82218715e-03 2.76945897e+01] [ 1.21778624e-03 9.99629865e-01 -2.71781298e-02 -3.38551045e-01] [-5.79122548e-03 2.71847440e-02 9.99613651e-01 -2.66252342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44119381700003 meters Centerline goodness : 0.902544 Centerline is valid? [False, False] Translation: X:27.72, Y:-0.34, Z:-2.66 [[ 9.99981837e-01 -1.11498624e-04 6.02610264e-03 2.77155876e+01] [ 2.81717590e-04 9.99600751e-01 -2.82534789e-02 -3.38656968e-01] [-6.02054650e-03 2.82546634e-02 9.99582626e-01 -2.66389965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47119381700003 meters Centerline goodness : 0.899834 Centerline is valid? [False, False] Translation: X:27.74, Y:-0.34, Z:-2.67 [[ 9.99972839e-01 3.91259642e-04 7.35995214e-03 2.77358903e+01] [-1.73826098e-04 9.99564167e-01 -2.95202655e-02 -3.38563051e-01] [-7.36829452e-03 2.95181843e-02 9.99537085e-01 -2.66533873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50119381700003 meters Centerline goodness : 0.901820 Centerline is valid? [False, False] Translation: X:27.76, Y:-0.34, Z:-2.67 [[ 9.99959056e-01 2.19850981e-03 8.77794773e-03 2.77559418e+01] [-1.96054916e-03 9.99632806e-01 -2.70260949e-02 -3.42299110e-01] [-8.83414165e-03 2.70077788e-02 9.99596187e-01 -2.66582881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53119381700003 meters Centerline goodness : 0.899260 Centerline is valid? [False, False] Translation: X:27.78, Y:-0.35, Z:-2.67 [[ 9.99938627e-01 4.51654727e-03 1.01164287e-02 2.77754328e+01] [-4.27162335e-03 9.99700363e-01 -2.41026515e-02 -3.45777697e-01] [-1.02222582e-02 2.40579587e-02 9.99658302e-01 -2.66618008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56119381700003 meters Centerline goodness : 0.902719 Centerline is valid? [False, False] Translation: X:27.79, Y:-0.35, Z:-2.67 [[ 9.99904721e-01 5.27354680e-03 1.27569333e-02 2.77934760e+01] [-4.95771039e-03 9.99683499e-01 -2.46642110e-02 -3.47682898e-01] [-1.28829636e-02 2.45986158e-02 9.99614394e-01 -2.66609444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59119381700003 meters Centerline goodness : 0.902719 Centerline is valid? [False, False] Translation: X:27.81, Y:-0.35, Z:-2.67 [[ 9.99915710e-01 5.98992758e-03 1.15193021e-02 2.78134621e+01] [-5.68646380e-03 9.99640583e-01 -2.61986536e-02 -3.47883958e-01] [-1.16720899e-02 2.61309412e-02 9.99590384e-01 -2.66623362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62119381700003 meters Centerline goodness : 0.899158 Centerline is valid? [False, False] Translation: X:27.83, Y:-0.35, Z:-2.67 [[ 9.99880784e-01 6.90532745e-03 1.38106377e-02 2.78322916e+01] [-6.54074499e-03 9.99633437e-01 -2.62718489e-02 -3.50271139e-01] [-1.39869910e-02 2.61783850e-02 9.99559431e-01 -2.66655174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65119381700003 meters Centerline goodness : 0.899620 Centerline is valid? [False, False] Translation: X:27.83, Y:-0.35, Z:-2.67 [[ 9.99884611e-01 7.03762381e-03 1.34623950e-02 2.78331015e+01] [-6.69472966e-03 9.99656265e-01 -2.53482061e-02 -3.53930535e-01] [-1.36361587e-02 2.52551541e-02 9.99588031e-01 -2.66676246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68119381700004 meters Centerline goodness : 0.897397 Centerline is valid? [False, False] Translation: X:27.83, Y:-0.36, Z:-2.67 [[ 9.99890343e-01 6.97782470e-03 1.30618158e-02 2.78342461e+01] [-6.65081898e-03 9.99667488e-01 -2.49134444e-02 -3.55943115e-01] [-1.32313143e-02 2.48238407e-02 9.99604276e-01 -2.66734326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71119381700004 meters Centerline goodness : 0.896283 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.36, Z:-2.67 [[ 9.99897689e-01 6.71109608e-03 1.26321831e-02 2.78355677e+01] [-6.39847855e-03 9.99676220e-01 -2.46275119e-02 -3.57841976e-01] [-1.27933707e-02 2.45441655e-02 9.99616883e-01 -2.66809785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74119381700004 meters Centerline goodness : 0.894725 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.36, Z:-2.67 [[ 9.99916159e-01 4.50787914e-03 1.21389609e-02 2.78379596e+01] [-4.18625647e-03 9.99642921e-01 -2.63913847e-02 -3.60843537e-01] [-1.22535955e-02 2.63383552e-02 9.99577981e-01 -2.67010381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77119381700004 meters Centerline goodness : 0.891756 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.36, Z:-2.67 [[ 9.99922678e-01 4.22785960e-03 1.16946017e-02 2.78390820e+01] [-3.92257849e-03 9.99654108e-01 -2.60053346e-02 -3.62913872e-01] [-1.18005035e-02 2.59574508e-02 9.99593397e-01 -2.67054916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80119381700004 meters Centerline goodness : 0.891015 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.37, Z:-2.67 [[ 9.99927318e-01 3.92803594e-03 1.13986951e-02 2.78399724e+01] [-3.63526438e-03 9.99665844e-01 -2.55926834e-02 -3.65163857e-01] [-1.14954151e-02 2.55493860e-02 9.99607465e-01 -2.67102585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83119381700004 meters Centerline goodness : 0.890018 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.37, Z:-2.67 [[ 9.99933258e-01 3.67401532e-03 1.09536255e-02 2.78411698e+01] [-3.39746263e-03 9.99677659e-01 -2.51601780e-02 -3.67365468e-01] [-1.10425335e-02 2.51212842e-02 9.99623421e-01 -2.67153710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86119381700001 meters Centerline goodness : 0.889926 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.37, Z:-2.67 [[ 9.99939467e-01 3.10976409e-03 1.05542665e-02 2.78428252e+01] [-2.84903245e-03 9.99692584e-01 -2.46296707e-02 -3.71782588e-01] [-1.06276144e-02 2.45981104e-02 9.99640929e-01 -2.67273764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.89119381700002 meters Centerline goodness : 0.889588 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.37, Z:-2.67 [[ 9.99941404e-01 3.33945004e-03 1.02974263e-02 2.78433180e+01] [-3.09255833e-03 9.99709583e-01 -2.38994761e-02 -3.73896707e-01] [-1.03742468e-02 2.38662302e-02 9.99661332e-01 -2.67276634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92119381700002 meters Centerline goodness : 0.886931 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.38, Z:-2.67 [[ 9.99941092e-01 3.71699800e-03 1.01979135e-02 2.78434016e+01] [-3.48046731e-03 9.99726765e-01 -2.31145420e-02 -3.75868236e-01] [-1.02810437e-02 2.30776869e-02 9.99680809e-01 -2.67263694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95119381700002 meters Centerline goodness : 0.886529 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.38, Z:-2.67 [[ 9.99941833e-01 4.12947049e-03 9.96386757e-03 2.78437022e+01] [-3.90571643e-03 9.99742076e-01 -2.23724527e-02 -3.77540860e-01] [-1.00536840e-02 2.23322353e-02 9.99700052e-01 -2.67245267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98119381700002 meters Centerline goodness : 0.883959 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.38, Z:-2.67 [[ 9.99937441e-01 5.22372134e-03 9.89077032e-03 2.78430217e+01] [-5.01733372e-03 9.99771529e-01 -2.07777581e-02 -3.80510395e-01] [-9.99704779e-03 2.07268330e-02 9.99735194e-01 -2.67137646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01119381700002 meters Centerline goodness : 0.884814 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.38, Z:-2.67 [[ 9.99936110e-01 5.78090929e-03 9.71379240e-03 2.78430824e+01] [-5.58625579e-03 9.99785414e-01 -1.99479154e-02 -3.82102873e-01] [-9.82702505e-03 1.98923772e-02 9.99753831e-01 -2.67098340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04119381700002 meters Centerline goodness : 0.882918 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.38, Z:-2.67 [[ 9.99934290e-01 6.38032684e-03 9.52405564e-03 2.78431128e+01] [-6.19787174e-03 9.99799028e-01 -1.90654172e-02 -3.83910991e-01] [-9.64378516e-03 1.90051356e-02 9.99772875e-01 -2.67052083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07119381700002 meters Centerline goodness : 0.884558 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.39, Z:-2.67 [[ 9.99919002e-01 8.25045533e-03 9.69119748e-03 2.78409442e+01] [-8.09110307e-03 9.99833286e-01 -1.63686847e-02 -3.88636059e-01] [-9.82463093e-03 1.62889464e-02 9.99819057e-01 -2.66800382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10119381700002 meters Centerline goodness : 0.884118 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.39, Z:-2.67 [[ 9.99916969e-01 8.69698403e-03 9.50880105e-03 2.78408373e+01] [-8.54822436e-03 9.99842166e-01 -1.55747025e-02 -3.90439468e-01] [-9.64275318e-03 1.54921259e-02 9.99833492e-01 -2.66736099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13119381700002 meters Centerline goodness : 0.882376 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.39, Z:-2.67 [[ 9.99913608e-01 9.10266364e-03 9.48253167e-03 2.78407634e+01] [-8.96066998e-03 9.99848679e-01 -1.49106136e-02 -3.91820794e-01] [-9.61682306e-03 1.48243557e-02 9.99843865e-01 -2.66714851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16119381700003 meters Centerline goodness : 0.883349 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.39, Z:-2.67 [[ 9.99910631e-01 9.50794605e-03 9.39832536e-03 2.78409812e+01] [-9.37257720e-03 9.99853190e-01 -1.43441083e-02 -3.92860806e-01] [-9.53332859e-03 1.42547399e-02 9.99852948e-01 -2.66723444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19119381700003 meters Centerline goodness : 0.882484 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.40, Z:-2.67 [[ 9.99902538e-01 1.04506965e-02 9.25729347e-03 2.78409305e+01] [-1.03284730e-02 9.99860140e-01 -1.31538000e-02 -3.95598398e-01] [-9.39346512e-03 1.30569043e-02 9.99870632e-01 -2.66684467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22119381700003 meters Centerline goodness : 0.882632 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.40, Z:-2.67 [[ 9.99899190e-01 1.09084226e-02 9.08936314e-03 2.78414348e+01] [-1.07935939e-02 9.99862511e-01 -1.25880126e-02 -3.96961014e-01] [-9.22542881e-03 1.24886367e-02 9.99879455e-01 -2.66712638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25119381700003 meters Centerline goodness : 0.879473 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.40, Z:-2.67 [[ 9.99898051e-01 1.11691268e-02 8.89595944e-03 2.78421746e+01] [-1.10594907e-02 9.99863441e-01 -1.22795435e-02 -3.97957499e-01] [-9.03189640e-03 1.21799068e-02 9.99885031e-01 -2.66767318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28119381700003 meters Centerline goodness : 0.879774 Centerline is valid? [False, False] Translation: X:27.84, Y:-0.40, Z:-2.67 [[ 9.99882871e-01 1.27799890e-02 8.42121909e-03 2.78444551e+01] [-1.26915408e-02 9.99864600e-01 -1.04740520e-02 -4.00545851e-01] [-8.55393713e-03 1.03659469e-02 9.99909685e-01 -2.66948971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31119381700003 meters Centerline goodness : 0.877838 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.40, Z:-2.67 [[ 9.99881744e-01 1.30255472e-02 8.17516104e-03 2.78454540e+01] [-1.29424976e-02 9.99864921e-01 -1.01307695e-02 -4.01250339e-01] [-8.30601556e-03 1.00237645e-02 9.99915264e-01 -2.67027717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34119381700003 meters Centerline goodness : 0.875523 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.40, Z:-2.67 [[ 9.99884174e-01 1.29919091e-02 7.92777178e-03 2.78464793e+01] [-1.29128422e-02 9.99867175e-01 -9.94439477e-03 -4.02160720e-01] [-8.05591545e-03 9.84087289e-03 9.99919126e-01 -2.67109935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37119381700003 meters Centerline goodness : 0.875671 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.40, Z:-2.67 [[ 9.99886343e-01 1.29365145e-02 7.74256665e-03 2.78472545e+01] [-1.28619345e-02 9.99871140e-01 -9.60597173e-03 -4.03719237e-01] [-7.86583673e-03 9.50529556e-03 9.99923886e-01 -2.67165915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40119381700003 meters Centerline goodness : 0.874874 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.41, Z:-2.67 [[ 9.99932222e-01 9.02201350e-03 7.35903792e-03 2.78483151e+01] [-8.92898778e-03 9.99881034e-01 -1.25774048e-02 -4.07844730e-01] [-7.47163596e-03 1.25108436e-02 9.99893821e-01 -2.67218915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43119381700004 meters Centerline goodness : 0.875155 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.41, Z:-2.67 [[ 9.99960370e-01 5.24121425e-03 7.19633666e-03 2.78486163e+01] [-5.12643919e-03 9.99860827e-01 -1.58759653e-02 -4.10309089e-01] [-7.27854446e-03 1.58384445e-02 9.99848072e-01 -2.67226422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46119381700004 meters Centerline goodness : 0.872603 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.41, Z:-2.67 [[ 9.99974136e-01 1.36671145e-03 7.06112664e-03 2.78489936e+01] [-1.23128496e-03 9.99815901e-01 -1.91480376e-02 -4.12998267e-01] [-7.08599654e-03 1.91388481e-02 9.99791725e-01 -2.67247603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49119381700004 meters Centerline goodness : 0.872423 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.42, Z:-2.67 [[ 9.99972494e-01 -2.55273338e-03 6.96379799e-03 2.78492801e+01] [ 2.70877032e-03 9.99743393e-01 -2.24902386e-02 -4.15411066e-01] [-6.90459944e-03 2.25084833e-02 9.99722809e-01 -2.67259575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52119381700004 meters Centerline goodness : 0.874146 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.42, Z:-2.67 [[ 9.99956096e-01 -6.37152009e-03 6.87100738e-03 2.78496220e+01] [ 6.54695426e-03 9.99645177e-01 -2.58197218e-02 -4.17603014e-01] [-6.70405851e-03 2.58635724e-02 9.99643002e-01 -2.67279463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55119381700004 meters Centerline goodness : 0.871419 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.43, Z:-2.67 [[ 9.99883801e-01 -1.41632661e-02 5.63802033e-03 2.78473149e+01] [ 1.42449324e-02 9.99790204e-01 -1.47183736e-02 -4.25837304e-01] [-5.42837725e-03 1.47969765e-02 9.99875783e-01 -2.67165013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58119381700004 meters Centerline goodness : 0.871522 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.43, Z:-2.67 [[ 9.99870536e-01 -1.51566339e-02 5.40264646e-03 2.78487366e+01] [ 1.52339652e-02 9.99777767e-01 -1.45719936e-02 -4.29107959e-01] [-5.18058345e-03 1.46524108e-02 9.99879227e-01 -2.67269257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.61119381700001 meters Centerline goodness : 0.871562 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.43, Z:-2.67 [[ 9.99865521e-01 -1.55330573e-02 5.25958521e-03 2.78494302e+01] [ 1.56050109e-02 9.99781229e-01 -1.39275618e-02 -4.32044829e-01] [-5.04209696e-03 1.40077648e-02 9.99889174e-01 -2.67308366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64119381700002 meters Centerline goodness : 0.871490 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.43, Z:-2.67 [[ 9.99863915e-01 -1.56799843e-02 5.12729464e-03 2.78498290e+01] [ 1.57473108e-02 9.99786671e-01 -1.33654463e-02 -4.33943035e-01] [-4.91663085e-03 1.34443686e-02 9.99897533e-01 -2.67313521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67119381700002 meters Centerline goodness : 0.872666 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.44, Z:-2.67 [[ 9.99866125e-01 -1.55598374e-02 5.06201421e-03 2.78496757e+01] [ 1.56239189e-02 9.99795028e-01 -1.28761390e-02 -4.35094911e-01] [-4.86062601e-03 1.29535037e-02 9.99904286e-01 -2.67263657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70119381700002 meters Centerline goodness : 0.871351 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.44, Z:-2.67 [[ 9.99912677e-01 -1.24035572e-02 4.55970622e-03 2.78511025e+01] [ 1.24449230e-02 9.99880616e-01 -9.15844508e-03 -4.36773528e-01] [-4.44556457e-03 9.21439053e-03 9.99947665e-01 -2.67312811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73119381700002 meters Centerline goodness : 0.872154 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.44, Z:-2.67 [[ 9.99943487e-01 -9.85130514e-03 3.99678868e-03 2.78533517e+01] [ 9.87724138e-03 9.99929948e-01 -6.52227654e-03 -4.37044776e-01] [-3.93225576e-03 6.56138519e-03 9.99970742e-01 -2.67445087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76119381700002 meters Centerline goodness : 0.870691 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.44, Z:-2.67 [[ 9.99976986e-01 -5.59269581e-03 3.84051865e-03 2.78534011e+01] [ 5.60378338e-03 9.99980145e-01 -2.88233230e-03 -4.35187761e-01] [-3.82432239e-03 2.90378740e-03 9.99988471e-01 -2.67419314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79119381700002 meters Centerline goodness : 0.868493 Centerline is valid? [False, False] Translation: X:27.86, Y:-0.43, Z:-2.68 [[ 9.99989707e-01 -3.10007897e-03 3.31287337e-03 2.78556219e+01] [ 3.10126489e-03 9.99995129e-01 -3.52895450e-04 -4.34720040e-01] [-3.31176322e-03 3.63165916e-04 9.99994450e-01 -2.67560778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82119381700002 meters Centerline goodness : 0.867450 Centerline is valid? [False, False] Translation: X:27.86, Y:-0.43, Z:-2.68 [[ 9.99990433e-01 -2.95101624e-03 3.22884429e-03 2.78560648e+01] [ 2.95343595e-03 9.99995361e-01 -7.44895525e-04 -4.33004244e-01] [-3.22663111e-03 7.54424584e-04 9.99994510e-01 -2.67603146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85119381700002 meters Centerline goodness : 0.868277 Centerline is valid? [False, False] Translation: X:27.86, Y:-0.43, Z:-2.68 [[ 9.99990957e-01 -2.89673959e-03 3.11370442e-03 2.78565665e+01] [ 2.90012419e-03 9.99995208e-01 -1.08303588e-03 -4.31684836e-01] [-3.11055222e-03 1.09205621e-03 9.99994566e-01 -2.67639910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88119381700002 meters Centerline goodness : 0.867317 Centerline is valid? [False, False] Translation: X:27.86, Y:-0.43, Z:-2.68 [[ 9.99991926e-01 -2.64495034e-03 3.02530475e-03 2.78567732e+01] [ 2.64863521e-03 9.99995755e-01 -1.21466003e-03 -4.30577238e-01] [-3.02207919e-03 1.22266315e-03 9.99994686e-01 -2.67650596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91119381700003 meters Centerline goodness : 0.864684 Centerline is valid? [False, False] Translation: X:27.86, Y:-0.43, Z:-2.68 [[ 9.99995127e-01 1.14682225e-03 2.90354694e-03 2.78576431e+01] [-1.15351943e-03 9.99996676e-01 2.30593039e-03 -4.29303674e-01] [-2.90089280e-03 -2.30926846e-03 9.99993126e-01 -2.67730470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94119381700003 meters Centerline goodness : 0.864094 Centerline is valid? [False, False] Translation: X:27.86, Y:-0.43, Z:-2.68 [[ 9.99989348e-01 3.95148145e-03 2.38531638e-03 2.78601287e+01] [-3.96380579e-03 9.99978705e-01 5.18432667e-03 -4.29287095e-01] [-2.36477982e-03 -5.19372638e-03 9.99983716e-01 -2.67908517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97119381700003 meters Centerline goodness : 0.863077 Centerline is valid? [False, False] Translation: X:27.87, Y:-0.43, Z:-2.68 [[ 9.99961326e-01 5.85394558e-03 6.56329892e-03 2.78716308e+01] [-5.82292222e-03 9.99971832e-01 -4.73598086e-03 -4.26652416e-01] [-6.59083822e-03 4.69758012e-03 9.99967246e-01 -2.68347270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00119381700003 meters Centerline goodness : 0.863520 Centerline is valid? [False, False] Translation: X:27.87, Y:-0.43, Z:-2.68 [[ 9.99947654e-01 8.19855720e-03 6.12145683e-03 2.78724340e+01] [-8.18143706e-03 9.99962565e-01 -2.81656489e-03 -4.28068160e-01] [-6.14431944e-03 2.76633514e-03 9.99977297e-01 -2.68351180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03119381700003 meters Centerline goodness : 0.862491 Centerline is valid? [False, False] Translation: X:27.88, Y:-0.43, Z:-2.69 [[ 9.99893726e-01 1.01357542e-02 1.04787262e-02 2.78829675e+01] [-1.00012811e-02 9.99867973e-01 -1.28066943e-02 -4.26404333e-01] [-1.06071482e-02 1.27005326e-02 9.99863083e-01 -2.68730470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06119381700003 meters Centerline goodness : 0.861676 Centerline is valid? [False, False] Translation: X:27.88, Y:-0.43, Z:-2.69 [[ 9.99889527e-01 1.06444070e-02 1.03744726e-02 2.78831622e+01] [-1.05150508e-02 9.99867275e-01 -1.24444956e-02 -4.26619290e-01] [-1.05055600e-02 1.23340327e-02 9.99868744e-01 -2.68731318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09119381700003 meters Centerline goodness : 0.861421 Centerline is valid? [False, False] Translation: X:27.88, Y:-0.43, Z:-2.69 [[ 9.99884966e-01 1.11242368e-02 1.03105342e-02 2.78835138e+01] [-1.10003944e-02 9.99867593e-01 -1.19911280e-02 -4.27224996e-01] [-1.04425612e-02 1.18763286e-02 9.99874945e-01 -2.68761598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12119381700003 meters Centerline goodness : 0.862000 Centerline is valid? [False, False] Translation: X:27.88, Y:-0.43, Z:-2.69 [[ 9.99875507e-01 1.20411744e-02 1.01971257e-02 2.78838299e+01] [-1.19307965e-02 9.99870317e-01 -1.08169384e-02 -4.30418917e-01] [-1.03260520e-02 1.06939319e-02 9.99889500e-01 -2.68777215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15119381700003 meters Centerline goodness : 0.860703 Centerline is valid? [False, False] Translation: X:27.88, Y:-0.43, Z:-2.69 [[ 9.99872885e-01 1.23853498e-02 1.00408108e-02 2.78843682e+01] [-1.22840207e-02 9.99873626e-01 -1.00913571e-02 -4.32784722e-01] [-1.01645269e-02 9.96673275e-03 9.99898668e-01 -2.68803520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18119381700004 meters Centerline goodness : 0.861804 Centerline is valid? [False, False] Translation: X:27.88, Y:-0.44, Z:-2.69 [[ 9.99870970e-01 1.26231693e-02 9.93476674e-03 2.78848523e+01] [-1.25296180e-02 9.99877099e-01 -9.42313149e-03 -4.35058972e-01] [-1.00524955e-02 9.29743679e-03 9.99906248e-01 -2.68836690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21119381700004 meters Centerline goodness : 0.861410 Centerline is valid? [False, False] Translation: X:27.89, Y:-0.44, Z:-2.69 [[ 9.99870338e-01 1.27294670e-02 9.86240083e-03 2.78852379e+01] [-1.26429821e-02 9.99881505e-01 -8.78242610e-03 -4.37221264e-01] [-9.97302779e-03 8.65659720e-03 9.99912797e-01 -2.68867755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24119381700004 meters Centerline goodness : 0.862622 Centerline is valid? [False, False] Translation: X:27.89, Y:-0.44, Z:-2.69 [[ 9.99884711e-01 1.18655266e-02 9.47492952e-03 2.78870099e+01] [-1.17797709e-02 9.99889608e-01 -9.05588479e-03 -4.39650686e-01] [-9.58133640e-03 8.94322824e-03 9.99914105e-01 -2.68993406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27119381700004 meters Centerline goodness : 0.864808 Centerline is valid? [False, False] Translation: X:27.89, Y:-0.45, Z:-2.69 [[ 9.99924780e-01 8.04110086e-03 9.26150249e-03 2.78874269e+01] [-7.93589879e-03 9.99904204e-01 -1.13403532e-02 -4.46664152e-01] [-9.35180420e-03 1.12660018e-02 9.99892805e-01 -2.68987010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30119381700004 meters Centerline goodness : 0.864861 Centerline is valid? [False, False] Translation: X:27.89, Y:-0.45, Z:-2.69 [[ 9.99950649e-01 3.93817669e-03 9.12085906e-03 2.78882919e+01] [-3.80339584e-03 9.99884013e-01 -1.47477083e-02 -4.49621908e-01] [-9.17788024e-03 1.47122903e-02 9.99849646e-01 -2.69069291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33119381700004 meters Centerline goodness : 0.863682 Centerline is valid? [False, False] Translation: X:27.89, Y:-0.45, Z:-2.69 [[ 9.99960024e-01 -2.23718055e-04 8.93867824e-03 2.78891881e+01] [ 3.85034879e-04 9.99837022e-01 -1.80494127e-02 -4.52713439e-01] [-8.93318345e-03 1.80521328e-02 9.99797139e-01 -2.69141212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36119381700001 meters Centerline goodness : 0.863450 Centerline is valid? [False, False] Translation: X:27.89, Y:-0.46, Z:-2.69 [[ 9.99903198e-01 -1.07505161e-02 8.83290616e-03 2.78914572e+01] [ 1.09853619e-02 9.99575506e-01 -2.69838656e-02 -4.57685331e-01] [-8.53906617e-03 2.70782862e-02 9.99596844e-01 -2.69369590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.39119381700002 meters Centerline goodness : 0.864974 Centerline is valid? [False, False] Translation: X:27.88, Y:-0.46, Z:-2.69 [[ 9.99819217e-01 -1.74755046e-02 7.49263583e-03 2.78846908e+01] [ 1.76223798e-02 9.99644533e-01 -2.00064997e-02 -4.62315419e-01] [-7.14034876e-03 2.01349209e-02 9.99771774e-01 -2.69481170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42119381700002 meters Centerline goodness : 0.866035 Centerline is valid? [False, False] Translation: X:27.89, Y:-0.46, Z:-2.70 [[ 9.99738403e-01 -2.16382012e-02 7.41043377e-03 2.78855093e+01] [ 2.18073739e-02 9.99484442e-01 -2.35645777e-02 -4.64655625e-01] [-6.89671819e-03 2.37200154e-02 9.99694852e-01 -2.69543960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45119381700002 meters Centerline goodness : 0.864825 Centerline is valid? [False, False] Translation: X:27.89, Y:-0.47, Z:-2.70 [[ 9.99725483e-01 -2.22820424e-02 7.24360140e-03 2.78865283e+01] [ 2.24450188e-02 9.99477557e-01 -2.32558229e-02 -4.67320392e-01] [-6.72162980e-03 2.34120215e-02 9.99703304e-01 -2.69615972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48119381700002 meters Centerline goodness : 0.863780 Centerline is valid? [False, False] Translation: X:27.89, Y:-0.47, Z:-2.70 [[ 9.99722138e-01 -2.24594246e-02 7.15695693e-03 2.78874630e+01] [ 2.26208231e-02 9.99471855e-01 -2.33304250e-02 -4.67247150e-01] [-6.62918910e-03 2.34858386e-02 9.99702190e-01 -2.69715958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51119381700002 meters Centerline goodness : 0.863780 Centerline is valid? [False, False] Translation: X:27.89, Y:-0.47, Z:-2.70 [[ 9.99722138e-01 -2.24594246e-02 7.15695693e-03 2.78874630e+01] [ 2.26208231e-02 9.99471855e-01 -2.33304250e-02 -4.67247150e-01] [-6.62918910e-03 2.34858386e-02 9.99702190e-01 -2.69715958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54119381700002 meters Centerline goodness : 0.862577 Centerline is valid? [False, False] Translation: X:27.89, Y:-0.47, Z:-2.70 [[ 9.99804470e-01 -1.85264506e-02 6.91313382e-03 2.78878849e+01] [ 1.86548971e-02 9.99645382e-01 -1.90027694e-02 -4.68276160e-01] [-6.55862843e-03 1.91280176e-02 9.99795531e-01 -2.69717925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57119381700002 meters Centerline goodness : 0.863993 Centerline is valid? [False, False] Translation: X:27.89, Y:-0.47, Z:-2.70 [[ 9.99874094e-01 -1.43905259e-02 6.68643117e-03 2.78879615e+01] [ 1.44872619e-02 9.99787702e-01 -1.46516176e-02 -4.69081695e-01] [-6.47416717e-03 1.47466410e-02 9.99870302e-01 -2.69674512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60119381700002 meters Centerline goodness : 0.863755 Centerline is valid? [False, False] Translation: X:27.89, Y:-0.47, Z:-2.70 [[ 9.99925037e-01 -1.03434923e-02 6.55229063e-03 2.78878853e+01] [ 1.04124842e-02 9.99889770e-01 -1.05843148e-02 -4.69473984e-01] [-6.44208959e-03 1.06517470e-02 9.99922517e-01 -2.69627855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63119381700002 meters Centerline goodness : 0.865111 Centerline is valid? [False, False] Translation: X:27.90, Y:-0.47, Z:-2.70 [[ 9.99925302e-01 -2.48833400e-03 1.19665849e-02 2.78966625e+01] [ 2.66117436e-03 9.99892060e-01 -1.44494157e-02 -4.66526924e-01] [-1.19293383e-02 1.44801815e-02 9.99823992e-01 -2.69877666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66119381700003 meters Centerline goodness : 0.865540 Centerline is valid? [False, False] Translation: X:27.90, Y:-0.47, Z:-2.70 [[ 9.99934421e-01 4.32019560e-04 1.14440857e-02 2.78987694e+01] [-3.02213335e-04 9.99935632e-01 -1.13419490e-02 -4.66560152e-01] [-1.14482490e-02 1.13377466e-02 9.99870188e-01 -2.70012151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69119381700003 meters Centerline goodness : 0.866048 Centerline is valid? [False, False] Translation: X:27.90, Y:-0.47, Z:-2.70 [[ 9.99938001e-01 2.35094289e-03 1.08842440e-02 2.79014965e+01] [-2.24817786e-03 9.99952875e-01 -9.44425992e-03 -4.66784740e-01] [-1.09059340e-02 9.41920467e-03 9.99896164e-01 -2.70214398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72119381700003 meters Centerline goodness : 0.863922 Centerline is valid? [False, False] Translation: X:27.90, Y:-0.47, Z:-2.70 [[ 9.99938278e-01 3.99804526e-03 1.03660748e-02 2.79042704e+01] [-3.91809476e-03 9.99962512e-01 -7.72157748e-03 -4.67109790e-01] [-1.03965574e-02 7.68048562e-03 9.99916457e-01 -2.70430260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75119381700003 meters Centerline goodness : 0.866679 Centerline is valid? [False, False] Translation: X:27.91, Y:-0.47, Z:-2.71 [[ 9.99931086e-01 6.26161949e-03 9.93053824e-03 2.79069729e+01] [-6.20925583e-03 9.99966703e-01 -5.29508748e-03 -4.66217222e-01] [-9.96336340e-03 5.23306132e-03 9.99936671e-01 -2.70654982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78119381700003 meters Centerline goodness : 0.865057 Centerline is valid? [False, False] Translation: X:27.91, Y:-0.47, Z:-2.71 [[ 9.99933120e-01 6.19586089e-03 9.76560816e-03 2.79078451e+01] [-6.14204431e-03 9.99965840e-01 -5.53121824e-03 -4.65638103e-01] [-9.79954522e-03 5.47086752e-03 9.99937017e-01 -2.70729371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81119381700003 meters Centerline goodness : 0.866110 Centerline is valid? [False, False] Translation: X:27.91, Y:-0.47, Z:-2.71 [[ 9.99935508e-01 6.11790475e-03 9.56827254e-03 2.79088209e+01] [-6.06390705e-03 9.99965583e-01 -5.66227787e-03 -4.65800287e-01] [-9.60258451e-03 5.60389158e-03 9.99938191e-01 -2.70808954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84119381700003 meters Centerline goodness : 0.862920 Centerline is valid? [False, False] Translation: X:27.91, Y:-0.47, Z:-2.71 [[ 9.99938040e-01 6.03875717e-03 9.35141809e-03 2.79097266e+01] [-5.98494269e-03 9.99965432e-01 -5.77201820e-03 -4.66283576e-01] [-9.38595064e-03 5.71569287e-03 9.99939616e-01 -2.70871104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87119381700003 meters Centerline goodness : 0.865979 Centerline is valid? [False, False] Translation: X:27.91, Y:-0.47, Z:-2.71 [[ 9.99940081e-01 6.05365289e-03 9.12071444e-03 2.79102087e+01] [-6.00170543e-03 9.99965675e-01 -5.71219225e-03 -4.67400730e-01] [-9.15498100e-03 5.65711014e-03 9.99942090e-01 -2.70869456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90119381700003 meters Centerline goodness : 0.867514 Centerline is valid? [False, False] Translation: X:27.91, Y:-0.47, Z:-2.71 [[ 9.99942505e-01 5.87914703e-03 8.96789836e-03 2.79108976e+01] [-5.82677104e-03 9.99965881e-01 -5.85537584e-03 -4.67553281e-01] [-9.00201700e-03 5.80278530e-03 9.99942644e-01 -2.70921646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93119381700004 meters Centerline goodness : 0.868053 Centerline is valid? [False, False] Translation: X:27.91, Y:-0.47, Z:-2.71 [[ 9.99946023e-01 5.58770141e-03 8.75949132e-03 2.79116630e+01] [-5.53439964e-03 9.99966095e-01 -6.09750577e-03 -4.67516106e-01] [-8.79326537e-03 6.04869811e-03 9.99943044e-01 -2.70967615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96119381700004 meters Centerline goodness : 0.868733 Centerline is valid? [False, False] Translation: X:27.91, Y:-0.47, Z:-2.71 [[ 9.99948617e-01 5.39114515e-03 8.58483878e-03 2.79122930e+01] [-5.33806136e-03 9.99966567e-01 -6.19438867e-03 -4.67730852e-01] [-8.61794661e-03 6.14824398e-03 9.99943963e-01 -2.71004633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99119381700004 meters Centerline goodness : 0.868701 Centerline is valid? [False, False] Translation: X:27.91, Y:-0.47, Z:-2.71 [[ 9.99953011e-01 4.91422269e-03 8.35618545e-03 2.79132982e+01] [-4.86022276e-03 9.99967256e-01 -6.47034399e-03 -4.68007894e-01] [-8.38770854e-03 6.42942704e-03 9.99944153e-01 -2.71073811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02119381700004 meters Centerline goodness : 0.869337 Centerline is valid? [False, False] Translation: X:27.91, Y:-0.47, Z:-2.71 [[ 9.99956471e-01 4.58649436e-03 8.12529835e-03 2.79142795e+01] [-4.53276527e-03 9.99967823e-01 -6.61868790e-03 -4.68541397e-01] [-8.15539348e-03 6.58156972e-03 9.99945085e-01 -2.71144319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05119381700004 meters Centerline goodness : 0.868810 Centerline is valid? [False, False] Translation: X:27.92, Y:-0.47, Z:-2.71 [[ 9.99964945e-01 3.60779378e-03 7.55598662e-03 2.79164543e+01] [-3.55121165e-03 9.99965655e-01 -7.48846076e-03 -4.68856772e-01] [-7.58274394e-03 7.46136534e-03 9.99943413e-01 -2.71279063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08119381700004 meters Centerline goodness : 0.869477 Centerline is valid? [False, False] Translation: X:27.92, Y:-0.47, Z:-2.71 [[ 9.99968128e-01 3.34619951e-03 7.24883444e-03 2.79171723e+01] [-3.29194333e-03 9.99966577e-01 -7.48386020e-03 -4.69608413e-01] [-7.27363465e-03 7.45975892e-03 9.99945722e-01 -2.71295135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.11119381700001 meters Centerline goodness : 0.868809 Centerline is valid? [False, False] Translation: X:27.92, Y:-0.47, Z:-2.71 [[ 9.99971702e-01 2.92693955e-03 6.93020725e-03 2.79180937e+01] [-2.87420359e-03 9.99966933e-01 -7.60734872e-03 -4.70557150e-01] [-6.95224433e-03 7.58721462e-03 9.99947049e-01 -2.71333297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14119381700002 meters Centerline goodness : 0.869222 Centerline is valid? [False, False] Translation: X:27.92, Y:-0.47, Z:-2.71 [[ 9.99978965e-01 1.17842890e-03 6.37821893e-03 2.79200404e+01] [-1.12222175e-03 9.99960572e-01 -8.80877533e-03 -4.72019439e-01] [-6.38834797e-03 8.80143226e-03 9.99940860e-01 -2.71424755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17119381700002 meters Centerline goodness : 0.870171 Centerline is valid? [False, False] Translation: X:27.92, Y:-0.47, Z:-2.71 [[ 9.99981737e-01 7.48814499e-04 5.99713322e-03 2.79210581e+01] [-6.94201816e-04 9.99958322e-01 -9.10337501e-03 -4.72253421e-01] [-6.00370001e-03 9.09904553e-03 9.99940580e-01 -2.71463635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20119381700002 meters Centerline goodness : 0.869538 Centerline is valid? [False, False] Translation: X:27.92, Y:-0.47, Z:-2.72 [[ 9.99984106e-01 5.52392403e-04 5.61088446e-03 2.79224486e+01] [-4.99339739e-04 9.99955201e-01 -9.45231601e-03 -4.71692432e-01] [-5.61585449e-03 9.44936404e-03 9.99939584e-01 -2.71552950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23119381700002 meters Centerline goodness : 0.869544 Centerline is valid? [False, False] Translation: X:27.92, Y:-0.47, Z:-2.72 [[ 9.99985381e-01 6.98596376e-04 5.36180461e-03 2.79231491e+01] [-6.47614434e-04 9.99954624e-01 -9.50420872e-03 -4.71434672e-01] [-5.36820092e-03 9.50059740e-03 9.99940459e-01 -2.71584940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26119381700002 meters Centerline goodness : 0.870791 Centerline is valid? [False, False] Translation: X:27.93, Y:-0.47, Z:-2.72 [[ 9.99985020e-01 2.78162001e-03 4.71415319e-03 2.79258373e+01] [-2.74619507e-03 9.99968070e-01 -7.50448019e-03 -4.72041646e-01] [-4.73487728e-03 7.49142179e-03 9.99960729e-01 -2.71762548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29119381700002 meters Centerline goodness : 0.870109 Centerline is valid? [False, False] Translation: X:27.93, Y:-0.47, Z:-2.72 [[ 9.99985148e-01 3.08778012e-03 4.49106673e-03 2.79265527e+01] [-3.05267120e-03 9.99964893e-01 -7.80345829e-03 -4.70444756e-01] [-4.51500443e-03 7.78963264e-03 9.99959467e-01 -2.71809830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32119381700002 meters Centerline goodness : 0.867754 Centerline is valid? [False, False] Translation: X:27.93, Y:-0.47, Z:-2.72 [[ 9.99962528e-01 7.55854616e-03 4.22036143e-03 2.79274200e+01] [-7.54172774e-03 9.99963613e-01 -3.98685934e-03 -4.69038232e-01] [-4.25034272e-03 3.95488113e-03 9.99983147e-01 -2.71864334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35119381700002 meters Centerline goodness : 0.870011 Centerline is valid? [False, False] Translation: X:27.93, Y:-0.47, Z:-2.72 [[ 9.99960061e-01 8.01690922e-03 3.95046720e-03 2.79281610e+01] [-8.00056910e-03 9.99959446e-01 -4.13483702e-03 -4.67828001e-01] [-3.98345561e-03 4.10306589e-03 9.99983648e-01 -2.71905651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38119381700002 meters Centerline goodness : 0.870786 Centerline is valid? [False, False] Translation: X:27.93, Y:-0.47, Z:-2.72 [[ 9.99958552e-01 8.35446267e-03 3.61893818e-03 2.79289538e+01] [-8.33956907e-03 9.99956774e-01 -4.11118711e-03 -4.67554524e-01] [-3.65312850e-03 4.08083633e-03 9.99985001e-01 -2.71936584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41119381700003 meters Centerline goodness : 0.870790 Centerline is valid? [False, False] Translation: X:27.93, Y:-0.47, Z:-2.72 [[ 9.99957761e-01 8.54139373e-03 3.39409593e-03 2.79295810e+01] [-8.52798834e-03 9.99955856e-01 -3.94465556e-03 -4.68206547e-01] [-3.42763895e-03 3.91554414e-03 9.99986460e-01 -2.71962721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44119381700003 meters Centerline goodness : 0.870325 Centerline is valid? [False, False] Translation: X:27.93, Y:-0.47, Z:-2.72 [[ 9.99958711e-01 8.53609960e-03 3.11619136e-03 2.79299772e+01] [-8.52596446e-03 9.99958368e-01 -3.25133688e-03 -4.71587810e-01] [-3.14381536e-03 3.22463410e-03 9.99989859e-01 -2.71932387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47119381700003 meters Centerline goodness : 0.871233 Centerline is valid? [False, False] Translation: X:27.93, Y:-0.47, Z:-2.72 [[ 9.99982098e-01 5.13746549e-03 3.06746973e-03 2.79298124e+01] [-5.11601883e-03 9.99962698e-01 -6.95902758e-03 -4.70955457e-01] [-3.10310707e-03 6.94320977e-03 9.99971081e-01 -2.71919583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50119381700003 meters Centerline goodness : 0.872459 Centerline is valid? [False, False] Translation: X:27.93, Y:-0.47, Z:-2.72 [[ 9.99984188e-01 4.85920700e-03 2.83060347e-03 2.79303675e+01] [-4.83945862e-03 9.99964191e-01 -6.94230143e-03 -4.71475504e-01] [-2.86423619e-03 6.92849306e-03 9.99971896e-01 -2.71929364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53119381700003 meters Centerline goodness : 0.871272 Centerline is valid? [False, False] Translation: X:27.93, Y:-0.47, Z:-2.72 [[ 9.99985969e-01 4.58176984e-03 2.65868774e-03 2.79306572e+01] [-4.56312364e-03 9.99965246e-01 -6.97749847e-03 -4.71878759e-01] [-2.69056463e-03 6.96526865e-03 9.99972123e-01 -2.71916945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56119381700003 meters Centerline goodness : 0.871637 Centerline is valid? [False, False] Translation: X:27.93, Y:-0.47, Z:-2.72 [[ 9.99987656e-01 4.36207740e-03 2.37900753e-03 2.79306430e+01] [-4.34589715e-03 9.99967677e-01 -6.76454356e-03 -4.74081948e-01] [-2.40843809e-03 6.75412114e-03 9.99974290e-01 -2.71827500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59119381700003 meters Centerline goodness : 0.874106 Centerline is valid? [False, False] Translation: X:27.93, Y:-0.47, Z:-2.72 [[ 9.99988874e-01 4.21459630e-03 2.11851784e-03 2.79312239e+01] [-4.20001293e-03 9.99967775e-01 -6.84170856e-03 -4.74868780e-01] [-2.14728462e-03 6.83273464e-03 9.99974351e-01 -2.71832378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62119381700003 meters Centerline goodness : 0.875894 Centerline is valid? [False, False] Translation: X:27.93, Y:-0.47, Z:-2.72 [[ 9.99989726e-01 4.13413812e-03 1.85928053e-03 2.79318800e+01] [-4.12097416e-03 9.99966804e-01 -7.02909549e-03 -4.74876475e-01] [-1.88827806e-03 7.02136123e-03 9.99973567e-01 -2.71850904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65119381700003 meters Centerline goodness : 0.876379 Centerline is valid? [False, False] Translation: X:27.93, Y:-0.47, Z:-2.72 [[ 9.99991000e-01 3.90607635e-03 1.65593218e-03 2.79326738e+01] [-3.89352863e-03 9.99964189e-01 -7.51412341e-03 -4.73845412e-01] [-1.68522362e-03 7.50760837e-03 9.99970397e-01 -2.71903741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68119381700004 meters Centerline goodness : 0.876928 Centerline is valid? [False, False] Translation: X:27.93, Y:-0.47, Z:-2.72 [[ 9.99991161e-01 3.94166275e-03 1.46298403e-03 2.79334371e+01] [-3.93027177e-03 9.99962561e-01 -7.70899780e-03 -4.72948674e-01] [-1.49331553e-03 7.70317974e-03 9.99969215e-01 -2.71960541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71119381700004 meters Centerline goodness : 0.876535 Centerline is valid? [False, False] Translation: X:27.94, Y:-0.47, Z:-2.72 [[ 9.99994158e-01 3.24684718e-03 1.06895773e-03 2.79356293e+01] [-3.23746083e-03 9.99957187e-01 -8.66849645e-03 -4.72164629e-01] [-1.09705725e-03 8.66498510e-03 9.99961857e-01 -2.72153624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74119381700004 meters Centerline goodness : 0.876122 Centerline is valid? [False, False] Translation: X:27.94, Y:-0.47, Z:-2.72 [[ 9.99996386e-01 2.61257789e-03 6.34035701e-04 2.79374078e+01] [-2.60660719e-03 9.99953896e-01 -9.24184940e-03 -4.72499691e-01] [-6.58151521e-04 9.24016332e-03 9.99957092e-01 -2.72272311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77119381700004 meters Centerline goodness : 0.874510 Centerline is valid? [False, False] Translation: X:27.94, Y:-0.47, Z:-2.72 [[ 9.99997097e-01 2.38051211e-03 3.73207361e-04 2.79383626e+01] [-2.37694729e-03 9.99954135e-01 -9.27779604e-03 -4.73459382e-01] [-3.95276150e-04 9.27688201e-03 9.99956891e-01 -2.72331493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80119381700004 meters Centerline goodness : 0.875175 Centerline is valid? [False, False] Translation: X:27.94, Y:-0.47, Z:-2.72 [[ 9.99998489e-01 1.73772827e-03 -4.72134992e-05 2.79403062e+01] [-1.73810537e-03 9.99951163e-01 -9.72882022e-03 -4.74404116e-01] [ 3.03051475e-05 9.72888758e-03 9.99952673e-01 -2.72470221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83119381700004 meters Centerline goodness : 0.872734 Centerline is valid? [False, False] Translation: X:27.94, Y:-0.48, Z:-2.73 [[ 9.99999566e-01 6.18527604e-04 -6.97393977e-04 2.79435825e+01] [-6.25386843e-04 9.99951010e-01 -9.87858925e-03 -4.78105255e-01] [ 6.91249632e-04 9.87902110e-03 9.99950962e-01 -2.72719869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86119381700001 meters Centerline goodness : 0.872442 Centerline is valid? [False, False] Translation: X:27.95, Y:-0.48, Z:-2.73 [[ 9.99999120e-01 -1.41002255e-04 -1.31936913e-03 2.79463787e+01] [ 1.27583057e-04 9.99948322e-01 -1.01654823e-02 -4.79891031e-01] [ 1.32073430e-03 1.01653051e-02 9.99947460e-01 -2.72923719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.89119381700002 meters Centerline goodness : 0.871699 Centerline is valid? [False, False] Translation: X:27.95, Y:-0.48, Z:-2.73 [[ 9.99997862e-01 -8.84614451e-04 -1.86925648e-03 2.79490082e+01] [ 8.65137295e-04 9.99945597e-01 -1.03949776e-02 -4.81691626e-01] [ 1.87835034e-03 1.03933382e-02 9.99944224e-01 -2.73122030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92119381700002 meters Centerline goodness : 0.872384 Centerline is valid? [False, False] Translation: X:27.95, Y:-0.49, Z:-2.73 [[ 9.99995076e-01 -2.10274465e-03 -2.32963818e-03 2.79513651e+01] [ 2.07797174e-03 9.99941811e-01 -1.05856743e-02 -4.86274301e-01] [ 2.35176160e-03 1.05807812e-02 9.99941256e-01 -2.73286913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95119381700002 meters Centerline goodness : 0.870380 Centerline is valid? [False, False] Translation: X:27.95, Y:-0.49, Z:-2.73 [[ 9.99995037e-01 -1.86284819e-03 -2.54068490e-03 2.79516548e+01] [ 1.83831682e-03 9.99952000e-01 -9.62381147e-03 -4.89321038e-01] [ 2.55849065e-03 9.61909313e-03 9.99950462e-01 -2.73266656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98119381700002 meters Centerline goodness : 0.871993 Centerline is valid? [False, False] Translation: X:27.95, Y:-0.49, Z:-2.73 [[ 9.99994626e-01 -1.80385751e-03 -2.73738435e-03 2.79521843e+01] [ 1.77922835e-03 9.99958157e-01 -8.97325324e-03 -4.91642288e-01] [ 2.75345628e-03 8.96833459e-03 9.99955993e-01 -2.73280576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01119381700002 meters Centerline goodness : 0.871539 Centerline is valid? [False, False] Translation: X:27.95, Y:-0.49, Z:-2.73 [[ 9.99994300e-01 -1.79039909e-03 -2.86249370e-03 2.79525230e+01] [ 1.76620451e-03 9.99962885e-01 -8.43257722e-03 -4.93415469e-01] [ 2.87748514e-03 8.42747341e-03 9.99960348e-01 -2.73284425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04119381700002 meters Centerline goodness : 0.872936 Centerline is valid? [False, False] Translation: X:27.95, Y:-0.50, Z:-2.73 [[ 9.99993737e-01 -2.15673075e-03 -2.80630284e-03 2.79521448e+01] [ 2.13535899e-03 9.99968866e-01 -7.59646865e-03 -4.96445000e-01] [ 2.82259900e-03 7.59042860e-03 9.99967209e-01 -2.73205798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07119381700002 meters Centerline goodness : 0.873247 Centerline is valid? [False, False] Translation: X:27.95, Y:-0.50, Z:-2.73 [[ 9.99992458e-01 -2.52278695e-03 -2.95276995e-03 2.79523962e+01] [ 2.50080649e-03 9.99969313e-01 -7.42418132e-03 -4.97809086e-01] [ 2.97140897e-03 7.41674102e-03 9.99968081e-01 -2.73188331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10119381700002 meters Centerline goodness : 0.875083 Centerline is valid? [False, False] Translation: X:27.95, Y:-0.50, Z:-2.73 [[ 9.99990207e-01 -3.04973358e-03 -3.20712979e-03 2.79528947e+01] [ 3.02599125e-03 9.99968175e-01 -7.38195812e-03 -4.99052527e-01] [ 3.22954073e-03 7.37218108e-03 9.99967610e-01 -2.73170987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13119381700002 meters Centerline goodness : 0.875275 Centerline is valid? [False, False] Translation: X:27.95, Y:-0.50, Z:-2.73 [[ 9.99964903e-01 -7.81216240e-03 -3.02707067e-03 2.79523094e+01] [ 7.77588738e-03 9.99899960e-01 -1.18155167e-02 -4.98441160e-01] [ 3.11907257e-03 1.17915638e-02 9.99925612e-01 -2.73117466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16119381700003 meters Centerline goodness : 0.877978 Centerline is valid? [False, False] Translation: X:27.95, Y:-0.50, Z:-2.73 [[ 9.99959150e-01 -8.45552307e-03 -3.19397347e-03 2.79526830e+01] [ 8.41674064e-03 9.99892973e-01 -1.19666858e-02 -4.98828472e-01] [ 3.29481622e-03 1.19393141e-02 9.99923296e-01 -2.73103061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19119381700003 meters Centerline goodness : 0.879100 Centerline is valid? [False, False] Translation: X:27.95, Y:-0.50, Z:-2.73 [[ 9.99951551e-01 -9.25769356e-03 -3.34529490e-03 2.79533792e+01] [ 9.21537894e-03 9.99880024e-01 -1.24504405e-02 -4.98559569e-01] [ 3.46015591e-03 1.24190092e-02 9.99916894e-01 -2.73140677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22119381700003 meters Centerline goodness : 0.877798 Centerline is valid? [False, False] Translation: X:27.96, Y:-0.50, Z:-2.73 [[ 9.99937222e-01 -1.05602795e-02 -3.74610696e-03 2.79552451e+01] [ 1.05082927e-02 9.99851808e-01 -1.36358948e-02 -4.97356351e-01] [ 3.88955068e-03 1.35956735e-02 9.99900010e-01 -2.73267660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25119381700003 meters Centerline goodness : 0.881585 Centerline is valid? [False, False] Translation: X:27.96, Y:-0.49, Z:-2.73 [[ 9.99920749e-01 -1.19734508e-02 -3.89008792e-03 2.79561986e+01] [ 1.19135588e-02 9.99815453e-01 -1.50707348e-02 -4.94054462e-01] [ 4.06981872e-03 1.50231957e-02 9.99878863e-01 -2.73337382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28119381700003 meters Centerline goodness : 0.881003 Centerline is valid? [False, False] Translation: X:27.96, Y:-0.49, Z:-2.73 [[ 9.99913150e-01 -1.25144916e-02 -4.13284356e-03 2.79570912e+01] [ 1.24478607e-02 9.99798118e-01 -1.57725606e-02 -4.92199787e-01] [ 4.32939479e-03 1.57197456e-02 9.99867064e-01 -2.73383466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31119381700003 meters Centerline goodness : 0.880538 Centerline is valid? [False, False] Translation: X:27.96, Y:-0.49, Z:-2.73 [[ 9.99944632e-01 -9.66216967e-03 -4.16835818e-03 2.79574586e+01] [ 9.61006341e-03 9.99877624e-01 -1.23444112e-02 -4.92136494e-01] [ 4.28712186e-03 1.23036695e-02 9.99915117e-01 -2.73392267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34119381700003 meters Centerline goodness : 0.882617 Centerline is valid? [False, False] Translation: X:27.96, Y:-0.49, Z:-2.74 [[ 9.99960699e-01 -7.59511676e-03 -4.57334417e-03 2.79593246e+01] [ 7.54942015e-03 9.99922221e-01 -9.92765141e-03 -4.91169468e-01] [ 4.64839013e-03 9.89273514e-03 9.99940261e-01 -2.73506802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37119381700003 meters Centerline goodness : 0.881889 Centerline is valid? [False, False] Translation: X:27.96, Y:-0.49, Z:-2.74 [[ 9.99969902e-01 -5.85487807e-03 -5.09066428e-03 2.79616217e+01] [ 5.81209918e-03 9.99948013e-01 -8.37797289e-03 -4.86882256e-01] [ 5.13945165e-03 8.34813328e-03 9.99951946e-01 -2.73649473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40119381700003 meters Centerline goodness : 0.881889 Centerline is valid? [False, False] Translation: X:27.96, Y:-0.49, Z:-2.74 [[ 9.99969902e-01 -5.85487807e-03 -5.09066428e-03 2.79616217e+01] [ 5.81209918e-03 9.99948013e-01 -8.37797289e-03 -4.86882256e-01] [ 5.13945165e-03 8.34813328e-03 9.99951946e-01 -2.73649473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43119381700004 meters Centerline goodness : 0.883440 Centerline is valid? [False, False] Translation: X:27.98, Y:-0.49, Z:-2.74 [[ 9.99970242e-01 -4.00958598e-03 -6.59074318e-03 2.79840606e+01] [ 3.94481090e-03 9.99944080e-01 -9.81198340e-03 -4.85558939e-01] [ 6.62971662e-03 9.78569218e-03 9.99930141e-01 -2.73858839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46119381700004 meters Centerline goodness : 0.881672 Centerline is valid? [False, False] Translation: X:27.98, Y:-0.48, Z:-2.74 [[ 9.99967148e-01 -4.51483444e-03 -6.73201211e-03 2.79848632e+01] [ 4.44204906e-03 9.99931943e-01 -1.07878653e-02 -4.82501626e-01] [ 6.78025937e-03 1.07576070e-02 9.99919148e-01 -2.73928438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49119381700004 meters Centerline goodness : 0.881204 Centerline is valid? [False, False] Translation: X:27.99, Y:-0.48, Z:-2.74 [[ 9.99967644e-01 -3.51694937e-03 -7.23482619e-03 2.79874553e+01] [ 3.44523240e-03 9.99945044e-01 -9.90143605e-03 -4.77461155e-01] [ 7.26925144e-03 9.87619002e-03 9.99924807e-01 -2.74093903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52119381700004 meters Centerline goodness : 0.882757 Centerline is valid? [False, False] Translation: X:27.99, Y:-0.48, Z:-2.74 [[ 9.99974530e-01 -9.45235992e-04 -7.07426588e-03 2.79871649e+01] [ 8.94804171e-04 9.99974190e-01 -7.12868521e-03 -4.75691738e-01] [ 7.08082158e-03 7.12217356e-03 9.99949567e-01 -2.74065829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55119381700004 meters Centerline goodness : 0.882760 Centerline is valid? [False, False] Translation: X:27.99, Y:-0.47, Z:-2.74 [[ 9.99971495e-01 7.67988921e-04 -7.51130183e-03 2.79892719e+01] [-8.07588202e-04 9.99985786e-01 -5.27034834e-03 -4.73283930e-01] [ 7.50714749e-03 5.27626414e-03 9.99957901e-01 -2.74196418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58119381700004 meters Centerline goodness : 0.884473 Centerline is valid? [False, False] Translation: X:27.99, Y:-0.47, Z:-2.74 [[ 9.99971332e-01 4.18798099e-05 -7.57193618e-03 2.79897332e+01] [-9.21133918e-05 9.99977991e-01 -6.63395223e-03 -4.69267969e-01] [ 7.57149170e-03 6.63445953e-03 9.99949327e-01 -2.74235422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.61119381700001 meters Centerline goodness : 0.884966 Centerline is valid? [False, False] Translation: X:27.99, Y:-0.46, Z:-2.74 [[ 9.99968435e-01 -1.83955765e-03 -7.72948010e-03 2.79908537e+01] [ 1.76529343e-03 9.99952324e-01 -9.60378149e-03 -4.59899335e-01] [ 7.74677830e-03 9.58983355e-03 9.99924008e-01 -2.74304789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64119381700002 meters Centerline goodness : 0.887646 Centerline is valid? [False, False] Translation: X:28.01, Y:-0.46, Z:-2.75 [[ 9.99977568e-01 -1.61072015e-03 -6.50151534e-03 2.80112790e+01] [ 1.51887311e-03 9.99899333e-01 -1.41073220e-02 -4.55196384e-01] [ 6.52358380e-03 1.40971305e-02 9.99879350e-01 -2.74540242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67119381700002 meters Centerline goodness : 0.890922 Centerline is valid? [False, False] Translation: X:28.01, Y:-0.45, Z:-2.74 [[ 9.99981098e-01 -4.68089523e-04 -6.13057490e-03 2.80102194e+01] [ 3.86474112e-04 9.99911380e-01 -1.33072729e-02 -4.50096135e-01] [ 6.13626061e-03 1.33046521e-02 9.99892661e-01 -2.74470449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70119381700002 meters Centerline goodness : 0.888793 Centerline is valid? [False, False] Translation: X:28.01, Y:-0.44, Z:-2.75 [[ 9.99977423e-01 9.86483606e-04 -6.64682972e-03 2.80125098e+01] [-1.06793934e-03 9.99924243e-01 -1.22624411e-02 -4.44694473e-01] [ 6.63422948e-03 1.22692627e-02 9.99902721e-01 -2.74604957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73119381700002 meters Centerline goodness : 0.894191 Centerline is valid? [False, False] Translation: X:28.01, Y:-0.43, Z:-2.75 [[ 9.99970174e-01 9.70325446e-04 -7.66227812e-03 2.80147676e+01] [-1.06902782e-03 9.99916374e-01 -1.28880256e-02 -4.29111050e-01] [ 7.64913178e-03 1.28958324e-02 9.99887588e-01 -2.74511835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76119381700002 meters Centerline goodness : 0.896088 Centerline is valid? [False, False] Translation: X:28.02, Y:-0.42, Z:-2.75 [[ 9.99964044e-01 3.12639575e-03 -7.88272458e-03 2.80156448e+01] [-3.21973398e-03 9.99924530e-01 -1.18561050e-02 -4.22106303e-01] [ 7.84506280e-03 1.18810589e-02 9.99898643e-01 -2.74540170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79119381700002 meters Centerline goodness : 0.894397 Centerline is valid? [False, False] Translation: X:28.02, Y:-0.42, Z:-2.75 [[ 9.99952638e-01 5.27725036e-03 -8.17755621e-03 2.80168024e+01] [-5.36549730e-03 9.99927205e-01 -1.08072603e-02 -4.15045978e-01] [ 8.11992831e-03 1.08506251e-02 9.99908161e-01 -2.74585172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82119381700002 meters Centerline goodness : 0.898225 Centerline is valid? [False, False] Translation: X:28.02, Y:-0.41, Z:-2.75 [[ 9.99936710e-01 7.40896714e-03 -8.46655361e-03 2.80180726e+01] [-7.49240821e-03 9.99923255e-01 -9.86652677e-03 -4.07920058e-01] [ 8.39280307e-03 9.92933720e-03 9.99915481e-01 -2.74644800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85119381700002 meters Centerline goodness : 0.897192 Centerline is valid? [False, False] Translation: X:28.04, Y:-0.39, Z:-2.75 [[ 9.99941398e-01 9.33541649e-03 -5.48189715e-03 2.80362342e+01] [-9.42808909e-03 9.99808819e-01 -1.71299900e-02 -3.89576543e-01] [ 5.32093352e-03 1.71806699e-02 9.99838243e-01 -2.75097202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88119381700002 meters Centerline goodness : 0.897445 Centerline is valid? [False, False] Translation: X:28.04, Y:-0.38, Z:-2.75 [[ 9.99916765e-01 1.15111091e-02 -5.82736420e-03 2.80380336e+01] [-1.16048735e-02 9.99799460e-01 -1.63207477e-02 -3.81544517e-01] [ 5.63832567e-03 1.63870151e-02 9.99849826e-01 -2.75198121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91119381700003 meters Centerline goodness : 0.895158 Centerline is valid? [False, False] Translation: X:28.04, Y:-0.37, Z:-2.75 [[ 9.99888174e-01 1.36682107e-02 -6.06783453e-03 2.80397323e+01] [-1.37607420e-02 9.99785497e-01 -1.54790710e-02 -3.73906710e-01] [ 5.85496176e-03 1.55608379e-02 9.99861780e-01 -2.75311643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94119381700003 meters Centerline goodness : 0.894071 Centerline is valid? [False, False] Translation: X:28.04, Y:-0.37, Z:-2.75 [[ 9.99852469e-01 1.59129502e-02 -6.46672665e-03 2.80416031e+01] [-1.60048598e-02 9.99767948e-01 -1.44185749e-02 -3.66591986e-01] [ 6.23578397e-03 1.45199468e-02 9.99875135e-01 -2.75407544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97119381700003 meters Centerline goodness : 0.892901 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.35, Z:-2.76 [[ 9.99840138e-01 1.75149427e-02 -3.59529266e-03 2.80601373e+01] [-1.75842807e-02 9.99640161e-01 -2.02569003e-02 -3.50246851e-01] [ 3.23920048e-03 2.03168826e-02 9.99788344e-01 -2.75711891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00119381700003 meters Centerline goodness : 0.891558 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.34, Z:-2.76 [[ 9.99794523e-01 1.99106523e-02 -3.80495768e-03 2.80611342e+01] [-1.99785533e-02 9.99624971e-01 -1.87289727e-02 -3.44424568e-01] [ 3.43062465e-03 1.88011419e-02 9.99817357e-01 -2.75740649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03119381700003 meters Centerline goodness : 0.892066 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.34, Z:-2.76 [[ 9.99745201e-01 2.21746937e-02 -4.22098250e-03 2.80626772e+01] [-2.22444689e-02 9.99603361e-01 -1.72714986e-02 -3.38592538e-01] [ 3.83631811e-03 1.73609913e-02 9.99841927e-01 -2.75788127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06119381700003 meters Centerline goodness : 0.892090 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.33, Z:-2.76 [[ 9.99693185e-01 2.43517729e-02 -4.53061633e-03 2.80643044e+01] [-2.44208554e-02 9.99575719e-01 -1.58746074e-02 -3.32835877e-01] [ 4.14211924e-03 1.59803783e-02 9.99863726e-01 -2.75869558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09119381700003 meters Centerline goodness : 0.890947 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.32, Z:-2.76 [[ 9.99691940e-01 2.47748894e-02 -1.49310251e-03 2.80819756e+01] [-2.48026991e-02 9.99427621e-01 -2.30055686e-02 -3.17695690e-01] [ 9.22287474e-04 2.30355145e-02 9.99734222e-01 -2.76123332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12119381700003 meters Centerline goodness : 0.893170 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.31, Z:-2.76 [[ 9.99614892e-01 2.77048653e-02 -1.58386350e-03 2.80824982e+01] [-2.77325504e-02 9.99383824e-01 -2.15146136e-02 -3.11616240e-01] [ 9.86828087e-04 2.15502528e-02 9.99767279e-01 -2.76065815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15119381700003 meters Centerline goodness : 0.895048 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.31, Z:-2.76 [[ 9.99516205e-01 3.10578671e-02 -1.66274739e-03 2.80830238e+01] [-3.10845938e-02 9.99323150e-01 -1.96720805e-02 -3.05227824e-01] [ 1.05064909e-03 1.97142491e-02 9.99805103e-01 -2.76012532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18119381700004 meters Centerline goodness : 0.894802 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.30, Z:-2.76 [[ 9.99405235e-01 3.44403058e-02 -1.74400846e-03 2.80838777e+01] [-3.44661218e-02 9.99244240e-01 -1.79731589e-02 -2.98099026e-01] [ 1.12368932e-03 1.80225783e-02 9.99836949e-01 -2.75996571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21119381700004 meters Centerline goodness : 0.896418 Centerline is valid? [False, False] Translation: X:28.09, Y:-0.29, Z:-2.76 [[ 9.99034531e-01 4.39067049e-02 -1.48593870e-03 2.80851473e+01] [-4.39203437e-02 9.98975381e-01 -1.09174951e-02 -2.85855755e-01] [ 1.00506494e-03 1.09722176e-02 9.99939298e-01 -2.76019698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24119381700004 meters Centerline goodness : 0.895287 Centerline is valid? [False, False] Translation: X:28.09, Y:-0.28, Z:-2.76 [[ 9.98878153e-01 4.73326262e-02 -1.43423830e-03 2.80858240e+01] [-4.73432384e-02 9.98841714e-01 -8.59350530e-03 -2.80497564e-01] [ 1.02582387e-03 8.65176619e-03 9.99962047e-01 -2.76047814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27119381700004 meters Centerline goodness : 0.894713 Centerline is valid? [False, False] Translation: X:28.09, Y:-0.28, Z:-2.76 [[ 9.98715804e-01 5.06432019e-02 -1.41717550e-03 2.80864490e+01] [-5.06509364e-02 9.98697831e-01 -6.09294797e-03 -2.76351249e-01] [ 1.10676370e-03 6.15690470e-03 9.99980434e-01 -2.76066572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30119381700004 meters Centerline goodness : 0.896889 Centerline is valid? [False, False] Translation: X:28.09, Y:-0.27, Z:-2.76 [[ 9.98392244e-01 5.66716423e-02 -1.11930137e-03 2.80879129e+01] [-5.66729838e-02 9.98392067e-01 -1.20559062e-03 -2.69639180e-01] [ 1.04917881e-03 1.26708647e-03 9.99998647e-01 -2.76198351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33119381700004 meters Centerline goodness : 0.894840 Centerline is valid? [False, False] Translation: X:28.09, Y:-0.27, Z:-2.76 [[ 9.98385643e-01 5.67871352e-02 -1.15304123e-03 2.80891491e+01] [-5.67892794e-02 9.98384339e-01 -1.92079954e-03 -2.65111746e-01] [ 1.04210160e-03 1.98317906e-03 9.99997491e-01 -2.76307773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36119381700001 meters Centerline goodness : 0.895554 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.26, Z:-2.76 [[ 9.98515792e-01 5.44563780e-02 -8.46029975e-04 2.80732628e+01] [-5.44418752e-02 9.98441082e-01 1.23080103e-02 -2.61931207e-01] [ 1.51496075e-03 -1.22436832e-02 9.99923896e-01 -2.76479377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.39119381700002 meters Centerline goodness : 0.894158 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.26, Z:-2.77 [[ 9.98539035e-01 5.40231349e-02 -1.13884262e-03 2.80742411e+01] [-5.40069162e-02 9.98476916e-01 1.12738974e-02 -2.58649286e-01] [ 1.74615935e-03 -1.11959212e-02 9.99935799e-01 -2.76518640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42119381700002 meters Centerline goodness : 0.895665 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.25, Z:-2.77 [[ 9.98580961e-01 5.32362655e-02 -1.40153890e-03 2.80750021e+01] [-5.32204266e-02 9.98536631e-01 9.60123327e-03 -2.54299520e-01] [ 1.91062174e-03 -9.51301825e-03 9.99952925e-01 -2.76534003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45119381700002 meters Centerline goodness : 0.893979 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.25, Z:-2.76 [[ 9.98591988e-01 5.30263690e-02 -1.49858266e-03 2.80748359e+01] [-5.30106907e-02 9.98552829e-01 9.06171641e-03 -2.52658469e-01] [ 1.97692387e-03 -8.96951650e-03 9.99957819e-01 -2.76470836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48119381700002 meters Centerline goodness : 0.896497 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.25, Z:-2.76 [[ 9.98617082e-01 5.25480276e-02 -1.62128378e-03 2.80744579e+01] [-5.25327561e-02 9.98584333e-01 8.34497643e-03 -2.51092147e-01] [ 2.05750064e-03 -8.24826551e-03 9.99963866e-01 -2.76382884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51119381700002 meters Centerline goodness : 0.898281 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.25, Z:-2.76 [[ 9.98641236e-01 5.20882100e-02 -1.58105524e-03 2.80739339e+01] [-5.20743410e-02 9.98612615e-01 7.81712235e-03 -2.50046649e-01] [ 1.98604162e-03 -7.72416831e-03 9.99968196e-01 -2.76310748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54119381700002 meters Centerline goodness : 0.898799 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.25, Z:-2.76 [[ 9.98762655e-01 4.97165682e-02 -1.19202836e-03 2.80712552e+01] [-4.97093302e-02 9.98748683e-01 5.48180067e-03 -2.47821058e-01] [ 1.46307307e-03 -5.41576286e-03 9.99984264e-01 -2.76067298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57119381700002 meters Centerline goodness : 0.902112 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.25, Z:-2.76 [[ 9.98831343e-01 4.82851619e-02 2.11945466e-03 2.80655998e+01] [-4.82985804e-02 9.98809677e-01 6.81729601e-03 -2.46941262e-01] [-1.78775758e-03 -6.91169557e-03 9.99974516e-01 -2.76206224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60119381700002 meters Centerline goodness : 0.902302 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.25, Z:-2.76 [[ 9.98929568e-01 4.60405380e-02 4.47078811e-03 2.80555835e+01] [-4.60992300e-02 9.98837951e-01 1.40573046e-02 -2.46399798e-01] [-3.81838697e-03 -1.42483571e-02 9.99891196e-01 -2.76374635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63119381700002 meters Centerline goodness : 0.900504 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.25, Z:-2.76 [[ 9.98957365e-01 4.54372309e-02 4.43178314e-03 2.80559530e+01] [-4.54934958e-02 9.98872731e-01 1.35502442e-02 -2.45798331e-01] [-3.81110175e-03 -1.37377336e-02 9.99898370e-01 -2.76411339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66119381700003 meters Centerline goodness : 0.900504 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.25, Z:-2.76 [[ 9.98959577e-01 4.53885923e-02 4.43168120e-03 2.80559460e+01] [-4.54446273e-02 9.98875781e-01 1.34892486e-02 -2.45599479e-01] [-3.81444102e-03 -1.36766101e-02 9.99899195e-01 -2.76409761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69119381700003 meters Centerline goodness : 0.900076 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.24, Z:-2.76 [[ 9.98966835e-01 4.52490475e-02 4.21730676e-03 2.80570620e+01] [-4.53004669e-02 9.98888560e-01 1.30197239e-02 -2.43969955e-01] [-3.62348937e-03 -1.31973183e-02 9.99906346e-01 -2.76497746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72119381700003 meters Centerline goodness : 0.902895 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.24, Z:-2.77 [[ 9.98822641e-01 4.83134878e-02 4.37480787e-03 2.80570972e+01] [-4.83795519e-02 9.98692367e-01 1.65219370e-02 -2.44231760e-01] [-3.57085483e-03 -1.67141360e-02 9.99853933e-01 -2.76501067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75119381700003 meters Centerline goodness : 0.902206 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.24, Z:-2.76 [[ 9.98716988e-01 5.04053666e-02 4.86599335e-03 2.80554844e+01] [-5.04881198e-02 9.98549142e-01 1.87232849e-02 -2.43606319e-01] [-3.91517944e-03 -1.89449376e-02 9.99812863e-01 -2.76383627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78119381700003 meters Centerline goodness : 0.902986 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.24, Z:-2.76 [[ 9.98518335e-01 5.41853767e-02 5.00786158e-03 2.80555524e+01] [-5.42846039e-02 9.98273443e-01 2.24346877e-02 -2.43076742e-01] [-3.78358321e-03 -2.26732968e-02 9.99735768e-01 -2.76369625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81119381700003 meters Centerline goodness : 0.905409 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.24, Z:-2.76 [[ 9.98521304e-01 5.41525868e-02 4.76470677e-03 2.80560072e+01] [-5.42446453e-02 9.98286031e-01 2.19663154e-02 -2.41519648e-01] [-3.56700740e-03 -2.21922937e-02 9.99747357e-01 -2.76360548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84119381700003 meters Centerline goodness : 0.905551 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.24, Z:-2.76 [[ 9.98508335e-01 5.44083136e-02 4.56507566e-03 2.80568041e+01] [-5.44949263e-02 9.98278601e-01 2.16826424e-02 -2.39570206e-01] [-3.37750134e-03 -2.18990727e-02 9.99754481e-01 -2.76393767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87119381700003 meters Centerline goodness : 0.905987 Centerline is valid? [False, False] Translation: X:28.04, Y:-0.24, Z:-2.76 [[ 9.98597388e-01 5.27933537e-02 4.01469307e-03 2.80391960e+01] [-5.29056894e-02 9.97918802e-01 3.68653224e-02 -2.39385542e-01] [-2.06009369e-03 -3.70260148e-02 9.99312179e-01 -2.76413115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90119381700003 meters Centerline goodness : 0.904677 Centerline is valid? [False, False] Translation: X:28.03, Y:-0.24, Z:-2.76 [[ 9.98610149e-01 5.26864039e-02 -1.38303477e-03 2.80309818e+01] [-5.25587616e-02 9.97455336e-01 4.81708241e-02 -2.41044664e-01] [ 3.91746290e-03 -4.80311832e-02 9.98838155e-01 -2.76077074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93119381700004 meters Centerline goodness : 0.905090 Centerline is valid? [False, False] Translation: X:28.01, Y:-0.24, Z:-2.76 [[ 9.98802258e-01 4.88416560e-02 -2.92259428e-03 2.80135688e+01] [-4.85770194e-02 9.96998161e-01 6.02904614e-02 -2.40900921e-01] [ 5.85850710e-03 -6.00762780e-02 9.98176597e-01 -2.75892587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96119381700004 meters Centerline goodness : 0.907330 Centerline is valid? [False, False] Translation: X:28.01, Y:-0.24, Z:-2.76 [[ 9.98971287e-01 4.47412625e-02 -7.38836024e-03 2.80139217e+01] [-4.40864294e-02 9.96371844e-01 7.27979027e-02 -2.42242671e-01] [ 1.06186242e-02 -7.23972881e-02 9.97319346e-01 -2.75696222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99119381700004 meters Centerline goodness : 0.905624 Centerline is valid? [False, False] Translation: X:28.01, Y:-0.24, Z:-2.76 [[ 9.99112477e-01 4.14275286e-02 -7.61701004e-03 2.80141452e+01] [-4.08099776e-02 9.96815398e-01 6.85099100e-02 -2.40257903e-01] [ 1.04309492e-02 -6.81382559e-02 9.97621358e-01 -2.75694286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02119381700004 meters Centerline goodness : 0.909508 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.23, Z:-2.75 [[ 9.99080728e-01 4.07856743e-02 -1.31995099e-02 2.80022735e+01] [-3.99548765e-02 9.97514205e-01 5.80432413e-02 -2.34604701e-01] [ 1.55340314e-02 -5.74624990e-02 9.98226805e-01 -2.75309119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05119381700004 meters Centerline goodness : 0.908122 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.23, Z:-2.75 [[ 9.99095269e-01 4.03368344e-02 -1.34752787e-02 2.80026948e+01] [-3.94981468e-02 9.97559008e-01 5.75840370e-02 -2.33601603e-01] [ 1.57651434e-02 -5.69996904e-02 9.98249716e-01 -2.75278940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08119381700004 meters Centerline goodness : 0.908829 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.23, Z:-2.75 [[ 9.99099722e-01 4.01154269e-02 -1.38020747e-02 2.80032403e+01] [-3.92584717e-02 9.97568549e-01 5.75826537e-02 -2.34057062e-01] [ 1.60784684e-02 -5.69889650e-02 9.98245331e-01 -2.75260099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.11119381700001 meters Centerline goodness : 0.910824 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.23, Z:-2.75 [[ 9.99108428e-01 3.97997533e-02 -1.40829117e-02 2.80035802e+01] [-3.89269084e-02 9.97580254e-01 5.76049745e-02 -2.34653506e-01] [ 1.63414984e-02 -5.70054113e-02 9.98240121e-01 -2.75218983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14119381700002 meters Centerline goodness : 0.911409 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.24, Z:-2.75 [[ 9.99092563e-01 4.01584973e-02 -1.41896575e-02 2.80029251e+01] [-3.92591910e-02 9.97497210e-01 5.88050313e-02 -2.36852115e-01] [ 1.65156655e-02 -5.81945949e-02 9.98168634e-01 -2.75070981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17119381700002 meters Centerline goodness : 0.912116 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.24, Z:-2.75 [[ 9.99208064e-01 3.70937470e-02 -1.43979023e-02 2.80027680e+01] [-3.62519778e-02 9.97834644e-01 5.48800306e-02 -2.35412471e-01] [ 1.64024317e-02 -5.43146166e-02 9.98389144e-01 -2.75012862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20119381700002 meters Centerline goodness : 0.911948 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.24, Z:-2.75 [[ 9.99195643e-01 3.73746450e-02 -1.45327904e-02 2.80024496e+01] [-3.65171570e-02 9.97798314e-01 5.53626384e-02 -2.35969987e-01] [ 1.65699527e-02 -5.47874109e-02 9.98360544e-01 -2.74908836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23119381700002 meters Centerline goodness : 0.912989 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.24, Z:-2.75 [[ 9.99141204e-01 3.89189035e-02 -1.42187498e-02 2.79999204e+01] [-3.80462121e-02 9.97637155e-01 5.72065755e-02 -2.38398344e-01] [ 1.64115702e-02 -5.66164772e-02 9.98261106e-01 -2.74617358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26119381700002 meters Centerline goodness : 0.911887 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.24, Z:-2.74 [[ 9.98991298e-01 4.25651592e-02 -1.43035983e-02 2.79996188e+01] [-4.16016385e-02 9.97209301e-01 6.19912375e-02 -2.40531836e-01] [ 1.69023481e-02 -6.13336537e-02 9.97974195e-01 -2.74473268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29119381700002 meters Centerline goodness : 0.909390 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.24, Z:-2.74 [[ 9.98812165e-01 4.65524399e-02 -1.43919841e-02 2.79995459e+01] [-4.54878964e-02 9.96710109e-01 6.70806164e-02 -2.43002262e-01] [ 1.74674024e-02 -6.63462746e-02 9.97643755e-01 -2.74340084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32119381700002 meters Centerline goodness : 0.909390 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.24, Z:-2.74 [[ 9.98814863e-01 4.64829892e-02 -1.44291896e-02 2.79995652e+01] [-4.54189011e-02 9.96723905e-01 6.69221970e-02 -2.42303444e-01] [ 1.74926619e-02 -6.61875271e-02 9.97653857e-01 -2.74323529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35119381700002 meters Centerline goodness : 0.908039 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.25, Z:-2.74 [[ 9.98667785e-01 4.94271212e-02 -1.48194299e-02 2.80015109e+01] [-4.82883326e-02 9.96428377e-01 6.92728402e-02 -2.45563650e-01] [ 1.81904576e-02 -6.84649482e-02 9.97487673e-01 -2.74410792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38119381700002 meters Centerline goodness : 0.907880 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.25, Z:-2.74 [[ 9.98593297e-01 5.08047647e-02 -1.51757178e-02 2.80033688e+01] [-4.96203909e-02 9.96295172e-01 7.02406334e-02 -2.46347378e-01] [ 1.86880532e-02 -6.93888006e-02 9.97414633e-01 -2.74492015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41119381700003 meters Centerline goodness : 0.906726 Centerline is valid? [False, False] Translation: X:28.01, Y:-0.25, Z:-2.75 [[ 9.98175951e-01 5.66337784e-02 -2.09137521e-02 2.80068406e+01] [-5.53159494e-02 9.96725924e-01 5.89709890e-02 -2.46244986e-01] [ 2.41850288e-02 -5.77065590e-02 9.98040599e-01 -2.74586468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44119381700003 meters Centerline goodness : 0.905597 Centerline is valid? [False, False] Translation: X:28.01, Y:-0.25, Z:-2.75 [[ 9.97830474e-01 6.11306172e-02 -2.44416029e-02 2.80142725e+01] [-5.95664943e-02 9.96402385e-01 6.02836667e-02 -2.48881275e-01] [ 2.80388492e-02 -5.86969791e-02 9.97882001e-01 -2.74523792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47119381700003 meters Centerline goodness : 0.907397 Centerline is valid? [False, False] Translation: X:28.02, Y:-0.25, Z:-2.74 [[ 9.97484721e-01 6.58964767e-02 -2.61129484e-02 2.80249808e+01] [-6.43773678e-02 9.96393622e-01 5.52748128e-02 -2.51323363e-01] [ 2.96611906e-02 -5.34546983e-02 9.98129655e-01 -2.74391273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50119381700003 meters Centerline goodness : 0.903337 Centerline is valid? [False, False] Translation: X:28.04, Y:-0.26, Z:-2.74 [[ 9.96956756e-01 7.29697319e-02 -2.74343711e-02 2.80356673e+01] [-7.14588079e-02 9.96059835e-01 5.25208982e-02 -2.59850351e-01] [ 3.11587110e-02 -5.04006369e-02 9.98242912e-01 -2.74284273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53119381700003 meters Centerline goodness : 0.903393 Centerline is valid? [False, False] Translation: X:28.04, Y:-0.27, Z:-2.74 [[ 0.9966492 0.07529739 -0.03194795 28.04412238] [-0.07364178 0.996022 0.05017027 -0.26550721] [ 0.03559855 -0.04764945 0.99822957 -2.74039816] [ 0. 0. 0. 1. ]] SLAMing on 216.56119381700003 meters Centerline goodness : 0.903475 Centerline is valid? [False, False] Translation: X:28.05, Y:-0.27, Z:-2.74 [[ 0.99643521 0.07640366 -0.03576799 28.05083608] [-0.07463853 0.99603894 0.0483273 -0.27118862] [ 0.03931869 -0.04548535 0.99819093 -2.73863671] [ 0. 0. 0. 1. ]] SLAMing on 216.59119381700003 meters Centerline goodness : 0.901851 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.28, Z:-2.74 [[ 0.99621273 0.07715774 -0.04008582 28.05817683] [-0.07530476 0.99610614 0.04584489 -0.27707556] [ 0.04346702 -0.04265261 0.99814396 -2.73625915] [ 0. 0. 0. 1. ]] SLAMing on 216.62119381700003 meters Centerline goodness : 0.903752 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.29, Z:-2.74 [[ 0.99660783 0.07407202 -0.03586333 28.06128641] [-0.07297538 0.99685247 0.0309797 -0.28750833] [ 0.03804518 -0.02825748 0.99887641 -2.73595945] [ 0. 0. 0. 1. ]] SLAMing on 216.65119381700003 meters Centerline goodness : 0.906615 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.29, Z:-2.74 [[ 9.97026676e-01 6.81055700e-02 -3.60477407e-02 2.80600009e+01] [-6.72081536e-02 9.97411811e-01 2.55488386e-02 -2.92601128e-01] [ 3.76944605e-02 -2.30501715e-02 9.99023432e-01 -2.73512889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68119381700004 meters Centerline goodness : 0.906270 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.30, Z:-2.73 [[ 9.97421806e-01 6.18387841e-02 -3.64102325e-02 2.80595865e+01] [-6.11425821e-02 9.97929952e-01 1.99347861e-02 -2.98110079e-01] [ 3.75676045e-02 -1.76571748e-02 9.99138078e-01 -2.73485263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71119381700004 meters Centerline goodness : 0.908662 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.30, Z:-2.73 [[ 9.97781556e-01 5.54474453e-02 -3.68449095e-02 2.80594842e+01] [-5.49553845e-02 9.98387308e-01 1.42368822e-02 -3.03599518e-01] [ 3.75748888e-02 -1.21804723e-02 9.99219577e-01 -2.73477851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74119381700004 meters Centerline goodness : 0.910332 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.32, Z:-2.73 [[ 9.98205322e-01 4.66942436e-02 -3.74937786e-02 2.80592854e+01] [-4.64488373e-02 9.98893332e-01 7.39034715e-03 -3.15580364e-01] [ 3.77973721e-02 -5.63554144e-03 9.99269533e-01 -2.73478065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77119381700004 meters Centerline goodness : 0.913256 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.32, Z:-2.74 [[ 9.98334102e-01 4.35807734e-02 -3.78118646e-02 2.80593834e+01] [-4.33878163e-02 9.99040830e-01 5.90913553e-03 -3.21932432e-01] [ 3.80331213e-02 -4.25871728e-03 9.99267404e-01 -2.73500702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80119381700004 meters Centerline goodness : 0.913775 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.33, Z:-2.74 [[ 9.98452937e-01 4.03455431e-02 -3.82618576e-02 2.80598931e+01] [-4.02157737e-02 9.99182377e-01 4.15553138e-03 -3.27634968e-01] [ 3.83982310e-02 -2.61037231e-03 9.99259106e-01 -2.73534933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83119381700004 meters Centerline goodness : 0.918551 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.34, Z:-2.74 [[ 9.98641189e-01 3.50350066e-02 -3.85787955e-02 2.80595500e+01] [-3.49708394e-02 9.99385601e-01 2.33704811e-03 -3.41123775e-01] [ 3.86369712e-02 -9.84739643e-04 9.99252828e-01 -2.73591948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86119381700001 meters Centerline goodness : 0.919168 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.35, Z:-2.74 [[ 9.98736039e-01 3.19373331e-02 -3.88114816e-02 2.80598323e+01] [-3.19268509e-02 9.99489812e-01 8.90006028e-04 -3.47092125e-01] [ 3.88201049e-02 3.50247292e-04 9.99246154e-01 -2.73652791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.89119381700002 meters Centerline goodness : 0.921404 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.35, Z:-2.74 [[ 9.98794726e-01 2.93368841e-02 -3.93502582e-02 2.80601138e+01] [-2.93764586e-02 9.99568327e-01 -4.27742495e-04 -3.52991556e-01] [ 3.93207232e-02 1.58319818e-03 9.99225387e-01 -2.73629069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92119381700002 meters Centerline goodness : 0.921987 Centerline is valid? [False, False] Translation: X:28.06, Y:-0.36, Z:-2.74 [[ 9.98841372e-01 2.68448610e-02 -3.99407986e-02 2.80605652e+01] [-2.69423286e-02 9.99635176e-01 -1.90394578e-03 -3.58482455e-01] [ 3.98751161e-02 2.97783793e-03 9.99200234e-01 -2.73609443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95119381700002 meters Centerline goodness : 0.921596 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.37, Z:-2.73 [[ 9.98635831e-01 2.72913792e-02 -4.45158155e-02 2.80692568e+01] [-2.75533034e-02 9.99606387e-01 -5.28079897e-03 -3.65289940e-01] [ 4.43541732e-02 6.50015284e-03 9.98994722e-01 -2.73450869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98119381700002 meters Centerline goodness : 0.922980 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.38, Z:-2.74 [[ 9.98635593e-01 2.68224245e-02 -4.48052367e-02 2.80712588e+01] [-2.70364188e-02 9.99625723e-01 -4.17684870e-03 -3.77519125e-01] [ 4.46764339e-02 5.38252292e-03 9.98987009e-01 -2.73629222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01119381700002 meters Centerline goodness : 0.922445 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.38, Z:-2.74 [[ 9.98623897e-01 2.63003532e-02 -4.53718455e-02 2.80740714e+01] [-2.65098078e-02 9.99640467e-01 -4.02077945e-03 -3.82395933e-01] [ 4.52497849e-02 5.21804535e-03 9.98962076e-01 -2.73826970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04119381700002 meters Centerline goodness : 0.922959 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.39, Z:-2.74 [[ 9.98623630e-01 2.62704285e-02 -4.53950476e-02 2.80756084e+01] [-2.64377583e-02 9.99645687e-01 -3.08953625e-03 -3.92345831e-01] [ 4.52978001e-02 4.28542720e-03 9.98964336e-01 -2.74039054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07119381700002 meters Centerline goodness : 0.919459 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.40, Z:-2.74 [[ 9.98469347e-01 2.73072124e-02 -4.80965577e-02 2.80810481e+01] [-2.74846819e-02 9.99617626e-01 -3.03226656e-03 -3.98331306e-01] [ 4.79953640e-02 4.34954380e-03 9.98838088e-01 -2.74068238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10119381700002 meters Centerline goodness : 0.920197 Centerline is valid? [False, False] Translation: X:28.09, Y:-0.40, Z:-2.74 [[ 9.98652797e-01 2.85078900e-02 -4.33577206e-02 2.80928703e+01] [-2.90311502e-02 9.99512503e-01 -1.14869246e-02 -4.02012516e-01] [ 4.30091158e-02 1.27301739e-02 9.98993573e-01 -2.74450428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13119381700002 meters Centerline goodness : 0.920781 Centerline is valid? [False, False] Translation: X:28.10, Y:-0.41, Z:-2.75 [[ 9.98936904e-01 2.71778601e-02 -3.72347290e-02 2.81043388e+01] [-2.73854145e-02 9.99612064e-01 -5.07548474e-03 -4.09432911e-01] [ 3.70823435e-02 6.08977750e-03 9.99293658e-01 -2.74775899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16119381700003 meters Centerline goodness : 0.921690 Centerline is valid? [False, False] Translation: X:28.11, Y:-0.42, Z:-2.75 [[ 9.99245181e-01 2.35388059e-02 -3.09029627e-02 2.81110005e+01] [-2.35240326e-02 9.99722917e-01 8.41585278e-04 -4.22677948e-01] [ 3.09142099e-02 -1.13987731e-04 9.99522035e-01 -2.74822107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19119381700003 meters Centerline goodness : 0.918705 Centerline is valid? [False, False] Translation: X:28.12, Y:-0.43, Z:-2.75 [[ 9.99523166e-01 2.02034970e-02 -2.33507888e-02 2.81218210e+01] [-2.01213645e-02 9.99790523e-01 3.74698043e-03 -4.29753969e-01] [ 2.34215995e-02 -3.27534401e-03 9.99720311e-01 -2.75127708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22119381700003 meters Centerline goodness : 0.919091 Centerline is valid? [False, False] Translation: X:28.13, Y:-0.44, Z:-2.75 [[ 9.99753850e-01 1.63836306e-02 -1.49604854e-02 2.81327831e+01] [-1.63444106e-02 9.99862667e-01 2.74009839e-03 -4.35575870e-01] [ 1.50033236e-02 -2.49490360e-03 9.99884331e-01 -2.75337136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25119381700003 meters Centerline goodness : 0.921820 Centerline is valid? [False, False] Translation: X:28.14, Y:-0.44, Z:-2.76 [[ 9.99898328e-01 1.21036780e-02 -7.53886958e-03 2.81428847e+01] [-1.20590897e-02 9.99909690e-01 5.93209556e-03 -4.41717520e-01] [ 7.60998892e-03 -5.84058053e-03 9.99953987e-01 -2.75654229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28119381700003 meters Centerline goodness : 0.920928 Centerline is valid? [False, False] Translation: X:28.14, Y:-0.45, Z:-2.76 [[ 9.99960987e-01 4.70497328e-03 -7.47582170e-03 2.81435713e+01] [-4.70437460e-03 9.99988930e-01 9.76642877e-05 -4.49802549e-01] [ 7.47619845e-03 -6.24914117e-05 9.99972051e-01 -2.75736341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31119381700003 meters Centerline goodness : 0.921002 Centerline is valid? [False, False] Translation: X:28.15, Y:-0.45, Z:-2.76 [[ 9.99969069e-01 2.24118340e-04 -7.86197201e-03 2.81455253e+01] [-2.52703081e-04 9.99993361e-01 -3.63501838e-03 -4.53263008e-01] [ 7.86110514e-03 3.63689269e-03 9.99962487e-01 -2.75879033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34119381700003 meters Centerline goodness : 0.922321 Centerline is valid? [False, False] Translation: X:28.15, Y:-0.46, Z:-2.76 [[ 9.99959464e-01 -3.89881565e-03 -8.11598348e-03 2.81467951e+01] [ 3.84323060e-03 9.99969131e-01 -6.85320267e-03 -4.57042057e-01] [ 8.14245233e-03 6.82173327e-03 9.99943581e-01 -2.75960555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37119381700003 meters Centerline goodness : 0.924623 Centerline is valid? [False, False] Translation: X:28.15, Y:-0.47, Z:-2.76 [[ 9.99900503e-01 -1.13846867e-02 -8.32902700e-03 2.81489734e+01] [ 1.12798590e-02 9.99857917e-01 -1.25263657e-02 -4.65046356e-01] [ 8.47045234e-03 1.24311691e-02 9.99886852e-01 -2.76141402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40119381700003 meters Centerline goodness : 0.923276 Centerline is valid? [False, False] Translation: X:28.15, Y:-0.47, Z:-2.76 [[ 9.99847443e-01 -1.51919248e-02 -8.61948074e-03 2.81506124e+01] [ 1.50555160e-02 9.99763773e-01 -1.56757608e-02 -4.68107467e-01] [ 8.85558956e-03 1.55435986e-02 9.99839975e-01 -2.76261753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43119381700004 meters Centerline goodness : 0.924981 Centerline is valid? [False, False] Translation: X:28.15, Y:-0.47, Z:-2.76 [[ 9.99796938e-01 -1.80110604e-02 -9.03799390e-03 2.81531029e+01] [ 1.78476998e-02 9.99681525e-01 -1.78411981e-02 -4.71535635e-01] [ 9.35645442e-03 1.76762678e-02 9.99799983e-01 -2.76448897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46119381700004 meters Centerline goodness : 0.924332 Centerline is valid? [False, False] Translation: X:28.16, Y:-0.47, Z:-2.77 [[ 9.99769134e-01 -1.91824278e-02 -9.68052735e-03 2.81563243e+01] [ 1.90041082e-02 9.99653961e-01 -1.81879657e-02 -4.74623859e-01] [ 1.00260668e-02 1.79997969e-02 9.99787720e-01 -2.76667779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49119381700004 meters Centerline goodness : 0.920916 Centerline is valid? [False, False] Translation: X:28.16, Y:-0.48, Z:-2.77 [[ 9.99751670e-01 -1.97818608e-02 -1.02604085e-02 2.81597219e+01] [ 1.95973190e-02 9.99649760e-01 -1.77848704e-02 -4.78552119e-01] [ 1.06086328e-02 1.75793773e-02 9.99789189e-01 -2.76935972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52119381700004 meters Centerline goodness : 0.921340 Centerline is valid? [False, False] Translation: X:28.16, Y:-0.48, Z:-2.77 [[ 9.99752363e-01 -1.95628022e-02 -1.06070226e-02 2.81608289e+01] [ 1.93791836e-02 9.99665176e-01 -1.71459570e-02 -4.80420649e-01] [ 1.09388941e-02 1.69361556e-02 9.99796733e-01 -2.76984062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55119381700004 meters Centerline goodness : 0.922098 Centerline is valid? [False, False] Translation: X:28.16, Y:-0.48, Z:-2.77 [[ 9.99752515e-01 -1.93408569e-02 -1.09926882e-02 2.81618954e+01] [ 1.91566170e-02 9.99678258e-01 -1.66254297e-02 -4.82030497e-01] [ 1.13107015e-02 1.64107325e-02 9.99801358e-01 -2.77018337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58119381700004 meters Centerline goodness : 0.921295 Centerline is valid? [False, False] Translation: X:28.16, Y:-0.48, Z:-2.77 [[ 9.99756336e-01 -1.89800543e-02 -1.12706130e-02 2.81624980e+01] [ 1.87982169e-02 9.99694846e-01 -1.60262846e-02 -4.83588192e-01] [ 1.15713535e-02 1.58105121e-02 9.99808047e-01 -2.77021762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.61119381700001 meters Centerline goodness : 0.921702 Centerline is valid? [False, False] Translation: X:28.18, Y:-0.49, Z:-2.77 [[ 9.99864066e-01 -1.47843572e-02 -7.29876422e-03 2.81787228e+01] [ 1.46726467e-02 9.99777892e-01 -1.51287619e-02 -4.86886444e-01] [ 7.52081213e-03 1.50196132e-02 9.99858914e-01 -2.76939313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64119381700002 meters Centerline goodness : 0.922842 Centerline is valid? [False, False] Translation: X:28.18, Y:-0.49, Z:-2.77 [[ 9.99909092e-01 -1.09830232e-02 -7.82183471e-03 2.81798423e+01] [ 1.08987638e-02 9.99882985e-01 -1.07346854e-02 -4.88995555e-01] [ 7.93881874e-03 1.06484612e-02 9.99911789e-01 -2.76936282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67119381700002 meters Centerline goodness : 0.921845 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.49, Z:-2.77 [[ 9.99977257e-01 -6.11845173e-03 -2.83713544e-03 2.81913980e+01] [ 6.07187085e-03 9.99851207e-01 -1.61460723e-02 -4.88669110e-01] [ 2.93550226e-03 1.61284784e-02 9.99865618e-01 -2.77314691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70119381700002 meters Centerline goodness : 0.923458 Centerline is valid? [False, False] Translation: X:28.21, Y:-0.49, Z:-2.77 [[ 9.99999534e-01 5.78007951e-04 7.73512169e-04 2.82085157e+01] [-5.66836167e-04 9.99896642e-01 -1.43660394e-02 -4.89386380e-01] [-7.81735905e-04 1.43655942e-02 9.99896504e-01 -2.77339220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73119381700002 meters Centerline goodness : 0.923806 Centerline is valid? [False, False] Translation: X:28.21, Y:-0.49, Z:-2.77 [[ 9.99993690e-01 3.54379537e-03 2.49072504e-04 2.82105295e+01] [-3.54081274e-03 9.99932135e-01 -1.10990495e-02 -4.90422586e-01] [-2.88388361e-04 1.10980976e-02 9.99938373e-01 -2.77441087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76119381700002 meters Centerline goodness : 0.921393 Centerline is valid? [False, False] Translation: X:28.21, Y:-0.49, Z:-2.77 [[ 9.99993380e-01 3.63443227e-03 -1.74833321e-04 2.82116103e+01] [-3.63616287e-03 9.99930635e-01 -1.12028378e-02 -4.90081753e-01] [ 1.34105239e-04 1.12033994e-02 9.99937231e-01 -2.77477087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79119381700002 meters Centerline goodness : 0.923379 Centerline is valid? [False, False] Translation: X:28.21, Y:-0.49, Z:-2.77 [[ 9.99993569e-01 3.54621190e-03 -5.35964413e-04 2.82124184e+01] [-3.55197372e-03 9.99931398e-01 -1.11616578e-02 -4.90655191e-01] [ 4.96346041e-04 1.11634898e-02 9.99937563e-01 -2.77483214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82119381700002 meters Centerline goodness : 0.923755 Centerline is valid? [False, False] Translation: X:28.21, Y:-0.49, Z:-2.77 [[ 9.99994403e-01 3.22534718e-03 -8.88935856e-04 2.82131069e+01] [-3.23489935e-03 9.99934680e-01 -1.09622530e-02 -4.92184038e-01] [ 8.53520719e-04 1.09650672e-02 9.99939518e-01 -2.77462808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85119381700002 meters Centerline goodness : 0.924258 Centerline is valid? [False, False] Translation: X:28.21, Y:-0.49, Z:-2.77 [[ 9.99998489e-01 -1.50464166e-03 -8.71049671e-04 2.82127672e+01] [ 1.49170207e-03 9.99891278e-01 -1.46699561e-02 -4.94134501e-01] [ 8.93027995e-04 1.46686346e-02 9.99892011e-01 -2.77377846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88119381700002 meters Centerline goodness : 0.925423 Centerline is valid? [False, False] Translation: X:28.21, Y:-0.50, Z:-2.77 [[ 9.99995955e-01 -2.55522690e-03 -1.24938663e-03 2.82139621e+01] [ 2.53678123e-03 9.99890940e-01 -1.45489486e-02 -4.96557604e-01] [ 1.28642624e-03 1.45457203e-02 9.99893378e-01 -2.77396818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91119381700003 meters Centerline goodness : 0.925367 Centerline is valid? [False, False] Translation: X:28.22, Y:-0.50, Z:-2.78 [[ 9.99926023e-01 -1.20306736e-02 -1.79178881e-03 2.82167837e+01] [ 1.19850460e-02 9.99649492e-01 -2.36061888e-02 -4.96740401e-01] [ 2.07515913e-03 2.35829678e-02 9.99719729e-01 -2.77610217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94119381700003 meters Centerline goodness : 0.925367 Centerline is valid? [False, False] Translation: X:28.22, Y:-0.50, Z:-2.78 [[ 9.99926023e-01 -1.20306736e-02 -1.79178881e-03 2.82167837e+01] [ 1.19850460e-02 9.99649492e-01 -2.36061888e-02 -4.96740401e-01] [ 2.07515913e-03 2.35829678e-02 9.99719729e-01 -2.77610217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97119381700003 meters Centerline goodness : 0.922518 Centerline is valid? [False, False] Translation: X:28.22, Y:-0.50, Z:-2.77 [[ 9.99752379e-01 -2.13968465e-02 -6.11187854e-03 2.82155805e+01] [ 2.13062980e-02 9.99667626e-01 -1.45147843e-02 -4.99423519e-01] [ 6.42041772e-03 1.43809686e-02 9.99875975e-01 -2.77374544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00119381700003 meters Centerline goodness : 0.923954 Centerline is valid? [False, False] Translation: X:28.22, Y:-0.50, Z:-2.77 [[ 9.99732607e-01 -2.22016698e-02 -6.46524281e-03 2.82167993e+01] [ 2.21043584e-02 9.99646813e-01 -1.47528249e-02 -4.99821780e-01] [ 6.79049672e-03 1.46059701e-02 9.99870269e-01 -2.77426083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03119381700003 meters Centerline goodness : 0.925917 Centerline is valid? [False, False] Translation: X:28.22, Y:-0.50, Z:-2.78 [[ 9.99702199e-01 -2.33931273e-02 -6.94800281e-03 2.82187533e+01] [ 2.32824697e-02 9.99607177e-01 -1.56018625e-02 -4.99408210e-01] [ 7.31024983e-03 1.54354495e-02 9.99854143e-01 -2.77529171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06119381700003 meters Centerline goodness : 0.923941 Centerline is valid? [False, False] Translation: X:28.22, Y:-0.50, Z:-2.78 [[ 9.99652400e-01 -2.53245577e-02 -7.33118841e-03 2.82210428e+01] [ 2.51945161e-02 9.99532553e-01 -1.73179707e-02 -4.97259973e-01] [ 7.76633141e-03 1.71272453e-02 9.99823155e-01 -2.77696707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09119381700003 meters Centerline goodness : 0.922517 Centerline is valid? [False, False] Translation: X:28.22, Y:-0.50, Z:-2.78 [[ 9.99678689e-01 -2.40910955e-02 -7.88280742e-03 2.82240695e+01] [ 2.39651641e-02 9.99589540e-01 -1.56978670e-02 -4.95981742e-01] [ 8.25775066e-03 1.55039103e-02 9.99845707e-01 -2.77910029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12119381700003 meters Centerline goodness : 0.919260 Centerline is valid? [False, False] Translation: X:28.23, Y:-0.50, Z:-2.78 [[ 9.99739458e-01 -2.12438095e-02 -8.34968046e-03 2.82253225e+01] [ 2.11395287e-02 9.99699820e-01 -1.23851022e-02 -4.95367689e-01] [ 8.61028080e-03 1.22053671e-02 9.99888440e-01 -2.77950444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15119381700003 meters Centerline goodness : 0.919928 Centerline is valid? [False, False] Translation: X:28.25, Y:-0.49, Z:-2.78 [[ 9.99760045e-01 -1.99877699e-02 -8.96334127e-03 2.82462996e+01] [ 1.98496346e-02 9.99686757e-01 -1.52440062e-02 -4.93469763e-01] [ 9.26522726e-03 1.50624292e-02 9.99843627e-01 -2.78047590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18119381700004 meters Centerline goodness : 0.917971 Centerline is valid? [False, False] Translation: X:28.25, Y:-0.49, Z:-2.78 [[ 9.99807948e-01 -1.72141876e-02 -9.36685751e-03 2.82471135e+01] [ 1.70910975e-02 9.99768559e-01 -1.30661064e-02 -4.88818549e-01] [ 9.58961204e-03 1.29035072e-02 9.99870761e-01 -2.78048930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21119381700004 meters Centerline goodness : 0.917971 Centerline is valid? [False, False] Translation: X:28.25, Y:-0.49, Z:-2.78 [[ 9.99807948e-01 -1.72141876e-02 -9.36685751e-03 2.82471135e+01] [ 1.70910975e-02 9.99768559e-01 -1.30661064e-02 -4.88818549e-01] [ 9.58961204e-03 1.29035072e-02 9.99870761e-01 -2.78048930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24119381700004 meters Centerline goodness : 0.916241 Centerline is valid? [False, False] Translation: X:28.25, Y:-0.49, Z:-2.78 [[ 9.99859594e-01 -1.37316800e-02 -9.60382882e-03 2.82474924e+01] [ 1.36356913e-02 9.99857125e-01 -9.98991044e-03 -4.85643421e-01] [ 9.73963493e-03 9.85755295e-03 9.99903979e-01 -2.78040979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27119381700004 meters Centerline goodness : 0.917264 Centerline is valid? [False, False] Translation: X:28.25, Y:-0.48, Z:-2.78 [[ 9.99915227e-01 -8.41413133e-03 -9.93689040e-03 2.82495865e+01] [ 8.36685978e-03 9.99953529e-01 -4.78920607e-03 -4.82618517e-01] [ 9.97672563e-03 4.70565951e-03 9.99939159e-01 -2.78196040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30119381700004 meters Centerline goodness : 0.915952 Centerline is valid? [False, False] Translation: X:28.26, Y:-0.47, Z:-2.79 [[ 9.99981391e-01 -1.86748393e-03 -5.80773432e-03 2.82648631e+01] [ 1.81513808e-03 9.99957803e-01 -9.00537505e-03 -4.69548410e-01] [ 5.82430665e-03 8.99466563e-03 9.99942585e-01 -2.78665360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33119381700004 meters Centerline goodness : 0.914266 Centerline is valid? [False, False] Translation: X:28.27, Y:-0.46, Z:-2.79 [[ 9.99980333e-01 1.32155587e-03 -6.13085938e-03 2.82657073e+01] [-1.36311771e-03 9.99976087e-01 -6.77990309e-03 -4.64568985e-01] [ 6.12175275e-03 6.78812683e-03 9.99958222e-01 -2.78691749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36119381700001 meters Centerline goodness : 0.915547 Centerline is valid? [False, False] Translation: X:28.27, Y:-0.46, Z:-2.79 [[ 9.99970352e-01 4.26146495e-03 -6.41367553e-03 2.82667074e+01] [-4.29127920e-03 9.99980018e-01 -4.64198303e-03 -4.60104469e-01] [ 6.39376573e-03 4.66936827e-03 9.99968658e-01 -2.78739101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.39119381700002 meters Centerline goodness : 0.913686 Centerline is valid? [False, False] Translation: X:28.28, Y:-0.45, Z:-2.79 [[ 9.99977241e-01 5.94662188e-03 -3.18685937e-03 2.82848453e+01] [-5.98330381e-03 9.99914501e-01 -1.16271783e-02 -4.46333388e-01] [ 3.11744446e-03 1.16459816e-02 9.99927324e-01 -2.79106101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42119381700002 meters Centerline goodness : 0.913686 Centerline is valid? [False, False] Translation: X:28.28, Y:-0.45, Z:-2.79 [[ 9.99977241e-01 5.94662188e-03 -3.18685937e-03 2.82848453e+01] [-5.98330381e-03 9.99914501e-01 -1.16271783e-02 -4.46333388e-01] [ 3.11744446e-03 1.16459816e-02 9.99927324e-01 -2.79106101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45119381700002 meters Centerline goodness : 0.909008 Centerline is valid? [False, False] Translation: X:28.29, Y:-0.44, Z:-2.79 [[ 9.99964606e-01 7.56946886e-03 -3.67277754e-03 2.82860043e+01] [-7.61284354e-03 9.99899698e-01 -1.19431311e-02 -4.35260986e-01] [ 3.58200599e-03 1.19706686e-02 9.99921933e-01 -2.79119132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48119381700002 meters Centerline goodness : 0.910955 Centerline is valid? [False, False] Translation: X:28.29, Y:-0.43, Z:-2.79 [[ 9.99942506e-01 9.87990534e-03 -4.16802395e-03 2.82875868e+01] [-9.92167723e-03 9.99899535e-01 -1.01232703e-02 -4.30985345e-01] [ 4.06758826e-03 1.01640421e-02 9.99940072e-01 -2.79170579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51119381700002 meters Centerline goodness : 0.908530 Centerline is valid? [False, False] Translation: X:28.29, Y:-0.43, Z:-2.79 [[ 9.99913320e-01 1.23762597e-02 -4.49220041e-03 2.82886160e+01] [-1.24128506e-02 9.99889244e-01 -8.21105720e-03 -4.26408651e-01] [ 4.39008069e-03 8.26610648e-03 9.99956198e-01 -2.79189092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54119381700002 meters Centerline goodness : 0.910079 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.41, Z:-2.80 [[ 9.99895143e-01 1.44344376e-02 -1.16149905e-03 2.83059018e+01] [-1.44501005e-02 9.99785339e-01 -1.48482676e-02 -4.11978620e-01] [ 9.46923327e-04 1.48634945e-02 9.99889084e-01 -2.79507311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57119381700002 meters Centerline goodness : 0.907293 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.41, Z:-2.80 [[ 9.99856101e-01 1.69500806e-02 6.86724503e-04 2.83254065e+01] [-1.69345756e-02 9.99687179e-01 -1.84055672e-02 -4.05670916e-01] [-9.98485530e-04 1.83912893e-02 9.99830367e-01 -2.79749003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60119381700002 meters Centerline goodness : 0.909767 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.40, Z:-2.80 [[ 9.99791577e-01 2.04127844e-02 3.48597383e-04 2.83268154e+01] [-2.04046584e-02 9.99665239e-01 -1.59078525e-02 -4.01188238e-01] [-6.73204250e-04 1.58974239e-02 9.99873401e-01 -2.79822142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63119381700002 meters Centerline goodness : 0.904999 Centerline is valid? [False, False] Translation: X:28.34, Y:-0.39, Z:-2.80 [[ 9.99640405e-01 2.65470350e-02 3.78366746e-03 2.83443069e+01] [-2.64677848e-02 9.99456560e-01 -1.96479146e-02 -3.89453598e-01] [-4.30320514e-03 1.95407040e-02 9.99799802e-01 -2.80167428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66119381700003 meters Centerline goodness : 0.902179 Centerline is valid? [False, False] Translation: X:28.36, Y:-0.38, Z:-2.80 [[ 9.99566578e-01 2.88714268e-02 5.75304015e-03 2.83638038e+01] [-2.87270547e-02 9.99304641e-01 -2.37695284e-02 -3.83643750e-01] [-6.43529993e-03 2.35939583e-02 9.99700911e-01 -2.80462048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69119381700003 meters Centerline goodness : 0.904075 Centerline is valid? [False, False] Translation: X:28.37, Y:-0.38, Z:-2.81 [[ 9.99473822e-01 3.19720486e-02 5.46508443e-03 2.83656058e+01] [-3.18497401e-02 9.99268507e-01 -2.11670580e-02 -3.80378700e-01] [-6.13784097e-03 2.09818589e-02 9.99761016e-01 -2.80578072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72119381700003 meters Centerline goodness : 0.902434 Centerline is valid? [False, False] Translation: X:28.37, Y:-0.38, Z:-2.81 [[ 9.99385316e-01 3.46784121e-02 5.13789480e-03 2.83677415e+01] [-3.45766834e-02 9.99226758e-01 -1.87173229e-02 -3.78030414e-01] [-5.78300900e-03 1.85281663e-02 9.99811614e-01 -2.80725334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75119381700003 meters Centerline goodness : 0.899605 Centerline is valid? [False, False] Translation: X:28.37, Y:-0.37, Z:-2.81 [[ 9.99291681e-01 3.73641680e-02 4.47821165e-03 2.83707088e+01] [-3.72842183e-02 9.99163905e-01 -1.67743026e-02 -3.74770086e-01] [-5.10122531e-03 1.65954545e-02 9.99849273e-01 -2.80898255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78119381700003 meters Centerline goodness : 0.901201 Centerline is valid? [False, False] Translation: X:28.37, Y:-0.38, Z:-2.81 [[ 9.99162046e-01 4.06488041e-02 4.78335931e-03 2.83706813e+01] [-4.05868752e-02 9.99099059e-01 -1.24006218e-02 -3.75956138e-01] [-5.28312023e-03 1.21960890e-02 9.99911668e-01 -2.80972184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81119381700003 meters Centerline goodness : 0.900842 Centerline is valid? [False, False] Translation: X:28.37, Y:-0.37, Z:-2.81 [[ 9.99164183e-01 4.06454471e-02 4.34547289e-03 2.83720175e+01] [-4.05865541e-02 9.99093057e-01 -1.28761169e-02 -3.74915267e-01] [-4.86488732e-03 1.26889871e-02 9.99907657e-01 -2.81033231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84119381700003 meters Centerline goodness : 0.898875 Centerline is valid? [False, False] Translation: X:28.37, Y:-0.37, Z:-2.81 [[ 9.99164342e-01 4.06771053e-02 3.99872310e-03 2.83730620e+01] [-4.06210496e-02 9.99087146e-01 -1.32214010e-02 -3.74046931e-01] [-4.53288117e-03 1.30479201e-02 9.99904598e-01 -2.81075141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87119381700003 meters Centerline goodness : 0.896916 Centerline is valid? [False, False] Translation: X:28.37, Y:-0.37, Z:-2.81 [[ 9.99158384e-01 4.08633929e-02 3.56467302e-03 2.83737443e+01] [-4.08124416e-02 9.99077569e-01 -1.33549725e-02 -3.74188493e-01] [-4.10711435e-03 1.31982497e-02 9.99904464e-01 -2.81043128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90119381700003 meters Centerline goodness : 0.896999 Centerline is valid? [False, False] Translation: X:28.37, Y:-0.38, Z:-2.81 [[ 9.99159800e-01 4.08591696e-02 3.19734661e-03 2.83742606e+01] [-4.08141066e-02 9.99081175e-01 -1.30772780e-02 -3.75367153e-01] [-3.72873553e-03 1.29357937e-02 9.99909377e-01 -2.81027578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93119381700004 meters Centerline goodness : 0.896325 Centerline is valid? [False, False] Translation: X:28.37, Y:-0.38, Z:-2.81 [[ 9.99167596e-01 4.06494872e-02 3.42555514e-03 2.83734369e+01] [-4.06041535e-02 9.99098350e-01 -1.24012250e-02 -3.77149701e-01] [-3.92656992e-03 1.22518105e-02 9.99917234e-01 -2.80996501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96119381700004 meters Centerline goodness : 0.897696 Centerline is valid? [False, False] Translation: X:28.37, Y:-0.38, Z:-2.81 [[ 9.99337918e-01 3.61838796e-02 3.80171548e-03 2.83719722e+01] [-3.61246343e-02 9.99240025e-01 -1.46418073e-02 -3.81735518e-01] [-4.32862367e-03 1.44947776e-02 9.99885576e-01 -2.81005906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99119381700004 meters Centerline goodness : 0.896475 Centerline is valid? [False, False] Translation: X:28.37, Y:-0.38, Z:-2.81 [[ 9.99478401e-01 3.20665030e-02 3.82962011e-03 2.83715407e+01] [-3.19937729e-02 9.99330557e-01 -1.77436232e-02 -3.83846079e-01] [-4.39603235e-03 1.76118441e-02 9.99835235e-01 -2.81033509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02119381700004 meters Centerline goodness : 0.894780 Centerline is valid? [False, False] Translation: X:28.36, Y:-0.39, Z:-2.81 [[ 9.99789987e-01 2.00007201e-02 4.46691135e-03 2.83635040e+01] [-1.99698625e-02 9.99777123e-01 -6.84900763e-03 -3.90425883e-01] [-4.60290086e-03 6.75836565e-03 9.99966568e-01 -2.80914841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05119381700004 meters Centerline goodness : 0.895754 Centerline is valid? [False, False] Translation: X:28.36, Y:-0.39, Z:-2.81 [[ 9.99867883e-01 1.57073557e-02 4.18287980e-03 2.83642455e+01] [-1.56611010e-02 9.99818267e-01 -1.08703202e-02 -3.90601861e-01] [-4.35286362e-03 1.08033756e-02 9.99932168e-01 -2.80959621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08119381700004 meters Centerline goodness : 0.894803 Centerline is valid? [False, False] Translation: X:28.37, Y:-0.39, Z:-2.81 [[ 9.99897141e-01 1.38934498e-02 3.56089682e-03 2.83664597e+01] [-1.38502769e-02 9.99833565e-01 -1.18748673e-02 -3.91991444e-01] [-3.72528703e-03 1.18243265e-02 9.99923151e-01 -2.81078293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.11119381700001 meters Centerline goodness : 0.894066 Centerline is valid? [False, False] Translation: X:28.37, Y:-0.39, Z:-2.81 [[ 9.99918780e-01 1.23807724e-02 3.02483135e-03 2.83685314e+01] [-1.23406779e-02 9.99840217e-01 -1.29324597e-02 -3.93769619e-01] [-3.18446187e-03 1.28940808e-02 9.99911797e-01 -2.81203728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14119381700002 meters Centerline goodness : 0.892721 Centerline is valid? [False, False] Translation: X:28.37, Y:-0.39, Z:-2.81 [[ 9.99914671e-01 1.27570095e-02 2.81254512e-03 2.83692296e+01] [-1.27196711e-02 9.99835677e-01 -1.29162284e-02 -3.93194437e-01] [-2.97685541e-03 1.28793516e-02 9.99912627e-01 -2.81246715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17119381700002 meters Centerline goodness : 0.893287 Centerline is valid? [False, False] Translation: X:28.37, Y:-0.39, Z:-2.81 [[ 9.99858663e-01 1.66192754e-02 2.54042077e-03 2.83702537e+01] [-1.65957879e-02 9.99821750e-01 -9.00270593e-03 -3.93404470e-01] [-2.68958639e-03 8.95927323e-03 9.99956248e-01 -2.81293808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20119381700002 meters Centerline goodness : 0.891421 Centerline is valid? [False, False] Translation: X:28.37, Y:-0.39, Z:-2.81 [[ 9.99785048e-01 2.06031297e-02 2.31706544e-03 2.83713357e+01] [-2.05906520e-02 9.99774017e-01 -5.28587274e-03 -3.92699355e-01] [-2.42544734e-03 5.23702664e-03 9.99983345e-01 -2.81357664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23119381700002 meters Centerline goodness : 0.891276 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.39, Z:-2.82 [[ 9.99513095e-01 3.05516497e-02 6.33797677e-03 2.83847135e+01] [-3.05068545e-02 9.99509709e-01 -7.04799135e-03 -3.88514389e-01] [-6.55019707e-03 6.85120791e-03 9.99955077e-01 -2.81835505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26119381700002 meters Centerline goodness : 0.890413 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.39, Z:-2.82 [[ 9.99278607e-01 3.62973386e-02 1.11700217e-02 2.83978044e+01] [-3.61673594e-02 9.99278113e-01 -1.16264353e-02 -3.85477917e-01] [-1.15839668e-02 1.12140578e-02 9.99870020e-01 -2.82299013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29119381700002 meters Centerline goodness : 0.891140 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.38, Z:-2.82 [[ 9.99107770e-01 4.08483176e-02 1.07275244e-02 2.83989547e+01] [-4.07647882e-02 9.99137594e-01 -7.89306669e-03 -3.84865728e-01] [-1.10406914e-02 7.44871899e-03 9.99911306e-01 -2.82263801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32119381700002 meters Centerline goodness : 0.891279 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.38, Z:-2.82 [[ 9.99057027e-01 4.23153104e-02 9.71968005e-03 2.84009411e+01] [-4.22366433e-02 9.99074302e-01 -8.16117471e-03 -3.83795994e-01] [-1.00560252e-02 7.74295228e-03 9.99919458e-01 -2.82211617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35119381700002 meters Centerline goodness : 0.891484 Centerline is valid? [False, False] Translation: X:28.39, Y:-0.38, Z:-2.82 [[ 9.99133907e-01 4.15852395e-02 -1.45015247e-03 2.83947516e+01] [-4.15952969e-02 9.99104252e-01 -7.77979996e-03 -3.83360689e-01] [ 1.12532866e-03 7.83338145e-03 9.99968685e-01 -2.81583142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38119381700002 meters Centerline goodness : 0.889455 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.39, Z:-2.82 [[ 9.99092309e-01 4.25336755e-02 -2.33354516e-03 2.83960388e+01] [-4.25490482e-02 9.99069929e-01 -6.98961447e-03 -3.85562100e-01] [ 2.03408081e-03 7.08256018e-03 9.99972850e-01 -2.81532259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41119381700003 meters Centerline goodness : 0.889456 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.39, Z:-2.82 [[ 9.99059260e-01 4.32875619e-02 -2.60410992e-03 2.83965461e+01] [-4.32993858e-02 9.99051228e-01 -4.66971302e-03 -3.91235436e-01] [ 2.39949872e-03 4.77807640e-03 9.99985706e-01 -2.81594007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44119381700003 meters Centerline goodness : 0.890902 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.39, Z:-2.82 [[ 9.99181506e-01 4.03034234e-02 -3.45726827e-03 2.83979715e+01] [-4.03295429e-02 9.99155589e-01 -7.85088150e-03 -3.92649892e-01] [ 3.13793152e-03 7.98388565e-03 9.99963205e-01 -2.81613363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47119381700003 meters Centerline goodness : 0.889334 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.40, Z:-2.82 [[ 9.99192738e-01 4.00071093e-02 -3.64736134e-03 2.83983200e+01] [-4.00291211e-02 9.99179426e-01 -6.17613199e-03 -3.97447233e-01] [ 3.39727922e-03 6.31714690e-03 9.99974276e-01 -2.81694232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50119381700003 meters Centerline goodness : 0.885772 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.41, Z:-2.82 [[ 9.99322106e-01 3.66641836e-02 -3.32653431e-03 2.83970681e+01] [-3.66835088e-02 9.99309236e-01 -5.94731733e-03 -4.06725612e-01] [ 3.10618293e-03 6.06531463e-03 9.99976782e-01 -2.81770268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53119381700003 meters Centerline goodness : 0.886636 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.41, Z:-2.82 [[ 9.99446563e-01 3.30676461e-02 -3.61908546e-03 2.83974857e+01] [-3.30989707e-02 9.99411845e-01 -8.96783955e-03 -4.09858932e-01] [ 3.32041153e-03 9.08266442e-03 9.99953239e-01 -2.81797596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56119381700003 meters Centerline goodness : 0.886861 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.41, Z:-2.82 [[ 9.99549786e-01 2.97510203e-02 -3.88618913e-03 2.83980149e+01] [-2.97948431e-02 9.99486940e-01 -1.17526033e-02 -4.13015123e-01] [ 3.53454334e-03 1.18631006e-02 9.99923384e-01 -2.81835544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59119381700003 meters Centerline goodness : 0.887426 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.42, Z:-2.82 [[ 9.99636270e-01 2.66434183e-02 -4.17814379e-03 2.83987189e+01] [-2.66967967e-02 9.99555262e-01 -1.32875635e-02 -4.21245122e-01] [ 3.82225950e-03 1.33942735e-02 9.99902987e-01 -2.81885438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62119381700003 meters Centerline goodness : 0.887081 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.43, Z:-2.82 [[ 9.99668751e-01 2.52788636e-02 -4.83406610e-03 2.84007744e+01] [-2.53449624e-02 9.99578764e-01 -1.41395795e-02 -4.25393195e-01] [ 4.47459732e-03 1.42574150e-02 9.99888346e-01 -2.81996329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65119381700003 meters Centerline goodness : 0.887361 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.43, Z:-2.82 [[ 9.99695330e-01 2.40800039e-02 -5.42222839e-03 2.84027780e+01] [-2.41572310e-02 9.99600697e-01 -1.46586224e-02 -4.28601308e-01] [ 5.06708359e-03 1.47851424e-02 9.99877855e-01 -2.82107993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68119381700004 meters Centerline goodness : 0.889412 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.43, Z:-2.82 [[ 9.99696156e-01 2.40055724e-02 -5.59710235e-03 2.84032167e+01] [-2.40823496e-02 9.99610834e-01 -1.40790904e-02 -4.31194981e-01] [ 5.25694752e-03 1.42096040e-02 9.99885219e-01 -2.82117797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71119381700004 meters Centerline goodness : 0.891096 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.44, Z:-2.82 [[ 9.99685874e-01 2.43778110e-02 -5.82032773e-03 2.84035124e+01] [-2.44499253e-02 9.99620913e-01 -1.26582722e-02 -4.35905422e-01] [ 5.50954035e-03 1.27966025e-02 9.99902941e-01 -2.82100141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74119381700004 meters Centerline goodness : 0.889867 Centerline is valid? [False, False] Translation: X:28.41, Y:-0.44, Z:-2.82 [[ 9.99706166e-01 2.33756544e-02 -6.41570676e-03 2.84057261e+01] [-2.34586267e-02 9.99637959e-01 -1.31774032e-02 -4.38152772e-01] [ 6.10535359e-03 1.33240349e-02 9.99892592e-01 -2.82237264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77119381700004 meters Centerline goodness : 0.890448 Centerline is valid? [False, False] Translation: X:28.41, Y:-0.44, Z:-2.82 [[ 9.99723356e-01 2.24723381e-02 -6.94305517e-03 2.84078261e+01] [-2.25653563e-02 9.99652552e-01 -1.36227588e-02 -4.40580433e-01] [ 6.63450758e-03 1.37756627e-02 9.99883100e-01 -2.82372331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80119381700004 meters Centerline goodness : 0.890609 Centerline is valid? [False, False] Translation: X:28.41, Y:-0.44, Z:-2.82 [[ 9.99734249e-01 2.18421235e-02 -7.37240718e-03 2.84095957e+01] [-2.19416822e-02 9.99665313e-01 -1.37048830e-02 -4.43159614e-01] [ 7.07059598e-03 1.38630039e-02 9.99878905e-01 -2.82491056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83119381700004 meters Centerline goodness : 0.889592 Centerline is valid? [False, False] Translation: X:28.41, Y:-0.45, Z:-2.83 [[ 9.99790315e-01 1.90071004e-02 -7.61942515e-03 2.84100397e+01] [-1.91248989e-02 9.99693864e-01 -1.56976466e-02 -4.48488526e-01] [ 7.31872583e-03 1.58400757e-02 9.99847753e-01 -2.82516085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86119381700001 meters Centerline goodness : 0.889854 Centerline is valid? [False, False] Translation: X:28.41, Y:-0.45, Z:-2.83 [[ 9.99800729e-01 1.81740776e-02 -8.25869849e-03 2.84123103e+01] [-1.83024248e-02 9.99708586e-01 -1.57405254e-02 -4.51827492e-01] [ 7.97022226e-03 1.58885430e-02 9.99842002e-01 -2.82645155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.89119381700002 meters Centerline goodness : 0.890697 Centerline is valid? [False, False] Translation: X:28.41, Y:-0.46, Z:-2.83 [[ 9.99800123e-01 1.79880422e-02 -8.72609777e-03 2.84137132e+01] [-1.81179311e-02 9.99722705e-01 -1.50417266e-02 -4.55145359e-01] [ 8.45310686e-03 1.51968189e-02 9.99848789e-01 -2.82710677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92119381700002 meters Centerline goodness : 0.893913 Centerline is valid? [False, False] Translation: X:28.41, Y:-0.46, Z:-2.83 [[ 9.99796009e-01 1.80392834e-02 -9.08426397e-03 2.84148183e+01] [-1.81679091e-02 9.99732947e-01 -1.42815154e-02 -4.57982659e-01] [ 8.82420968e-03 1.44436442e-02 9.99856747e-01 -2.82764259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95119381700002 meters Centerline goodness : 0.892414 Centerline is valid? [False, False] Translation: X:28.42, Y:-0.46, Z:-2.83 [[ 9.99787985e-01 1.83056441e-02 -9.42802602e-03 2.84155186e+01] [-1.84247579e-02 9.99749511e-01 -1.27060290e-02 -4.63162004e-01] [ 9.19307236e-03 1.28770442e-02 9.99874827e-01 -2.82764506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98119381700002 meters Centerline goodness : 0.893858 Centerline is valid? [False, False] Translation: X:28.42, Y:-0.47, Z:-2.83 [[ 9.99783127e-01 1.85327736e-02 -9.49917935e-03 2.84153457e+01] [-1.86437025e-02 9.99757435e-01 -1.17253294e-02 -4.66260049e-01] [ 9.27957231e-03 1.18998864e-02 9.99886135e-01 -2.82718067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01119381700002 meters Centerline goodness : 0.893520 Centerline is valid? [False, False] Translation: X:28.42, Y:-0.47, Z:-2.83 [[ 9.99782015e-01 1.83686438e-02 -9.92544537e-03 2.84162020e+01] [-1.84783913e-02 9.99767853e-01 -1.10809848e-02 -4.69149340e-01] [ 9.71959855e-03 1.12619755e-02 9.99889343e-01 -2.82717048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04119381700002 meters Centerline goodness : 0.894166 Centerline is valid? [False, False] Translation: X:28.42, Y:-0.47, Z:-2.83 [[ 9.99843125e-01 1.46070285e-02 -1.00179448e-02 2.84164137e+01] [-1.47482507e-02 9.99790814e-01 -1.41709906e-02 -4.71892596e-01] [ 9.80885309e-03 1.43165146e-02 9.99849401e-01 -2.82734678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07119381700002 meters Centerline goodness : 0.895843 Centerline is valid? [False, False] Translation: X:28.42, Y:-0.47, Z:-2.83 [[ 9.99848654e-01 1.38480386e-02 -1.05309163e-02 2.84178368e+01] [-1.39974522e-02 9.99800495e-01 -1.42492692e-02 -4.73458600e-01] [ 1.03314909e-02 1.43945186e-02 9.99843017e-01 -2.82785594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10119381700002 meters Centerline goodness : 0.895860 Centerline is valid? [False, False] Translation: X:28.42, Y:-0.47, Z:-2.83 [[ 9.99857051e-01 1.28212614e-02 -1.10223572e-02 2.84196043e+01] [-1.29827216e-02 9.99807604e-01 -1.47038531e-02 -4.74373381e-01] [ 1.08317146e-02 1.48448514e-02 9.99831138e-01 -2.82878779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13119381700002 meters Centerline goodness : 0.895860 Centerline is valid? [False, False] Translation: X:28.42, Y:-0.47, Z:-2.83 [[ 9.99857051e-01 1.28212614e-02 -1.10223572e-02 2.84196043e+01] [-1.29827216e-02 9.99807604e-01 -1.47038531e-02 -4.74373381e-01] [ 1.08317146e-02 1.48448514e-02 9.99831138e-01 -2.82878779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16119381700003 meters Centerline goodness : 0.896111 Centerline is valid? [False, False] Translation: X:28.42, Y:-0.48, Z:-2.83 [[ 9.99865733e-01 1.16352525e-02 -1.15384705e-02 2.84213706e+01] [-1.18103346e-02 9.99814363e-01 -1.52235416e-02 -4.75231283e-01] [ 1.13591988e-02 1.53577707e-02 9.99817537e-01 -2.82966666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19119381700003 meters Centerline goodness : 0.896391 Centerline is valid? [False, False] Translation: X:28.42, Y:-0.48, Z:-2.83 [[ 9.99875161e-01 1.02042324e-02 -1.20637999e-02 2.84232096e+01] [-1.03966793e-02 9.99817957e-01 -1.59988277e-02 -4.76130431e-01] [ 1.18983480e-02 1.61222539e-02 9.99799231e-01 -2.83055872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22119381700003 meters Centerline goodness : 0.895249 Centerline is valid? [False, False] Translation: X:28.43, Y:-0.48, Z:-2.83 [[ 9.99912916e-01 4.03474868e-03 -1.25650891e-02 2.84254916e+01] [-4.30633998e-03 9.99756050e-01 -2.16632417e-02 -4.75120348e-01] [ 1.24746182e-02 2.17154647e-02 9.99686362e-01 -2.83210014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25119381700003 meters Centerline goodness : 0.896363 Centerline is valid? [False, False] Translation: X:28.43, Y:-0.47, Z:-2.83 [[ 9.99917466e-01 2.62343901e-03 -1.25769092e-02 2.84263535e+01] [-2.90668056e-03 9.99741364e-01 -2.25556344e-02 -4.74844439e-01] [ 1.25144830e-02 2.25903299e-02 9.99666477e-01 -2.83293384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28119381700003 meters Centerline goodness : 0.898777 Centerline is valid? [False, False] Translation: X:28.43, Y:-0.47, Z:-2.83 [[ 9.99913604e-01 8.09225626e-04 -1.31198164e-02 2.84288203e+01] [-1.12674667e-03 9.99706203e-01 -2.42123391e-02 -4.73056943e-01] [ 1.30963686e-02 2.42250300e-02 9.99620745e-01 -2.83461188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31119381700003 meters Centerline goodness : 0.899372 Centerline is valid? [False, False] Translation: X:28.43, Y:-0.47, Z:-2.84 [[ 9.99908678e-01 -4.11383471e-04 -1.35080305e-02 2.84307724e+01] [ 6.64451316e-05 9.99674148e-01 -2.55263236e-02 -4.70812465e-01] [ 1.35141299e-02 2.55230949e-02 9.99582883e-01 -2.83599159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34119381700003 meters Centerline goodness : 0.898047 Centerline is valid? [False, False] Translation: X:28.43, Y:-0.47, Z:-2.84 [[ 9.99895658e-01 7.64668930e-04 -1.44252467e-02 2.84349123e+01] [-1.12235017e-03 9.99691710e-01 -2.48037262e-02 -4.66349191e-01] [ 1.44018329e-02 2.48173284e-02 9.99588259e-01 -2.83872135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37119381700003 meters Centerline goodness : 0.896465 Centerline is valid? [False, False] Translation: X:28.44, Y:-0.46, Z:-2.84 [[ 9.99880555e-01 3.94129554e-03 -1.49446490e-02 2.84371040e+01] [-4.27213459e-03 9.99745072e-01 -2.21707125e-02 -4.63733960e-01] [ 1.48534578e-02 2.22319099e-02 9.99642495e-01 -2.84010517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40119381700003 meters Centerline goodness : 0.898314 Centerline is valid? [False, False] Translation: X:28.44, Y:-0.46, Z:-2.84 [[ 9.99854019e-01 7.66031569e-03 -1.52728745e-02 2.84384090e+01] [-7.95579504e-03 9.99780523e-01 -1.93807145e-02 -4.59939628e-01] [ 1.51210600e-02 1.94993931e-02 9.99695517e-01 -2.84086198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43119381700004 meters Centerline goodness : 0.898074 Centerline is valid? [False, False] Translation: X:28.44, Y:-0.46, Z:-2.84 [[ 9.99767121e-01 1.49439129e-02 -1.55686533e-02 2.84395366e+01] [-1.51397721e-02 9.99806757e-01 -1.25393845e-02 -4.57651403e-01] [ 1.53782572e-02 1.27721702e-02 9.99800170e-01 -2.84113037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46119381700004 meters Centerline goodness : 0.898880 Centerline is valid? [False, False] Translation: X:28.45, Y:-0.45, Z:-2.84 [[ 9.99613193e-01 2.54091162e-02 -1.13067138e-02 2.84546044e+01] [-2.55481554e-02 9.99597583e-01 -1.23273742e-02 -4.47660838e-01] [ 1.09889361e-02 1.26114715e-02 9.99860087e-01 -2.84431940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49119381700004 meters Centerline goodness : 0.899540 Centerline is valid? [False, False] Translation: X:28.47, Y:-0.44, Z:-2.85 [[ 9.99523136e-01 3.02044371e-02 -6.41809619e-03 2.84687020e+01] [-3.03095401e-02 9.99396600e-01 -1.69637302e-02 -4.42158933e-01] [ 5.90184359e-03 1.71501704e-02 9.99835506e-01 -2.84800263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52119381700004 meters Centerline goodness : 0.901446 Centerline is valid? [False, False] Translation: X:28.47, Y:-0.44, Z:-2.85 [[ 9.99384489e-01 3.44776671e-02 -6.47564329e-03 2.84687403e+01] [-3.45621197e-02 9.99312487e-01 -1.34169074e-02 -4.39564386e-01] [ 6.00860753e-03 1.36324611e-02 9.99889020e-01 -2.84746329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55119381700004 meters Centerline goodness : 0.901788 Centerline is valid? [False, False] Translation: X:28.48, Y:-0.43, Z:-2.85 [[ 9.99112109e-01 4.21104808e-02 -1.30447848e-03 2.84818556e+01] [-4.21261857e-02 9.98978812e-01 -1.63314631e-02 -4.33397839e-01] [ 6.15420599e-04 1.63719152e-02 9.99865782e-01 -2.85099529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58119381700004 meters Centerline goodness : 0.902639 Centerline is valid? [False, False] Translation: X:28.48, Y:-0.43, Z:-2.85 [[ 9.98946030e-01 4.58800182e-02 -1.36149202e-03 2.84826709e+01] [-4.58937464e-02 9.98863726e-01 -1.28460563e-02 -4.32102786e-01] [ 7.70567693e-04 1.28950009e-02 9.99916559e-01 -2.85139316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.61119381700001 meters Centerline goodness : 0.902931 Centerline is valid? [False, False] Translation: X:28.48, Y:-0.43, Z:-2.85 [[ 9.98773816e-01 4.94856873e-02 -1.42503907e-03 2.84834711e+01] [-4.94968302e-02 9.98731020e-01 -9.29593923e-03 -4.31139250e-01] [ 9.63214778e-04 9.35507562e-03 9.99955776e-01 -2.85170218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64119381700002 meters Centerline goodness : 0.902647 Centerline is valid? [False, False] Translation: X:28.47, Y:-0.43, Z:-2.85 [[ 9.98816477e-01 4.86134778e-02 -1.54110039e-03 2.84739275e+01] [-4.86134308e-02 9.98817666e-01 6.79763520e-05 -4.29869440e-01] [ 1.54258287e-03 7.02227689e-06 9.99998810e-01 -2.85014644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67119381700002 meters Centerline goodness : 0.902298 Centerline is valid? [False, False] Translation: X:28.47, Y:-0.43, Z:-2.85 [[ 9.98791654e-01 4.71790405e-02 -1.37611658e-02 2.84698802e+01] [-4.72182323e-02 9.98881376e-01 -2.53695749e-03 -4.25590353e-01] [ 1.36260810e-02 3.18366989e-03 9.99902092e-01 -2.84526283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70119381700002 meters Centerline goodness : 0.902304 Centerline is valid? [False, False] Translation: X:28.46, Y:-0.42, Z:-2.84 [[ 9.98734960e-01 4.37560835e-02 -2.47767045e-02 2.84645681e+01] [-4.38149906e-02 9.99037969e-01 -1.83939331e-03 -4.23096699e-01] [ 2.46723839e-02 2.92265748e-03 9.99691318e-01 -2.83953656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73119381700002 meters Centerline goodness : 0.901254 Centerline is valid? [False, False] Translation: X:28.48, Y:-0.42, Z:-2.84 [[ 9.98853717e-01 4.32750106e-02 -2.04578746e-02 2.84790392e+01] [-4.35342634e-02 9.98974960e-01 -1.24015267e-02 -4.20110114e-01] [ 1.99002283e-02 1.32779295e-02 9.99713798e-01 -2.84486745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76119381700002 meters Centerline goodness : 0.901762 Centerline is valid? [False, False] Translation: X:28.48, Y:-0.42, Z:-2.85 [[ 9.98879947e-01 4.23342466e-02 -2.11343884e-02 2.84813597e+01] [-4.26153183e-02 9.99006574e-01 -1.30307135e-02 -4.21078714e-01] [ 2.05617476e-02 1.39167671e-02 9.99691722e-01 -2.84616909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79119381700002 meters Centerline goodness : 0.899737 Centerline is valid? [False, False] Translation: X:28.50, Y:-0.42, Z:-2.85 [[ 9.98994724e-01 4.09736274e-02 -1.81852350e-02 2.84995073e+01] [-4.13414114e-02 9.98938198e-01 -2.03313484e-02 -4.19891192e-01] [ 1.73328768e-02 2.10627131e-02 9.99627898e-01 -2.84875657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82119381700002 meters Centerline goodness : 0.900728 Centerline is valid? [False, False] Translation: X:28.50, Y:-0.42, Z:-2.85 [[ 9.98992770e-01 4.09071919e-02 -1.84403616e-02 2.85001744e+01] [-4.12790814e-02 9.98942248e-01 -2.02589122e-02 -4.20571648e-01] [ 1.75921210e-02 2.09997080e-02 9.99624694e-01 -2.84893805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85119381700002 meters Centerline goodness : 0.900822 Centerline is valid? [False, False] Translation: X:28.52, Y:-0.42, Z:-2.85 [[ 9.99005347e-01 4.16891122e-02 -1.58219441e-02 2.85190156e+01] [-4.20490947e-02 9.98847413e-01 -2.31456180e-02 -4.21346378e-01] [ 1.48387877e-02 2.37878945e-02 9.99606896e-01 -2.84982083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88119381700002 meters Centerline goodness : 0.901752 Centerline is valid? [False, False] Translation: X:28.52, Y:-0.42, Z:-2.85 [[ 9.98875490e-01 4.45723966e-02 -1.61572631e-02 2.85207488e+01] [-4.48891798e-02 9.98795647e-01 -1.98044555e-02 -4.23911473e-01] [ 1.52550720e-02 2.05074714e-02 9.99673310e-01 -2.85075368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91119381700003 meters Centerline goodness : 0.900568 Centerline is valid? [False, False] Translation: X:28.54, Y:-0.42, Z:-2.85 [[ 9.98855375e-01 4.55330200e-02 -1.46520788e-02 2.85409038e+01] [-4.58673714e-02 9.98674476e-01 -2.33554252e-02 -4.24080203e-01] [ 1.35692141e-02 2.40007443e-02 9.99619848e-01 -2.85269708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94119381700003 meters Centerline goodness : 0.899963 Centerline is valid? [False, False] Translation: X:28.54, Y:-0.43, Z:-2.85 [[ 9.98840902e-01 4.57442216e-02 -1.49772839e-02 2.85415839e+01] [-4.60792178e-02 9.98676578e-01 -2.28429113e-02 -4.25798565e-01] [ 1.39125314e-02 2.35065757e-02 9.99626872e-01 -2.85284705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97119381700003 meters Centerline goodness : 0.898989 Centerline is valid? [False, False] Translation: X:28.54, Y:-0.43, Z:-2.85 [[ 9.98827842e-01 4.59587311e-02 -1.51900245e-02 2.85422805e+01] [-4.62871355e-02 9.98685323e-01 -2.20256051e-02 -4.28755363e-01] [ 1.41577856e-02 2.27028904e-02 9.99642004e-01 -2.85325639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00119381700003 meters Centerline goodness : 0.898430 Centerline is valid? [False, False] Translation: X:28.54, Y:-0.44, Z:-2.85 [[ 9.98746074e-01 4.74932242e-02 -1.58326497e-02 2.85432163e+01] [-4.77808175e-02 9.98690011e-01 -1.83099622e-02 -4.37769027e-01] [ 1.49423100e-02 1.90434998e-02 9.99706993e-01 -2.85395319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03119381700003 meters Centerline goodness : 0.899244 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.44, Z:-2.86 [[ 9.98752698e-01 4.72055531e-02 -1.62690860e-02 2.85452526e+01] [-4.74958259e-02 9.98710269e-01 -1.79428389e-02 -4.41160203e-01] [ 1.54011016e-02 1.86931725e-02 9.99706643e-01 -2.85554878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06119381700003 meters Centerline goodness : 0.897529 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.44, Z:-2.86 [[ 9.98736482e-01 4.74421815e-02 -1.65734526e-02 2.85463807e+01] [-4.77214279e-02 9.98718035e-01 -1.68805338e-02 -4.44899689e-01] [ 1.57513567e-02 1.76501138e-02 9.99720145e-01 -2.85635722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09119381700003 meters Centerline goodness : 0.899106 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.46, Z:-2.86 [[ 9.98669337e-01 4.87835264e-02 -1.67249467e-02 2.85465180e+01] [-4.90170245e-02 9.98701948e-01 -1.38473619e-02 -4.55063096e-01] [ 1.60277137e-02 1.46487428e-02 9.99764236e-01 -2.85624401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12119381700003 meters Centerline goodness : 0.897728 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.46, Z:-2.86 [[ 9.98643413e-01 4.92279366e-02 -1.69689065e-02 2.85473054e+01] [-4.94423703e-02 9.98699284e-01 -1.24576355e-02 -4.60686083e-01] [ 1.63335710e-02 1.32797186e-02 9.99778407e-01 -2.85669295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15119381700003 meters Centerline goodness : 0.899259 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.47, Z:-2.86 [[ 9.98654630e-01 4.88034077e-02 -1.75259109e-02 2.85491978e+01] [-4.90220177e-02 9.98722351e-01 -1.22681706e-02 -4.65933829e-01] [ 1.69047904e-02 1.31108209e-02 9.99771141e-01 -2.85798484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18119381700004 meters Centerline goodness : 0.898243 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.47, Z:-2.86 [[ 9.98633163e-01 4.91275580e-02 -1.78406380e-02 2.85505948e+01] [-4.93303345e-02 9.98720732e-01 -1.11093132e-02 -4.71032439e-01] [ 1.72720416e-02 1.19742132e-02 9.99779123e-01 -2.85903028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21119381700004 meters Centerline goodness : 0.897235 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.48, Z:-2.86 [[ 9.98674203e-01 4.81995474e-02 -1.80731874e-02 2.85510186e+01] [-4.83953137e-02 9.98772485e-01 -1.05553934e-02 -4.80358389e-01] [ 1.75422371e-02 1.14160567e-02 9.99780948e-01 -2.85946423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24119381700004 meters Centerline goodness : 0.896588 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.49, Z:-2.86 [[ 9.98652516e-01 4.86024581e-02 -1.81921093e-02 2.85509316e+01] [-4.87689326e-02 9.98771129e-01 -8.82169929e-03 -4.86205569e-01] [ 1.77409973e-02 9.69702195e-03 9.99795591e-01 -2.85892042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27119381700004 meters Centerline goodness : 0.901196 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.49, Z:-2.86 [[ 9.98800510e-01 4.54408576e-02 -1.82392286e-02 2.85500970e+01] [-4.56488439e-02 9.98895282e-01 -1.11534488e-02 -4.90560920e-01] [ 1.77122571e-02 1.19726700e-02 9.99771439e-01 -2.85821906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30119381700004 meters Centerline goodness : 0.899561 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.49, Z:-2.86 [[ 9.98948853e-01 4.20372082e-02 -1.82773610e-02 2.85495016e+01] [-4.22916774e-02 9.99010462e-01 -1.37663087e-02 -4.94477912e-01] [ 1.76805777e-02 1.45248186e-02 9.99738179e-01 -2.85783046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33119381700004 meters Centerline goodness : 0.898615 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.50, Z:-2.86 [[ 9.99205302e-01 3.54417488e-02 -1.82386181e-02 2.85480708e+01] [-3.57846255e-02 9.99182119e-01 -1.88296012e-02 -5.02428563e-01] [ 1.75563470e-02 1.94672995e-02 9.99656340e-01 -2.85688684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36119381700001 meters Centerline goodness : 0.900440 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.51, Z:-2.86 [[ 9.99327053e-01 3.17262093e-02 -1.84089284e-02 2.85481120e+01] [-3.21252980e-02 9.99245987e-01 -2.18042029e-02 -5.05939981e-01] [ 1.77032832e-02 2.23809221e-02 9.99592761e-01 -2.85690321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.39119381700002 meters Centerline goodness : 0.901472 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.51, Z:-2.86 [[ 9.99438621e-01 2.79040834e-02 -1.85419898e-02 2.85481667e+01] [-2.83637446e-02 9.99284797e-01 -2.50078560e-02 -5.08616477e-01] [ 1.78309072e-02 2.55197374e-02 9.99515283e-01 -2.85701347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42119381700002 meters Centerline goodness : 0.899653 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.52, Z:-2.86 [[ 9.99749752e-01 1.74328307e-02 -1.40189216e-02 2.85468364e+01] [-1.76543248e-02 9.99718761e-01 -1.58342349e-02 -5.16186794e-01] [ 1.37389434e-02 1.60777670e-02 9.99776348e-01 -2.85770537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45119381700002 meters Centerline goodness : 0.900323 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.52, Z:-2.86 [[ 9.99814623e-01 1.28888101e-02 -1.43038086e-02 2.85478601e+01] [-1.31690130e-02 9.99719771e-01 -1.96712318e-02 -5.18072374e-01] [ 1.40462615e-02 1.98559523e-02 9.99704178e-01 -2.85841857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48119381700002 meters Centerline goodness : 0.899206 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.52, Z:-2.86 [[ 9.99858198e-01 8.36493664e-03 -1.46154632e-02 2.85488437e+01] [-8.70602025e-03 9.99687535e-01 -2.34315416e-02 -5.20345013e-01] [ 1.44148930e-02 2.35554615e-02 9.99618603e-01 -2.85896004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51119381700002 meters Centerline goodness : 0.899283 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.52, Z:-2.86 [[ 9.99881970e-01 3.88151528e-03 -1.48653758e-02 2.85495674e+01] [-4.28632395e-03 9.99618169e-01 -2.72973142e-02 -5.22236145e-01] [ 1.47537448e-02 2.73578101e-02 9.99516822e-01 -2.85929787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54119381700002 meters Centerline goodness : 0.901034 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.53, Z:-2.86 [[ 9.99946286e-01 -6.97979297e-03 -7.66214326e-03 2.85491610e+01] [ 6.81363988e-03 9.99745609e-01 -2.15009660e-02 -5.25599776e-01] [ 7.81026637e-03 2.14476040e-02 9.99739466e-01 -2.86056335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57119381700002 meters Centerline goodness : 0.900421 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.53, Z:-2.86 [[ 9.99935985e-01 -8.02741843e-03 -7.97413856e-03 2.85501811e+01] [ 7.85094056e-03 9.99728872e-01 -2.19213638e-02 -5.26283027e-01] [ 8.14794850e-03 2.18573561e-02 9.99727896e-01 -2.86085102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60119381700002 meters Centerline goodness : 0.901698 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.53, Z:-2.86 [[ 9.99926504e-01 -8.85245779e-03 -8.28378531e-03 2.85510308e+01] [ 8.66510392e-03 9.99711852e-01 -2.23858903e-02 -5.26199531e-01] [ 8.47956851e-03 2.23124651e-02 9.99715085e-01 -2.86100161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63119381700002 meters Centerline goodness : 0.897808 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.53, Z:-2.86 [[ 9.99945850e-01 -6.28822362e-03 -8.29182581e-03 2.85514427e+01] [ 6.13111377e-03 9.99803736e-01 -1.88387570e-02 -5.27592282e-01] [ 8.40866074e-03 1.87868987e-02 9.99788151e-01 -2.86101120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66119381700003 meters Centerline goodness : 0.899489 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.53, Z:-2.86 [[ 9.99959927e-01 -3.22913955e-03 -8.34971686e-03 2.85519131e+01] [ 3.10271878e-03 9.99881029e-01 -1.51096061e-02 -5.27947890e-01] [ 8.39751451e-03 1.50830938e-02 9.99850980e-01 -2.86113067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69119381700003 meters Centerline goodness : 0.899248 Centerline is valid? [False, False] Translation: X:28.55, Y:-0.52, Z:-2.86 [[ 9.99961822e-01 -6.84717129e-04 -8.71128784e-03 2.85538300e+01] [ 5.73009595e-04 9.99917665e-01 -1.28193484e-02 -5.23963542e-01] [ 8.71934822e-03 1.28138674e-02 9.99879882e-01 -2.86249554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72119381700003 meters Centerline goodness : 0.896844 Centerline is valid? [False, False] Translation: X:28.56, Y:-0.52, Z:-2.86 [[ 9.99955672e-01 1.42357410e-03 -9.30736876e-03 2.85564649e+01] [-1.52268878e-03 9.99942121e-01 -1.06506553e-02 -5.22473513e-01] [ 9.29166806e-03 1.06643554e-02 9.99899963e-01 -2.86409578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75119381700003 meters Centerline goodness : 0.896834 Centerline is valid? [False, False] Translation: X:28.56, Y:-0.52, Z:-2.87 [[ 9.99946122e-01 3.52002990e-03 -9.76532256e-03 2.85587933e+01] [-3.60340001e-03 9.99957101e-01 -8.53294614e-03 -5.20440721e-01] [ 9.73486741e-03 8.56767477e-03 9.99915910e-01 -2.86558233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78119381700003 meters Centerline goodness : 0.897466 Centerline is valid? [False, False] Translation: X:28.56, Y:-0.52, Z:-2.87 [[ 9.99945584e-01 3.00004480e-03 -9.99140670e-03 2.85596763e+01] [-3.09807951e-03 9.99947072e-01 -9.81092174e-03 -5.16177113e-01] [ 9.96144467e-03 9.84134204e-03 9.99901954e-01 -2.86615771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81119381700003 meters Centerline goodness : 0.893953 Centerline is valid? [False, False] Translation: X:28.56, Y:-0.51, Z:-2.87 [[ 9.99934160e-01 3.48997351e-03 -1.09313987e-02 2.85632055e+01] [-3.59867613e-03 9.99944119e-01 -9.94023769e-03 -5.06397668e-01] [ 1.08960967e-02 9.97892179e-03 9.99890842e-01 -2.86771806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84119381700003 meters Centerline goodness : 0.895237 Centerline is valid? [False, False] Translation: X:28.57, Y:-0.50, Z:-2.87 [[ 9.99923687e-01 4.73530036e-03 -1.14104257e-02 2.85656473e+01] [-4.83628737e-03 9.99949239e-01 -8.83913654e-03 -5.01984985e-01] [ 1.13679905e-02 8.89364610e-03 9.99895831e-01 -2.86920671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87119381700003 meters Centerline goodness : 0.892968 Centerline is valid? [False, False] Translation: X:28.57, Y:-0.50, Z:-2.87 [[ 9.99925763e-01 3.55481598e-03 -1.16546995e-02 2.85664236e+01] [-3.68271607e-03 9.99933034e-01 -1.09710894e-02 -4.95758650e-01] [ 1.16149188e-02 1.10131959e-02 9.99871893e-01 -2.86947981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90119381700003 meters Centerline goodness : 0.891916 Centerline is valid? [False, False] Translation: X:28.57, Y:-0.48, Z:-2.87 [[ 9.99896028e-01 8.48538391e-04 -1.43948820e-02 2.85738995e+01] [-1.02834258e-03 9.99921493e-01 -1.24880415e-02 -4.81281022e-01] [ 1.43831553e-02 1.25015459e-02 9.99818402e-01 -2.86947524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93119381700004 meters Centerline goodness : 0.888896 Centerline is valid? [False, False] Translation: X:28.58, Y:-0.47, Z:-2.87 [[ 9.99882820e-01 1.74470577e-03 -1.52086050e-02 2.85772035e+01] [-1.92870675e-03 9.99925026e-01 -1.20922188e-02 -4.74400566e-01] [ 1.51863674e-02 1.21201348e-02 9.99811220e-01 -2.87125263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96119381700004 meters Centerline goodness : 0.889832 Centerline is valid? [False, False] Translation: X:28.58, Y:-0.47, Z:-2.87 [[ 9.99867963e-01 2.43554550e-03 -1.60662819e-02 2.85807504e+01] [-2.62691879e-03 9.99925728e-01 -1.19011558e-02 -4.67212187e-01] [ 1.60361028e-02 1.19417892e-02 9.99800099e-01 -2.87314996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99119381700004 meters Centerline goodness : 0.884698 Centerline is valid? [False, False] Translation: X:28.59, Y:-0.45, Z:-2.87 [[ 9.99836238e-01 1.86520773e-04 -1.80959018e-02 2.85881791e+01] [-4.31930052e-04 9.99907984e-01 -1.35586340e-02 -4.49027618e-01] [ 1.80917077e-02 1.35642297e-02 9.99744318e-01 -2.87443850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02119381700004 meters Centerline goodness : 0.884698 Centerline is valid? [False, False] Translation: X:28.59, Y:-0.45, Z:-2.87 [[ 9.99836238e-01 1.86520773e-04 -1.80959018e-02 2.85881791e+01] [-4.31930052e-04 9.99907984e-01 -1.35586340e-02 -4.49027618e-01] [ 1.80917077e-02 1.35642297e-02 9.99744318e-01 -2.87443850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05119381700004 meters Centerline goodness : 0.886662 Centerline is valid? [False, False] Translation: X:28.59, Y:-0.44, Z:-2.88 [[ 9.99824555e-01 1.46230899e-03 -1.86740630e-02 2.85904713e+01] [-1.71281375e-03 9.99908673e-01 -1.34056419e-02 -4.39975361e-01] [ 1.86527544e-02 1.34352751e-02 9.99735749e-01 -2.87552336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08119381700004 meters Centerline goodness : 0.885693 Centerline is valid? [False, False] Translation: X:28.59, Y:-0.43, Z:-2.88 [[ 9.99813736e-01 2.87052095e-03 -1.90854390e-02 2.85920393e+01] [-3.12312931e-03 9.99907747e-01 -1.32190540e-02 -4.30554804e-01] [ 1.90457327e-02 1.32761980e-02 9.99730465e-01 -2.87608527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.11119381700001 meters Centerline goodness : 0.884655 Centerline is valid? [False, False] Translation: X:28.59, Y:-0.42, Z:-2.88 [[ 9.99803966e-01 4.24540249e-03 -1.93392479e-02 2.85931959e+01] [-4.50237203e-03 9.99901901e-01 -1.32633591e-02 -4.20358884e-01] [ 1.92810425e-02 1.33478315e-02 9.99725001e-01 -2.87644147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14119381700002 meters Centerline goodness : 0.883820 Centerline is valid? [False, False] Translation: X:28.61, Y:-0.40, Z:-2.88 [[ 9.99879994e-01 4.13265125e-03 -1.49304629e-02 2.86128374e+01] [-4.40496869e-03 9.99823707e-01 -1.82524396e-02 -3.97213976e-01] [ 1.48523998e-02 1.83160174e-02 9.99721926e-01 -2.88024912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17119381700002 meters Centerline goodness : 0.882187 Centerline is valid? [False, False] Translation: X:28.61, Y:-0.39, Z:-2.88 [[ 9.99867138e-01 5.63474953e-03 -1.52956295e-02 2.86143167e+01] [-5.91136534e-03 9.99818705e-01 -1.81000701e-02 -3.87850416e-01] [ 1.51908671e-02 1.81880833e-02 9.99719176e-01 -2.88072932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20119381700002 meters Centerline goodness : 0.881717 Centerline is valid? [False, False] Translation: X:28.62, Y:-0.38, Z:-2.88 [[ 9.99852086e-01 7.14740862e-03 -1.56435813e-02 2.86158481e+01] [-7.42607418e-03 9.99813483e-01 -1.78284146e-02 -3.79147386e-01] [ 1.55132366e-02 1.79419479e-02 9.99718673e-01 -2.88137050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23119381700002 meters Centerline goodness : 0.880524 Centerline is valid? [False, False] Translation: X:28.62, Y:-0.37, Z:-2.88 [[ 9.99832221e-01 9.05897461e-03 -1.59205699e-02 2.86173313e+01] [-9.32955685e-03 9.99811886e-01 -1.70044826e-02 -3.71521117e-01] [ 1.57635319e-02 1.71501615e-02 9.99728655e-01 -2.88206811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26119381700002 meters Centerline goodness : 0.876535 Centerline is valid? [False, False] Translation: X:28.64, Y:-0.35, Z:-2.89 [[ 9.99868318e-01 1.03909637e-02 -1.24649487e-02 2.86354922e+01] [-1.06719135e-02 9.99685621e-01 -2.26885153e-02 -3.52541171e-01] [ 1.22252744e-02 2.28185525e-02 9.99664872e-01 -2.88598615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29119381700002 meters Centerline goodness : 0.874603 Centerline is valid? [False, False] Translation: X:28.64, Y:-0.34, Z:-2.89 [[ 9.99836950e-01 1.27400770e-02 -1.27970207e-02 2.86370542e+01] [-1.30144124e-02 9.99682242e-01 -2.15879699e-02 -3.43753291e-01] [ 1.25179219e-02 2.17509957e-02 9.99685048e-01 -2.88655259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32119381700002 meters Centerline goodness : 0.872553 Centerline is valid? [False, False] Translation: X:28.64, Y:-0.34, Z:-2.89 [[ 9.99794403e-01 1.56023804e-02 -1.29505821e-02 2.86380044e+01] [-1.58575440e-02 9.99677409e-01 -1.98397682e-02 -3.35313953e-01] [ 1.26368567e-02 2.00410536e-02 9.99719294e-01 -2.88676616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35119381700002 meters Centerline goodness : 0.874644 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.32, Z:-2.89 [[ 9.99780171e-01 1.91252265e-02 -8.59278848e-03 2.86536907e+01] [-1.93264656e-02 9.99525587e-01 -2.39810213e-02 -3.17642561e-01] [ 8.13006948e-03 2.41418178e-02 9.99675485e-01 -2.88913667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38119381700002 meters Centerline goodness : 0.872773 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.31, Z:-2.89 [[ 9.99719967e-01 2.19907873e-02 -8.74024751e-03 2.86545579e+01] [-2.21851404e-02 9.99493880e-01 -2.27991844e-02 -3.10950985e-01] [ 8.23445188e-03 2.29867035e-02 9.99701858e-01 -2.88880759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41119381700003 meters Centerline goodness : 0.875923 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.30, Z:-2.89 [[ 9.99652111e-01 2.48813927e-02 -8.75066097e-03 2.86550660e+01] [-2.50656115e-02 9.99452141e-01 -2.16132524e-02 -3.03894369e-01] [ 8.20809902e-03 2.18250740e-02 9.99728110e-01 -2.88834477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44119381700003 meters Centerline goodness : 0.876788 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.30, Z:-2.89 [[ 9.99577221e-01 2.77756904e-02 -8.59594429e-03 2.86554613e+01] [-2.79452967e-02 9.99403642e-01 -2.02835030e-02 -2.95991540e-01] [ 8.02742973e-03 2.05151438e-02 9.99757315e-01 -2.88818189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47119381700003 meters Centerline goodness : 0.876159 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.28, Z:-2.89 [[ 9.99448037e-01 3.20544737e-02 -8.72538377e-03 2.86565775e+01] [-3.22049116e-02 9.99324822e-01 -1.76845379e-02 -2.80125708e-01] [ 8.15262403e-03 1.79557769e-02 9.99805543e-01 -2.88731058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50119381700003 meters Centerline goodness : 0.876065 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.27, Z:-2.89 [[ 9.99372121e-01 3.43057064e-02 -8.85905804e-03 2.86578288e+01] [-3.44478218e-02 9.99271583e-01 -1.64210602e-02 -2.73960009e-01] [ 8.28926888e-03 1.67159250e-02 9.99825918e-01 -2.88791832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53119381700003 meters Centerline goodness : 0.876737 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.27, Z:-2.89 [[ 9.99292249e-01 3.65765505e-02 -8.78392292e-03 2.86579150e+01] [-3.67049048e-02 9.99214688e-01 -1.49250319e-02 -2.68720715e-01] [ 8.23111862e-03 1.52368817e-02 9.99850032e-01 -2.88766146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56119381700003 meters Centerline goodness : 0.879941 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.25, Z:-2.89 [[ 9.99243129e-01 3.79203111e-02 -8.67295152e-03 2.86580856e+01] [-3.80494462e-02 9.99159586e-01 -1.52434045e-02 -2.54652791e-01] [ 8.08762801e-03 1.55618682e-02 9.99846197e-01 -2.88721554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59119381700003 meters Centerline goodness : 0.879098 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.25, Z:-2.89 [[ 9.99165002e-01 3.99644858e-02 -8.49349904e-03 2.86574826e+01] [-4.00829344e-02 9.99094512e-01 -1.42658327e-02 -2.47663817e-01] [ 7.91568161e-03 1.45943651e-02 9.99862164e-01 -2.88625904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62119381700003 meters Centerline goodness : 0.880643 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.24, Z:-2.89 [[ 9.99084700e-01 4.19710514e-02 -8.25791551e-03 2.86567628e+01] [-4.20784192e-02 9.99025936e-01 -1.32885689e-02 -2.40768513e-01] [ 7.69213656e-03 1.36238859e-02 9.99877603e-01 -2.88528203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65119381700003 meters Centerline goodness : 0.882813 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.23, Z:-2.88 [[ 9.99015133e-01 4.37864638e-02 -7.17695312e-03 2.86545916e+01] [-4.38740873e-02 9.98958319e-01 -1.25436049e-02 -2.26117259e-01] [ 6.62023692e-03 1.28461334e-02 9.99895569e-01 -2.88432666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68119381700004 meters Centerline goodness : 0.883235 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.22, Z:-2.88 [[ 9.98937589e-01 4.55813503e-02 -6.78480273e-03 2.86535068e+01] [-4.56580993e-02 9.98889506e-01 -1.16229172e-02 -2.19825979e-01] [ 6.24747999e-03 1.19203501e-02 9.99909433e-01 -2.88329593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71119381700004 meters Centerline goodness : 0.882883 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.21, Z:-2.88 [[ 9.98858977e-01 4.73265017e-02 -6.39896892e-03 2.86521391e+01] [-4.73923072e-02 9.98820574e-01 -1.05560483e-02 -2.14528995e-01] [ 5.89184097e-03 1.08472655e-02 9.99923809e-01 -2.88193050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74119381700004 meters Centerline goodness : 0.884434 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.21, Z:-2.88 [[ 9.98880920e-01 4.68381828e-02 -6.56442489e-03 2.86525543e+01] [-4.69158216e-02 9.98824105e-01 -1.22193534e-02 -2.08950002e-01] [ 5.98437351e-03 1.25136543e-02 9.99903793e-01 -2.88166029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77119381700004 meters Centerline goodness : 0.886624 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.20, Z:-2.88 [[ 9.98778019e-01 4.90273949e-02 -6.22754656e-03 2.86516965e+01] [-4.90914834e-02 9.98738114e-01 -1.05927039e-02 -2.04667619e-01] [ 5.70035544e-03 1.08854793e-02 9.99924503e-01 -2.88087391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80119381700004 meters Centerline goodness : 0.887520 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.19, Z:-2.88 [[ 9.98687134e-01 5.08588831e-02 -6.11407800e-03 2.86522185e+01] [-5.09207428e-02 9.98648257e-01 -1.04276796e-02 -1.94616519e-01] [ 5.57547320e-03 1.07253228e-02 9.99926938e-01 -2.88085856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83119381700004 meters Centerline goodness : 0.886951 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.19, Z:-2.88 [[ 9.98541429e-01 5.36438629e-02 -6.11154632e-03 2.86529848e+01] [-5.36927741e-02 9.98524311e-01 -8.14167238e-03 -1.90737088e-01] [ 5.66577682e-03 8.45794304e-03 9.99948180e-01 -2.88124910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86119381700001 meters Centerline goodness : 0.887213 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.19, Z:-2.88 [[ 9.98379549e-01 5.65818106e-02 -6.06426812e-03 2.86535948e+01] [-5.66155797e-02 9.98380629e-01 -5.54944930e-03 -1.87638061e-01] [ 5.74044993e-03 5.88378874e-03 9.99966214e-01 -2.88157362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.89119381700002 meters Centerline goodness : 0.889655 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.18, Z:-2.88 [[ 9.98214153e-01 5.94492469e-02 -5.85588002e-03 2.86534386e+01] [-5.94676109e-02 9.98225688e-01 -3.01329641e-03 -1.84770934e-01] [ 5.66635166e-03 3.35615032e-03 9.99978314e-01 -2.88129955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92119381700002 meters Centerline goodness : 0.893167 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.18, Z:-2.88 [[ 9.98087196e-01 6.15901574e-02 -5.34813096e-03 2.86517818e+01] [-6.16031099e-02 9.98098094e-01 -2.29174289e-03 -1.76866696e-01] [ 5.19681051e-03 2.61682074e-03 9.99983073e-01 -2.87946533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95119381700002 meters Centerline goodness : 0.892002 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.17, Z:-2.88 [[ 9.98127048e-01 6.09338508e-02 -5.42785114e-03 2.86516360e+01] [-6.09558333e-02 9.98132526e-01 -3.98087335e-03 -1.71897184e-01] [ 5.17514483e-03 4.30427655e-03 9.99977345e-01 -2.87876139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98119381700002 meters Centerline goodness : 0.891976 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.17, Z:-2.88 [[ 9.98033108e-01 6.24943799e-02 -4.93632184e-03 2.86495660e+01] [-6.25079499e-02 9.98040963e-01 -2.64414808e-03 -1.68798618e-01] [ 4.76140701e-03 2.94750669e-03 9.99984320e-01 -2.87695533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01119381700002 meters Centerline goodness : 0.895569 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.17, Z:-2.88 [[ 9.97943534e-01 6.39505098e-02 -4.36304834e-03 2.86478006e+01] [-6.39565549e-02 9.97951888e-01 -1.26022168e-03 -1.65987244e-01] [ 4.27352051e-03 1.53667561e-03 9.99989688e-01 -2.87576321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04119381700002 meters Centerline goodness : 0.894583 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.16, Z:-2.87 [[ 9.97830847e-01 6.57161006e-02 -3.87234499e-03 2.86463558e+01] [-6.57151023e-02 9.97838352e-01 3.84605648e-04 -1.63305255e-01] [ 3.88924913e-03 -1.29299832e-04 9.99992428e-01 -2.87469655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07119381700002 meters Centerline goodness : 0.891347 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.16, Z:-2.88 [[ 9.97681149e-01 6.79549786e-02 -3.80067022e-03 2.86482610e+01] [-6.79495185e-02 9.97687560e-01 1.54790727e-03 -1.56740925e-01] [ 3.89706940e-03 -1.28606419e-03 9.99991579e-01 -2.87644218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10119381700002 meters Centerline goodness : 0.889927 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.15, Z:-2.88 [[ 9.97450363e-01 7.12673843e-02 -3.70573925e-03 2.86494425e+01] [-7.12515174e-02 9.97449323e-01 4.25077401e-03 -1.53465579e-01] [ 3.99922865e-03 -3.97589654e-03 9.99984099e-01 -2.87748016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13119381700002 meters Centerline goodness : 0.890516 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.15, Z:-2.88 [[ 9.97194464e-01 7.47551878e-02 -3.85516134e-03 2.86509903e+01] [-7.47278849e-02 9.97180796e-01 6.79727528e-03 -1.49305547e-01] [ 4.35242444e-03 -6.49011723e-03 9.99969467e-01 -2.87822996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16119381700003 meters Centerline goodness : 0.886612 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.14, Z:-2.88 [[ 9.96524461e-01 8.32060485e-02 -3.96877435e-03 2.86557666e+01] [-8.31476407e-02 9.96450840e-01 1.31222150e-02 -1.41243005e-01] [ 5.04653620e-03 -1.27466140e-02 9.99906024e-01 -2.88195978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19119381700003 meters Centerline goodness : 0.887804 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.14, Z:-2.88 [[ 9.96241644e-01 8.65212626e-02 -4.08146521e-03 2.86580841e+01] [-8.64478074e-02 9.96133616e-01 1.56395800e-02 -1.37864833e-01] [ 5.41884090e-03 -1.52279671e-02 9.99869364e-01 -2.88369173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22119381700003 meters Centerline goodness : 0.886526 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.13, Z:-2.88 [[ 9.96214538e-01 8.68114608e-02 -4.51268904e-03 2.86597724e+01] [-8.67365403e-02 9.96121961e-01 1.47584191e-02 -1.34281574e-01] [ 5.77638858e-03 -1.43111367e-02 9.99880905e-01 -2.88448963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25119381700003 meters Centerline goodness : 0.886225 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.13, Z:-2.88 [[ 9.96205544e-01 8.68972076e-02 -4.83618965e-03 2.86608566e+01] [-8.68222239e-02 9.96125370e-01 1.40053048e-02 -1.31774420e-01] [ 6.03447308e-03 -1.35322735e-02 9.99890225e-01 -2.88494014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28119381700003 meters Centerline goodness : 0.887325 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.13, Z:-2.88 [[ 9.96190652e-01 8.70675981e-02 -4.83934030e-03 2.86607875e+01] [-8.69988896e-02 9.96124246e-01 1.29490879e-02 -1.27926763e-01] [ 5.94803019e-03 -1.24787430e-02 9.99904446e-01 -2.88438203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31119381700003 meters Centerline goodness : 0.887436 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.13, Z:-2.88 [[ 9.96184289e-01 8.71248323e-02 -5.11143473e-03 2.86611360e+01] [-8.70571536e-02 9.96128195e-01 1.22340052e-02 -1.25535740e-01] [ 6.15752991e-03 -1.17423368e-02 9.99912097e-01 -2.88391144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34119381700003 meters Centerline goodness : 0.888930 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.12, Z:-2.88 [[ 9.96162270e-01 8.73664569e-02 -5.27571960e-03 2.86611088e+01] [-8.72988212e-02 9.96110857e-01 1.19195623e-02 -1.24142115e-01] [ 6.29657150e-03 -1.14132542e-02 9.99915042e-01 -2.88321301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37119381700003 meters Centerline goodness : 0.889133 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.12, Z:-2.88 [[ 9.96132763e-01 8.76914211e-02 -5.45289662e-03 2.86610100e+01] [-8.76209388e-02 9.96081073e-01 1.20444196e-02 -1.24489822e-01] [ 6.48771939e-03 -1.15200530e-02 9.99912595e-01 -2.88258033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40119381700003 meters Centerline goodness : 0.890603 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.13, Z:-2.88 [[ 9.96035922e-01 8.87923273e-02 -5.32580328e-03 2.86601656e+01] [-8.87153537e-02 9.95968581e-01 1.32729485e-02 -1.28019366e-01] [ 6.48286872e-03 -1.27478529e-02 9.99897727e-01 -2.88172929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43119381700004 meters Centerline goodness : 0.890631 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.13, Z:-2.88 [[ 9.96269490e-01 8.61052337e-02 -5.74394377e-03 2.86605526e+01] [-8.60456053e-02 9.96241747e-01 9.92647956e-03 -1.27995418e-01] [ 6.57707842e-03 -9.39520761e-03 9.99934234e-01 -2.88160729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46119381700004 meters Centerline goodness : 0.893241 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.13, Z:-2.88 [[ 9.96458630e-01 8.38372134e-02 -6.44367510e-03 2.86619251e+01] [-8.37889014e-02 9.96455796e-01 7.43415876e-03 -1.29582338e-01] [ 7.04409655e-03 -6.86792320e-03 9.99951605e-01 -2.88202260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49119381700004 meters Centerline goodness : 0.893361 Centerline is valid? [False, False] Translation: X:28.68, Y:-0.15, Z:-2.88 [[ 9.96819864e-01 7.96860055e-02 5.47244175e-04 2.86825891e+01] [-7.96738359e-02 9.96491680e-01 2.56205133e-02 -1.45511677e-01] [ 1.49627209e-03 -2.55826376e-02 9.99671591e-01 -2.88425876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52119381700004 meters Centerline goodness : 0.893680 Centerline is valid? [False, False] Translation: X:28.70, Y:-0.15, Z:-2.89 [[ 9.97102810e-01 7.60077947e-02 2.96658405e-03 2.87011070e+01] [-7.60595496e-02 9.96758656e-01 2.62131024e-02 -1.53044238e-01] [-9.64568233e-04 -2.63627951e-02 9.99651976e-01 -2.88567887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55119381700004 meters Centerline goodness : 0.891453 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.16, Z:-2.89 [[ 9.97293460e-01 7.29043424e-02 9.52421512e-03 2.87107889e+01] [-7.31950191e-02 9.96705492e-01 3.49378274e-02 -1.62608703e-01] [-6.94571819e-03 -3.55403919e-02 9.99344104e-01 -2.88838514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58119381700004 meters Centerline goodness : 0.893549 Centerline is valid? [False, False] Translation: X:28.73, Y:-0.19, Z:-2.88 [[ 9.97831768e-01 6.45117950e-02 1.30380816e-02 2.87292785e+01] [-6.53787509e-02 9.94357304e-01 8.35414328e-02 -1.91738360e-01] [-7.57510387e-03 -8.42127091e-02 9.96419007e-01 -2.88436651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.61119381700001 meters Centerline goodness : 0.891903 Centerline is valid? [False, False] Translation: X:28.74, Y:-0.20, Z:-2.88 [[ 9.97960600e-01 6.15259477e-02 1.70058412e-02 2.87362305e+01] [-6.28833530e-02 9.93365858e-01 9.62806146e-02 -2.01637276e-01] [-1.09692660e-02 -9.71536443e-02 9.95208945e-01 -2.88281679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64119381700002 meters Centerline goodness : 0.889984 Centerline is valid? [False, False] Translation: X:28.74, Y:-0.21, Z:-2.88 [[ 9.98029849e-01 5.98078257e-02 1.89589982e-02 2.87430667e+01] [-6.15513512e-02 9.91898757e-01 1.11122843e-01 -2.11197034e-01] [-1.21593911e-02 -1.12070866e-01 9.93625820e-01 -2.87817465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67119381700002 meters Centerline goodness : 0.890165 Centerline is valid? [False, False] Translation: X:28.75, Y:-0.22, Z:-2.88 [[ 9.98182626e-01 5.75573778e-02 1.78491613e-02 2.87457563e+01] [-5.91703646e-02 9.92238166e-01 1.09372255e-01 -2.15488769e-01] [-1.14154389e-02 -1.10229626e-01 9.93840589e-01 -2.87894558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70119381700002 meters Centerline goodness : 0.888967 Centerline is valid? [False, False] Translation: X:28.76, Y:-0.24, Z:-2.87 [[ 9.98248197e-01 5.70861099e-02 1.55471065e-02 2.87598626e+01] [-5.87109037e-02 9.88275227e-01 1.40943624e-01 -2.36431307e-01] [-7.31889702e-03 -1.41609504e-01 9.89895541e-01 -2.87086798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73119381700002 meters Centerline goodness : 0.887780 Centerline is valid? [False, False] Translation: X:28.77, Y:-0.24, Z:-2.87 [[ 9.98297684e-01 5.69283829e-02 1.26843570e-02 2.87654189e+01] [-5.81183555e-02 9.89224931e-01 1.34373706e-01 -2.38021391e-01] [-4.89800436e-03 -1.34882154e-01 9.90849542e-01 -2.86664477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76119381700002 meters Centerline goodness : 0.887482 Centerline is valid? [False, False] Translation: X:28.77, Y:-0.24, Z:-2.86 [[ 9.98295602e-01 5.69335915e-02 1.28240570e-02 2.87728726e+01] [-5.80836796e-02 9.90642524e-01 1.23505775e-01 -2.39340753e-01] [-5.67242878e-03 -1.24040141e-01 9.92260987e-01 -2.86404325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79119381700002 meters Centerline goodness : 0.887307 Centerline is valid? [False, False] Translation: X:28.77, Y:-0.24, Z:-2.86 [[ 9.98337720e-01 5.61018040e-02 1.32055064e-02 2.87705630e+01] [-5.73074883e-02 9.90649451e-01 1.23812428e-01 -2.42291397e-01] [-6.13592710e-03 -1.24363391e-01 9.92217767e-01 -2.86090885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82119381700002 meters Centerline goodness : 0.888641 Centerline is valid? [False, False] Translation: X:28.77, Y:-0.25, Z:-2.86 [[ 9.98441066e-01 5.41698127e-02 1.34561641e-02 2.87678399e+01] [-5.54276940e-02 9.90640461e-01 1.24736713e-01 -2.50321954e-01] [-6.57325618e-03 -1.25288101e-01 9.92098626e-01 -2.85580191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85119381700002 meters Centerline goodness : 0.887225 Centerline is valid? [False, False] Translation: X:28.77, Y:-0.25, Z:-2.85 [[ 9.98562202e-01 5.18362505e-02 1.36576592e-02 2.87665976e+01] [-5.31208801e-02 9.91057158e-01 1.22408665e-01 -2.52016021e-01] [-7.19031463e-03 -1.22958173e-01 9.92385806e-01 -2.85443123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88119381700002 meters Centerline goodness : 0.888949 Centerline is valid? [False, False] Translation: X:28.76, Y:-0.25, Z:-2.85 [[ 9.98627084e-01 4.98285011e-02 1.61575771e-02 2.87612933e+01] [-5.13923465e-02 9.91669714e-01 1.18110137e-01 -2.52618466e-01] [-1.01377287e-02 -1.18778358e-01 9.92869039e-01 -2.85410493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91119381700003 meters Centerline goodness : 0.888693 Centerline is valid? [False, False] Translation: X:28.75, Y:-0.25, Z:-2.85 [[ 9.98792986e-01 4.68336892e-02 1.48045920e-02 2.87491412e+01] [-4.81391982e-02 9.93237343e-01 1.05651307e-01 -2.54609849e-01] [-9.75643316e-03 -1.06236466e-01 9.94293028e-01 -2.85079274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94119381700003 meters Centerline goodness : 0.888693 Centerline is valid? [False, False] Translation: X:28.75, Y:-0.25, Z:-2.85 [[ 9.98787622e-01 4.85450560e-02 8.16475037e-03 2.87480120e+01] [-4.90935923e-02 9.94483946e-01 9.26903439e-02 -2.51502808e-01] [-3.62005523e-03 -9.29788052e-02 9.95661507e-01 -2.84978051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97119381700003 meters Centerline goodness : 0.888152 Centerline is valid? [False, False] Translation: X:28.74, Y:-0.25, Z:-2.85 [[ 9.98891929e-01 4.56710084e-02 1.13610401e-02 2.87390918e+01] [-4.64527855e-02 9.95527728e-01 8.22598366e-02 -2.52321671e-01] [-7.55334080e-03 -8.26964388e-02 9.96546159e-01 -2.85190867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00119381700003 meters Centerline goodness : 0.886982 Centerline is valid? [False, False] Translation: X:28.72, Y:-0.25, Z:-2.85 [[ 9.99140202e-01 4.03279146e-02 9.61856806e-03 2.87191774e+01] [-4.09470718e-02 9.96225721e-01 7.65352810e-02 -2.52358284e-01] [-6.49575663e-03 -7.68633283e-02 9.97020478e-01 -2.85082593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03119381700003 meters Centerline goodness : 0.887932 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.25, Z:-2.85 [[ 9.99283122e-01 3.57742614e-02 1.23872903e-02 2.87136864e+01] [-3.65446911e-02 9.96955980e-01 6.88713315e-02 -2.53060369e-01] [-9.88576210e-03 -6.92746488e-02 9.97548643e-01 -2.85165048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06119381700003 meters Centerline goodness : 0.888376 Centerline is valid? [False, False] Translation: X:28.68, Y:-0.25, Z:-2.85 [[ 9.99484511e-01 3.07145280e-02 9.34509168e-03 2.86804049e+01] [-3.11781405e-02 9.98035164e-01 5.43482672e-02 -2.51431634e-01] [-7.65744873e-03 -5.46116139e-02 9.98478310e-01 -2.84774462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09119381700003 meters Centerline goodness : 0.889921 Centerline is valid? [False, False] Translation: X:28.67, Y:-0.25, Z:-2.85 [[ 9.99582867e-01 2.84300208e-02 5.08200522e-03 2.86707540e+01] [-2.86142502e-02 9.98754690e-01 4.08692254e-02 -2.49061975e-01] [-3.91376362e-03 -4.09975953e-02 9.99151580e-01 -2.84541752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12119381700003 meters Centerline goodness : 0.889601 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.25, Z:-2.84 [[ 9.99640951e-01 2.67949137e-02 -3.46428619e-05 2.86610464e+01] [-2.67832835e-02 9.99243518e-01 2.81966026e-02 -2.46982944e-01] [ 7.90142188e-04 -2.81855508e-02 9.99602396e-01 -2.84270517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15119381700003 meters Centerline goodness : 0.889708 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.25, Z:-2.84 [[ 9.99709266e-01 2.41049653e-02 5.77379338e-04 2.86526168e+01] [-2.41100975e-02 9.99057660e-01 3.60900905e-02 -2.49070273e-01] [ 2.93115126e-04 -3.60935185e-02 9.99348374e-01 -2.84461886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18119381700004 meters Centerline goodness : 0.889037 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.25, Z:-2.85 [[ 9.99726668e-01 2.33791758e-02 5.93065091e-05 2.86554362e+01] [-2.33664728e-02 9.99093181e-01 3.55924646e-02 -2.49852925e-01] [ 7.72869760e-04 -3.55841218e-02 9.99366386e-01 -2.84695788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21119381700004 meters Centerline goodness : 0.886571 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.25, Z:-2.85 [[ 9.99728308e-01 2.33085181e-02 -1.50873830e-04 2.86565724e+01] [-2.32883508e-02 9.99093898e-01 3.56235294e-02 -2.50201743e-01] [ 9.81068803e-04 -3.56103372e-02 9.99365269e-01 -2.84789153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24119381700004 meters Centerline goodness : 0.888428 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.25, Z:-2.85 [[ 9.99721320e-01 2.29481428e-02 -5.53769134e-03 2.86474068e+01] [-2.28082114e-02 9.99448573e-01 2.41316132e-02 -2.46674739e-01] [ 6.08841342e-03 -2.39985834e-02 9.99693453e-01 -2.84565365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27119381700004 meters Centerline goodness : 0.887088 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.25, Z:-2.85 [[ 9.99718883e-01 2.30297407e-02 -5.63793222e-03 2.86476717e+01] [-2.28877513e-02 9.99448196e-01 2.40718718e-02 -2.46757226e-01] [ 6.18919015e-03 -2.39360652e-02 9.99694333e-01 -2.84570646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30119381700004 meters Centerline goodness : 0.887362 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.25, Z:-2.85 [[ 9.99721050e-01 2.28608786e-02 -5.93311181e-03 2.86487062e+01] [-2.27149508e-02 9.99463482e-01 2.35961821e-02 -2.45485313e-01] [ 6.46935804e-03 -2.34548297e-02 9.99703965e-01 -2.84625705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33119381700004 meters Centerline goodness : 0.886580 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.24, Z:-2.85 [[ 9.99720982e-01 2.27909294e-02 -6.20731134e-03 2.86497385e+01] [-2.26429187e-02 9.99480084e-01 2.29534296e-02 -2.43335867e-01] [ 6.72721405e-03 -2.28064735e-02 9.99717265e-01 -2.84685449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36119381700004 meters Centerline goodness : 0.885471 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.24, Z:-2.85 [[ 9.99708706e-01 2.32726142e-02 -6.39443851e-03 2.86507568e+01] [-2.31245700e-02 9.99483293e-01 2.23248963e-02 -2.40207677e-01] [ 6.91069316e-03 -2.21705245e-02 9.99730319e-01 -2.84774071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.39119381700002 meters Centerline goodness : 0.885740 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.24, Z:-2.85 [[ 9.99713350e-01 2.29809490e-02 -6.71525913e-03 2.86514934e+01] [-2.28308620e-02 9.99505288e-01 2.16317064e-02 -2.38407712e-01] [ 7.20905415e-03 -2.14721905e-02 9.99743454e-01 -2.84788883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42119381700002 meters Centerline goodness : 0.885997 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.24, Z:-2.85 [[ 9.99722244e-01 2.25280495e-02 -6.92257636e-03 2.86516256e+01] [-2.23792210e-02 9.99531640e-01 2.08727450e-02 -2.36508624e-01] [ 7.38955634e-03 -2.07120256e-02 9.99758174e-01 -2.84748878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45119381700002 meters Centerline goodness : 0.884513 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.23, Z:-2.85 [[ 9.99738988e-01 2.17413723e-02 -7.01922764e-03 2.86516444e+01] [-2.15976090e-02 9.99567764e-01 1.99456542e-02 -2.34726637e-01] [ 7.44983957e-03 -1.97888496e-02 9.99776426e-01 -2.84728775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48119381700002 meters Centerline goodness : 0.886910 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.23, Z:-2.85 [[ 9.99758155e-01 2.07822701e-02 -7.19229609e-03 2.86516457e+01] [-2.06406980e-02 9.99602044e-01 1.92280028e-02 -2.34085829e-01] [ 7.58903541e-03 -1.90748986e-02 9.99789255e-01 -2.84685414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51119381700002 meters Centerline goodness : 0.891022 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.23, Z:-2.85 [[ 9.99847014e-01 1.59032871e-02 -7.28247111e-03 2.86514934e+01] [-1.58003024e-02 9.99777331e-01 1.39871198e-02 -2.31844708e-01] [ 7.50329071e-03 -1.38699147e-02 9.99875655e-01 -2.84658343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54119381700002 meters Centerline goodness : 0.888481 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.23, Z:-2.85 [[ 9.99856258e-01 1.52212816e-02 -7.46839376e-03 2.86517336e+01] [-1.51225509e-02 9.99799792e-01 1.31028130e-02 -2.30045677e-01] [ 7.66634014e-03 -1.29879884e-02 9.99886263e-01 -2.84639398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57119381700002 meters Centerline goodness : 0.891028 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.23, Z:-2.85 [[ 9.99860729e-01 1.48254945e-02 -7.66331737e-03 2.86516845e+01] [-1.47312525e-02 9.99816920e-01 1.22113404e-02 -2.27260351e-01] [ 7.84295353e-03 -1.20967494e-02 9.99896073e-01 -2.84572055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60119381700002 meters Centerline goodness : 0.892052 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.22, Z:-2.84 [[ 9.99850159e-01 1.55855129e-02 -7.53336250e-03 2.86499060e+01] [-1.54913508e-02 9.99803108e-01 1.24001356e-02 -2.24758654e-01] [ 7.72514171e-03 -1.22815756e-02 9.99894737e-01 -2.84371249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63119381700002 meters Centerline goodness : 0.894341 Centerline is valid? [False, False] Translation: X:28.65, Y:-0.22, Z:-2.84 [[ 9.99776414e-01 1.97596522e-02 -7.52844923e-03 2.86493774e+01] [-1.96404536e-02 9.99685537e-01 1.55910195e-02 -2.21933655e-01] [ 7.83415494e-03 -1.54396714e-02 9.99850110e-01 -2.84275248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66119381700003 meters Centerline goodness : 0.895967 Centerline is valid? [False, False] Translation: X:28.63, Y:-0.22, Z:-2.84 [[ 9.99702744e-01 2.23595938e-02 -9.71971291e-03 2.86291340e+01] [-2.22069117e-02 9.99632576e-01 1.55424039e-02 -2.18118219e-01] [ 1.00636635e-02 -1.53219390e-02 9.99831966e-01 -2.84134816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69119381700003 meters Centerline goodness : 0.895837 Centerline is valid? [False, False] Translation: X:28.63, Y:-0.21, Z:-2.84 [[ 9.99684970e-01 2.31038535e-02 -9.80677015e-03 2.86295881e+01] [-2.29551511e-02 9.99623746e-01 1.50142310e-02 -2.14763980e-01] [ 1.01499669e-02 -1.47843852e-02 9.99839187e-01 -2.84153272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72119381700003 meters Centerline goodness : 0.897008 Centerline is valid? [False, False] Translation: X:28.61, Y:-0.21, Z:-2.84 [[ 9.99585861e-01 2.65888946e-02 -1.10062471e-02 2.86085884e+01] [-2.64005989e-02 9.99508346e-01 1.69137285e-02 -2.12145949e-01] [ 1.14505532e-02 -1.66161524e-02 9.99796373e-01 -2.84015526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75119381700003 meters Centerline goodness : 0.897492 Centerline is valid? [False, False] Translation: X:28.61, Y:-0.21, Z:-2.84 [[ 9.99437524e-01 3.16174974e-02 -1.11789335e-02 2.86095258e+01] [-3.13721720e-02 9.99276961e-01 2.14788676e-02 -2.12217538e-01] [ 1.18499588e-02 -2.11160789e-02 9.99706802e-01 -2.84060190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78119381700003 meters Centerline goodness : 0.896224 Centerline is valid? [False, False] Translation: X:28.61, Y:-0.21, Z:-2.84 [[ 9.99317567e-01 3.51562076e-02 -1.13332409e-02 2.86102356e+01] [-3.48583436e-02 9.99067200e-01 2.54877437e-02 -2.13260515e-01] [ 1.22187217e-02 -2.50752920e-02 9.99610891e-01 -2.84085948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81119381700003 meters Centerline goodness : 0.895911 Centerline is valid? [False, False] Translation: X:28.61, Y:-0.21, Z:-2.84 [[ 9.99206759e-01 3.81489739e-02 -1.14240112e-02 2.86105468e+01] [-3.78019035e-02 9.98858701e-01 2.91943873e-02 -2.14764007e-01] [ 1.25247089e-02 -2.87393797e-02 9.99508469e-01 -2.84080804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84119381700003 meters Centerline goodness : 0.896344 Centerline is valid? [False, False] Translation: X:28.61, Y:-0.22, Z:-2.84 [[ 9.99099908e-01 4.08387455e-02 -1.14704598e-02 2.86107227e+01] [-4.04440046e-02 9.98644563e-01 3.27615371e-02 -2.16675385e-01] [ 1.27928524e-02 -3.22681373e-02 9.99397374e-01 -2.84061391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87119381700003 meters Centerline goodness : 0.897201 Centerline is valid? [False, False] Translation: X:28.61, Y:-0.22, Z:-2.84 [[ 9.99098597e-01 3.99582539e-02 -1.43293862e-02 2.86051421e+01] [-3.92913801e-02 9.98252504e-01 4.41375711e-02 -2.21535504e-01] [ 1.60680060e-02 -4.35347640e-02 9.98922691e-01 -2.84170452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90119381700003 meters Centerline goodness : 0.894437 Centerline is valid? [False, False] Translation: X:28.61, Y:-0.22, Z:-2.84 [[ 9.99076378e-01 4.03216052e-02 -1.48512182e-02 2.86069767e+01] [-3.96242034e-02 9.98219293e-01 4.45888444e-02 -2.22254609e-01] [ 1.66226663e-02 -4.39591935e-02 9.98895028e-01 -2.84262081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93119381700004 meters Centerline goodness : 0.895408 Centerline is valid? [False, False] Translation: X:28.61, Y:-0.22, Z:-2.84 [[ 9.99043311e-01 4.09306962e-02 -1.53993758e-02 2.86092182e+01] [-4.01969657e-02 9.98165789e-01 4.52687760e-02 -2.23195904e-01] [ 1.72240126e-02 -4.46064596e-02 9.98856144e-01 -2.84405857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96119381700004 meters Centerline goodness : 0.895566 Centerline is valid? [False, False] Translation: X:28.61, Y:-0.22, Z:-2.85 [[ 9.98998496e-01 4.17120011e-02 -1.61899060e-02 2.86119447e+01] [-4.09284734e-02 9.98101004e-01 4.60352750e-02 -2.23913989e-01] [ 1.80793849e-02 -4.53265424e-02 9.98808610e-01 -2.84547468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99119381700004 meters Centerline goodness : 0.893925 Centerline is valid? [False, False] Translation: X:28.61, Y:-0.23, Z:-2.85 [[ 9.98803419e-01 4.59548358e-02 -1.67297356e-02 2.86148261e+01] [-4.50469873e-02 9.97676781e-01 5.11058736e-02 -2.27985193e-01] [ 1.90394308e-02 -5.02910971e-02 9.98553106e-01 -2.84721023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02119381700004 meters Centerline goodness : 0.895939 Centerline is valid? [False, False] Translation: X:28.62, Y:-0.23, Z:-2.85 [[ 9.98794287e-01 4.59790931e-02 -1.72016204e-02 2.86160116e+01] [-4.50504586e-02 9.97684414e-01 5.09535668e-02 -2.27923265e-01] [ 1.95045874e-02 -5.01171906e-02 9.98552872e-01 -2.84748813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05119381700004 meters Centerline goodness : 0.895343 Centerline is valid? [False, False] Translation: X:28.62, Y:-0.23, Z:-2.85 [[ 9.98776479e-01 4.61730795e-02 -1.77085451e-02 2.86171644e+01] [-4.52103124e-02 9.97655424e-01 5.13778330e-02 -2.28648549e-01] [ 2.00392989e-02 -5.05143623e-02 9.98522271e-01 -2.84726691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08119381700004 meters Centerline goodness : 0.896529 Centerline is valid? [False, False] Translation: X:28.63, Y:-0.24, Z:-2.84 [[ 9.99042331e-01 4.11171348e-02 -1.49600372e-02 2.86254400e+01] [-3.98638956e-02 9.96299000e-01 7.61522953e-02 -2.38298625e-01] [ 1.80358343e-02 -7.54830012e-02 9.96983964e-01 -2.84322228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11119381700004 meters Centerline goodness : 0.897265 Centerline is valid? [False, False] Translation: X:28.63, Y:-0.24, Z:-2.84 [[ 9.99213725e-01 3.69229451e-02 -1.44439644e-02 2.86319746e+01] [-3.55833374e-02 9.95828622e-01 8.40189352e-02 -2.41494856e-01] [ 1.74859397e-02 -8.34389087e-02 9.96359468e-01 -2.83877971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14119381700002 meters Centerline goodness : 0.898369 Centerline is valid? [False, False] Translation: X:28.63, Y:-0.24, Z:-2.84 [[ 9.99357563e-01 3.25871012e-02 -1.49178493e-02 2.86318911e+01] [-3.12904836e-02 9.96290616e-01 8.01617972e-02 -2.42324494e-01] [ 1.74747538e-02 -7.96435115e-02 9.96670228e-01 -2.83747092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17119381700002 meters Centerline goodness : 0.899144 Centerline is valid? [False, False] Translation: X:28.62, Y:-0.25, Z:-2.83 [[ 9.99498555e-01 2.63595442e-02 -1.75445816e-02 2.86190700e+01] [-2.45005009e-02 9.94800707e-01 9.88497777e-02 -2.47725726e-01] [ 2.00589973e-02 -9.83703590e-02 9.94947692e-01 -2.83067271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20119381700002 meters Centerline goodness : 0.900670 Centerline is valid? [False, False] Translation: X:28.62, Y:-0.25, Z:-2.83 [[ 9.99537954e-01 2.44754851e-02 -1.80230407e-02 2.86169207e+01] [-2.25758916e-02 9.94835016e-01 9.89627190e-02 -2.52459920e-01] [ 2.03521126e-02 -9.85101074e-02 9.94927912e-01 -2.82608633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23119381700002 meters Centerline goodness : 0.899295 Centerline is valid? [False, False] Translation: X:28.62, Y:-0.25, Z:-2.82 [[ 9.99353209e-01 2.57845029e-02 -2.50663859e-02 2.86150220e+01] [-2.35504082e-02 9.96045456e-01 8.56669552e-02 -2.49946362e-01] [ 2.71761396e-02 -8.50212229e-02 9.96008458e-01 -2.82324063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26119381700002 meters Centerline goodness : 0.895790 Centerline is valid? [False, False] Translation: X:28.61, Y:-0.25, Z:-2.82 [[ 9.99222133e-01 2.72685807e-02 -2.84877862e-02 2.86068820e+01] [-2.50465844e-02 9.96820663e-01 7.56388458e-02 -2.48522216e-01] [ 3.04597779e-02 -7.48664871e-02 9.96728253e-01 -2.82348181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29119381700002 meters Centerline goodness : 0.896263 Centerline is valid? [False, False] Translation: X:28.61, Y:-0.25, Z:-2.82 [[ 9.99190794e-01 2.77837554e-02 -2.90829888e-02 2.86084207e+01] [-2.55005735e-02 9.96771672e-01 7.61311723e-02 -2.49528715e-01] [ 3.11043092e-02 -7.53279336e-02 9.96673580e-01 -2.82388484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32119381700002 meters Centerline goodness : 0.894494 Centerline is valid? [False, False] Translation: X:28.61, Y:-0.26, Z:-2.82 [[ 9.99082955e-01 2.95279910e-02 -3.10055880e-02 2.86096092e+01] [-2.69349605e-02 9.96353733e-01 8.09552169e-02 -2.55635938e-01] [ 3.32829782e-02 -8.00458430e-02 9.96235367e-01 -2.81941504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35119381700002 meters Centerline goodness : 0.896555 Centerline is valid? [False, False] Translation: X:28.61, Y:-0.26, Z:-2.82 [[ 9.98997390e-01 2.99428522e-02 -3.32812327e-02 2.86130804e+01] [-2.77708836e-02 9.97569149e-01 6.39106527e-02 -2.56250860e-01] [ 3.51139982e-02 -6.29223260e-02 9.97400515e-01 -2.82061460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38119381700002 meters Centerline goodness : 0.894473 Centerline is valid? [False, False] Translation: X:28.62, Y:-0.26, Z:-2.82 [[ 9.99040226e-01 2.93164230e-02 -3.25449557e-02 2.86201619e+01] [-2.75883117e-02 9.98248433e-01 5.23349971e-02 -2.58843071e-01] [ 3.40222260e-02 -5.13869070e-02 9.98099130e-01 -2.81962572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41119381700003 meters Centerline goodness : 0.896814 Centerline is valid? [False, False] Translation: X:28.62, Y:-0.27, Z:-2.82 [[ 9.99107304e-01 2.62238906e-02 -3.31195163e-02 2.86229248e+01] [-2.45153064e-02 9.98398672e-01 5.09812948e-02 -2.67509085e-01] [ 3.44034089e-02 -5.01238489e-02 9.98150292e-01 -2.82188630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44119381700003 meters Centerline goodness : 0.892222 Centerline is valid? [False, False] Translation: X:28.63, Y:-0.27, Z:-2.82 [[ 9.99124794e-01 2.37043194e-02 -3.44637706e-02 2.86261771e+01] [-2.20132943e-02 9.98573539e-01 4.86446482e-02 -2.70449656e-01] [ 3.55676977e-02 -4.78434130e-02 9.98221392e-01 -2.82277193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47119381700003 meters Centerline goodness : 0.893016 Centerline is valid? [False, False] Translation: X:28.63, Y:-0.27, Z:-2.82 [[ 9.99168324e-01 2.06724592e-02 -3.51469718e-02 2.86277236e+01] [-1.90502658e-02 9.98765333e-01 4.58791552e-02 -2.72495389e-01] [ 3.60520119e-02 -4.51714395e-02 9.98328500e-01 -2.82314423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50119381700003 meters Centerline goodness : 0.894869 Centerline is valid? [False, False] Translation: X:28.62, Y:-0.28, Z:-2.82 [[ 9.99265512e-01 1.57616015e-02 -3.49286260e-02 2.86249841e+01] [-1.42902477e-02 9.99016202e-01 4.19811404e-02 -2.78385862e-01] [ 3.55559533e-02 -4.14511671e-02 9.98507674e-01 -2.82058608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53119381700003 meters Centerline goodness : 0.893380 Centerline is valid? [False, False] Translation: X:28.62, Y:-0.28, Z:-2.82 [[ 9.99313328e-01 1.16510099e-02 -3.51727952e-02 2.86248848e+01] [-1.02906248e-02 9.99201231e-01 3.86135048e-02 -2.80767298e-01] [ 3.55945866e-02 -3.82250400e-02 9.98635004e-01 -2.81993876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56119381700003 meters Centerline goodness : 0.891767 Centerline is valid? [False, False] Translation: X:28.63, Y:-0.28, Z:-2.82 [[ 9.99457100e-01 7.46917165e-03 -3.20891869e-02 2.86339001e+01] [-6.72151176e-03 9.99704885e-01 2.33444599e-02 -2.80390189e-01] [ 3.22540807e-02 -2.31160983e-02 9.99212350e-01 -2.82073947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59119381700003 meters Centerline goodness : 0.890257 Centerline is valid? [False, False] Translation: X:28.64, Y:-0.28, Z:-2.82 [[ 9.99575113e-01 3.23899264e-03 -2.89672475e-02 2.86448216e+01] [-2.99625981e-03 9.99960070e-01 8.41904544e-03 -2.79550602e-01] [ 2.89933601e-02 -8.32867490e-03 9.99544906e-01 -2.82293745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62119381700003 meters Centerline goodness : 0.890855 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.28, Z:-2.83 [[ 9.99713647e-01 -6.23336747e-03 -2.31034618e-02 2.86566336e+01] [ 6.43236168e-03 9.99942769e-01 8.54889319e-03 -2.84526972e-01] [ 2.30488512e-02 -8.69505501e-03 9.99696527e-01 -2.82666338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65119381700003 meters Centerline goodness : 0.890981 Centerline is valid? [False, False] Translation: X:28.67, Y:-0.28, Z:-2.83 [[ 9.99787035e-01 -9.00216990e-03 -1.85700028e-02 2.86678819e+01] [ 8.93292034e-03 9.99952847e-01 -3.80869547e-03 -2.84289172e-01] [ 1.86034137e-02 3.64200000e-03 9.99820308e-01 -2.83008327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68119381700004 meters Centerline goodness : 0.890780 Centerline is valid? [False, False] Translation: X:28.68, Y:-0.29, Z:-2.83 [[ 9.99829147e-01 -1.35420800e-02 -1.25813234e-02 2.86799921e+01] [ 1.35505712e-02 9.99908013e-01 5.89904197e-04 -2.88283821e-01] [ 1.25721775e-02 -7.60287528e-04 9.99920678e-01 -2.83406977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71119381700004 meters Centerline goodness : 0.889264 Centerline is valid? [False, False] Translation: X:28.68, Y:-0.29, Z:-2.83 [[ 9.99760936e-01 -1.77796779e-02 -1.27261478e-02 2.86807344e+01] [ 1.77374308e-02 9.99836813e-01 -3.42492880e-03 -2.88562182e-01] [ 1.27849651e-02 3.19838085e-03 9.99913154e-01 -2.83440189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74119381700004 meters Centerline goodness : 0.889884 Centerline is valid? [False, False] Translation: X:28.68, Y:-0.29, Z:-2.84 [[ 9.99718470e-01 -1.98108285e-02 -1.30579796e-02 2.86826542e+01] [ 1.97535938e-02 9.99794762e-01 -4.49762610e-03 -2.88854519e-01] [ 1.31444013e-02 4.23841786e-03 9.99904626e-01 -2.83568692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77119381700004 meters Centerline goodness : 0.887157 Centerline is valid? [False, False] Translation: X:28.68, Y:-0.29, Z:-2.84 [[ 9.99705976e-01 -2.01337331e-02 -1.35127195e-02 2.86839604e+01] [ 2.00679094e-02 9.99786170e-01 -4.98929523e-03 -2.87622634e-01] [ 1.36102832e-02 4.71665623e-03 9.99896251e-01 -2.83613514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80119381700004 meters Centerline goodness : 0.885296 Centerline is valid? [False, False] Translation: X:28.69, Y:-0.29, Z:-2.84 [[ 9.99701440e-01 -1.99900879e-02 -1.40508547e-02 2.86853892e+01] [ 1.99181023e-02 9.99787859e-01 -5.24463819e-03 -2.86539012e-01] [ 1.41527147e-02 4.96320599e-03 9.99887527e-01 -2.83656596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83119381700004 meters Centerline goodness : 0.885296 Centerline is valid? [False, False] Translation: X:28.69, Y:-0.29, Z:-2.84 [[ 9.99701440e-01 -1.99900879e-02 -1.40508547e-02 2.86853892e+01] [ 1.99181023e-02 9.99787859e-01 -5.24463819e-03 -2.86539012e-01] [ 1.41527147e-02 4.96320599e-03 9.99887527e-01 -2.83656596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86119381700004 meters Centerline goodness : 0.884102 Centerline is valid? [False, False] Translation: X:28.70, Y:-0.28, Z:-2.84 [[ 9.99856140e-01 -1.28849519e-02 -1.10307506e-02 2.86986565e+01] [ 1.27823966e-02 9.99874887e-01 -9.31777965e-03 -2.84840363e-01] [ 1.11494296e-02 9.17543977e-03 9.99895745e-01 -2.84076131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.89119381700002 meters Centerline goodness : 0.882708 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.28, Z:-2.85 [[ 9.99953433e-01 -7.23121641e-03 -6.39074935e-03 2.87132936e+01] [ 7.14967280e-03 9.99893896e-01 -1.26916701e-02 -2.82235404e-01] [ 6.48184748e-03 1.26453873e-02 9.99899035e-01 -2.84589520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92119381700002 meters Centerline goodness : 0.883707 Centerline is valid? [False, False] Translation: X:28.73, Y:-0.28, Z:-2.85 [[ 9.99997465e-01 -6.86316079e-04 -2.14459765e-03 2.87256756e+01] [ 6.50792224e-04 9.99863301e-01 -1.65213675e-02 -2.79442252e-01] [ 2.15564337e-03 1.65199300e-02 9.99861213e-01 -2.84969604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95119381700002 meters Centerline goodness : 0.881081 Centerline is valid? [False, False] Translation: X:28.75, Y:-0.28, Z:-2.85 [[ 9.99997234e-01 2.32322103e-03 -3.67592102e-04 2.87462694e+01] [-2.32930018e-03 9.99844047e-01 -1.75058630e-02 -2.76436309e-01] [ 3.26864786e-04 1.75066708e-02 9.99846693e-01 -2.85143467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98119381700002 meters Centerline goodness : 0.881590 Centerline is valid? [False, False] Translation: X:28.77, Y:-0.27, Z:-2.85 [[ 9.99987360e-01 4.86266961e-03 1.27849686e-03 2.87667248e+01] [-4.83762214e-03 9.99809406e-01 -1.89142618e-02 -2.73972886e-01] [-1.37022700e-03 1.89078378e-02 9.99820292e-01 -2.85276001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01119381700002 meters Centerline goodness : 0.879529 Centerline is valid? [False, False] Translation: X:28.80, Y:-0.27, Z:-2.85 [[ 9.99919602e-01 1.26464602e-02 9.25515348e-04 2.87955031e+01] [-1.26204169e-02 9.99628467e-01 -2.41589159e-02 -2.71646629e-01] [-1.23069626e-03 2.41452932e-02 9.99707702e-01 -2.85186365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04119381700002 meters Centerline goodness : 0.880833 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.27, Z:-2.85 [[ 9.99896292e-01 1.42237908e-02 2.25575163e-03 2.88166297e+01] [-1.41626836e-02 9.99584153e-01 -2.51185101e-02 -2.70835504e-01] [-2.61209402e-03 2.50839576e-02 9.99681935e-01 -2.85343594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07119381700002 meters Centerline goodness : 0.879549 Centerline is valid? [False, False] Translation: X:28.84, Y:-0.27, Z:-2.86 [[ 9.99896977e-01 1.39056430e-02 3.55924170e-03 2.88371960e+01] [-1.37974253e-02 9.99489670e-01 -2.88102609e-02 -2.69487008e-01] [-3.95805051e-03 2.87581844e-02 9.99578562e-01 -2.85501746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10119381700002 meters Centerline goodness : 0.880012 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.27, Z:-2.86 [[ 9.99901160e-01 1.30237795e-02 5.29643892e-03 2.88572622e+01] [-1.28422610e-02 9.99373779e-01 -3.29715987e-02 -2.68419891e-01] [-5.72253701e-03 3.29003215e-02 9.99442255e-01 -2.85671092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13119381700002 meters Centerline goodness : 0.879216 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.27, Z:-2.86 [[ 9.99839170e-01 1.72034734e-02 5.06705904e-03 2.88582819e+01] [-1.70547341e-02 9.99460622e-01 -2.80642295e-02 -2.71435697e-01] [-5.54712821e-03 2.79732986e-02 9.99593279e-01 -2.85731900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16119381700003 meters Centerline goodness : 0.879880 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.27, Z:-2.86 [[ 9.99769751e-01 2.09607952e-02 4.59246305e-03 2.88596329e+01] [-2.08478182e-02 9.99508704e-01 -2.34033935e-02 -2.73945632e-01] [-5.08076053e-03 2.33022620e-02 9.99715555e-01 -2.85794656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19119381700003 meters Centerline goodness : 0.876781 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.28, Z:-2.86 [[ 9.99679810e-01 2.49375266e-02 4.28922612e-03 2.88605869e+01] [-2.48542704e-02 9.99520317e-01 -1.84770383e-02 -2.77040579e-01] [-4.74794029e-03 1.83645165e-02 9.99820085e-01 -2.85841786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22119381700003 meters Centerline goodness : 0.876467 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.28, Z:-2.86 [[ 9.99649011e-01 2.62099623e-02 3.85920567e-03 2.88612019e+01] [-2.61397652e-02 9.99509681e-01 -1.72368641e-02 -2.78992237e-01] [-4.30909098e-03 1.71299354e-02 9.99843986e-01 -2.85808533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25119381700003 meters Centerline goodness : 0.881034 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.28, Z:-2.86 [[ 9.99608594e-01 2.77857357e-02 3.25749053e-03 2.88620591e+01] [-2.77331469e-02 9.99499662e-01 -1.52084885e-02 -2.83361831e-01] [-3.67843973e-03 1.51121954e-02 9.99879038e-01 -2.85778604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28119381700003 meters Centerline goodness : 0.879615 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.29, Z:-2.86 [[ 9.99601326e-01 2.80808212e-02 2.94203385e-03 2.88624748e+01] [-2.80361095e-02 9.99505017e-01 -1.42722510e-02 -2.85800533e-01] [-3.34135413e-03 1.41840779e-02 9.99893818e-01 -2.85762869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31119381700003 meters Centerline goodness : 0.880004 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.29, Z:-2.86 [[ 9.99598577e-01 2.81964859e-02 2.76457990e-03 2.88623555e+01] [-2.81577292e-02 9.99516630e-01 -1.31775869e-02 -2.89357887e-01] [-3.13480523e-03 1.30944529e-02 9.99909350e-01 -2.85726242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34119381700003 meters Centerline goodness : 0.879732 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.29, Z:-2.86 [[ 9.99593111e-01 2.84037316e-02 2.61534959e-03 2.88620665e+01] [-2.83727698e-02 9.99534675e-01 -1.11990464e-02 -2.94761523e-01] [-2.93222731e-03 1.11202849e-02 9.99933868e-01 -2.85687216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37119381700003 meters Centerline goodness : 0.878171 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.30, Z:-2.86 [[ 9.99681785e-01 2.51219072e-02 2.28458607e-03 2.88621843e+01] [-2.50888051e-02 9.99593832e-01 -1.35175227e-02 -2.98853910e-01] [-2.62324409e-03 1.34559037e-02 9.99906024e-01 -2.85673398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40119381700003 meters Centerline goodness : 0.879759 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.31, Z:-2.86 [[ 9.99867010e-01 1.63081359e-02 8.94417496e-05 2.88573977e+01] [-1.63078839e-02 9.99864314e-01 -2.32536277e-03 -3.12286317e-01] [-1.27351945e-04 2.32359491e-03 9.99997292e-01 -2.85699489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43119381700004 meters Centerline goodness : 0.882844 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.32, Z:-2.86 [[ 9.99926859e-01 1.20819110e-02 -5.51185736e-04 2.88605100e+01] [-1.20849193e-02 9.99909996e-01 -5.82707208e-03 -3.15519516e-01] [ 4.80733961e-04 5.83330692e-03 9.99982871e-01 -2.85940369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46119381700004 meters Centerline goodness : 0.882421 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.32, Z:-2.86 [[ 9.99968460e-01 7.83723448e-03 -1.28678794e-03 2.88637548e+01] [-7.84867087e-03 9.99927454e-01 -9.13701719e-03 -3.19709375e-01] [ 1.21508564e-03 9.14682859e-03 9.99957429e-01 -2.86168583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49119381700004 meters Centerline goodness : 0.881825 Centerline is valid? [False, False] Translation: X:28.87, Y:-0.33, Z:-2.86 [[ 9.99995261e-01 -2.22199819e-03 -2.13078656e-03 2.88677273e+01] [ 2.18489633e-03 9.99848660e-01 -1.72593242e-02 -3.28953414e-01] [ 2.16881427e-03 1.72545869e-02 9.99848776e-01 -2.86488715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52119381700004 meters Centerline goodness : 0.882336 Centerline is valid? [False, False] Translation: X:28.87, Y:-0.33, Z:-2.87 [[ 9.99973768e-01 -6.59944823e-03 -2.98506804e-03 2.88718761e+01] [ 6.53683395e-03 9.99768063e-01 -2.05205019e-02 -3.33467563e-01] [ 3.11979968e-03 2.05004507e-02 9.99784976e-01 -2.86783859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55119381700004 meters Centerline goodness : 0.880539 Centerline is valid? [False, False] Translation: X:28.88, Y:-0.34, Z:-2.87 [[ 9.99936312e-01 -1.06713632e-02 -3.67348703e-03 2.88753782e+01] [ 1.05822336e-02 9.99668236e-01 -2.34826559e-02 -3.37873816e-01] [ 3.92286025e-03 2.34422866e-02 9.99717495e-01 -2.87044961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58119381700004 meters Centerline goodness : 0.880573 Centerline is valid? [False, False] Translation: X:28.88, Y:-0.34, Z:-2.87 [[ 9.99889865e-01 -1.42384334e-02 -4.18636267e-03 2.88776076e+01] [ 1.41254628e-02 9.99565293e-01 -2.58784838e-02 -3.42898591e-01] [ 4.55301190e-03 2.58164993e-02 9.99656330e-01 -2.87185946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61119381700004 meters Centerline goodness : 0.882012 Centerline is valid? [False, False] Translation: X:28.89, Y:-0.35, Z:-2.87 [[ 9.99693479e-01 -2.34820570e-02 -7.84475246e-03 2.88852140e+01] [ 2.32405428e-02 9.99292306e-01 -2.95764264e-02 -3.50892481e-01] [ 8.53371610e-03 2.93850443e-02 9.99531738e-01 -2.87011108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64119381700002 meters Centerline goodness : 0.882410 Centerline is valid? [False, False] Translation: X:28.89, Y:-0.35, Z:-2.87 [[ 9.99679615e-01 -2.39875803e-02 -8.07853757e-03 2.88856704e+01] [ 2.37454926e-02 9.99302071e-01 -2.88361297e-02 -3.54275241e-01] [ 8.76460830e-03 2.86350622e-02 9.99551507e-01 -2.86985968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67119381700002 meters Centerline goodness : 0.882641 Centerline is valid? [False, False] Translation: X:28.89, Y:-0.36, Z:-2.87 [[ 9.99659606e-01 -2.56879635e-02 -4.56070553e-03 2.88938208e+01] [ 2.55955033e-02 9.99486252e-01 -1.92899326e-02 -3.58386760e-01] [ 5.05388157e-03 1.91666328e-02 9.99803530e-01 -2.86953484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70119381700002 meters Centerline goodness : 0.881817 Centerline is valid? [False, False] Translation: X:28.89, Y:-0.36, Z:-2.87 [[ 9.99653467e-01 -2.58680645e-02 -4.87741973e-03 2.88940787e+01] [ 2.57719360e-02 9.99490358e-01 -1.88369831e-02 -3.59894438e-01] [ 5.36221028e-03 1.87047549e-02 9.99810672e-01 -2.86890198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73119381700002 meters Centerline goodness : 0.882021 Centerline is valid? [False, False] Translation: X:28.89, Y:-0.36, Z:-2.87 [[ 9.99638513e-01 -2.63924175e-02 -5.12668371e-03 2.88943543e+01] [ 2.62921936e-02 9.99478984e-01 -1.87211331e-02 -3.60939606e-01] [ 5.61810859e-03 1.85795739e-02 9.99811600e-01 -2.86830748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76119381700002 meters Centerline goodness : 0.883118 Centerline is valid? [False, False] Translation: X:28.89, Y:-0.36, Z:-2.87 [[ 9.99632905e-01 -2.65640557e-02 -5.32983461e-03 2.88942371e+01] [ 2.64597158e-02 9.99473550e-01 -1.87751656e-02 -3.60685288e-01] [ 5.82577326e-03 1.86272474e-02 9.99809525e-01 -2.86751670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79119381700002 meters Centerline goodness : 0.884813 Centerline is valid? [False, False] Translation: X:28.89, Y:-0.36, Z:-2.87 [[ 9.99700760e-01 -2.38477017e-02 -5.44765128e-03 2.88939412e+01] [ 2.37622961e-02 9.99601495e-01 -1.52382790e-02 -3.61315123e-01] [ 5.80887830e-03 1.51042704e-02 9.99869050e-01 -2.86655820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82119381700002 meters Centerline goodness : 0.883990 Centerline is valid? [False, False] Translation: X:28.89, Y:-0.36, Z:-2.87 [[ 9.99754255e-01 -2.14724514e-02 -5.51025173e-03 2.88937524e+01] [ 2.14038369e-02 9.99696193e-01 -1.22228405e-02 -3.60657246e-01] [ 5.77103202e-03 1.21018963e-02 9.99910116e-01 -2.86586972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85119381700002 meters Centerline goodness : 0.890201 Centerline is valid? [False, False] Translation: X:28.91, Y:-0.35, Z:-2.86 [[ 9.99760318e-01 -2.18911101e-02 2.91777011e-04 2.89071993e+01] [ 2.18929954e-02 9.99637852e-01 -1.56480514e-02 -3.54158448e-01] [ 5.08818720e-05 1.56506887e-02 9.99877519e-01 -2.86373489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88119381700002 meters Centerline goodness : 0.889395 Centerline is valid? [False, False] Translation: X:28.91, Y:-0.35, Z:-2.86 [[ 9.99749678e-01 -2.23736803e-02 8.56178676e-06 2.89071069e+01] [ 2.23707003e-02 9.99610125e-01 -1.67077613e-02 -3.50953650e-01] [ 3.65255662e-04 1.67037705e-02 9.99860416e-01 -2.86273001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91119381700003 meters Centerline goodness : 0.890587 Centerline is valid? [False, False] Translation: X:28.91, Y:-0.35, Z:-2.86 [[ 9.99808989e-01 -1.95412587e-02 -3.53059179e-04 2.89072371e+01] [ 1.95345087e-02 9.99713516e-01 -1.38307066e-02 -3.49179182e-01] [ 6.23227449e-04 1.38211680e-02 9.99904289e-01 -2.86185305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94119381700003 meters Centerline goodness : 0.893285 Centerline is valid? [False, False] Translation: X:28.93, Y:-0.34, Z:-2.86 [[ 9.99855593e-01 -1.66395934e-02 3.45216798e-03 2.89251130e+01] [ 1.66965394e-02 9.99712983e-01 -1.71807200e-02 -3.37780878e-01] [-3.16529696e-03 1.72358782e-02 9.99846441e-01 -2.86404422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97119381700003 meters Centerline goodness : 0.895279 Centerline is valid? [False, False] Translation: X:28.93, Y:-0.33, Z:-2.86 [[ 9.99904202e-01 -1.34818095e-02 3.13488212e-03 2.89261735e+01] [ 1.35270085e-02 9.99797872e-01 -1.48739876e-02 -3.32533157e-01] [-2.93372020e-03 1.49149682e-02 9.99884462e-01 -2.86471683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00119381700003 meters Centerline goodness : 0.892896 Centerline is valid? [False, False] Translation: X:28.94, Y:-0.32, Z:-2.87 [[ 9.99926189e-01 -9.39861416e-03 7.69950995e-03 2.89405995e+01] [ 9.55434567e-03 9.99745317e-01 -2.04454533e-02 -3.24969513e-01] [-7.50539008e-03 2.05175080e-02 9.99761322e-01 -2.86986187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03119381700003 meters Centerline goodness : 0.891399 Centerline is valid? [False, False] Translation: X:28.94, Y:-0.32, Z:-2.87 [[ 9.99953376e-01 -6.55093411e-03 7.09445611e-03 2.89426993e+01] [ 6.68303332e-03 9.99801694e-01 -1.87592557e-02 -3.18990290e-01] [-6.97015858e-03 1.88057935e-02 9.99798859e-01 -2.87102003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06119381700003 meters Centerline goodness : 0.892055 Centerline is valid? [False, False] Translation: X:28.97, Y:-0.31, Z:-2.87 [[ 9.99976201e-01 -2.82669271e-03 6.29348230e-03 2.89650463e+01] [ 2.94416323e-03 9.99820148e-01 -1.87350708e-02 -3.13799372e-01] [-6.23939212e-03 1.87531540e-02 9.99804676e-01 -2.87278648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09119381700003 meters Centerline goodness : 0.891614 Centerline is valid? [False, False] Translation: X:28.99, Y:-0.31, Z:-2.87 [[ 9.99986512e-01 -1.56730968e-04 5.19151890e-03 2.89867808e+01] [ 2.61407928e-04 9.99796560e-01 -2.01685328e-02 -3.08719700e-01] [-5.18730171e-03 2.01696178e-02 9.99783116e-01 -2.87408149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12119381700003 meters Centerline goodness : 0.888601 Centerline is valid? [False, False] Translation: X:29.01, Y:-0.30, Z:-2.88 [[ 9.99985162e-01 3.26047207e-03 4.36413286e-03 2.90105452e+01] [-3.15891623e-03 9.99728663e-01 -2.30785873e-02 -2.97019988e-01] [-4.43819580e-03 2.30644589e-02 9.99724129e-01 -2.87843278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15119381700003 meters Centerline goodness : 0.890912 Centerline is valid? [False, False] Translation: X:29.03, Y:-0.29, Z:-2.88 [[ 9.99985110e-01 4.97466574e-03 2.24353776e-03 2.90341285e+01] [-4.91846448e-03 9.99690270e-01 -2.43961536e-02 -2.91619348e-01] [-2.36420558e-03 2.43847556e-02 9.99699852e-01 -2.88116864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18119381700004 meters Centerline goodness : 0.889724 Centerline is valid? [False, False] Translation: X:29.04, Y:-0.29, Z:-2.88 [[ 9.99975968e-01 6.79511264e-03 1.37439218e-03 2.90377981e+01] [-6.76169792e-03 9.99712399e-01 -2.30086681e-02 -2.87171697e-01] [-1.53034340e-03 2.29988219e-02 9.99734321e-01 -2.88348392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21119381700004 meters Centerline goodness : 0.888829 Centerline is valid? [False, False] Translation: X:29.07, Y:-0.28, Z:-2.88 [[ 9.99987737e-01 4.34224519e-03 -2.38141929e-03 2.90699708e+01] [-4.39559325e-03 9.99728696e-01 -2.28738466e-02 -2.78429008e-01] [ 2.28144935e-03 2.28840338e-02 9.99735523e-01 -2.88489731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24119381700004 meters Centerline goodness : 0.890674 Centerline is valid? [False, False] Translation: X:29.09, Y:-0.28, Z:-2.89 [[ 9.99996174e-01 2.76495349e-03 8.44221806e-05 2.90873121e+01] [-2.76264040e-03 9.99785833e-01 -2.05099161e-02 -2.75830451e-01] [-1.41113064e-04 2.05096044e-02 9.99789646e-01 -2.88947338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27119381700004 meters Centerline goodness : 0.892531 Centerline is valid? [False, False] Translation: X:29.11, Y:-0.27, Z:-2.89 [[ 9.99995565e-01 2.91350797e-03 6.18215996e-04 2.91091689e+01] [-2.89871405e-03 9.99737778e-01 -2.27150264e-02 -2.72364784e-01] [-6.84234296e-04 2.27131336e-02 9.99741789e-01 -2.89124730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30119381700004 meters Centerline goodness : 0.892236 Centerline is valid? [False, False] Translation: X:29.11, Y:-0.27, Z:-2.89 [[ 9.99989167e-01 4.65441180e-03 -5.06439128e-05 2.91113299e+01] [-4.65445288e-03 9.99770418e-01 -2.09152565e-02 -2.69815097e-01] [-4.67159308e-05 2.09152656e-02 9.99781251e-01 -2.89208995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33119381700004 meters Centerline goodness : 0.891888 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.27, Z:-2.89 [[ 9.99983934e-01 5.57106841e-03 1.04593481e-03 2.91325768e+01] [-5.54634973e-03 9.99735704e-01 -2.23105418e-02 -2.66232557e-01] [-1.16995193e-03 2.23043823e-02 9.99750542e-01 -2.89358611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36119381700004 meters Centerline goodness : 0.894164 Centerline is valid? [False, False] Translation: X:29.15, Y:-0.26, Z:-2.89 [[ 9.99961370e-01 7.73897807e-03 4.16742127e-03 2.91506033e+01] [-7.62895720e-03 9.99638045e-01 -2.57987885e-02 -2.55665524e-01] [-4.36556911e-03 2.57659988e-02 9.99658469e-01 -2.89489347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.39119381700002 meters Centerline goodness : 0.895294 Centerline is valid? [False, False] Translation: X:29.19, Y:-0.25, Z:-2.90 [[ 9.99924320e-01 1.03582439e-02 6.63786703e-03 2.91875481e+01] [-1.01790579e-02 9.99597454e-01 -2.64823982e-02 -2.52436196e-01] [-6.90950612e-03 2.64128268e-02 9.99627241e-01 -2.89576825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42119381700002 meters Centerline goodness : 0.897998 Centerline is valid? [False, False] Translation: X:29.21, Y:-0.24, Z:-2.89 [[ 9.99858524e-01 1.56043432e-02 6.27978271e-03 2.92149640e+01] [-1.53598921e-02 9.99187761e-01 -3.72544278e-02 -2.42272580e-01] [-6.85601290e-03 3.71527005e-02 9.99286081e-01 -2.89441348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45119381700002 meters Centerline goodness : 0.901020 Centerline is valid? [False, False] Translation: X:29.22, Y:-0.24, Z:-2.90 [[ 9.99796677e-01 1.92630531e-02 5.96154600e-03 2.92163773e+01] [-1.90498655e-02 9.99241633e-01 -3.39597188e-02 -2.40418158e-01] [-6.61119282e-03 3.38392474e-02 9.99405422e-01 -2.89502111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48119381700002 meters Centerline goodness : 0.899445 Centerline is valid? [False, False] Translation: X:29.22, Y:-0.24, Z:-2.90 [[ 9.99715479e-01 2.31388117e-02 5.79277371e-03 2.92172292e+01] [-2.29531443e-02 9.99277486e-01 -3.02929056e-02 -2.39227232e-01] [-6.48953018e-03 3.01513243e-02 9.99524279e-01 -2.89544586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51119381700002 meters Centerline goodness : 0.898908 Centerline is valid? [False, False] Translation: X:29.22, Y:-0.24, Z:-2.90 [[ 9.99621074e-01 2.69316919e-02 5.69143303e-03 2.92181596e+01] [-2.67719373e-02 9.99290414e-01 -2.64940089e-02 -2.38470083e-01] [-6.40092295e-03 2.63315990e-02 9.99632770e-01 -2.89610320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54119381700002 meters Centerline goodness : 0.901450 Centerline is valid? [False, False] Translation: X:29.22, Y:-0.24, Z:-2.90 [[ 9.99510661e-01 3.08108152e-02 5.39745987e-03 2.92193038e+01] [-3.06789361e-02 9.99264282e-01 -2.30151628e-02 -2.36676211e-01] [-6.10260479e-03 2.28383123e-02 9.99720546e-01 -2.89643605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57119381700002 meters Centerline goodness : 0.899195 Centerline is valid? [False, False] Translation: X:29.22, Y:-0.24, Z:-2.90 [[ 9.99405816e-01 3.40272217e-02 5.49216348e-03 2.92190561e+01] [-3.39149346e-02 9.99236706e-01 -1.93850929e-02 -2.36961468e-01] [-6.14759220e-03 1.91873082e-02 9.99797007e-01 -2.89596351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60119381700002 meters Centerline goodness : 0.901392 Centerline is valid? [False, False] Translation: X:29.21, Y:-0.24, Z:-2.90 [[ 9.99412365e-01 3.33082153e-02 8.09248495e-03 2.92094296e+01] [-3.32170280e-02 9.99385934e-01 -1.11527364e-02 -2.36137037e-01] [-8.45899338e-03 1.08773743e-02 9.99905060e-01 -2.89725436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63119381700002 meters Centerline goodness : 0.902333 Centerline is valid? [False, False] Translation: X:29.19, Y:-0.24, Z:-2.90 [[ 9.99507042e-01 3.04202113e-02 7.76427644e-03 2.91910030e+01] [-3.04454281e-02 9.99531465e-01 3.15049701e-03 -2.36271131e-01] [-7.66479982e-03 -3.38533067e-03 9.99964895e-01 -2.89643763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66119381700003 meters Centerline goodness : 0.899653 Centerline is valid? [False, False] Translation: X:29.19, Y:-0.23, Z:-2.90 [[ 9.99615027e-01 2.67782742e-02 7.26100359e-03 2.91919064e+01] [-2.67703142e-02 9.99640901e-01 -1.19127536e-03 -2.34760603e-01] [-7.29029647e-03 9.96437407e-04 9.99972929e-01 -2.89659343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69119381700003 meters Centerline goodness : 0.904885 Centerline is valid? [False, False] Translation: X:29.17, Y:-0.24, Z:-2.90 [[ 9.99723287e-01 2.28185304e-02 5.71529521e-03 2.91727849e+01] [-2.28867134e-02 9.99664073e-01 1.21630363e-02 -2.36643821e-01] [-5.43583267e-03 -1.22904749e-02 9.99909694e-01 -2.89527791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72119381700003 meters Centerline goodness : 0.903924 Centerline is valid? [False, False] Translation: X:29.16, Y:-0.24, Z:-2.89 [[ 9.99778072e-01 2.08577102e-02 2.96026844e-03 2.91628569e+01] [-2.09199579e-02 9.99520235e-01 2.28397564e-02 -2.38912657e-01] [-2.48246319e-03 -2.28966163e-02 9.99734756e-01 -2.89340448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75119381700003 meters Centerline goodness : 0.903924 Centerline is valid? [False, False] Translation: X:29.16, Y:-0.24, Z:-2.89 [[ 9.99779733e-01 2.07834158e-02 2.92150462e-03 2.91628715e+01] [-2.08443468e-02 9.99525984e-01 2.26565897e-02 -2.38267750e-01] [-2.44923846e-03 -2.27124960e-02 9.99739038e-01 -2.89328063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78119381700003 meters Centerline goodness : 0.902636 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.24, Z:-2.89 [[ 9.99821030e-01 1.86870488e-02 2.95007936e-03 2.91342242e+01] [-1.87720804e-02 9.99309739e-01 3.20570616e-02 -2.40318697e-01] [-2.34899116e-03 -3.21067035e-02 9.99481687e-01 -2.89323414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81119381700003 meters Centerline goodness : 0.903353 Centerline is valid? [False, False] Translation: X:29.11, Y:-0.24, Z:-2.89 [[ 9.99877165e-01 1.56383162e-02 -1.04782275e-03 2.91131961e+01] [-1.55683750e-02 9.98682095e-01 4.89049933e-02 -2.44900140e-01] [ 1.81123357e-03 -4.88826731e-02 9.98802885e-01 -2.89011004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84119381700003 meters Centerline goodness : 0.902922 Centerline is valid? [False, False] Translation: X:29.09, Y:-0.24, Z:-2.89 [[ 9.99884130e-01 1.47552575e-02 -3.74275531e-03 2.90934706e+01] [-1.45576994e-02 9.98730218e-01 4.82288803e-02 -2.44089970e-01] [ 4.44963237e-03 -4.81688062e-02 9.98829298e-01 -2.88849866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87119381700003 meters Centerline goodness : 0.902011 Centerline is valid? [False, False] Translation: X:29.07, Y:-0.25, Z:-2.88 [[ 9.99917887e-01 1.11840762e-02 -6.25592813e-03 2.90688190e+01] [-1.07874968e-02 9.98128719e-01 6.01887815e-02 -2.45637138e-01] [ 6.91737745e-03 -6.01163534e-02 9.98167408e-01 -2.88489462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90119381700003 meters Centerline goodness : 0.902044 Centerline is valid? [False, False] Translation: X:29.04, Y:-0.25, Z:-2.88 [[ 9.99951906e-01 8.02993432e-03 -5.63079630e-03 2.90392134e+01] [-7.64221912e-03 9.97804218e-01 6.57901174e-02 -2.46204377e-01] [ 6.14672262e-03 -6.57439215e-02 9.97817596e-01 -2.88461616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93119381700004 meters Centerline goodness : 0.901016 Centerline is valid? [False, False] Translation: X:29.04, Y:-0.25, Z:-2.88 [[ 9.99882424e-01 9.83334802e-03 -1.17662019e-02 2.90392007e+01] [-9.20925523e-03 9.98606267e-01 5.19683850e-02 -2.47201044e-01] [ 1.22608262e-02 -5.18539168e-02 9.98579413e-01 -2.88389866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96119381700004 meters Centerline goodness : 0.904203 Centerline is valid? [False, False] Translation: X:29.05, Y:-0.25, Z:-2.88 [[ 9.99831773e-01 1.01986180e-02 -1.52451065e-02 2.90492241e+01] [-9.51679341e-03 9.98979732e-01 4.41466386e-02 -2.47675159e-01] [ 1.56797871e-02 -4.39941274e-02 9.98908735e-01 -2.88143845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99119381700004 meters Centerline goodness : 0.904664 Centerline is valid? [False, False] Translation: X:29.04, Y:-0.25, Z:-2.88 [[ 9.99807963e-01 1.01128235e-02 -1.67859238e-02 2.90406526e+01] [-9.56144191e-03 9.99422440e-01 3.26092856e-02 -2.46236526e-01] [ 1.71060009e-02 -3.24425258e-02 9.99327207e-01 -2.88190024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02119381700004 meters Centerline goodness : 0.903983 Centerline is valid? [False, False] Translation: X:29.05, Y:-0.24, Z:-2.88 [[ 9.99862409e-01 9.32174913e-03 -1.37210538e-02 2.90491689e+01] [-9.03976750e-03 9.99749568e-01 2.04715287e-02 -2.44770848e-01] [ 1.39084481e-02 -2.03446769e-02 9.99696278e-01 -2.88201640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05119381700004 meters Centerline goodness : 0.905299 Centerline is valid? [False, False] Translation: X:29.05, Y:-0.24, Z:-2.88 [[ 9.99890546e-01 5.55823284e-03 -1.37113759e-02 2.90482984e+01] [-5.33341756e-03 9.99851636e-01 1.63786915e-02 -2.44268183e-01] [ 1.38003782e-02 -1.63037703e-02 9.99771842e-01 -2.88080420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08119381700004 meters Centerline goodness : 0.908548 Centerline is valid? [False, False] Translation: X:29.06, Y:-0.24, Z:-2.88 [[ 9.99973265e-01 -1.53146387e-04 -7.31067155e-03 2.90582590e+01] [ 1.67413854e-04 9.99998083e-01 1.95102253e-03 -2.42668884e-01] [ 7.31035874e-03 -1.95219427e-03 9.99971373e-01 -2.88296537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11119381700004 meters Centerline goodness : 0.908743 Centerline is valid? [False, False] Translation: X:29.07, Y:-0.24, Z:-2.89 [[ 9.99990838e-01 -3.74224731e-03 -2.07843731e-03 2.90708445e+01] [ 3.71879284e-03 9.99930630e-01 -1.11761578e-02 -2.40183676e-01] [ 2.12011707e-03 1.11683261e-02 9.99935385e-01 -2.88717735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14119381700002 meters Centerline goodness : 0.908833 Centerline is valid? [False, False] Translation: X:29.09, Y:-0.24, Z:-2.89 [[ 9.99972283e-01 -7.34357647e-03 -1.22691342e-03 2.90923182e+01] [ 7.32356816e-03 9.99851714e-01 -1.55857390e-02 -2.40452855e-01] [ 1.34118655e-03 1.55763217e-02 9.99877782e-01 -2.88856357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17119381700002 meters Centerline goodness : 0.909763 Centerline is valid? [False, False] Translation: X:29.10, Y:-0.24, Z:-2.89 [[ 9.99904658e-01 -1.27450757e-02 5.31402608e-03 2.91030776e+01] [ 1.28051556e-02 9.99852687e-01 -1.14294823e-02 -2.43431850e-01] [-5.16757364e-03 1.14964395e-02 9.99920561e-01 -2.89231016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20119381700002 meters Centerline goodness : 0.909471 Centerline is valid? [False, False] Translation: X:29.10, Y:-0.24, Z:-2.89 [[ 9.99868732e-01 -1.54550925e-02 4.86407257e-03 2.91049314e+01] [ 1.55225791e-02 9.99779292e-01 -1.41568698e-02 -2.43244587e-01] [-4.64420329e-03 1.42305144e-02 9.99887956e-01 -2.89329801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23119381700002 meters Centerline goodness : 0.909204 Centerline is valid? [False, False] Translation: X:29.11, Y:-0.24, Z:-2.89 [[ 9.99838858e-01 -1.74083423e-02 4.38269426e-03 2.91069125e+01] [ 1.74751748e-02 9.99723978e-01 -1.57030329e-02 -2.43694560e-01] [-4.10812077e-03 1.57770909e-02 9.99867095e-01 -2.89440089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26119381700002 meters Centerline goodness : 0.908559 Centerline is valid? [False, False] Translation: X:29.11, Y:-0.24, Z:-2.90 [[ 9.99799020e-01 -1.96814712e-02 3.81558783e-03 2.91093903e+01] [ 1.97463545e-02 9.99646797e-01 -1.77865762e-02 -2.43441947e-01] [-3.46417417e-03 1.78583454e-02 9.99834526e-01 -2.89590462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29119381700002 meters Centerline goodness : 0.908734 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.24, Z:-2.90 [[ 9.99727532e-01 -2.33371302e-02 4.89554187e-04 2.91342387e+01] [ 2.33422615e-02 9.99518114e-01 -2.04616227e-02 -2.42342814e-01] [-1.18027226e-05 2.04674749e-02 9.99790519e-01 -2.89863904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32119381700002 meters Centerline goodness : 0.908511 Centerline is valid? [False, False] Translation: X:29.14, Y:-0.24, Z:-2.90 [[ 9.99706712e-01 -2.42173160e-02 1.09916779e-04 2.91359808e+01] [ 2.42142633e-02 9.99485156e-01 -2.10497766e-02 -2.41475223e-01] [ 3.99908902e-04 2.10462645e-02 9.99778423e-01 -2.89993502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35119381700002 meters Centerline goodness : 0.907499 Centerline is valid? [False, False] Translation: X:29.14, Y:-0.24, Z:-2.90 [[ 9.99672830e-01 -2.55757783e-02 -3.33976816e-04 2.91383868e+01] [ 2.55621638e-02 9.99429141e-01 -2.20899736e-02 -2.40394051e-01] [ 8.98754432e-04 2.20742093e-02 9.99755931e-01 -2.90184646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38119381700002 meters Centerline goodness : 0.906218 Centerline is valid? [False, False] Translation: X:29.14, Y:-0.24, Z:-2.90 [[ 9.99645715e-01 -2.66079001e-02 -6.80586435e-04 2.91400995e+01] [ 2.65854914e-02 9.99386742e-01 -2.27892838e-02 -2.39547864e-01] [ 1.28654405e-03 2.27631162e-02 9.99740059e-01 -2.90318362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41119381700003 meters Centerline goodness : 0.909226 Centerline is valid? [False, False] Translation: X:29.14, Y:-0.24, Z:-2.90 [[ 9.99619670e-01 -2.75609745e-02 -9.52593836e-04 2.91413383e+01] [ 2.75308716e-02 9.99342822e-01 -2.35791142e-02 -2.38144619e-01] [ 1.60183118e-03 2.35439207e-02 9.99721520e-01 -2.90397867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44119381700003 meters Centerline goodness : 0.906912 Centerline is valid? [False, False] Translation: X:29.14, Y:-0.24, Z:-2.90 [[ 9.99596374e-01 -2.83932088e-02 -9.56504632e-04 2.91413565e+01] [ 2.83612153e-02 9.99296577e-01 -2.45355537e-02 -2.35981586e-01] [ 1.65247490e-03 2.44985228e-02 9.99698500e-01 -2.90385579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47119381700003 meters Centerline goodness : 0.906446 Centerline is valid? [False, False] Translation: X:29.15, Y:-0.23, Z:-2.90 [[ 9.99477926e-01 -3.17893441e-02 5.77166850e-03 2.91482472e+01] [ 3.18877566e-02 9.99332140e-01 -1.78450199e-02 -2.31884174e-01] [-5.20053235e-03 1.80197491e-02 9.99824106e-01 -2.90498786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50119381700003 meters Centerline goodness : 0.905864 Centerline is valid? [False, False] Translation: X:29.15, Y:-0.23, Z:-2.90 [[ 9.99557057e-01 -2.92085236e-02 5.70551034e-03 2.91480408e+01] [ 2.92925307e-02 9.99454674e-01 -1.52414646e-02 -2.29135434e-01] [-5.25721830e-03 1.54018424e-02 9.99867564e-01 -2.90462326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53119381700003 meters Centerline goodness : 0.910073 Centerline is valid? [False, False] Translation: X:29.17, Y:-0.22, Z:-2.91 [[ 9.99575513e-01 -2.77811644e-02 8.77500918e-03 2.91665313e+01] [ 2.79059726e-02 9.99506304e-01 -1.44362137e-02 -2.24462932e-01] [-8.36962217e-03 1.46749609e-02 9.99857287e-01 -2.90504371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56119381700003 meters Centerline goodness : 0.908810 Centerline is valid? [False, False] Translation: X:29.17, Y:-0.21, Z:-2.90 [[ 9.99596897e-01 -2.70640209e-02 8.57803480e-03 2.91658565e+01] [ 2.71879984e-02 9.99522516e-01 -1.46817456e-02 -2.10430414e-01] [-8.17659186e-03 1.49090469e-02 9.99855421e-01 -2.90355940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59119381700003 meters Centerline goodness : 0.909391 Centerline is valid? [False, False] Translation: X:29.17, Y:-0.21, Z:-2.90 [[ 9.99656332e-01 -2.48689007e-02 8.29190212e-03 2.91666410e+01] [ 2.49757352e-02 9.99603011e-01 -1.30396903e-02 -2.05158041e-01] [-7.96432757e-03 1.32423053e-02 9.99880598e-01 -2.90387936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62119381700003 meters Centerline goodness : 0.911018 Centerline is valid? [False, False] Translation: X:29.18, Y:-0.20, Z:-2.91 [[ 9.99652484e-01 -2.25785660e-02 1.36058755e-02 2.91793845e+01] [ 2.28474784e-02 9.99540005e-01 -1.99442219e-02 -1.97852321e-01] [-1.31493049e-02 2.02481509e-02 9.99708512e-01 -2.90837520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65119381700003 meters Centerline goodness : 0.913505 Centerline is valid? [False, False] Translation: X:29.18, Y:-0.18, Z:-2.91 [[ 9.99725497e-01 -1.91833689e-02 1.34509968e-02 2.91814989e+01] [ 1.94212895e-02 9.99653171e-01 -1.77862412e-02 -1.84550779e-01] [-1.31051315e-02 1.80425946e-02 9.99751329e-01 -2.91071377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68119381700004 meters Centerline goodness : 0.910758 Centerline is valid? [False, False] Translation: X:29.18, Y:-0.18, Z:-2.91 [[ 9.99768817e-01 -1.69588026e-02 1.32178478e-02 2.91833397e+01] [ 1.71759885e-02 9.99716415e-01 -1.64946981e-02 -1.77383398e-01] [-1.29343691e-02 1.67179144e-02 9.99776582e-01 -2.91250716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71119381700004 meters Centerline goodness : 0.912839 Centerline is valid? [False, False] Translation: X:29.19, Y:-0.17, Z:-2.91 [[ 9.99803718e-01 -1.49818548e-02 1.29641791e-02 2.91853526e+01] [ 1.51816926e-02 9.99765287e-01 -1.54560000e-02 -1.69773198e-01] [-1.27295767e-02 1.56497845e-02 9.99796500e-01 -2.91438635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74119381700004 meters Centerline goodness : 0.914519 Centerline is valid? [False, False] Translation: X:29.19, Y:-0.16, Z:-2.92 [[ 9.99834672e-01 -1.29912342e-02 1.27222966e-02 2.91870084e+01] [ 1.31739556e-02 9.99809736e-01 -1.43853878e-02 -1.62155884e-01] [-1.25329921e-02 1.45506125e-02 9.99815585e-01 -2.91579816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77119381700004 meters Centerline goodness : 0.913170 Centerline is valid? [False, False] Translation: X:29.19, Y:-0.15, Z:-2.92 [[ 9.99861627e-01 -1.09016513e-02 1.25650603e-02 2.91881371e+01] [ 1.10674022e-02 9.99851648e-01 -1.31982479e-02 -1.54890693e-01] [-1.24193136e-02 1.33354842e-02 9.99833949e-01 -2.91679584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80119381700004 meters Centerline goodness : 0.913007 Centerline is valid? [False, False] Translation: X:29.18, Y:-0.14, Z:-2.92 [[ 9.99832505e-01 -1.05237048e-02 1.49737934e-02 2.91832074e+01] [ 1.07085847e-02 9.99866754e-01 -1.23207560e-02 -1.37183726e-01] [-1.48421382e-02 1.24790405e-02 9.99811975e-01 -2.91756517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83119381700004 meters Centerline goodness : 0.913000 Centerline is valid? [False, False] Translation: X:29.18, Y:-0.13, Z:-2.92 [[ 9.99851571e-01 -8.54612571e-03 1.49599107e-02 2.91834141e+01] [ 8.71814416e-03 9.99896195e-01 -1.14714292e-02 -1.28957859e-01] [-1.48603215e-02 1.16001491e-02 9.99822288e-01 -2.91757467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86119381700004 meters Centerline goodness : 0.916377 Centerline is valid? [False, False] Translation: X:29.18, Y:-0.12, Z:-2.92 [[ 9.99865650e-01 -6.52443271e-03 1.50370669e-02 2.91835672e+01] [ 6.68577106e-03 9.99920357e-01 -1.07041978e-02 -1.20128651e-01] [-1.49660305e-02 1.08032941e-02 9.99829639e-01 -2.91775298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.89119381700002 meters Centerline goodness : 0.918031 Centerline is valid? [False, False] Translation: X:29.19, Y:-0.10, Z:-2.92 [[ 9.99917814e-01 -5.59617738e-03 1.15346102e-02 2.91903515e+01] [ 5.68451877e-03 9.99954655e-01 -7.64030647e-03 -1.01216488e-01] [-1.14913306e-02 7.70524725e-03 9.99904285e-01 -2.91557254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92119381700002 meters Centerline goodness : 0.917529 Centerline is valid? [False, False] Translation: X:29.19, Y:-0.09, Z:-2.92 [[ 9.99930880e-01 -3.11433722e-03 1.13373861e-02 2.91910780e+01] [ 3.18701146e-03 9.99974456e-01 -6.39772752e-03 -9.31056514e-02] [-1.13171718e-02 6.43341769e-03 9.99915263e-01 -2.91574535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95119381700002 meters Centerline goodness : 0.918425 Centerline is valid? [False, False] Translation: X:29.19, Y:-0.08, Z:-2.92 [[ 9.99936876e-01 -1.09648179e-03 1.11821695e-02 2.91920666e+01] [ 1.16021837e-03 9.99983111e-01 -5.69494745e-03 -8.45450189e-02] [-1.11757362e-02 5.70756172e-03 9.99921260e-01 -2.91624662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98119381700002 meters Centerline goodness : 0.920609 Centerline is valid? [False, False] Translation: X:29.18, Y:-0.06, Z:-2.91 [[ 9.99987349e-01 1.07478289e-03 4.91391262e-03 2.91782198e+01] [-1.02319367e-03 9.99944464e-01 -1.04890891e-02 -6.05355732e-02] [-4.92491321e-03 1.04839285e-02 9.99932914e-01 -2.91039507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01119381700002 meters Centerline goodness : 0.919672 Centerline is valid? [False, False] Translation: X:29.18, Y:-0.05, Z:-2.91 [[ 9.99981548e-01 3.67276651e-03 4.83890656e-03 2.91786942e+01] [-3.62864947e-03 9.99952059e-01 -9.09459985e-03 -5.21892108e-02] [-4.87207692e-03 9.07687334e-03 9.99946935e-01 -2.91038890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04119381700002 meters Centerline goodness : 0.922340 Centerline is valid? [False, False] Translation: X:29.18, Y:-0.04, Z:-2.91 [[ 9.99969312e-01 6.08052056e-03 4.93986237e-03 2.91784865e+01] [-6.04115556e-03 9.99950189e-01 -7.94506230e-03 -4.42353850e-02] [-4.98792642e-03 7.91497600e-03 9.99956236e-01 -2.90999653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07119381700002 meters Centerline goodness : 0.921663 Centerline is valid? [False, False] Translation: X:29.18, Y:-0.04, Z:-2.91 [[ 9.99953257e-01 8.35052792e-03 4.87361201e-03 2.91791288e+01] [-8.31651411e-03 9.99941208e-01 -6.95820777e-03 -3.66999815e-02] [-4.93143018e-03 6.91735106e-03 9.99963915e-01 -2.91022018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10119381700002 meters Centerline goodness : 0.923005 Centerline is valid? [False, False] Translation: X:29.18, Y:-0.03, Z:-2.91 [[ 9.99931125e-01 1.07447172e-02 4.72197290e-03 2.91799645e+01] [-1.07171572e-02 9.99925611e-01 -5.82360175e-03 -2.95511841e-02] [-4.78419459e-03 5.77259452e-03 9.99971894e-01 -2.91041510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13119381700002 meters Centerline goodness : 0.923670 Centerline is valid? [False, False] Translation: X:29.18, Y:-0.02, Z:-2.91 [[ 9.99904237e-01 1.29724870e-02 4.81986288e-03 2.91798670e+01] [-1.29491188e-02 9.99904403e-01 -4.84829841e-03 -2.23505197e-02] [-4.88229660e-03 4.78542114e-03 9.99976631e-01 -2.91003493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16119381700003 meters Centerline goodness : 0.928068 Centerline is valid? [False, False] Translation: X:29.18, Y:-0.01, Z:-2.91 [[ 9.99828670e-01 1.77812539e-02 5.14360801e-03 2.91790946e+01] [-1.77660494e-02 9.99837710e-01 -2.98674173e-03 -7.33969819e-03] [-5.19588127e-03 2.89484842e-03 9.99982311e-01 -2.90817756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19119381700003 meters Centerline goodness : 0.930857 Centerline is valid? [False, False] Translation: X:29.18, Y:-0.00, Z:-2.91 [[ 9.99776710e-01 2.04579555e-02 5.29164074e-03 2.91784718e+01] [-2.04491549e-02 9.99789429e-01 -1.71191440e-03 -6.50049385e-05] [-5.32554874e-03 1.60332256e-03 9.99984534e-01 -2.90708977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22119381700003 meters Centerline goodness : 0.929771 Centerline is valid? [False, False] Translation: X:29.18, Y:0.01, Z:-2.91 [[ 9.99714973e-01 2.32849193e-02 5.27126210e-03 2.91786314e+01] [-2.32844792e-02 9.99728869e-01 -1.44860274e-04 6.62503795e-03] [-5.27320596e-03 2.20803918e-05 9.99986096e-01 -2.90664599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25119381700003 meters Centerline goodness : 0.930016 Centerline is valid? [False, False] Translation: X:29.18, Y:0.01, Z:-2.91 [[ 9.99640487e-01 2.62874160e-02 5.27909136e-03 2.91789592e+01] [-2.62966229e-02 9.99652769e-01 1.68224773e-03 1.26141053e-02] [-5.23303635e-03 -1.82046521e-03 9.99984651e-01 -2.90652520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28119381700003 meters Centerline goodness : 0.932897 Centerline is valid? [False, False] Translation: X:29.18, Y:0.02, Z:-2.91 [[ 9.99444878e-01 3.28944927e-02 5.28093585e-03 2.91812098e+01] [-3.29273121e-02 9.99438189e-01 6.25290304e-03 2.20726777e-02] [-5.07228289e-03 -6.42331893e-03 9.99966506e-01 -2.90823570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31119381700003 meters Centerline goodness : 0.929050 Centerline is valid? [False, False] Translation: X:29.18, Y:0.03, Z:-2.91 [[ 9.99316610e-01 3.66064005e-02 5.12677712e-03 2.91826693e+01] [-3.66511099e-02 9.99288342e-01 8.91664443e-03 2.66417746e-02] [-4.79672235e-03 -9.09845295e-03 9.99947103e-01 -2.90913692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34119381700003 meters Centerline goodness : 0.931966 Centerline is valid? [False, False] Translation: X:29.18, Y:0.03, Z:-2.91 [[ 9.99162631e-01 4.06076439e-02 5.00562275e-03 2.91841994e+01] [-4.06635461e-02 9.99105282e-01 1.16237564e-02 3.18515188e-02] [-4.52913076e-03 -1.18175694e-02 9.99919913e-01 -2.91000768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37119381700003 meters Centerline goodness : 0.935633 Centerline is valid? [False, False] Translation: X:29.19, Y:0.04, Z:-2.91 [[ 9.98637906e-01 5.19036939e-02 5.32347506e-03 2.91853910e+01] [-5.20019540e-02 9.98439212e-01 2.03700166e-02 4.22762232e-02] [-4.25788714e-03 -2.06191019e-02 9.99778337e-01 -2.91004040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40119381700003 meters Centerline goodness : 0.936486 Centerline is valid? [False, False] Translation: X:29.19, Y:0.05, Z:-2.91 [[ 9.98427914e-01 5.58023355e-02 5.27252578e-03 2.91861044e+01] [-5.59088076e-02 9.98174515e-01 2.28438862e-02 4.78642366e-02] [-3.98815866e-03 -2.31027543e-02 9.99725141e-01 -2.90977582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43119381700004 meters Centerline goodness : 0.936800 Centerline is valid? [False, False] Translation: X:29.19, Y:0.05, Z:-2.91 [[ 9.98208932e-01 5.95954573e-02 5.22591775e-03 2.91869698e+01] [-5.97107226e-02 9.97884361e-01 2.57183319e-02 5.16929030e-02] [-3.68216584e-03 -2.59843119e-02 9.99655569e-01 -2.90995170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46119381700004 meters Centerline goodness : 0.935748 Centerline is valid? [False, False] Translation: X:29.19, Y:0.06, Z:-2.91 [[ 9.98202809e-01 5.97362129e-02 4.76842276e-03 2.91882485e+01] [-5.98360772e-02 9.97903783e-01 2.46512370e-02 5.55699770e-02] [-3.28585557e-03 -2.48922578e-02 9.99684740e-01 -2.91003132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49119381700004 meters Centerline goodness : 0.937579 Centerline is valid? [False, False] Translation: X:29.19, Y:0.06, Z:-2.91 [[ 9.98206475e-01 5.96870977e-02 4.61337627e-03 2.91891262e+01] [-5.97794438e-02 9.97935153e-01 2.34914606e-02 5.91290333e-02] [-3.20171325e-03 -2.37251132e-02 9.99713393e-01 -2.91047487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52119381700004 meters Centerline goodness : 0.937832 Centerline is valid? [False, False] Translation: X:29.19, Y:0.06, Z:-2.91 [[ 9.98228173e-01 5.93400149e-02 4.39056260e-03 2.91895329e+01] [-5.94249866e-02 9.97973140e-01 2.27658377e-02 6.08373963e-02] [-3.03073839e-03 -2.29864097e-02 9.99731184e-01 -2.91034770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55119381700004 meters Centerline goodness : 0.937309 Centerline is valid? [False, False] Translation: X:29.19, Y:0.06, Z:-2.91 [[ 9.98238644e-01 5.91838270e-02 4.10911927e-03 2.91903352e+01] [-5.92614361e-02 9.97990528e-01 2.24274192e-02 6.17897434e-02] [-2.77352162e-03 -2.26314288e-02 9.99740029e-01 -2.91062348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58119381700004 meters Centerline goodness : 0.937810 Centerline is valid? [False, False] Translation: X:29.19, Y:0.06, Z:-2.91 [[ 9.98438875e-01 5.57517832e-02 3.39869431e-03 2.91916572e+01] [-5.58045472e-02 9.98276462e-01 1.81647498e-02 6.38004574e-02] [-2.38011934e-03 -1.83260549e-02 9.99829231e-01 -2.91062272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61119381700004 meters Centerline goodness : 0.937653 Centerline is valid? [False, False] Translation: X:29.19, Y:0.06, Z:-2.91 [[ 9.98631489e-01 5.22250833e-02 2.77291915e-03 2.91927641e+01] [-5.22589932e-02 9.98535017e-01 1.40291844e-02 6.49644183e-02] [-2.03618155e-03 -1.41548953e-02 9.99897741e-01 -2.91065293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64119381700002 meters Centerline goodness : 0.937653 Centerline is valid? [False, False] Translation: X:29.19, Y:0.06, Z:-2.91 [[ 9.98631489e-01 5.22250833e-02 2.77291915e-03 2.91927641e+01] [-5.22589932e-02 9.98535017e-01 1.40291844e-02 6.49644183e-02] [-2.03618155e-03 -1.41548953e-02 9.99897741e-01 -2.91065293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67119381700002 meters Centerline goodness : 0.936470 Centerline is valid? [False, False] Translation: X:29.19, Y:0.06, Z:-2.91 [[ 9.98828713e-01 4.83365256e-02 2.18679202e-03 2.91932515e+01] [-4.83572991e-02 9.98772442e-01 1.07322003e-02 6.19869450e-02] [-1.66535033e-03 -1.08253772e-02 9.99940017e-01 -2.91047659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70119381700002 meters Centerline goodness : 0.937477 Centerline is valid? [False, False] Translation: X:29.19, Y:0.06, Z:-2.91 [[ 9.98988246e-01 4.49401789e-02 1.69245289e-03 2.91939237e+01] [-4.49517411e-02 9.98960553e-01 7.56009727e-03 6.02867382e-02] [-1.35094155e-03 -7.62852702e-03 9.99969990e-01 -2.91033055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73119381700002 meters Centerline goodness : 0.938496 Centerline is valid? [False, False] Translation: X:29.19, Y:0.06, Z:-2.91 [[ 9.99136935e-01 4.15210593e-02 1.17776588e-03 2.91945455e+01] [-4.15257548e-02 9.99128221e-01 4.29059388e-03 5.87993372e-02] [-9.98589124e-04 -4.33579843e-03 9.99990102e-01 -2.91004451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76119381700002 meters Centerline goodness : 0.937501 Centerline is valid? [False, False] Translation: X:29.20, Y:0.06, Z:-2.91 [[ 9.99266237e-01 3.82936112e-02 7.66192925e-04 2.91951193e+01] [-3.82949389e-02 9.99264858e-01 1.80054501e-03 5.50601168e-02] [-6.96680293e-04 -1.82856515e-03 9.99998085e-01 -2.91019018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79119381700002 meters Centerline goodness : 0.938325 Centerline is valid? [False, False] Translation: X:29.22, Y:0.05, Z:-2.91 [[ 9.99406591e-01 3.44375885e-02 -7.19486127e-04 2.92211564e+01] [-3.44232013e-02 9.99297970e-01 1.47854742e-02 4.82798834e-02] [ 1.22815710e-03 -1.47519333e-02 9.99890430e-01 -2.91089459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82119381700002 meters Centerline goodness : 0.936671 Centerline is valid? [False, False] Translation: X:29.24, Y:0.04, Z:-2.91 [[ 9.99460362e-01 3.27816660e-02 2.08481504e-03 2.92399161e+01] [-3.28176515e-02 9.99249821e-01 2.05620276e-02 4.21313928e-02] [-1.40919354e-03 -2.06193503e-02 9.99786405e-01 -2.91459219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85119381700002 meters Centerline goodness : 0.938272 Centerline is valid? [False, False] Translation: X:29.26, Y:0.04, Z:-2.92 [[ 9.99545895e-01 2.97916346e-02 4.52342472e-03 2.92587608e+01] [-2.98881467e-02 9.99288027e-01 2.30247237e-02 3.84893051e-02] [-3.83426001e-03 -2.31494649e-02 9.99724662e-01 -2.91643041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88119381700002 meters Centerline goodness : 0.936953 Centerline is valid? [False, False] Translation: X:29.28, Y:0.03, Z:-2.92 [[ 9.99584672e-01 2.79240404e-02 7.12261057e-03 2.92778155e+01] [-2.81080586e-02 9.99234850e-01 2.71965187e-02 3.31946394e-02] [-6.35772402e-03 -2.73854260e-02 9.99604731e-01 -2.91878139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91119381700003 meters Centerline goodness : 0.937110 Centerline is valid? [False, False] Translation: X:29.30, Y:0.03, Z:-2.92 [[ 9.99638505e-01 2.52228739e-02 9.30944265e-03 2.92969503e+01] [-2.54865648e-02 9.99243163e-01 2.93860019e-02 3.05059575e-02] [-8.56119750e-03 -2.96126447e-02 9.99524786e-01 -2.92020451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94119381700003 meters Centerline goodness : 0.935799 Centerline is valid? [False, False] Translation: X:29.32, Y:0.03, Z:-2.92 [[ 9.99722103e-01 2.24503274e-02 7.19019551e-03 2.93225362e+01] [-2.26265949e-02 9.99419959e-01 2.54515578e-02 2.96826069e-02] [-6.61462910e-03 -2.56071745e-02 9.99650198e-01 -2.91783696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97119381700003 meters Centerline goodness : 0.932475 Centerline is valid? [False, False] Translation: X:29.32, Y:0.03, Z:-2.92 [[ 9.99793834e-01 1.91400012e-02 6.77863624e-03 2.93232764e+01] [-1.92820930e-02 9.99581673e-01 2.15564301e-02 2.99451935e-02] [-6.36321045e-03 -2.16826922e-02 9.99744653e-01 -2.91766778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00119381700003 meters Centerline goodness : 0.933501 Centerline is valid? [False, False] Translation: X:29.33, Y:0.03, Z:-2.92 [[ 9.99843268e-01 1.66809093e-02 5.93177858e-03 2.93257897e+01] [-1.67888339e-02 9.99685378e-01 1.86354571e-02 2.95051907e-02] [-5.61905594e-03 -1.87321240e-02 9.99808749e-01 -2.91868448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03119381700003 meters Centerline goodness : 0.931014 Centerline is valid? [False, False] Translation: X:29.35, Y:0.03, Z:-2.92 [[ 9.99908796e-01 1.25579492e-02 4.96973535e-03 2.93479007e+01] [-1.26563818e-02 9.99713881e-01 2.02971135e-02 2.51074490e-02] [-4.71342330e-03 -2.03581612e-02 9.99781641e-01 -2.92104999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06119381700003 meters Centerline goodness : 0.929927 Centerline is valid? [False, False] Translation: X:29.37, Y:0.02, Z:-2.92 [[ 9.99952422e-01 8.33700062e-03 5.06434179e-03 2.93684158e+01] [-8.44118810e-03 9.99745682e-01 2.09121197e-02 2.29192170e-02] [-4.88870949e-03 -2.09538738e-02 9.99768491e-01 -2.92213525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09119381700003 meters Centerline goodness : 0.930053 Centerline is valid? [False, False] Translation: X:29.39, Y:0.02, Z:-2.92 [[ 9.99971721e-01 4.42373855e-03 6.08180836e-03 2.93879143e+01] [-4.55802221e-03 9.99742138e-01 2.22459285e-02 2.04276337e-02] [-5.98182992e-03 -2.22730204e-02 9.99734030e-01 -2.92338965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12119381700003 meters Centerline goodness : 0.928325 Centerline is valid? [False, False] Translation: X:29.41, Y:0.02, Z:-2.93 [[ 9.99956343e-01 2.87011026e-03 8.89244197e-03 2.94065956e+01] [-3.11902851e-03 9.99600086e-01 2.81058769e-02 1.55108107e-02] [-8.80821879e-03 -2.81323856e-02 9.99565398e-01 -2.92711413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15119381700003 meters Centerline goodness : 0.928129 Centerline is valid? [False, False] Translation: X:29.41, Y:0.01, Z:-2.93 [[ 9.99965995e-01 -2.02637322e-04 8.24429965e-03 2.94082923e+01] [-2.56980556e-06 9.99690366e-01 2.48831685e-02 1.46711509e-02] [-8.24678919e-03 -2.48823435e-02 9.99656371e-01 -2.92749825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18119381700004 meters Centerline goodness : 0.929841 Centerline is valid? [False, False] Translation: X:29.44, Y:0.01, Z:-2.93 [[ 9.99962531e-01 -5.26138964e-03 6.87414130e-03 2.94386654e+01] [ 5.00060736e-03 9.99287176e-01 3.74183750e-02 6.71307231e-03] [-7.06611390e-03 -3.73825981e-02 9.99276044e-01 -2.93058753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21119381700004 meters Centerline goodness : 0.927493 Centerline is valid? [False, False] Translation: X:29.44, Y:0.01, Z:-2.93 [[ 9.99947257e-01 -8.11695115e-03 6.29274799e-03 2.94402727e+01] [ 7.89732704e-03 9.99384707e-01 3.41736761e-02 6.29085983e-03] [-6.56626216e-03 -3.41221778e-02 9.99396098e-01 -2.93089450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24119381700004 meters Centerline goodness : 0.924967 Centerline is valid? [False, False] Translation: X:29.46, Y:0.00, Z:-2.93 [[ 9.99931555e-01 -7.71451287e-03 8.79610804e-03 2.94588156e+01] [ 7.34215683e-03 9.99107120e-01 4.16059513e-02 1.69053245e-03] [-9.10922381e-03 -4.15385212e-02 9.99095377e-01 -2.93376169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27119381700004 meters Centerline goodness : 0.927587 Centerline is valid? [False, False] Translation: X:29.48, Y:-0.00, Z:-2.93 [[ 9.99904799e-01 -7.67217090e-03 1.14686977e-02 2.94780608e+01] [ 7.12458797e-03 9.98867257e-01 4.70472424e-02 -3.27683398e-03] [-1.18166611e-02 -4.69610537e-02 9.98826825e-01 -2.93499876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30119381700004 meters Centerline goodness : 0.927984 Centerline is valid? [False, False] Translation: X:29.48, Y:-0.00, Z:-2.93 [[ 9.99928283e-01 -8.54184203e-03 8.39437331e-03 2.94846196e+01] [ 8.18903534e-03 9.99117330e-01 4.12007354e-02 -3.10482326e-03] [-8.73889403e-03 -4.11290388e-02 9.99115626e-01 -2.93123710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33119381700004 meters Centerline goodness : 0.925181 Centerline is valid? [False, False] Translation: X:29.49, Y:-0.00, Z:-2.93 [[ 9.99914648e-01 -1.06587536e-02 7.55558371e-03 2.94871239e+01] [ 1.03611240e-02 9.99208993e-01 3.83931610e-02 -4.05122097e-03] [-7.95883043e-03 -3.83115998e-02 9.99234146e-01 -2.93188144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36119381700004 meters Centerline goodness : 0.924481 Centerline is valid? [False, False] Translation: X:29.49, Y:-0.01, Z:-2.93 [[ 9.99895269e-01 -1.27316734e-02 6.88152316e-03 2.94896484e+01] [ 1.24770383e-02 9.99278981e-01 3.58586401e-02 -5.10076868e-03] [-7.33310195e-03 -3.57690236e-02 9.99333179e-01 -2.93303355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39119381700002 meters Centerline goodness : 0.923374 Centerline is valid? [False, False] Translation: X:29.53, Y:-0.01, Z:-2.94 [[ 9.99872293e-01 -1.41234730e-02 7.47835001e-03 2.95274487e+01] [ 1.37638238e-02 9.98840299e-01 4.61369117e-02 -1.38974200e-02] [-8.12129078e-03 -4.60280890e-02 9.98907133e-01 -2.93712457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42119381700002 meters Centerline goodness : 0.922401 Centerline is valid? [False, False] Translation: X:29.53, Y:-0.01, Z:-2.94 [[ 9.99835517e-01 -1.69299328e-02 6.50507012e-03 2.95300055e+01] [ 1.66369287e-02 9.98948300e-01 4.27259538e-02 -1.38991904e-02] [-7.22157626e-03 -4.26107018e-02 9.99065652e-01 -2.93775172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45119381700002 meters Centerline goodness : 0.921563 Centerline is valid? [False, False] Translation: X:29.54, Y:-0.02, Z:-2.94 [[ 9.99776879e-01 -1.79382418e-02 1.11539600e-02 2.95436220e+01] [ 1.73196641e-02 9.98429467e-01 5.32787882e-02 -2.02116178e-02] [-1.20921701e-02 -5.30737177e-02 9.98517381e-01 -2.94335476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48119381700002 meters Centerline goodness : 0.923489 Centerline is valid? [False, False] Translation: X:29.56, Y:-0.02, Z:-2.95 [[ 9.99678565e-01 -2.08331460e-02 1.44480546e-02 2.95557848e+01] [ 1.98880677e-02 9.97832414e-01 6.27290921e-02 -2.38380712e-02] [-1.57235815e-02 -6.24215849e-02 9.97926007e-01 -2.94730440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51119381700002 meters Centerline goodness : 0.920037 Centerline is valid? [False, False] Translation: X:29.57, Y:-0.03, Z:-2.95 [[ 9.99493423e-01 -2.74536342e-02 1.60995580e-02 2.95654997e+01] [ 2.62572142e-02 9.97178264e-01 7.03282932e-02 -2.82064802e-02] [-1.79848965e-02 -6.98699369e-02 9.97393972e-01 -2.94877666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54119381700002 meters Centerline goodness : 0.920330 Centerline is valid? [False, False] Translation: X:29.57, Y:-0.03, Z:-2.95 [[ 9.99379823e-01 -3.13783266e-02 1.59802820e-02 2.95659033e+01] [ 3.02597110e-02 9.97361182e-01 6.59925914e-02 -2.74396785e-02] [-1.80088500e-02 -6.54681057e-02 9.97692141e-01 -2.94856150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57119381700002 meters Centerline goodness : 0.919365 Centerline is valid? [False, False] Translation: X:29.55, Y:-0.03, Z:-2.95 [[ 9.99419439e-01 -3.08667115e-02 1.44232632e-02 2.95457575e+01] [ 2.98828085e-02 9.97498203e-01 6.40652194e-02 -2.73499404e-02] [-1.63646617e-02 -6.35970180e-02 9.97841479e-01 -2.94718783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60119381700002 meters Centerline goodness : 0.921115 Centerline is valid? [False, False] Translation: X:29.52, Y:-0.02, Z:-2.94 [[ 9.99465340e-01 -2.84125724e-02 1.61790144e-02 2.95174669e+01] [ 2.76444336e-02 9.98564805e-01 4.58706286e-02 -2.11326950e-02] [-1.74590969e-02 -4.53988437e-02 9.98816362e-01 -2.94197674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63119381700002 meters Centerline goodness : 0.922077 Centerline is valid? [False, False] Translation: X:29.49, Y:-0.02, Z:-2.94 [[ 9.99555445e-01 -2.45382298e-02 1.69348344e-02 2.94873587e+01] [ 2.39741432e-02 9.99176167e-01 3.27448807e-02 -1.58889102e-02] [-1.77243843e-02 -3.23243257e-02 9.99320261e-01 -2.93845721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66119381700003 meters Centerline goodness : 0.921320 Centerline is valid? [False, False] Translation: X:29.47, Y:-0.01, Z:-2.94 [[ 9.99633714e-01 -2.18024755e-02 1.60340510e-02 2.94665807e+01] [ 2.12910846e-02 9.99280059e-01 3.14014866e-02 -1.36401729e-02] [-1.67071376e-02 -3.10486023e-02 9.99378235e-01 -2.93663582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69119381700003 meters Centerline goodness : 0.921308 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.01, Z:-2.93 [[ 9.99750837e-01 -1.94774785e-02 1.09037544e-02 2.94529221e+01] [ 1.92161141e-02 9.99537195e-01 2.35825312e-02 -8.31413593e-03] [-1.13580364e-02 -2.33671275e-02 9.99662429e-01 -2.93161498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72119381700003 meters Centerline goodness : 0.923690 Centerline is valid? [False, False] Translation: X:29.44, Y:-0.00, Z:-2.93 [[ 9.99844835e-01 -1.64213021e-02 6.37546206e-03 2.94394473e+01] [ 1.63159117e-02 9.99734911e-01 1.62449311e-02 -3.15218897e-03] [-6.64053492e-03 -1.61383890e-02 9.99847716e-01 -2.92717627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75119381700003 meters Centerline goodness : 0.923340 Centerline is valid? [False, False] Translation: X:29.44, Y:0.00, Z:-2.93 [[ 9.99887358e-01 -1.35117896e-02 6.53477245e-03 2.94388414e+01] [ 1.33878777e-02 9.99736477e-01 1.86478237e-02 2.47866270e-04] [-6.78501586e-03 -1.85582365e-02 9.99804759e-01 -2.92705629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78119381700003 meters Centerline goodness : 0.922844 Centerline is valid? [False, False] Translation: X:29.44, Y:0.00, Z:-2.93 [[ 9.99901637e-01 -1.26925701e-02 5.96786737e-03 2.94413471e+01] [ 1.25757328e-02 9.99736114e-01 1.92237729e-02 1.16687848e-03] [-6.21029162e-03 -1.91468317e-02 9.99797395e-01 -2.92884057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81119381700003 meters Centerline goodness : 0.920840 Centerline is valid? [False, False] Translation: X:29.44, Y:0.00, Z:-2.93 [[ 9.99941634e-01 -9.17568069e-03 5.70390064e-03 2.94423643e+01] [ 9.04025703e-03 9.99686917e-01 2.33311473e-02 6.95617911e-04] [-5.91619400e-03 -2.32782208e-02 9.99711520e-01 -2.93007949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84119381700003 meters Centerline goodness : 0.921051 Centerline is valid? [False, False] Translation: X:29.44, Y:0.00, Z:-2.93 [[ 9.99951528e-01 -8.41904361e-03 5.10497293e-03 2.94449965e+01] [ 8.29485784e-03 9.99680462e-01 2.38782123e-02 2.04639500e-03] [-5.30437340e-03 -2.38347099e-02 9.99701841e-01 -2.93197943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87119381700003 meters Centerline goodness : 0.918146 Centerline is valid? [False, False] Translation: X:29.43, Y:0.01, Z:-2.93 [[ 9.99986114e-01 -5.26982194e-03 1.81963029e-05 2.94294740e+01] [ 5.26800857e-03 9.99721452e-01 2.30058092e-02 6.02826201e-03] [-1.39427752e-04 -2.30053939e-02 9.99735331e-01 -2.93250922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90119381700003 meters Centerline goodness : 0.918523 Centerline is valid? [False, False] Translation: X:29.43, Y:0.01, Z:-2.93 [[ 9.99989695e-01 -4.50286262e-03 -5.78755104e-04 2.94322301e+01] [ 4.51522546e-03 9.99713392e-01 2.35105794e-02 7.32839529e-03] [ 4.72724319e-04 -2.35129503e-02 9.99723421e-01 -2.93450902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93119381700004 meters Centerline goodness : 0.919597 Centerline is valid? [False, False] Translation: X:29.43, Y:0.01, Z:-2.94 [[ 9.99992823e-01 -3.59527643e-03 -1.19494540e-03 2.94348607e+01] [ 3.62286398e-03 9.99706648e-01 2.39477291e-02 8.60218272e-03] [ 1.10849615e-03 -2.39518864e-02 9.99712498e-01 -2.93630826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96119381700004 meters Centerline goodness : 0.917619 Centerline is valid? [False, False] Translation: X:29.45, Y:0.01, Z:-2.94 [[ 9.99992225e-01 -2.92477150e-03 2.64488186e-03 2.94464563e+01] [ 2.82447733e-03 9.99305329e-01 3.71602135e-02 5.25942607e-03] [-2.75172967e-03 -3.71524542e-02 9.99305821e-01 -2.94141967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99119381700004 meters Centerline goodness : 0.917623 Centerline is valid? [False, False] Translation: X:29.45, Y:0.01, Z:-2.94 [[ 9.99997551e-01 5.73647787e-04 2.13752920e-03 2.94500772e+01] [-6.58806381e-04 9.99197283e-01 4.00544036e-02 7.43633339e-03] [-2.11283624e-03 -4.00557137e-02 9.99195214e-01 -2.94475289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02119381700004 meters Centerline goodness : 0.917528 Centerline is valid? [False, False] Translation: X:29.45, Y:0.01, Z:-2.95 [[ 9.99988745e-01 4.44420142e-03 1.66102717e-03 2.94513916e+01] [-4.51242192e-03 9.99038272e-01 4.36138702e-02 8.70822495e-03] [-1.46560089e-03 -4.36208746e-02 9.99047082e-01 -2.94542993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05119381700004 meters Centerline goodness : 0.918876 Centerline is valid? [False, False] Translation: X:29.46, Y:0.01, Z:-2.94 [[ 9.99981316e-01 6.10971808e-03 1.95407412e-04 2.94587472e+01] [-6.11276898e-03 9.99301893e-01 3.68559525e-02 1.41467599e-02] [ 2.99084826e-05 -3.68564584e-02 9.99320569e-01 -2.94214842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08119381700004 meters Centerline goodness : 0.916373 Centerline is valid? [False, False] Translation: X:29.46, Y:0.02, Z:-2.94 [[ 9.99970804e-01 7.62204714e-03 -5.43699657e-04 2.94618161e+01] [-7.59632315e-03 9.99268848e-01 3.74708651e-02 1.70706154e-02] [ 8.28906831e-04 -3.74656410e-02 9.99297573e-01 -2.94400127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11119381700004 meters Centerline goodness : 0.917291 Centerline is valid? [False, False] Translation: X:29.46, Y:0.02, Z:-2.94 [[ 9.99938352e-01 1.10654869e-02 -9.20027381e-04 2.94627654e+01] [-1.10200869e-02 9.99146246e-01 3.98162875e-02 2.20563006e-02] [ 1.35982851e-03 -3.98036941e-02 9.99206594e-01 -2.94414345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14119381700002 meters Centerline goodness : 0.917664 Centerline is valid? [False, False] Translation: X:29.46, Y:0.03, Z:-2.94 [[ 9.99940220e-01 1.08672052e-02 -1.20869143e-03 2.94633361e+01] [-1.08125196e-02 9.99197620e-01 3.85643098e-02 2.57506984e-02] [ 1.62680787e-03 -3.85489354e-02 9.99255389e-01 -2.94400924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17119381700002 meters Centerline goodness : 0.916827 Centerline is valid? [False, False] Translation: X:29.46, Y:0.03, Z:-2.94 [[ 9.99939885e-01 1.08489114e-02 -1.58962202e-03 2.94643468e+01] [-1.07812450e-02 9.99230143e-01 3.77211710e-02 2.88401821e-02] [ 1.99763189e-03 -3.77017653e-02 9.99287039e-01 -2.94424450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20119381700002 meters Centerline goodness : 0.917870 Centerline is valid? [False, False] Translation: X:29.46, Y:0.04, Z:-2.94 [[ 9.99943506e-01 1.04724377e-02 -1.82005153e-03 2.94648274e+01] [-1.04007322e-02 9.99307210e-01 3.57340890e-02 3.55161361e-02] [ 2.19301363e-03 -3.57131404e-02 9.99359676e-01 -2.94403991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23119381700002 meters Centerline goodness : 0.916774 Centerline is valid? [False, False] Translation: X:29.47, Y:0.04, Z:-2.94 [[ 9.99946444e-01 1.01111633e-02 -2.20741062e-03 2.94653409e+01] [-1.00287784e-02 9.99351156e-01 3.45932158e-02 3.89423328e-02] [ 2.55575601e-03 -3.45692255e-02 9.99399038e-01 -2.94357465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26119381700002 meters Centerline goodness : 0.920271 Centerline is valid? [False, False] Translation: X:29.47, Y:0.04, Z:-2.94 [[ 9.99949987e-01 9.67271470e-03 -2.54222745e-03 2.94654624e+01] [-9.58239454e-03 9.99395567e-01 3.34167237e-02 4.19353463e-02] [ 2.86392128e-03 -3.33906918e-02 9.99438272e-01 -2.94278168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29119381700002 meters Centerline goodness : 0.920049 Centerline is valid? [False, False] Translation: X:29.46, Y:0.04, Z:-2.94 [[ 9.99956039e-01 8.97704258e-03 -2.70783410e-03 2.94649471e+01] [-8.88519860e-03 9.99441599e-01 3.22109081e-02 4.44659147e-02] [ 2.99548074e-03 -3.21854324e-02 9.99477426e-01 -2.94162829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32119381700002 meters Centerline goodness : 0.921241 Centerline is valid? [False, False] Translation: X:29.46, Y:0.05, Z:-2.94 [[ 9.99981452e-01 5.25344758e-03 -3.08180160e-03 2.94649700e+01] [-5.16870898e-03 9.99625078e-01 2.68884388e-02 4.97819044e-02] [ 3.22190317e-03 -2.68720111e-02 9.99633690e-01 -2.94022678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35119381700002 meters Centerline goodness : 0.919299 Centerline is valid? [False, False] Translation: X:29.47, Y:0.05, Z:-2.94 [[ 9.99993238e-01 1.36282699e-03 -3.41556714e-03 2.94652623e+01] [-1.28763114e-03 9.99758856e-01 2.19219584e-02 5.31341963e-02] [ 3.44461933e-03 -2.19174122e-02 9.99753851e-01 -2.93932530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38119381700002 meters Centerline goodness : 0.918032 Centerline is valid? [False, False] Translation: X:29.47, Y:0.06, Z:-2.94 [[ 9.99990173e-01 -2.00242631e-03 -3.95536304e-03 2.94665464e+01] [ 2.07198244e-03 9.99841900e-01 1.76601617e-02 5.56716548e-02] [ 3.91937452e-03 -1.76681836e-02 9.99836223e-01 -2.93925740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41119381700003 meters Centerline goodness : 0.920289 Centerline is valid? [False, False] Translation: X:29.47, Y:0.06, Z:-2.94 [[ 9.99988577e-01 -2.28953729e-03 -4.19559078e-03 2.94670497e+01] [ 2.36197285e-03 9.99846829e-01 1.73418427e-02 5.61896361e-02] [ 4.15524334e-03 -1.73515544e-02 9.99840816e-01 -2.93929068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44119381700003 meters Centerline goodness : 0.919068 Centerline is valid? [False, False] Translation: X:29.48, Y:0.06, Z:-2.94 [[ 9.99978506e-01 -6.45193447e-03 -1.16606279e-03 2.94844290e+01] [ 6.47165933e-03 9.99820840e-01 1.77877953e-02 5.79508840e-02] [ 1.05108819e-03 -1.77949593e-02 9.99841105e-01 -2.93965667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47119381700003 meters Centerline goodness : 0.919202 Centerline is valid? [False, False] Translation: X:29.49, Y:0.06, Z:-2.94 [[ 9.99977423e-01 -6.56979622e-03 -1.41117294e-03 2.94851796e+01] [ 6.59366644e-03 9.99822752e-01 1.76348615e-02 5.87715342e-02] [ 1.29506537e-03 -1.76437682e-02 9.99843498e-01 -2.93996223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50119381700003 meters Centerline goodness : 0.919096 Centerline is valid? [False, False] Translation: X:29.50, Y:0.06, Z:-2.94 [[ 9.99969325e-01 -7.74592011e-03 1.16204586e-03 2.95035864e+01] [ 7.71556751e-03 9.99677925e-01 2.41767681e-02 5.66298909e-02] [-1.34894291e-03 -2.41670606e-02 9.99707024e-01 -2.94417122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53119381700003 meters Centerline goodness : 0.916087 Centerline is valid? [False, False] Translation: X:29.50, Y:0.06, Z:-2.94 [[ 9.99969083e-01 -7.81784909e-03 8.45372568e-04 2.95047605e+01] [ 7.79500817e-03 9.99674479e-01 2.42934884e-02 5.62775928e-02] [-1.03502021e-03 -2.42861476e-02 9.99704512e-01 -2.94497677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56119381700003 meters Centerline goodness : 0.916087 Centerline is valid? [False, False] Translation: X:29.50, Y:0.06, Z:-2.94 [[ 9.99969083e-01 -7.81784909e-03 8.45372568e-04 2.95047605e+01] [ 7.79500817e-03 9.99674479e-01 2.42934884e-02 5.62775928e-02] [-1.03502021e-03 -2.42861476e-02 9.99704512e-01 -2.94497677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59119381700003 meters Centerline goodness : 0.914211 Centerline is valid? [False, False] Translation: X:29.53, Y:0.05, Z:-2.95 [[ 9.99953539e-01 -9.39573671e-03 2.15395715e-03 2.95254655e+01] [ 9.32859869e-03 9.99526920e-01 2.93072219e-02 5.32751954e-02] [-2.42830109e-03 -2.92857668e-02 9.99568130e-01 -2.94910987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62119381700003 meters Centerline goodness : 0.913703 Centerline is valid? [False, False] Translation: X:29.54, Y:0.05, Z:-2.96 [[ 9.99914398e-01 -1.16770597e-02 5.90281633e-03 2.95412100e+01] [ 1.14431466e-02 9.99203886e-01 3.82184397e-02 4.92532846e-02] [-6.34439601e-03 -3.81476213e-02 9.99251974e-01 -2.95624767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65119381700003 meters Centerline goodness : 0.911924 Centerline is valid? [False, False] Translation: X:29.54, Y:0.05, Z:-2.96 [[ 9.99884188e-01 -1.43033961e-02 5.19831561e-03 2.95437426e+01] [ 1.41142831e-02 9.99296109e-01 3.47573452e-02 5.16158581e-02] [-5.69180464e-03 -3.46799494e-02 9.99382261e-01 -2.95742198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68119381700004 meters Centerline goodness : 0.909654 Centerline is valid? [False, False] Translation: X:29.54, Y:0.05, Z:-2.96 [[ 9.99882927e-01 -1.44848581e-02 4.93170961e-03 2.95443380e+01] [ 1.43061467e-02 9.99301433e-01 3.45250799e-02 5.22217272e-02] [-5.42835536e-03 -3.44504842e-02 9.99391664e-01 -2.95755060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71119381700004 meters Centerline goodness : 0.908614 Centerline is valid? [False, False] Translation: X:29.54, Y:0.06, Z:-2.96 [[ 9.99814098e-01 -1.86978792e-02 4.70724178e-03 2.95444161e+01] [ 1.85531663e-02 9.99404069e-01 2.91081936e-02 5.60590498e-02] [-5.24869808e-03 -2.90154481e-02 9.99565183e-01 -2.95651579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74119381700004 meters Centerline goodness : 0.907618 Centerline is valid? [False, False] Translation: X:29.56, Y:0.05, Z:-2.96 [[ 9.99755667e-01 -2.00010662e-02 9.41082401e-03 2.95568219e+01] [ 1.96165942e-02 9.99034436e-01 3.93113961e-02 5.31705883e-02] [-1.01880071e-02 -3.91171827e-02 9.99182691e-01 -2.96186343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77119381700004 meters Centerline goodness : 0.907479 Centerline is valid? [False, False] Translation: X:29.56, Y:0.06, Z:-2.96 [[ 9.99699100e-01 -2.29141159e-02 8.75513022e-03 2.95590125e+01] [ 2.25904507e-02 9.99116689e-01 3.54332121e-02 5.57289515e-02] [-9.55931745e-03 -3.52247680e-02 9.99333696e-01 -2.96263737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80119381700004 meters Centerline goodness : 0.909798 Centerline is valid? [False, False] Translation: X:29.56, Y:0.06, Z:-2.96 [[ 9.99690942e-01 -2.33111609e-02 8.63777544e-03 2.95590526e+01] [ 2.29977337e-02 9.99130937e-01 3.47631141e-02 5.71271644e-02] [-9.44063722e-03 -3.45537210e-02 9.99358251e-01 -2.96243994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83119381700004 meters Centerline goodness : 0.908070 Centerline is valid? [False, False] Translation: X:29.56, Y:0.06, Z:-2.96 [[ 9.99640292e-01 -2.52039172e-02 9.16786315e-03 2.95568500e+01] [ 2.48955405e-02 9.99167328e-01 3.23243504e-02 6.13968995e-02] [-9.97492958e-03 -3.20844842e-02 9.99435384e-01 -2.96086588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86119381700004 meters Centerline goodness : 0.910451 Centerline is valid? [False, False] Translation: X:29.56, Y:0.06, Z:-2.96 [[ 9.99692412e-01 -2.31386475e-02 8.92666614e-03 2.95564952e+01] [ 2.28133636e-02 9.99128098e-01 3.49656225e-02 6.22847234e-02] [-9.72794017e-03 -3.47512201e-02 9.99348648e-01 -2.96055782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89119381700002 meters Centerline goodness : 0.910850 Centerline is valid? [False, False] Translation: X:29.56, Y:0.07, Z:-2.96 [[ 9.99598935e-01 -2.68567510e-02 8.98246687e-03 2.95567566e+01] [ 2.65768949e-02 9.99198160e-01 2.99450471e-02 6.74507259e-02] [-9.77949105e-03 -2.96943111e-02 9.99511185e-01 -2.96043259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92119381700002 meters Centerline goodness : 0.908251 Centerline is valid? [False, False] Translation: X:29.56, Y:0.07, Z:-2.96 [[ 9.99603408e-01 -2.69282598e-02 8.23987082e-03 2.95590292e+01] [ 2.66795538e-02 9.99225178e-01 2.89352001e-02 7.13983108e-02] [-9.01266096e-03 -2.87038885e-02 9.99547327e-01 -2.96180186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95119381700002 meters Centerline goodness : 0.910476 Centerline is valid? [False, False] Translation: X:29.56, Y:0.08, Z:-2.96 [[ 9.99585767e-01 -2.76250614e-02 8.07162422e-03 2.95595389e+01] [ 2.74035826e-02 9.99276581e-01 2.63696315e-02 8.08409363e-02] [-8.79424775e-03 -2.61375169e-02 9.99619673e-01 -2.96207989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98119381700002 meters Centerline goodness : 0.910994 Centerline is valid? [False, False] Translation: X:29.56, Y:0.09, Z:-2.96 [[ 9.99577809e-01 -2.79768915e-02 7.84207746e-03 2.95599113e+01] [ 2.77750927e-02 9.99307557e-01 2.47578261e-02 8.59319269e-02] [-8.52929428e-03 -2.45295592e-02 9.99662719e-01 -2.96167671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01119381700002 meters Centerline goodness : 0.912797 Centerline is valid? [False, False] Translation: X:29.56, Y:0.09, Z:-2.96 [[ 9.99581601e-01 -2.79602778e-02 7.40585186e-03 2.95606704e+01] [ 2.77804502e-02 9.99340986e-01 2.33632337e-02 9.05983509e-02] [-8.05421380e-03 -2.31477206e-02 9.99699611e-01 -2.96129595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04119381700002 meters Centerline goodness : 0.913614 Centerline is valid? [False, False] Translation: X:29.56, Y:0.09, Z:-2.96 [[ 9.99588159e-01 -2.78214252e-02 7.03430350e-03 2.95615535e+01] [ 2.76583806e-02 9.99368646e-01 2.23007603e-02 9.47026243e-02] [-7.65030130e-03 -2.20970185e-02 9.99726560e-01 -2.96109373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07119381700002 meters Centerline goodness : 0.912943 Centerline is valid? [False, False] Translation: X:29.56, Y:0.10, Z:-2.96 [[ 9.99597689e-01 -2.75683265e-02 6.66686987e-03 2.95626865e+01] [ 2.74258625e-02 9.99411735e-01 2.05914189e-02 1.02501358e-01] [-7.23061894e-03 -2.04002900e-02 9.99765746e-01 -2.96123911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10119381700002 meters Centerline goodness : 0.912861 Centerline is valid? [False, False] Translation: X:29.56, Y:0.11, Z:-2.96 [[ 9.99615382e-01 -2.70692413e-02 6.02860143e-03 2.95649208e+01] [ 2.69418697e-02 9.99431024e-01 2.02919626e-02 1.05709316e-01] [-6.57445934e-03 -2.01217362e-02 9.99775921e-01 -2.96245545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13119381700002 meters Centerline goodness : 0.913082 Centerline is valid? [False, False] Translation: X:29.57, Y:0.11, Z:-2.96 [[ 9.99608827e-01 -2.73753161e-02 5.72588693e-03 2.95655063e+01] [ 2.72621910e-02 9.99448102e-01 1.89806373e-02 1.10359127e-01] [-6.24232776e-03 -1.88171123e-02 9.99803455e-01 -2.96225337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16119381700003 meters Centerline goodness : 0.913839 Centerline is valid? [False, False] Translation: X:29.56, Y:0.12, Z:-2.96 [[ 9.99664209e-01 -2.52408703e-02 5.86242816e-03 2.95649319e+01] [ 2.51172175e-02 9.99478657e-01 2.02864339e-02 1.17661110e-01] [-6.37141907e-03 -2.01323740e-02 9.99777021e-01 -2.96219549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19119381700003 meters Centerline goodness : 0.912567 Centerline is valid? [False, False] Translation: X:29.57, Y:0.12, Z:-2.96 [[ 9.99661903e-01 -2.54034987e-02 5.54462179e-03 2.95658216e+01] [ 2.52907214e-02 9.99489125e-01 1.95414552e-02 1.20337775e-01] [-6.03821051e-03 -1.93946208e-02 9.99793673e-01 -2.96254169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22119381700003 meters Centerline goodness : 0.911904 Centerline is valid? [False, False] Translation: X:29.57, Y:0.12, Z:-2.96 [[ 9.99658961e-01 -2.55897479e-02 5.20835162e-03 2.95667527e+01] [ 2.54883526e-02 9.99500524e-01 1.86827652e-02 1.22745274e-01] [-5.68383743e-03 -1.85436413e-02 9.99811896e-01 -2.96287715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25119381700003 meters Centerline goodness : 0.914542 Centerline is valid? [False, False] Translation: X:29.57, Y:0.13, Z:-2.96 [[ 9.99646016e-01 -2.61265220e-02 5.02477813e-03 2.95670311e+01] [ 2.60344764e-02 9.99506353e-01 1.75856910e-02 1.25668163e-01] [-5.48175061e-03 -1.74486484e-02 9.99832734e-01 -2.96272503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28119381700003 meters Centerline goodness : 0.915335 Centerline is valid? [False, False] Translation: X:29.57, Y:0.13, Z:-2.96 [[ 9.99642503e-01 -2.63308681e-02 4.64247304e-03 2.95686796e+01] [ 2.62507119e-02 9.99518297e-01 1.65551984e-02 1.31479851e-01] [-5.07614950e-03 -1.64274118e-02 9.99852175e-01 -2.96405608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31119381700003 meters Centerline goodness : 0.914846 Centerline is valid? [False, False] Translation: X:29.57, Y:0.13, Z:-2.97 [[ 9.99653994e-01 -2.59656380e-02 4.20443889e-03 2.95705099e+01] [ 2.58929801e-02 9.99528533e-01 1.65004481e-02 1.33339327e-01] [-4.63090130e-03 -1.63858734e-02 9.99855018e-01 -2.96525027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34119381700003 meters Centerline goodness : 0.917624 Centerline is valid? [False, False] Translation: X:29.57, Y:0.14, Z:-2.97 [[ 9.99668699e-01 -2.54834247e-02 3.61766913e-03 2.95727474e+01] [ 2.54210916e-02 9.99543267e-01 1.63409196e-02 1.35819132e-01] [-4.03243942e-03 -1.62435407e-02 9.99859934e-01 -2.96652115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37119381700003 meters Centerline goodness : 0.916310 Centerline is valid? [False, False] Translation: X:29.58, Y:0.14, Z:-2.97 [[ 9.99686398e-01 -2.48723678e-02 2.91049988e-03 2.95750570e+01] [ 2.48226887e-02 9.99563595e-01 1.60141410e-02 1.39336228e-01] [-3.30753933e-03 -1.59368725e-02 9.99867529e-01 -2.96743407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40119381700003 meters Centerline goodness : 0.914590 Centerline is valid? [False, False] Translation: X:29.58, Y:0.15, Z:-2.97 [[ 9.99763101e-01 -2.15863158e-02 2.78808933e-03 2.95750490e+01] [ 2.15333261e-02 9.99609454e-01 1.78116684e-02 1.46899225e-01] [-3.17148875e-03 -1.77474120e-02 9.99837472e-01 -2.96700833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43119381700004 meters Centerline goodness : 0.917073 Centerline is valid? [False, False] Translation: X:29.58, Y:0.15, Z:-2.97 [[ 9.99788425e-01 -2.04751819e-02 1.96789128e-03 2.95779294e+01] [ 2.04367321e-02 9.99630966e-01 1.78961224e-02 1.50504237e-01] [-2.33359142e-03 -1.78521187e-02 9.99837915e-01 -2.96828497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46119381700004 meters Centerline goodness : 0.912892 Centerline is valid? [False, False] Translation: X:29.58, Y:0.15, Z:-2.97 [[ 9.99810658e-01 -1.94210489e-02 1.21297171e-03 2.95807079e+01] [ 1.93964413e-02 9.99653887e-01 1.77731119e-02 1.54019055e-01] [-1.55772436e-03 -1.77462194e-02 9.99841310e-01 -2.96954228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49119381700004 meters Centerline goodness : 0.914855 Centerline is valid? [False, False] Translation: X:29.58, Y:0.16, Z:-2.97 [[ 9.99827929e-01 -1.85435210e-02 4.99528894e-04 2.95831074e+01] [ 1.85320836e-02 9.99678074e-01 1.73294517e-02 1.57720555e-01] [-8.20717133e-04 -1.73172125e-02 9.99849709e-01 -2.97020255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52119381700004 meters Centerline goodness : 0.915486 Centerline is valid? [False, False] Translation: X:29.58, Y:0.16, Z:-2.97 [[ 9.99883821e-01 -1.52382014e-02 3.75631004e-04 2.95823200e+01] [ 1.52286670e-02 9.99713463e-01 1.84683426e-02 1.64986858e-01] [-6.56947695e-04 -1.84604766e-02 9.99829375e-01 -2.96804395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55119381700004 meters Centerline goodness : 0.918053 Centerline is valid? [False, False] Translation: X:29.58, Y:0.17, Z:-2.97 [[ 9.99886142e-01 -1.50890951e-02 -1.50693371e-04 2.95830826e+01] [ 1.50894527e-02 9.99737869e-01 1.72192088e-02 1.68961618e-01] [-1.09168410e-04 -1.72195222e-02 9.99851727e-01 -2.96688211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58119381700004 meters Centerline goodness : 0.920189 Centerline is valid? [False, False] Translation: X:29.58, Y:0.17, Z:-2.97 [[ 9.99889564e-01 -1.48488514e-02 -6.09554304e-04 2.95839613e+01] [ 1.48568866e-02 9.99753603e-01 1.64926097e-02 1.72105078e-01] [ 3.64507800e-04 -1.64998444e-02 9.99863802e-01 -2.96638264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61119381700004 meters Centerline goodness : 0.920472 Centerline is valid? [False, False] Translation: X:29.59, Y:0.18, Z:-2.97 [[ 9.99895733e-01 -1.44009386e-02 -1.06554529e-03 2.95852803e+01] [ 1.44154940e-02 9.99780260e-01 1.52192333e-02 1.77683139e-01] [ 8.46139900e-04 -1.52330068e-02 9.99883613e-01 -2.96602110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64119381700002 meters Centerline goodness : 0.918867 Centerline is valid? [False, False] Translation: X:29.59, Y:0.18, Z:-2.97 [[ 9.99905639e-01 -1.36403495e-02 -1.62892682e-03 2.95876186e+01] [ 1.36641049e-02 9.99785073e-01 1.55916867e-02 1.79355768e-01] [ 1.41590066e-03 -1.56124733e-02 9.99877115e-01 -2.96748564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67119381700002 meters Centerline goodness : 0.919006 Centerline is valid? [False, False] Translation: X:29.59, Y:0.18, Z:-2.97 [[ 9.99914640e-01 -1.28858962e-02 -2.16022635e-03 2.95899322e+01] [ 1.29187951e-02 9.99788878e-01 1.59782564e-02 1.80717730e-01] [ 1.95387613e-03 -1.60048000e-02 9.99870006e-01 -2.96895910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70119381700002 meters Centerline goodness : 0.915275 Centerline is valid? [False, False] Translation: X:29.61, Y:0.18, Z:-2.97 [[ 9.99923535e-01 -1.23609215e-02 3.62277284e-04 2.96080292e+01] [ 1.23474019e-02 9.99588603e-01 2.58875743e-02 1.78437348e-01] [-6.82122518e-04 -2.58811217e-02 9.99664795e-01 -2.97483605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73119381700002 meters Centerline goodness : 0.914714 Centerline is valid? [False, False] Translation: X:29.61, Y:0.18, Z:-2.98 [[ 9.99930079e-01 -1.18241836e-02 -1.58542239e-04 2.96101854e+01] [ 1.18242757e-02 9.99586348e-01 2.62167734e-02 1.79138036e-01] [-1.51515285e-04 -2.62168150e-02 9.99656269e-01 -2.97628111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76119381700002 meters Centerline goodness : 0.915856 Centerline is valid? [False, False] Translation: X:29.63, Y:0.18, Z:-2.98 [[ 9.99914831e-01 -1.29262620e-02 1.80072625e-03 2.96292873e+01] [ 1.28603049e-02 9.99379725e-01 3.27837926e-02 1.79550264e-01] [-2.22338120e-03 -3.27578425e-02 9.99460845e-01 -2.98071285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79119381700002 meters Centerline goodness : 0.914968 Centerline is valid? [False, False] Translation: X:29.64, Y:0.18, Z:-2.99 [[ 9.99876755e-01 -1.45189894e-02 5.97277639e-03 2.96407930e+01] [ 1.42459835e-02 9.98953645e-01 4.34588024e-02 1.78307874e-01] [-6.59750463e-03 -4.33683582e-02 9.99037366e-01 -2.98595055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82119381700002 meters Centerline goodness : 0.914187 Centerline is valid? [False, False] Translation: X:29.64, Y:0.18, Z:-2.99 [[ 9.99866570e-01 -1.52954390e-02 5.73513291e-03 2.96410575e+01] [ 1.50371082e-02 9.98976339e-01 4.26633243e-02 1.80222705e-01] [-6.38181635e-03 -4.25713919e-02 9.99073045e-01 -2.98586036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85119381700002 meters Centerline goodness : 0.913569 Centerline is valid? [False, False] Translation: X:29.61, Y:0.18, Z:-2.99 [[ 9.99828296e-01 -1.67309854e-02 7.96575011e-03 2.96089922e+01] [ 1.63555178e-02 9.98849842e-01 4.50720452e-02 1.82934250e-01] [-8.71068797e-03 -4.49340222e-02 9.98951980e-01 -2.98896275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88119381700002 meters Centerline goodness : 0.911057 Centerline is valid? [False, False] Translation: X:29.59, Y:0.19, Z:-2.98 [[ 9.99757558e-01 -2.16063098e-02 4.24166515e-03 2.95939307e+01] [ 2.14759298e-02 9.99357545e-01 2.86928724e-02 1.91492845e-01] [-4.85888716e-03 -2.85948224e-02 9.99579275e-01 -2.98313074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91119381700003 meters Centerline goodness : 0.912174 Centerline is valid? [False, False] Translation: X:29.59, Y:0.20, Z:-2.98 [[ 9.99652463e-01 -2.60396612e-02 4.10963098e-03 2.95940897e+01] [ 2.59368850e-02 9.99391000e-01 2.33432314e-02 1.95587215e-01] [-4.71497805e-03 -2.32285277e-02 9.99719063e-01 -2.98232260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94119381700003 meters Centerline goodness : 0.911871 Centerline is valid? [False, False] Translation: X:29.60, Y:0.20, Z:-2.98 [[ 9.99548168e-01 -2.98569975e-02 3.46678081e-03 2.95957291e+01] [ 2.97891257e-02 9.99390325e-01 1.82095153e-02 1.99872907e-01] [-4.00834865e-03 -1.80980153e-02 9.99828183e-01 -2.98171477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97119381700003 meters Centerline goodness : 0.911549 Centerline is valid? [False, False] Translation: X:29.60, Y:0.21, Z:-2.98 [[ 9.99522021e-01 -3.07047117e-02 3.59857796e-03 2.95952166e+01] [ 3.06433251e-02 9.99401905e-01 1.60255397e-02 2.06505670e-01] [-4.08848525e-03 -1.59076075e-02 9.99865107e-01 -2.98088001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00119381700003 meters Centerline goodness : 0.910485 Centerline is valid? [False, False] Translation: X:29.60, Y:0.21, Z:-2.98 [[ 9.99521299e-01 -3.07477489e-02 3.42772667e-03 2.95953910e+01] [ 3.06937314e-02 9.99418786e-01 1.48318591e-02 2.10963609e-01] [-3.88178071e-03 -1.47195493e-02 9.99884127e-01 -2.98010817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03119381700003 meters Centerline goodness : 0.911780 Centerline is valid? [False, False] Translation: X:29.60, Y:0.22, Z:-2.98 [[ 9.99534729e-01 -3.03598634e-02 2.93330449e-03 2.95965578e+01] [ 3.03172563e-02 9.99447575e-01 1.36164855e-02 2.15856294e-01] [-3.34507870e-03 -1.35212204e-02 9.99902989e-01 -2.97933580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06119381700003 meters Centerline goodness : 0.912283 Centerline is valid? [False, False] Translation: X:29.60, Y:0.22, Z:-2.98 [[ 9.99632356e-01 -2.69357855e-02 3.10114098e-03 2.95957074e+01] [ 2.68811374e-02 9.99502639e-01 1.64887795e-02 2.18995382e-01] [-3.54373682e-03 -1.63993552e-02 9.99859242e-01 -2.97882101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09119381700003 meters Centerline goodness : 0.911843 Centerline is valid? [False, False] Translation: X:29.60, Y:0.22, Z:-2.98 [[ 9.99727318e-01 -2.31667234e-02 2.93128025e-03 2.95956395e+01] [ 2.31051200e-02 9.99541964e-01 1.95452304e-02 2.21915253e-01] [-3.38273656e-03 -1.94721732e-02 9.99804677e-01 -2.97834078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12119381700003 meters Centerline goodness : 0.909540 Centerline is valid? [False, False] Translation: X:29.60, Y:0.23, Z:-2.98 [[ 9.99923951e-01 -1.10261557e-02 5.52417614e-03 2.95964390e+01] [ 1.09688782e-02 9.99886855e-01 1.02936980e-02 2.32065324e-01] [-5.63705102e-03 -1.02323212e-02 9.99931759e-01 -2.97625562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15119381700003 meters Centerline goodness : 0.908452 Centerline is valid? [False, False] Translation: X:29.60, Y:0.24, Z:-2.98 [[ 9.99965267e-01 -6.50885621e-03 5.20573446e-03 2.95977071e+01] [ 6.43628358e-03 9.99883532e-01 1.38382221e-02 2.35384218e-01] [-5.29519916e-03 -1.38042358e-02 9.99890696e-01 -2.97667582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18119381700004 meters Centerline goodness : 0.907070 Centerline is valid? [False, False] Translation: X:29.60, Y:0.24, Z:-2.98 [[ 9.99987383e-01 -1.81033433e-03 4.68568436e-03 2.95997549e+01] [ 1.72807143e-03 9.99845350e-01 1.75011216e-02 2.38657386e-01] [-4.71664260e-03 -1.74928036e-02 9.99835864e-01 -2.97754766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21119381700004 meters Centerline goodness : 0.906732 Centerline is valid? [False, False] Translation: X:29.60, Y:0.25, Z:-2.97 [[ 9.99987737e-01 4.92386980e-03 5.30583254e-04 2.95976531e+01] [-4.92616892e-03 9.99978086e-01 4.42270110e-03 2.45986008e-01] [-5.08794822e-04 -4.42526060e-03 9.99990079e-01 -2.97224539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24119381700004 meters Centerline goodness : 0.904712 Centerline is valid? [False, False] Translation: X:29.60, Y:0.25, Z:-2.98 [[ 9.99890247e-01 1.48151648e-02 6.65839184e-05 2.96016528e+01] [-1.48147572e-02 9.99803565e-01 1.31663942e-02 2.48861202e-01] [ 1.28491461e-04 -1.31659356e-02 9.99913317e-01 -2.97547056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27119381700004 meters Centerline goodness : 0.903159 Centerline is valid? [False, False] Translation: X:29.60, Y:0.25, Z:-2.98 [[ 9.99811583e-01 1.94104943e-02 -1.78963849e-04 2.96032233e+01] [-1.94044677e-02 9.99661136e-01 1.73516361e-02 2.49709060e-01] [ 5.15707039e-04 -1.73448940e-02 9.99849433e-01 -2.97652376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30119381700004 meters Centerline goodness : 0.904051 Centerline is valid? [False, False] Translation: X:29.61, Y:0.25, Z:-2.98 [[ 9.99782475e-01 2.08436695e-02 -7.37373128e-04 2.96058196e+01] [-2.08277107e-02 9.99631950e-01 1.73830442e-02 2.52326901e-01] [ 1.09942817e-03 -1.73639052e-02 9.99848632e-01 -2.97730628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33119381700004 meters Centerline goodness : 0.900452 Centerline is valid? [False, False] Translation: X:29.61, Y:0.25, Z:-2.98 [[ 9.99668439e-01 2.57164073e-02 -1.29556918e-03 2.96082585e+01] [-2.56814177e-02 9.99424583e-01 2.21577964e-02 2.51606452e-01] [ 1.86464261e-03 -2.21171777e-02 9.99753646e-01 -2.97901511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36119381700004 meters Centerline goodness : 0.901059 Centerline is valid? [False, False] Translation: X:29.61, Y:0.25, Z:-2.98 [[ 9.99541344e-01 3.02441414e-02 -1.54700762e-03 2.96098062e+01] [-3.01918073e-02 9.99184022e-01 2.68280663e-02 2.50612204e-01] [ 2.35713713e-03 -2.67690545e-02 9.99638866e-01 -2.98039439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39119381700002 meters Centerline goodness : 0.902981 Centerline is valid? [False, False] Translation: X:29.61, Y:0.25, Z:-2.98 [[ 9.99503762e-01 3.14025374e-02 -2.47174422e-03 2.96120541e+01] [-3.13249658e-02 9.99148451e-01 2.68536812e-02 2.51436866e-01] [ 3.31291313e-03 -2.67629281e-02 9.99636319e-01 -2.97990236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42119381700002 meters Centerline goodness : 0.902076 Centerline is valid? [False, False] Translation: X:29.63, Y:0.25, Z:-2.98 [[ 9.99589688e-01 2.85590380e-02 -2.19947176e-03 2.96343235e+01] [-2.84895820e-02 9.99231632e-01 2.69163547e-02 2.51048843e-01] [ 2.96648695e-03 -2.68426485e-02 9.99635270e-01 -2.97849980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45119381700002 meters Centerline goodness : 0.902076 Centerline is valid? [False, False] Translation: X:29.65, Y:0.25, Z:-2.98 [[ 9.99731129e-01 2.31330820e-02 -1.59053287e-03 2.96494466e+01] [-2.30784548e-02 9.99328083e-01 2.84739682e-02 2.53217573e-01] [ 2.24815480e-03 -2.84296054e-02 9.99593269e-01 -2.97773051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48119381700002 meters Centerline goodness : 0.903775 Centerline is valid? [False, False] Translation: X:29.67, Y:0.25, Z:-2.98 [[ 9.99770539e-01 2.13890097e-02 -1.17491770e-03 2.96741520e+01] [-2.13456964e-02 9.99347143e-01 2.91487501e-02 2.48604015e-01] [ 1.79761355e-03 -2.91169822e-02 9.99574394e-01 -2.97671184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51119381700002 meters Centerline goodness : 0.905059 Centerline is valid? [False, False] Translation: X:29.70, Y:0.25, Z:-2.98 [[ 9.99818591e-01 1.89515370e-02 -1.90370196e-03 2.96992195e+01] [-1.88869322e-02 9.99383427e-01 2.95981517e-02 2.45403300e-01] [ 2.46345866e-03 -2.95568273e-02 9.99560066e-01 -2.97654374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54119381700002 meters Centerline goodness : 0.905561 Centerline is valid? [False, False] Translation: X:29.70, Y:0.24, Z:-2.98 [[ 9.99869457e-01 1.59182377e-02 -2.77090539e-03 2.97012359e+01] [-1.58405790e-02 9.99533946e-01 2.60953497e-02 2.44471001e-01] [ 3.18500597e-03 -2.60480504e-02 9.99655618e-01 -2.97647529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57119381700002 meters Centerline goodness : 0.906920 Centerline is valid? [False, False] Translation: X:29.72, Y:0.24, Z:-2.98 [[ 9.99905687e-01 1.34345207e-02 -2.85128326e-03 2.97249435e+01] [-1.33515757e-02 9.99536765e-01 2.73494120e-02 2.41532834e-01] [ 3.21738869e-03 -2.73087634e-02 9.99621868e-01 -2.97613881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60119381700002 meters Centerline goodness : 0.908094 Centerline is valid? [False, False] Translation: X:29.73, Y:0.24, Z:-2.98 [[ 9.99932711e-01 1.09178397e-02 -3.92095897e-03 2.97267946e+01] [-1.08172585e-02 9.99633478e-01 2.48172582e-02 2.36588356e-01] [ 4.19047270e-03 -2.47731742e-02 9.99684315e-01 -2.97506169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63119381700002 meters Centerline goodness : 0.911591 Centerline is valid? [False, False] Translation: X:29.73, Y:0.23, Z:-2.97 [[ 9.99954202e-01 8.24533500e-03 -4.85891115e-03 2.97286629e+01] [-8.13888202e-03 9.99734950e-01 2.15357504e-02 2.34676945e-01] [ 5.03519277e-03 -2.14952180e-02 9.99756272e-01 -2.97415152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66119381700003 meters Centerline goodness : 0.913166 Centerline is valid? [False, False] Translation: X:29.73, Y:0.23, Z:-2.97 [[ 9.99966614e-01 5.75491868e-03 -5.80103886e-03 2.97305834e+01] [-5.64752222e-03 9.99815441e-01 1.83627262e-02 2.32886719e-01] [ 5.90564422e-03 -1.83293516e-02 9.99814562e-01 -2.97331531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69119381700003 meters Centerline goodness : 0.919264 Centerline is valid? [False, False] Translation: X:29.73, Y:0.23, Z:-2.97 [[ 9.99973157e-01 3.18996930e-03 -6.59619615e-03 2.97321657e+01] [-3.09075639e-03 9.99882765e-01 1.49968102e-02 2.31544091e-01] [ 6.64326221e-03 -1.49760204e-02 9.99865784e-01 -2.97233988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72119381700003 meters Centerline goodness : 0.926081 Centerline is valid? [False, False] Translation: X:29.73, Y:0.22, Z:-2.97 [[ 9.99954816e-01 5.35498538e-03 -7.85429931e-03 2.97345822e+01] [-5.21927017e-03 9.99838464e-01 1.71989896e-02 2.21873145e-01] [ 7.94513089e-03 -1.71572188e-02 9.99821236e-01 -2.97121307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75119381700003 meters Centerline goodness : 0.927075 Centerline is valid? [False, False] Translation: X:29.74, Y:0.22, Z:-2.97 [[ 9.99961140e-01 2.66044965e-03 -8.40473171e-03 2.97358633e+01] [-2.53984900e-03 9.99894132e-01 1.43273678e-02 2.18778583e-01] [ 8.44195916e-03 -1.43054643e-02 9.99862034e-01 -2.97085651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78119381700003 meters Centerline goodness : 0.929238 Centerline is valid? [False, False] Translation: X:29.74, Y:0.22, Z:-2.97 [[ 9.99957388e-01 -5.59130861e-05 -9.23142282e-03 2.97377771e+01] [ 1.62950974e-04 9.99932767e-01 1.15946052e-02 2.15099737e-01] [ 9.23015388e-03 -1.15956154e-02 9.99890167e-01 -2.97070275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81119381700003 meters Centerline goodness : 0.929654 Centerline is valid? [False, False] Translation: X:29.74, Y:0.20, Z:-2.97 [[ 9.99945933e-01 -4.01258488e-03 -9.59324009e-03 2.97380254e+01] [ 4.09363678e-03 9.99955968e-01 8.44420179e-03 2.03383651e-01] [ 9.55893460e-03 -8.48301648e-03 9.99918329e-01 -2.96925064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84119381700003 meters Centerline goodness : 0.930869 Centerline is valid? [False, False] Translation: X:29.74, Y:0.20, Z:-2.97 [[ 9.99925252e-01 -7.19030134e-03 -9.88889494e-03 2.97386288e+01] [ 7.25131637e-03 9.99954809e-01 6.14810358e-03 1.97120008e-01] [ 9.84424133e-03 -6.21935152e-03 9.99932203e-01 -2.96914021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87119381700003 meters Centerline goodness : 0.932820 Centerline is valid? [False, False] Translation: X:29.74, Y:0.19, Z:-2.97 [[ 9.99894397e-01 -9.76887021e-03 -1.07593407e-02 2.97408517e+01] [ 9.81646900e-03 9.99942224e-01 4.38005878e-03 1.90091324e-01] [ 1.07159309e-02 -4.48521497e-03 9.99932524e-01 -2.96951515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90119381700003 meters Centerline goodness : 0.931475 Centerline is valid? [False, False] Translation: X:29.74, Y:0.18, Z:-2.97 [[ 9.99858789e-01 -1.25964782e-02 -1.11234682e-02 2.97422102e+01] [ 1.26275233e-02 9.99916556e-01 2.72514298e-03 1.83131163e-01] [ 1.10882128e-02 -2.86522001e-03 9.99934419e-01 -2.97025566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93119381700004 meters Centerline goodness : 0.930607 Centerline is valid? [False, False] Translation: X:29.75, Y:0.17, Z:-2.97 [[ 9.99771766e-01 -1.71688260e-02 -1.27140664e-02 2.97462319e+01] [ 1.71823369e-02 9.99851917e-01 9.54191670e-04 1.67978416e-01] [ 1.26958013e-02 -1.17243126e-03 9.99918718e-01 -2.97195808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96119381700004 meters Centerline goodness : 0.930424 Centerline is valid? [False, False] Translation: X:29.75, Y:0.16, Z:-2.97 [[ 9.99715033e-01 -1.99643854e-02 -1.30872491e-02 2.97473992e+01] [ 1.99579830e-02 9.99800628e-01 -6.19640383e-04 1.60954289e-01] [ 1.30970106e-02 3.58268710e-04 9.99914166e-01 -2.97236835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99119381700004 meters Centerline goodness : 0.928477 Centerline is valid? [False, False] Translation: X:29.75, Y:0.15, Z:-2.97 [[ 9.99645098e-01 -2.30170068e-02 -1.34125147e-02 2.97483448e+01] [ 2.29866595e-02 9.99732861e-01 -2.41241848e-03 1.54170720e-01] [ 1.34644584e-02 2.10325340e-03 9.99907138e-01 -2.97258680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02119381700004 meters Centerline goodness : 0.927342 Centerline is valid? [False, False] Translation: X:29.75, Y:0.15, Z:-2.97 [[ 9.99565644e-01 -2.61556575e-02 -1.35795873e-02 2.97488902e+01] [ 2.60995120e-02 9.99650121e-01 -4.29546802e-03 1.47558970e-01] [ 1.36871869e-02 3.93918165e-03 9.99898567e-01 -2.97267310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05119381700004 meters Centerline goodness : 0.926625 Centerline is valid? [False, False] Translation: X:29.76, Y:0.13, Z:-2.98 [[ 9.99419318e-01 -3.26841537e-02 -9.63186741e-03 2.97636224e+01] [ 3.27134184e-02 9.99460576e-01 2.89655438e-03 1.32666235e-01] [ 9.53200032e-03 -3.20996371e-03 9.99949417e-01 -2.97856023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08119381700004 meters Centerline goodness : 0.925469 Centerline is valid? [False, False] Translation: X:29.76, Y:0.13, Z:-2.98 [[ 9.99295752e-01 -3.62041752e-02 -9.86188312e-03 2.97647280e+01] [ 3.62102709e-02 9.99344096e-01 4.40193005e-04 1.28056435e-01] [ 9.83947785e-03 -7.96984459e-04 9.99951274e-01 -2.97907473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11119381700004 meters Centerline goodness : 0.924331 Centerline is valid? [False, False] Translation: X:29.77, Y:0.12, Z:-2.98 [[ 9.99161257e-01 -3.96931461e-02 -1.00616551e-02 2.97657978e+01] [ 3.96751032e-02 9.99210658e-01 -1.98661662e-03 1.23371213e-01] [ 1.01325681e-02 1.58575315e-03 9.99947407e-01 -2.97963986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14119381700002 meters Centerline goodness : 0.924531 Centerline is valid? [False, False] Translation: X:29.78, Y:0.12, Z:-2.98 [[ 9.99043156e-01 -4.34185042e-02 -5.25414882e-03 2.97795183e+01] [ 4.34471820e-02 9.99040735e-01 5.47291761e-03 1.15813877e-01] [ 5.01148280e-03 -5.69595884e-03 9.99971220e-01 -2.98450682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17119381700002 meters Centerline goodness : 0.922916 Centerline is valid? [False, False] Translation: X:29.79, Y:0.11, Z:-2.99 [[ 9.98919735e-01 -4.64605284e-02 -8.84890575e-04 2.97945394e+01] [ 4.64680893e-02 9.98836213e-01 1.29203537e-02 1.08538677e-01] [ 2.83574289e-04 -1.29475155e-02 9.99916137e-01 -2.98892325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20119381700002 meters Centerline goodness : 0.923316 Centerline is valid? [False, False] Translation: X:29.81, Y:0.10, Z:-2.99 [[ 9.98642420e-01 -5.19707183e-02 3.51575649e-03 2.98100882e+01] [ 5.19050348e-02 9.98511913e-01 1.67280319e-02 1.00449060e-01] [-4.37989257e-03 -1.65228368e-02 9.99853896e-01 -2.99163330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23119381700002 meters Centerline goodness : 0.922027 Centerline is valid? [False, False] Translation: X:29.81, Y:0.10, Z:-2.99 [[ 9.98467292e-01 -5.52527109e-02 3.19460433e-03 2.98113229e+01] [ 5.52053523e-02 9.98385315e-01 1.33839880e-02 9.97537608e-02] [-3.92894767e-03 -1.31871150e-02 9.99905327e-01 -2.99165772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26119381700002 meters Centerline goodness : 0.923075 Centerline is valid? [False, False] Translation: X:29.81, Y:0.10, Z:-2.99 [[ 9.98321789e-01 -5.78497556e-02 2.64798377e-03 2.98137736e+01] [ 5.78188951e-02 9.98271491e-01 1.05359506e-02 9.97952133e-02] [-3.25290887e-03 -1.03651656e-02 9.99940989e-01 -2.99272288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29119381700002 meters Centerline goodness : 0.921944 Centerline is valid? [False, False] Translation: X:29.83, Y:0.10, Z:-3.00 [[ 9.98228860e-01 -5.92498294e-02 5.34787839e-03 2.98331382e+01] [ 5.91539190e-02 9.98110913e-01 1.65957656e-02 9.60206078e-02] [-6.32107206e-03 -1.62500243e-02 9.99847979e-01 -2.99624732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32119381700002 meters Centerline goodness : 0.922902 Centerline is valid? [False, False] Translation: X:29.86, Y:0.09, Z:-3.00 [[ 9.98010665e-01 -6.26636115e-02 6.92706351e-03 2.98603687e+01] [ 6.24027865e-02 9.97505161e-01 3.30052425e-02 9.29828201e-02] [-8.97800929e-03 -3.25073160e-02 9.99431173e-01 -2.99989551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35119381700002 meters Centerline goodness : 0.923265 Centerline is valid? [False, False] Translation: X:29.88, Y:0.09, Z:-3.00 [[ 9.97955785e-01 -6.30397777e-02 1.04994282e-02 2.98771728e+01] [ 6.25559288e-02 9.97184228e-01 4.13566326e-02 8.94383555e-02] [-1.30769771e-02 -4.06152892e-02 9.99089281e-01 -3.00413815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38119381700002 meters Centerline goodness : 0.926553 Centerline is valid? [False, False] Translation: X:29.89, Y:0.09, Z:-3.01 [[ 9.97869971e-01 -6.35504790e-02 1.47260944e-02 2.98908204e+01] [ 6.27074648e-02 9.96677499e-01 5.19782366e-02 8.63369712e-02] [-1.79804088e-02 -5.09440854e-02 9.98539636e-01 -3.00942312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41119381700003 meters Centerline goodness : 0.928251 Centerline is valid? [False, False] Translation: X:29.91, Y:0.08, Z:-3.01 [[ 9.97678253e-01 -6.54838156e-02 1.87075771e-02 2.99058546e+01] [ 6.42453940e-02 9.96097748e-01 6.05128510e-02 8.27664150e-02] [-2.25971878e-02 -5.91704798e-02 9.97992095e-01 -3.01427965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44119381700003 meters Centerline goodness : 0.925911 Centerline is valid? [False, False] Translation: X:29.92, Y:0.08, Z:-3.02 [[ 9.97555507e-01 -6.61612534e-02 2.24877583e-02 2.99216299e+01] [ 6.44684604e-02 9.95523524e-01 6.91138914e-02 8.04052762e-02] [-2.69597541e-02 -6.74951918e-02 9.97355288e-01 -3.01914930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47119381700003 meters Centerline goodness : 0.928945 Centerline is valid? [False, False] Translation: X:29.92, Y:0.08, Z:-3.02 [[ 9.97307727e-01 -6.98348938e-02 2.23692714e-02 2.99223625e+01] [ 6.82773800e-02 9.95603735e-01 6.41202143e-02 8.40228846e-02] [-2.67487585e-02 -6.24202700e-02 9.97691442e-01 -3.01888006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50119381700003 meters Centerline goodness : 0.930005 Centerline is valid? [False, False] Translation: X:29.92, Y:0.09, Z:-3.02 [[ 9.97285552e-01 -7.02375300e-02 2.20956512e-02 2.99229080e+01] [ 6.87172010e-02 9.95623611e-01 6.33369658e-02 8.59504042e-02] [-2.64475841e-02 -6.16466896e-02 9.97747569e-01 -3.01898623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53119381700003 meters Centerline goodness : 0.927426 Centerline is valid? [False, False] Translation: X:29.92, Y:0.09, Z:-3.02 [[ 9.97257277e-01 -7.07078163e-02 2.18707077e-02 2.99232980e+01] [ 6.92215213e-02 9.95639047e-01 6.25401344e-02 8.80398972e-02] [-2.61974069e-02 -6.08546805e-02 9.97802788e-01 -3.01901142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56119381700003 meters Centerline goodness : 0.928871 Centerline is valid? [False, False] Translation: X:29.92, Y:0.09, Z:-3.02 [[ 9.96913034e-01 -7.52689077e-02 2.23381994e-02 2.99229352e+01] [ 7.39134617e-02 9.95673401e-01 5.63141152e-02 9.43580639e-02] [-2.64802529e-02 -5.44891818e-02 9.98163176e-01 -3.01907800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59119381700003 meters Centerline goodness : 0.928890 Centerline is valid? [False, False] Translation: X:29.92, Y:0.10, Z:-3.01 [[ 9.97354619e-01 -7.15624608e-02 1.27506152e-02 2.99196484e+01] [ 7.08568957e-02 9.96275653e-01 4.91337240e-02 9.60032102e-02] [-1.62192577e-02 -4.81002776e-02 9.98710818e-01 -3.01029465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62119381700003 meters Centerline goodness : 0.928674 Centerline is valid? [False, False] Translation: X:29.90, Y:0.10, Z:-3.01 [[ 9.97416376e-01 -7.08191339e-02 1.20508490e-02 2.98954562e+01] [ 7.01636693e-02 9.96373947e-01 4.81250103e-02 1.00401931e-01] [-1.54153235e-02 -4.71551415e-02 9.98768622e-01 -3.01140331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65119381700003 meters Centerline goodness : 0.931897 Centerline is valid? [False, False] Translation: X:29.90, Y:0.11, Z:-3.01 [[ 9.97377513e-01 -7.13609595e-02 1.20710801e-02 2.98954740e+01] [ 7.07303621e-02 9.96415069e-01 4.64136396e-02 1.05295536e-01] [-1.53399280e-02 -4.54381286e-02 9.98849370e-01 -3.01152974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68119381700004 meters Centerline goodness : 0.930844 Centerline is valid? [False, False] Translation: X:29.89, Y:0.12, Z:-3.01 [[ 9.97663678e-01 -6.76009260e-02 9.86408650e-03 2.98904326e+01] [ 6.72669830e-02 9.97254254e-01 3.09694501e-02 1.18607248e-01] [-1.19305657e-02 -3.02335682e-02 9.99471657e-01 -3.00848085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71119381700004 meters Centerline goodness : 0.930219 Centerline is valid? [False, False] Translation: X:29.89, Y:0.12, Z:-3.01 [[ 9.97737693e-01 -6.65712987e-02 9.36796226e-03 2.98923092e+01] [ 6.62568698e-02 9.97332914e-01 3.06118713e-02 1.24583883e-01] [-1.13808491e-02 -2.99219260e-02 9.99487446e-01 -3.00986360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74119381700004 meters Centerline goodness : 0.932302 Centerline is valid? [False, False] Translation: X:29.89, Y:0.13, Z:-3.01 [[ 9.98116559e-01 -6.10353503e-02 6.16604165e-03 2.98887382e+01] [ 6.09083227e-02 9.97961911e-01 1.90315447e-02 1.32500847e-01] [-7.31507171e-03 -1.86201366e-02 9.99799870e-01 -3.00860482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77119381700004 meters Centerline goodness : 0.931374 Centerline is valid? [False, False] Translation: X:29.89, Y:0.14, Z:-3.01 [[ 9.98338105e-01 -5.73341718e-02 5.81548561e-03 2.98893979e+01] [ 5.71951967e-02 9.98125758e-01 2.17642057e-02 1.36927716e-01] [-7.05241870e-03 -2.13954181e-02 9.99746218e-01 -3.00924584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80119381700004 meters Centerline goodness : 0.934462 Centerline is valid? [False, False] Translation: X:29.89, Y:0.15, Z:-3.01 [[ 9.98866155e-01 -4.70998092e-02 6.92912123e-03 2.98853533e+01] [ 4.70149321e-02 9.98822813e-01 1.19408348e-02 1.51387218e-01] [-7.48337540e-03 -1.16015235e-02 9.99904697e-01 -3.00726431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83119381700004 meters Centerline goodness : 0.936791 Centerline is valid? [False, False] Translation: X:29.89, Y:0.16, Z:-3.01 [[ 9.99033627e-01 -4.34413040e-02 6.68318834e-03 2.98851335e+01] [ 4.33415816e-02 9.98956453e-01 1.44053213e-02 1.56604680e-01] [-7.30200006e-03 -1.41017405e-02 9.99873903e-01 -3.00662214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86119381700004 meters Centerline goodness : 0.937156 Centerline is valid? [False, False] Translation: X:29.89, Y:0.16, Z:-3.01 [[ 9.99188049e-01 -3.97772938e-02 6.40385316e-03 2.98851465e+01] [ 3.96636639e-02 9.99068666e-01 1.69880414e-02 1.61300309e-01] [-7.07362734e-03 -1.67202476e-02 9.99835185e-01 -3.00619396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89119381700002 meters Centerline goodness : 0.941281 Centerline is valid? [False, False] Translation: X:29.88, Y:0.17, Z:-3.00 [[ 9.99565055e-01 -2.91366729e-02 4.55584977e-03 2.98821445e+01] [ 2.91022659e-02 9.99548717e-01 7.44448998e-03 1.71414646e-01] [-4.77070146e-03 -7.30866648e-03 9.99961911e-01 -3.00310706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92119381700002 meters Centerline goodness : 0.939798 Centerline is valid? [False, False] Translation: X:29.88, Y:0.17, Z:-3.00 [[ 9.99673243e-01 -2.51884478e-02 4.35300983e-03 2.98826398e+01] [ 2.51394712e-02 9.99623853e-01 1.09617236e-02 1.73288542e-01] [-4.62748126e-03 -1.08487094e-02 9.99930444e-01 -3.00353812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95119381700002 meters Centerline goodness : 0.941817 Centerline is valid? [False, False] Translation: X:29.88, Y:0.18, Z:-3.00 [[ 9.99693087e-01 -2.44152462e-02 4.19853851e-03 2.98834511e+01] [ 2.43692871e-02 9.99646084e-01 1.06697753e-02 1.76312156e-01] [-4.45755777e-03 -1.05641852e-02 9.99934262e-01 -3.00374592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98119381700002 meters Centerline goodness : 0.939951 Centerline is valid? [False, False] Translation: X:29.88, Y:0.18, Z:-3.00 [[ 9.99701628e-01 -2.41004917e-02 3.97767542e-03 2.98835953e+01] [ 2.40593056e-02 9.99659549e-01 1.00962850e-02 1.78501479e-01] [-4.21964666e-03 -9.99757241e-03 9.99941120e-01 -3.00296050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01119381700002 meters Centerline goodness : 0.947767 Centerline is valid? [False, False] Translation: X:29.88, Y:0.18, Z:-3.00 [[ 9.99803498e-01 -1.93948856e-02 4.09918039e-03 2.98829585e+01] [ 1.93341701e-02 9.99709866e-01 1.43656987e-02 1.78155263e-01] [-4.37661216e-03 -1.42836216e-02 9.99888405e-01 -3.00229766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04119381700002 meters Centerline goodness : 0.947791 Centerline is valid? [False, False] Translation: X:29.88, Y:0.18, Z:-3.00 [[ 9.99822679e-01 -1.84600756e-02 3.71967500e-03 2.98840099e+01] [ 1.84037988e-02 9.99723524e-01 1.46347369e-02 1.78891062e-01] [-3.98880495e-03 -1.45636857e-02 9.99885988e-01 -3.00232593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07119381700002 meters Centerline goodness : 0.946925 Centerline is valid? [False, False] Translation: X:29.88, Y:0.18, Z:-3.00 [[ 9.99900198e-01 -1.08615859e-02 9.03440303e-03 2.98799485e+01] [ 1.07938489e-02 9.99913521e-01 7.51294500e-03 1.79215077e-01] [-9.11522424e-03 -7.41467921e-03 9.99930965e-01 -3.00097193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10119381700002 meters Centerline goodness : 0.949672 Centerline is valid? [False, False] Translation: X:29.88, Y:0.18, Z:-3.00 [[ 9.99937591e-01 -6.48536161e-03 9.09693976e-03 2.98797088e+01] [ 6.37449830e-03 9.99905704e-01 1.21633871e-02 1.76971272e-01] [-9.17496592e-03 -1.21046396e-02 9.99884642e-01 -3.00089826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13119381700002 meters Centerline goodness : 0.948891 Centerline is valid? [False, False] Translation: X:29.88, Y:0.17, Z:-3.00 [[ 9.99982540e-01 3.32317179e-03 4.88634995e-03 2.98751597e+01] [-3.34855799e-03 9.99980892e-01 5.19636038e-03 1.74754974e-01] [-4.86898818e-03 -5.21263188e-03 9.99974560e-01 -2.99598578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16119381700003 meters Centerline goodness : 0.947244 Centerline is valid? [False, False] Translation: X:29.88, Y:0.17, Z:-3.00 [[ 9.99977791e-01 5.21023558e-03 4.15590791e-03 2.98779718e+01] [-5.23989717e-03 9.99960649e-01 7.15854304e-03 1.71959816e-01] [-4.11844668e-03 -7.18016058e-03 9.99965741e-01 -2.99763762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19119381700003 meters Centerline goodness : 0.945869 Centerline is valid? [False, False] Translation: X:29.88, Y:0.17, Z:-3.00 [[ 9.99987160e-01 3.67988780e-03 3.48413168e-03 2.98808103e+01] [-3.69758253e-03 9.99980230e-01 5.08591550e-03 1.70145445e-01] [-3.46534720e-03 -5.09873306e-03 9.99980997e-01 -2.99905633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22119381700003 meters Centerline goodness : 0.941534 Centerline is valid? [False, False] Translation: X:29.88, Y:0.16, Z:-3.00 [[ 9.99993747e-01 2.69141450e-03 2.29382099e-03 2.98844363e+01] [-2.70220056e-03 9.99985247e-01 4.71216608e-03 1.60458143e-01] [-2.28110476e-03 -4.71833498e-03 9.99986267e-01 -3.00036549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25119381700003 meters Centerline goodness : 0.940332 Centerline is valid? [False, False] Translation: X:29.89, Y:0.16, Z:-3.00 [[ 9.99998598e-01 4.21257854e-04 1.62093054e-03 2.98867085e+01] [-4.26199169e-04 9.99995260e-01 3.04930653e-03 1.55198918e-01] [-1.61963832e-03 -3.04999310e-03 9.99994037e-01 -3.00149260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28119381700003 meters Centerline goodness : 0.935070 Centerline is valid? [False, False] Translation: X:29.89, Y:0.15, Z:-3.00 [[ 9.99997283e-01 -2.02165890e-03 1.16059461e-03 2.98885258e+01] [ 2.01997867e-03 9.99996913e-01 1.44708365e-03 1.49293423e-01] [-1.16351654e-03 -1.44473534e-03 9.99998279e-01 -3.00261854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31119381700003 meters Centerline goodness : 0.937478 Centerline is valid? [False, False] Translation: X:29.89, Y:0.14, Z:-3.00 [[ 9.99989487e-01 -4.53663945e-03 6.66390315e-04 2.98901780e+01] [ 4.53669708e-03 9.99989706e-01 -8.49997207e-05 1.43093162e-01] [-6.65997842e-04 8.80220381e-05 9.99999774e-01 -3.00348165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34119381700003 meters Centerline goodness : 0.934665 Centerline is valid? [False, False] Translation: X:29.89, Y:0.13, Z:-3.00 [[ 9.99977434e-01 -6.70896751e-03 3.47591245e-04 2.98909673e+01] [ 6.70871557e-03 9.99977236e-01 7.21004083e-04 1.27336567e-01] [-3.52420525e-04 -7.18655922e-04 9.99999680e-01 -3.00436115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37119381700003 meters Centerline goodness : 0.934665 Centerline is valid? [False, False] Translation: X:29.89, Y:0.13, Z:-3.00 [[ 9.99977434e-01 -6.70896751e-03 3.47591245e-04 2.98909673e+01] [ 6.70871557e-03 9.99977236e-01 7.21004083e-04 1.27336567e-01] [-3.52420525e-04 -7.18655922e-04 9.99999680e-01 -3.00436115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40119381700003 meters Centerline goodness : 0.932375 Centerline is valid? [False, False] Translation: X:29.89, Y:0.12, Z:-3.01 [[ 9.99960597e-01 -8.87470694e-03 -2.12084923e-04 2.98929866e+01] [ 8.87465073e-03 9.99960585e-01 -2.64522516e-04 1.19749462e-01] [ 2.14424124e-04 2.62629914e-04 9.99999943e-01 -3.00550021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43119381700004 meters Centerline goodness : 0.931664 Centerline is valid? [False, False] Translation: X:29.91, Y:0.11, Z:-3.01 [[ 9.99947750e-01 -9.78559564e-03 2.95620699e-03 2.99102630e+01] [ 9.75805632e-03 9.99910151e-01 9.19081554e-03 1.07452148e-01] [-3.04587898e-03 -9.16148848e-03 9.99953394e-01 -3.01051350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46119381700004 meters Centerline goodness : 0.929465 Centerline is valid? [False, False] Translation: X:29.91, Y:0.10, Z:-3.01 [[ 9.99926668e-01 -1.18657730e-02 2.42097582e-03 2.99118554e+01] [ 1.18451709e-02 9.99894948e-01 8.35372433e-03 9.86066090e-02] [-2.51984488e-03 -8.32443487e-03 9.99962176e-01 -3.01095498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49119381700004 meters Centerline goodness : 0.928399 Centerline is valid? [False, False] Translation: X:29.93, Y:0.08, Z:-3.02 [[ 9.99907057e-01 -1.21646475e-02 6.15620833e-03 2.99317305e+01] [ 1.20678522e-02 9.99806677e-01 1.55233954e-02 7.54808488e-02] [-6.34385483e-03 -1.54476604e-02 9.99860553e-01 -3.01517187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52119381700004 meters Centerline goodness : 0.927756 Centerline is valid? [False, False] Translation: X:29.93, Y:0.07, Z:-3.01 [[ 9.99884326e-01 -1.41268792e-02 5.63612465e-03 2.99328092e+01] [ 1.40423644e-02 9.99792410e-01 1.47630691e-02 6.69634721e-02] [-5.84351074e-03 -1.46822169e-02 9.99875135e-01 -3.01494998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55119381700004 meters Centerline goodness : 0.925983 Centerline is valid? [False, False] Translation: X:29.93, Y:0.06, Z:-3.01 [[ 9.99859218e-01 -1.59976615e-02 5.06156534e-03 2.99337681e+01] [ 1.59251190e-02 9.99774305e-01 1.40616381e-02 5.85096859e-02] [-5.28537630e-03 -1.39790524e-02 9.99888319e-01 -3.01440230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58119381700004 meters Centerline goodness : 0.923978 Centerline is valid? [False, False] Translation: X:29.93, Y:0.05, Z:-3.01 [[ 9.99829289e-01 -1.79012664e-02 4.57570715e-03 2.99349431e+01] [ 1.78381303e-02 9.99749942e-01 1.34853337e-02 4.96986249e-02] [-4.81596751e-03 -1.34014096e-02 9.99898599e-01 -3.01437375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61119381700004 meters Centerline goodness : 0.923098 Centerline is valid? [False, False] Translation: X:29.96, Y:0.03, Z:-3.02 [[ 9.99791013e-01 -1.91024543e-02 7.28192989e-03 2.99570640e+01] [ 1.89650207e-02 9.99649036e-01 1.84968561e-02 2.52570323e-02] [-7.63270954e-03 -1.83548885e-02 9.99802400e-01 -3.01738473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64119381700002 meters Centerline goodness : 0.920400 Centerline is valid? [False, False] Translation: X:29.96, Y:0.02, Z:-3.02 [[ 9.99692544e-01 -2.37894562e-02 6.99136399e-03 2.99583235e+01] [ 2.36848833e-02 9.99611719e-01 1.46778053e-02 1.64388845e-02] [-7.33782638e-03 -1.45077028e-02 9.99867833e-01 -3.01743711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67119381700002 meters Centerline goodness : 0.923354 Centerline is valid? [False, False] Translation: X:29.98, Y:0.00, Z:-3.02 [[ 9.99596263e-01 -2.65663900e-02 1.00766069e-02 2.99769296e+01] [ 2.63623842e-02 9.99455054e-01 1.98650183e-02 4.97469568e-03] [-1.05988575e-02 -1.95913546e-02 9.99751891e-01 -3.02049429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70119381700002 meters Centerline goodness : 0.920173 Centerline is valid? [False, False] Translation: X:29.98, Y:-0.00, Z:-3.02 [[ 9.99508317e-01 -2.97020048e-02 1.00456720e-02 2.99770122e+01] [ 2.95148853e-02 9.99397017e-01 1.82886455e-02 -3.20215949e-03] [-1.05828241e-02 -1.79831564e-02 9.99782281e-01 -3.01974351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73119381700002 meters Centerline goodness : 0.921113 Centerline is valid? [False, False] Translation: X:30.01, Y:-0.03, Z:-3.02 [[ 9.99307479e-01 -3.48822355e-02 1.29534700e-02 3.00133992e+01] [ 3.45057045e-02 9.99005580e-01 2.82348582e-02 -2.50531084e-02] [-1.39254838e-02 -2.77683363e-02 9.99517384e-01 -3.02343118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76119381700002 meters Centerline goodness : 0.920835 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.03, Z:-3.02 [[ 9.99122803e-01 -3.99648750e-02 1.25073671e-02 3.00155436e+01] [ 3.96588121e-02 9.98929078e-01 2.38301377e-02 -3.23739392e-02] [-1.34463411e-02 -2.33132066e-02 9.99637780e-01 -3.02388463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79119381700002 meters Centerline goodness : 0.920877 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.04, Z:-3.02 [[ 9.99005549e-01 -4.28447686e-02 1.23384716e-02 3.00167489e+01] [ 4.25629910e-02 9.98845780e-01 2.22598146e-02 -3.97496802e-02] [-1.32779469e-02 -2.17125161e-02 9.99676079e-01 -3.02421875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82119381700002 meters Centerline goodness : 0.921485 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.05, Z:-3.02 [[ 9.98900831e-01 -4.52997979e-02 1.20440281e-02 3.00184500e+01] [ 4.50412056e-02 9.98765670e-01 2.09386259e-02 -4.61746669e-02] [-1.29776773e-02 -2.03731332e-02 9.99708215e-01 -3.02495782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85119381700002 meters Centerline goodness : 0.919987 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.06, Z:-3.03 [[ 9.98688972e-01 -4.95607519e-02 1.28089354e-02 3.00188454e+01] [ 4.93181983e-02 9.98609815e-01 1.86051736e-02 -5.78344765e-02] [-1.37132150e-02 -1.79490681e-02 9.99744857e-01 -3.02532016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88119381700002 meters Centerline goodness : 0.919666 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.06, Z:-3.03 [[ 9.98587625e-01 -5.15383804e-02 1.29054612e-02 3.00202019e+01] [ 5.13114936e-02 9.98532243e-01 1.73346776e-02 -6.30183673e-02] [-1.37799203e-02 -1.66479961e-02 9.99766452e-01 -3.02650857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91119381700003 meters Centerline goodness : 0.920253 Centerline is valid? [False, False] Translation: X:30.01, Y:-0.07, Z:-3.02 [[ 9.98830814e-01 -4.80429522e-02 5.37396804e-03 3.00088052e+01] [ 4.78987683e-02 9.98555628e-01 2.43385456e-02 -7.35976409e-02] [-6.53550161e-03 -2.40526828e-02 9.99689330e-01 -3.02384053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94119381700003 meters Centerline goodness : 0.918969 Centerline is valid? [False, False] Translation: X:30.01, Y:-0.08, Z:-3.02 [[ 9.98856406e-01 -4.75121436e-02 5.33628129e-03 3.00093956e+01] [ 4.73573639e-02 9.98536375e-01 2.61225547e-02 -7.81621158e-02] [-6.56960955e-03 -2.58399689e-02 9.99644505e-01 -3.02391696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97119381700003 meters Centerline goodness : 0.917029 Centerline is valid? [False, False] Translation: X:30.01, Y:-0.09, Z:-3.02 [[ 9.98786734e-01 -4.89227512e-02 5.62347876e-03 3.00102412e+01] [ 4.87639072e-02 9.98482984e-01 2.55697502e-02 -8.56006321e-02] [-6.86589038e-03 -2.52645045e-02 9.99657223e-01 -3.02474071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00119381700003 meters Centerline goodness : 0.917836 Centerline is valid? [False, False] Translation: X:30.01, Y:-0.09, Z:-3.02 [[ 9.98825299e-01 -4.81400452e-02 5.52789943e-03 3.00107044e+01] [ 4.79695026e-02 9.98465217e-01 2.76791950e-02 -9.08790555e-02] [-6.85189300e-03 -2.73815096e-02 9.99601573e-01 -3.02441010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03119381700003 meters Centerline goodness : 0.918918 Centerline is valid? [False, False] Translation: X:30.01, Y:-0.09, Z:-3.02 [[ 9.98738744e-01 -4.98688483e-02 5.83258088e-03 3.00108362e+01] [ 4.97030209e-02 9.98431557e-01 2.57688931e-02 -9.43862393e-02] [-7.10849783e-03 -2.54464951e-02 9.99650912e-01 -3.02471142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06119381700003 meters Centerline goodness : 0.918804 Centerline is valid? [False, False] Translation: X:30.01, Y:-0.10, Z:-3.02 [[ 9.98778448e-01 -4.90693802e-02 5.81442073e-03 3.00110315e+01] [ 4.88883148e-02 9.98411531e-01 2.80062000e-02 -9.94136151e-02] [-7.17943158e-03 -2.76877317e-02 9.99590839e-01 -3.02421117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09119381700003 meters Centerline goodness : 0.916644 Centerline is valid? [False, False] Translation: X:30.01, Y:-0.11, Z:-3.02 [[ 9.98895334e-01 -4.66353784e-02 5.76648305e-03 3.00117654e+01] [ 4.64251223e-02 9.98396581e-01 3.23878988e-02 -1.08284359e-01] [-7.26765888e-03 -3.20844113e-02 9.99458739e-01 -3.02402183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12119381700003 meters Centerline goodness : 0.917883 Centerline is valid? [False, False] Translation: X:30.01, Y:-0.11, Z:-3.02 [[ 9.98937379e-01 -4.56988294e-02 5.97752235e-03 3.00113108e+01] [ 4.54662879e-02 9.98369318e-01 3.45184349e-02 -1.13169201e-01] [-7.54522697e-03 -3.42099791e-02 9.99386185e-01 -3.02328482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15119381700003 meters Centerline goodness : 0.916337 Centerline is valid? [False, False] Translation: X:30.01, Y:-0.12, Z:-3.02 [[ 9.98849199e-01 -4.75181729e-02 6.50396662e-03 3.00102239e+01] [ 4.72797427e-02 9.98339868e-01 3.28958119e-02 -1.17096837e-01] [-8.05631805e-03 -3.25504494e-02 9.99437624e-01 -3.02236039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18119381700004 meters Centerline goodness : 0.916943 Centerline is valid? [False, False] Translation: X:30.01, Y:-0.12, Z:-3.02 [[ 9.98801474e-01 -4.84403817e-02 7.01034708e-03 3.00087575e+01] [ 4.81879415e-02 9.98307641e-01 3.25541958e-02 -1.22247260e-01] [-8.57542073e-03 -3.21773645e-02 9.99445386e-01 -3.02079144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21119381700004 meters Centerline goodness : 0.915333 Centerline is valid? [False, False] Translation: X:30.01, Y:-0.13, Z:-3.02 [[ 9.98709904e-01 -5.02022399e-02 7.63300224e-03 3.00072614e+01] [ 4.99392267e-02 9.98257385e-01 3.14367045e-02 -1.27195121e-01] [-9.19789384e-03 -3.10149619e-02 9.99476598e-01 -3.01938920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24119381700004 meters Centerline goodness : 0.916516 Centerline is valid? [False, False] Translation: X:30.01, Y:-0.14, Z:-3.02 [[ 9.98814514e-01 -4.80782410e-02 7.61903152e-03 3.00061059e+01] [ 4.77686351e-02 9.98186702e-01 3.66260199e-02 -1.39387890e-01] [-9.36613056e-03 -3.62186495e-02 9.99299998e-01 -3.01601333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27119381700004 meters Centerline goodness : 0.916886 Centerline is valid? [False, False] Translation: X:30.01, Y:-0.14, Z:-3.02 [[ 9.98817433e-01 -4.72179102e-02 1.15846238e-02 3.00118932e+01] [ 4.69205254e-02 9.98592606e-01 2.47239101e-02 -1.39808848e-01] [-1.27357311e-02 -2.41511158e-02 9.99627193e-01 -3.01556453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30119381700004 meters Centerline goodness : 0.915767 Centerline is valid? [False, False] Translation: X:30.01, Y:-0.15, Z:-3.01 [[ 9.98904178e-01 -4.66846914e-02 3.31409964e-03 3.00088214e+01] [ 4.64937977e-02 9.97946805e-01 4.40511207e-02 -1.51806506e-01] [-5.36380812e-03 -4.38487634e-02 9.99023781e-01 -3.00817009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33119381700004 meters Centerline goodness : 0.913597 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.15, Z:-3.01 [[ 9.98930913e-01 -4.59364629e-02 5.18394323e-03 3.00167197e+01] [ 4.57394490e-02 9.98399672e-01 3.32565419e-02 -1.54497445e-01] [-6.70333512e-03 -3.29838770e-02 9.99433404e-01 -3.00751573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36119381700004 meters Centerline goodness : 0.911428 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.17, Z:-3.01 [[ 9.99049833e-01 -4.35771512e-02 6.80844424e-04 3.00184131e+01] [ 4.35534098e-02 9.98832242e-01 2.09105977e-02 -1.65190797e-01] [-1.59127364e-03 -2.08610760e-02 9.99781118e-01 -3.00843927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39119381700002 meters Centerline goodness : 0.911023 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.17, Z:-3.01 [[ 9.98972329e-01 -4.53231531e-02 3.11919447e-04 3.00209696e+01] [ 4.53079106e-02 9.98773712e-01 1.99566063e-02 -1.71062916e-01] [-1.21603327e-03 -1.99219650e-02 9.99800798e-01 -3.01015073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42119381700002 meters Centerline goodness : 0.910126 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.18, Z:-3.01 [[ 9.98872872e-01 -4.74655764e-02 7.20126381e-05 3.00230085e+01] [ 4.74558866e-02 9.98697399e-01 1.87468644e-02 -1.77032205e-01] [-9.61749562e-04 -1.87223169e-02 9.99824260e-01 -3.01139009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45119381700002 meters Centerline goodness : 0.909667 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.19, Z:-3.01 [[ 9.98625367e-01 -5.24152294e-02 -1.40795728e-04 3.00250938e+01] [ 5.24108838e-02 9.98500035e-01 1.58360312e-02 -1.89598958e-01] [-6.89464669e-04 -1.58216417e-02 9.99874592e-01 -3.01209669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48119381700002 meters Centerline goodness : 0.907318 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.20, Z:-3.01 [[ 9.98481178e-01 -5.50916738e-02 -4.95234038e-04 3.00271813e+01] [ 5.50931070e-02 9.98378255e-01 1.43390893e-02 -1.95963346e-01] [-2.95533537e-04 -1.43445948e-02 9.99897067e-01 -3.01312704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51119381700002 meters Centerline goodness : 0.907502 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.20, Z:-3.01 [[ 9.98306674e-01 -5.81680754e-02 -5.09124927e-04 3.00279982e+01] [ 5.81699208e-02 9.98230127e-01 1.23641835e-02 -2.01959741e-01] [-2.10976915e-04 -1.23728626e-02 9.99923431e-01 -3.01332459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54119381700002 meters Centerline goodness : 0.905951 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.21, Z:-3.01 [[ 9.98140267e-01 -6.09574298e-02 -4.46960954e-04 3.00287347e+01] [ 6.09587525e-02 9.98084660e-01 1.05376751e-02 -2.07552344e-01] [-1.96244717e-04 -1.05453240e-02 9.99944377e-01 -3.01360575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57119381700002 meters Centerline goodness : 0.904568 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.22, Z:-3.01 [[ 9.98049911e-01 -6.24182079e-02 -5.85668899e-04 3.00306035e+01] [ 6.24208868e-02 9.97990954e-01 1.08484502e-02 -2.19815686e-01] [-9.26485599e-05 -1.08638528e-02 9.99940982e-01 -3.01453955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60119381700002 meters Centerline goodness : 0.905916 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.22, Z:-3.01 [[ 9.97942513e-01 -6.41144727e-02 -2.73246815e-04 3.00298618e+01] [ 6.41141427e-02 9.97896516e-01 9.58751814e-03 -2.24587427e-01] [-3.42026625e-04 -9.58531093e-03 9.99954001e-01 -3.01366939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63119381700002 meters Centerline goodness : 0.904729 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.23, Z:-3.01 [[ 9.97870489e-01 -6.52261497e-02 1.92058539e-04 3.00283680e+01] [ 6.52219109e-02 9.97831660e-01 8.83633601e-03 -2.29929743e-01] [-7.68002266e-04 -8.80499251e-03 9.99960940e-01 -3.01227528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66119381700003 meters Centerline goodness : 0.908563 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.24, Z:-3.01 [[ 9.97808129e-01 -6.61712340e-02 5.52083568e-04 3.00271645e+01] [ 6.61643965e-02 9.97774244e-01 8.29639548e-03 -2.35490373e-01] [-1.09983749e-03 -8.24168258e-03 9.99965432e-01 -3.01097007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69119381700003 meters Centerline goodness : 0.907810 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.25, Z:-3.01 [[ 9.97871520e-01 -6.52048099e-02 8.72950232e-04 3.00268724e+01] [ 6.51921988e-02 9.97818191e-01 1.04323510e-02 -2.47173425e-01] [-1.55128508e-03 -1.03532364e-02 9.99945201e-01 -3.01066493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72119381700003 meters Centerline goodness : 0.908927 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.25, Z:-3.01 [[ 9.97760551e-01 -6.68750822e-02 1.26729440e-03 3.00259860e+01] [ 6.68606092e-02 9.97719599e-01 9.23369599e-03 -2.51744113e-01] [-1.88190864e-03 -9.12828552e-03 9.99956565e-01 -3.00990450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75119381700003 meters Centerline goodness : 0.911673 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.26, Z:-3.01 [[ 9.97628761e-01 -6.88076597e-02 1.53658563e-03 3.00251957e+01] [ 6.87931169e-02 9.97598258e-01 8.07601356e-03 -2.57061780e-01] [-2.08858674e-03 -7.95115688e-03 9.99966208e-01 -3.00875894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78119381700003 meters Centerline goodness : 0.910615 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.26, Z:-3.01 [[ 9.97452666e-01 -7.13123819e-02 1.65045674e-03 3.00249012e+01] [ 7.13003342e-02 9.97433905e-01 6.47045246e-03 -2.62757279e-01] [-2.10764489e-03 -6.33629194e-03 9.99977704e-01 -3.00779354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81119381700003 meters Centerline goodness : 0.912495 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.28, Z:-3.01 [[ 9.97097033e-01 -7.61060718e-02 2.31782706e-03 3.00233483e+01] [ 7.60965342e-02 9.97092602e-01 3.95742848e-03 -2.76366881e-01] [-2.61227255e-03 -3.76956159e-03 9.99989483e-01 -3.00530850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84119381700003 meters Centerline goodness : 0.914873 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.28, Z:-3.00 [[ 9.96883233e-01 -7.88520789e-02 2.48373840e-03 3.00226032e+01] [ 7.88458877e-02 9.96883684e-01 2.49925123e-03 -2.82949571e-01] [-2.67306944e-03 -2.29562909e-03 9.99993792e-01 -3.00368460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87119381700003 meters Centerline goodness : 0.917417 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.29, Z:-3.00 [[ 9.96615522e-01 -8.21614386e-02 2.64564501e-03 3.00225335e+01] [ 8.21606238e-02 9.96619014e-01 4.15363731e-04 -2.88623515e-01] [-2.67082701e-03 -1.96590096e-04 9.99996414e-01 -3.00283833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90119381700003 meters Centerline goodness : 0.920145 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.29, Z:-3.00 [[ 9.96334526e-01 -8.55018135e-02 2.63680026e-03 3.00230499e+01] [ 8.55069627e-02 9.96335750e-01 -1.90597504e-03 -2.93500712e-01] [-2.46417404e-03 2.12445352e-03 9.99994707e-01 -3.00235961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93119381700004 meters Centerline goodness : 0.919629 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.30, Z:-3.00 [[ 9.96037712e-01 -8.88892691e-02 2.75200673e-03 3.00236810e+01] [ 8.89009683e-02 9.96030444e-01 -4.46908053e-03 -2.97503409e-01] [-2.34382919e-03 4.69602881e-03 9.99986227e-01 -3.00244746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96119381700004 meters Centerline goodness : 0.919551 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.30, Z:-3.00 [[ 9.95444714e-01 -9.52913091e-02 3.06396033e-03 3.00252485e+01] [ 9.53161804e-02 9.95402823e-01 -9.38322301e-03 -3.04878940e-01] [-2.15573516e-03 9.63252474e-03 9.99951282e-01 -3.00312492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99119381700004 meters Centerline goodness : 0.920757 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.31, Z:-3.00 [[ 9.95105747e-01 -9.87654902e-02 3.15129138e-03 3.00262758e+01] [ 9.87969235e-02 9.95032602e-01 -1.22183577e-02 -3.08370082e-01] [-1.92888557e-03 1.24698958e-02 9.99920387e-01 -3.00355022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02119381700004 meters Centerline goodness : 0.919514 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.31, Z:-3.00 [[ 9.94753857e-01 -1.02246730e-01 3.22012909e-03 3.00274583e+01] [ 1.02283913e-01 9.94641178e-01 -1.50641250e-02 -3.11902712e-01] [-1.66261547e-03 1.53144639e-02 9.99881344e-01 -3.00408167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05119381700004 meters Centerline goodness : 0.918313 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.32, Z:-3.01 [[ 9.94436493e-01 -1.05290879e-01 3.14523521e-03 3.00298447e+01] [ 1.05328979e-01 9.94296838e-01 -1.67213680e-02 -3.19153590e-01] [-1.36668989e-03 1.69596230e-02 9.99855241e-01 -3.00551482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08119381700004 meters Centerline goodness : 0.918997 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.32, Z:-3.01 [[ 9.94458608e-01 -1.05091303e-01 2.80990087e-03 3.00310816e+01] [ 1.05122872e-01 9.94332001e-01 -1.59076635e-02 -3.21590843e-01] [-1.12221726e-03 1.61148977e-02 9.99869517e-01 -3.00616072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11119381700004 meters Centerline goodness : 0.917906 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.32, Z:-3.01 [[ 9.94468596e-01 -1.05006273e-01 2.42793701e-03 3.00324283e+01] [ 1.05031348e-01 9.94349005e-01 -1.54425137e-02 -3.23077730e-01] [-7.92655933e-04 1.56121044e-02 9.99877809e-01 -3.00687043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14119381700002 meters Centerline goodness : 0.916073 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.32, Z:-3.01 [[ 9.94495672e-01 -1.04757510e-01 2.05505080e-03 3.00338260e+01] [ 1.04776525e-01 9.94385071e-01 -1.48395026e-02 -3.24760840e-01] [-4.88962486e-04 1.49731422e-02 9.99887777e-01 -3.00767416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17119381700002 meters Centerline goodness : 0.916315 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.33, Z:-3.01 [[ 9.94527174e-01 -1.04464767e-01 1.67689871e-03 3.00351892e+01] [ 1.04478046e-01 9.94427071e-01 -1.41116141e-02 -3.26779380e-01] [-1.93386994e-04 1.42095828e-02 9.99899020e-01 -3.00843477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20119381700002 meters Centerline goodness : 0.915667 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.33, Z:-3.01 [[ 9.94564015e-01 -1.04118800e-01 1.30216211e-03 3.00365832e+01] [ 1.04126934e-01 9.94481087e-01 -1.28432619e-02 -3.31172995e-01] [ 4.22494355e-05 1.29090363e-02 9.99916674e-01 -3.00895887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23119381700002 meters Centerline goodness : 0.916076 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.33, Z:-3.01 [[ 9.94592546e-01 -1.03849596e-01 9.64086095e-04 3.00373775e+01] [ 1.03853622e-01 9.94518112e-01 -1.21717091e-02 -3.33254366e-01] [ 3.05225983e-04 1.22060149e-02 9.99925457e-01 -3.00896078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26119381700002 meters Centerline goodness : 0.916076 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.33, Z:-3.01 [[ 9.94592546e-01 -1.03849596e-01 9.64086095e-04 3.00373775e+01] [ 1.03853622e-01 9.94518112e-01 -1.21717091e-02 -3.33254366e-01] [ 3.05225983e-04 1.22060149e-02 9.99925457e-01 -3.00896078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29119381700002 meters Centerline goodness : 0.916276 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.33, Z:-3.01 [[ 9.94630176e-01 -1.03490806e-01 6.83298540e-04 3.00379654e+01] [ 1.03491807e-01 9.94563921e-01 -1.14913876e-02 -3.34908633e-01] [ 5.09668892e-04 1.15003967e-02 9.99933738e-01 -3.00890498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32119381700002 meters Centerline goodness : 0.914450 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.34, Z:-3.01 [[ 9.95000762e-01 -9.98671966e-02 -1.64198691e-04 3.00392529e+01] [ 9.98637655e-02 9.94977782e-01 -6.81483667e-03 -3.38181579e-01] [ 8.43952683e-04 6.76437018e-03 9.99976765e-01 -3.00900651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35119381700002 meters Centerline goodness : 0.915944 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.34, Z:-3.01 [[ 9.95072895e-01 -9.91449866e-02 -4.52596149e-04 3.00401368e+01] [ 9.91408975e-02 9.95057521e-01 -5.62245830e-03 -3.40924206e-01] [ 1.00779776e-03 5.54988507e-03 9.99984091e-01 -3.00936056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38119381700002 meters Centerline goodness : 0.917355 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.34, Z:-3.01 [[ 9.95058180e-01 -9.92910219e-02 -7.15177897e-04 3.00410350e+01] [ 9.92858081e-02 9.95044528e-01 -5.35874801e-03 -3.42304872e-01] [ 1.24370942e-03 5.26125903e-03 9.99985386e-01 -3.00966090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41119381700003 meters Centerline goodness : 0.916193 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.34, Z:-3.01 [[ 9.95066851e-01 -9.92028180e-02 -8.73795270e-04 3.00414647e+01] [ 9.91978102e-02 9.95057114e-01 -4.59730152e-03 -3.44546952e-01] [ 1.32554147e-03 4.48794377e-03 9.99989051e-01 -3.00959315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44119381700003 meters Centerline goodness : 0.917649 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.35, Z:-3.01 [[ 9.95030567e-01 -9.95622875e-02 -1.23378993e-03 3.00423924e+01] [ 9.95564567e-02 9.95023376e-01 -4.12220466e-03 -3.46681877e-01] [ 1.63806595e-03 3.97888789e-03 9.99990743e-01 -3.00955440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47119381700003 meters Centerline goodness : 0.914700 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.35, Z:-3.01 [[ 9.94573601e-01 -1.04029631e-01 -1.08973302e-03 3.00429482e+01] [ 1.04018764e-01 9.94547564e-01 -7.43239763e-03 -3.49531349e-01] [ 1.85698090e-03 7.27871380e-03 9.99971786e-01 -3.00917125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50119381700003 meters Centerline goodness : 0.915900 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.35, Z:-3.01 [[ 9.94487569e-01 -1.04847414e-01 -1.22259428e-03 3.00435097e+01] [ 1.04836291e-01 9.94464418e-01 -7.06211135e-03 -3.52414932e-01] [ 1.95627062e-03 6.89500969e-03 9.99974316e-01 -3.00894016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53119381700003 meters Centerline goodness : 0.915251 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.36, Z:-3.01 [[ 9.94399869e-01 -1.05673226e-01 -1.43845538e-03 3.00444032e+01] [ 1.05661242e-01 9.94379178e-01 -6.76401878e-03 -3.55194857e-01] [ 2.14514576e-03 6.57415041e-03 9.99976089e-01 -3.00896816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56119381700003 meters Centerline goodness : 0.917080 Centerline is valid? [False, False] Translation: X:30.05, Y:-0.36, Z:-3.01 [[ 9.93820962e-01 -1.10987961e-01 -1.25244088e-03 3.00461738e+01] [ 1.10966714e-01 9.93759047e-01 -1.13729876e-02 -3.55587934e-01] [ 2.50688916e-03 1.11637342e-02 9.99934541e-01 -3.01027937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59119381700003 meters Centerline goodness : 0.916334 Centerline is valid? [False, False] Translation: X:30.05, Y:-0.36, Z:-3.01 [[ 9.93648956e-01 -1.12511542e-01 -1.70469242e-03 3.00486406e+01] [ 1.12482173e-01 9.93576859e-01 -1.23606967e-02 -3.55312936e-01] [ 3.08446399e-03 1.20904459e-02 9.99922151e-01 -3.01186770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62119381700003 meters Centerline goodness : 0.914200 Centerline is valid? [False, False] Translation: X:30.05, Y:-0.35, Z:-3.01 [[ 9.93534703e-01 -1.13510444e-01 -2.04285423e-03 3.00502260e+01] [ 1.13474755e-01 9.93456021e-01 -1.29851234e-02 -3.54801252e-01] [ 3.50343296e-03 1.26693584e-02 9.99913603e-01 -3.01282783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65119381700003 meters Centerline goodness : 0.913446 Centerline is valid? [False, False] Translation: X:30.05, Y:-0.35, Z:-3.01 [[ 9.93436670e-01 -1.14361176e-01 -2.25903333e-03 3.00512523e+01] [ 1.14320701e-01 9.93351992e-01 -1.35128746e-02 -3.54210200e-01] [ 3.78936349e-03 1.31659308e-02 9.99906145e-01 -3.01345741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68119381700004 meters Centerline goodness : 0.912904 Centerline is valid? [False, False] Translation: X:30.05, Y:-0.35, Z:-3.01 [[ 9.93208290e-01 -1.16328457e-01 -2.23222975e-03 3.00524062e+01] [ 1.16281624e-01 9.93100026e-01 -1.51961016e-02 -3.51881708e-01] [ 3.98456648e-03 1.48333268e-02 9.99882041e-01 -3.01459051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71119381700004 meters Centerline goodness : 0.914032 Centerline is valid? [False, False] Translation: X:30.05, Y:-0.35, Z:-3.01 [[ 9.93522302e-01 -1.13605323e-01 -2.69557146e-03 3.00527911e+01] [ 1.13566591e-01 9.93461390e-01 -1.17087847e-02 -3.52457997e-01] [ 4.00812644e-03 1.13268119e-02 9.99927817e-01 -3.01450006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74119381700004 meters Centerline goodness : 0.912886 Centerline is valid? [False, False] Translation: X:30.05, Y:-0.35, Z:-3.02 [[ 9.93751173e-01 -1.11562243e-01 -3.53166386e-03 3.00548158e+01] [ 1.11524734e-01 9.93716607e-01 -9.46250498e-03 -3.50739553e-01] [ 4.56513131e-03 9.00950755e-03 9.99948993e-01 -3.01556567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77119381700004 meters Centerline goodness : 0.912173 Centerline is valid? [False, False] Translation: X:30.05, Y:-0.35, Z:-3.02 [[ 9.94090149e-01 -1.08482298e-01 -4.04567215e-03 3.00549615e+01] [ 1.08455959e-01 9.94081645e-01 -6.24398974e-03 -3.49229872e-01] [ 4.69909078e-03 5.76831144e-03 9.99972322e-01 -3.01535971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80119381700004 meters Centerline goodness : 0.910937 Centerline is valid? [False, False] Translation: X:30.06, Y:-0.35, Z:-3.02 [[ 9.94404111e-01 -1.05540016e-01 -4.66573573e-03 3.00554321e+01] [ 1.05525664e-01 9.94411358e-01 -3.22274733e-03 -3.47190951e-01] [ 4.97978940e-03 2.71235834e-03 9.99983922e-01 -3.01532818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83119381700004 meters Centerline goodness : 0.910857 Centerline is valid? [False, False] Translation: X:30.06, Y:-0.34, Z:-3.02 [[ 9.94585256e-01 -1.03788347e-01 -5.30544373e-03 3.00560072e+01] [ 1.03777674e-01 9.94597976e-01 -2.24971293e-03 -3.40329672e-01] [ 5.51027759e-03 1.68694470e-03 9.99983395e-01 -3.01548014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86119381700004 meters Centerline goodness : 0.908665 Centerline is valid? [False, False] Translation: X:30.06, Y:-0.34, Z:-3.02 [[ 9.94523489e-01 -1.04376558e-01 -5.34461255e-03 3.00560291e+01] [ 1.04358456e-01 9.94533372e-01 -3.56145259e-03 -3.36289104e-01] [ 5.68712771e-03 2.98419274e-03 9.99979375e-01 -3.01557990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89119381700002 meters Centerline goodness : 0.906763 Centerline is valid? [False, False] Translation: X:30.06, Y:-0.33, Z:-3.02 [[ 9.94701742e-01 -1.02625229e-01 -6.04209664e-03 3.00578092e+01] [ 1.02615887e-01 9.94719359e-01 -1.83730034e-03 -3.33141986e-01] [ 6.19874387e-03 1.20755074e-03 9.99980058e-01 -3.01670961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92119381700002 meters Centerline goodness : 0.906197 Centerline is valid? [False, False] Translation: X:30.06, Y:-0.33, Z:-3.02 [[ 9.94755730e-01 -1.02069967e-01 -6.53907975e-03 3.00594872e+01] [ 1.02061252e-01 9.94776742e-01 -1.65380920e-03 -3.28192343e-01] [ 6.67372870e-03 9.77749513e-04 9.99977252e-01 -3.01805474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95119381700002 meters Centerline goodness : 0.904601 Centerline is valid? [False, False] Translation: X:30.06, Y:-0.32, Z:-3.02 [[ 9.94930983e-01 -1.00302820e-01 -7.18912322e-03 3.00611165e+01] [ 1.00302807e-01 9.94956891e-01 -3.63273053e-04 -3.23272520e-01] [ 7.18930500e-03 -3.59657624e-04 9.99974092e-01 -3.01930805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98119381700002 meters Centerline goodness : 0.904633 Centerline is valid? [False, False] Translation: X:30.07, Y:-0.31, Z:-3.02 [[ 9.95182981e-01 -9.80259232e-02 -1.32394293e-03 3.00734214e+01] [ 9.80151146e-02 9.95162826e-01 -6.63233133e-03 -3.08009326e-01] [ 1.96767919e-03 6.47061685e-03 9.99977129e-01 -3.02292295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01119381700002 meters Centerline goodness : 0.902459 Centerline is valid? [False, False] Translation: X:30.07, Y:-0.30, Z:-3.02 [[ 9.95425197e-01 -9.55271171e-02 -1.80195252e-03 3.00739721e+01] [ 9.55171232e-02 9.95415260e-01 -4.99397446e-03 -3.02527059e-01] [ 2.27075102e-03 4.79901069e-03 9.99985906e-01 -3.02331400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04119381700002 meters Centerline goodness : 0.903287 Centerline is valid? [False, False] Translation: X:30.09, Y:-0.29, Z:-3.03 [[ 9.95739764e-01 -9.21438681e-02 3.43957944e-03 3.00868697e+01] [ 9.21733478e-02 9.95695545e-01 -9.71880114e-03 -2.86365857e-01] [-2.52924599e-03 9.99443430e-03 9.99946856e-01 -3.02592953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07119381700002 meters Centerline goodness : 0.900837 Centerline is valid? [False, False] Translation: X:30.09, Y:-0.28, Z:-3.03 [[ 9.95992158e-01 -8.93888980e-02 3.04065653e-03 3.00870724e+01] [ 8.94105260e-02 9.95963256e-01 -7.93408692e-03 -2.80057368e-01] [-2.31916290e-03 8.17415505e-03 9.99963902e-01 -3.02616937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10119381700002 meters Centerline goodness : 0.900925 Centerline is valid? [False, False] Translation: X:30.09, Y:-0.27, Z:-3.03 [[ 9.96189871e-01 -8.71730959e-02 2.56740724e-03 3.00879284e+01] [ 8.71886529e-02 9.96168979e-01 -6.74572085e-03 -2.72986208e-01] [-1.96952608e-03 6.94386756e-03 9.99973951e-01 -3.02699572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13119381700002 meters Centerline goodness : 0.897181 Centerline is valid? [False, False] Translation: X:30.09, Y:-0.27, Z:-3.03 [[ 9.96376097e-01 -8.50325043e-02 2.03646314e-03 3.00889049e+01] [ 8.50427250e-02 9.96361515e-01 -5.60949653e-03 -2.65909844e-01] [-1.55206397e-03 5.76235463e-03 9.99982193e-01 -3.02777520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16119381700003 meters Centerline goodness : 0.897299 Centerline is valid? [False, False] Translation: X:30.09, Y:-0.26, Z:-3.03 [[ 9.96588022e-01 -8.25208110e-02 1.62152851e-03 3.00892875e+01] [ 8.25266412e-02 9.96581085e-01 -3.93627812e-03 -2.59764935e-01] [-1.29115978e-03 4.05666693e-03 9.99990938e-01 -3.02811768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19119381700003 meters Centerline goodness : 0.893120 Centerline is valid? [False, False] Translation: X:30.10, Y:-0.24, Z:-3.03 [[ 9.96621592e-01 -8.18768931e-02 6.44795936e-03 3.01036160e+01] [ 8.19423961e-02 9.96580157e-01 -1.06505399e-02 -2.43916071e-01] [-5.55387523e-03 1.11429193e-02 9.99922492e-01 -3.03101534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22119381700003 meters Centerline goodness : 0.895501 Centerline is valid? [False, False] Translation: X:30.11, Y:-0.24, Z:-3.03 [[ 9.96798553e-01 -7.97436652e-02 5.79594729e-03 3.01050581e+01] [ 7.97940345e-02 9.96770274e-01 -9.05169167e-03 -2.39651792e-01] [-5.05541290e-03 9.48519518e-03 9.99942235e-01 -3.03185079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25119381700003 meters Centerline goodness : 0.892839 Centerline is valid? [False, False] Translation: X:30.11, Y:-0.23, Z:-3.03 [[ 9.96999169e-01 -7.72209666e-02 5.43875692e-03 3.01056651e+01] [ 7.72594443e-02 9.96984585e-01 -7.26057348e-03 -2.34850051e-01] [-4.86168830e-03 7.65898106e-03 9.99958851e-01 -3.03239511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28119381700003 meters Centerline goodness : 0.893300 Centerline is valid? [False, False] Translation: X:30.11, Y:-0.23, Z:-3.03 [[ 9.97212057e-01 -7.44496005e-02 5.03691545e-03 3.01063524e+01] [ 7.44770253e-02 9.97207586e-01 -5.49566710e-03 -2.28994532e-01] [-4.61370008e-03 5.85547998e-03 9.99972213e-01 -3.03303243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31119381700003 meters Centerline goodness : 0.892071 Centerline is valid? [False, False] Translation: X:30.12, Y:-0.22, Z:-3.04 [[ 9.97619997e-01 -6.85472014e-02 7.45803278e-03 3.01170040e+01] [ 6.86256925e-02 9.97583657e-01 -1.08333220e-02 -2.21836246e-01] [-6.69741771e-03 1.13193513e-02 9.99913505e-01 -3.03529074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34119381700003 meters Centerline goodness : 0.892918 Centerline is valid? [False, False] Translation: X:30.14, Y:-0.21, Z:-3.04 [[ 9.97866130e-01 -6.46897597e-02 8.85557283e-03 3.01366333e+01] [ 6.48044160e-02 9.97808839e-01 -1.33382461e-02 -2.06809174e-01] [-7.97332091e-03 1.38836642e-02 9.99871827e-01 -3.03829864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37119381700003 meters Centerline goodness : 0.892928 Centerline is valid? [False, False] Translation: X:30.14, Y:-0.20, Z:-3.04 [[ 9.98060726e-01 -6.16738861e-02 8.43315887e-03 3.01371627e+01] [ 6.17646608e-02 9.98030519e-01 -1.09640604e-02 -2.02729740e-01] [-7.74035371e-03 1.14636693e-02 9.99904331e-01 -3.03845536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40119381700003 meters Centerline goodness : 0.889422 Centerline is valid? [False, False] Translation: X:30.15, Y:-0.20, Z:-3.04 [[ 9.98209525e-01 -5.82126022e-02 1.37490544e-02 3.01489307e+01] [ 5.84436568e-02 9.98145138e-01 -1.70476527e-02 -1.96618163e-01] [-1.27311635e-02 1.78206743e-02 9.99760142e-01 -3.04249477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43119381700004 meters Centerline goodness : 0.888127 Centerline is valid? [False, False] Translation: X:30.15, Y:-0.19, Z:-3.04 [[ 9.98400086e-01 -5.49539315e-02 1.33167007e-02 3.01490734e+01] [ 5.51397618e-02 9.98380295e-01 -1.40140242e-02 -1.94137652e-01] [-1.25250058e-02 1.47258827e-02 9.99813119e-01 -3.04208501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46119381700004 meters Centerline goodness : 0.890854 Centerline is valid? [False, False] Translation: X:30.18, Y:-0.18, Z:-3.04 [[ 9.98694359e-01 -4.94799302e-02 1.27009674e-02 3.01753841e+01] [ 4.97185692e-02 9.98578388e-01 -1.92162989e-02 -1.84179512e-01] [-1.17320904e-02 1.98226833e-02 9.99734674e-01 -3.04054611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49119381700004 meters Centerline goodness : 0.889857 Centerline is valid? [False, False] Translation: X:30.18, Y:-0.18, Z:-3.04 [[ 9.98860734e-01 -4.60874522e-02 1.23766079e-02 3.01758058e+01] [ 4.62885336e-02 9.98792096e-01 -1.64839785e-02 -1.80502111e-01] [-1.16019536e-02 1.70380939e-02 9.99787526e-01 -3.04056847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52119381700004 meters Centerline goodness : 0.890400 Centerline is valid? [False, False] Translation: X:30.19, Y:-0.17, Z:-3.05 [[ 9.98990398e-01 -4.16369014e-02 1.68687222e-02 3.01884898e+01] [ 4.20056354e-02 9.98872292e-01 -2.21284863e-02 -1.74091270e-01] [-1.59283376e-02 2.28147267e-02 9.99612813e-01 -3.04500800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55119381700004 meters Centerline goodness : 0.886421 Centerline is valid? [False, False] Translation: X:30.19, Y:-0.17, Z:-3.05 [[ 9.99321007e-01 -3.33199618e-02 1.57259482e-02 3.01917657e+01] [ 3.35535873e-02 9.99326834e-01 -1.48336213e-02 -1.69007195e-01] [-1.52211064e-02 1.53512113e-02 9.99766302e-01 -3.04724887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58119381700004 meters Centerline goodness : 0.886795 Centerline is valid? [False, False] Translation: X:30.19, Y:-0.17, Z:-3.05 [[ 9.99453779e-01 -2.92642451e-02 1.53540952e-02 3.01925435e+01] [ 2.94356801e-02 9.99505478e-01 -1.10607860e-02 -1.67578691e-01] [-1.50228167e-02 1.15067026e-02 9.99820939e-01 -3.04772778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61119381700004 meters Centerline goodness : 0.885804 Centerline is valid? [False, False] Translation: X:30.19, Y:-0.17, Z:-3.05 [[ 9.99569846e-01 -2.52381867e-02 1.49384091e-02 3.01931399e+01] [ 2.53457453e-02 9.99653849e-01 -7.05512090e-03 -1.66932697e-01] [-1.47551797e-02 7.43071122e-03 9.99863525e-01 -3.04773959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64119381700004 meters Centerline goodness : 0.884419 Centerline is valid? [False, False] Translation: X:30.19, Y:-0.17, Z:-3.05 [[ 9.99613416e-01 -2.33789480e-02 1.50480538e-02 3.01915067e+01] [ 2.34652767e-02 9.99709046e-01 -5.58607868e-03 -1.66156603e-01] [-1.49130789e-02 5.93702593e-03 9.99871168e-01 -3.04610535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67119381700002 meters Centerline goodness : 0.885359 Centerline is valid? [False, False] Translation: X:30.19, Y:-0.16, Z:-3.05 [[ 9.99637987e-01 -2.25366808e-02 1.46966670e-02 3.01922124e+01] [ 2.26191730e-02 9.99729183e-01 -5.47110607e-03 -1.64999501e-01] [-1.45693863e-02 5.80155192e-03 9.99877030e-01 -3.04627189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70119381700002 meters Centerline goodness : 0.887162 Centerline is valid? [False, False] Translation: X:30.19, Y:-0.17, Z:-3.05 [[ 9.99720450e-01 -1.87540900e-02 1.43981314e-02 3.01927142e+01] [ 1.87711345e-02 9.99823256e-01 -1.04955929e-03 -1.66360361e-01] [-1.43759031e-02 1.31953514e-03 9.99895791e-01 -3.04635164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73119381700002 meters Centerline goodness : 0.885770 Centerline is valid? [False, False] Translation: X:30.19, Y:-0.17, Z:-3.05 [[ 9.99733987e-01 -1.82248290e-02 1.41354284e-02 3.01932550e+01] [ 1.82396258e-02 9.99833222e-01 -9.18568083e-04 -1.65535187e-01] [-1.41163302e-02 1.17614866e-03 9.99899668e-01 -3.04651293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76119381700002 meters Centerline goodness : 0.885427 Centerline is valid? [False, False] Translation: X:30.19, Y:-0.17, Z:-3.05 [[ 9.99808574e-01 -1.41527228e-02 1.35098570e-02 3.01946482e+01] [ 1.40975330e-02 9.99891922e-01 4.17169008e-03 -1.68330987e-01] [-1.35674376e-02 -3.98043585e-03 9.99900035e-01 -3.04683843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79119381700002 meters Centerline goodness : 0.885030 Centerline is valid? [False, False] Translation: X:30.19, Y:-0.17, Z:-3.05 [[ 9.99908334e-01 -6.22884328e-03 1.20218387e-02 3.01864830e+01] [ 6.38391953e-03 9.99896353e-01 -1.29045709e-02 -1.68660873e-01] [-1.19402121e-02 1.29801345e-02 9.99844462e-01 -3.04662970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82119381700002 meters Centerline goodness : 0.883733 Centerline is valid? [False, False] Translation: X:30.19, Y:-0.17, Z:-3.05 [[ 9.99927825e-01 -2.37196359e-03 1.17779015e-02 3.01870711e+01] [ 2.46624361e-03 9.99964984e-01 -7.99676217e-03 -1.73050693e-01] [-1.17585210e-02 8.02523217e-03 9.99898661e-01 -3.04664570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85119381700002 meters Centerline goodness : 0.885462 Centerline is valid? [False, False] Translation: X:30.21, Y:-0.18, Z:-3.05 [[ 9.99893308e-01 1.65178314e-03 1.45135834e-02 3.02052740e+01] [-1.65629186e-03 9.99998584e-01 2.98640850e-04 -1.79702325e-01] [-1.45130695e-02 -3.22647717e-04 9.99894628e-01 -3.04804518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88119381700002 meters Centerline goodness : 0.885276 Centerline is valid? [False, False] Translation: X:30.20, Y:-0.18, Z:-3.05 [[ 9.99891587e-01 2.71649619e-03 1.44718948e-02 3.02049216e+01] [-2.74661192e-03 9.99994103e-01 2.06151203e-03 -1.83584652e-01] [-1.44662094e-02 -2.10103721e-03 9.99893152e-01 -3.04708973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91119381700003 meters Centerline goodness : 0.883711 Centerline is valid? [False, False] Translation: X:30.22, Y:-0.20, Z:-3.05 [[ 9.99799981e-01 5.12716648e-03 1.93315591e-02 3.02193456e+01] [-5.30510310e-03 9.99943933e-01 9.16444275e-03 -1.96068324e-01] [-1.92834876e-02 -9.26516561e-03 9.99771126e-01 -3.04610719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94119381700003 meters Centerline goodness : 0.883101 Centerline is valid? [False, False] Translation: X:30.24, Y:-0.21, Z:-3.05 [[ 9.99717250e-01 7.19856158e-03 2.26627451e-02 3.02363351e+01] [-7.57469940e-03 9.99834259e-01 1.65553279e-02 -2.05071175e-01] [-2.25398144e-02 -1.67223103e-02 9.99606083e-01 -3.04657616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97119381700003 meters Centerline goodness : 0.883656 Centerline is valid? [False, False] Translation: X:30.24, Y:-0.21, Z:-3.05 [[ 9.99717838e-01 7.69938938e-03 2.24714112e-02 3.02366269e+01] [-8.14200733e-03 9.99773327e-01 1.96723660e-02 -2.12089827e-01] [-2.23148523e-02 -1.98497776e-02 9.99553917e-01 -3.04514619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00119381700003 meters Centerline goodness : 0.882855 Centerline is valid? [False, False] Translation: X:30.24, Y:-0.22, Z:-3.05 [[ 9.99737462e-01 4.74496406e-03 2.24163524e-02 3.02368281e+01] [-5.13442111e-03 9.99836324e-01 1.73483045e-02 -2.16282068e-01] [-2.23303663e-02 -1.74588449e-02 9.99598191e-01 -3.04518023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03119381700003 meters Centerline goodness : 0.882710 Centerline is valid? [False, False] Translation: X:30.24, Y:-0.22, Z:-3.05 [[ 9.99748682e-01 1.97682747e-03 2.23308036e-02 3.02372573e+01] [-2.31337044e-03 9.99883990e-01 1.50550297e-02 -2.20377956e-01] [-2.22984518e-02 -1.51029055e-02 9.99637275e-01 -3.04552452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06119381700003 meters Centerline goodness : 0.878591 Centerline is valid? [False, False] Translation: X:30.24, Y:-0.23, Z:-3.05 [[ 9.99755118e-01 3.46505773e-05 2.21292323e-02 3.02383770e+01] [-3.59118886e-04 9.99892492e-01 1.46586238e-02 -2.31498311e-01] [-2.21263453e-02 -1.46629812e-02 9.99647649e-01 -3.04624846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09119381700003 meters Centerline goodness : 0.879313 Centerline is valid? [False, False] Translation: X:30.24, Y:-0.24, Z:-3.05 [[ 9.99754953e-01 -2.52650664e-03 2.19920587e-02 3.02387039e+01] [ 2.24876987e-03 9.99917526e-01 1.26445392e-02 -2.35787800e-01] [-2.20221914e-02 -1.25919856e-02 9.99678181e-01 -3.04629516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12119381700003 meters Centerline goodness : 0.877361 Centerline is valid? [False, False] Translation: X:30.24, Y:-0.24, Z:-3.05 [[ 9.99747140e-01 -5.15169232e-03 2.18887325e-02 3.02390057e+01] [ 4.92358719e-03 9.99933147e-01 1.04622640e-02 -2.39865665e-01] [-2.19411676e-02 -1.03518475e-02 9.99705669e-01 -3.04630977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15119381700003 meters Centerline goodness : 0.874933 Centerline is valid? [False, False] Translation: X:30.25, Y:-0.25, Z:-3.05 [[ 9.99821257e-01 -5.18709810e-03 1.81809742e-02 3.02472266e+01] [ 5.04518048e-03 9.99956516e-01 7.84302583e-03 -2.52982420e-01] [-1.82208662e-02 -7.74989765e-03 9.99803950e-01 -3.04577615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18119381700004 meters Centerline goodness : 0.874933 Centerline is valid? [False, False] Translation: X:30.25, Y:-0.25, Z:-3.05 [[ 9.99821257e-01 -5.18709810e-03 1.81809742e-02 3.02472266e+01] [ 5.04518048e-03 9.99956516e-01 7.84302583e-03 -2.52982420e-01] [-1.82208662e-02 -7.74989765e-03 9.99803950e-01 -3.04577615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21119381700004 meters Centerline goodness : 0.876309 Centerline is valid? [False, False] Translation: X:30.25, Y:-0.26, Z:-3.05 [[ 9.99825659e-01 -6.68615736e-03 1.74340802e-02 3.02496730e+01] [ 6.56317672e-03 9.99953244e-01 7.10173688e-03 -2.59067663e-01] [-1.74807483e-02 -6.98607581e-03 9.99822793e-01 -3.04708831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24119381700004 meters Centerline goodness : 0.876547 Centerline is valid? [False, False] Translation: X:30.25, Y:-0.26, Z:-3.05 [[ 9.99827390e-01 -7.96208723e-03 1.67867745e-02 3.02522404e+01] [ 7.85535486e-03 9.99948572e-01 6.41450266e-03 -2.64473468e-01] [-1.68369840e-02 -6.28152938e-03 9.99838516e-01 -3.04877986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27119381700004 meters Centerline goodness : 0.875525 Centerline is valid? [False, False] Translation: X:30.25, Y:-0.27, Z:-3.05 [[ 9.99802236e-01 -1.03776666e-02 1.69644562e-02 3.02516885e+01] [ 1.03050321e-02 9.99937382e-01 4.36340107e-03 -2.68386386e-01] [-1.70086758e-02 -4.18771889e-03 9.99846572e-01 -3.04836802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30119381700004 meters Centerline goodness : 0.876682 Centerline is valid? [False, False] Translation: X:30.26, Y:-0.27, Z:-3.05 [[ 9.99858348e-01 -1.03232968e-02 1.32933680e-02 3.02581526e+01] [ 1.03009923e-02 9.99945420e-01 1.74524332e-03 -2.73618330e-01] [-1.33106591e-02 -1.60806122e-03 9.99910116e-01 -3.04673570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33119381700004 meters Centerline goodness : 0.876150 Centerline is valid? [False, False] Translation: X:30.26, Y:-0.28, Z:-3.05 [[ 9.99854804e-01 -1.13675788e-02 1.26944285e-02 3.02606330e+01] [ 1.13518152e-02 9.99934704e-01 1.31313794e-03 -2.78539285e-01] [-1.27085268e-02 -1.16884247e-03 9.99918560e-01 -3.04832205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36119381700004 meters Centerline goodness : 0.875223 Centerline is valid? [False, False] Translation: X:30.26, Y:-0.29, Z:-3.05 [[ 9.99829370e-01 -1.39949716e-02 1.20570550e-02 3.02631497e+01] [ 1.39915341e-02 9.99902045e-01 3.69408720e-04 -2.89814142e-01] [-1.20610439e-02 -2.00648991e-04 9.99927243e-01 -3.04970236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39119381700004 meters Centerline goodness : 0.874390 Centerline is valid? [False, False] Translation: X:30.26, Y:-0.30, Z:-3.05 [[ 9.99786264e-01 -1.68809790e-02 1.19355772e-02 3.02636183e+01] [ 1.68998237e-02 9.99856093e-01 -1.47976877e-03 -2.95680268e-01] [-1.19088796e-02 1.68116164e-03 9.99927674e-01 -3.04972171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42119381700002 meters Centerline goodness : 0.874681 Centerline is valid? [False, False] Translation: X:30.26, Y:-0.30, Z:-3.05 [[ 9.99729508e-01 -2.00254356e-02 1.18275982e-02 3.02639547e+01] [ 2.00689737e-02 9.99792210e-01 -3.57390855e-03 -3.01393122e-01] [-1.17535715e-02 3.81030959e-03 9.99923665e-01 -3.04955923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45119381700002 meters Centerline goodness : 0.875238 Centerline is valid? [False, False] Translation: X:30.26, Y:-0.31, Z:-3.05 [[ 9.99661179e-01 -2.31804127e-02 1.18404392e-02 3.02640161e+01] [ 2.32484652e-02 9.99713795e-01 -5.64250672e-03 -3.07119015e-01] [-1.17062548e-02 5.91586695e-03 9.99913979e-01 -3.04933017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48119381700002 meters Centerline goodness : 0.876181 Centerline is valid? [False, False] Translation: X:30.26, Y:-0.32, Z:-3.05 [[ 9.99487212e-01 -2.94909253e-02 1.24738956e-02 3.02623618e+01] [ 2.96152849e-02 9.99512292e-01 -9.90517996e-03 -3.17009580e-01] [-1.21756991e-02 1.02695187e-02 9.99873137e-01 -3.04782170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51119381700002 meters Centerline goodness : 0.877744 Centerline is valid? [False, False] Translation: X:30.26, Y:-0.32, Z:-3.05 [[ 9.99378677e-01 -3.29519902e-02 1.25070742e-02 3.02625829e+01] [ 3.31093429e-02 9.99372438e-01 -1.25897219e-02 -3.20690762e-01] [-1.20843688e-02 1.29960006e-02 9.99842524e-01 -3.04782154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54119381700002 meters Centerline goodness : 0.877880 Centerline is valid? [False, False] Translation: X:30.26, Y:-0.32, Z:-3.05 [[ 9.99255344e-01 -3.65304385e-02 1.24211316e-02 3.02633674e+01] [ 3.67216658e-02 9.99204815e-01 -1.55324619e-02 -3.23707631e-01] [-1.18438468e-02 1.59770202e-02 9.99802209e-01 -3.04829252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57119381700002 meters Centerline goodness : 0.878471 Centerline is valid? [False, False] Translation: X:30.26, Y:-0.33, Z:-3.05 [[ 9.99116256e-01 -4.01854964e-02 1.23220164e-02 3.02640888e+01] [ 4.04101993e-02 9.99010708e-01 -1.85639895e-02 -3.26760273e-01] [-1.15638232e-02 1.90455188e-02 9.99751742e-01 -3.04861060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60119381700002 meters Centerline goodness : 0.880118 Centerline is valid? [False, False] Translation: X:30.26, Y:-0.33, Z:-3.05 [[ 9.98778910e-01 -4.77564265e-02 1.26496251e-02 3.02642932e+01] [ 4.80622500e-02 9.98529180e-01 -2.50897815e-02 -3.31580247e-01] [-1.14328214e-02 2.56671141e-02 9.99605167e-01 -3.04870922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.63119381700002 meters Centerline goodness : 0.878895 Centerline is valid? [False, False] Translation: X:30.26, Y:-0.34, Z:-3.05 [[ 9.98752249e-01 -4.83483309e-02 1.25053849e-02 3.02645400e+01] [ 4.86412858e-02 9.98520878e-01 -2.42915876e-02 -3.35142830e-01] [-1.13124302e-02 2.48695557e-02 9.99626697e-01 -3.04830272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66119381700003 meters Centerline goodness : 0.882308 Centerline is valid? [False, False] Translation: X:30.26, Y:-0.34, Z:-3.05 [[ 9.98713190e-01 -4.91737982e-02 1.24057095e-02 3.02648002e+01] [ 4.94580538e-02 9.98493693e-01 -2.37538480e-02 -3.38497532e-01] [-1.12189558e-02 2.43368435e-02 9.99640862e-01 -3.04798218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69119381700003 meters Centerline goodness : 0.882267 Centerline is valid? [False, False] Translation: X:30.26, Y:-0.34, Z:-3.05 [[ 9.98423800e-01 -5.46712870e-02 1.26872151e-02 3.02648789e+01] [ 5.50057847e-02 9.98101381e-01 -2.77127427e-02 -3.42505864e-01] [-1.11480356e-02 2.83669321e-02 9.99535411e-01 -3.04766005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72119381700003 meters Centerline goodness : 0.882213 Centerline is valid? [False, False] Translation: X:30.27, Y:-0.34, Z:-3.05 [[ 9.98390012e-01 -5.53415730e-02 1.24376440e-02 3.02658908e+01] [ 5.56656888e-02 9.98072618e-01 -2.74295567e-02 -3.44672032e-01] [-1.08956771e-02 2.80777455e-02 9.99546359e-01 -3.04816248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75119381700003 meters Centerline goodness : 0.879780 Centerline is valid? [False, False] Translation: X:30.27, Y:-0.35, Z:-3.05 [[ 9.98360098e-01 -5.59375973e-02 1.21696392e-02 3.02671432e+01] [ 5.62542710e-02 9.98038909e-01 -2.74552816e-02 -3.45368423e-01] [-1.06099910e-02 2.80948518e-02 9.99548952e-01 -3.04908738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78119381700003 meters Centerline goodness : 0.879903 Centerline is valid? [False, False] Translation: X:30.27, Y:-0.35, Z:-3.05 [[ 9.98334043e-01 -5.64492571e-02 1.19423529e-02 3.02681760e+01] [ 5.67600985e-02 9.98008361e-01 -2.75245640e-02 -3.45796040e-01] [-1.03648269e-02 2.81565584e-02 9.99549788e-01 -3.04983522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81119381700003 meters Centerline goodness : 0.877876 Centerline is valid? [False, False] Translation: X:30.27, Y:-0.35, Z:-3.05 [[ 9.98311966e-01 -5.68827107e-02 1.17292753e-02 3.02691279e+01] [ 5.71880676e-02 9.97982141e-01 -2.75893243e-02 -3.46086775e-01] [-1.01362517e-02 2.82135272e-02 9.99550526e-01 -3.05053996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84119381700003 meters Centerline goodness : 0.877103 Centerline is valid? [False, False] Translation: X:30.27, Y:-0.34, Z:-3.05 [[ 9.98192055e-01 -5.90125829e-02 1.14077213e-02 3.02715998e+01] [ 5.93247721e-02 9.97808625e-01 -2.93004970e-02 -3.44329247e-01] [-9.65362466e-03 2.99242838e-02 9.99505550e-01 -3.05267549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87119381700003 meters Centerline goodness : 0.875212 Centerline is valid? [False, False] Translation: X:30.27, Y:-0.34, Z:-3.05 [[ 9.98159325e-01 -5.95853996e-02 1.12934784e-02 3.02722950e+01] [ 5.99008508e-02 9.97752622e-01 -3.00265486e-02 -3.42613011e-01] [-9.47895376e-03 3.06477685e-02 9.99485299e-01 -3.05329600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90119381700003 meters Centerline goodness : 0.873397 Centerline is valid? [False, False] Translation: X:30.27, Y:-0.34, Z:-3.05 [[ 9.98314368e-01 -5.69780436e-02 1.10419315e-02 3.02730338e+01] [ 5.72564463e-02 9.97999906e-01 -2.67934018e-02 -3.42345777e-01] [-9.49321096e-03 2.73804598e-02 9.99580006e-01 -3.05383255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93119381700004 meters Centerline goodness : 0.873040 Centerline is valid? [False, False] Translation: X:30.27, Y:-0.34, Z:-3.05 [[ 9.98283869e-01 -5.75433673e-02 1.08664021e-02 3.02737174e+01] [ 5.78269397e-02 9.97937018e-01 -2.78882337e-02 -3.39545681e-01] [-9.23920206e-03 2.84687446e-02 9.99551984e-01 -3.05429127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96119381700004 meters Centerline goodness : 0.870396 Centerline is valid? [False, False] Translation: X:30.27, Y:-0.33, Z:-3.06 [[ 9.98399166e-01 -5.55500422e-02 1.06441373e-02 3.02746335e+01] [ 5.58141126e-02 9.98092955e-01 -2.63673562e-02 -3.34035526e-01] [-9.15913067e-03 2.69192396e-02 9.99595651e-01 -3.05514517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99119381700004 meters Centerline goodness : 0.871018 Centerline is valid? [False, False] Translation: X:30.28, Y:-0.33, Z:-3.06 [[ 9.98553163e-01 -5.27525708e-02 1.04282124e-02 3.02750557e+01] [ 5.29877873e-02 9.98312973e-01 -2.37381865e-02 -3.30704370e-01] [-9.15836939e-03 2.42564091e-02 9.99663819e-01 -3.05550008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02119381700004 meters Centerline goodness : 0.870079 Centerline is valid? [False, False] Translation: X:30.27, Y:-0.33, Z:-3.06 [[ 9.98703202e-01 -4.98724704e-02 1.02298986e-02 3.02749971e+01] [ 5.00810481e-02 9.98518822e-01 -2.12614700e-02 -3.26414621e-01] [-9.15438431e-03 2.17462222e-02 9.99721611e-01 -3.05527559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05119381700004 meters Centerline goodness : 0.867590 Centerline is valid? [False, False] Translation: X:30.27, Y:-0.32, Z:-3.06 [[ 9.98853694e-01 -4.68096755e-02 1.00075818e-02 3.02749736e+01] [ 4.69920661e-02 9.98717557e-01 -1.88411178e-02 -3.21780142e-01] [-9.11280101e-03 1.92897970e-02 9.99772404e-01 -3.05505333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08119381700004 meters Centerline goodness : 0.866042 Centerline is valid? [False, False] Translation: X:30.27, Y:-0.31, Z:-3.05 [[ 9.99099316e-01 -4.12705465e-02 9.86405895e-03 3.02740283e+01] [ 4.14178346e-02 9.99025899e-01 -1.52255198e-02 -3.11342440e-01] [-9.22608483e-03 1.56203544e-02 9.99835428e-01 -3.05404128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11119381700004 meters Centerline goodness : 0.865082 Centerline is valid? [False, False] Translation: X:30.27, Y:-0.31, Z:-3.05 [[ 9.99219882e-01 -3.82924410e-02 9.66001760e-03 3.02744049e+01] [ 3.84179881e-02 9.99175041e-01 -1.31641828e-02 -3.05983540e-01] [-9.14795979e-03 1.35250317e-02 9.99866685e-01 -3.05438345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14119381700004 meters Centerline goodness : 0.868069 Centerline is valid? [False, False] Translation: X:30.28, Y:-0.30, Z:-3.06 [[ 9.99308845e-01 -3.59862730e-02 9.31779449e-03 3.02757163e+01] [ 3.60962479e-02 9.99277268e-01 -1.19164706e-02 -2.99227380e-01] [-8.88223086e-03 1.22445718e-02 9.99885582e-01 -3.05551260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17119381700002 meters Centerline goodness : 0.863045 Centerline is valid? [False, False] Translation: X:30.28, Y:-0.28, Z:-3.06 [[ 9.99352829e-01 -3.54105724e-02 6.32565847e-03 3.02837594e+01] [ 3.54735760e-02 9.99319150e-01 -1.01420982e-02 -2.84641346e-01] [-5.96221415e-03 1.03599283e-02 9.99928559e-01 -3.05696933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20119381700002 meters Centerline goodness : 0.859091 Centerline is valid? [False, False] Translation: X:30.29, Y:-0.28, Z:-3.06 [[ 9.99343847e-01 -3.57615329e-02 5.74345821e-03 3.02873794e+01] [ 3.58234444e-02 9.99296878e-01 -1.10648638e-02 -2.79266699e-01] [-5.34372336e-03 1.12633540e-02 9.99922288e-01 -3.06002011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23119381700002 meters Centerline goodness : 0.862223 Centerline is valid? [False, False] Translation: X:30.29, Y:-0.27, Z:-3.06 [[ 9.99294409e-01 -3.71462566e-02 5.55341564e-03 3.02885004e+01] [ 3.72169764e-02 9.99219690e-01 -1.32252749e-02 -2.74000192e-01] [-5.05781280e-03 1.34226246e-02 9.99897121e-01 -3.06095492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26119381700002 meters Centerline goodness : 0.858517 Centerline is valid? [False, False] Translation: X:30.29, Y:-0.27, Z:-3.06 [[ 9.99244851e-01 -3.84768220e-02 5.40936907e-03 3.02892514e+01] [ 3.85554642e-02 9.99139704e-01 -1.52750832e-02 -2.68758714e-01] [-4.81697875e-03 1.54721090e-02 9.99868697e-01 -3.06150596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29119381700002 meters Centerline goodness : 0.859807 Centerline is valid? [False, False] Translation: X:30.29, Y:-0.26, Z:-3.06 [[ 9.99116748e-01 -4.17193885e-02 5.02150247e-03 3.02910850e+01] [ 4.18094192e-02 9.98937136e-01 -1.94054360e-02 -2.56699646e-01] [-4.20658237e-03 1.95982422e-02 9.99799087e-01 -3.06245620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32119381700002 meters Centerline goodness : 0.858928 Centerline is valid? [False, False] Translation: X:30.29, Y:-0.25, Z:-3.06 [[ 9.99160854e-01 -4.07254488e-02 4.36183724e-03 3.02936835e+01] [ 4.07998007e-02 9.98994480e-01 -1.85850949e-02 -2.52248402e-01] [-3.60056499e-03 1.87474614e-02 9.99817768e-01 -3.06420532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35119381700002 meters Centerline goodness : 0.860658 Centerline is valid? [False, False] Translation: X:30.29, Y:-0.25, Z:-3.06 [[ 9.99257717e-01 -3.83127622e-02 4.01840070e-03 3.02947082e+01] [ 3.83744365e-02 9.99125602e-01 -1.65962083e-02 -2.47828161e-01] [-3.37904043e-03 1.67380931e-02 9.99854199e-01 -3.06487950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38119381700002 meters Centerline goodness : 0.859904 Centerline is valid? [False, False] Translation: X:30.30, Y:-0.24, Z:-3.07 [[ 9.99357942e-01 -3.56364157e-02 3.70793340e-03 3.02956628e+01] [ 3.56873281e-02 9.99254673e-01 -1.47143563e-02 -2.42414511e-01] [-3.18080286e-03 1.48372351e-02 9.99884863e-01 -3.06561710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41119381700003 meters Centerline goodness : 0.862158 Centerline is valid? [False, False] Translation: X:30.30, Y:-0.24, Z:-3.07 [[ 9.99447141e-01 -3.30740988e-02 3.39352435e-03 3.02966646e+01] [ 3.31161540e-02 9.99364445e-01 -1.31918869e-02 -2.36008989e-01] [-2.95505781e-03 1.32969742e-02 9.99907225e-01 -3.06634256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44119381700003 meters Centerline goodness : 0.861210 Centerline is valid? [False, False] Translation: X:30.31, Y:-0.22, Z:-3.07 [[ 9.99528085e-01 -2.99097878e-02 7.00077868e-03 3.03139785e+01] [ 3.00202135e-02 9.99417373e-01 -1.62389088e-02 -2.21074909e-01] [-6.51099752e-03 1.64414103e-02 9.99843631e-01 -3.06909878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47119381700003 meters Centerline goodness : 0.862878 Centerline is valid? [False, False] Translation: X:30.33, Y:-0.21, Z:-3.07 [[ 9.99561797e-01 -2.63394973e-02 1.35072481e-02 3.03250155e+01] [ 2.66313078e-02 9.99405416e-01 -2.18994733e-02 -2.14204053e-01] [-1.29223958e-02 2.22495926e-02 9.99668929e-01 -3.07310937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50119381700003 meters Centerline goodness : 0.861762 Centerline is valid? [False, False] Translation: X:30.33, Y:-0.21, Z:-3.07 [[ 9.99642708e-01 -2.31671465e-02 1.33319093e-02 3.03252611e+01] [ 2.34263238e-02 9.99532941e-01 -1.96241717e-02 -2.09366217e-01] [-1.28710465e-02 1.99294778e-02 9.99718536e-01 -3.07310068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53119381700003 meters Centerline goodness : 0.862766 Centerline is valid? [False, False] Translation: X:30.35, Y:-0.20, Z:-3.07 [[ 9.99678737e-01 -2.07125427e-02 1.46086635e-02 3.03454789e+01] [ 2.10118263e-02 9.99566158e-01 -2.06397573e-02 -2.02841455e-01] [-1.41748238e-02 2.09400812e-02 9.99680243e-01 -3.07478887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56119381700003 meters Centerline goodness : 0.863608 Centerline is valid? [False, False] Translation: X:30.38, Y:-0.19, Z:-3.08 [[ 9.99865301e-01 -9.84993476e-03 1.31285748e-02 3.03809712e+01] [ 1.02044534e-02 9.99577493e-01 -2.72158842e-02 -1.89548060e-01] [-1.28549532e-02 2.73461882e-02 9.99543364e-01 -3.07613065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59119381700003 meters Centerline goodness : 0.862999 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.18, Z:-3.08 [[ 9.99889611e-01 -6.30837207e-03 1.34525247e-02 3.04027008e+01] [ 6.67855688e-03 9.99595276e-01 -2.76528554e-02 -1.82439384e-01] [-1.32726356e-02 2.77396463e-02 9.99527063e-01 -3.07860932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62119381700003 meters Centerline goodness : 0.862770 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.18, Z:-3.08 [[ 9.99915067e-01 2.65669356e-04 1.30302878e-02 3.04047704e+01] [ 1.67420532e-05 9.99765209e-01 -2.16685630e-02 -1.78264321e-01] [-1.30329850e-02 2.16669407e-02 9.99680291e-01 -3.08015841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65119381700003 meters Centerline goodness : 0.864030 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.17, Z:-3.08 [[ 9.99886888e-01 7.49983682e-03 1.30370362e-02 3.04049905e+01] [-7.30586720e-03 9.99862851e-01 -1.48628420e-02 -1.74755925e-01] [-1.31467170e-02 1.47659140e-02 9.99804547e-01 -3.08032392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68119381700004 meters Centerline goodness : 0.868396 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.17, Z:-3.08 [[ 9.99769047e-01 1.64035322e-02 1.38844397e-02 3.04013713e+01] [-1.63003525e-02 9.99838920e-01 -7.51215242e-03 -1.66551561e-01] [-1.40054290e-02 7.28409620e-03 9.99875387e-01 -3.07700214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71119381700004 meters Centerline goodness : 0.869902 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.16, Z:-3.08 [[ 9.99700775e-01 1.99908140e-02 1.40970730e-02 3.04006706e+01] [-1.99305125e-02 9.99791663e-01 -4.40519470e-03 -1.63907072e-01] [-1.41821995e-02 4.12291467e-03 9.99890927e-01 -3.07622318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74119381700004 meters Centerline goodness : 0.868943 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.16, Z:-3.07 [[ 9.99643174e-01 2.24467998e-02 1.44798708e-02 3.03988955e+01] [-2.24178473e-02 9.99746358e-01 -2.15873882e-03 -1.61564653e-01] [-1.45246548e-02 1.83336100e-03 9.99892831e-01 -3.07463496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77119381700004 meters Centerline goodness : 0.872391 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.16, Z:-3.07 [[ 9.99574566e-01 2.50993030e-02 1.48563890e-02 3.03981630e+01] [-2.51064150e-02 9.99684742e-01 2.92378860e-04 -1.58704189e-01] [-1.48443669e-02 -6.65245141e-04 9.99889595e-01 -3.07424974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80119381700004 meters Centerline goodness : 0.873092 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.16, Z:-3.07 [[ 9.99585368e-01 2.47868028e-02 1.46528999e-02 3.03985131e+01] [-2.47862782e-02 9.99692749e-01 -2.17436147e-04 -1.57336145e-01] [-1.46537873e-02 -1.45844862e-04 9.99892617e-01 -3.07419443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83119381700004 meters Centerline goodness : 0.872279 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.16, Z:-3.07 [[ 9.99593050e-01 2.45363220e-02 1.45500372e-02 3.03989537e+01] [-2.45304869e-02 9.99698914e-01 -5.79395687e-04 -1.56444592e-01] [-1.45598727e-02 2.22240404e-04 9.99893975e-01 -3.07450149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86119381700004 meters Centerline goodness : 0.872970 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.16, Z:-3.07 [[ 9.99600886e-01 2.44039572e-02 1.42307939e-02 3.03998514e+01] [-2.43979722e-02 9.99702149e-01 -5.94046336e-04 -1.56248360e-01] [-1.42410524e-02 2.46606728e-04 9.99898561e-01 -3.07493775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89119381700004 meters Centerline goodness : 0.872867 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.16, Z:-3.08 [[ 9.99561179e-01 2.59154551e-02 1.43470779e-02 3.04005698e+01] [-2.59412208e-02 9.99662169e-01 1.61267238e-03 -1.57716871e-01] [-1.43004378e-02 -1.98414542e-03 9.99895775e-01 -3.07603605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92119381700002 meters Centerline goodness : 0.870691 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.16, Z:-3.08 [[ 9.99567011e-01 2.58720749e-02 1.40152309e-02 3.04016280e+01] [-2.58997981e-02 9.99662923e-01 1.80016939e-03 -1.57982107e-01] [-1.39639326e-02 -2.16238159e-03 9.99900161e-01 -3.07655429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95119381700002 meters Centerline goodness : 0.869869 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.16, Z:-3.08 [[ 9.99596349e-01 2.37765111e-02 1.55504707e-02 3.03979269e+01] [-2.39121519e-02 9.99677110e-01 8.59561724e-03 -1.61586285e-01] [-1.53410758e-02 -8.96399283e-03 9.99842137e-01 -3.08279085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98119381700002 meters Centerline goodness : 0.866833 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.16, Z:-3.08 [[ 9.99596967e-01 2.38483181e-02 1.54000149e-02 3.03984007e+01] [-2.39892602e-02 9.99671405e-01 9.03311162e-03 -1.63142655e-01] [-1.51795300e-02 -9.39890594e-03 9.99840609e-01 -3.08307351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01119381700002 meters Centerline goodness : 0.869790 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.16, Z:-3.08 [[ 9.99594544e-01 2.39124505e-02 1.54577876e-02 3.03981861e+01] [-2.40601661e-02 9.99665925e-01 9.44176487e-03 -1.64500189e-01] [-1.52268478e-02 -9.80985358e-03 9.99835941e-01 -3.08286288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04119381700002 meters Centerline goodness : 0.870749 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.17, Z:-3.08 [[ 9.99592365e-01 2.39825624e-02 1.54900278e-02 3.03979145e+01] [-2.41389638e-02 9.99658696e-01 9.99009793e-03 -1.66137518e-01] [-1.52451529e-02 -1.03599388e-02 9.99830114e-01 -3.08262648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07119381700002 meters Centerline goodness : 0.870749 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.17, Z:-3.08 [[ 9.99591945e-01 2.39886501e-02 1.55076734e-02 3.03978851e+01] [-2.41447736e-02 9.99658857e-01 9.95988750e-03 -1.66068711e-01] [-1.52634588e-02 -1.03302526e-02 9.99830142e-01 -3.08263190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10119381700002 meters Centerline goodness : 0.869590 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.17, Z:-3.08 [[ 9.99599480e-01 2.37187379e-02 1.54369725e-02 3.03976874e+01] [-2.38828311e-02 9.99659267e-01 1.05337665e-02 -1.67612365e-01] [-1.51818650e-02 -1.08982261e-02 9.99825355e-01 -3.08198819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13119381700002 meters Centerline goodness : 0.871596 Centerline is valid? [False, False] Translation: X:30.39, Y:-0.17, Z:-3.08 [[ 9.99706725e-01 2.18059663e-02 1.05339724e-02 3.03938089e+01] [-2.20749798e-02 9.99414662e-01 2.61348106e-02 -1.72095694e-01] [-9.95791163e-03 -2.63596831e-02 9.99602925e-01 -3.07806277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16119381700003 meters Centerline goodness : 0.872689 Centerline is valid? [False, False] Translation: X:30.39, Y:-0.17, Z:-3.08 [[ 9.99711734e-01 2.16316793e-02 1.04172620e-02 3.03937300e+01] [-2.19021911e-02 9.99406342e-01 2.65943102e-02 -1.73759866e-01] [-9.83579814e-03 -2.68148048e-02 9.99592028e-01 -3.07757655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19119381700003 meters Centerline goodness : 0.872223 Centerline is valid? [False, False] Translation: X:30.39, Y:-0.18, Z:-3.08 [[ 9.99716157e-01 2.14634473e-02 1.03404696e-02 3.03935536e+01] [-2.17379613e-02 9.99393353e-01 2.72100389e-02 -1.75695698e-01] [-9.75017533e-03 -2.74270962e-02 9.99576254e-01 -3.07694837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22119381700003 meters Centerline goodness : 0.873956 Centerline is valid? [False, False] Translation: X:30.39, Y:-0.18, Z:-3.08 [[ 9.99719676e-01 2.12663524e-02 1.04072856e-02 3.03933497e+01] [-2.15493670e-02 9.99378900e-01 2.78826097e-02 -1.78894822e-01] [-9.80786018e-03 -2.80990639e-02 9.99557026e-01 -3.07697135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25119381700003 meters Centerline goodness : 0.872977 Centerline is valid? [False, False] Translation: X:30.39, Y:-0.18, Z:-3.08 [[ 9.99718709e-01 2.13951569e-02 1.02347359e-02 3.03937426e+01] [-2.16754999e-02 9.99369712e-01 2.81131815e-02 -1.79038589e-01] [-9.62679913e-03 -2.83271166e-02 9.99552349e-01 -3.07697639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28119381700003 meters Centerline goodness : 0.870997 Centerline is valid? [False, False] Translation: X:30.39, Y:-0.18, Z:-3.08 [[ 9.99630410e-01 2.51830328e-02 1.02400636e-02 3.03940765e+01] [-2.55079534e-02 9.99131598e-01 3.29453092e-02 -1.81973182e-01] [-9.40150826e-03 -3.31943360e-02 9.99404697e-01 -3.07721819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31119381700003 meters Centerline goodness : 0.871932 Centerline is valid? [False, False] Translation: X:30.39, Y:-0.18, Z:-3.08 [[ 9.99624043e-01 2.55411432e-02 9.97108694e-03 3.03946735e+01] [-2.58601127e-02 9.99111074e-01 3.32913980e-02 -1.82662957e-01] [-9.11192301e-03 -3.35367353e-02 9.99395948e-01 -3.07732175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34119381700003 meters Centerline goodness : 0.871162 Centerline is valid? [False, False] Translation: X:30.39, Y:-0.19, Z:-3.08 [[ 9.99608339e-01 2.49551592e-02 1.26652610e-02 3.03869066e+01] [-2.54573313e-02 9.98827701e-01 4.11721734e-02 -1.85081621e-01] [-1.16229554e-02 -4.14784716e-02 9.99071791e-01 -3.08059919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37119381700003 meters Centerline goodness : 0.872289 Centerline is valid? [False, False] Translation: X:30.39, Y:-0.19, Z:-3.08 [[ 9.99602677e-01 2.53532274e-02 1.23167021e-02 3.03873762e+01] [-2.58504721e-02 9.98781178e-01 4.20465483e-02 -1.87014684e-01] [-1.12356745e-02 -4.23482349e-02 9.99039732e-01 -3.08030112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40119381700003 meters Centerline goodness : 0.869347 Centerline is valid? [False, False] Translation: X:30.39, Y:-0.19, Z:-3.08 [[ 9.99604757e-01 2.53491634e-02 1.21552709e-02 3.03875726e+01] [-2.58476738e-02 9.98750198e-01 4.27777991e-02 -1.89366540e-01] [-1.10556978e-02 -4.30750769e-02 9.99010665e-01 -3.08007860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43119381700004 meters Centerline goodness : 0.871908 Centerline is valid? [False, False] Translation: X:30.37, Y:-0.19, Z:-3.08 [[ 9.99668715e-01 2.35631883e-02 1.03554899e-02 3.03680113e+01] [-2.39715810e-02 9.98860724e-01 4.12627768e-02 -1.89803358e-01] [-9.37140958e-03 -4.14973445e-02 9.99094664e-01 -3.07920948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46119381700004 meters Centerline goodness : 0.872373 Centerline is valid? [False, False] Translation: X:30.34, Y:-0.19, Z:-3.08 [[ 9.99749098e-01 1.82192532e-02 1.30307394e-02 3.03440769e+01] [-1.86715410e-02 9.99196173e-01 3.54736699e-02 -1.90199765e-01] [-1.23739611e-02 -3.57080734e-02 9.99285654e-01 -3.07694245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49119381700004 meters Centerline goodness : 0.874945 Centerline is valid? [False, False] Translation: X:30.34, Y:-0.19, Z:-3.08 [[ 9.99811673e-01 1.45405538e-02 1.28526297e-02 3.03437744e+01] [-1.49422066e-02 9.99384855e-01 3.17276174e-02 -1.90555968e-01] [-1.23833863e-02 -3.19136889e-02 9.99413912e-01 -3.07617662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52119381700004 meters Centerline goodness : 0.876409 Centerline is valid? [False, False] Translation: X:30.33, Y:-0.19, Z:-3.07 [[ 9.99877583e-01 1.28744955e-02 8.89190313e-03 3.03333234e+01] [-1.30413098e-02 9.99735106e-01 1.89642387e-02 -1.88696166e-01] [-8.64539271e-03 -1.90778792e-02 9.99780622e-01 -3.07332240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55119381700004 meters Centerline goodness : 0.877183 Centerline is valid? [False, False] Translation: X:30.33, Y:-0.19, Z:-3.07 [[ 9.99920791e-01 9.11912849e-03 8.67488910e-03 3.03338132e+01] [-9.24964415e-03 9.99842812e-01 1.51260061e-02 -1.89248515e-01] [-8.53558952e-03 -1.52050477e-02 9.99847964e-01 -3.07352042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58119381700004 meters Centerline goodness : 0.875770 Centerline is valid? [False, False] Translation: X:30.32, Y:-0.19, Z:-3.07 [[ 9.99985704e-01 4.23768896e-03 3.26100497e-03 3.03242092e+01] [-4.30384165e-03 9.99779487e-01 2.05536702e-02 -1.91946922e-01] [-3.17318581e-03 -2.05674112e-02 9.99783433e-01 -3.07095478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61119381700004 meters Centerline goodness : 0.876806 Centerline is valid? [False, False] Translation: X:30.31, Y:-0.19, Z:-3.07 [[ 9.99987848e-01 4.40333462e-03 -2.21706232e-03 3.03132311e+01] [-4.37886010e-03 9.99930726e-01 1.09255817e-02 -1.87892759e-01] [ 2.26501773e-03 -1.09157407e-02 9.99937856e-01 -3.06742270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64119381700004 meters Centerline goodness : 0.878297 Centerline is valid? [False, False] Translation: X:30.31, Y:-0.19, Z:-3.07 [[ 9.99989188e-01 4.03018751e-03 -2.31970368e-03 3.03132262e+01] [-4.00609442e-03 9.99938940e-01 1.02988714e-02 -1.86129016e-01] [ 2.36106843e-03 -1.02894671e-02 9.99944275e-01 -3.06712376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67119381700002 meters Centerline goodness : 0.879530 Centerline is valid? [False, False] Translation: X:30.31, Y:-0.18, Z:-3.07 [[ 9.99989163e-01 3.97429488e-03 -2.42443070e-03 3.03131063e+01] [-3.95007598e-03 9.99943055e-01 9.91382919e-03 -1.84491096e-01] [ 2.46369313e-03 -9.90414507e-03 9.99947918e-01 -3.06664893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70119381700002 meters Centerline goodness : 0.882091 Centerline is valid? [False, False] Translation: X:30.31, Y:-0.18, Z:-3.06 [[ 9.99990154e-01 3.86854158e-03 -2.17392145e-03 3.03111871e+01] [-3.84982324e-03 9.99956041e-01 8.54961159e-03 -1.80466853e-01] [ 2.20690042e-03 -8.54115820e-03 9.99961088e-01 -3.06451225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73119381700002 meters Centerline goodness : 0.886257 Centerline is valid? [False, False] Translation: X:30.31, Y:-0.18, Z:-3.06 [[ 9.99983690e-01 5.44678991e-03 -1.71797821e-03 3.03084616e+01] [-5.42975799e-03 9.99937555e-01 9.76749653e-03 -1.78697935e-01] [ 1.77107243e-03 -9.75800902e-03 9.99950821e-01 -3.06208725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76119381700002 meters Centerline goodness : 0.886907 Centerline is valid? [False, False] Translation: X:30.31, Y:-0.18, Z:-3.06 [[ 9.99976440e-01 6.73149437e-03 -1.34422371e-03 3.03062113e+01] [-6.71709013e-03 9.99922866e-01 1.04471274e-02 -1.76444844e-01] [ 1.41444481e-03 -1.04378520e-02 9.99944524e-01 -3.06011884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79119381700002 meters Centerline goodness : 0.890473 Centerline is valid? [False, False] Translation: X:30.31, Y:-0.17, Z:-3.06 [[ 9.99953574e-01 9.55758183e-03 -1.22592482e-03 3.03056858e+01] [-9.54162154e-03 9.99877297e-01 1.24236996e-02 -1.71532774e-01] [ 1.34451492e-03 -1.24114255e-02 9.99922071e-01 -3.05964423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82119381700002 meters Centerline goodness : 0.891342 Centerline is valid? [False, False] Translation: X:30.29, Y:-0.17, Z:-3.06 [[ 9.99947618e-01 9.83712647e-03 -2.82687396e-03 3.02854973e+01] [-9.80539364e-03 9.99891111e-01 1.10281840e-02 -1.67417674e-01] [ 2.93505178e-03 -1.09998877e-02 9.99935192e-01 -3.05961124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85119381700002 meters Centerline goodness : 0.892484 Centerline is valid? [False, False] Translation: X:30.29, Y:-0.16, Z:-3.06 [[ 9.99951743e-01 9.31152121e-03 -3.13173564e-03 3.02865763e+01] [-9.27983233e-03 9.99907084e-01 9.98535989e-03 -1.64606860e-01] [ 3.22442354e-03 -9.95581604e-03 9.99945241e-01 -3.06024591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88119381700002 meters Centerline goodness : 0.889542 Centerline is valid? [False, False] Translation: X:30.29, Y:-0.16, Z:-3.06 [[ 9.99952814e-01 9.12728479e-03 -3.32594801e-03 3.02874602e+01] [-9.09572128e-03 9.99914594e-01 9.38474330e-03 -1.62684377e-01] [ 3.41132117e-03 -9.35404858e-03 9.99950431e-01 -3.06088235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91119381700003 meters Centerline goodness : 0.891644 Centerline is valid? [False, False] Translation: X:30.29, Y:-0.16, Z:-3.06 [[ 9.99954083e-01 8.89070322e-03 -3.57580872e-03 3.02882960e+01] [-8.85974627e-03 9.99923925e-01 8.58194634e-03 -1.60364014e-01] [ 3.65183623e-03 -8.54987153e-03 9.99956781e-01 -3.06131557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94119381700003 meters Centerline goodness : 0.891228 Centerline is valid? [False, False] Translation: X:30.29, Y:-0.16, Z:-3.06 [[ 9.99925143e-01 1.15495713e-02 -4.03939760e-03 3.02914839e+01] [-1.15066135e-02 9.99878656e-01 1.05009954e-02 -1.56622159e-01] [ 4.16018944e-03 -1.04537296e-02 9.99936704e-01 -3.06406348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97119381700003 meters Centerline goodness : 0.892193 Centerline is valid? [False, False] Translation: X:30.29, Y:-0.16, Z:-3.07 [[ 9.99877878e-01 1.50386352e-02 -4.25073692e-03 3.02928042e+01] [-1.49776418e-02 9.99789338e-01 1.40339119e-02 -1.56127924e-01] [ 4.46089233e-03 -1.39685321e-02 9.99892484e-01 -3.06519825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00119381700003 meters Centerline goodness : 0.889051 Centerline is valid? [False, False] Translation: X:30.27, Y:-0.15, Z:-3.06 [[ 9.99882110e-01 1.34058274e-02 -7.48659612e-03 3.02737689e+01] [-1.31918232e-02 9.99522611e-01 2.79378850e-02 -1.54858197e-01] [ 7.85755257e-03 -2.78358296e-02 9.99581625e-01 -3.06403806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03119381700003 meters Centerline goodness : 0.891457 Centerline is valid? [False, False] Translation: X:30.28, Y:-0.15, Z:-3.06 [[ 9.99827937e-01 1.67611639e-02 -7.94733197e-03 3.02753619e+01] [-1.65048818e-02 9.99374220e-01 3.12851059e-02 -1.53715750e-01] [ 8.46673348e-03 -3.11485531e-02 9.99478905e-01 -3.06487443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06119381700003 meters Centerline goodness : 0.890236 Centerline is valid? [False, False] Translation: X:30.28, Y:-0.15, Z:-3.07 [[ 9.99822123e-01 1.69409728e-02 -8.29008600e-03 3.02764427e+01] [-1.66803115e-02 9.99393699e-01 3.05614507e-02 -1.51088963e-01] [ 8.80280042e-03 -3.04177333e-02 9.99498510e-01 -3.06537113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09119381700003 meters Centerline goodness : 0.893192 Centerline is valid? [False, False] Translation: X:30.28, Y:-0.15, Z:-3.06 [[ 9.99743820e-01 2.09991010e-02 -8.44588943e-03 3.02765594e+01] [-2.06971464e-02 9.99194601e-01 3.43769800e-02 -1.50925117e-01] [ 9.16097280e-03 -3.41933674e-02 9.99373249e-01 -3.06487867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12119381700003 meters Centerline goodness : 0.893336 Centerline is valid? [False, False] Translation: X:30.28, Y:-0.15, Z:-3.06 [[ 9.99670419e-01 2.42593650e-02 -8.39861336e-03 3.02765234e+01] [-2.39232503e-02 9.98989769e-01 3.80410130e-02 -1.50786895e-01] [ 9.31297964e-03 -3.78275533e-02 9.99240884e-01 -3.06462763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15119381700003 meters Centerline goodness : 0.894667 Centerline is valid? [False, False] Translation: X:30.28, Y:-0.15, Z:-3.06 [[ 9.99663057e-01 2.43462493e-02 -9.00186505e-03 3.02776230e+01] [-2.39942427e-02 9.99014633e-01 3.73368498e-02 -1.47822614e-01] [ 9.90200716e-03 -3.71082764e-02 9.99262191e-01 -3.06449629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18119381700004 meters Centerline goodness : 0.895011 Centerline is valid? [False, False] Translation: X:30.28, Y:-0.14, Z:-3.06 [[ 9.99665146e-01 2.41864082e-02 -9.19851041e-03 3.02773644e+01] [-2.38369943e-02 9.99054182e-01 3.63667425e-02 -1.44813982e-01] [ 1.00693912e-02 -3.61353001e-02 9.99296176e-01 -3.06357217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21119381700004 meters Centerline goodness : 0.893810 Centerline is valid? [False, False] Translation: X:30.28, Y:-0.14, Z:-3.06 [[ 9.99655590e-01 2.45798378e-02 -9.19412898e-03 3.02762431e+01] [-2.42364571e-02 9.99066473e-01 3.57599917e-02 -1.42779098e-01] [ 1.00645208e-02 -3.55248425e-02 9.99318113e-01 -3.06192754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24119381700004 meters Centerline goodness : 0.893658 Centerline is valid? [False, False] Translation: X:30.29, Y:-0.14, Z:-3.06 [[ 9.99710265e-01 2.32293059e-02 -6.30761633e-03 3.02944150e+01] [-2.30183148e-02 9.99232894e-01 3.16824914e-02 -1.40368811e-01] [ 7.03874001e-03 -3.15281212e-02 9.99478081e-01 -3.06203673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27119381700004 meters Centerline goodness : 0.896313 Centerline is valid? [False, False] Translation: X:30.29, Y:-0.14, Z:-3.06 [[ 9.99704971e-01 2.34263977e-02 -6.41675689e-03 3.02942996e+01] [-2.32134005e-02 9.99235134e-01 3.14688096e-02 -1.39473493e-01] [ 7.14904978e-03 -3.13105707e-02 9.99484137e-01 -3.06154956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30119381700004 meters Centerline goodness : 0.898005 Centerline is valid? [False, False] Translation: X:30.30, Y:-0.14, Z:-3.06 [[ 9.99663771e-01 2.55793264e-02 -4.24772476e-03 3.03024866e+01] [-2.54791872e-02 9.99429761e-01 2.21576936e-02 -1.37591625e-01] [ 4.81208142e-03 -2.20420149e-02 9.99745464e-01 -3.06063675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33119381700004 meters Centerline goodness : 0.894368 Centerline is valid? [False, False] Translation: X:30.30, Y:-0.14, Z:-3.06 [[ 9.99652245e-01 2.59842042e-02 -4.49548516e-03 3.03031990e+01] [-2.58765749e-02 9.99411024e-01 2.25390480e-02 -1.38419800e-01] [ 5.07849665e-03 -2.24148822e-02 9.99735856e-01 -3.06085373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36119381700004 meters Centerline goodness : 0.896487 Centerline is valid? [False, False] Translation: X:30.32, Y:-0.14, Z:-3.06 [[ 9.99708267e-01 2.40828798e-02 -1.84254206e-03 3.03218956e+01] [-2.40421571e-02 9.99518505e-01 1.96146160e-02 -1.38179044e-01] [ 2.31403132e-03 -1.95645951e-02 9.99805917e-01 -3.06085749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39119381700004 meters Centerline goodness : 0.896950 Centerline is valid? [False, False] Translation: X:30.34, Y:-0.14, Z:-3.06 [[ 9.99755879e-01 2.20842543e-02 6.83769592e-04 3.03406290e+01] [-2.20926580e-02 9.99613099e-01 1.68987370e-02 -1.38727524e-01] [-3.10309036e-04 -1.69097179e-02 9.99856972e-01 -3.06074524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42119381700002 meters Centerline goodness : 0.896957 Centerline is valid? [False, False] Translation: X:30.34, Y:-0.14, Z:-3.06 [[ 9.99817185e-01 1.91187047e-02 2.68915905e-04 3.03414524e+01] [-1.91205939e-02 9.99724524e-01 1.36117488e-02 -1.39525668e-01] [-8.60281864e-06 -1.36144022e-02 9.99907320e-01 -3.06086288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45119381700002 meters Centerline goodness : 0.898294 Centerline is valid? [False, False] Translation: X:30.37, Y:-0.16, Z:-3.06 [[ 9.99905492e-01 1.36883046e-02 1.27938411e-03 3.03738426e+01] [-1.37355374e-02 9.98622330e-01 5.06436349e-02 -1.56751415e-01] [-5.84396042e-04 -5.06564217e-02 9.98715968e-01 -3.05585783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48119381700002 meters Centerline goodness : 0.898792 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.16, Z:-3.05 [[ 9.99942234e-01 1.07195349e-02 7.87521881e-04 3.03976865e+01] [-1.07477329e-02 9.98021407e-01 6.19496436e-02 -1.63372873e-01] [-1.21892326e-04 -6.19545291e-02 9.98078966e-01 -3.05062993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51119381700002 meters Centerline goodness : 0.899738 Centerline is valid? [False, False] Translation: X:30.42, Y:-0.17, Z:-3.04 [[ 9.99978743e-01 6.51935823e-03 -1.07540068e-04 3.04184049e+01] [-6.48699939e-03 9.96408101e-01 8.44323058e-02 -1.72435595e-01] [ 6.57598242e-04 -8.44298134e-02 9.96429212e-01 -3.04480948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54119381700002 meters Centerline goodness : 0.900971 Centerline is valid? [False, False] Translation: X:30.42, Y:-0.18, Z:-3.04 [[ 9.99985716e-01 5.34050357e-03 2.14323142e-04 3.04244355e+01] [-5.33547118e-03 9.95068542e-01 9.90461010e-02 -1.79689529e-01] [ 3.15689840e-04 -9.90458298e-02 9.95082823e-01 -3.03657026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57119381700002 meters Centerline goodness : 0.900413 Centerline is valid? [False, False] Translation: X:30.41, Y:-0.19, Z:-3.03 [[ 9.99987573e-01 3.08718550e-03 -3.91460020e-03 3.04072839e+01] [-2.67424742e-03 9.94839549e-01 1.01425439e-01 -1.86679449e-01] [ 4.20751825e-03 -1.01413709e-01 9.94835442e-01 -3.03332200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60119381700002 meters Centerline goodness : 0.902260 Centerline is valid? [False, False] Translation: X:30.40, Y:-0.19, Z:-3.03 [[ 9.99935545e-01 3.51676622e-03 -1.07953261e-02 3.04031306e+01] [-2.53321078e-03 9.95955958e-01 8.98070858e-02 -1.86338380e-01] [ 1.10674998e-02 -8.97739505e-02 9.95900672e-01 -3.02905459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63119381700002 meters Centerline goodness : 0.899257 Centerline is valid? [False, False] Translation: X:30.41, Y:-0.18, Z:-3.03 [[ 9.99910161e-01 2.80273583e-03 -1.31078012e-02 3.04055492e+01] [-1.90549953e-03 9.97685631e-01 6.79687542e-02 -1.82957686e-01] [ 1.32679634e-02 -6.79376710e-02 9.97601340e-01 -3.03064071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66119381700003 meters Centerline goodness : 0.899576 Centerline is valid? [False, False] Translation: X:30.41, Y:-0.18, Z:-3.03 [[ 9.99809341e-01 2.34987082e-03 -1.93845473e-02 3.04077102e+01] [-1.31692220e-03 9.98586797e-01 5.31288576e-02 -1.84720811e-01] [ 1.94819990e-02 -5.30932001e-02 9.98399501e-01 -3.03229932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69119381700003 meters Centerline goodness : 0.898357 Centerline is valid? [False, False] Translation: X:30.41, Y:-0.18, Z:-3.03 [[ 9.99850737e-01 2.24615911e-03 -1.71306478e-02 3.04137757e+01] [-1.54888957e-03 9.99173945e-01 4.06082300e-02 -1.84126965e-01] [ 1.72077095e-02 -4.05756352e-02 9.99028284e-01 -3.03198393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72119381700003 meters Centerline goodness : 0.900321 Centerline is valid? [False, False] Translation: X:30.42, Y:-0.19, Z:-3.03 [[ 9.99784038e-01 1.63182022e-03 -2.07174701e-02 3.04205862e+01] [-8.58371058e-04 9.99304217e-01 3.72873298e-02 -1.86153976e-01] [ 2.07639014e-02 -3.72614939e-02 9.99089807e-01 -3.03073207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75119381700003 meters Centerline goodness : 0.902141 Centerline is valid? [False, False] Translation: X:30.44, Y:-0.19, Z:-3.03 [[ 9.99780856e-01 3.14222670e-03 -2.06970030e-02 3.04380634e+01] [-2.67667329e-03 9.99743638e-01 2.24831798e-02 -1.86192850e-01] [ 2.07623443e-02 -2.24228536e-02 9.99532961e-01 -3.02942153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78119381700003 meters Centerline goodness : 0.901761 Centerline is valid? [False, False] Translation: X:30.46, Y:-0.19, Z:-3.03 [[ 9.99777256e-01 4.57130943e-03 -2.06044055e-02 3.04557561e+01] [-4.41708851e-03 9.99961937e-01 7.52415822e-03 -1.86066251e-01] [ 2.06380165e-02 -7.43147078e-03 9.99759394e-01 -3.02815574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81119381700003 meters Centerline goodness : 0.902229 Centerline is valid? [False, False] Translation: X:30.47, Y:-0.19, Z:-3.03 [[ 9.99862066e-01 2.67192962e-03 -1.63923491e-02 3.04721987e+01] [-2.55370015e-03 9.99970608e-01 7.22917616e-03 -1.91479413e-01] [ 1.64111831e-02 -7.18631787e-03 9.99839502e-01 -3.02694842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84119381700003 meters Centerline goodness : 0.904091 Centerline is valid? [False, False] Translation: X:30.49, Y:-0.19, Z:-3.03 [[ 9.99877888e-01 3.12637975e-03 -1.53112581e-02 3.04902015e+01] [-3.24525757e-03 9.99964738e-01 -7.74539771e-03 -1.91680768e-01] [ 1.52865032e-02 7.79414089e-03 9.99852776e-01 -3.02662182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87119381700003 meters Centerline goodness : 0.904586 Centerline is valid? [False, False] Translation: X:30.50, Y:-0.19, Z:-3.03 [[ 9.99978385e-01 2.18173982e-03 -6.20246258e-03 3.04995144e+01] [-2.26559055e-03 9.99905706e-01 -1.35442142e-02 -1.92680987e-01] [ 6.17232777e-03 1.35579737e-02 9.99889036e-01 -3.02876982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90119381700003 meters Centerline goodness : 0.909198 Centerline is valid? [False, False] Translation: X:30.51, Y:-0.20, Z:-3.03 [[ 9.99998720e-01 -8.36254224e-04 1.36370875e-03 3.05097682e+01] [ 8.47858096e-04 9.99963253e-01 -8.53079275e-03 -1.96564648e-01] [-1.35652473e-03 8.53193806e-03 9.99962682e-01 -3.03186857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93119381700004 meters Centerline goodness : 0.910950 Centerline is valid? [False, False] Translation: X:30.51, Y:-0.20, Z:-3.03 [[ 9.99986869e-01 -4.90919231e-03 1.47002379e-03 3.05089144e+01] [ 4.92599061e-03 9.99919998e-01 -1.16503999e-02 -1.99752850e-01] [-1.41271213e-03 1.16574882e-02 9.99931051e-01 -3.03085619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96119381700004 meters Centerline goodness : 0.911980 Centerline is valid? [False, False] Translation: X:30.51, Y:-0.20, Z:-3.03 [[ 9.99963282e-01 -8.46811334e-03 1.31388073e-03 3.05091120e+01] [ 8.48709098e-03 9.99848731e-01 -1.51817178e-02 -2.00686991e-01] [-1.18512147e-03 1.51923114e-02 9.99883888e-01 -3.03064231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99119381700004 meters Centerline goodness : 0.911980 Centerline is valid? [False, False] Translation: X:30.51, Y:-0.20, Z:-3.03 [[ 9.99963282e-01 -8.46811334e-03 1.31388073e-03 3.05091120e+01] [ 8.48709098e-03 9.99848731e-01 -1.51817178e-02 -2.00686991e-01] [-1.18512147e-03 1.51923114e-02 9.99883888e-01 -3.03064231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02119381700004 meters Centerline goodness : 0.909502 Centerline is valid? [False, False] Translation: X:30.51, Y:-0.20, Z:-3.03 [[ 9.99965195e-01 -8.25425647e-03 1.21482077e-03 3.05090981e+01] [ 8.27054316e-03 9.99866735e-01 -1.40751893e-02 -2.04099647e-01] [-1.09847865e-03 1.40847467e-02 9.99900202e-01 -3.03035608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05119381700004 meters Centerline goodness : 0.911973 Centerline is valid? [False, False] Translation: X:30.51, Y:-0.21, Z:-3.03 [[ 9.99956575e-01 -9.29073554e-03 7.28020680e-04 3.05112379e+01] [ 9.30043680e-03 9.99848664e-01 -1.47020595e-02 -2.05869629e-01] [-5.91317558e-04 1.47081920e-02 9.99891654e-01 -3.03173165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08119381700004 meters Centerline goodness : 0.912713 Centerline is valid? [False, False] Translation: X:30.51, Y:-0.21, Z:-3.03 [[ 9.99957777e-01 -9.17967849e-03 4.21942228e-04 3.05123308e+01] [ 9.18472682e-03 9.99857877e-01 -1.41374133e-02 -2.07657208e-01] [-2.92105352e-04 1.41406918e-02 9.99899973e-01 -3.03244875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11119381700004 meters Centerline goodness : 0.912844 Centerline is valid? [False, False] Translation: X:30.51, Y:-0.21, Z:-3.03 [[ 9.99959710e-01 -8.97612401e-03 9.07405230e-05 3.05134770e+01] [ 8.97652055e-03 9.99864097e-01 -1.38278259e-02 -2.07935927e-01] [ 3.33920893e-05 1.38280834e-02 9.99904387e-01 -3.03315860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14119381700004 meters Centerline goodness : 0.913838 Centerline is valid? [False, False] Translation: X:30.54, Y:-0.21, Z:-3.03 [[ 9.99965096e-01 -7.95988183e-03 -2.53895185e-03 3.05366141e+01] [ 7.92840150e-03 9.99894426e-01 -1.21769544e-02 -2.09585398e-01] [ 2.63561091e-03 1.21563995e-02 9.99922635e-01 -3.03467014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17119381700002 meters Centerline goodness : 0.911823 Centerline is valid? [False, False] Translation: X:30.54, Y:-0.21, Z:-3.04 [[ 9.99966213e-01 -7.66231329e-03 -2.97689701e-03 3.05384113e+01] [ 7.62700439e-03 9.99902504e-01 -1.16965944e-02 -2.10642653e-01] [ 3.06622974e-03 1.16734944e-02 9.99927161e-01 -3.03594568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20119381700002 meters Centerline goodness : 0.912390 Centerline is valid? [False, False] Translation: X:30.54, Y:-0.21, Z:-3.04 [[ 9.99969414e-01 -6.46980779e-03 -4.39464632e-03 3.05442329e+01] [ 6.42343672e-03 9.99924398e-01 -1.04851239e-02 -2.12027123e-01] [ 4.46215081e-03 1.04565745e-02 9.99935373e-01 -3.04005638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23119381700002 meters Centerline goodness : 0.910088 Centerline is valid? [False, False] Translation: X:30.55, Y:-0.21, Z:-3.04 [[ 9.99972826e-01 -5.12742073e-03 -5.29689519e-03 3.05481095e+01] [ 5.07899967e-03 9.99945561e-01 -9.11476203e-03 -2.12718074e-01] [ 5.34334205e-03 9.08761142e-03 9.99944430e-01 -3.04273519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26119381700002 meters Centerline goodness : 0.908714 Centerline is valid? [False, False] Translation: X:30.55, Y:-0.21, Z:-3.05 [[ 9.99973882e-01 -3.60471897e-03 -6.26421477e-03 3.05519750e+01] [ 3.55666155e-03 9.99964291e-01 -7.66601980e-03 -2.13233919e-01] [ 6.29162492e-03 7.64353989e-03 9.99950995e-01 -3.04528420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29119381700002 meters Centerline goodness : 0.906548 Centerline is valid? [False, False] Translation: X:30.57, Y:-0.21, Z:-3.05 [[ 9.99979144e-01 1.99937113e-03 -6.14119806e-03 3.05743754e+01] [-2.11227613e-03 9.99827853e-01 -1.84337202e-02 -2.12756451e-01] [ 6.10328502e-03 1.84463077e-02 9.99811224e-01 -3.04743550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32119381700002 meters Centerline goodness : 0.907808 Centerline is valid? [False, False] Translation: X:30.61, Y:-0.21, Z:-3.05 [[ 9.99923725e-01 9.35018201e-03 -8.06964331e-03 3.06065581e+01] [-9.52430012e-03 9.99716652e-01 -2.18152140e-02 -2.13808115e-01] [ 7.86338057e-03 2.18904078e-02 9.99729452e-01 -3.04831010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35119381700002 meters Centerline goodness : 0.908159 Centerline is valid? [False, False] Translation: X:30.63, Y:-0.21, Z:-3.05 [[ 9.99926840e-01 1.04456382e-02 -6.09939412e-03 3.06272305e+01] [-1.05789721e-02 9.99696393e-01 -2.22532403e-02 -2.13924045e-01] [ 5.86509300e-03 2.23161376e-02 9.99733760e-01 -3.04949299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38119381700002 meters Centerline goodness : 0.911483 Centerline is valid? [False, False] Translation: X:30.66, Y:-0.22, Z:-3.05 [[ 9.99931858e-01 1.12331958e-02 -3.17715943e-03 3.06616234e+01] [-1.13081795e-02 9.99631947e-01 -2.46596072e-02 -2.15029587e-01] [ 2.89898387e-03 2.46938547e-02 9.99690857e-01 -3.04834344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41119381700003 meters Centerline goodness : 0.911728 Centerline is valid? [False, False] Translation: X:30.68, Y:-0.22, Z:-3.05 [[ 9.99952650e-01 9.69131639e-03 8.81236945e-04 3.06789159e+01] [-9.66356708e-03 9.99578563e-01 -2.73735649e-02 -2.16210925e-01] [-1.14615144e-03 2.73637529e-02 9.99624885e-01 -3.04781488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44119381700003 meters Centerline goodness : 0.913693 Centerline is valid? [False, False] Translation: X:30.70, Y:-0.22, Z:-3.05 [[ 9.99947017e-01 9.56639548e-03 3.80092359e-03 3.06979621e+01] [-9.46180078e-03 9.99600208e-01 -2.66439038e-02 -2.20257122e-01] [-4.05429014e-03 2.66065285e-02 9.99637762e-01 -3.04829440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47119381700003 meters Centerline goodness : 0.917339 Centerline is valid? [False, False] Translation: X:30.71, Y:-0.23, Z:-3.05 [[ 9.99939138e-01 6.46078818e-03 8.94305047e-03 3.07074603e+01] [-6.29131836e-03 9.99802528e-01 -1.88500437e-02 -2.27241683e-01] [-9.06307061e-03 1.87926329e-02 9.99782325e-01 -3.05037511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50119381700003 meters Centerline goodness : 0.915938 Centerline is valid? [False, False] Translation: X:30.71, Y:-0.23, Z:-3.05 [[ 9.99940995e-01 6.55530525e-03 8.66223732e-03 3.07078531e+01] [-6.39865738e-03 9.99817699e-01 -1.79896229e-02 -2.30020837e-01] [-8.77858565e-03 1.79331347e-02 9.99800650e-01 -3.05019690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53119381700003 meters Centerline goodness : 0.920232 Centerline is valid? [False, False] Translation: X:30.73, Y:-0.23, Z:-3.05 [[ 9.99925131e-01 6.43107347e-03 1.04103110e-02 3.07278113e+01] [-6.24727054e-03 9.99825712e-01 -1.75931155e-02 -2.33115830e-01] [-1.05216392e-02 1.75267623e-02 9.99791032e-01 -3.05066926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56119381700003 meters Centerline goodness : 0.923166 Centerline is valid? [False, False] Translation: X:30.75, Y:-0.24, Z:-3.05 [[ 9.99926453e-01 6.61052890e-03 1.01680238e-02 3.07494716e+01] [-6.43595724e-03 9.99832957e-01 -1.71066438e-02 -2.35814835e-01] [-1.02794093e-02 1.70399447e-02 9.99801967e-01 -3.05152718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59119381700003 meters Centerline goodness : 0.925945 Centerline is valid? [False, False] Translation: X:30.77, Y:-0.24, Z:-3.05 [[ 9.99937844e-01 7.03585373e-03 8.64893965e-03 3.07717234e+01] [-6.90228304e-03 9.99857933e-01 -1.53776246e-02 -2.41072990e-01] [-8.75590565e-03 1.53169714e-02 9.99844350e-01 -3.05229398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62119381700003 meters Centerline goodness : 0.924770 Centerline is valid? [False, False] Translation: X:30.79, Y:-0.24, Z:-3.05 [[ 9.99948071e-01 4.87426646e-03 8.94963299e-03 3.07927833e+01] [-4.69868479e-03 9.99798110e-01 -1.95361757e-02 -2.42228490e-01] [-9.04305068e-03 1.94931097e-02 9.99769094e-01 -3.05346822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65119381700003 meters Centerline goodness : 0.925778 Centerline is valid? [False, False] Translation: X:30.82, Y:-0.25, Z:-3.05 [[ 9.99963758e-01 5.04106055e-03 6.86076924e-03 3.08150376e+01] [-4.91122762e-03 9.99810995e-01 -1.88110292e-02 -2.46476791e-01] [-6.95430006e-03 1.87766526e-02 9.99799517e-01 -3.05408068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68119381700004 meters Centerline goodness : 0.925465 Centerline is valid? [False, False] Translation: X:30.82, Y:-0.25, Z:-3.05 [[ 9.99965533e-01 5.18530188e-03 6.48425825e-03 3.08161944e+01] [-5.06797564e-03 9.99825477e-01 -1.79813890e-02 -2.49516671e-01] [-6.57636553e-03 1.79479072e-02 9.99817295e-01 -3.05469158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71119381700004 meters Centerline goodness : 0.926686 Centerline is valid? [False, False] Translation: X:30.82, Y:-0.25, Z:-3.06 [[ 9.99966394e-01 5.51774245e-03 6.06342512e-03 3.08175968e+01] [-5.41592603e-03 9.99846179e-01 -1.66819372e-02 -2.53724399e-01] [-6.15453906e-03 1.66485375e-02 9.99842462e-01 -3.05559073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74119381700004 meters Centerline goodness : 0.926075 Centerline is valid? [False, False] Translation: X:30.84, Y:-0.25, Z:-3.06 [[ 9.99976230e-01 4.18581719e-03 5.47889621e-03 3.08398596e+01] [-4.07463910e-03 9.99788699e-01 -2.01483053e-02 -2.54431846e-01] [-5.56207564e-03 2.01255018e-02 9.99781990e-01 -3.05722417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77119381700004 meters Centerline goodness : 0.925579 Centerline is valid? [False, False] Translation: X:30.86, Y:-0.26, Z:-3.06 [[ 9.99978234e-01 3.92514222e-03 5.30336446e-03 3.08621323e+01] [-3.80790756e-03 9.99752084e-01 -2.19378541e-02 -2.56207672e-01] [-5.38815887e-03 2.19171818e-02 9.99745270e-01 -3.05893256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80119381700004 meters Centerline goodness : 0.931334 Centerline is valid? [False, False] Translation: X:30.88, Y:-0.26, Z:-3.06 [[ 9.99975222e-01 4.47423670e-03 5.43473048e-03 3.08845203e+01] [-4.35486261e-03 9.99753264e-01 -2.17817672e-02 -2.60767733e-01] [-5.53084632e-03 2.17575599e-02 9.99747977e-01 -3.06084282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83119381700004 meters Centerline goodness : 0.930447 Centerline is valid? [False, False] Translation: X:30.91, Y:-0.26, Z:-3.06 [[ 9.99972755e-01 3.82305899e-03 6.31454599e-03 3.09059733e+01] [-3.66896775e-03 9.99699520e-01 -2.42364935e-02 -2.62092224e-01] [-6.40530614e-03 2.42126653e-02 9.99686310e-01 -3.06244230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86119381700004 meters Centerline goodness : 0.930280 Centerline is valid? [False, False] Translation: X:30.93, Y:-0.27, Z:-3.06 [[ 9.99964938e-01 5.44366232e-03 6.36306666e-03 3.09275338e+01] [-5.30923854e-03 9.99766323e-01 -2.09549696e-02 -2.67918732e-01] [-6.47565154e-03 2.09204518e-02 9.99760172e-01 -3.06374404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89119381700004 meters Centerline goodness : 0.932052 Centerline is valid? [False, False] Translation: X:30.93, Y:-0.27, Z:-3.07 [[ 9.99972339e-01 4.79366816e-03 5.68705180e-03 3.09300455e+01] [-4.67527602e-03 9.99775801e-01 -2.06516014e-02 -2.72153903e-01] [-5.78477369e-03 2.06244417e-02 9.99770558e-01 -3.06539279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92119381700002 meters Centerline goodness : 0.933332 Centerline is valid? [False, False] Translation: X:30.93, Y:-0.28, Z:-3.07 [[ 9.99983639e-01 2.54376122e-03 5.12359406e-03 3.09329985e+01] [-2.43442365e-03 9.99771561e-01 -2.12343735e-02 -2.80400382e-01] [-5.17643881e-03 2.12215531e-02 9.99761397e-01 -3.06803381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95119381700002 meters Centerline goodness : 0.931798 Centerline is valid? [False, False] Translation: X:30.96, Y:-0.29, Z:-3.07 [[ 9.99995484e-01 1.91652321e-03 2.31476360e-03 3.09572713e+01] [-1.86790778e-03 9.99781392e-01 -2.08249755e-02 -2.85938426e-01] [-2.35416912e-03 2.08205577e-02 9.99780457e-01 -3.07039668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98119381700002 meters Centerline goodness : 0.931621 Centerline is valid? [False, False] Translation: X:30.96, Y:-0.29, Z:-3.07 [[ 9.99996167e-01 1.97969189e-03 1.93574953e-03 3.09589131e+01] [-1.94161534e-03 9.99808399e-01 -1.94780797e-02 -2.91445281e-01] [-1.97393924e-03 1.94742466e-02 9.99808410e-01 -3.07164641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01119381700002 meters Centerline goodness : 0.931233 Centerline is valid? [False, False] Translation: X:30.96, Y:-0.30, Z:-3.07 [[ 9.99997968e-01 1.46809960e-03 1.38126975e-03 3.09611610e+01] [-1.44155392e-03 9.99817932e-01 -1.90269240e-02 -2.95881223e-01] [-1.40895169e-03 1.90248941e-02 9.99818018e-01 -3.07310001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04119381700002 meters Centerline goodness : 0.933845 Centerline is valid? [False, False] Translation: X:30.96, Y:-0.30, Z:-3.07 [[ 9.99997382e-01 1.93044397e-03 1.22850816e-03 3.09615256e+01] [-1.90843780e-03 9.99842073e-01 -1.76688232e-02 -2.99820072e-01] [-1.26242282e-03 1.76664324e-02 9.99843139e-01 -3.07311591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07119381700002 meters Centerline goodness : 0.933273 Centerline is valid? [False, False] Translation: X:30.96, Y:-0.30, Z:-3.07 [[ 9.99996859e-01 2.26246511e-03 1.07855155e-03 3.09618086e+01] [-2.24417581e-03 9.99858575e-01 -1.66671468e-02 -3.02768503e-01] [-1.11610785e-03 1.66646740e-02 9.99860512e-01 -3.07308203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10119381700002 meters Centerline goodness : 0.935633 Centerline is valid? [False, False] Translation: X:30.96, Y:-0.31, Z:-3.07 [[ 9.99993070e-01 3.54939140e-03 1.12312712e-03 3.09605966e+01] [-3.53349925e-03 9.99897856e-01 -1.38489064e-02 -3.09870751e-01] [-1.17216759e-03 1.38448419e-02 9.99903469e-01 -3.07145850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13119381700002 meters Centerline goodness : 0.935398 Centerline is valid? [False, False] Translation: X:30.96, Y:-0.31, Z:-3.07 [[ 9.99992230e-01 3.82092381e-03 9.69770302e-04 3.09605286e+01] [-3.80823143e-03 9.99911224e-01 -1.27687578e-02 -3.13500257e-01] [-1.01847266e-03 1.27649654e-02 9.99918006e-01 -3.07089246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16119381700003 meters Centerline goodness : 0.937805 Centerline is valid? [False, False] Translation: X:30.96, Y:-0.32, Z:-3.07 [[ 9.99992853e-01 3.68175437e-03 8.59625713e-04 3.09605252e+01] [-3.67127684e-03 9.99922601e-01 -1.18875074e-02 -3.17255772e-01] [-9.03326062e-04 1.18842666e-02 9.99928972e-01 -3.07047177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19119381700003 meters Centerline goodness : 0.943756 Centerline is valid? [False, False] Translation: X:30.97, Y:-0.32, Z:-3.07 [[ 9.99983641e-01 -3.64353224e-03 4.40946176e-03 3.09675607e+01] [ 3.67595545e-03 9.99966103e-01 -7.36747121e-03 -3.23711977e-01] [-4.38246867e-03 7.38355967e-03 9.99963138e-01 -3.06893311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22119381700003 meters Centerline goodness : 0.940228 Centerline is valid? [False, False] Translation: X:30.97, Y:-0.33, Z:-3.07 [[ 9.99960899e-01 -7.73593070e-03 4.28429895e-03 3.09680432e+01] [ 7.78238941e-03 9.99909920e-01 -1.09355743e-02 -3.25338816e-01] [-4.19931618e-03 1.09684887e-02 9.99931027e-01 -3.06913157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25119381700003 meters Centerline goodness : 0.938684 Centerline is valid? [False, False] Translation: X:30.97, Y:-0.33, Z:-3.07 [[ 9.99920643e-01 -1.19131214e-02 4.09690095e-03 3.09689257e+01] [ 1.19715108e-02 9.99822681e-01 -1.45358037e-02 -3.27204227e-01] [-3.92300770e-03 1.45836963e-02 9.99885956e-01 -3.06967675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28119381700003 meters Centerline goodness : 0.940845 Centerline is valid? [False, False] Translation: X:30.97, Y:-0.33, Z:-3.07 [[ 9.99861629e-01 -1.61583139e-02 3.95369382e-03 3.09698854e+01] [ 1.62280372e-02 9.99701040e-01 -1.82888393e-02 -3.28900800e-01] [-3.65699502e-03 1.83504694e-02 9.99824928e-01 -3.07038485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31119381700003 meters Centerline goodness : 0.939445 Centerline is valid? [False, False] Translation: X:30.97, Y:-0.33, Z:-3.07 [[ 9.99773379e-01 -2.09102481e-02 3.99391868e-03 3.09709122e+01] [ 2.09939444e-02 9.99532867e-01 -2.22103917e-02 -3.31064026e-01] [-3.52762819e-03 2.22892065e-02 9.99745341e-01 -3.07153587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34119381700003 meters Centerline goodness : 0.939658 Centerline is valid? [False, False] Translation: X:30.97, Y:-0.33, Z:-3.07 [[ 9.99766615e-01 -2.12688288e-02 3.78856260e-03 3.09718027e+01] [ 2.13483954e-02 9.99521768e-01 -2.23714331e-02 -3.30983244e-01] [-3.31093661e-03 2.24470917e-02 9.99742550e-01 -3.07213221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37119381700003 meters Centerline goodness : 0.939450 Centerline is valid? [False, False] Translation: X:30.97, Y:-0.33, Z:-3.07 [[ 9.99761492e-01 -2.15455390e-02 3.57054246e-03 3.09727408e+01] [ 2.16211291e-02 9.99508706e-01 -2.26908191e-02 -3.30225246e-01] [-3.07990234e-03 2.27626064e-02 9.99736154e-01 -3.07279857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40119381700003 meters Centerline goodness : 0.939923 Centerline is valid? [False, False] Translation: X:31.00, Y:-0.33, Z:-3.07 [[ 9.99800548e-01 -1.99300806e-02 1.28699042e-03 3.09952033e+01] [ 1.99539440e-02 9.99549280e-01 -2.24293870e-02 -3.30201201e-01] [-8.39390852e-04 2.24505940e-02 9.99747601e-01 -3.07385271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43119381700004 meters Centerline goodness : 0.938269 Centerline is valid? [False, False] Translation: X:31.00, Y:-0.33, Z:-3.08 [[ 9.99847656e-01 -1.74405504e-02 7.02101370e-04 3.09978018e+01] [ 1.74509304e-02 9.99657390e-01 -1.95081529e-02 -3.29848912e-01] [-3.61627898e-04 1.95174333e-02 9.99809451e-01 -3.07576155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46119381700004 meters Centerline goodness : 0.937197 Centerline is valid? [False, False] Translation: X:31.00, Y:-0.33, Z:-3.08 [[ 9.99894132e-01 -1.45454218e-02 -3.95595298e-04 3.10038200e+01] [ 1.45366600e-02 9.99751486e-01 -1.69012537e-02 -3.26073581e-01] [ 6.41332851e-04 1.68937137e-02 9.99857085e-01 -3.08072321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49119381700004 meters Centerline goodness : 0.936803 Centerline is valid? [False, False] Translation: X:31.01, Y:-0.32, Z:-3.08 [[ 9.99936757e-01 -1.12246146e-02 -6.99959403e-04 3.10050733e+01] [ 1.12141555e-02 9.99846141e-01 -1.34883880e-02 -3.24940192e-01] [ 8.51253666e-04 1.34796855e-02 9.99908783e-01 -3.08163181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52119381700004 meters Centerline goodness : 0.933597 Centerline is valid? [False, False] Translation: X:31.01, Y:-0.32, Z:-3.08 [[ 9.99969241e-01 -7.77350886e-03 -1.04391622e-03 3.10062186e+01] [ 7.76266045e-03 9.99919643e-01 -1.00223872e-02 -3.23770091e-01] [ 1.12174145e-03 1.00139753e-02 9.99949230e-01 -3.08224288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55119381700004 meters Centerline goodness : 0.935188 Centerline is valid? [False, False] Translation: X:31.03, Y:-0.32, Z:-3.08 [[ 9.99987566e-01 -4.97772002e-03 -3.00270783e-04 3.10270465e+01] [ 4.97436551e-03 9.99934641e-01 -1.02941159e-02 -3.21410397e-01] [ 3.51492384e-04 1.02924943e-02 9.99946969e-01 -3.08316756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58119381700004 meters Centerline goodness : 0.931920 Centerline is valid? [False, False] Translation: X:31.03, Y:-0.32, Z:-3.08 [[ 9.99998531e-01 -1.64186327e-03 -4.91591793e-04 3.10273421e+01] [ 1.63823573e-03 9.99972080e-01 -7.29081198e-03 -3.19024613e-01] [ 5.03548584e-04 7.28999593e-03 9.99973301e-01 -3.08291038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61119381700004 meters Centerline goodness : 0.934335 Centerline is valid? [False, False] Translation: X:31.04, Y:-0.31, Z:-3.08 [[ 9.99988951e-01 1.51741699e-03 4.44913419e-03 3.10411460e+01] [-1.46676668e-03 9.99934334e-01 -1.13655533e-02 -3.08734683e-01] [-4.46608832e-03 1.13589018e-02 9.99925512e-01 -3.08300808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64119381700004 meters Centerline goodness : 0.932753 Centerline is valid? [False, False] Translation: X:31.06, Y:-0.30, Z:-3.08 [[ 9.99963231e-01 3.02076072e-03 8.02572638e-03 3.10587310e+01] [-2.90991027e-03 9.99900709e-01 -1.37878497e-02 -3.04325607e-01] [-8.06657930e-03 1.37639886e-02 9.99872733e-01 -3.08294533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67119381700002 meters Centerline goodness : 0.934884 Centerline is valid? [False, False] Translation: X:31.07, Y:-0.30, Z:-3.08 [[ 9.99911126e-01 3.94421821e-03 1.27351535e-02 3.10742967e+01] [-3.72301586e-03 9.99842604e-01 -1.73466632e-02 -2.95960489e-01] [-1.28015681e-02 1.72977084e-02 9.99768428e-01 -3.08242197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70119381700002 meters Centerline goodness : 0.935513 Centerline is valid? [False, False] Translation: X:31.07, Y:-0.29, Z:-3.08 [[ 9.99914861e-01 3.38619048e-03 1.26017763e-02 3.10743451e+01] [-3.15539011e-03 9.99827746e-01 -1.82899400e-02 -2.92979176e-01] [-1.26615388e-02 1.82486193e-02 9.99753306e-01 -3.08202217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73119381700002 meters Centerline goodness : 0.933154 Centerline is valid? [False, False] Translation: X:31.08, Y:-0.29, Z:-3.08 [[ 9.99920890e-01 2.50917665e-03 1.23254942e-02 3.10750484e+01] [-2.26976548e-03 9.99809230e-01 -1.93997945e-02 -2.90493180e-01] [-1.23718204e-02 1.93702838e-02 9.99735830e-01 -3.08216743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76119381700002 meters Centerline goodness : 0.932833 Centerline is valid? [False, False] Translation: X:31.08, Y:-0.29, Z:-3.08 [[ 9.99926592e-01 1.33533491e-03 1.20427758e-02 3.10761742e+01] [-1.08594436e-03 9.99785317e-01 -2.06915416e-02 -2.88199001e-01] [-1.20678205e-02 2.06769449e-02 9.99713375e-01 -3.08283661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79119381700002 meters Centerline goodness : 0.932516 Centerline is valid? [False, False] Translation: X:31.08, Y:-0.29, Z:-3.08 [[ 9.99932963e-01 -5.54732649e-05 1.15787308e-02 3.10782716e+01] [ 3.14554623e-04 9.99749599e-01 -2.23750052e-02 -2.85135726e-01] [-1.15745902e-02 2.23771474e-02 9.99682596e-01 -3.08434158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82119381700002 meters Centerline goodness : 0.930218 Centerline is valid? [False, False] Translation: X:31.08, Y:-0.28, Z:-3.09 [[ 9.99936228e-01 -1.23753761e-03 1.12253687e-02 3.10802414e+01] [ 1.50654757e-03 9.99711117e-01 -2.39877539e-02 -2.81555540e-01] [-1.11924401e-02 2.40031357e-02 9.99649228e-01 -3.08594639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85119381700002 meters Centerline goodness : 0.929997 Centerline is valid? [False, False] Translation: X:31.11, Y:-0.27, Z:-3.09 [[ 9.99957104e-01 1.03046956e-04 9.26170467e-03 3.11051511e+01] [ 1.41752278e-04 9.99650741e-01 -2.64267942e-02 -2.73162018e-01] [-9.26119314e-03 2.64269735e-02 9.99607846e-01 -3.08977975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88119381700002 meters Centerline goodness : 0.929997 Centerline is valid? [False, False] Translation: X:31.11, Y:-0.27, Z:-3.09 [[ 9.99957104e-01 1.03046956e-04 9.26170467e-03 3.11051511e+01] [ 1.41752278e-04 9.99650741e-01 -2.64267942e-02 -2.73162018e-01] [-9.26119314e-03 2.64269735e-02 9.99607846e-01 -3.08977975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91119381700003 meters Centerline goodness : 0.929478 Centerline is valid? [False, False] Translation: X:31.13, Y:-0.27, Z:-3.09 [[ 9.99967548e-01 3.73016841e-03 7.14057389e-03 3.11290604e+01] [-3.55453461e-03 9.99694656e-01 -2.44532398e-02 -2.70750572e-01] [-7.22960826e-03 2.44270649e-02 9.99675473e-01 -3.09173126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94119381700003 meters Centerline goodness : 0.928687 Centerline is valid? [False, False] Translation: X:31.15, Y:-0.27, Z:-3.09 [[ 9.99953429e-01 7.01582951e-03 6.62712631e-03 3.11517061e+01] [-6.85118339e-03 9.99675163e-01 -2.45485269e-02 -2.66576135e-01] [-6.79720185e-03 2.45019800e-02 9.99676673e-01 -3.09380325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97119381700003 meters Centerline goodness : 0.926182 Centerline is valid? [False, False] Translation: X:31.15, Y:-0.26, Z:-3.09 [[ 9.99922353e-01 1.07394072e-02 6.32092000e-03 3.11529401e+01] [-1.05996358e-02 9.99707348e-01 -2.17455046e-02 -2.62554394e-01] [-6.55260400e-03 2.16768167e-02 9.99743557e-01 -3.09437808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00119381700003 meters Centerline goodness : 0.926508 Centerline is valid? [False, False] Translation: X:31.18, Y:-0.25, Z:-3.10 [[ 9.99793679e-01 1.99139326e-02 4.00422109e-03 3.11833941e+01] [-1.98028012e-02 9.99463079e-01 -2.61036828e-02 -2.53802186e-01] [-4.52189812e-03 2.60190023e-02 9.99651221e-01 -3.09506901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03119381700003 meters Centerline goodness : 0.926218 Centerline is valid? [False, False] Translation: X:31.18, Y:-0.25, Z:-3.10 [[ 9.99722155e-01 2.32732936e-02 3.73711972e-03 3.11847098e+01] [-2.31784873e-02 9.99451017e-01 -2.36732225e-02 -2.50685176e-01] [-4.28602197e-03 2.35800243e-02 9.99712765e-01 -3.09543585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06119381700003 meters Centerline goodness : 0.926814 Centerline is valid? [False, False] Translation: X:31.19, Y:-0.25, Z:-3.10 [[ 9.99634422e-01 2.67955298e-02 3.60871479e-03 3.11855677e+01] [-2.67157407e-02 9.99430971e-01 -2.05913425e-02 -2.48346600e-01] [-4.15841725e-03 2.04874052e-02 9.99781463e-01 -3.09576396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09119381700003 meters Centerline goodness : 0.926607 Centerline is valid? [False, False] Translation: X:31.19, Y:-0.25, Z:-3.10 [[ 9.99542885e-01 3.00185279e-02 3.59283951e-03 3.11861202e+01] [-2.99513402e-02 9.99398418e-01 -1.74848440e-02 -2.46643124e-01] [-4.11554740e-03 1.73692411e-02 9.99840673e-01 -3.09604968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12119381700003 meters Centerline goodness : 0.925861 Centerline is valid? [False, False] Translation: X:31.19, Y:-0.24, Z:-3.10 [[ 9.99444244e-01 3.31443594e-02 3.55723999e-03 3.11866158e+01] [-3.30879432e-02 9.99341474e-01 -1.48931704e-02 -2.43385274e-01] [-4.04852205e-03 1.47671917e-02 9.99882763e-01 -3.09603930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15119381700003 meters Centerline goodness : 0.925699 Centerline is valid? [False, False] Translation: X:31.19, Y:-0.24, Z:-3.10 [[ 9.99453547e-01 3.28963047e-02 3.23112538e-03 3.11873928e+01] [-3.28410122e-02 9.99334284e-01 -1.58888725e-02 -2.41064774e-01] [-3.75165956e-03 1.57740766e-02 9.99868543e-01 -3.09594838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18119381700004 meters Centerline goodness : 0.925420 Centerline is valid? [False, False] Translation: X:31.19, Y:-0.24, Z:-3.10 [[ 9.99444749e-01 3.31985729e-02 2.83698830e-03 3.11884491e+01] [-3.31487507e-02 9.99320734e-01 -1.61006588e-02 -2.39867099e-01] [-3.36958012e-03 1.59976762e-02 9.99866351e-01 -3.09615335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21119381700004 meters Centerline goodness : 0.925238 Centerline is valid? [False, False] Translation: X:31.19, Y:-0.24, Z:-3.10 [[ 9.99337122e-01 3.63076858e-02 2.65872583e-03 3.11900623e+01] [-3.62704769e-02 9.99258577e-01 -1.29131227e-02 -2.40021423e-01] [-3.12560019e-03 1.28081297e-02 9.99913087e-01 -3.09753544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24119381700004 meters Centerline goodness : 0.926354 Centerline is valid? [False, False] Translation: X:31.19, Y:-0.24, Z:-3.10 [[ 9.99251944e-01 3.86175027e-02 2.05932184e-03 3.11925585e+01] [-3.85945135e-02 9.99202591e-01 -1.02296556e-02 -2.39588940e-01] [-2.45272347e-03 1.01425247e-02 9.99945555e-01 -3.09901436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27119381700004 meters Centerline goodness : 0.927060 Centerline is valid? [False, False] Translation: X:31.19, Y:-0.24, Z:-3.10 [[ 9.99256064e-01 3.85281612e-02 1.70257187e-03 3.11934225e+01] [-3.85077362e-02 9.99200652e-01 -1.07336731e-02 -2.37924404e-01] [-2.11475961e-03 1.06601258e-02 9.99940943e-01 -3.09911575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30119381700004 meters Centerline goodness : 0.925171 Centerline is valid? [False, False] Translation: X:31.19, Y:-0.24, Z:-3.10 [[ 9.99263552e-01 3.83381156e-02 1.59452333e-03 3.11934609e+01] [-3.83183645e-02 9.99205290e-01 -1.09768788e-02 -2.37539296e-01] [-2.01408899e-03 1.09076953e-02 9.99938481e-01 -3.09882924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33119381700004 meters Centerline goodness : 0.926427 Centerline is valid? [False, False] Translation: X:31.19, Y:-0.24, Z:-3.10 [[ 9.99281214e-01 3.78706263e-02 1.69448023e-03 3.11923603e+01] [-3.78505152e-02 9.99226738e-01 -1.06425538e-02 -2.39958355e-01] [-2.09621013e-03 1.05707672e-02 9.99941931e-01 -3.09770051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36119381700004 meters Centerline goodness : 0.926865 Centerline is valid? [False, False] Translation: X:31.19, Y:-0.24, Z:-3.10 [[ 9.99298551e-01 3.74172172e-02 1.53581917e-03 3.11926135e+01] [-3.73988871e-02 9.99244176e-01 -1.06019108e-02 -2.41115999e-01] [-1.93135236e-03 1.05370362e-02 9.99942619e-01 -3.09774817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39119381700004 meters Centerline goodness : 0.929141 Centerline is valid? [False, False] Translation: X:31.19, Y:-0.24, Z:-3.10 [[ 9.99313876e-01 3.70038490e-02 1.57884306e-03 3.11924800e+01] [-3.69849918e-02 9.99259061e-01 -1.06508094e-02 -2.41501886e-01] [-1.97179417e-03 1.05851082e-02 9.99942032e-01 -3.09774387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42119381700002 meters Centerline goodness : 0.928303 Centerline is valid? [False, False] Translation: X:31.19, Y:-0.24, Z:-3.10 [[ 9.99559241e-01 2.96104796e-02 2.13152243e-03 3.11925174e+01] [-2.96145206e-02 9.99559607e-01 1.88988462e-03 -2.43016464e-01] [-2.07462333e-03 -1.95217565e-03 9.99995942e-01 -3.09790118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45119381700002 meters Centerline goodness : 0.929754 Centerline is valid? [False, False] Translation: X:31.19, Y:-0.24, Z:-3.10 [[ 9.99686139e-01 2.49830254e-02 1.86335893e-03 3.11928964e+01] [-2.49772616e-02 9.99683352e-01 -3.05489453e-03 -2.41325941e-01] [-1.93908941e-03 3.00739411e-03 9.99993598e-01 -3.09792922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48119381700002 meters Centerline goodness : 0.928786 Centerline is valid? [False, False] Translation: X:31.19, Y:-0.24, Z:-3.10 [[ 9.99878760e-01 1.55261742e-02 -1.18458368e-03 3.11941064e+01] [-1.55214954e-02 9.99872077e-01 3.86165511e-03 -2.41966929e-01] [ 1.24438888e-03 -3.84280041e-03 9.99991842e-01 -3.09837806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51119381700002 meters Centerline goodness : 0.928895 Centerline is valid? [False, False] Translation: X:31.20, Y:-0.24, Z:-3.10 [[ 9.99938028e-01 1.10236543e-02 -1.55560456e-03 3.11954040e+01] [-1.10241423e-02 9.99939186e-01 -3.05449208e-04 -2.42066258e-01] [ 1.55214279e-03 3.22579484e-04 9.99998743e-01 -3.09947814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54119381700002 meters Centerline goodness : 0.928315 Centerline is valid? [False, False] Translation: X:31.20, Y:-0.24, Z:-3.10 [[ 9.99983459e-01 5.20131745e-03 -2.45518613e-03 3.11985305e+01] [-5.21542811e-03 9.99969716e-01 -5.77630648e-03 -2.41587200e-01] [ 2.42506737e-03 5.78901578e-03 9.99980303e-01 -3.10129238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57119381700002 meters Centerline goodness : 0.930216 Centerline is valid? [False, False] Translation: X:31.20, Y:-0.24, Z:-3.10 [[ 9.99985650e-01 -4.44758869e-03 -2.98648287e-03 3.12006186e+01] [ 4.40144294e-03 9.99873501e-01 -1.52842962e-02 -2.39578671e-01] [ 3.05408334e-03 1.52709321e-02 9.99878728e-01 -3.10257092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60119381700002 meters Centerline goodness : 0.931851 Centerline is valid? [False, False] Translation: X:31.20, Y:-0.24, Z:-3.10 [[ 9.99981464e-01 -5.12975219e-03 -3.27981409e-03 3.12015438e+01] [ 5.07737785e-03 9.99862558e-01 -1.57824225e-02 -2.38801493e-01] [ 3.36032322e-03 1.57654771e-02 9.99870071e-01 -3.10293779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.63119381700002 meters Centerline goodness : 0.931525 Centerline is valid? [False, False] Translation: X:31.20, Y:-0.24, Z:-3.10 [[ 9.99978395e-01 -5.52566559e-03 -3.56050354e-03 3.12020472e+01] [ 5.46601614e-03 9.99848090e-01 -1.65505071e-02 -2.36483124e-01] [ 3.65141523e-03 1.65306877e-02 9.99856691e-01 -3.10274017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66119381700003 meters Centerline goodness : 0.929446 Centerline is valid? [False, False] Translation: X:31.20, Y:-0.24, Z:-3.10 [[ 9.99989843e-01 -2.49082689e-03 -3.75637049e-03 3.12022680e+01] [ 2.44024576e-03 9.99907099e-01 -1.34104225e-02 -2.35269221e-01] [ 3.78942455e-03 1.34011198e-02 9.99903020e-01 -3.10240439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69119381700003 meters Centerline goodness : 0.933288 Centerline is valid? [False, False] Translation: X:31.22, Y:-0.23, Z:-3.10 [[ 9.99999256e-01 -2.68692589e-04 1.18955878e-03 3.12174773e+01] [ 2.90217727e-04 9.99835559e-01 -1.81320223e-02 -2.25359649e-01] [-1.18449122e-03 1.81323540e-02 9.99834894e-01 -3.10469988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72119381700003 meters Centerline goodness : 0.936732 Centerline is valid? [False, False] Translation: X:31.23, Y:-0.22, Z:-3.11 [[ 9.99970634e-01 3.18435910e-04 7.65702137e-03 3.12276264e+01] [-2.54622260e-04 9.99965243e-01 -8.33353542e-03 -2.24322787e-01] [-7.65940893e-03 8.33134104e-03 9.99935959e-01 -3.10822286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75119381700003 meters Centerline goodness : 0.935840 Centerline is valid? [False, False] Translation: X:31.23, Y:-0.22, Z:-3.11 [[ 9.99972930e-01 1.27430010e-03 7.24672335e-03 3.12298330e+01] [-1.21751869e-03 9.99968569e-01 -7.83448044e-03 -2.20681253e-01] [-7.25647906e-03 7.82544535e-03 9.99943051e-01 -3.10975254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78119381700003 meters Centerline goodness : 0.935929 Centerline is valid? [False, False] Translation: X:31.23, Y:-0.22, Z:-3.11 [[ 9.99976090e-01 1.80412002e-03 6.67570790e-03 3.12326649e+01] [-1.75172103e-03 9.99967680e-01 -7.84674343e-03 -2.17298085e-01] [-6.68964860e-03 7.83486184e-03 9.99946930e-01 -3.11175720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81119381700003 meters Centerline goodness : 0.935613 Centerline is valid? [False, False] Translation: X:31.26, Y:-0.21, Z:-3.12 [[ 9.99988109e-01 2.76399253e-04 4.86889422e-03 3.12573073e+01] [-2.13706281e-04 9.99917129e-01 -1.28720413e-02 -2.08788386e-01] [-4.87204855e-03 1.28708477e-02 9.99905298e-01 -3.11525661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84119381700003 meters Centerline goodness : 0.936248 Centerline is valid? [False, False] Translation: X:31.28, Y:-0.21, Z:-3.12 [[ 9.99994272e-01 4.79503906e-04 3.35065236e-03 3.12796747e+01] [-4.36766224e-04 9.99918695e-01 -1.27441446e-02 -2.06268664e-01] [-3.35649080e-03 1.27426082e-02 9.99913176e-01 -3.11630437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87119381700003 meters Centerline goodness : 0.935291 Centerline is valid? [False, False] Translation: X:31.28, Y:-0.20, Z:-3.12 [[ 9.99994444e-01 1.73939991e-03 2.84359689e-03 3.12820821e+01] [-1.70710042e-03 9.99934448e-01 -1.13219118e-02 -2.03636530e-01] [-2.86310382e-03 1.13169946e-02 9.99931862e-01 -3.11792567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90119381700003 meters Centerline goodness : 0.936047 Centerline is valid? [False, False] Translation: X:31.28, Y:-0.20, Z:-3.12 [[ 9.99986760e-01 4.38044347e-03 2.70031604e-03 3.12826224e+01] [-4.35706228e-03 9.99953487e-01 -8.60459740e-03 -2.01559561e-01] [-2.73788239e-03 8.59271803e-03 9.99959334e-01 -3.11824447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93119381700004 meters Centerline goodness : 0.939505 Centerline is valid? [False, False] Translation: X:31.29, Y:-0.20, Z:-3.12 [[ 9.99981860e-01 5.62683382e-03 2.14917889e-03 3.12850731e+01] [-5.61096249e-03 9.99957460e-01 -7.32081992e-03 -1.98575794e-01] [-2.19028050e-03 7.30862815e-03 9.99970893e-01 -3.11985995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96119381700004 meters Centerline goodness : 0.938458 Centerline is valid? [False, False] Translation: X:31.29, Y:-0.19, Z:-3.12 [[ 9.99977460e-01 6.40271279e-03 2.02122079e-03 3.12855638e+01] [-6.38757867e-03 9.99952164e-01 -7.40731448e-03 -1.89813599e-01] [-2.06855101e-03 7.39423681e-03 9.99970523e-01 -3.11987377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99119381700004 meters Centerline goodness : 0.940736 Centerline is valid? [False, False] Translation: X:31.29, Y:-0.19, Z:-3.12 [[ 9.99981672e-01 5.79884376e-03 1.74019017e-03 3.12862323e+01] [-5.78338765e-03 9.99944913e-01 -8.75919385e-03 -1.85457707e-01] [-1.79088751e-03 8.74896912e-03 9.99960123e-01 -3.11985947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02119381700004 meters Centerline goodness : 0.940829 Centerline is valid? [False, False] Translation: X:31.29, Y:-0.18, Z:-3.12 [[ 9.99985865e-01 5.06726166e-03 1.60987399e-03 3.12863163e+01] [-5.05063060e-03 9.99935509e-01 -1.01720078e-02 -1.81279897e-01] [-1.66131439e-03 1.01637331e-02 9.99946968e-01 -3.11948516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05119381700004 meters Centerline goodness : 0.941298 Centerline is valid? [False, False] Translation: X:31.28, Y:-0.18, Z:-3.12 [[ 9.99978134e-01 6.29326400e-03 2.03156382e-03 3.12844793e+01] [-6.27483991e-03 9.99940248e-01 -8.95136445e-03 -1.77826036e-01] [-2.08777573e-03 8.93842098e-03 9.99957872e-01 -3.11811808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08119381700004 meters Centerline goodness : 0.944191 Centerline is valid? [False, False] Translation: X:31.28, Y:-0.17, Z:-3.12 [[ 9.99969659e-01 7.50761452e-03 2.07766247e-03 3.12848683e+01] [-7.48856200e-03 9.99931180e-01 -9.03085013e-03 -1.67841701e-01] [-2.14531963e-03 9.01501743e-03 9.99957063e-01 -3.11843025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11119381700004 meters Centerline goodness : 0.942211 Centerline is valid? [False, False] Translation: X:31.29, Y:-0.16, Z:-3.12 [[ 9.99948007e-01 9.99697873e-03 2.01076260e-03 3.12854542e+01] [-9.98283969e-03 9.99926205e-01 -6.92292197e-03 -1.64025416e-01] [-2.07982252e-03 6.90248891e-03 9.99974015e-01 -3.11884799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14119381700004 meters Centerline goodness : 0.942841 Centerline is valid? [False, False] Translation: X:31.29, Y:-0.16, Z:-3.12 [[ 9.99919463e-01 1.25468299e-02 1.90896114e-03 3.12866275e+01] [-1.25374156e-02 9.99909563e-01 -4.86618836e-03 -1.59969000e-01] [-1.96984373e-03 4.84186301e-03 9.99986338e-01 -3.11992382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17119381700002 meters Centerline goodness : 0.943324 Centerline is valid? [False, False] Translation: X:31.29, Y:-0.16, Z:-3.12 [[ 9.99879693e-01 1.54151271e-02 1.72433511e-03 3.12879414e+01] [-1.54103404e-02 9.99877456e-01 -2.75568913e-03 -1.55378573e-01] [-1.76660310e-03 2.72878501e-03 9.99994716e-01 -3.12092645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20119381700002 meters Centerline goodness : 0.946348 Centerline is valid? [False, False] Translation: X:31.29, Y:-0.14, Z:-3.12 [[ 9.99773012e-01 2.12329758e-02 1.75627916e-03 3.12886169e+01] [-2.12330887e-02 9.99774552e-01 4.56569636e-05 -1.40540992e-01] [-1.75491378e-03 -8.29378312e-05 9.99998457e-01 -3.12097365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23119381700002 meters Centerline goodness : 0.947638 Centerline is valid? [False, False] Translation: X:31.29, Y:-0.13, Z:-3.12 [[ 9.99705618e-01 2.41973306e-02 1.77924414e-03 3.12884762e+01] [-2.41996920e-02 9.99706276e-01 1.31788903e-03 -1.32513607e-01] [-1.74683213e-03 -1.36055823e-03 9.99997549e-01 -3.12027061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26119381700002 meters Centerline goodness : 0.948763 Centerline is valid? [False, False] Translation: X:31.29, Y:-0.13, Z:-3.12 [[ 9.99622510e-01 2.74313759e-02 1.53548408e-03 3.12889415e+01] [-2.74358572e-02 9.99619131e-01 2.97774524e-03 -1.25647482e-01] [-1.45321561e-03 -3.01874849e-03 9.99994388e-01 -3.11962735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29119381700002 meters Centerline goodness : 0.950214 Centerline is valid? [False, True] Translation: X:31.29, Y:-0.11, Z:-3.12 [[ 9.99429591e-01 3.37348086e-02 1.56714808e-03 3.12886835e+01] [-3.37447337e-02 9.99407284e-01 6.80976408e-03 -1.14895284e-01] [-1.33649312e-03 -6.85876272e-03 9.99975585e-01 -3.11818717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32119381700002 meters Centerline goodness : 0.950256 Centerline is valid? [True, True] Translation: X:31.32, Y:-0.11, Z:-3.12 [[ 9.99323045e-01 3.67708198e-02 1.16517868e-03 3.13180243e+01] [-3.67707230e-02 9.99323723e-01 -1.04436802e-04 -1.09545289e-01] [-1.16823093e-03 6.15216404e-05 9.99999316e-01 -3.11776442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35119381700002 meters Centerline goodness : 0.952584 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.11, Z:-3.12 [[ 9.99217400e-01 3.95056005e-02 1.97347554e-03 3.13476255e+01] [-3.95053319e-02 9.99219344e-01 -1.74919021e-04 -1.06621101e-01] [-1.97884522e-03 9.68193228e-05 9.99998037e-01 -3.11862190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38119381700002 meters Centerline goodness : 0.951106 Centerline is valid? [True, True] Translation: X:31.38, Y:-0.10, Z:-3.12 [[ 9.99075649e-01 4.28451593e-02 3.48433962e-03 3.13762004e+01] [-4.28443508e-02 9.99081712e-01 -3.06401564e-04 -1.04791665e-01] [-3.49426782e-03 1.56834072e-04 9.99993883e-01 -3.11983009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41119381700003 meters Centerline goodness : 0.955002 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.10, Z:-3.12 [[ 9.98702917e-01 5.06935118e-02 4.75929262e-03 3.14058399e+01] [-5.06920988e-02 9.98714242e-01 -4.17121398e-04 -1.00377282e-01] [-4.77431867e-03 1.75321825e-04 9.99988588e-01 -3.11999020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44119381700003 meters Centerline goodness : 0.952588 Centerline is valid? [True, True] Translation: X:31.43, Y:-0.10, Z:-3.12 [[ 9.98514098e-01 5.42619065e-02 5.02413516e-03 3.14342137e+01] [-5.42603757e-02 9.98526723e-01 -4.40597741e-04 -9.97682204e-02] [-5.04064089e-03 1.67331594e-04 9.99987282e-01 -3.12072014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47119381700003 meters Centerline goodness : 0.953188 Centerline is valid? [True, True] Translation: X:31.46, Y:-0.10, Z:-3.12 [[ 9.98343953e-01 5.73074517e-02 5.02075738e-03 3.14620285e+01] [-5.73059661e-02 9.98356566e-01 -4.39363042e-04 -9.96163639e-02] [-5.03768487e-03 1.50916084e-04 9.99987299e-01 -3.12122411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50119381700003 meters Centerline goodness : 0.954505 Centerline is valid? [True, True] Translation: X:31.49, Y:-0.10, Z:-3.12 [[ 9.98191403e-01 5.98130559e-02 6.02678237e-03 3.14901600e+01] [-5.98109641e-02 9.98209583e-01 -5.26886045e-04 -9.98071450e-02] [-6.04750658e-03 1.65465456e-04 9.99981700e-01 -3.12214310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53119381700003 meters Centerline goodness : 0.953430 Centerline is valid? [True, True] Translation: X:31.52, Y:-0.10, Z:-3.12 [[ 9.98015729e-01 6.25438163e-02 7.27151868e-03 3.15183227e+01] [-6.25408613e-02 9.98042203e-01 -6.33288018e-04 -1.01081502e-01] [-7.29689077e-03 1.77264362e-04 9.99973362e-01 -3.12316497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56119381700003 meters Centerline goodness : 0.954575 Centerline is valid? [True, True] Translation: X:31.55, Y:-0.10, Z:-3.12 [[ 9.97789457e-01 6.57061431e-02 9.94492459e-03 3.15461944e+01] [-6.57007921e-02 9.97838995e-01 -8.64167226e-04 -1.03440729e-01] [-9.98021465e-03 2.08867524e-04 9.99950175e-01 -3.12489063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59119381700003 meters Centerline goodness : 0.953168 Centerline is valid? [True, True] Translation: X:31.57, Y:-0.11, Z:-3.13 [[ 9.97646574e-01 6.78018237e-02 1.02091092e-02 3.15738959e+01] [-6.77963069e-02 9.97698790e-01 -8.85893567e-04 -1.07497576e-01] [-1.02456811e-02 1.91668785e-04 9.99947493e-01 -3.12638148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62119381700003 meters Centerline goodness : 0.951193 Centerline is valid? [True, True] Translation: X:31.60, Y:-0.11, Z:-3.13 [[ 9.97521703e-01 6.97966517e-02 8.88136143e-03 3.16001213e+01] [-6.97925482e-02 9.97561229e-01 -7.71508298e-04 -1.11607729e-01] [-8.91355052e-03 1.49743426e-04 9.99960262e-01 -3.12742777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65119381700003 meters Centerline goodness : 0.951586 Centerline is valid? [True, True] Translation: X:31.63, Y:-0.11, Z:-3.13 [[ 9.97416882e-01 7.13203157e-02 8.54255089e-03 3.16274605e+01] [-7.13166033e-02 9.97453456e-01 -7.38793456e-04 -1.14556085e-01] [-8.57348789e-03 1.27659353e-04 9.99963239e-01 -3.12912483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68119381700004 meters Centerline goodness : 0.950035 Centerline is valid? [True, True] Translation: X:31.65, Y:-0.12, Z:-3.13 [[ 9.97083705e-01 7.60214820e-02 6.69470436e-03 3.16546400e+01] [-7.60193079e-02 9.97106178e-01 -5.78983337e-04 -1.19169259e-01] [-6.71934625e-03 6.83680585e-05 9.99977423e-01 -3.13069495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71119381700004 meters Centerline goodness : 0.949957 Centerline is valid? [True, False] Translation: X:31.66, Y:-0.12, Z:-3.13 [[ 9.97031800e-01 7.67334424e-02 6.29028694e-03 3.16561531e+01] [-7.67372375e-02 9.97051285e-01 3.63852344e-04 -1.21233304e-01] [-6.24381903e-03 -8.45471600e-04 9.99980150e-01 -3.13168690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74119381700004 meters Centerline goodness : 0.948902 Centerline is valid? [False, False] Translation: X:31.66, Y:-0.12, Z:-3.13 [[ 9.96976124e-01 7.74905533e-02 5.81572744e-03 3.16577348e+01] [-7.75005861e-02 9.96991148e-01 1.51971507e-03 -1.24250333e-01] [-5.68046522e-03 -1.96584192e-03 9.99981934e-01 -3.13266432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77119381700004 meters Centerline goodness : 0.946918 Centerline is valid? [False, False] Translation: X:31.66, Y:-0.13, Z:-3.13 [[ 9.96925053e-01 7.81667192e-02 5.51381567e-03 3.16587739e+01] [-7.81821674e-02 9.96935584e-01 2.64382123e-03 -1.27214182e-01] [-5.29026022e-03 -3.06677368e-03 9.99981304e-01 -3.13335530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80119381700004 meters Centerline goodness : 0.946918 Centerline is valid? [False, False] Translation: X:31.66, Y:-0.13, Z:-3.13 [[ 9.96925053e-01 7.81667192e-02 5.51381567e-03 3.16587739e+01] [-7.81821674e-02 9.96935584e-01 2.64382123e-03 -1.27214182e-01] [-5.29026022e-03 -3.06677368e-03 9.99981304e-01 -3.13335530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83119381700004 meters Centerline goodness : 0.942091 Centerline is valid? [False, False] Translation: X:31.66, Y:-0.13, Z:-3.13 [[ 9.96840783e-01 7.92560335e-02 5.18993951e-03 3.16596737e+01] [-7.92824789e-02 9.96839119e-01 5.10481673e-03 -1.34998618e-01] [-4.76894720e-03 -5.50016078e-03 9.99973502e-01 -3.13393192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86119381700004 meters Centerline goodness : 0.940009 Centerline is valid? [False, False] Translation: X:31.66, Y:-0.14, Z:-3.13 [[ 9.97046264e-01 7.66767531e-02 4.40713131e-03 3.16608004e+01] [-7.66887395e-02 9.97051645e-01 2.61812137e-03 -1.38128053e-01] [-4.19338848e-03 -2.94836547e-03 9.99986861e-01 -3.13404806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89119381700004 meters Centerline goodness : 0.939354 Centerline is valid? [False, False] Translation: X:31.66, Y:-0.14, Z:-3.13 [[ 9.96992323e-01 7.73878322e-02 4.17519960e-03 3.16613505e+01] [-7.74060608e-02 9.96989955e-01 4.39668232e-03 -1.43650342e-01] [-3.82238235e-03 -4.70664427e-03 9.99981618e-01 -3.13412345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92119381700002 meters Centerline goodness : 0.939981 Centerline is valid? [False, False] Translation: X:31.66, Y:-0.15, Z:-3.13 [[ 9.96931558e-01 7.81817506e-02 3.88374883e-03 3.16622043e+01] [-7.82049161e-02 9.96917892e-01 6.22152355e-03 -1.49139425e-01] [-3.38536909e-03 -6.50616141e-03 9.99973104e-01 -3.13468389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95119381700002 meters Centerline goodness : 0.936932 Centerline is valid? [False, False] Translation: X:31.68, Y:-0.16, Z:-3.14 [[ 9.96963324e-01 7.77796929e-02 3.80118404e-03 3.16825601e+01] [-7.78173404e-02 9.96906552e-01 1.10357598e-02 -1.61851866e-01] [-2.93106727e-03 -1.12980458e-02 9.99931879e-01 -3.13616944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98119381700002 meters Centerline goodness : 0.935296 Centerline is valid? [False, False] Translation: X:31.68, Y:-0.17, Z:-3.14 [[ 9.97168940e-01 7.51290075e-02 3.12051218e-03 3.16837447e+01] [-7.51536233e-02 9.97133938e-01 8.70875685e-03 -1.65584555e-01] [-2.45728834e-03 -8.91861963e-03 9.99957209e-01 -3.13671450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01119381700002 meters Centerline goodness : 0.935401 Centerline is valid? [False, False] Translation: X:31.69, Y:-0.17, Z:-3.14 [[ 9.97133227e-01 7.56271346e-02 2.42151910e-03 3.16864726e+01] [-7.56481769e-02 9.97081612e-01 1.02768308e-02 -1.72144348e-01] [-1.63724490e-03 -1.04305530e-02 9.99944260e-01 -3.13865812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04119381700002 meters Centerline goodness : 0.934241 Centerline is valid? [False, False] Translation: X:31.71, Y:-0.18, Z:-3.14 [[ 9.97334302e-01 7.29275594e-02 2.42096975e-03 3.17068125e+01] [-7.29501555e-02 9.97273301e-01 1.11461972e-02 -1.79669523e-01] [-1.60150353e-03 -1.12930949e-02 9.99934948e-01 -3.13959922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07119381700002 meters Centerline goodness : 0.931185 Centerline is valid? [False, False] Translation: X:31.73, Y:-0.20, Z:-3.14 [[ 9.97743026e-01 6.66132945e-02 8.45714690e-03 3.17343249e+01] [-6.68787310e-02 9.97096704e-01 3.64060224e-02 -2.03766844e-01] [-6.00746821e-03 -3.68894582e-02 9.99301295e-01 -3.13848809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10119381700002 meters Centerline goodness : 0.930379 Centerline is valid? [False, False] Translation: X:31.75, Y:-0.22, Z:-3.14 [[ 9.97788116e-01 6.54415895e-02 1.16736451e-02 3.17521107e+01] [-6.58676897e-02 9.96990018e-01 4.08943825e-02 -2.15277786e-01] [-8.96231421e-03 -4.15728449e-02 9.99095278e-01 -3.13989636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13119381700002 meters Centerline goodness : 0.930184 Centerline is valid? [False, False] Translation: X:31.78, Y:-0.23, Z:-3.14 [[ 9.98123524e-01 5.95170210e-02 1.43928940e-02 3.17765966e+01] [-6.03599609e-02 9.95874291e-01 6.77574498e-02 -2.30434541e-01] [-1.03007915e-02 -6.84990590e-02 9.97598002e-01 -3.13730668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16119381700003 meters Centerline goodness : 0.928536 Centerline is valid? [False, False] Translation: X:31.80, Y:-0.25, Z:-3.13 [[ 9.98498830e-01 5.27994095e-02 1.45708272e-02 3.18041242e+01] [-5.40478407e-02 9.92921639e-01 1.05761287e-01 -2.48336689e-01] [-8.88355609e-03 -1.06390043e-01 9.94284789e-01 -3.12539141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19119381700003 meters Centerline goodness : 0.928334 Centerline is valid? [False, False] Translation: X:31.80, Y:-0.28, Z:-3.11 [[ 9.99223116e-01 3.57241990e-02 1.66416797e-02 3.17974500e+01] [-3.82231105e-02 9.81343522e-01 1.88424746e-01 -2.82328607e-01] [-9.59988145e-03 -1.88914459e-01 9.81946623e-01 -3.10679187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22119381700003 meters Centerline goodness : 0.929233 Centerline is valid? [False, False] Translation: X:31.77, Y:-0.28, Z:-3.10 [[ 9.99329938e-01 3.27845687e-02 1.62741508e-02 3.17710578e+01] [-3.50076242e-02 9.85917188e-01 1.63529096e-01 -2.79568195e-01] [-1.06837341e-02 -1.63989240e-01 9.86404272e-01 -3.10412885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25119381700003 meters Centerline goodness : 0.928259 Centerline is valid? [False, False] Translation: X:31.77, Y:-0.27, Z:-3.10 [[ 9.99405403e-01 3.04117977e-02 1.62469223e-02 3.17681153e+01] [-3.20611291e-02 9.93033981e-01 1.13382527e-01 -2.70476117e-01] [-1.26855794e-02 -1.13836004e-01 9.93418562e-01 -3.10431816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28119381700003 meters Centerline goodness : 0.927071 Centerline is valid? [False, False] Translation: X:31.76, Y:-0.27, Z:-3.11 [[ 9.99455501e-01 2.72242890e-02 1.86424379e-02 3.17635633e+01] [-2.87429179e-02 9.95817152e-01 8.67297258e-02 -2.68545038e-01] [-1.62033042e-02 -8.72183396e-02 9.96057435e-01 -3.10551575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31119381700003 meters Centerline goodness : 0.924992 Centerline is valid? [False, False] Translation: X:31.76, Y:-0.27, Z:-3.10 [[ 9.99695751e-01 2.14183044e-02 1.22336641e-02 3.17624546e+01] [-2.21860595e-02 9.97538745e-01 6.65148984e-02 -2.70772194e-01] [-1.07789176e-02 -6.67660781e-02 9.97710432e-01 -3.10487986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34119381700003 meters Centerline goodness : 0.924235 Centerline is valid? [False, False] Translation: X:31.76, Y:-0.27, Z:-3.11 [[ 9.99781669e-01 1.90539152e-02 8.57685043e-03 3.17562072e+01] [-1.94776004e-02 9.98437579e-01 5.23738787e-02 -2.69129699e-01] [-7.56552234e-03 -5.25295004e-02 9.98590714e-01 -3.10658778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37119381700003 meters Centerline goodness : 0.923177 Centerline is valid? [False, False] Translation: X:31.76, Y:-0.27, Z:-3.11 [[ 9.99800748e-01 1.98666913e-02 1.94396919e-03 3.17579794e+01] [-1.99252405e-02 9.99110375e-01 3.71677602e-02 -2.67529594e-01] [-1.20383937e-03 -3.71990885e-02 9.99307149e-01 -3.10729323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40119381700003 meters Centerline goodness : 0.924320 Centerline is valid? [False, False] Translation: X:31.76, Y:-0.26, Z:-3.11 [[ 9.99777423e-01 2.04106787e-02 -5.33929233e-03 3.17572359e+01] [-2.02871482e-02 9.99546612e-01 2.22486374e-02 -2.64208855e-01] [ 5.79098134e-03 -2.21353663e-02 9.99738211e-01 -3.10624742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43119381700004 meters Centerline goodness : 0.922335 Centerline is valid? [False, False] Translation: X:31.76, Y:-0.26, Z:-3.11 [[ 9.99766462e-01 2.08467370e-02 -5.69525928e-03 3.17586345e+01] [-2.07141320e-02 9.99533877e-01 2.24266165e-02 -2.64267417e-01] [ 6.16012637e-03 -2.23034067e-02 9.99732270e-01 -3.10724190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46119381700004 meters Centerline goodness : 0.924139 Centerline is valid? [False, False] Translation: X:31.76, Y:-0.26, Z:-3.11 [[ 9.99762302e-01 2.09793786e-02 -5.93338542e-03 3.17590646e+01] [-2.08440916e-02 9.99540414e-01 2.20110061e-02 -2.62869353e-01] [ 6.39243575e-03 -2.18820981e-02 9.99740122e-01 -3.10711573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49119381700004 meters Centerline goodness : 0.922630 Centerline is valid? [False, False] Translation: X:31.77, Y:-0.26, Z:-3.11 [[ 9.99723679e-01 2.32452935e-02 -3.49587270e-03 3.17691769e+01] [-2.31995314e-02 9.99651375e-01 1.26059325e-02 -2.60592808e-01] [ 3.78768255e-03 -1.25213466e-02 9.99914431e-01 -3.10811147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52119381700004 meters Centerline goodness : 0.923441 Centerline is valid? [False, False] Translation: X:31.78, Y:-0.26, Z:-3.10 [[ 9.99540154e-01 2.95684451e-02 -6.72221158e-03 3.17765991e+01] [-2.94999069e-02 9.99513996e-01 1.00760353e-02 -2.58520273e-01] [ 7.01687726e-03 -9.87309728e-03 9.99926640e-01 -3.10335466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55119381700004 meters Centerline goodness : 0.923595 Centerline is valid? [False, False] Translation: X:31.78, Y:-0.26, Z:-3.10 [[ 9.99520897e-01 3.01772398e-02 -6.87820932e-03 3.17769770e+01] [-3.01091142e-02 9.99498557e-01 9.80179343e-03 -2.56650830e-01] [ 7.17055136e-03 -9.59000058e-03 9.99928305e-01 -3.10330866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58119381700004 meters Centerline goodness : 0.925836 Centerline is valid? [False, False] Translation: X:31.78, Y:-0.25, Z:-3.10 [[ 9.99504342e-01 3.06915033e-02 -7.00730797e-03 3.17772549e+01] [-3.06242802e-02 9.99485752e-01 9.50711656e-03 -2.54772657e-01] [ 7.29549217e-03 -9.28781052e-03 9.99930254e-01 -3.10323998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61119381700004 meters Centerline goodness : 0.925346 Centerline is valid? [False, False] Translation: X:31.78, Y:-0.25, Z:-3.10 [[ 9.99488366e-01 3.11893429e-02 -7.08744060e-03 3.17772788e+01] [-3.11223782e-02 9.99471661e-01 9.37001565e-03 -2.53474470e-01] [ 7.37594066e-03 -9.14464362e-03 9.99930983e-01 -3.10300260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64119381700004 meters Centerline goodness : 0.927182 Centerline is valid? [False, False] Translation: X:31.78, Y:-0.25, Z:-3.10 [[ 9.99460032e-01 3.20869587e-02 -7.07614551e-03 3.17770244e+01] [-3.20180059e-02 9.99440692e-01 9.65144356e-03 -2.52828950e-01] [ 7.38187323e-03 -9.41966802e-03 9.99928386e-01 -3.10257141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67119381700002 meters Centerline goodness : 0.927260 Centerline is valid? [False, False] Translation: X:31.78, Y:-0.25, Z:-3.10 [[ 9.99449192e-01 3.23923026e-02 -7.21461556e-03 3.17776858e+01] [-3.23194804e-02 9.99427648e-01 9.99140444e-03 -2.53645123e-01] [ 7.53413085e-03 -9.75272847e-03 9.99924058e-01 -3.10308453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70119381700002 meters Centerline goodness : 0.927896 Centerline is valid? [False, False] Translation: X:31.78, Y:-0.25, Z:-3.10 [[ 9.99526948e-01 2.98079897e-02 -7.57386439e-03 3.17786090e+01] [-2.97581684e-02 9.99535286e-01 6.60776234e-03 -2.53042235e-01] [ 7.76730882e-03 -6.37925220e-03 9.99949486e-01 -3.10361692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73119381700002 meters Centerline goodness : 0.926983 Centerline is valid? [False, False] Translation: X:31.78, Y:-0.25, Z:-3.10 [[ 9.99611889e-01 2.67692482e-02 -7.71228185e-03 3.17788629e+01] [-2.67470119e-02 9.99637816e-01 2.97211369e-03 -2.52691807e-01] [ 7.78904983e-03 -2.76467969e-03 9.99965843e-01 -3.10382364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76119381700002 meters Centerline goodness : 0.927570 Centerline is valid? [False, False] Translation: X:31.78, Y:-0.26, Z:-3.10 [[ 9.99596043e-01 2.72945793e-02 -7.92190100e-03 3.17798843e+01] [-2.72621345e-02 9.99619600e-01 4.17509569e-03 -2.55992085e-01] [ 8.03284499e-03 -3.95744120e-03 9.99959905e-01 -3.10469418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79119381700002 meters Centerline goodness : 0.929581 Centerline is valid? [False, False] Translation: X:31.78, Y:-0.26, Z:-3.10 [[ 9.99664268e-01 2.46430808e-02 -8.00432857e-03 3.17798190e+01] [-2.46361197e-02 9.99696017e-01 9.67114167e-04 -2.55609755e-01] [ 8.02572806e-03 -7.69593879e-04 9.99967497e-01 -3.10461568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82119381700002 meters Centerline goodness : 0.929800 Centerline is valid? [False, False] Translation: X:31.78, Y:-0.26, Z:-3.10 [[ 9.99652791e-01 2.49973987e-02 -8.33232216e-03 3.17807421e+01] [-2.49832749e-02 9.99686258e-01 1.79486992e-03 -2.58084111e-01] [ 8.37457504e-03 -1.58607803e-03 9.99963675e-01 -3.10499016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85119381700002 meters Centerline goodness : 0.928227 Centerline is valid? [False, False] Translation: X:31.78, Y:-0.26, Z:-3.11 [[ 9.99719321e-01 2.19904678e-02 -8.81471345e-03 3.17817801e+01] [-2.20049731e-02 9.99756657e-01 -1.55197532e-03 -2.59044907e-01] [ 8.77843979e-03 1.74550725e-03 9.99959945e-01 -3.10533536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88119381700002 meters Centerline goodness : 0.930614 Centerline is valid? [False, False] Translation: X:31.78, Y:-0.26, Z:-3.11 [[ 9.99708588e-01 2.24401858e-02 -8.89818842e-03 3.17818017e+01] [-2.24458847e-02 9.99747913e-01 -5.41094211e-04 -2.62084245e-01] [ 8.88380304e-03 7.40664240e-04 9.99960264e-01 -3.10522954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91119381700003 meters Centerline goodness : 0.930871 Centerline is valid? [False, False] Translation: X:31.78, Y:-0.26, Z:-3.10 [[ 9.99700625e-01 2.27721597e-02 -8.94925082e-03 3.17814068e+01] [-2.27720712e-02 9.99740677e-01 1.11806081e-04 -2.64098091e-01] [ 8.94947613e-03 9.20203681e-05 9.99959948e-01 -3.10461814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94119381700003 meters Centerline goodness : 0.932457 Centerline is valid? [False, False] Translation: X:31.80, Y:-0.27, Z:-3.10 [[ 9.99734187e-01 2.27953813e-02 -3.45343726e-03 3.17961015e+01] [-2.27949618e-02 9.99740148e-01 1.60798330e-04 -2.68906613e-01] [ 3.45620534e-03 -8.20346172e-05 9.99994024e-01 -3.10321645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97119381700003 meters Centerline goodness : 0.935099 Centerline is valid? [False, False] Translation: X:31.80, Y:-0.27, Z:-3.10 [[ 9.99724585e-01 2.32210441e-02 -3.39656523e-03 3.17955952e+01] [-2.32175254e-02 9.99729862e-01 1.07172807e-03 -2.71432805e-01] [ 3.42053434e-03 -9.92573064e-04 9.99993657e-01 -3.10275552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00119381700003 meters Centerline goodness : 0.935343 Centerline is valid? [False, False] Translation: X:31.80, Y:-0.27, Z:-3.10 [[ 9.99786195e-01 2.03491963e-02 -3.67084796e-03 3.17957520e+01] [-2.03586402e-02 9.99789480e-01 -2.55390668e-03 -2.71499430e-01] [ 3.61810522e-03 2.62809411e-03 9.99990001e-01 -3.10227305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03119381700003 meters Centerline goodness : 0.938585 Centerline is valid? [False, False] Translation: X:31.80, Y:-0.28, Z:-3.10 [[ 9.99766911e-01 2.12428446e-02 -3.85552270e-03 3.17962852e+01] [-2.12458917e-02 9.99773998e-01 -7.51065799e-04 -2.75516995e-01] [ 3.83869657e-03 8.32804751e-04 9.99992285e-01 -3.10273249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06119381700003 meters Centerline goodness : 0.933630 Centerline is valid? [False, False] Translation: X:31.80, Y:-0.28, Z:-3.10 [[ 9.99755286e-01 2.17182901e-02 -4.20522740e-03 3.17974057e+01] [-2.17165041e-02 9.99764058e-01 4.69904513e-04 -2.78571524e-01] [ 4.21444073e-03 -3.78466683e-04 9.99991048e-01 -3.10357633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09119381700003 meters Centerline goodness : 0.933815 Centerline is valid? [False, False] Translation: X:31.80, Y:-0.28, Z:-3.10 [[ 9.99810817e-01 1.88691000e-02 -4.72087005e-03 3.17986229e+01] [-1.88806501e-02 9.99818830e-01 -2.41411946e-03 -2.80665940e-01] [ 4.67446251e-03 2.50279585e-03 9.99985943e-01 -3.10420339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12119381700003 meters Centerline goodness : 0.933870 Centerline is valid? [False, False] Translation: X:31.80, Y:-0.29, Z:-3.11 [[ 9.99839410e-01 1.71630729e-02 -5.15593463e-03 3.18010899e+01] [-1.71799741e-02 9.99847125e-01 -3.25179544e-03 -2.89222333e-01] [ 5.09933562e-03 3.33985205e-03 9.99981421e-01 -3.10643085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15119381700003 meters Centerline goodness : 0.934269 Centerline is valid? [False, False] Translation: X:31.80, Y:-0.29, Z:-3.11 [[ 9.99868639e-01 1.51457407e-02 -5.77162131e-03 3.18033821e+01] [-1.51758272e-02 9.99871292e-01 -5.20519188e-03 -2.92485537e-01] [ 5.69204197e-03 5.29209725e-03 9.99969797e-01 -3.10799983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18119381700004 meters Centerline goodness : 0.933122 Centerline is valid? [False, False] Translation: X:31.83, Y:-0.30, Z:-3.11 [[ 9.99850735e-01 1.50472457e-02 -8.49044023e-03 3.18268570e+01] [-1.50954116e-02 9.99870164e-01 -5.63767324e-03 -2.96995471e-01] [ 8.40450641e-03 5.76499843e-03 9.99948063e-01 -3.10935014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21119381700004 meters Centerline goodness : 0.935862 Centerline is valid? [False, False] Translation: X:31.83, Y:-0.30, Z:-3.11 [[ 9.99844357e-01 1.51028039e-02 -9.11958552e-03 3.18298449e+01] [-1.51479740e-02 9.99873234e-01 -4.90448933e-03 -3.01504364e-01] [ 9.04435793e-03 5.04186923e-03 9.99946388e-01 -3.11153441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24119381700004 meters Centerline goodness : 0.933793 Centerline is valid? [False, False] Translation: X:31.85, Y:-0.31, Z:-3.11 [[ 9.99820738e-01 1.50038674e-02 -1.15488288e-02 3.18528383e+01] [-1.50658074e-02 9.99872483e-01 -5.29512708e-03 -3.06696755e-01] [ 1.14679088e-02 5.46817030e-03 9.99919290e-01 -3.11238850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27119381700004 meters Centerline goodness : 0.938045 Centerline is valid? [False, False] Translation: X:31.85, Y:-0.32, Z:-3.11 [[ 9.99829680e-01 1.42232061e-02 -1.17605672e-02 3.18527053e+01] [-1.42701793e-02 9.99890492e-01 -3.91989440e-03 -3.20396156e-01] [ 1.17035258e-02 4.08705217e-03 9.99923159e-01 -3.11169920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30119381700004 meters Centerline goodness : 0.937728 Centerline is valid? [False, False] Translation: X:31.85, Y:-0.33, Z:-3.11 [[ 9.99860635e-01 1.17073029e-02 -1.19016395e-02 3.18526277e+01] [-1.17718753e-02 9.99916290e-01 -5.37000135e-03 -3.27036983e-01] [ 1.18377750e-02 5.50935757e-03 9.99914753e-01 -3.11130820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33119381700004 meters Centerline goodness : 0.939090 Centerline is valid? [False, False] Translation: X:31.85, Y:-0.33, Z:-3.11 [[ 9.99891418e-01 8.50305648e-03 -1.20353425e-02 3.18524214e+01] [-8.59029578e-03 9.99937069e-01 -7.21555315e-03 -3.33376394e-01] [ 1.19732309e-02 7.31815683e-03 9.99901538e-01 -3.11077633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36119381700004 meters Centerline goodness : 0.940884 Centerline is valid? [False, False] Translation: X:31.86, Y:-0.34, Z:-3.11 [[ 9.99973830e-01 4.03852396e-03 -6.00239987e-03 3.18607726e+01] [-4.04433094e-03 9.99991365e-01 -9.55620526e-04 -3.42219489e-01] [ 5.99848875e-03 9.79871209e-04 9.99981529e-01 -3.11260109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39119381700004 meters Centerline goodness : 0.942046 Centerline is valid? [False, False] Translation: X:31.86, Y:-0.35, Z:-3.11 [[ 9.99981267e-01 3.60895364e-04 -6.11024902e-03 3.18606936e+01] [-3.79167765e-04 9.99995459e-01 -2.98955685e-03 -3.48805115e-01] [ 6.10914236e-03 2.99181766e-03 9.99976863e-01 -3.11198531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42119381700002 meters Centerline goodness : 0.944204 Centerline is valid? [False, False] Translation: X:31.86, Y:-0.36, Z:-3.11 [[ 9.99957399e-01 -7.67288136e-03 -5.13105629e-03 3.18591480e+01] [ 7.65402702e-03 9.99963921e-01 -3.68415122e-03 -3.64509405e-01] [ 5.15913922e-03 3.64472103e-03 9.99980049e-01 -3.10878922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45119381700002 meters Centerline goodness : 0.943325 Centerline is valid? [False, False] Translation: X:31.86, Y:-0.37, Z:-3.11 [[ 9.99919220e-01 -1.15514550e-02 -5.30258537e-03 3.18599100e+01] [ 1.15208479e-02 9.99917003e-01 -5.76682252e-03 -3.71558772e-01] [ 5.36876047e-03 5.70526639e-03 9.99969313e-01 -3.10898484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48119381700002 meters Centerline goodness : 0.943401 Centerline is valid? [False, False] Translation: X:31.86, Y:-0.38, Z:-3.11 [[ 9.99864351e-01 -1.54919509e-02 -5.59278846e-03 3.18612959e+01] [ 1.54464523e-02 9.99847978e-01 -8.08877360e-03 -3.77844630e-01] [ 5.71724912e-03 8.00128763e-03 9.99951645e-01 -3.10972812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51119381700002 meters Centerline goodness : 0.942208 Centerline is valid? [False, False] Translation: X:31.86, Y:-0.38, Z:-3.11 [[ 9.99792528e-01 -1.95058110e-02 -5.86714802e-03 3.18626772e+01] [ 1.94414567e-02 9.99752311e-01 -1.08326176e-02 -3.82510654e-01] [ 6.07699379e-03 1.07163042e-02 9.99924113e-01 -3.11056634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54119381700002 meters Centerline goodness : 0.942510 Centerline is valid? [False, False] Translation: X:31.86, Y:-0.39, Z:-3.11 [[ 9.99611250e-01 -2.72290788e-02 -5.99377727e-03 3.18647410e+01] [ 2.71202610e-02 9.99478218e-01 -1.75437337e-02 -3.86154529e-01] [ 6.46834954e-03 1.73743608e-02 9.99828131e-01 -3.11235307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57119381700002 meters Centerline goodness : 0.942719 Centerline is valid? [False, False] Translation: X:31.87, Y:-0.39, Z:-3.11 [[ 9.99601414e-01 -2.75585894e-02 -6.12682499e-03 3.18654769e+01] [ 2.74504184e-02 9.99477083e-01 -1.70890268e-02 -3.88442176e-01] [ 6.59457064e-03 1.69140314e-02 9.99835200e-01 -3.11283162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60119381700002 meters Centerline goodness : 0.941490 Centerline is valid? [False, False] Translation: X:31.87, Y:-0.39, Z:-3.11 [[ 9.99582178e-01 -2.82175436e-02 -6.26409696e-03 3.18661283e+01] [ 2.81056812e-02 9.99455588e-01 -1.72800025e-02 -3.89088380e-01] [ 6.74828594e-03 1.70967258e-02 9.99831067e-01 -3.11320185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63119381700002 meters Centerline goodness : 0.943340 Centerline is valid? [False, False] Translation: X:31.87, Y:-0.39, Z:-3.11 [[ 9.99569277e-01 -2.86172743e-02 -6.50472810e-03 3.18668576e+01] [ 2.84969320e-02 9.99433666e-01 -1.78961493e-02 -3.87555141e-01] [ 7.01318326e-03 1.77030762e-02 9.99818692e-01 -3.11348838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66119381700003 meters Centerline goodness : 0.944144 Centerline is valid? [False, False] Translation: X:31.87, Y:-0.39, Z:-3.11 [[ 9.99647998e-01 -2.56382765e-02 -6.82340426e-03 3.18676717e+01] [ 2.55389317e-02 9.99571992e-01 -1.42687073e-02 -3.87730241e-01] [ 7.18630885e-03 1.40894223e-02 9.99874915e-01 -3.11375826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69119381700003 meters Centerline goodness : 0.944144 Centerline is valid? [False, False] Translation: X:31.87, Y:-0.39, Z:-3.11 [[ 9.99647998e-01 -2.56382765e-02 -6.82340426e-03 3.18676717e+01] [ 2.55389317e-02 9.99571992e-01 -1.42687073e-02 -3.87730241e-01] [ 7.18630885e-03 1.40894223e-02 9.99874915e-01 -3.11375826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72119381700003 meters Centerline goodness : 0.944500 Centerline is valid? [False, False] Translation: X:31.87, Y:-0.39, Z:-3.11 [[ 9.99719415e-01 -2.26171119e-02 -7.03976300e-03 3.18680949e+01] [ 2.25401747e-02 9.99687354e-01 -1.08228783e-02 -3.87280421e-01] [ 7.28234430e-03 1.06611641e-02 9.99916650e-01 -3.11378678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75119381700003 meters Centerline goodness : 0.945291 Centerline is valid? [False, False] Translation: X:31.87, Y:-0.38, Z:-3.11 [[ 9.99706417e-01 -2.31320362e-02 -7.21035498e-03 3.18685878e+01] [ 2.30445471e-02 9.99662543e-01 -1.19895012e-02 -3.83987869e-01] [ 7.48526337e-03 1.18198219e-02 9.99902127e-01 -3.11402193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78119381700003 meters Centerline goodness : 0.946341 Centerline is valid? [False, False] Translation: X:31.87, Y:-0.38, Z:-3.11 [[ 9.99760256e-01 -2.06888891e-02 -7.16939345e-03 3.18681379e+01] [ 2.06156768e-02 9.99736057e-01 -1.01394942e-02 -3.78389470e-01] [ 7.37727601e-03 9.98926147e-03 9.99922892e-01 -3.11359777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81119381700003 meters Centerline goodness : 0.945558 Centerline is valid? [False, False] Translation: X:31.87, Y:-0.37, Z:-3.11 [[ 9.99749914e-01 -2.10940090e-02 -7.42641702e-03 3.18690927e+01] [ 2.10084759e-02 9.99714153e-01 -1.14129526e-02 -3.74333983e-01] [ 7.66503913e-03 1.12540806e-02 9.99907292e-01 -3.11421886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84119381700003 meters Centerline goodness : 0.946271 Centerline is valid? [False, False] Translation: X:31.87, Y:-0.37, Z:-3.11 [[ 9.99810423e-01 -1.78420262e-02 -7.79612260e-03 3.18702845e+01] [ 1.77794008e-02 9.99809690e-01 -8.02969649e-03 -3.73198740e-01] [ 7.93790498e-03 7.88956386e-03 9.99937370e-01 -3.11492105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87119381700003 meters Centerline goodness : 0.947445 Centerline is valid? [False, False] Translation: X:31.87, Y:-0.37, Z:-3.12 [[ 9.99842537e-01 -1.56213010e-02 -8.41884740e-03 3.18730242e+01] [ 1.55729952e-02 9.99862067e-01 -5.77315855e-03 -3.71240889e-01] [ 8.50787040e-03 5.64114281e-03 9.99947895e-01 -3.11685504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90119381700003 meters Centerline goodness : 0.946239 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.37, Z:-3.12 [[ 9.99853632e-01 -1.46443869e-02 -8.84627859e-03 3.18758746e+01] [ 1.45999484e-02 9.99880575e-01 -5.06728177e-03 -3.68764964e-01] [ 8.91942935e-03 4.93738487e-03 9.99948032e-01 -3.11927270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93119381700004 meters Centerline goodness : 0.947279 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.36, Z:-3.12 [[ 9.99878209e-01 -1.25479452e-02 -9.27983918e-03 3.18780626e+01] [ 1.25160009e-02 9.99915573e-01 -3.49243277e-03 -3.64015951e-01] [ 9.32287857e-03 3.37586095e-03 9.99950843e-01 -3.12102225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96119381700004 meters Centerline goodness : 0.948270 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.36, Z:-3.12 [[ 9.99869748e-01 -1.29611734e-02 -9.61742990e-03 3.18790527e+01] [ 1.29154488e-02 9.99905065e-01 -4.80132422e-03 -3.59808610e-01] [ 9.67874767e-03 4.67648542e-03 9.99942224e-01 -3.12151355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99119381700004 meters Centerline goodness : 0.948815 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.36, Z:-3.12 [[ 9.99890553e-01 -1.08017644e-02 -1.01096015e-02 3.18810631e+01] [ 1.07740822e-02 9.99938069e-01 -2.78868044e-03 -3.57105515e-01] [ 1.01390981e-02 2.67945355e-03 9.99945008e-01 -3.12274438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02119381700004 meters Centerline goodness : 0.948282 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.35, Z:-3.13 [[ 9.99950657e-01 -6.79777633e-03 -7.24392418e-03 3.18918180e+01] [ 6.72297821e-03 9.99924348e-01 -1.03004384e-02 -3.53144506e-01] [ 7.31339625e-03 1.02512294e-02 9.99920710e-01 -3.12500893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05119381700004 meters Centerline goodness : 0.946814 Centerline is valid? [False, False] Translation: X:31.92, Y:-0.35, Z:-3.13 [[ 9.99957071e-01 -3.51671976e-03 -8.57251861e-03 3.19150163e+01] [ 3.41206825e-03 9.99919853e-01 -1.21919972e-02 -3.45949376e-01] [ 8.61470739e-03 1.21622238e-02 9.99888927e-01 -3.12811607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08119381700004 meters Centerline goodness : 0.946417 Centerline is valid? [False, False] Translation: X:31.92, Y:-0.34, Z:-3.13 [[ 9.99958311e-01 -9.11425786e-04 -9.08548051e-03 3.19175428e+01] [ 8.20897361e-04 9.99950033e-01 -9.96283098e-03 -3.42804290e-01] [ 9.09410692e-03 9.95495739e-03 9.99909094e-01 -3.12991176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11119381700004 meters Centerline goodness : 0.945432 Centerline is valid? [False, False] Translation: X:31.92, Y:-0.34, Z:-3.13 [[ 9.99954751e-01 2.12575780e-03 -9.27234092e-03 3.19184169e+01] [-2.19478360e-03 9.99969911e-01 -7.44045620e-03 -3.39383798e-01] [ 9.25624531e-03 7.46047031e-03 9.99929329e-01 -3.13043873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14119381700004 meters Centerline goodness : 0.945334 Centerline is valid? [False, False] Translation: X:31.93, Y:-0.33, Z:-3.13 [[ 9.99983132e-01 4.39743909e-03 -3.79448627e-03 3.19317864e+01] [-4.45246786e-03 9.99883241e-01 -1.46178157e-02 -3.25898675e-01] [ 3.72976227e-03 1.46344640e-02 9.99885954e-01 -3.13386185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17119381700002 meters Centerline goodness : 0.945903 Centerline is valid? [False, False] Translation: X:31.93, Y:-0.32, Z:-3.13 [[ 9.99964686e-01 7.42926756e-03 -3.92848987e-03 3.19319989e+01] [-7.47631539e-03 9.99898840e-01 -1.21001593e-02 -3.22303403e-01] [ 3.83819714e-03 1.21291026e-02 9.99919073e-01 -3.13356386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20119381700002 meters Centerline goodness : 0.945924 Centerline is valid? [False, False] Translation: X:31.93, Y:-0.32, Z:-3.13 [[ 9.99935403e-01 1.06036279e-02 -4.09293226e-03 3.19322632e+01] [-1.06413399e-02 9.99900086e-01 -9.30483352e-03 -3.19428173e-01] [ 3.99385832e-03 9.34778675e-03 9.99948333e-01 -3.13326037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23119381700002 meters Centerline goodness : 0.942388 Centerline is valid? [False, False] Translation: X:31.93, Y:-0.32, Z:-3.13 [[ 9.99893358e-01 1.39413308e-02 -4.34886209e-03 3.19329570e+01] [-1.39694950e-02 9.99881200e-01 -6.51450585e-03 -3.16461326e-01] [ 4.25752457e-03 6.57456253e-03 9.99969324e-01 -3.13326223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26119381700002 meters Centerline goodness : 0.943720 Centerline is valid? [False, False] Translation: X:31.95, Y:-0.31, Z:-3.14 [[ 9.99867003e-01 1.63036933e-02 4.07603529e-04 3.19477469e+01] [-1.62967927e-02 9.99777895e-01 -1.33631789e-02 -3.09343489e-01] [-6.25382168e-04 1.33547590e-02 9.99910626e-01 -3.13761286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29119381700002 meters Centerline goodness : 0.942022 Centerline is valid? [False, False] Translation: X:31.98, Y:-0.30, Z:-3.14 [[ 9.99659342e-01 2.59431488e-02 -2.85540759e-03 3.19831498e+01] [-2.60063764e-02 9.99350606e-01 -2.49406242e-02 -2.96707139e-01] [ 2.20651498e-03 2.50063867e-02 9.99684856e-01 -3.13715053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32119381700002 meters Centerline goodness : 0.941122 Centerline is valid? [False, False] Translation: X:31.98, Y:-0.29, Z:-3.14 [[ 9.99544747e-01 2.99866688e-02 -3.33143800e-03 3.19845722e+01] [-3.00537739e-02 9.99298339e-01 -2.23517501e-02 -2.93054365e-01] [ 2.65884593e-03 2.24416966e-02 9.99744618e-01 -3.13693348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35119381700002 meters Centerline goodness : 0.939865 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.29, Z:-3.14 [[ 9.99410989e-01 3.41270536e-02 -3.60827423e-03 3.19854138e+01] [-3.41898864e-02 9.99233099e-01 -1.90857348e-02 -2.91112270e-01] [ 2.95416715e-03 1.91978596e-02 9.99811340e-01 -3.13664514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38119381700002 meters Centerline goodness : 0.942107 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.29, Z:-3.14 [[ 9.99265434e-01 3.81397483e-02 -3.73523524e-03 3.19857963e+01] [-3.81930802e-02 9.99151176e-01 -1.54342430e-02 -2.90160798e-01] [ 3.14340655e-03 1.55655656e-02 9.99873908e-01 -3.13623378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41119381700003 meters Centerline goodness : 0.941538 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.29, Z:-3.13 [[ 9.99210386e-01 3.95419421e-02 -3.87807247e-03 3.19852562e+01] [-3.96005754e-02 9.99080471e-01 -1.64319025e-02 -2.86429642e-01] [ 3.22475713e-03 1.65725015e-02 9.99857466e-01 -3.13398588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44119381700003 meters Centerline goodness : 0.942392 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.29, Z:-3.13 [[ 9.99072497e-01 4.28934603e-02 -3.78121960e-03 3.19851231e+01] [-4.29364126e-02 9.99004253e-01 -1.21229529e-02 -2.88526164e-01] [ 3.25745906e-03 1.22740608e-02 9.99919365e-01 -3.13384177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47119381700003 meters Centerline goodness : 0.941389 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.29, Z:-3.13 [[ 9.99190884e-01 3.99709757e-02 -4.46067517e-03 3.19859958e+01] [-4.00386473e-02 9.99065459e-01 -1.62823335e-02 -2.87091251e-01] [ 3.80568573e-03 1.64477586e-02 9.99857484e-01 -3.13337966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50119381700003 meters Centerline goodness : 0.941695 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.29, Z:-3.13 [[ 9.99175305e-01 4.03370819e-02 -4.65086614e-03 3.19866291e+01] [-4.04052342e-02 9.99061085e-01 -1.56322169e-02 -2.88305284e-01] [ 4.01594136e-03 1.58072444e-02 9.99866993e-01 -3.13383575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53119381700003 meters Centerline goodness : 0.944403 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.29, Z:-3.13 [[ 9.99267965e-01 3.78877284e-02 -5.29663027e-03 3.19874614e+01] [-3.79844380e-02 9.99087317e-01 -1.95375490e-02 -2.87711287e-01] [ 4.55156277e-03 1.97244364e-02 9.99795094e-01 -3.13314401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56119381700003 meters Centerline goodness : 0.940317 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.29, Z:-3.13 [[ 9.99173541e-01 4.02712890e-02 -5.51882975e-03 3.19881334e+01] [-4.03578685e-02 9.99047471e-01 -1.65949969e-02 -2.93019225e-01] [ 4.84527099e-03 1.68040101e-02 9.99847063e-01 -3.13369904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59119381700003 meters Centerline goodness : 0.940039 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.30, Z:-3.13 [[ 9.99115000e-01 4.16487237e-02 -5.88221434e-03 3.19888308e+01] [-4.17329044e-02 9.99016233e-01 -1.49976990e-02 -2.95892128e-01] [ 5.25179259e-03 1.52299079e-02 9.99870226e-01 -3.13382469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62119381700003 meters Centerline goodness : 0.940140 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.30, Z:-3.14 [[ 9.98858868e-01 4.73849350e-02 -5.96901598e-03 3.19906145e+01] [-4.74290918e-02 9.98846548e-01 -7.48703558e-03 -3.04093106e-01] [ 5.60735831e-03 7.76159689e-03 9.99954157e-01 -3.13609271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65119381700003 meters Centerline goodness : 0.937727 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.31, Z:-3.14 [[ 9.98817780e-01 4.81911897e-02 -6.37590908e-03 3.19921646e+01] [-4.82293209e-02 9.98818458e-01 -5.96832217e-03 -3.07596305e-01] [ 6.08075513e-03 6.26877206e-03 9.99961863e-01 -3.13740937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68119381700004 meters Centerline goodness : 0.938999 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.31, Z:-3.14 [[ 9.98784209e-01 4.88516184e-02 -6.60481395e-03 3.19929603e+01] [-4.88778660e-02 9.98797255e-01 -3.87268720e-03 -3.12839027e-01] [ 6.40768300e-03 4.19080804e-03 9.99970689e-01 -3.13841579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71119381700004 meters Centerline goodness : 0.936273 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.32, Z:-3.14 [[ 9.98921598e-01 4.58866140e-02 -7.07534475e-03 3.19934759e+01] [-4.59311429e-02 9.98924963e-01 -6.26491691e-03 -3.16433944e-01] [ 6.78026267e-03 6.58313948e-03 9.99955344e-01 -3.13862611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74119381700004 meters Centerline goodness : 0.936958 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.33, Z:-3.14 [[ 9.99056380e-01 4.28460625e-02 -7.11080520e-03 3.19922382e+01] [-4.28880778e-02 9.99062667e-01 -5.86520621e-03 -3.27405495e-01] [ 6.85283901e-03 6.16464045e-03 9.99957517e-01 -3.13827332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77119381700004 meters Centerline goodness : 0.937895 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.33, Z:-3.14 [[ 9.99184474e-01 3.97033437e-02 -7.35065304e-03 3.19919402e+01] [-3.97605883e-02 9.99178692e-01 -7.81256264e-03 -3.32348847e-01] [ 7.03443103e-03 8.09845758e-03 9.99942464e-01 -3.13814520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80119381700004 meters Centerline goodness : 0.939441 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.34, Z:-3.14 [[ 9.99296354e-01 3.67162794e-02 -7.66233860e-03 3.19919599e+01] [-3.67884783e-02 9.99277876e-01 -9.50447271e-03 -3.37791337e-01] [ 7.30783657e-03 9.77967071e-03 9.99925474e-01 -3.13833414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83119381700004 meters Centerline goodness : 0.937061 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.35, Z:-3.14 [[ 9.99298519e-01 3.66608710e-02 -7.64525939e-03 3.19918569e+01] [-3.67155638e-02 9.99300245e-01 -7.14051376e-03 -3.45080839e-01] [ 7.37813213e-03 7.41620484e-03 9.99945280e-01 -3.13917931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86119381700004 meters Centerline goodness : 0.938802 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.36, Z:-3.14 [[ 9.99388171e-01 3.40419028e-02 -8.02701388e-03 3.19923718e+01] [-3.40923621e-02 9.99399235e-01 -6.23540861e-03 -3.56507384e-01] [ 7.80992636e-03 6.50525347e-03 9.99948342e-01 -3.14058856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89119381700004 meters Centerline goodness : 0.936705 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.36, Z:-3.14 [[ 9.99481034e-01 3.11036499e-02 -8.38009563e-03 3.19923633e+01] [-3.11713476e-02 9.99481455e-01 -8.07264069e-03 -3.61355720e-01] [ 8.12466159e-03 8.32967014e-03 9.99932301e-01 -3.14049583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92119381700002 meters Centerline goodness : 0.937505 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.37, Z:-3.14 [[ 9.99567305e-01 2.81255479e-02 -8.61144230e-03 3.19925493e+01] [-2.82114813e-02 9.99551699e-01 -1.00256226e-02 -3.66958806e-01] [ 8.32560565e-03 1.02642261e-02 9.99912661e-01 -3.14047971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95119381700002 meters Centerline goodness : 0.935175 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.37, Z:-3.14 [[ 9.99643888e-01 2.52412268e-02 -8.65896801e-03 3.19922036e+01] [-2.53413960e-02 9.99610848e-01 -1.16604490e-02 -3.73450105e-01] [ 8.36127432e-03 1.18757269e-02 9.99894523e-01 -3.14028504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98119381700002 meters Centerline goodness : 0.935175 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.39, Z:-3.14 [[ 9.99784770e-01 1.88185140e-02 -8.73365487e-03 3.19916156e+01] [-1.89492945e-02 9.99705790e-01 -1.51412821e-02 -3.85969042e-01] [ 8.44614890e-03 1.53035199e-02 9.99847221e-01 -3.13956509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01119381700002 meters Centerline goodness : 0.932537 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.39, Z:-3.14 [[ 9.99838997e-01 1.56172649e-02 -8.83629531e-03 3.19914570e+01] [-1.57674166e-02 9.99727977e-01 -1.71860840e-02 -3.91535414e-01] [ 8.56549200e-03 1.73226426e-02 9.99813262e-01 -3.13935131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04119381700002 meters Centerline goodness : 0.932640 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.40, Z:-3.14 [[ 9.99881725e-01 1.24229995e-02 -9.06665758e-03 3.19919142e+01] [-1.25978593e-02 9.99730667e-01 -1.94907222e-02 -3.96375888e-01] [ 8.82208239e-03 1.96026374e-02 9.99768927e-01 -3.13954573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07119381700002 meters Centerline goodness : 0.933029 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.40, Z:-3.14 [[ 9.99912552e-01 9.45438445e-03 -9.24677604e-03 3.19921580e+01] [-9.65409664e-03 9.99715797e-01 -2.17973181e-02 -4.00831448e-01] [ 9.03806786e-03 2.18846813e-02 9.99719648e-01 -3.13958507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10119381700002 meters Centerline goodness : 0.932904 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.41, Z:-3.14 [[ 9.99904763e-01 1.00710655e-02 -9.43600111e-03 3.19922153e+01] [-1.02566105e-02 9.99750836e-01 -1.98259407e-02 -4.07125590e-01] [ 9.23398165e-03 1.99208340e-02 9.99758918e-01 -3.13916715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13119381700002 meters Centerline goodness : 0.932399 Centerline is valid? [False, False] Translation: X:32.00, Y:-0.42, Z:-3.14 [[ 9.99941647e-01 9.51686369e-03 -5.11193040e-03 3.19994286e+01] [-9.56385938e-03 9.99911491e-01 -9.24894031e-03 -4.18035811e-01] [ 5.02345704e-03 9.29729039e-03 9.99944161e-01 -3.13912595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16119381700003 meters Centerline goodness : 0.932486 Centerline is valid? [False, False] Translation: X:32.00, Y:-0.42, Z:-3.14 [[ 9.99934836e-01 1.01066988e-02 -5.30829440e-03 3.19996533e+01] [-1.01491645e-02 9.99916215e-01 -8.03480880e-03 -4.21424518e-01] [ 5.22664425e-03 8.08815998e-03 9.99953631e-01 -3.13891873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19119381700003 meters Centerline goodness : 0.931288 Centerline is valid? [False, False] Translation: X:32.00, Y:-0.42, Z:-3.14 [[ 9.99926965e-01 1.07527196e-02 -5.51750866e-03 3.20000326e+01] [-1.07903596e-02 9.99918401e-01 -6.83811364e-03 -4.24811416e-01] [ 5.44353011e-03 6.89715013e-03 9.99961398e-01 -3.13884752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22119381700003 meters Centerline goodness : 0.930652 Centerline is valid? [False, False] Translation: X:32.00, Y:-0.43, Z:-3.14 [[ 9.99902386e-01 1.27847237e-02 -5.63640081e-03 3.20004667e+01] [-1.28068487e-02 9.99910356e-01 -3.90691826e-03 -4.31841095e-01] [ 5.58594667e-03 3.97872142e-03 9.99976483e-01 -3.13908453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25119381700003 meters Centerline goodness : 0.929105 Centerline is valid? [False, False] Translation: X:32.00, Y:-0.43, Z:-3.14 [[ 9.99890689e-01 1.35513156e-02 -5.91371978e-03 3.20011843e+01] [-1.35677038e-02 9.99904200e-01 -2.73995698e-03 -4.34783414e-01] [ 5.87602322e-03 2.81989307e-03 9.99978760e-01 -3.13935014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28119381700003 meters Centerline goodness : 0.927476 Centerline is valid? [False, False] Translation: X:32.00, Y:-0.44, Z:-3.14 [[ 9.99922430e-01 1.08347028e-02 -6.14354111e-03 3.20016991e+01] [-1.08708894e-02 9.99923576e-01 -5.88770551e-03 -4.35726467e-01] [ 6.07928006e-03 5.95403456e-03 9.99963795e-01 -3.13978689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31119381700003 meters Centerline goodness : 0.925685 Centerline is valid? [False, False] Translation: X:32.00, Y:-0.44, Z:-3.14 [[ 9.99915311e-01 1.13496252e-02 -6.36849373e-03 3.20024201e+01] [-1.13800941e-02 9.99923874e-01 -4.76864998e-03 -4.39454194e-01] [ 6.31388653e-03 4.84072018e-03 9.99968351e-01 -3.14015908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34119381700003 meters Centerline goodness : 0.923014 Centerline is valid? [False, False] Translation: X:32.00, Y:-0.45, Z:-3.14 [[ 9.99935981e-01 9.20962031e-03 -6.57394418e-03 3.20034978e+01] [-9.25129380e-03 9.99937125e-01 -6.33718171e-03 -4.45266009e-01] [ 6.51516780e-03 6.39759350e-03 9.99958311e-01 -3.14126845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37119381700003 meters Centerline goodness : 0.922425 Centerline is valid? [False, False] Translation: X:32.01, Y:-0.45, Z:-3.14 [[ 9.99938231e-01 8.59575065e-03 -7.04608413e-03 3.20057630e+01] [-8.64159663e-03 9.99941521e-01 -6.50217451e-03 -4.47738810e-01] [ 6.98978101e-03 6.56266230e-03 9.99954036e-01 -3.14291053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40119381700003 meters Centerline goodness : 0.920719 Centerline is valid? [False, False] Translation: X:32.01, Y:-0.45, Z:-3.14 [[ 9.99938913e-01 8.11474137e-03 -7.50479561e-03 3.20077815e+01] [-8.16362166e-03 9.99945514e-01 -6.50567084e-03 -4.50394333e-01] [ 7.45159487e-03 6.56653974e-03 9.99950676e-01 -3.14425445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43119381700004 meters Centerline goodness : 0.920721 Centerline is valid? [False, False] Translation: X:32.01, Y:-0.45, Z:-3.15 [[ 9.99939471e-01 7.54888595e-03 -8.00423352e-03 3.20099886e+01] [-7.60131998e-03 9.99949718e-01 -6.54072697e-03 -4.53074636e-01] [ 7.95445585e-03 6.60117381e-03 9.99946574e-01 -3.14573494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46119381700004 meters Centerline goodness : 0.918487 Centerline is valid? [False, False] Translation: X:32.01, Y:-0.46, Z:-3.15 [[ 9.99939895e-01 6.92696081e-03 -8.49848242e-03 3.20123554e+01] [-6.98365011e-03 9.99953442e-01 -6.65907797e-03 -4.55741589e-01] [ 8.45195958e-03 6.71802815e-03 9.99941715e-01 -3.14740333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49119381700004 meters Centerline goodness : 0.916758 Centerline is valid? [False, False] Translation: X:32.01, Y:-0.46, Z:-3.15 [[ 9.99954393e-01 4.12610299e-03 -8.61321247e-03 3.20127327e+01] [-4.20250981e-03 9.99951815e-01 -8.87171515e-03 -4.60103071e-01] [ 8.57619183e-03 8.90750764e-03 9.99923550e-01 -3.14772370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52119381700004 meters Centerline goodness : 0.915664 Centerline is valid? [False, False] Translation: X:32.01, Y:-0.46, Z:-3.15 [[ 9.99952451e-01 4.08511103e-03 -8.85475998e-03 3.20133685e+01] [-4.15783589e-03 9.99957651e-01 -8.21029186e-03 -4.63069168e-01] [ 8.82084503e-03 8.24671812e-03 9.99927090e-01 -3.14781155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55119381700004 meters Centerline goodness : 0.915038 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.47, Z:-3.15 [[ 9.99952597e-01 3.01188095e-03 -9.25918206e-03 3.20151719e+01] [-3.09218815e-03 9.99957623e-01 -8.67120354e-03 -4.65607557e-01] [ 9.23267305e-03 8.69942363e-03 9.99919536e-01 -3.14889099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58119381700004 meters Centerline goodness : 0.914532 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.47, Z:-3.15 [[ 9.99956121e-01 -9.00868678e-04 -9.32445455e-03 3.20150148e+01] [ 7.98593680e-04 9.99939548e-01 -1.09663874e-02 -4.71746102e-01] [ 9.33377014e-03 1.09584598e-02 9.99896391e-01 -3.14820362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61119381700004 meters Centerline goodness : 0.914532 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.47, Z:-3.15 [[ 9.99956121e-01 -9.00868678e-04 -9.32445455e-03 3.20150148e+01] [ 7.98593680e-04 9.99939548e-01 -1.09663874e-02 -4.71746102e-01] [ 9.33377014e-03 1.09584598e-02 9.99896391e-01 -3.14820362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64119381700004 meters Centerline goodness : 0.913890 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.48, Z:-3.15 [[ 9.99954957e-01 -1.03489608e-03 -9.43465290e-03 3.20152844e+01] [ 9.41894744e-04 9.99950980e-01 -9.85653954e-03 -4.76049846e-01] [ 9.44439090e-03 9.84720913e-03 9.99906914e-01 -3.14798250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67119381700002 meters Centerline goodness : 0.914948 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.48, Z:-3.15 [[ 9.99950805e-01 -1.53826792e-03 -9.79900686e-03 3.20161852e+01] [ 1.44768356e-03 9.99956220e-01 -9.24463437e-03 -4.79851767e-01] [ 9.81279858e-03 9.22999372e-03 9.99909254e-01 -3.14794100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70119381700002 meters Centerline goodness : 0.914780 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.48, Z:-3.15 [[ 9.99947020e-01 -2.08698465e-03 -1.00797432e-02 3.20168620e+01] [ 1.99959220e-03 9.99960395e-01 -8.67241654e-03 -4.83321618e-01] [ 1.00974432e-02 8.65180170e-03 9.99911590e-01 -3.14779442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73119381700002 meters Centerline goodness : 0.913375 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.49, Z:-3.15 [[ 9.99927492e-01 -6.57813623e-03 -1.00865262e-02 3.20170548e+01] [ 6.46096306e-03 9.99911778e-01 -1.16057106e-02 -4.87922539e-01] [ 1.01619803e-02 1.15397004e-02 9.99881778e-01 -3.14761197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76119381700002 meters Centerline goodness : 0.914845 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.49, Z:-3.15 [[ 9.99921887e-01 -7.25453209e-03 -1.01780010e-02 3.20177746e+01] [ 7.14207546e-03 9.99913527e-01 -1.10421677e-02 -4.91085545e-01] [ 1.02572266e-02 1.09686131e-02 9.99887233e-01 -3.14793861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79119381700002 meters Centerline goodness : 0.913487 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.49, Z:-3.15 [[ 9.99914582e-01 -7.77820853e-03 -1.05037623e-02 3.20187240e+01] [ 7.66811541e-03 9.99915669e-01 -1.04812134e-02 -4.93951899e-01] [ 1.05844015e-02 1.03997741e-02 9.99889902e-01 -3.14807169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82119381700002 meters Centerline goodness : 0.912365 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.50, Z:-3.15 [[ 9.99906265e-01 -8.40602531e-03 -1.08074191e-02 3.20198803e+01] [ 8.29605076e-03 9.99913761e-01 -1.01807143e-02 -4.96281087e-01] [ 1.08920664e-02 1.00901011e-02 9.99889770e-01 -3.14852951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85119381700002 meters Centerline goodness : 0.912149 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.50, Z:-3.15 [[ 9.99853971e-01 -1.30357899e-02 -1.10501261e-02 3.20211545e+01] [ 1.28776188e-02 9.99815303e-01 -1.42662571e-02 -4.97545610e-01] [ 1.12340571e-02 1.41218745e-02 9.99837171e-01 -3.14937263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88119381700002 meters Centerline goodness : 0.910973 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.50, Z:-3.15 [[ 9.99847070e-01 -1.33636011e-02 -1.12805084e-02 3.20217590e+01] [ 1.32022680e-02 9.99811198e-01 -1.42572504e-02 -4.98138356e-01] [ 1.14689068e-02 1.41061417e-02 9.99834727e-01 -3.14946856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91119381700003 meters Centerline goodness : 0.910868 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.50, Z:-3.15 [[ 9.99840840e-01 -1.36744814e-02 -1.14587277e-02 3.20221873e+01] [ 1.35065954e-02 9.99802145e-01 -1.46028559e-02 -4.97101482e-01] [ 1.16561470e-02 1.44457633e-02 9.99827712e-01 -3.14950414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94119381700003 meters Centerline goodness : 0.912120 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.50, Z:-3.15 [[ 9.99875507e-01 -1.05078355e-02 -1.17709977e-02 3.20229152e+01] [ 1.03810533e-02 9.99888001e-01 -1.07805432e-02 -4.97544466e-01] [ 1.18829595e-02 1.06570057e-02 9.99872604e-01 -3.14940751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97119381700003 meters Centerline goodness : 0.910310 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.50, Z:-3.15 [[ 9.99895644e-01 -7.72644948e-03 -1.22066683e-02 3.20240108e+01] [ 7.62902129e-03 9.99938833e-01 -8.00805896e-03 -4.95577021e-01] [ 1.22677955e-02 7.91409834e-03 9.99893428e-01 -3.14947297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00119381700003 meters Centerline goodness : 0.908760 Centerline is valid? [False, False] Translation: X:32.03, Y:-0.49, Z:-3.15 [[ 9.99900399e-01 -5.97728635e-03 -1.27853140e-02 3.20267919e+01] [ 5.89684018e-03 9.99962638e-01 -6.32054693e-03 -4.94346764e-01] [ 1.28226160e-02 6.24452444e-03 9.99898288e-01 -3.15129795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03119381700003 meters Centerline goodness : 0.907675 Centerline is valid? [False, False] Translation: X:32.03, Y:-0.49, Z:-3.15 [[ 9.99905010e-01 -3.45831060e-03 -1.33420698e-02 3.20292233e+01] [ 3.40605354e-03 9.99986448e-01 -3.93745022e-03 -4.92230726e-01] [ 1.33555059e-02 3.89163239e-03 9.99903238e-01 -3.15283686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06119381700003 meters Centerline goodness : 0.905374 Centerline is valid? [False, False] Translation: X:32.03, Y:-0.48, Z:-3.15 [[ 9.99904803e-01 -5.67890227e-04 -1.37863063e-02 3.20313179e+01] [ 5.26820433e-04 9.99995414e-01 -2.98247696e-03 -4.83970435e-01] [ 1.37879367e-02 2.97493013e-03 9.99900516e-01 -3.15481835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09119381700003 meters Centerline goodness : 0.904114 Centerline is valid? [False, False] Translation: X:32.04, Y:-0.48, Z:-3.16 [[ 9.99957300e-01 3.00819389e-03 -8.73783775e-03 3.20446324e+01] [-3.09577964e-03 9.99944931e-01 -1.00275634e-02 -4.78735436e-01] [ 8.70719171e-03 1.00541857e-02 9.99911545e-01 -3.15983673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12119381700003 meters Centerline goodness : 0.906638 Centerline is valid? [False, False] Translation: X:32.06, Y:-0.47, Z:-3.16 [[ 9.99967751e-01 5.65256465e-03 -5.70492080e-03 3.20631760e+01] [-5.73336578e-03 9.99882057e-01 -1.42478619e-02 -4.73414339e-01] [ 5.62371098e-03 1.42801108e-02 9.99882219e-01 -3.16266221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15119381700003 meters Centerline goodness : 0.904852 Centerline is valid? [False, False] Translation: X:32.06, Y:-0.47, Z:-3.16 [[ 9.99943479e-01 8.91572512e-03 -5.79211052e-03 3.20635661e+01] [-8.98285275e-03 9.99891568e-01 -1.16687449e-02 -4.69426541e-01] [ 5.68744715e-03 1.17201151e-02 9.99915142e-01 -3.16273855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18119381700004 meters Centerline goodness : 0.903542 Centerline is valid? [False, False] Translation: X:32.08, Y:-0.46, Z:-3.17 [[ 9.99893694e-01 1.45793856e-02 -2.04501841e-04 3.20762147e+01] [-1.45807835e-02 9.99761563e-01 -1.62547575e-02 -4.58312821e-01] [-3.25312983e-05 1.62560113e-02 9.99867862e-01 -3.16562990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21119381700004 meters Centerline goodness : 0.902731 Centerline is valid? [False, False] Translation: X:32.08, Y:-0.46, Z:-3.17 [[ 9.99835744e-01 1.81188496e-02 -4.38508907e-04 3.20765357e+01] [-1.81230434e-02 9.99749724e-01 -1.31166080e-02 -4.56083387e-01] [ 2.00741311e-04 1.31224007e-02 9.99913877e-01 -3.16515458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24119381700004 meters Centerline goodness : 0.902592 Centerline is valid? [False, False] Translation: X:32.08, Y:-0.45, Z:-3.16 [[ 9.99762663e-01 2.17788256e-02 -5.48731843e-04 3.20768099e+01] [-2.17831593e-02 9.99714689e-01 -9.79969720e-03 -4.54236130e-01] [ 3.35149388e-04 9.80932448e-03 9.99951831e-01 -3.16488017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27119381700004 meters Centerline goodness : 0.903803 Centerline is valid? [False, False] Translation: X:32.08, Y:-0.45, Z:-3.16 [[ 9.99763204e-01 2.17509825e-02 -6.56623093e-04 3.20770036e+01] [-2.17569219e-02 9.99701990e-01 -1.10709789e-02 -4.49569974e-01] [ 4.15622745e-04 1.10826435e-02 9.99938499e-01 -3.16486486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30119381700004 meters Centerline goodness : 0.904311 Centerline is valid? [False, False] Translation: X:32.08, Y:-0.45, Z:-3.16 [[ 9.99685834e-01 2.50532056e-02 -7.54705981e-04 3.20775583e+01] [-2.50584448e-02 9.99654005e-01 -7.99648117e-03 -4.47273996e-01] [ 5.54107370e-04 8.01288071e-03 9.99967743e-01 -3.16498536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33119381700004 meters Centerline goodness : 0.905129 Centerline is valid? [False, False] Translation: X:32.08, Y:-0.44, Z:-3.16 [[ 9.99607638e-01 2.79986911e-02 -8.02675565e-04 3.20777375e+01] [-2.80028786e-02 9.99591054e-01 -5.79332313e-03 -4.42044000e-01] [ 6.40141850e-04 5.81352728e-03 9.99982896e-01 -3.16470885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36119381700004 meters Centerline goodness : 0.902893 Centerline is valid? [False, False] Translation: X:32.08, Y:-0.44, Z:-3.16 [[ 9.99613307e-01 2.77892786e-02 -9.96570183e-04 3.20780250e+01] [-2.77952931e-02 9.99591594e-01 -6.63829751e-03 -4.39335870e-01] [ 8.11689679e-04 6.66343049e-03 9.99977470e-01 -3.16455897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39119381700004 meters Centerline goodness : 0.901777 Centerline is valid? [False, False] Translation: X:32.08, Y:-0.44, Z:-3.16 [[ 9.99623007e-01 2.74286184e-02 -1.23088358e-03 3.20786499e+01] [-2.74376039e-02 9.99591513e-01 -7.99911697e-03 -4.35285669e-01] [ 1.01097605e-03 8.02987385e-03 9.99967249e-01 -3.16483098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42119381700002 meters Centerline goodness : 0.901831 Centerline is valid? [False, False] Translation: X:32.08, Y:-0.43, Z:-3.17 [[ 9.99580970e-01 2.88982761e-02 -1.66573170e-03 3.20810501e+01] [-2.89088889e-02 9.99559296e-01 -6.74460149e-03 -4.34672117e-01] [ 1.47009025e-03 6.78992975e-03 9.99975868e-01 -3.16657320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45119381700002 meters Centerline goodness : 0.903237 Centerline is valid? [False, False] Translation: X:32.08, Y:-0.43, Z:-3.17 [[ 9.99583699e-01 2.87914425e-02 -1.86577151e-03 3.20818453e+01] [-2.88047387e-02 9.99556608e-01 -7.54147704e-03 -4.32206519e-01] [ 1.64781424e-03 7.59208058e-03 9.99969822e-01 -3.16718690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48119381700002 meters Centerline goodness : 0.899645 Centerline is valid? [False, False] Translation: X:32.08, Y:-0.43, Z:-3.17 [[ 9.99586504e-01 2.86866468e-02 -1.97440565e-03 3.20823880e+01] [-2.87019795e-02 9.99554106e-01 -8.23322533e-03 -4.30055546e-01] [ 1.73734164e-03 8.28649027e-03 9.99964157e-01 -3.16763087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51119381700002 meters Centerline goodness : 0.897915 Centerline is valid? [False, False] Translation: X:32.08, Y:-0.43, Z:-3.17 [[ 9.99498111e-01 3.15920305e-02 -2.33865941e-03 3.20844326e+01] [-3.16041795e-02 9.99486122e-01 -5.35419396e-03 -4.29353322e-01] [ 2.16830776e-03 5.42541817e-03 9.99982931e-01 -3.16899868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54119381700002 meters Centerline goodness : 0.898083 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.43, Z:-3.17 [[ 9.99500913e-01 3.14904774e-02 -2.50506941e-03 3.20851119e+01] [-3.15042888e-02 9.99487480e-01 -5.67945395e-03 -4.28785113e-01] [ 2.32493680e-03 5.75553984e-03 9.99980734e-01 -3.16948396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57119381700002 meters Centerline goodness : 0.896325 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.43, Z:-3.17 [[ 9.99504464e-01 3.13593259e-02 -2.72364574e-03 3.20858900e+01] [-3.13748034e-02 9.99490634e-01 -5.83906809e-03 -4.28740844e-01] [ 2.53914916e-03 5.92162847e-03 9.99979243e-01 -3.16999518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60119381700002 meters Centerline goodness : 0.895673 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.43, Z:-3.17 [[ 9.99510382e-01 3.11456927e-02 -2.99032229e-03 3.20869817e+01] [-3.11633431e-02 9.99495998e-01 -6.04941648e-03 -4.28687253e-01] [ 2.80040190e-03 6.13964302e-03 9.99977231e-01 -3.17079595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63119381700002 meters Centerline goodness : 0.894533 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.43, Z:-3.17 [[ 9.99513821e-01 3.10289115e-02 -3.05429855e-03 3.20872990e+01] [-3.10465163e-02 9.99500551e-01 -5.89594384e-03 -4.29611613e-01] [ 2.86982836e-03 5.98790268e-03 9.99977954e-01 -3.17106442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66119381700003 meters Centerline goodness : 0.894839 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.43, Z:-3.17 [[ 9.99517649e-01 3.08855590e-02 -3.24822085e-03 3.20875828e+01] [-3.09041353e-02 9.99505331e-01 -5.83329246e-03 -4.30260438e-01] [ 3.06644956e-03 5.93086223e-03 9.99977711e-01 -3.17089860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69119381700003 meters Centerline goodness : 0.894409 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.43, Z:-3.17 [[ 9.99617853e-01 2.74292799e-02 -3.43266568e-03 3.20877791e+01] [-2.74625637e-02 9.99572241e-01 -1.00569387e-02 -4.28775780e-01] [ 3.15534274e-03 1.01473653e-02 9.99943536e-01 -3.17116409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72119381700003 meters Centerline goodness : 0.896044 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.43, Z:-3.17 [[ 9.99613288e-01 2.75770031e-02 -3.57550370e-03 3.20880860e+01] [-2.76104740e-02 9.99571921e-01 -9.67659906e-03 -4.30098552e-01] [ 3.30712150e-03 9.77157836e-03 9.99946788e-01 -3.17118314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75119381700003 meters Centerline goodness : 0.895966 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.43, Z:-3.17 [[ 9.99605368e-01 2.78659594e-02 -3.54925537e-03 3.20883939e+01] [-2.78976792e-02 9.99568214e-01 -9.22521681e-03 -4.31503907e-01] [ 3.29065333e-03 9.32059223e-03 9.99951148e-01 -3.17172068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78119381700003 meters Centerline goodness : 0.895210 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.43, Z:-3.17 [[ 9.99602325e-01 2.79474402e-02 -3.75942253e-03 3.20892524e+01] [-2.79808312e-02 9.99566639e-01 -9.14370123e-03 -4.31779131e-01] [ 3.50225030e-03 9.24525677e-03 9.99951129e-01 -3.17236818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81119381700003 meters Centerline goodness : 0.894521 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.43, Z:-3.17 [[ 9.99599478e-01 2.80157912e-02 -3.99977748e-03 3.20903146e+01] [-2.80507160e-02 9.99566341e-01 -8.96028980e-03 -4.32670430e-01] [ 3.74701333e-03 9.06889763e-03 9.99951856e-01 -3.17316524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84119381700003 meters Centerline goodness : 0.893480 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.43, Z:-3.17 [[ 9.99594499e-01 2.81670750e-02 -4.17782046e-03 3.20909863e+01] [-2.82020386e-02 9.99565588e-01 -8.56038403e-03 -4.34277502e-01] [ 3.93488459e-03 8.67473583e-03 9.99954632e-01 -3.17361085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87119381700003 meters Centerline goodness : 0.894194 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.44, Z:-3.17 [[ 9.99585705e-01 2.84545671e-02 -4.33089507e-03 3.20913188e+01] [-2.84875301e-02 9.99564105e-01 -7.74987783e-03 -4.36982172e-01] [ 4.10848783e-03 7.87004359e-03 9.99960591e-01 -3.17366185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90119381700003 meters Centerline goodness : 0.894746 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.44, Z:-3.17 [[ 9.99583704e-01 2.85083937e-02 -4.43727791e-03 3.20916109e+01] [-2.85410706e-02 9.99564605e-01 -7.48382243e-03 -4.37987501e-01] [ 4.22199419e-03 7.60735161e-03 9.99962151e-01 -3.17376283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93119381700004 meters Centerline goodness : 0.895410 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.44, Z:-3.17 [[ 9.99583099e-01 2.85048313e-02 -4.59367955e-03 3.20919486e+01] [-2.85374334e-02 9.99566828e-01 -7.19516050e-03 -4.39215177e-01] [ 4.38659287e-03 7.32325265e-03 9.99963563e-01 -3.17378995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96119381700004 meters Centerline goodness : 0.892927 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.44, Z:-3.17 [[ 9.99579336e-01 2.85971199e-02 -4.83272387e-03 3.20922390e+01] [-2.86284266e-02 9.99568741e-01 -6.53802284e-03 -4.41597718e-01] [ 4.64367109e-03 6.67362582e-03 9.99966949e-01 -3.17349006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99119381700004 meters Centerline goodness : 0.894746 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.45, Z:-3.17 [[ 9.99674209e-01 2.50320593e-02 -4.98725137e-03 3.20924406e+01] [-2.50787734e-02 9.99640001e-01 -9.53535920e-03 -4.45330011e-01] [ 4.74676629e-03 9.65732681e-03 9.99942100e-01 -3.17367462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02119381700004 meters Centerline goodness : 0.892936 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.45, Z:-3.17 [[ 9.99692608e-01 2.41948891e-02 -5.41261241e-03 3.20942704e+01] [-2.42475698e-02 9.99657075e-01 -9.88880325e-03 -4.47434943e-01] [ 5.17149779e-03 1.00170062e-02 9.99936456e-01 -3.17488893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05119381700004 meters Centerline goodness : 0.894493 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.45, Z:-3.17 [[ 9.99692194e-01 2.41850292e-02 -5.53179081e-03 3.20946255e+01] [-2.42363849e-02 9.99661938e-01 -9.41316573e-03 -4.49349092e-01] [ 5.30226304e-03 9.54433891e-03 9.99940394e-01 -3.17499666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08119381700004 meters Centerline goodness : 0.894001 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.45, Z:-3.17 [[ 9.99746427e-01 2.19011897e-02 -5.23637999e-03 3.20929311e+01] [-2.19623721e-02 9.99687652e-01 -1.19269640e-02 -4.49647688e-01] [ 4.97352972e-03 1.20389429e-02 9.99915160e-01 -3.17391183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11119381700004 meters Centerline goodness : 0.895468 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.45, Z:-3.17 [[ 9.99732365e-01 2.25510596e-02 -5.16222951e-03 3.20926862e+01] [-2.26037434e-02 9.99690558e-01 -1.03855301e-02 -4.54298338e-01] [ 4.92642739e-03 1.04994362e-02 9.99932744e-01 -3.17375610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14119381700004 meters Centerline goodness : 0.894678 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.46, Z:-3.17 [[ 9.99723312e-01 2.29427971e-02 -5.18925694e-03 3.20928057e+01] [-2.29924286e-02 9.99688427e-01 -9.71586577e-03 -4.56368387e-01] [ 4.96473097e-03 9.83249113e-03 9.99939335e-01 -3.17385364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17119381700002 meters Centerline goodness : 0.898014 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.46, Z:-3.17 [[ 9.99713782e-01 2.33410120e-02 -5.24884278e-03 3.20930322e+01] [-2.33881280e-02 9.99685027e-01 -9.10176003e-03 -4.58293501e-01] [ 5.03474524e-03 9.22191555e-03 9.99944802e-01 -3.17399795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20119381700002 meters Centerline goodness : 0.897239 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.46, Z:-3.17 [[ 9.99702687e-01 2.37929281e-02 -5.33229200e-03 3.20933951e+01] [-2.38379619e-02 9.99679296e-01 -8.54736230e-03 -4.60086866e-01] [ 5.12721513e-03 8.67193203e-03 9.99949253e-01 -3.17431459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23119381700002 meters Centerline goodness : 0.895041 Centerline is valid? [False, False] Translation: X:32.11, Y:-0.46, Z:-3.18 [[ 9.99572107e-01 2.92479004e-02 -4.03722314e-04 3.21060841e+01] [-2.92506858e-02 9.99473625e-01 -1.40310456e-02 -4.62196181e-01] [-6.86881982e-06 1.40368510e-02 9.99901479e-01 -3.17973992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26119381700002 meters Centerline goodness : 0.899116 Centerline is valid? [False, False] Translation: X:32.11, Y:-0.46, Z:-3.18 [[ 9.99465196e-01 3.26927801e-02 -7.09883202e-04 3.21080473e+01] [-3.26983501e-02 9.99412518e-01 -1.02682572e-02 -4.64766804e-01] [ 3.73768282e-04 1.02859777e-02 9.99947028e-01 -3.18121854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29119381700002 meters Centerline goodness : 0.898341 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.46, Z:-3.19 [[ 9.99358367e-01 3.56225423e-02 3.72682877e-03 3.21216767e+01] [-3.55509976e-02 9.99209934e-01 -1.77661050e-02 -4.64244272e-01] [-4.35675815e-03 1.76222132e-02 9.99835225e-01 -3.18669115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32119381700002 meters Centerline goodness : 0.900571 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.47, Z:-3.19 [[ 9.99313739e-01 3.68441203e-02 3.81593027e-03 3.21217967e+01] [-3.67787437e-02 9.99195649e-01 -1.59806036e-02 -4.68188719e-01] [-4.40165220e-03 1.58292916e-02 9.99865020e-01 -3.18719691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35119381700002 meters Centerline goodness : 0.898938 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.47, Z:-3.19 [[ 9.99348787e-01 3.59441319e-02 3.16572942e-03 3.21242967e+01] [-3.58888720e-02 9.99226754e-01 -1.60587440e-02 -4.71354397e-01] [-3.74049914e-03 1.59346719e-02 9.99866038e-01 -3.18882538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38119381700002 meters Centerline goodness : 0.898230 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.47, Z:-3.19 [[ 9.99473472e-01 3.23207190e-02 2.85479078e-03 3.21250125e+01] [-3.22603566e-02 9.99296433e-01 -1.91287525e-02 -4.74494375e-01] [-3.47103728e-03 1.90265841e-02 9.99812953e-01 -3.18945502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41119381700003 meters Centerline goodness : 0.897604 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.48, Z:-3.19 [[ 9.99597010e-01 2.82850364e-02 2.40292033e-03 3.21263218e+01] [-2.82246991e-02 9.99354143e-01 -2.22410215e-02 -4.78611196e-01] [-3.03045649e-03 2.21642369e-02 9.99749750e-01 -3.19039970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44119381700003 meters Centerline goodness : 0.896892 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.49, Z:-3.19 [[ 9.99770623e-01 2.13799107e-02 -1.26558037e-03 3.21217131e+01] [-2.13938857e-02 9.99695311e-01 -1.23120797e-02 -4.85903533e-01] [ 1.00196360e-03 1.23363313e-02 9.99923403e-01 -3.18813326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47119381700003 meters Centerline goodness : 0.900863 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.50, Z:-3.19 [[ 9.99959342e-01 8.89467009e-03 -1.48317776e-03 3.21189114e+01] [-8.90164732e-03 9.99949022e-01 -4.76593556e-03 -4.95974920e-01] [ 1.44071073e-03 4.77894452e-03 9.99987543e-01 -3.18713549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50119381700003 meters Centerline goodness : 0.900863 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.50, Z:-3.19 [[ 9.99959342e-01 8.89467009e-03 -1.48317776e-03 3.21189114e+01] [-8.90164732e-03 9.99949022e-01 -4.76593556e-03 -4.95974920e-01] [ 1.44071073e-03 4.77894452e-03 9.99987543e-01 -3.18713549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53119381700003 meters Centerline goodness : 0.898527 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.50, Z:-3.19 [[ 9.99987280e-01 4.76258614e-03 -1.66086356e-03 3.21194463e+01] [-4.77575992e-03 9.99956433e-01 -8.02023855e-03 -4.98990375e-01] [ 1.62259413e-03 8.02806841e-03 9.99966458e-01 -3.18740707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56119381700003 meters Centerline goodness : 0.902467 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.50, Z:-3.19 [[ 9.99998313e-01 7.54261842e-04 -1.67507776e-03 3.21197116e+01] [-7.73294301e-04 9.99934825e-01 -1.13907031e-02 -5.01366301e-01] [ 1.66637701e-03 1.13919792e-02 9.99933721e-01 -3.18767208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59119381700003 meters Centerline goodness : 0.903204 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.51, Z:-3.19 [[ 9.99998155e-01 8.88397251e-06 -1.92111161e-03 3.21206071e+01] [-2.97660380e-05 9.99940919e-01 -1.08700272e-02 -5.05481328e-01] [ 1.92090154e-03 1.08700643e-02 9.99939074e-01 -3.18785026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62119381700003 meters Centerline goodness : 0.904343 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.51, Z:-3.19 [[ 9.99997846e-01 -7.37884073e-06 -2.07564890e-03 3.21206253e+01] [-1.30812270e-05 9.99951418e-01 -9.85700476e-03 -5.09034262e-01] [ 2.07562080e-03 9.85701067e-03 9.99949264e-01 -3.18725997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65119381700003 meters Centerline goodness : 0.906050 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.51, Z:-3.19 [[ 9.99997742e-01 -1.91861290e-04 -2.11624421e-03 3.21203435e+01] [ 1.72664735e-04 9.99958874e-01 -9.06750454e-03 -5.13072867e-01] [ 2.11789688e-03 9.06711867e-03 9.99956650e-01 -3.18643311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68119381700004 meters Centerline goodness : 0.907794 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.51, Z:-3.19 [[ 9.99997491e-01 1.08096327e-04 -2.23738508e-03 3.21203208e+01] [-1.27730776e-04 9.99961470e-01 -8.77734175e-03 -5.13595371e-01] [ 2.23635007e-03 8.77760551e-03 9.99958975e-01 -3.18605622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71119381700004 meters Centerline goodness : 0.908312 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.51, Z:-3.19 [[ 9.99991129e-01 3.29042315e-03 -2.62982559e-03 3.21217691e+01] [-3.30424677e-03 9.99980657e-01 -5.26953488e-03 -5.14920966e-01] [ 2.61243572e-03 5.27817772e-03 9.99982658e-01 -3.18664944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74119381700004 meters Centerline goodness : 0.907873 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.51, Z:-3.19 [[ 9.99988769e-01 3.87214637e-03 -2.73272263e-03 3.21215230e+01] [-3.88654509e-03 9.99978489e-01 -5.28350829e-03 -5.13931890e-01] [ 2.71220533e-03 5.29406980e-03 9.99982308e-01 -3.18618421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77119381700004 meters Centerline goodness : 0.908056 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.51, Z:-3.19 [[ 9.99953578e-01 9.36548902e-03 2.26479150e-03 3.21339636e+01] [-9.33980306e-03 9.99894798e-01 -1.10978222e-02 -5.11111924e-01] [-2.36848977e-03 1.10761543e-02 9.99935852e-01 -3.19064943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80119381700004 meters Centerline goodness : 0.907393 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.51, Z:-3.19 [[ 9.99910959e-01 1.31900516e-02 2.02381975e-03 3.21349741e+01] [-1.31750231e-02 9.99886794e-01 -7.26763099e-03 -5.10953536e-01] [-2.11945107e-03 7.24032000e-03 9.99971542e-01 -3.19116125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83119381700004 meters Centerline goodness : 0.902774 Centerline is valid? [False, False] Translation: X:32.14, Y:-0.51, Z:-3.19 [[ 9.99843896e-01 1.75938596e-02 1.62490128e-03 3.21366129e+01] [-1.75874592e-02 9.99837829e-01 -3.87262026e-03 -5.08393326e-01] [-1.69277210e-03 3.84343784e-03 9.99991181e-01 -3.19251568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86119381700004 meters Centerline goodness : 0.904100 Centerline is valid? [False, False] Translation: X:32.14, Y:-0.51, Z:-3.19 [[ 9.99780573e-01 2.09176392e-02 1.12160987e-03 3.21390653e+01] [-2.09170816e-02 9.99781086e-01 -5.06585925e-04 -5.08793258e-01] [-1.13196091e-03 4.83013961e-04 9.99999243e-01 -3.19412017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89119381700004 meters Centerline goodness : 0.904719 Centerline is valid? [False, False] Translation: X:32.15, Y:-0.51, Z:-3.20 [[ 9.99715010e-01 2.33668810e-02 4.88739951e-03 3.21532647e+01] [-2.33196027e-02 9.99682765e-01 -9.51659655e-03 -5.06418626e-01] [-5.10822224e-03 9.39991221e-03 9.99942772e-01 -3.19977149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92119381700002 meters Centerline goodness : 0.901804 Centerline is valid? [False, False] Translation: X:32.16, Y:-0.51, Z:-3.20 [[ 9.99635093e-01 2.66517461e-02 4.40057793e-03 3.21557638e+01] [-2.66250205e-02 9.99627340e-01 -6.02404229e-03 -5.08127875e-01] [-4.55948925e-03 5.90467860e-03 9.99972173e-01 -3.20146782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95119381700002 meters Centerline goodness : 0.900820 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.51, Z:-3.21 [[ 9.99514343e-01 3.09792425e-02 3.37115776e-03 3.21780481e+01] [-3.09500097e-02 9.99485610e-01 -8.40316137e-03 -5.09193216e-01] [-3.62974724e-03 8.29474295e-03 9.99959010e-01 -3.20590064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98119381700002 meters Centerline goodness : 0.899862 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.51, Z:-3.21 [[ 9.99475844e-01 3.22705657e-02 2.57834094e-03 3.21816746e+01] [-3.22520743e-02 9.99455828e-01 -6.91751022e-03 -5.10564552e-01] [-2.80016984e-03 6.83072752e-03 9.99972750e-01 -3.20846145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01119381700002 meters Centerline goodness : 0.900162 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.51, Z:-3.21 [[ 9.99467272e-01 3.25435045e-02 2.46842897e-03 3.21822054e+01] [-3.25269221e-02 9.99449826e-01 -6.48420068e-03 -5.11941682e-01] [-2.67808952e-03 6.40045597e-03 9.99975931e-01 -3.20891512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04119381700002 meters Centerline goodness : 0.901336 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.51, Z:-3.21 [[ 9.99459026e-01 3.28112118e-02 2.25365393e-03 3.21827257e+01] [-3.27978146e-02 9.99445498e-01 -5.74450796e-03 -5.14487599e-01] [-2.44088854e-03 5.66748541e-03 9.99980961e-01 -3.20899936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07119381700002 meters Centerline goodness : 0.903021 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.52, Z:-3.21 [[ 9.99559818e-01 2.95887567e-02 2.16228489e-03 3.21822804e+01] [-2.95704149e-02 9.99530104e-01 -8.07223743e-03 -5.20038626e-01] [-2.40011631e-03 8.00474451e-03 9.99965081e-01 -3.20847472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10119381700002 meters Centerline goodness : 0.904640 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.52, Z:-3.21 [[ 9.99655682e-01 2.61581831e-02 2.06567414e-03 3.21819883e+01] [-2.61333199e-02 9.99595005e-01 -1.12638838e-02 -5.22011345e-01] [-2.35948029e-03 1.12060225e-02 9.99934427e-01 -3.20818663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13119381700002 meters Centerline goodness : 0.902893 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.53, Z:-3.21 [[ 9.99663761e-01 2.58789156e-02 1.62708484e-03 3.21826716e+01] [-2.58608761e-02 9.99612773e-01 -1.02722655e-02 -5.26582306e-01] [-1.89228988e-03 1.02267337e-02 9.99945915e-01 -3.20765404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16119381700003 meters Centerline goodness : 0.907681 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.53, Z:-3.21 [[ 9.99746778e-01 2.24191376e-02 1.93938573e-03 3.21808630e+01] [-2.23947513e-02 9.99679627e-01 -1.17948109e-02 -5.33691723e-01] [-2.20319389e-03 1.17483922e-02 9.99928558e-01 -3.20567877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19119381700003 meters Centerline goodness : 0.909430 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.54, Z:-3.21 [[ 9.99770927e-01 2.13502116e-02 1.50372752e-03 3.21823082e+01] [-2.13310883e-02 9.99703358e-01 -1.17550187e-02 -5.37998971e-01] [-1.75425359e-03 1.17202498e-02 9.99929777e-01 -3.20611289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22119381700003 meters Centerline goodness : 0.909963 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.54, Z:-3.21 [[ 9.99779260e-01 2.09714646e-02 1.27667898e-03 3.21826974e+01] [-2.09563959e-02 9.99721497e-01 -1.08516010e-02 -5.42612922e-01] [-1.50389739e-03 1.08224510e-02 9.99940305e-01 -3.20554744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25119381700003 meters Centerline goodness : 0.911237 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.55, Z:-3.20 [[ 9.99839707e-01 1.78468090e-02 1.43246941e-03 3.21812237e+01] [-1.78256783e-02 9.99748448e-01 -1.36119427e-02 -5.45045392e-01] [-1.67503882e-03 1.35842261e-02 9.99906327e-01 -3.20424862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28119381700003 meters Centerline goodness : 0.917533 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.55, Z:-3.20 [[ 9.99886028e-01 1.49783278e-02 1.89229052e-03 3.21787604e+01] [-1.49481996e-02 9.99775121e-01 -1.50418695e-02 -5.51804143e-01] [-2.11716704e-03 1.50118688e-02 9.99885074e-01 -3.20199178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31119381700003 meters Centerline goodness : 0.919168 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.56, Z:-3.20 [[ 9.99893889e-01 1.45029192e-02 1.36968762e-03 3.21802710e+01] [-1.44815014e-02 9.99789552e-01 -1.45305836e-02 -5.55278286e-01] [-1.58013525e-03 1.45092066e-02 9.99893487e-01 -3.20248016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34119381700003 meters Centerline goodness : 0.919410 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.56, Z:-3.20 [[ 9.99906570e-01 1.36407756e-02 8.83993264e-04 3.21823915e+01] [-1.36265324e-02 9.99802045e-01 -1.44978940e-02 -5.58244124e-01] [-1.08158079e-03 1.44844937e-02 9.99894509e-01 -3.20376424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37119381700003 meters Centerline goodness : 0.923158 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.56, Z:-3.20 [[ 9.99915457e-01 1.29977185e-02 3.72019637e-04 3.21843317e+01] [-1.29911104e-02 9.99814363e-01 -1.42292189e-02 -5.61177969e-01] [-5.56897958e-04 1.42231829e-02 9.99898690e-01 -3.20478162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40119381700003 meters Centerline goodness : 0.924056 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.57, Z:-3.21 [[ 9.99976998e-01 6.69323138e-03 1.09761145e-03 3.21778758e+01] [-6.68692286e-03 9.99961659e-01 -5.65382930e-03 -5.67785241e-01] [-1.13541175e-03 5.64635961e-03 9.99983415e-01 -3.20623062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43119381700004 meters Centerline goodness : 0.923152 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.57, Z:-3.21 [[ 9.99978615e-01 6.48615461e-03 8.35771898e-04 3.21787474e+01] [-6.48191902e-03 9.99966618e-01 -4.97466259e-03 -5.71106570e-01] [-8.68010429e-04 4.96913880e-03 9.99987277e-01 -3.20647383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46119381700004 meters Centerline goodness : 0.923286 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.57, Z:-3.21 [[ 9.99984498e-01 5.56625387e-03 1.42184777e-04 3.21813280e+01] [-5.56546580e-03 9.99971787e-01 -5.04486532e-03 -5.74150179e-01] [-1.70261766e-04 5.04399579e-03 9.99987264e-01 -3.20782078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49119381700004 meters Centerline goodness : 0.924672 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.58, Z:-3.21 [[ 9.99990656e-01 4.29370283e-03 -5.01606219e-04 3.21842532e+01] [-4.29643164e-03 9.99975247e-01 -5.57198430e-03 -5.76465574e-01] [ 4.77669357e-04 5.57408736e-03 9.99984351e-01 -3.20972170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52119381700004 meters Centerline goodness : 0.924045 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.58, Z:-3.21 [[ 9.99990581e-01 -4.27716461e-03 -7.37492767e-04 3.21808521e+01] [ 4.27744483e-03 9.99990780e-01 3.78808689e-04 -5.79345048e-01] [ 7.35865740e-04 -3.81959705e-04 9.99999656e-01 -3.21458801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55119381700004 meters Centerline goodness : 0.920348 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.58, Z:-3.22 [[ 9.99975677e-01 -6.86521079e-03 -1.23069484e-03 3.21843726e+01] [ 6.86350376e-03 9.99975485e-01 -1.38594842e-03 -5.80660105e-01] [ 1.24017949e-03 1.37746783e-03 9.99998282e-01 -3.21740119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58119381700004 meters Centerline goodness : 0.918634 Centerline is valid? [False, False] Translation: X:32.19, Y:-0.58, Z:-3.22 [[ 9.99957662e-01 -9.06842423e-03 -1.56120522e-03 3.21872369e+01] [ 9.06429074e-03 9.99955448e-01 -2.63465279e-03 -5.82293043e-01] [ 1.58502781e-03 2.62039002e-03 9.99995311e-01 -3.21961823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61119381700004 meters Centerline goodness : 0.918742 Centerline is valid? [False, False] Translation: X:32.19, Y:-0.58, Z:-3.22 [[ 9.99941118e-01 -1.06741558e-02 -1.95539378e-03 3.21896079e+01] [ 1.06674303e-02 9.99937259e-01 -3.41822067e-03 -5.83587702e-01] [ 1.99175772e-03 3.39716037e-03 9.99992246e-01 -3.22116327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64119381700004 meters Centerline goodness : 0.919915 Centerline is valid? [False, False] Translation: X:32.19, Y:-0.58, Z:-3.22 [[ 9.99934039e-01 -1.12751960e-02 -2.18815467e-03 3.21904059e+01] [ 1.12677268e-02 9.99930749e-01 -3.39628287e-03 -5.84650637e-01] [ 2.22629689e-03 3.37140332e-03 9.99991839e-01 -3.22131270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67119381700005 meters Centerline goodness : 0.919649 Centerline is valid? [False, False] Translation: X:32.19, Y:-0.58, Z:-3.22 [[ 9.99921451e-01 -1.23103667e-02 -2.35526203e-03 3.21909584e+01] [ 1.23001577e-02 9.99915100e-01 -4.30101102e-03 -5.82693378e-01] [ 2.40800910e-03 4.27170308e-03 9.99987977e-01 -3.22133088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70119381700002 meters Centerline goodness : 0.919259 Centerline is valid? [False, False] Translation: X:32.19, Y:-0.58, Z:-3.22 [[ 9.99942050e-01 -1.03468663e-02 -2.97320172e-03 3.21936500e+01] [ 1.03405310e-02 9.99944249e-01 -2.13833135e-03 -5.80879842e-01] [ 2.99516099e-03 2.10746295e-03 9.99993294e-01 -3.22290255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73119381700002 meters Centerline goodness : 0.920732 Centerline is valid? [False, False] Translation: X:32.20, Y:-0.58, Z:-3.22 [[ 9.99961929e-01 -7.97244729e-03 -3.54677934e-03 3.21961551e+01] [ 7.97321640e-03 9.99968193e-01 2.02759195e-04 -5.78496273e-01] [ 3.54505004e-03 -2.31030715e-04 9.99993690e-01 -3.22448832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76119381700002 meters Centerline goodness : 0.920950 Centerline is valid? [False, False] Translation: X:32.20, Y:-0.57, Z:-3.23 [[ 9.99972448e-01 -6.10650909e-03 -4.22055468e-03 3.21987018e+01] [ 6.11053227e-03 9.99980888e-01 9.40997076e-04 -5.70204104e-01] [ 4.21472781e-03 -9.66760985e-04 9.99990651e-01 -3.22614236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79119381700002 meters Centerline goodness : 0.920903 Centerline is valid? [False, False] Translation: X:32.20, Y:-0.57, Z:-3.23 [[ 9.99980475e-01 -3.97520681e-03 -4.82155148e-03 3.22009975e+01] [ 3.98909864e-03 9.99987911e-01 2.87500806e-03 -5.66791125e-01] [ 4.81006444e-03 -2.89418557e-03 9.99984243e-01 -3.22737718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82119381700002 meters Centerline goodness : 0.921248 Centerline is valid? [False, False] Translation: X:32.20, Y:-0.56, Z:-3.23 [[ 9.99974546e-01 -5.00875515e-03 -5.08131217e-03 3.22020233e+01] [ 5.01277947e-03 9.99987132e-01 7.79557006e-04 -5.61271487e-01] [ 5.07734217e-03 -8.05008660e-04 9.99986786e-01 -3.22818980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85119381700002 meters Centerline goodness : 0.915680 Centerline is valid? [False, False] Translation: X:32.22, Y:-0.55, Z:-3.23 [[ 9.99993511e-01 -3.55301976e-03 -5.95175709e-04 3.22165250e+01] [ 3.54770680e-03 9.99955845e-01 -8.70180275e-03 -5.48592334e-01] [ 6.26067106e-04 8.69963478e-03 9.99961961e-01 -3.23270312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88119381700002 meters Centerline goodness : 0.913950 Centerline is valid? [False, False] Translation: X:32.22, Y:-0.54, Z:-3.23 [[ 9.99998945e-01 -9.57183049e-04 -1.09304037e-03 3.22181367e+01] [ 9.49878882e-04 9.99977347e-01 -6.66351073e-03 -5.44633395e-01] [ 1.09939381e-03 6.66246544e-03 9.99977201e-01 -3.23335370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91119381700003 meters Centerline goodness : 0.912504 Centerline is valid? [False, False] Translation: X:32.22, Y:-0.54, Z:-3.23 [[ 9.99997025e-01 1.93545670e-03 -1.48491333e-03 3.22190545e+01] [-1.94199699e-03 9.99988365e-01 -4.41576350e-03 -5.40384063e-01] [ 1.47634954e-03 4.41863406e-03 9.99989148e-01 -3.23334557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94119381700003 meters Centerline goodness : 0.914026 Centerline is valid? [False, False] Translation: X:32.22, Y:-0.54, Z:-3.23 [[ 9.99986159e-01 4.92763561e-03 -1.84403779e-03 3.22197975e+01] [-4.93168784e-03 9.99985420e-01 -2.19941834e-03 -5.35580875e-01] [ 1.83317297e-03 2.20848211e-03 9.99995881e-01 -3.23325719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97119381700003 meters Centerline goodness : 0.914126 Centerline is valid? [False, False] Translation: X:32.22, Y:-0.53, Z:-3.23 [[ 9.99967173e-01 7.78023980e-03 -2.26291196e-03 3.22209846e+01] [-7.78053299e-03 9.99969724e-01 -1.20787262e-04 -5.30684081e-01] [ 2.26190369e-03 1.38389958e-04 9.99997432e-01 -3.23357872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00119381700003 meters Centerline goodness : 0.914244 Centerline is valid? [False, False] Translation: X:32.22, Y:-0.52, Z:-3.23 [[ 9.99968823e-01 7.49722929e-03 -2.47894256e-03 3.22211547e+01] [-7.50192427e-03 9.99970074e-01 -1.89010490e-03 -5.23778030e-01] [ 2.46469782e-03 1.90864281e-03 9.99995141e-01 -3.23339247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03119381700003 meters Centerline goodness : 0.913744 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.51, Z:-3.24 [[ 9.99954362e-01 9.43313877e-03 1.51290188e-03 3.22369306e+01] [-9.41810629e-03 9.99909053e-01 -9.65322480e-03 -5.09778130e-01] [-1.60382449e-03 9.63853558e-03 9.99952262e-01 -3.23625374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06119381700003 meters Centerline goodness : 0.911869 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.51, Z:-3.24 [[ 9.99925706e-01 1.21387558e-02 1.11062990e-03 3.22380255e+01] [-1.21302341e-02 9.99899174e-01 -7.38231567e-03 -5.05761107e-01] [-1.20013005e-03 7.36829501e-03 9.99972134e-01 -3.23630065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09119381700003 meters Centerline goodness : 0.912530 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.50, Z:-3.24 [[ 9.99935754e-01 1.13080365e-02 7.84526697e-04 3.22389476e+01] [-1.13001417e-02 9.99891707e-01 -9.42764618e-03 -5.00163963e-01] [-8.91049906e-04 9.41817524e-03 9.99955251e-01 -3.23675969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12119381700003 meters Centerline goodness : 0.911487 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.50, Z:-3.24 [[ 9.99914757e-01 1.30558616e-02 1.52614099e-04 3.22414943e+01] [-1.30542752e-02 9.99884394e-01 -7.79643684e-03 -4.97173762e-01] [-2.54385656e-04 7.79377998e-03 9.99969596e-01 -3.23804271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15119381700003 meters Centerline goodness : 0.910975 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.49, Z:-3.24 [[ 9.99900047e-01 1.41362886e-02 -2.46404536e-04 3.22432599e+01] [-1.41377759e-02 9.99869908e-01 -7.76467632e-03 -4.88138218e-01] [ 1.36608776e-04 7.76738383e-03 9.99969824e-01 -3.23890604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18119381700004 meters Centerline goodness : 0.910395 Centerline is valid? [False, False] Translation: X:32.25, Y:-0.48, Z:-3.24 [[ 9.99867444e-01 1.62665428e-02 -7.02573560e-04 3.22451449e+01] [-1.62703996e-02 9.99850306e-01 -5.88560039e-03 -4.84023895e-01] [ 6.06730018e-04 5.89625137e-03 9.99982433e-01 -3.23980620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21119381700004 meters Centerline goodness : 0.909453 Centerline is valid? [False, False] Translation: X:32.25, Y:-0.48, Z:-3.24 [[ 9.99883887e-01 1.52062245e-02 -9.91906981e-04 3.22462117e+01] [-1.52138056e-02 9.99851089e-01 -8.14488775e-03 -4.77631753e-01] [ 8.67906285e-04 8.15903270e-03 9.99966338e-01 -3.24049117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24119381700004 meters Centerline goodness : 0.909261 Centerline is valid? [False, False] Translation: X:32.25, Y:-0.47, Z:-3.24 [[ 9.99896099e-01 1.43617555e-02 -1.23737151e-03 3.22470716e+01] [-1.43735191e-02 9.99845786e-01 -1.00899245e-02 -4.72068747e-01] [ 1.09227167e-03 1.01066615e-02 9.99948330e-01 -3.24098903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27119381700004 meters Centerline goodness : 0.909911 Centerline is valid? [False, False] Translation: X:32.25, Y:-0.46, Z:-3.24 [[ 9.99868120e-01 1.61819794e-02 -1.37357574e-03 3.22463805e+01] [-1.61945792e-02 9.99821616e-01 -9.71961831e-03 -4.63313560e-01] [ 1.21604805e-03 9.74058097e-03 9.99951820e-01 -3.23945813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30119381700004 meters Centerline goodness : 0.909707 Centerline is valid? [False, False] Translation: X:32.25, Y:-0.46, Z:-3.24 [[ 9.99878852e-01 1.54805342e-02 -1.62311235e-03 3.22468865e+01] [-1.54986504e-02 9.99810068e-01 -1.18161227e-02 -4.57058883e-01] [ 1.43988417e-03 1.18398473e-02 9.99928870e-01 -3.23941343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33119381700004 meters Centerline goodness : 0.908727 Centerline is valid? [False, False] Translation: X:32.25, Y:-0.45, Z:-3.24 [[ 9.99834665e-01 1.80698123e-02 -2.03111489e-03 3.22484201e+01] [-1.80891093e-02 9.99787148e-01 -9.92188291e-03 -4.52378410e-01] [ 1.85139600e-03 9.95698353e-03 9.99948714e-01 -3.24002162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36119381700004 meters Centerline goodness : 0.907885 Centerline is valid? [False, False] Translation: X:32.25, Y:-0.45, Z:-3.24 [[ 9.99782515e-01 2.07021161e-02 -2.51902132e-03 3.22504225e+01] [-2.07221069e-02 9.99751753e-01 -8.18702631e-03 -4.47161211e-01] [ 2.34890721e-03 8.23744518e-03 9.99963313e-01 -3.24104971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39119381700004 meters Centerline goodness : 0.905911 Centerline is valid? [False, False] Translation: X:32.27, Y:-0.43, Z:-3.25 [[ 9.99679904e-01 2.52653495e-02 -1.32335369e-03 3.22717161e+01] [-2.52808107e-02 9.99590845e-01 -1.33799309e-02 -4.32615928e-01] [ 9.84763605e-04 1.34091035e-02 9.99909609e-01 -3.24647586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42119381700005 meters Centerline goodness : 0.905911 Centerline is valid? [False, False] Translation: X:32.27, Y:-0.43, Z:-3.25 [[ 9.99679904e-01 2.52653495e-02 -1.32335369e-03 3.22717161e+01] [-2.52808107e-02 9.99590845e-01 -1.33799309e-02 -4.32615928e-01] [ 9.84763605e-04 1.34091035e-02 9.99909609e-01 -3.24647586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45119381700002 meters Centerline goodness : 0.908008 Centerline is valid? [False, False] Translation: X:32.27, Y:-0.43, Z:-3.25 [[ 9.99603211e-01 2.81170450e-02 -1.68894076e-03 3.22737874e+01] [-2.81350249e-02 9.99534692e-01 -1.17821636e-02 -4.26458835e-01] [ 1.35687526e-03 1.18250070e-02 9.99929162e-01 -3.24786106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48119381700002 meters Centerline goodness : 0.905779 Centerline is valid? [False, False] Translation: X:32.28, Y:-0.42, Z:-3.25 [[ 9.99512806e-01 3.11461320e-02 -2.01698672e-03 3.22754051e+01] [-3.11645713e-02 9.99465562e-01 -9.86707099e-03 -4.20877265e-01] [ 1.70858767e-03 9.92512234e-03 9.99949285e-01 -3.24863789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51119381700002 meters Centerline goodness : 0.902254 Centerline is valid? [False, False] Translation: X:32.28, Y:-0.41, Z:-3.25 [[ 9.99400113e-01 3.45462248e-02 -2.44397396e-03 3.22770767e+01] [-3.45654685e-02 9.99367747e-01 -8.32670190e-03 -4.11652653e-01] [ 2.15477264e-03 8.40618392e-03 9.99962346e-01 -3.24914841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54119381700002 meters Centerline goodness : 0.902009 Centerline is valid? [False, False] Translation: X:32.28, Y:-0.41, Z:-3.25 [[ 9.99416090e-01 3.40520198e-02 -2.81760645e-03 3.22780862e+01] [-3.40782337e-02 9.99370654e-01 -9.84728057e-03 -4.07388708e-01] [ 2.48051341e-03 9.93754969e-03 9.99947545e-01 -3.24952642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57119381700002 meters Centerline goodness : 0.902078 Centerline is valid? [False, False] Translation: X:32.28, Y:-0.40, Z:-3.25 [[ 9.99434974e-01 3.34727761e-02 -3.05046003e-03 3.22790014e+01] [-3.35053821e-02 9.99374075e-01 -1.13510926e-02 -4.03222918e-01] [ 2.66859809e-03 1.14468858e-02 9.99930921e-01 -3.25009636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60119381700002 meters Centerline goodness : 0.899961 Centerline is valid? [False, False] Translation: X:32.28, Y:-0.40, Z:-3.25 [[ 9.99406890e-01 3.42652757e-02 -3.42904034e-03 3.22814028e+01] [-3.43003921e-02 9.99353561e-01 -1.07677169e-02 -4.00910359e-01] [ 3.05786488e-03 1.08789479e-02 9.99936147e-01 -3.25181507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63119381700002 meters Centerline goodness : 0.900782 Centerline is valid? [False, False] Translation: X:32.28, Y:-0.40, Z:-3.25 [[ 9.99464593e-01 3.25062114e-02 -3.72473910e-03 3.22825342e+01] [-3.25516114e-02 9.99387368e-01 -1.28562069e-02 -3.96718548e-01] [ 3.30455062e-03 1.29705699e-02 9.99910418e-01 -3.25241544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66119381700003 meters Centerline goodness : 0.901903 Centerline is valid? [False, False] Translation: X:32.28, Y:-0.40, Z:-3.25 [[ 9.99522510e-01 3.05876859e-02 -4.37547136e-03 3.22849000e+01] [-3.06484756e-02 9.99423944e-01 -1.45756910e-02 -3.95071945e-01] [ 3.92711419e-03 1.47028328e-02 9.99884196e-01 -3.25369538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69119381700003 meters Centerline goodness : 0.901200 Centerline is valid? [False, False] Translation: X:32.29, Y:-0.39, Z:-3.25 [[ 9.99572000e-01 2.88127493e-02 -5.06389673e-03 3.22871201e+01] [-2.88901053e-02 9.99455625e-01 -1.59315977e-02 -3.93982366e-01] [ 4.60210694e-03 1.60710755e-02 9.99860261e-01 -3.25472741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72119381700003 meters Centerline goodness : 0.898933 Centerline is valid? [False, False] Translation: X:32.29, Y:-0.39, Z:-3.26 [[ 9.99615965e-01 2.71225401e-02 -5.68238458e-03 3.22888968e+01] [-2.72165868e-02 9.99481843e-01 -1.71843911e-02 -3.92860164e-01] [ 5.21335587e-03 1.73324468e-02 9.99836190e-01 -3.25537326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75119381700003 meters Centerline goodness : 0.899882 Centerline is valid? [False, False] Translation: X:32.29, Y:-0.39, Z:-3.26 [[ 9.99667027e-01 2.50537554e-02 -6.17607990e-03 3.22909311e+01] [-2.51661240e-02 9.99505689e-01 -1.88425981e-02 -3.91412962e-01] [ 5.70094915e-03 1.89917520e-02 9.99803387e-01 -3.25655890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78119381700003 meters Centerline goodness : 0.901498 Centerline is valid? [False, False] Translation: X:32.29, Y:-0.39, Z:-3.26 [[ 9.99835502e-01 1.49558509e-02 -1.02611179e-02 3.22898253e+01] [-1.50899351e-02 9.99800104e-01 -1.31166537e-02 -3.88062051e-01] [ 1.00628960e-02 1.32693356e-02 9.99861322e-01 -3.25544729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81119381700003 meters Centerline goodness : 0.902483 Centerline is valid? [False, False] Translation: X:32.29, Y:-0.39, Z:-3.26 [[ 9.99857520e-01 1.29142097e-02 -1.08702793e-02 3.22918779e+01] [-1.30762161e-02 9.99802483e-01 -1.49668680e-02 -3.86012323e-01] [ 1.06748470e-02 1.51068777e-02 9.99828900e-01 -3.25641200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84119381700003 meters Centerline goodness : 0.902299 Centerline is valid? [False, False] Translation: X:32.29, Y:-0.38, Z:-3.26 [[ 9.99871111e-01 1.15961874e-02 -1.11035771e-02 3.22925359e+01] [-1.17775862e-02 9.99795924e-01 -1.64133909e-02 -3.83258354e-01] [ 1.09109784e-02 1.65420488e-02 9.99803636e-01 -3.25649982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87119381700003 meters Centerline goodness : 0.903995 Centerline is valid? [False, False] Translation: X:32.30, Y:-0.38, Z:-3.26 [[ 9.99934091e-01 9.28169169e-03 -6.75745039e-03 3.23014508e+01] [-9.34168387e-03 9.99916748e-01 -8.90116945e-03 -3.81024447e-01] [ 6.67426990e-03 8.96370876e-03 9.99937551e-01 -3.25733833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90119381700003 meters Centerline goodness : 0.905832 Centerline is valid? [False, False] Translation: X:32.30, Y:-0.37, Z:-3.26 [[ 9.99922238e-01 1.03171812e-02 -7.00525964e-03 3.23018273e+01] [-1.03829246e-02 9.99901778e-01 -9.41427247e-03 -3.68927771e-01] [ 6.90744282e-03 9.48627548e-03 9.99931147e-01 -3.25661251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93119381700004 meters Centerline goodness : 0.907217 Centerline is valid? [False, False] Translation: X:32.30, Y:-0.36, Z:-3.26 [[ 9.99890122e-01 1.29458679e-02 -7.22133419e-03 3.23021663e+01] [-1.30003781e-02 9.99886962e-01 -7.55333639e-03 -3.63827221e-01] [ 7.12273341e-03 7.64638652e-03 9.99945398e-01 -3.25617857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96119381700004 meters Centerline goodness : 0.904963 Centerline is valid? [False, False] Translation: X:32.31, Y:-0.36, Z:-3.26 [[ 9.99892224e-01 1.46240907e-02 -1.29488905e-03 3.23147355e+01] [-1.46420359e-02 9.99778079e-01 -1.51460764e-02 -3.56013940e-01] [ 1.07310409e-03 1.51634038e-02 9.99884453e-01 -3.25980751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99119381700004 meters Centerline goodness : 0.908147 Centerline is valid? [False, False] Translation: X:32.33, Y:-0.34, Z:-3.26 [[ 9.99857212e-01 1.67449361e-02 2.27225085e-03 3.23325788e+01] [-1.66957057e-02 9.99656829e-01 -2.01860996e-02 -3.40936946e-01] [-2.60948603e-03 2.01452804e-02 9.99793658e-01 -3.26222014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02119381700004 meters Centerline goodness : 0.908325 Centerline is valid? [False, False] Translation: X:32.33, Y:-0.34, Z:-3.26 [[ 9.99816436e-01 1.90413113e-02 2.12680525e-03 3.23332974e+01] [-1.89983231e-02 9.99645094e-01 -1.86748408e-02 -3.35001233e-01] [-2.48164389e-03 1.86310070e-02 9.99823348e-01 -3.26231425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05119381700004 meters Centerline goodness : 0.909589 Centerline is valid? [False, False] Translation: X:32.33, Y:-0.33, Z:-3.26 [[ 9.99776368e-01 2.10641374e-02 1.87513145e-03 3.23344759e+01] [-2.10284539e-02 9.99628139e-01 -1.73605117e-02 -3.29256300e-01] [-2.24011837e-03 1.73171982e-02 9.99847537e-01 -3.26269300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08119381700004 meters Centerline goodness : 0.908814 Centerline is valid? [False, False] Translation: X:32.34, Y:-0.32, Z:-3.26 [[ 9.99732849e-01 2.30576784e-02 1.60421078e-03 3.23359377e+01] [-2.30291154e-02 9.99606910e-01 -1.59901567e-02 -3.23907641e-01] [-1.97227607e-03 1.59489414e-02 9.99870862e-01 -3.26339661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11119381700004 meters Centerline goodness : 0.906062 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.31, Z:-3.27 [[ 9.99693735e-01 2.47417066e-02 5.33509002e-04 3.23580692e+01] [-2.47264132e-02 9.99500354e-01 -1.96887397e-02 -3.11487965e-01] [-1.02037546e-03 1.96695179e-02 9.99806016e-01 -3.26552534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14119381700004 meters Centerline goodness : 0.906560 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.31, Z:-3.27 [[ 9.99631788e-01 2.71342009e-02 1.54948801e-04 3.23603084e+01] [-2.71268660e-02 9.99465692e-01 -1.82335982e-02 -3.06713636e-01] [-6.49620127e-04 1.82226811e-02 9.99833742e-01 -3.26679983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17119381700005 meters Centerline goodness : 0.905527 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.30, Z:-3.27 [[ 9.99536339e-01 3.04480971e-02 1.41294982e-04 3.23612012e+01] [-3.04420317e-02 9.99410798e-01 -1.58536744e-02 -3.02523539e-01] [-6.23925946e-04 1.58420223e-02 9.99874313e-01 -3.26725185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20119381700002 meters Centerline goodness : 0.904804 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.30, Z:-3.27 [[ 9.99445416e-01 3.32994311e-02 -8.98145169e-05 3.23627719e+01] [-3.32973934e-02 9.99346275e-01 -1.40821212e-02 -2.97684738e-01] [-3.79170821e-04 1.40773021e-02 9.99900838e-01 -3.26790668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23119381700002 meters Centerline goodness : 0.906202 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.29, Z:-3.27 [[ 9.99339186e-01 3.63475472e-02 -2.17106202e-04 3.23640406e+01] [-3.63474644e-02 9.99263368e-01 -1.23119117e-02 -2.92315512e-01] [-2.30561518e-04 1.23116671e-02 9.99924182e-01 -3.26834232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26119381700002 meters Centerline goodness : 0.906013 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.28, Z:-3.27 [[ 9.99104644e-01 4.23072141e-02 -1.03411215e-04 3.23648303e+01] [-4.23065067e-02 9.99066623e-01 -8.72017956e-03 -2.81947048e-01] [-2.65611810e-04 8.71674686e-03 9.99961973e-01 -3.26791498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29119381700002 meters Centerline goodness : 0.906619 Centerline is valid? [False, False] Translation: X:32.37, Y:-0.28, Z:-3.27 [[ 9.98951328e-01 4.57842889e-02 -2.08195160e-04 3.23654976e+01] [-4.57847055e-02 9.98932608e-01 -6.11592715e-03 -2.78214244e-01] [-7.20404408e-05 6.11904571e-03 9.99981276e-01 -3.26778598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32119381700002 meters Centerline goodness : 0.906264 Centerline is valid? [False, False] Translation: X:32.37, Y:-0.27, Z:-3.27 [[ 9.98786994e-01 4.92386301e-02 -3.12276554e-04 3.23662004e+01] [-4.92394285e-02 9.98780719e-01 -3.54317173e-03 -2.74303379e-01] [ 1.37434879e-04 3.55425016e-03 9.99993674e-01 -3.26777265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35119381700002 meters Centerline goodness : 0.908989 Centerline is valid? [False, False] Translation: X:32.37, Y:-0.27, Z:-3.27 [[ 9.98611348e-01 5.26812034e-02 -2.58362767e-04 3.23664859e+01] [-5.26814545e-02 9.98610776e-01 -1.08719460e-03 -2.69737689e-01] [ 2.00729123e-04 1.09929580e-03 9.99999376e-01 -3.26760331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38119381700002 meters Centerline goodness : 0.911351 Centerline is valid? [False, False] Translation: X:32.37, Y:-0.26, Z:-3.27 [[ 9.98267038e-01 5.88465833e-02 -1.98772980e-05 3.23669145e+01] [-5.88461942e-02 9.98261556e-01 3.31523060e-03 -2.60014058e-01] [ 2.14932736e-04 -3.30831573e-03 9.99994504e-01 -3.26728742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41119381700003 meters Centerline goodness : 0.911374 Centerline is valid? [False, False] Translation: X:32.35, Y:-0.26, Z:-3.27 [[ 9.98375807e-01 5.69713637e-02 1.04524856e-04 3.23466473e+01] [-5.69648314e-02 9.98229987e-01 1.70851077e-02 -2.55513581e-01] [ 8.69022041e-04 -1.70633125e-02 9.99854033e-01 -3.26574069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44119381700003 meters Centerline goodness : 0.912789 Centerline is valid? [False, False] Translation: X:32.35, Y:-0.25, Z:-3.27 [[ 9.98396578e-01 5.66056954e-02 -2.59655290e-04 3.23473371e+01] [-5.65945591e-02 9.98272541e-01 1.57793850e-02 -2.51661302e-01] [ 1.15240981e-03 -1.57393890e-02 9.99875464e-01 -3.26555065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47119381700003 meters Centerline goodness : 0.914054 Centerline is valid? [False, False] Translation: X:32.35, Y:-0.25, Z:-3.26 [[ 9.98262676e-01 5.89203573e-02 1.42306541e-04 3.23464122e+01] [-5.89137524e-02 9.98108320e-01 1.75770215e-02 -2.48168153e-01] [ 8.93607043e-04 -1.75548683e-02 9.99845502e-01 -3.26488542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50119381700003 meters Centerline goodness : 0.917138 Centerline is valid? [False, False] Translation: X:32.35, Y:-0.25, Z:-3.26 [[ 9.98276187e-01 5.86911441e-02 6.97569135e-05 3.23462787e+01] [-5.86840726e-02 9.98135995e-01 1.67545389e-02 -2.45455490e-01] [ 9.13716169e-04 -1.67297508e-02 9.99859630e-01 -3.26442893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53119381700003 meters Centerline goodness : 0.920088 Centerline is valid? [False, False] Translation: X:32.34, Y:-0.24, Z:-3.26 [[ 9.98224072e-01 5.95693989e-02 4.34197792e-04 3.23439918e+01] [-5.95680812e-02 9.98077040e-01 1.71425250e-02 -2.43043590e-01] [ 5.87807064e-04 -1.71379455e-02 9.99852962e-01 -3.26222683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56119381700003 meters Centerline goodness : 0.921506 Centerline is valid? [False, False] Translation: X:32.34, Y:-0.24, Z:-3.26 [[ 9.98253378e-01 5.90767665e-02 3.59724979e-04 3.23434795e+01] [-5.90749986e-02 9.98126550e-01 1.59227929e-02 -2.39816273e-01] [ 5.81616068e-04 -1.59162326e-02 9.99873160e-01 -3.26122289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59119381700003 meters Centerline goodness : 0.924363 Centerline is valid? [False, False] Translation: X:32.32, Y:-0.24, Z:-3.26 [[ 9.98474870e-01 5.52034500e-02 -7.16112920e-04 3.23210678e+01] [-5.51623318e-02 9.98091319e-01 2.77639516e-02 -2.37219370e-01] [ 2.24741201e-03 -2.76821056e-02 9.99614251e-01 -3.25809197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62119381700003 meters Centerline goodness : 0.924425 Centerline is valid? [False, False] Translation: X:32.30, Y:-0.24, Z:-3.25 [[ 9.98709926e-01 5.06983133e-02 -2.85742019e-03 3.22976187e+01] [-5.05529998e-02 9.97994528e-01 3.80961370e-02 -2.35113553e-01] [ 4.78309960e-03 -3.79025390e-02 9.99269993e-01 -3.25478927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65119381700003 meters Centerline goodness : 0.926304 Centerline is valid? [False, False] Translation: X:32.27, Y:-0.23, Z:-3.26 [[ 9.98900250e-01 4.68531932e-02 -1.75195494e-03 3.22685757e+01] [-4.67418808e-02 9.98062585e-01 4.10642505e-02 -2.31170487e-01] [ 3.67255194e-03 -4.09372004e-02 9.99154972e-01 -3.25600176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68119381700004 meters Centerline goodness : 0.928414 Centerline is valid? [False, False] Translation: X:32.26, Y:-0.23, Z:-3.26 [[ 9.98999036e-01 4.47241611e-02 -8.22350156e-04 3.22586158e+01] [-4.46295514e-02 9.97790653e-01 4.92139841e-02 -2.30615582e-01] [ 3.02158745e-03 -4.91280215e-02 9.98787919e-01 -3.25687054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71119381700004 meters Centerline goodness : 0.929291 Centerline is valid? [False, False] Translation: X:32.23, Y:-0.23, Z:-3.26 [[ 9.99243796e-01 3.88676918e-02 1.06703315e-03 3.22274388e+01] [-3.88716507e-02 9.97949658e-01 5.08475741e-02 -2.26889041e-01] [ 9.11482478e-04 -5.08506003e-02 9.98705855e-01 -3.25657874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74119381700004 meters Centerline goodness : 0.929659 Centerline is valid? [False, False] Translation: X:32.21, Y:-0.22, Z:-3.26 [[ 9.99378615e-01 3.52458350e-02 3.40240133e-04 3.22064173e+01] [-3.52265925e-02 9.98407689e-01 4.40587444e-02 -2.22032834e-01] [ 1.21318887e-03 -4.40433524e-02 9.99028884e-01 -3.25546091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77119381700004 meters Centerline goodness : 0.933221 Centerline is valid? [False, False] Translation: X:32.19, Y:-0.22, Z:-3.25 [[ 9.99508292e-01 3.13555626e-02 -6.19545263e-05 3.21855752e+01] [-3.13321364e-02 9.98834107e-01 3.67249729e-02 -2.17224953e-01] [ 1.21341448e-03 -3.67049737e-02 9.99325409e-01 -3.25486548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80119381700004 meters Centerline goodness : 0.932971 Centerline is valid? [False, False] Translation: X:32.16, Y:-0.22, Z:-3.26 [[ 9.99627710e-01 2.71507017e-02 2.69827501e-03 3.21555741e+01] [-2.72359007e-02 9.98854464e-01 3.93441904e-02 -2.15100982e-01] [-1.62696166e-03 -3.94030329e-02 9.99222074e-01 -3.25609907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83119381700004 meters Centerline goodness : 0.934673 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.21, Z:-3.26 [[ 9.99727676e-01 2.31564166e-02 2.89032660e-03 3.21343252e+01] [-2.32376171e-02 9.99210255e-01 3.22316569e-02 -2.10967868e-01] [-2.14167430e-03 -3.22900438e-02 9.99476246e-01 -3.25542210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86119381700004 meters Centerline goodness : 0.937315 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.21, Z:-3.26 [[ 9.99746543e-01 2.23167356e-02 2.96873125e-03 3.21341784e+01] [-2.24001151e-02 9.99240594e-01 3.18821211e-02 -2.11211422e-01] [-2.25497191e-03 -3.19405403e-02 9.99487227e-01 -3.25554748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89119381700004 meters Centerline goodness : 0.939633 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.21, Z:-3.25 [[ 9.99764166e-01 2.15748978e-02 -2.47707069e-03 3.21244989e+01] [-2.15213314e-02 9.99569786e-01 1.99267642e-02 -2.05973455e-01] [ 2.90592292e-03 -1.98687549e-02 9.99798374e-01 -3.25303235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92119381700005 meters Centerline goodness : 0.937656 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.21, Z:-3.25 [[ 9.99770304e-01 2.12873869e-02 -2.48711729e-03 3.21247078e+01] [-2.12347913e-02 9.99583484e-01 1.95433408e-02 -2.05190206e-01] [ 2.90210802e-03 -1.94860383e-02 9.99805917e-01 -3.25331239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95119381700002 meters Centerline goodness : 0.939242 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.21, Z:-3.25 [[ 9.99775948e-01 2.10082716e-02 -2.58966469e-03 3.21250340e+01] [-2.09544326e-02 9.99593956e-01 1.93089269e-02 -2.05022052e-01] [ 2.99426035e-03 -1.92503358e-02 9.99810211e-01 -3.25353178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98119381700002 meters Centerline goodness : 0.939067 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.20, Z:-3.25 [[ 9.99839470e-01 1.77237813e-02 -2.62719806e-03 3.21258011e+01] [-1.76828556e-02 9.99733235e-01 1.48584993e-02 -2.02597130e-01] [ 2.88984601e-03 -1.48096577e-02 9.99886155e-01 -3.25461397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.011193817 meters Centerline goodness : 0.939881 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.20, Z:-3.25 [[ 9.99842578e-01 1.75396899e-02 -2.67938353e-03 3.21259924e+01] [-1.74997457e-02 9.99745068e-01 1.42673533e-02 -2.00823252e-01] [ 2.92894543e-03 -1.42182188e-02 9.99894626e-01 -3.25474659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.041193817 meters Centerline goodness : 0.940555 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.20, Z:-3.26 [[ 9.99845086e-01 1.73729642e-02 -2.82554313e-03 3.21265294e+01] [-1.73331185e-02 9.99757775e-01 1.35629638e-02 -1.98515693e-01] [ 3.06048760e-03 -1.35118872e-02 9.99904027e-01 -3.25506106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.071193817 meters Centerline goodness : 0.939398 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.19, Z:-3.26 [[ 9.99837840e-01 1.77620879e-02 -2.96686756e-03 3.21271212e+01] [-1.77229938e-02 9.99762010e-01 1.27207776e-02 -1.94321702e-01] [ 3.19210905e-03 -1.26661330e-02 9.99914686e-01 -3.25535431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.101193817 meters Centerline goodness : 0.940162 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.19, Z:-3.26 [[ 9.99836298e-01 1.78217663e-02 -3.12449579e-03 3.21275154e+01] [-1.77826985e-02 9.99768476e-01 1.21148272e-02 -1.92243251e-01] [ 3.33968002e-03 -1.20572820e-02 9.99921731e-01 -3.25543337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.131193817 meters Centerline goodness : 0.939136 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.19, Z:-3.26 [[ 9.99763049e-01 2.15241349e-02 -3.24929193e-03 3.21278018e+01] [-2.14688428e-02 9.99638464e-01 1.61873674e-02 -1.92762826e-01] [ 3.59653627e-03 -1.61137732e-02 9.99863696e-01 -3.25533951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.161193817 meters Centerline goodness : 0.939381 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.19, Z:-3.26 [[ 9.99672567e-01 2.53794558e-02 -3.26211716e-03 3.21280846e+01] [-2.53081713e-02 9.99473620e-01 2.02972581e-02 -1.93587820e-01] [ 3.77553341e-03 -2.02080539e-02 9.99788668e-01 -3.25548419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.191193817 meters Centerline goodness : 0.939640 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.19, Z:-3.26 [[ 9.99550361e-01 2.97998307e-02 -3.32340355e-03 3.21289778e+01] [-2.97122564e-02 9.99273717e-01 2.38583494e-02 -1.91394261e-01] [ 4.03196459e-03 -2.37488759e-02 9.99709825e-01 -3.25615142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.221193817 meters Centerline goodness : 0.939442 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.19, Z:-3.26 [[ 9.99419795e-01 3.39038530e-02 -3.25601298e-03 3.21290648e+01] [-3.38008842e-02 9.99044659e-01 2.76996420e-02 -1.90478634e-01] [ 4.19202697e-03 -2.75735145e-02 9.99610988e-01 -3.25609030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.251193817 meters Centerline goodness : 0.940067 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.19, Z:-3.26 [[ 9.99272223e-01 3.80044714e-02 -3.26871694e-03 3.21292892e+01] [-3.78835086e-02 9.98789683e-01 3.13689134e-02 -1.89226822e-01] [ 4.45691973e-03 -3.12222533e-02 9.99502530e-01 -3.25596829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28119381700003 meters Centerline goodness : 0.942590 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.19, Z:-3.26 [[ 9.99103031e-01 4.22132437e-02 -3.34305594e-03 3.21296007e+01] [-4.20707923e-02 9.98501983e-01 3.49833909e-02 -1.87819396e-01] [ 4.81481039e-03 -3.48113669e-02 9.99382302e-01 -3.25579004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.311193817 meters Centerline goodness : 0.942590 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.19, Z:-3.26 [[ 9.99104449e-01 4.21877053e-02 -3.23995241e-03 3.21295714e+01] [-4.20482063e-02 9.98498078e-01 3.51217254e-02 -1.87365547e-01] [ 4.71679126e-03 -3.49540380e-02 9.99377790e-01 -3.25538681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.341193817 meters Centerline goodness : 0.942009 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.18, Z:-3.26 [[ 9.98568318e-01 5.34577356e-02 1.89315233e-03 3.21288025e+01] [-5.34895701e-02 9.98191693e-01 2.74264480e-02 -1.83456561e-01] [-4.23573126e-04 -2.74884459e-02 9.99622032e-01 -3.25627711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.371193817 meters Centerline goodness : 0.942029 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.18, Z:-3.26 [[ 9.98522177e-01 5.43196193e-02 1.68566533e-03 3.21295356e+01] [-5.43454119e-02 9.98147492e-01 2.73525163e-02 -1.81835215e-01] [-1.96764344e-04 -2.74037023e-02 9.99624429e-01 -3.25662220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.401193817 meters Centerline goodness : 0.941498 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.18, Z:-3.26 [[ 9.98506250e-01 5.46206311e-02 1.36184011e-03 3.21305245e+01] [-5.46374537e-02 9.98134495e-01 2.72447938e-02 -1.81138079e-01] [ 1.28828243e-04 -2.72785044e-02 9.99627864e-01 -3.25711390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.431193817 meters Centerline goodness : 0.939370 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.18, Z:-3.26 [[ 9.98664010e-01 5.16719478e-02 4.52116406e-04 3.21331614e+01] [-5.16673040e-02 9.98357752e-01 2.47444641e-02 -1.84604560e-01] [ 8.27220739e-04 -2.47347654e-02 9.99693707e-01 -3.25883030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.461193817 meters Centerline goodness : 0.940138 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.18, Z:-3.26 [[ 9.98992974e-01 4.48653317e-02 -3.75155789e-04 3.21346076e+01] [-4.48519165e-02 9.98840518e-01 1.74907047e-02 -1.84913365e-01] [ 1.15944707e-03 -1.74562647e-02 9.99846956e-01 -3.25947446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.491193817 meters Centerline goodness : 0.939257 Centerline is valid? [False, False] Translation: X:32.15, Y:-0.19, Z:-3.26 [[ 9.99326304e-01 3.66825316e-02 1.15339782e-03 3.21534774e+01] [-3.67001831e-02 9.98979930e-01 2.63096054e-02 -1.89691231e-01] [-1.87118342e-04 -2.63342106e-02 9.99653177e-01 -3.25975018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.521193817 meters Centerline goodness : 0.939355 Centerline is valid? [False, False] Translation: X:32.17, Y:-0.20, Z:-3.25 [[ 9.99561730e-01 2.95898323e-02 8.88970288e-04 3.21671042e+01] [-2.96018589e-02 9.98782237e-01 3.94686318e-02 -1.95842923e-01] [ 2.79982462e-04 -3.94776491e-02 9.99220415e-01 -3.25352024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.551193817 meters Centerline goodness : 0.938813 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.20, Z:-3.24 [[ 9.99795464e-01 2.02087904e-02 -7.96629948e-04 3.21781239e+01] [-2.01434089e-02 9.98538091e-01 5.01589905e-02 -2.04314107e-01] [ 1.80911787e-03 -5.01326843e-02 9.98740928e-01 -3.24462967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.581193817 meters Centerline goodness : 0.939609 Centerline is valid? [False, False] Translation: X:32.16, Y:-0.21, Z:-3.24 [[ 9.99892097e-01 1.46643649e-02 8.66072862e-04 3.21649957e+01] [-1.46888376e-02 9.97364512e-01 7.10511604e-02 -2.11745163e-01] [ 1.78129808e-04 -7.10562154e-02 9.97472297e-01 -3.24216071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.611193817 meters Centerline goodness : 0.941571 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.22, Z:-3.24 [[ 9.99971457e-01 7.54552973e-03 3.88484427e-04 3.21335419e+01] [-7.55017045e-03 9.96005983e-01 8.89667198e-02 -2.16278006e-01] [ 2.84368216e-04 -8.89671135e-02 9.96034523e-01 -3.23696698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.641193817 meters Centerline goodness : 0.941953 Centerline is valid? [False, False] Translation: X:32.10, Y:-0.22, Z:-3.23 [[ 9.99975755e-01 5.83173541e-03 -3.80539526e-03 3.20990662e+01] [-5.50620185e-03 9.96733396e-01 8.05743102e-02 -2.15168930e-01] [ 4.26285259e-03 -8.05514034e-02 9.96741340e-01 -3.22988521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.671193817 meters Centerline goodness : 0.943157 Centerline is valid? [False, False] Translation: X:32.11, Y:-0.21, Z:-3.23 [[ 9.99984163e-01 4.82706431e-03 -2.89361174e-03 3.21052392e+01] [-4.67293132e-03 9.98682865e-01 5.10950025e-02 -2.12079052e-01] [ 3.13643933e-03 -5.10806717e-02 9.98689605e-01 -3.22858208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.701193817 meters Centerline goodness : 0.941447 Centerline is valid? [False, False] Translation: X:32.11, Y:-0.21, Z:-3.23 [[ 9.99985393e-01 5.33190068e-03 -8.85371659e-04 3.21121047e+01] [-5.29249472e-03 9.99195605e-01 3.97508846e-02 -2.10001061e-01] [ 1.09660724e-03 -3.97456181e-02 9.99209229e-01 -3.22703833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.731193817 meters Centerline goodness : 0.941311 Centerline is valid? [False, False] Translation: X:32.11, Y:-0.21, Z:-3.23 [[ 9.99984601e-01 5.46342463e-03 -9.74468963e-04 3.21122326e+01] [-5.42008011e-03 9.99185099e-01 3.99970037e-02 -2.10726839e-01] [ 1.19219548e-03 -3.99911061e-02 9.99199325e-01 -3.22692238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.761193817 meters Centerline goodness : 0.940591 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.21, Z:-3.23 [[ 9.99982288e-01 5.76421219e-03 1.48232305e-03 3.21193955e+01] [-5.80403309e-03 9.99578876e-01 2.84320937e-02 -2.10930406e-01] [-1.31781019e-03 -2.84401936e-02 9.99594627e-01 -3.22621882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.791193817 meters Centerline goodness : 0.940491 Centerline is valid? [False, False] Translation: X:32.11, Y:-0.21, Z:-3.23 [[ 9.99979335e-01 6.42374096e-03 -2.56013104e-04 3.21122105e+01] [-6.41835106e-03 9.99829751e-01 1.72995223e-02 -2.09534165e-01] [ 3.67097168e-04 -1.72975216e-02 9.99850319e-01 -3.22865618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.821193817 meters Centerline goodness : 0.937748 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.21, Z:-3.23 [[ 9.99974225e-01 6.45645373e-03 -3.14076024e-03 3.21186923e+01] [-6.40744754e-03 9.99861332e-01 1.53708121e-02 -2.10045401e-01] [ 3.23956565e-03 -1.53502917e-02 9.99876929e-01 -3.22941336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.851193817 meters Centerline goodness : 0.938937 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.21, Z:-3.23 [[ 9.99973505e-01 6.45313883e-03 -3.36840675e-03 3.21195534e+01] [-6.40002238e-03 9.99858632e-01 1.55485229e-02 -2.10584131e-01] [ 3.46826734e-03 -1.55265530e-02 9.99873441e-01 -3.23001125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.881193817 meters Centerline goodness : 0.936677 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.21, Z:-3.23 [[ 9.99984684e-01 3.79896804e-03 -4.02480844e-03 3.21225752e+01] [-3.74657334e-03 9.99909172e-01 1.29464610e-02 -2.11814750e-01] [ 4.07362606e-03 -1.29311835e-02 9.99908091e-01 -3.23224065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.911193817 meters Centerline goodness : 0.936420 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.21, Z:-3.23 [[ 9.99990882e-01 6.82168635e-05 -4.26975510e-03 3.21236015e+01] [-2.99480242e-05 9.99959838e-01 8.96219380e-03 -2.11346265e-01] [ 4.27019499e-03 -8.96198422e-03 9.99950723e-01 -3.23297216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.941193817 meters Centerline goodness : 0.936190 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.21, Z:-3.23 [[ 9.99984716e-01 -2.64299751e-03 -4.85618946e-03 3.21260830e+01] [ 2.67280979e-03 9.99977561e-01 6.14282902e-03 -2.11752630e-01] [ 4.83984501e-03 -6.15571481e-03 9.99969341e-01 -3.23464987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.971193817 meters Centerline goodness : 0.937731 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.21, Z:-3.24 [[ 9.99977967e-01 -3.98678174e-03 -5.30757935e-03 3.21285058e+01] [ 4.01317353e-03 9.99979591e-01 4.97114430e-03 -2.12170280e-01] [ 5.28765215e-03 -4.99233501e-03 9.99973558e-01 -3.23649996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.001193817 meters Centerline goodness : 0.935973 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.21, Z:-3.24 [[ 9.99972016e-01 -4.50598729e-03 -5.97194219e-03 3.21324965e+01] [ 4.53460442e-03 9.99978260e-01 4.78708407e-03 -2.14790116e-01] [ 5.95024182e-03 -4.81403050e-03 9.99970709e-01 -3.23986496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03119381700003 meters Centerline goodness : 0.935868 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.22, Z:-3.24 [[ 9.99971546e-01 -4.15113216e-03 -6.29882848e-03 3.21337480e+01] [ 4.18471577e-03 9.99977050e-01 5.32794454e-03 -2.16095899e-01] [ 6.27656693e-03 -5.35415175e-03 9.99965968e-01 -3.24076703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.061193817 meters Centerline goodness : 0.936168 Centerline is valid? [False, False] Translation: X:32.15, Y:-0.22, Z:-3.24 [[ 9.99988763e-01 -1.46568705e-03 -4.50841966e-03 3.21455277e+01] [ 1.45259826e-03 9.99994725e-01 -2.90509360e-03 -2.15458966e-01] [ 4.51265383e-03 2.89851203e-03 9.99985617e-01 -3.24292734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.091193817 meters Centerline goodness : 0.937187 Centerline is valid? [False, False] Translation: X:32.16, Y:-0.21, Z:-3.25 [[ 9.99996447e-01 1.85339545e-03 -1.91590341e-03 3.21566899e+01] [-1.87340355e-03 9.99943175e-01 -1.04946645e-02 -2.14064712e-01] [ 1.89634378e-03 1.04982165e-02 9.99943094e-01 -3.24535375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.121193817 meters Centerline goodness : 0.935980 Centerline is valid? [False, False] Translation: X:32.19, Y:-0.21, Z:-3.24 [[ 9.99984260e-01 3.92799102e-03 -4.00634925e-03 3.21850858e+01] [-4.00130802e-03 9.99821604e-01 -1.84593872e-02 -2.12303172e-01] [ 3.93312623e-03 1.84751273e-02 9.99821584e-01 -3.24370005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.151193817 meters Centerline goodness : 0.937945 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.22, Z:-3.24 [[ 9.99957547e-01 8.21977479e-03 -4.16401889e-03 3.21849785e+01] [-8.27337710e-03 9.99880965e-01 -1.30233636e-02 -2.17198037e-01] [ 4.05647411e-03 1.30572612e-02 9.99906522e-01 -3.24320487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.181193817 meters Centerline goodness : 0.936585 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.22, Z:-3.24 [[ 9.99952838e-01 8.74661901e-03 -4.22116967e-03 3.21847680e+01] [-8.79644723e-03 9.99890097e-01 -1.19338087e-02 -2.20278279e-01] [ 4.11632528e-03 1.19703772e-02 9.99919880e-01 -3.24280636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.211193817 meters Centerline goodness : 0.938697 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.22, Z:-3.24 [[ 9.99949905e-01 9.08868823e-03 -4.19314279e-03 3.21842861e+01] [-9.13457439e-03 9.99897146e-01 -1.10569493e-02 -2.22838567e-01] [ 4.09221835e-03 1.10946980e-02 9.99930078e-01 -3.24225865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.241193817 meters Centerline goodness : 0.941329 Centerline is valid? [False, False] Translation: X:32.19, Y:-0.23, Z:-3.24 [[ 9.99976376e-01 6.72859202e-03 -1.40498518e-03 3.21890524e+01] [-6.73084586e-03 9.99976059e-01 -1.60565339e-03 -2.27805077e-01] [ 1.39414776e-03 1.61507220e-03 9.99997724e-01 -3.23879002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.271193817 meters Centerline goodness : 0.938818 Centerline is valid? [False, False] Translation: X:32.19, Y:-0.23, Z:-3.24 [[ 9.99976408e-01 6.72037764e-03 -1.42097604e-03 3.21883701e+01] [-6.72201041e-03 9.99976749e-01 -1.14740844e-03 -2.29737022e-01] [ 1.41323198e-03 1.15693318e-03 9.99998332e-01 -3.23784991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.301193817 meters Centerline goodness : 0.938049 Centerline is valid? [False, False] Translation: X:32.19, Y:-0.23, Z:-3.24 [[ 9.99975530e-01 6.85518135e-03 -1.39472658e-03 3.21878427e+01] [-6.85589077e-03 9.99976371e-01 -5.04496654e-04 -2.32057786e-01] [ 1.39123521e-03 5.14046403e-04 9.99998900e-01 -3.23724953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.331193817 meters Centerline goodness : 0.938673 Centerline is valid? [False, False] Translation: X:32.22, Y:-0.23, Z:-3.24 [[ 9.99970352e-01 7.07586933e-03 -3.03767541e-03 3.22161782e+01] [-7.10629218e-03 9.99923500e-01 -1.01240163e-02 -2.32232514e-01] [ 2.96580682e-03 1.01453027e-02 9.99944137e-01 -3.23539783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.361193817 meters Centerline goodness : 0.936569 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.24, Z:-3.24 [[ 9.99962081e-01 6.76628146e-03 -5.48206395e-03 3.22388319e+01] [-6.81586683e-03 9.99935570e-01 -9.07739823e-03 -2.36841194e-01] [ 5.42029052e-03 9.11441905e-03 9.99943772e-01 -3.23639198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.391193817 meters Centerline goodness : 0.936045 Centerline is valid? [False, False] Translation: X:32.26, Y:-0.24, Z:-3.24 [[ 9.99947386e-01 9.16541191e-03 -4.60658477e-03 3.22595786e+01] [-9.26833350e-03 9.99696148e-01 -2.28409724e-02 -2.36947516e-01] [ 4.39583813e-03 2.28824660e-02 9.99728498e-01 -3.23835701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.421193817 meters Centerline goodness : 0.935162 Centerline is valid? [False, False] Translation: X:32.26, Y:-0.24, Z:-3.24 [[ 9.99943037e-01 9.49008110e-03 -4.88482433e-03 3.22606320e+01] [-9.59485264e-03 9.99714309e-01 -2.18915173e-02 -2.39870910e-01] [ 4.67567651e-03 2.19371394e-02 9.99748418e-01 -3.23909538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.451193817 meters Centerline goodness : 0.933253 Centerline is valid? [False, False] Translation: X:32.26, Y:-0.24, Z:-3.24 [[ 9.99946576e-01 8.81656933e-03 -5.39564313e-03 3.22634939e+01] [-8.93364160e-03 9.99716459e-01 -2.20724130e-02 -2.42218578e-01] [ 5.19951029e-03 2.21194365e-02 9.99741814e-01 -3.24145979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.481193817 meters Centerline goodness : 0.932113 Centerline is valid? [False, False] Translation: X:32.29, Y:-0.25, Z:-3.24 [[ 9.99925958e-01 9.13329001e-03 -8.04122727e-03 3.22880499e+01] [-9.28737871e-03 9.99769863e-01 -1.93382124e-02 -2.47904768e-01] [ 7.86275518e-03 1.94114625e-02 9.99780662e-01 -3.24425729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.511193817 meters Centerline goodness : 0.930856 Centerline is valid? [False, False] Translation: X:32.31, Y:-0.25, Z:-3.25 [[ 9.99930732e-01 8.67683350e-03 -7.95259318e-03 3.23096978e+01] [-8.83701357e-03 9.99754206e-01 -2.03330737e-02 -2.49589363e-01] [ 7.77421179e-03 2.04019425e-02 9.99761633e-01 -3.24528026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.541193817 meters Centerline goodness : 0.932439 Centerline is valid? [False, False] Translation: X:32.33, Y:-0.25, Z:-3.25 [[ 9.99920050e-01 1.01317934e-02 -7.56573544e-03 3.23306381e+01] [-1.02620904e-02 9.99796179e-01 -1.73864926e-02 -2.53570948e-01] [ 7.38803704e-03 1.74627429e-02 9.99820219e-01 -3.24599033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.571193817 meters Centerline goodness : 0.929536 Centerline is valid? [False, False] Translation: X:32.33, Y:-0.26, Z:-3.25 [[ 9.99913955e-01 1.03024684e-02 -8.12039777e-03 3.23334379e+01] [-1.04353099e-02 9.99809574e-01 -1.64900117e-02 -2.57978196e-01] [ 7.94896361e-03 1.65733317e-02 9.99831055e-01 -3.24817174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.601193817 meters Centerline goodness : 0.929252 Centerline is valid? [False, False] Translation: X:32.35, Y:-0.26, Z:-3.25 [[ 9.99936896e-01 7.72392611e-03 -8.15755959e-03 3.23549118e+01] [-7.89652950e-03 9.99741031e-01 -2.13428221e-02 -2.58230970e-01] [ 7.99059665e-03 2.14058916e-02 9.99738935e-01 -3.24946122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.631193817 meters Centerline goodness : 0.927122 Centerline is valid? [False, False] Translation: X:32.38, Y:-0.26, Z:-3.25 [[ 9.99926425e-01 8.85193459e-03 -8.29378458e-03 3.23766451e+01] [-9.00329138e-03 9.99790290e-01 -1.83933779e-02 -2.62847721e-01] [ 8.12922832e-03 1.84666959e-02 9.99796428e-01 -3.25059981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.661193817 meters Centerline goodness : 0.928877 Centerline is valid? [False, False] Translation: X:32.38, Y:-0.27, Z:-3.25 [[ 9.99919633e-01 9.35845599e-03 -8.55260996e-03 3.23769055e+01] [-9.49932114e-03 9.99817401e-01 -1.65809694e-02 -2.69832952e-01] [ 8.39587598e-03 1.66608808e-02 9.99825947e-01 -3.25033765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.691193817 meters Centerline goodness : 0.929312 Centerline is valid? [False, False] Translation: X:32.40, Y:-0.27, Z:-3.25 [[ 9.99949998e-01 6.83419625e-03 -7.30039400e-03 3.23974379e+01] [-6.99207900e-03 9.99737365e-01 -2.18245805e-02 -2.70021144e-01] [ 7.14932320e-03 2.18745342e-02 9.99735161e-01 -3.25170364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.721193817 meters Centerline goodness : 0.930343 Centerline is valid? [False, False] Translation: X:32.42, Y:-0.27, Z:-3.25 [[ 9.99933878e-01 7.51890888e-03 -8.70086560e-03 3.24208440e+01] [-7.69682089e-03 9.99758210e-01 -2.05980756e-02 -2.73172390e-01] [ 8.54388677e-03 2.06636826e-02 9.99749976e-01 -3.25348334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.751193817 meters Centerline goodness : 0.931089 Centerline is valid? [False, False] Translation: X:32.43, Y:-0.28, Z:-3.25 [[ 9.99894908e-01 6.89618456e-03 -1.27521162e-02 3.24295617e+01] [-7.09741013e-03 9.99849944e-01 -1.58024359e-02 -2.76297954e-01] [ 1.26412262e-02 1.58912822e-02 9.99793812e-01 -3.25210413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78119381700003 meters Centerline goodness : 0.930333 Centerline is valid? [False, False] Translation: X:32.44, Y:-0.28, Z:-3.26 [[ 9.99957827e-01 4.41364443e-03 -8.05377208e-03 3.24411879e+01] [-4.48247212e-03 9.99953418e-01 -8.54807465e-03 -2.83756323e-01] [ 8.01566875e-03 8.58381496e-03 9.99931031e-01 -3.25526925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.811193817 meters Centerline goodness : 0.930725 Centerline is valid? [False, False] Translation: X:32.46, Y:-0.29, Z:-3.26 [[ 9.99984774e-01 2.57111838e-03 -4.88275690e-03 3.24592519e+01] [-2.62802380e-03 9.99928287e-01 -1.16839296e-02 -2.86028688e-01] [ 4.85236597e-03 1.16965837e-02 9.99919819e-01 -3.25523537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.841193817 meters Centerline goodness : 0.932155 Centerline is valid? [False, False] Translation: X:32.47, Y:-0.29, Z:-3.26 [[ 9.99998370e-01 1.20322872e-03 1.34614284e-03 3.24714788e+01] [-1.19651722e-03 9.99986906e-01 -4.97547414e-03 -2.91396172e-01] [-1.35211184e-03 4.97385535e-03 9.99986716e-01 -3.25908509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.871193817 meters Centerline goodness : 0.933767 Centerline is valid? [False, False] Translation: X:32.47, Y:-0.29, Z:-3.26 [[ 9.99998436e-01 1.39152153e-03 1.09132442e-03 3.24720968e+01] [-1.38695893e-03 9.99990342e-01 -4.17046056e-03 -2.94286900e-01] [-1.09711716e-03 4.16894041e-03 9.99990708e-01 -3.25918399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.901193817 meters Centerline goodness : 0.933385 Centerline is valid? [False, False] Translation: X:32.47, Y:-0.30, Z:-3.26 [[ 9.99999583e-01 8.27727400e-04 3.86727886e-04 3.24746361e+01] [-8.26076785e-04 9.99990632e-01 -4.24899619e-03 -2.97878685e-01] [-3.90241274e-04 4.24867495e-03 9.99990898e-01 -3.26058489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.931193817 meters Centerline goodness : 0.934743 Centerline is valid? [False, False] Translation: X:32.49, Y:-0.30, Z:-3.26 [[ 9.99990800e-01 2.70247644e-03 3.33121463e-03 3.24859684e+01] [-2.65806539e-03 9.99908485e-01 -1.32648879e-02 -2.97954288e-01] [-3.36675782e-03 1.32559113e-02 9.99906469e-01 -3.26345607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.961193817 meters Centerline goodness : 0.935762 Centerline is valid? [False, False] Translation: X:32.51, Y:-0.30, Z:-3.26 [[ 9.99986370e-01 2.97188824e-03 4.29283446e-03 3.25069977e+01] [-2.90688459e-03 9.99882215e-01 -1.50700500e-02 -2.98154612e-01] [-4.33711533e-03 1.50573658e-02 9.99877225e-01 -3.26469855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.991193817 meters Centerline goodness : 0.936870 Centerline is valid? [False, False] Translation: X:32.53, Y:-0.30, Z:-3.26 [[ 9.99962993e-01 5.25835592e-03 6.80900817e-03 3.25259795e+01] [-5.16311334e-03 9.99889635e-01 -1.39305630e-02 -3.01758103e-01] [-6.88150855e-03 1.38948918e-02 9.99879781e-01 -3.26455172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.021193817 meters Centerline goodness : 0.937416 Centerline is valid? [False, False] Translation: X:32.55, Y:-0.30, Z:-3.26 [[ 9.99970283e-01 6.37701710e-03 4.33215686e-03 3.25524116e+01] [-6.27425940e-03 9.99708059e-01 -2.33330503e-02 -3.01644311e-01] [-4.47968738e-03 2.33051758e-02 9.99718361e-01 -3.26216518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.051193817 meters Centerline goodness : 0.936380 Centerline is valid? [False, False] Translation: X:32.57, Y:-0.30, Z:-3.26 [[ 9.99968773e-01 6.93091079e-03 3.79687432e-03 3.25745355e+01] [-6.83463898e-03 9.99668887e-01 -2.48073334e-02 -3.03197577e-01] [-3.96755454e-03 2.47806085e-02 9.99685040e-01 -3.26382491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.081193817 meters Centerline goodness : 0.936669 Centerline is valid? [False, False] Translation: X:32.58, Y:-0.31, Z:-3.26 [[ 9.99964814e-01 7.61442376e-03 3.52010738e-03 3.25755945e+01] [-7.52859809e-03 9.99688782e-01 -2.37835996e-02 -3.05461201e-01] [-3.70011027e-03 2.37562613e-02 9.99710933e-01 -3.26460505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.111193817 meters Centerline goodness : 0.934968 Centerline is valid? [False, False] Translation: X:32.60, Y:-0.31, Z:-3.27 [[ 9.99957347e-01 9.18561364e-03 9.64004902e-04 3.25977786e+01] [-9.16188708e-03 9.99710293e-01 -2.22573628e-02 -3.09347762e-01] [-1.16817316e-03 2.22475814e-02 9.99751809e-01 -3.26518283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.141193817 meters Centerline goodness : 0.934624 Centerline is valid? [False, False] Translation: X:32.60, Y:-0.32, Z:-3.27 [[ 9.99949849e-01 9.99597773e-03 6.17063698e-04 3.25990381e+01] [-9.98176068e-03 9.99753108e-01 -1.98516343e-02 -3.16850976e-01] [-8.15347844e-04 1.98444793e-02 9.99802746e-01 -3.26609062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.171193817 meters Centerline goodness : 0.936844 Centerline is valid? [False, False] Translation: X:32.60, Y:-0.32, Z:-3.27 [[ 9.99945305e-01 1.04517808e-02 3.83996843e-04 3.25997141e+01] [-1.04428471e-02 9.99772968e-01 -1.85730684e-02 -3.20688599e-01] [-5.78031303e-04 1.85680426e-02 9.99827432e-01 -3.26641982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.201193817 meters Centerline goodness : 0.936844 Centerline is valid? [False, False] Translation: X:32.60, Y:-0.32, Z:-3.27 [[ 9.99945464e-01 1.04357687e-02 4.05008649e-04 3.25996881e+01] [-1.04264458e-02 9.99773082e-01 -1.85761712e-02 -3.20686090e-01] [-5.98773372e-04 1.85709353e-02 9.99827366e-01 -3.26642341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.231193817 meters Centerline goodness : 0.935903 Centerline is valid? [False, False] Translation: X:32.62, Y:-0.32, Z:-3.27 [[ 9.99948491e-01 1.01417890e-02 -3.99587059e-04 3.26217810e+01] [-1.01475873e-02 9.99764600e-01 -1.91773331e-02 -3.24224320e-01] [ 2.05000530e-04 1.91804002e-02 9.99816018e-01 -3.26771526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.261193817 meters Centerline goodness : 0.935977 Centerline is valid? [False, False] Translation: X:32.62, Y:-0.33, Z:-3.27 [[ 9.99941832e-01 1.07686795e-02 -6.07200360e-04 3.26222218e+01] [-1.07777351e-02 9.99785515e-01 -1.76851439e-02 -3.28529204e-01] [ 4.16624478e-04 1.76906594e-02 9.99843421e-01 -3.26779527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.291193817 meters Centerline goodness : 0.935823 Centerline is valid? [False, False] Translation: X:32.62, Y:-0.34, Z:-3.27 [[ 9.99922191e-01 1.24435063e-02 -8.78661751e-04 3.26228975e+01] [-1.24550295e-02 9.99815480e-01 -1.46246043e-02 -3.36535935e-01] [ 6.96518264e-04 1.46344101e-02 9.99892669e-01 -3.26815462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.321193817 meters Centerline goodness : 0.934709 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.34, Z:-3.27 [[ 9.99891796e-01 1.47005132e-02 -5.38773895e-04 3.26447026e+01] [-1.47064030e-02 9.99802503e-01 -1.33669841e-02 -3.39891278e-01] [ 3.42165963e-04 1.33734611e-02 9.99910513e-01 -3.26960192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.351193817 meters Centerline goodness : 0.933812 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.34, Z:-3.27 [[ 9.99878673e-01 1.55588712e-02 -7.49268363e-04 3.26448015e+01] [-1.55667950e-02 9.99805754e-01 -1.20884143e-02 -3.42454480e-01] [ 5.61040740e-04 1.20986114e-02 9.99926652e-01 -3.26920123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.381193817 meters Centerline goodness : 0.934863 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.35, Z:-3.27 [[ 9.99867873e-01 1.62414224e-02 -6.72728034e-04 3.26443025e+01] [-1.62478027e-02 9.99808368e-01 -1.09195186e-02 -3.45602342e-01] [ 4.95250603e-04 1.09290062e-02 9.99940154e-01 -3.26867576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.411193817 meters Centerline goodness : 0.933379 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.36, Z:-3.27 [[ 9.99848640e-01 1.73772477e-02 -8.53825848e-04 3.26431888e+01] [-1.73838608e-02 9.99813022e-01 -8.46895716e-03 -3.55364322e-01] [ 7.06499034e-04 8.48251808e-03 9.99963773e-01 -3.26693437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.441193817 meters Centerline goodness : 0.932795 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.36, Z:-3.27 [[ 9.99897143e-01 1.43103158e-02 -9.58058750e-04 3.26428836e+01] [-1.43201836e-02 9.99834315e-01 -1.12372400e-02 -3.58213716e-01] [ 7.97091561e-04 1.12498037e-02 9.99936401e-01 -3.26648243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.471193817 meters Centerline goodness : 0.934638 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.36, Z:-3.27 [[ 9.99913206e-01 1.30924623e-02 -1.47241112e-03 3.26449011e+01] [-1.31087893e-02 9.99845772e-01 -1.16872487e-02 -3.62425579e-01] [ 1.31916917e-03 1.17055358e-02 9.99930618e-01 -3.26774886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.501193817 meters Centerline goodness : 0.933698 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.37, Z:-3.27 [[ 9.99947636e-01 1.00823392e-02 -1.75283127e-03 3.26457772e+01] [-1.01045036e-02 9.99862705e-01 -1.31327813e-02 -3.69340739e-01] [ 1.62018146e-03 1.31498051e-02 9.99912225e-01 -3.26822666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53119381700003 meters Centerline goodness : 0.934070 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.37, Z:-3.27 [[ 9.99949780e-01 9.77386013e-03 -2.21584515e-03 3.26474036e+01] [-9.80065999e-03 9.99874777e-01 -1.24248653e-02 -3.73301416e-01] [ 2.09412877e-03 1.24459581e-02 9.99920353e-01 -3.26912159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.561193817 meters Centerline goodness : 0.933456 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.38, Z:-3.27 [[ 9.99952108e-01 9.42078015e-03 -2.65155136e-03 3.26492900e+01] [-9.45202132e-03 9.99882996e-01 -1.20272059e-02 -3.76941622e-01] [ 2.53793546e-03 1.20516924e-02 9.99924155e-01 -3.27036760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.591193817 meters Centerline goodness : 0.929741 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.38, Z:-3.27 [[ 9.99948219e-01 9.76660388e-03 -2.85880048e-03 3.26500806e+01] [-9.79737575e-03 9.99891989e-01 -1.09554554e-02 -3.80688377e-01] [ 2.75149411e-03 1.09828969e-02 9.99935901e-01 -3.27083675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.621193817 meters Centerline goodness : 0.933668 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.39, Z:-3.27 [[ 9.99940636e-01 1.03920283e-02 -3.27558168e-03 3.26517747e+01] [-1.04230949e-02 9.99899456e-01 -9.61439572e-03 -3.88084613e-01] [ 3.17533927e-03 9.64796668e-03 9.99948416e-01 -3.27205688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.651193817 meters Centerline goodness : 0.931808 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.39, Z:-3.27 [[ 9.99931992e-01 1.11391201e-02 -3.45414804e-03 3.26524772e+01] [-1.11675586e-02 9.99902976e-01 -8.32614661e-03 -3.91425979e-01] [ 3.36106695e-03 8.36415477e-03 9.99959371e-01 -3.27253678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.681193817 meters Centerline goodness : 0.931132 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.39, Z:-3.27 [[ 9.99925610e-01 1.16404933e-02 -3.64323087e-03 3.26533472e+01] [-1.16669097e-02 9.99905178e-01 -7.31556988e-03 -3.94500560e-01] [ 3.55772857e-03 7.35753092e-03 9.99966604e-01 -3.27319193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.711193817 meters Centerline goodness : 0.932268 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.40, Z:-3.27 [[ 9.99917997e-01 1.21574096e-02 -4.02451216e-03 3.26546270e+01] [-1.21817920e-02 9.99907251e-01 -6.09044025e-03 -3.98098001e-01] [ 3.95009492e-03 6.13896659e-03 9.99973355e-01 -3.27399453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.741193817 meters Centerline goodness : 0.930579 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.41, Z:-3.28 [[ 9.99908411e-01 1.27678673e-02 -4.48895533e-03 3.26568542e+01] [-1.27884215e-02 9.99907734e-01 -4.58036278e-03 -4.05881907e-01] [ 4.43005969e-03 4.63734992e-03 9.99979435e-01 -3.27568209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.771193817 meters Centerline goodness : 0.930172 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.41, Z:-3.28 [[ 9.99899949e-01 1.33784454e-02 -4.59453213e-03 3.26571339e+01] [-1.33937328e-02 9.99904812e-01 -3.31281613e-03 -4.09716627e-01] [ 4.54977446e-03 3.37402262e-03 9.99983958e-01 -3.27571019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.801193817 meters Centerline goodness : 0.929230 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.41, Z:-3.28 [[ 9.99887623e-01 1.49858715e-02 4.05784358e-04 3.26697583e+01] [-1.49800587e-02 9.99818507e-01 -1.17707436e-02 -4.10640868e-01] [-5.82105561e-04 1.17633421e-02 9.99930640e-01 -3.28061422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.831193817 meters Centerline goodness : 0.931143 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.42, Z:-3.28 [[ 9.99858872e-01 1.67307950e-02 1.52208053e-03 3.26894270e+01] [-1.67062278e-02 9.99748964e-01 -1.49301797e-02 -4.16336869e-01] [-1.77149221e-03 1.49026444e-02 9.99887380e-01 -3.28330929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.861193817 meters Centerline goodness : 0.928789 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.42, Z:-3.28 [[ 9.99841058e-01 1.77750980e-02 1.37980142e-03 3.26902793e+01] [-1.77550926e-02 9.99753065e-01 -1.33628664e-02 -4.20480631e-01] [-1.61698695e-03 1.33362440e-02 9.99909761e-01 -3.28409185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.891193817 meters Centerline goodness : 0.927426 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.42, Z:-3.28 [[ 9.99820489e-01 1.89106551e-02 1.17364411e-03 3.26911097e+01] [-1.88958065e-02 9.99754353e-01 -1.15837219e-02 -4.24815970e-01] [-1.39241158e-03 1.15594655e-02 9.99932218e-01 -3.28472458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.921193817 meters Centerline goodness : 0.927310 Centerline is valid? [False, False] Translation: X:32.70, Y:-0.43, Z:-3.28 [[ 9.99769428e-01 2.13996484e-02 -1.77348776e-03 3.26970143e+01] [-2.14064383e-02 9.99763240e-01 -3.90233600e-03 -4.31507092e-01] [ 1.68955925e-03 3.93940029e-03 9.99990813e-01 -3.28168072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.951193817 meters Centerline goodness : 0.929865 Centerline is valid? [False, False] Translation: X:32.70, Y:-0.44, Z:-3.28 [[ 9.99729226e-01 2.32102779e-02 -1.66052664e-03 3.26963821e+01] [-2.32119227e-02 9.99730088e-01 -9.78201602e-04 -4.41591122e-01] [ 1.63737411e-03 1.01648075e-03 9.99998143e-01 -3.28120942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.981193817 meters Centerline goodness : 0.928500 Centerline is valid? [False, False] Translation: X:32.70, Y:-0.45, Z:-3.28 [[ 9.99795259e-01 2.01610758e-02 -1.72368240e-03 3.26961271e+01] [-2.01670265e-02 9.99790472e-01 -3.50762833e-03 -4.45787500e-01] [ 1.65260368e-03 3.54167172e-03 9.99992363e-01 -3.28094523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.011193817 meters Centerline goodness : 0.929938 Centerline is valid? [False, False] Translation: X:32.70, Y:-0.45, Z:-3.28 [[ 9.99854628e-01 1.69601686e-02 -1.75391255e-03 3.26958916e+01] [-1.69701168e-02 9.99839047e-01 -5.82188533e-03 -4.51112310e-01] [ 1.65489009e-03 5.85080309e-03 9.99981515e-01 -3.28069648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.041193817 meters Centerline goodness : 0.934465 Centerline is valid? [False, False] Translation: X:32.70, Y:-0.46, Z:-3.28 [[ 9.99907912e-01 1.34247112e-02 -1.98588609e-03 3.26963305e+01] [-1.34406820e-02 9.99875551e-01 -8.26015104e-03 -4.56857613e-01] [ 1.87474880e-03 8.28608205e-03 9.99963912e-01 -3.28071192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.071193817 meters Centerline goodness : 0.936042 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.47, Z:-3.28 [[ 9.99993666e-01 2.63343770e-03 -2.39436536e-03 3.26872629e+01] [-2.63293842e-03 9.99996511e-01 2.11652628e-04 -4.72396532e-01] [ 2.39491438e-03 -2.05347071e-04 9.99997111e-01 -3.27598599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.101193817 meters Centerline goodness : 0.938078 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.48, Z:-3.28 [[ 9.99993862e-01 -2.05659738e-03 -2.83656075e-03 3.26894199e+01] [ 2.04691811e-03 9.99992088e-01 -3.41101790e-03 -4.77102641e-01] [ 2.84355339e-03 3.40519076e-03 9.99990159e-01 -3.27743033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.131193817 meters Centerline goodness : 0.938953 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.48, Z:-3.28 [[ 9.99977775e-01 -5.90730747e-03 -3.09086743e-03 3.26904646e+01] [ 5.88846541e-03 9.99964240e-01 -6.07003653e-03 -4.82069589e-01] [ 3.12661447e-03 6.05170115e-03 9.99976800e-01 -3.27789967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.161193817 meters Centerline goodness : 0.941809 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.49, Z:-3.28 [[ 9.99946781e-01 -9.79740383e-03 -3.23205789e-03 3.26914836e+01] [ 9.76847051e-03 9.99913128e-01 -8.84949246e-03 -4.86925013e-01] [ 3.31847917e-03 8.81744923e-03 9.99955619e-01 -3.27860926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.191193817 meters Centerline goodness : 0.940564 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.50, Z:-3.28 [[ 9.99842745e-01 -1.74431633e-02 -3.19712254e-03 3.26929515e+01] [ 1.73945048e-02 9.99741181e-01 -1.46629622e-02 -4.95696272e-01] [ 3.45206350e-03 1.46050440e-02 9.99887382e-01 -3.27996507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.221193817 meters Centerline goodness : 0.942052 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.50, Z:-3.28 [[ 9.99770260e-01 -2.11970019e-02 -3.18040735e-03 3.26932974e+01] [ 2.11367883e-02 9.99616300e-01 -1.79021894e-02 -4.98361373e-01] [ 3.55865977e-03 1.78308529e-02 9.99834685e-01 -3.28024008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.251193817 meters Centerline goodness : 0.942236 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.50, Z:-3.28 [[ 9.99761705e-01 -2.15502076e-02 -3.48171916e-03 3.26942961e+01] [ 2.14872917e-02 9.99621217e-01 -1.71964781e-02 -5.02377797e-01] [ 3.85098801e-03 1.71175675e-02 9.99846068e-01 -3.28039814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28119381700003 meters Centerline goodness : 0.939917 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.51, Z:-3.28 [[ 9.99763458e-01 -2.14482308e-02 -3.60580402e-03 3.26943698e+01] [ 2.13875172e-02 9.99641485e-01 -1.61082515e-02 -5.06233609e-01] [ 3.95000478e-03 1.60273220e-02 9.99863752e-01 -3.27995321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.311193817 meters Centerline goodness : 0.946405 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.51, Z:-3.28 [[ 9.99766315e-01 -2.13385675e-02 -3.46124544e-03 3.26940627e+01] [ 2.12861178e-02 9.99667665e-01 -1.45416875e-02 -5.11785717e-01] [ 3.77039392e-03 1.44646128e-02 9.99888273e-01 -3.27944204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.341193817 meters Centerline goodness : 0.944252 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.51, Z:-3.28 [[ 9.99770063e-01 -2.11378832e-02 -3.60713801e-03 3.26942822e+01] [ 2.10863116e-02 9.99682666e-01 -1.37816737e-02 -5.14064167e-01] [ 3.89730875e-03 1.37024436e-02 9.99898522e-01 -3.27925363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.371193817 meters Centerline goodness : 0.946734 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.52, Z:-3.28 [[ 9.99775939e-01 -2.08261306e-02 -3.78728095e-03 3.26945584e+01] [ 2.07751694e-02 9.99699246e-01 -1.30311251e-02 -5.16121004e-01] [ 4.05752982e-03 1.29495239e-02 9.99907919e-01 -3.27908799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.401193817 meters Centerline goodness : 0.946071 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.52, Z:-3.28 [[ 9.99841221e-01 -1.73957523e-02 -3.86272369e-03 3.26948585e+01] [ 1.73628215e-02 9.99813959e-01 -8.40115127e-03 -5.19904060e-01] [ 4.00814942e-03 8.33274956e-03 9.99957249e-01 -3.27882143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.431193817 meters Centerline goodness : 0.947897 Centerline is valid? [False, False] Translation: X:32.70, Y:-0.52, Z:-3.28 [[ 9.99897828e-01 -1.36643447e-02 -4.19757018e-03 3.26959818e+01] [ 1.36489004e-02 9.99900055e-01 -3.68621313e-03 -5.23685177e-01] [ 4.24752033e-03 3.62854428e-03 9.99984396e-01 -3.27920727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.461193817 meters Centerline goodness : 0.949053 Centerline is valid? [False, False] Translation: X:32.71, Y:-0.52, Z:-3.28 [[ 9.99949596e-01 -1.00370836e-02 -2.49271276e-04 3.27089940e+01] [ 1.00337049e-02 9.99888238e-01 -1.10831797e-02 -5.22822871e-01] [ 3.60486218e-04 1.10801200e-02 9.99938549e-01 -3.28411747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.491193817 meters Centerline goodness : 0.950078 Centerline is valid? [False, True] Translation: X:32.71, Y:-0.52, Z:-3.28 [[ 9.99981517e-01 -6.05269542e-03 -5.74191306e-04 3.27096317e+01] [ 6.04882481e-03 9.99960457e-01 -6.51885367e-03 -5.24847815e-01] [ 6.13625237e-04 6.51526001e-03 9.99978587e-01 -3.28397528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.521193817 meters Centerline goodness : 0.949534 Centerline is valid? [True, False] Translation: X:32.72, Y:-0.52, Z:-3.29 [[ 9.99991545e-01 -1.83509630e-03 3.68010266e-03 3.27220676e+01] [ 1.88471196e-03 9.99906766e-01 -1.35243004e-02 -5.23372961e-01] [-3.65494116e-03 1.35311220e-02 9.99901770e-01 -3.28845252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.551193817 meters Centerline goodness : 0.947865 Centerline is valid? [False, False] Translation: X:32.72, Y:-0.52, Z:-3.29 [[ 9.99993672e-01 1.62118479e-03 3.16658290e-03 3.27241253e+01] [-1.58899080e-03 9.99947296e-01 -1.01429842e-02 -5.22609452e-01] [-3.18285966e-03 1.01378884e-02 9.99943545e-01 -3.28985923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.581193817 meters Centerline goodness : 0.947238 Centerline is valid? [False, False] Translation: X:32.73, Y:-0.52, Z:-3.29 [[ 9.99989201e-01 3.93251729e-03 2.47671987e-03 3.27271882e+01] [-3.91370159e-03 9.99963790e-01 -7.55659427e-03 -5.23036514e-01] [-2.50634662e-03 7.54681952e-03 9.99968381e-01 -3.29184814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.611193817 meters Centerline goodness : 0.947440 Centerline is valid? [False, False] Translation: X:32.73, Y:-0.52, Z:-3.29 [[ 9.99989749e-01 3.92539483e-03 2.25675815e-03 3.27279689e+01] [-3.90781508e-03 9.99962393e-01 -7.74215922e-03 -5.22483521e-01] [-2.28706431e-03 7.73326087e-03 9.99967482e-01 -3.29237643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.641193817 meters Centerline goodness : 0.947245 Centerline is valid? [False, False] Translation: X:32.73, Y:-0.52, Z:-3.29 [[ 9.99991707e-01 3.56617565e-03 1.96675438e-03 3.27290101e+01] [-3.55000718e-03 9.99960372e-01 -8.16400599e-03 -5.22004236e-01] [-1.99579072e-03 8.15695630e-03 9.99964740e-01 -3.29298791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.671193817 meters Centerline goodness : 0.948687 Centerline is valid? [False, False] Translation: X:32.73, Y:-0.52, Z:-3.29 [[ 9.99993517e-01 3.17807560e-03 1.69270608e-03 3.27296035e+01] [-3.16368432e-03 9.99959396e-01 -8.43781727e-03 -5.22081424e-01] [-1.71945337e-03 8.43240738e-03 9.99962968e-01 -3.29296741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.701193817 meters Centerline goodness : 0.949955 Centerline is valid? [False, False] Translation: X:32.73, Y:-0.52, Z:-3.29 [[ 9.99994447e-01 2.97359764e-03 1.50426162e-03 3.27298162e+01] [-2.96054209e-03 9.99958567e-01 -8.60806665e-03 -5.22031890e-01] [-1.52979622e-03 8.60356543e-03 9.99961818e-01 -3.29266869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.731193817 meters Centerline goodness : 0.948275 Centerline is valid? [False, False] Translation: X:32.73, Y:-0.52, Z:-3.29 [[ 9.99994066e-01 3.14752124e-03 1.40009932e-03 3.27295637e+01] [-3.13553939e-03 9.99959134e-01 -8.47928106e-03 -5.21774934e-01] [-1.42673082e-03 8.47484068e-03 9.99963070e-01 -3.29200150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.761193817 meters Centerline goodness : 0.950019 Centerline is valid? [False, True] Translation: X:32.73, Y:-0.52, Z:-3.29 [[ 9.99993762e-01 3.33586795e-03 1.16101967e-03 3.27298846e+01] [-3.32562433e-03 9.99956487e-01 -8.71580035e-03 -5.20837685e-01] [-1.19004391e-03 8.71188487e-03 9.99961343e-01 -3.29194294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.791193817 meters Centerline goodness : 0.950548 Centerline is valid? [True, True] Translation: X:32.76, Y:-0.52, Z:-3.29 [[ 9.99993643e-01 3.52480892e-03 5.37543318e-04 3.27609664e+01] [-3.52481092e-03 9.99993788e-01 2.75739509e-06 -5.24234956e-01] [-5.37530259e-04 -4.65211611e-06 9.99999856e-01 -3.28995379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.821193817 meters Centerline goodness : 0.949589 Centerline is valid? [True, False] Translation: X:32.76, Y:-0.52, Z:-3.29 [[ 9.99994500e-01 3.29459948e-03 3.82431584e-04 3.27614901e+01] [-3.29450983e-03 9.99994546e-01 -2.34831049e-04 -5.24316643e-01] [-3.83203172e-04 2.33569832e-04 9.99999899e-01 -3.29018093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.851193817 meters Centerline goodness : 0.949584 Centerline is valid? [False, False] Translation: X:32.76, Y:-0.53, Z:-3.29 [[ 9.99995946e-01 2.83852817e-03 2.25364770e-04 3.27620204e+01] [-2.83845030e-03 9.99995912e-01 -3.45080928e-04 -5.25626710e-01] [-2.26343370e-04 3.44439842e-04 9.99999915e-01 -3.29031622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.881193817 meters Centerline goodness : 0.950849 Centerline is valid? [False, True] Translation: X:32.76, Y:-0.53, Z:-3.29 [[ 9.99996919e-01 2.48215813e-03 -3.98440146e-05 3.27630699e+01] [-2.48218152e-03 9.99996740e-01 -5.98211892e-04 -5.25738537e-01] [ 3.83590282e-05 5.98308949e-04 9.99999820e-01 -3.29094784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.911193817 meters Centerline goodness : 0.949525 Centerline is valid? [True, False] Translation: X:32.76, Y:-0.53, Z:-3.29 [[ 9.99998150e-01 1.89318485e-03 -3.40688321e-04 3.27646634e+01] [-1.89360347e-03 9.99997447e-01 -1.23262751e-03 -5.25327046e-01] [ 3.38353859e-04 1.23327036e-03 9.99999182e-01 -3.29225424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.941193817 meters Centerline goodness : 0.949172 Centerline is valid? [False, False] Translation: X:32.77, Y:-0.53, Z:-3.29 [[ 9.99998448e-01 1.66067303e-03 -5.87747309e-04 3.27658392e+01] [-1.66151599e-03 9.99997588e-01 -1.43665030e-03 -5.25792553e-01] [ 5.85360085e-04 1.43762463e-03 9.99998795e-01 -3.29315879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.971193817 meters Centerline goodness : 0.949177 Centerline is valid? [False, False] Translation: X:32.77, Y:-0.53, Z:-3.29 [[ 9.99998209e-01 1.69248084e-03 -8.47636961e-04 3.27666687e+01] [-1.69356684e-03 9.99997744e-01 -1.28213700e-03 -5.26881521e-01] [ 8.45465056e-04 1.28357023e-03 9.99998819e-01 -3.29355748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.001193817 meters Centerline goodness : 0.950161 Centerline is valid? [False, True] Translation: X:32.77, Y:-0.53, Z:-3.30 [[ 9.99990413e-01 4.13099819e-03 -1.45230730e-03 3.27690385e+01] [-4.12948826e-03 9.99990932e-01 1.04113818e-03 -5.29087482e-01] [ 1.45659507e-03 -1.03513091e-03 9.99998403e-01 -3.29513663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03119381700003 meters Centerline goodness : 0.948822 Centerline is valid? [True, False] Translation: X:32.77, Y:-0.53, Z:-3.30 [[ 9.99989322e-01 4.34657608e-03 -1.56930588e-03 3.27697228e+01] [-4.34510709e-03 9.99990120e-01 9.38276169e-04 -5.28434427e-01] [ 1.57336867e-03 -9.31447348e-04 9.99998328e-01 -3.29589064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.061193817 meters Centerline goodness : 0.951245 Centerline is valid? [False, True] Translation: X:32.77, Y:-0.53, Z:-3.30 [[ 9.99986482e-01 4.93030256e-03 -1.65139687e-03 3.27704382e+01] [-4.92809500e-03 9.99986961e-01 1.33819746e-03 -5.29155802e-01] [ 1.65797306e-03 -1.33004113e-03 9.99997741e-01 -3.29688996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.091193817 meters Centerline goodness : 0.951245 Centerline is valid? [True, True] Translation: X:32.80, Y:-0.53, Z:-3.30 [[ 9.99986084e-01 5.01538169e-03 -1.63663601e-03 3.28022184e+01] [-5.01541527e-03 9.99987423e-01 -1.64125425e-05 -5.28328221e-01] [ 1.63653311e-03 2.46207233e-05 9.99998661e-01 -3.29845150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.121193817 meters Centerline goodness : 0.948587 Centerline is valid? [True, False] Translation: X:32.80, Y:-0.53, Z:-3.30 [[ 9.99987015e-01 4.66215520e-03 -2.05751696e-03 3.28040036e+01] [-4.66238680e-03 9.99989125e-01 -1.07781145e-04 -5.29833836e-01] [ 2.05699209e-03 1.17372685e-04 9.99997878e-01 -3.29964898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.151193817 meters Centerline goodness : 0.949640 Centerline is valid? [False, False] Translation: X:32.81, Y:-0.53, Z:-3.30 [[ 9.99989411e-01 3.80645143e-03 -2.58628093e-03 3.28061865e+01] [-3.80759465e-03 9.99992655e-01 -4.37251870e-04 -5.31955818e-01] [ 2.58459756e-03 4.47094749e-04 9.99996560e-01 -3.30094641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.181193817 meters Centerline goodness : 0.950709 Centerline is valid? [False, True] Translation: X:32.81, Y:-0.53, Z:-3.30 [[ 9.99993776e-01 1.65807592e-03 -3.11419062e-03 3.28085498e+01] [-1.66500399e-03 9.99996142e-01 -2.22340331e-03 -5.34171190e-01] [ 3.11049204e-03 2.22857461e-03 9.99992679e-01 -3.30243020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.211193817 meters Centerline goodness : 0.952535 Centerline is valid? [True, True] Translation: X:32.84, Y:-0.54, Z:-3.30 [[ 9.99982857e-01 -4.75864993e-03 -3.41199799e-03 3.28380670e+01] [ 4.75854664e-03 9.99988677e-01 -3.83902578e-05 -5.40604449e-01] [ 3.41214205e-03 2.21534481e-05 9.99994178e-01 -3.29951063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.241193817 meters Centerline goodness : 0.952961 Centerline is valid? [True, True] Translation: X:32.87, Y:-0.54, Z:-3.30 [[ 9.99963954e-01 -7.69711233e-03 -3.58402898e-03 3.28661500e+01] [ 7.69700611e-03 9.99970377e-01 -4.34293358e-05 -5.43141561e-01] [ 3.58425709e-03 1.58414774e-05 9.99993576e-01 -3.30017732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.271193817 meters Centerline goodness : 0.953444 Centerline is valid? [True, True] Translation: X:32.89, Y:-0.54, Z:-3.30 [[ 9.99942965e-01 -1.00463794e-02 -3.62438391e-03 3.28942146e+01] [ 1.00462576e-02 9.99949534e-01 -5.18172391e-05 -5.44952144e-01] [ 3.62472157e-03 1.54027894e-05 9.99993431e-01 -3.29990572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.301193817 meters Centerline goodness : 0.952291 Centerline is valid? [True, True] Translation: X:32.92, Y:-0.55, Z:-3.30 [[ 9.99928549e-01 -1.16662576e-02 -2.60662352e-03 3.29224753e+01] [ 1.16661901e-02 9.99931947e-01 -4.11135747e-05 -5.45863869e-01] [ 2.60692577e-03 1.07012717e-05 9.99996602e-01 -3.30076898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.331193817 meters Centerline goodness : 0.955824 Centerline is valid? [True, True] Translation: X:32.95, Y:-0.55, Z:-3.30 [[ 9.99930769e-01 -1.17083895e-02 -1.17061387e-03 3.29503477e+01] [ 1.17083680e-02 9.99931454e-01 -2.51793072e-05 -5.48228003e-01] [ 1.17082843e-03 1.14715861e-05 9.99999315e-01 -3.30178086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.361193817 meters Centerline goodness : 0.953331 Centerline is valid? [True, True] Translation: X:32.98, Y:-0.55, Z:-3.30 [[ 9.99936473e-01 -1.11968349e-02 -1.29667935e-03 3.29782360e+01] [ 1.11968091e-02 9.99937313e-01 -2.71544640e-05 -5.49607097e-01] [ 1.29690211e-03 1.26340679e-05 9.99999159e-01 -3.30194142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.391193817 meters Centerline goodness : 0.954586 Centerline is valid? [True, True] Translation: X:33.01, Y:-0.55, Z:-3.30 [[ 9.99947751e-01 -1.01952066e-02 7.44254106e-04 3.30053617e+01] [ 1.01952062e-02 9.99948028e-01 4.36726292e-06 -5.51055326e-01] [-7.44259950e-04 3.22078931e-06 9.99999723e-01 -3.30272849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.421193817 meters Centerline goodness : 0.957080 Centerline is valid? [True, True] Translation: X:33.03, Y:-0.55, Z:-3.30 [[ 9.99958879e-01 -8.84857112e-03 1.98567440e-03 3.30321273e+01] [ 8.84854856e-03 9.99960851e-01 2.01498645e-05 -5.52636219e-01] [-1.98577496e-03 -2.57869957e-06 9.99998028e-01 -3.30263040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.451193817 meters Centerline goodness : 0.956794 Centerline is valid? [True, True] Translation: X:33.06, Y:-0.55, Z:-3.30 [[ 9.99968911e-01 -7.48955041e-03 2.46670979e-03 3.30604197e+01] [ 7.48952263e-03 9.99971953e-01 2.04976510e-05 -5.53495716e-01] [-2.46679413e-03 -2.02253493e-06 9.99996957e-01 -3.30290211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.481193817 meters Centerline goodness : 0.956303 Centerline is valid? [True, True] Translation: X:33.09, Y:-0.55, Z:-3.30 [[ 9.99976721e-01 -6.53612434e-03 1.95878216e-03 3.30896187e+01] [ 6.53610555e-03 9.99978639e-01 1.59945738e-05 -5.54086943e-01] [-1.95884487e-03 -3.19139444e-06 9.99998081e-01 -3.30425679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.511193817 meters Centerline goodness : 0.954101 Centerline is valid? [True, True] Translation: X:33.12, Y:-0.56, Z:-3.31 [[ 9.99993059e-01 -3.71461713e-03 2.89558213e-04 3.31185622e+01] [ 3.71461677e-03 9.99993101e-01 1.75319519e-06 -5.56203893e-01] [-2.89562727e-04 -6.77585231e-07 9.99999958e-01 -3.30522785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.541193817 meters Centerline goodness : 0.955160 Centerline is valid? [True, True] Translation: X:33.15, Y:-0.56, Z:-3.31 [[ 9.99995524e-01 -2.88766430e-03 -7.83252493e-04 3.31477217e+01] [ 2.88765602e-03 9.99995831e-01 -1.17087690e-05 -5.56389745e-01] [ 7.83283039e-04 9.44695284e-06 9.99999693e-01 -3.30676808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.571193817 meters Centerline goodness : 0.957086 Centerline is valid? [True, True] Translation: X:33.18, Y:-0.56, Z:-3.31 [[ 9.99996816e-01 -1.96244214e-03 -1.58630420e-03 3.31776316e+01] [ 1.96240906e-03 9.99998074e-01 -2.24130883e-05 -5.56900871e-01] [ 1.58634513e-03 1.93000392e-05 9.99998742e-01 -3.30879251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.601193817 meters Centerline goodness : 0.954997 Centerline is valid? [True, True] Translation: X:33.21, Y:-0.56, Z:-3.31 [[ 9.99992658e-01 -1.86018492e-03 -3.35016658e-03 3.32077965e+01] [ 1.86004136e-03 9.99998269e-01 -4.59679905e-05 -5.62198943e-01] [ 3.35024629e-03 3.97362046e-05 9.99994387e-01 -3.30910873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.631193817 meters Centerline goodness : 0.955128 Centerline is valid? [True, True] Translation: X:33.24, Y:-0.56, Z:-3.31 [[ 9.99989388e-01 -3.24679081e-03 -3.26826074e-03 3.32363994e+01] [ 3.24665638e-03 9.99994729e-01 -4.64366235e-05 -5.64370378e-01] [ 3.26839428e-03 3.58252111e-05 9.99994658e-01 -3.30978544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.661193817 meters Centerline goodness : 0.955680 Centerline is valid? [True, True] Translation: X:33.26, Y:-0.57, Z:-3.31 [[ 9.99979735e-01 -4.95325974e-03 -3.99942182e-03 3.32643739e+01] [ 4.95303806e-03 9.99987731e-01 -6.53312752e-05 -5.66229590e-01] [ 3.99969636e-03 4.55206627e-05 9.99992000e-01 -3.30989539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.691193817 meters Centerline goodness : 0.956644 Centerline is valid? [True, True] Translation: X:33.29, Y:-0.57, Z:-3.31 [[ 9.99967251e-01 -7.27841858e-03 -3.53866981e-03 3.32927179e+01] [ 7.27825182e-03 9.99973511e-01 -6.00010002e-05 -5.67154390e-01] [ 3.53901278e-03 3.42437052e-05 9.99993737e-01 -3.31268107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.721193817 meters Centerline goodness : 0.954924 Centerline is valid? [True, True] Translation: X:33.32, Y:-0.57, Z:-3.31 [[ 9.99897071e-01 -1.34309944e-02 -5.04546306e-03 3.33211734e+01] [ 1.34307925e-02 9.99909800e-01 -7.38970831e-05 -5.70807443e-01] [ 5.04600047e-03 6.12490945e-06 9.99987269e-01 -3.31434604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.751193817 meters Centerline goodness : 0.956039 Centerline is valid? [True, True] Translation: X:33.35, Y:-0.57, Z:-3.32 [[ 9.99839362e-01 -1.72326288e-02 -4.92807270e-03 3.33485582e+01] [ 1.72324523e-02 9.99851507e-01 -7.82737330e-05 -5.73269421e-01] [ 4.92868978e-03 -6.66161855e-06 9.99987854e-01 -3.31586169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78119381700003 meters Centerline goodness : 0.954874 Centerline is valid? [True, True] Translation: X:33.38, Y:-0.58, Z:-3.32 [[ 9.99775450e-01 -2.04528796e-02 -5.54345747e-03 3.33753456e+01] [ 2.04527230e-02 9.99790818e-01 -8.49404245e-05 -5.76002894e-01] [ 5.54403516e-03 -2.84574491e-05 9.99984631e-01 -3.31614852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.811193817 meters Centerline goodness : 0.956173 Centerline is valid? [True, True] Translation: X:33.40, Y:-0.58, Z:-3.32 [[ 9.99608032e-01 -2.78743219e-02 -2.60850710e-03 3.34023893e+01] [ 2.78742986e-02 9.99611435e-01 -4.52960819e-05 -5.80407228e-01] [ 2.60875613e-03 -2.74319786e-05 9.99996597e-01 -3.31601851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.841193817 meters Centerline goodness : 0.958134 Centerline is valid? [True, True] Translation: X:33.43, Y:-0.58, Z:-3.32 [[ 9.99515931e-01 -3.10670241e-02 -1.65634392e-03 3.34303297e+01] [ 3.10670088e-02 9.99517303e-01 -3.49366938e-05 -5.81563157e-01] [ 1.65662978e-03 -1.65378690e-05 9.99998628e-01 -3.31661602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.871193817 meters Centerline goodness : 0.959412 Centerline is valid? [True, True] Translation: X:33.46, Y:-0.58, Z:-3.32 [[ 9.99387608e-01 -3.49915430e-02 3.05035977e-05 3.34582550e+01] [ 3.49915434e-02 9.99387608e-01 -9.64238217e-06 -5.81309272e-01] [-3.01475158e-05 1.07038452e-05 9.99999999e-01 -3.31816769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.901193817 meters Centerline goodness : 0.957729 Centerline is valid? [True, True] Translation: X:33.49, Y:-0.58, Z:-3.32 [[ 9.99273557e-01 -3.81060954e-02 -5.32899103e-04 3.34850222e+01] [ 3.81060941e-02 9.99273699e-01 -1.25787081e-05 -5.81175600e-01] [ 5.32991384e-04 -7.73713301e-06 9.99999858e-01 -3.31833365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.931193817 meters Centerline goodness : 0.958401 Centerline is valid? [True, True] Translation: X:33.51, Y:-0.58, Z:-3.32 [[ 9.99187357e-01 -4.03023587e-02 -5.87476845e-04 3.35123061e+01] [ 4.03023577e-02 9.99187530e-01 -1.34416564e-05 -5.80809125e-01] [ 5.87541268e-04 -1.02459688e-05 9.99999827e-01 -3.31925651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.961193817 meters Centerline goodness : 0.959837 Centerline is valid? [True, True] Translation: X:33.54, Y:-0.58, Z:-3.32 [[ 9.99002285e-01 -4.46159832e-02 -1.96156535e-03 3.35405670e+01] [ 4.46159876e-02 9.99004210e-01 -4.15562239e-05 -5.78528646e-01] [ 1.96146611e-03 -4.60024125e-05 9.99998075e-01 -3.31916031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.991193817 meters Centerline goodness : 0.958923 Centerline is valid? [True, True] Translation: X:33.57, Y:-0.58, Z:-3.32 [[ 9.98949016e-01 -4.58012919e-02 -1.76212355e-03 3.35687843e+01] [ 4.58012932e-02 9.98950569e-01 -3.95926194e-05 -5.76834556e-01] [ 1.76208772e-03 -4.11565294e-05 9.99998447e-01 -3.31958090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.021193817 meters Centerline goodness : 0.959457 Centerline is valid? [True, True] Translation: X:33.60, Y:-0.57, Z:-3.32 [[ 9.98835185e-01 -4.82105656e-02 -2.00364221e-03 3.35968852e+01] [ 4.82105727e-02 9.98837193e-01 -4.47938433e-05 -5.74059779e-01] [ 2.00347189e-03 -5.18550716e-05 9.99997992e-01 -3.31986681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.051193817 meters Centerline goodness : 0.958791 Centerline is valid? [True, True] Translation: X:33.62, Y:-0.57, Z:-3.32 [[ 9.98732484e-01 -5.03063102e-02 -1.64306276e-03 3.36235687e+01] [ 5.03063249e-02 9.98733835e-01 -3.23923207e-05 -5.71114813e-01] [ 1.64261191e-03 -5.03051863e-05 9.99998650e-01 -3.32055520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.081193817 meters Centerline goodness : 0.960840 Centerline is valid? [True, True] Translation: X:33.65, Y:-0.56, Z:-3.32 [[ 9.98548517e-01 -5.38515205e-02 -9.34643560e-04 3.36517058e+01] [ 5.38515186e-02 9.98548954e-01 -2.71970639e-05 -5.63801887e-01] [ 9.34751952e-04 -2.31743872e-05 9.99999563e-01 -3.32241517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.111193817 meters Centerline goodness : 0.959829 Centerline is valid? [True, True] Translation: X:33.68, Y:-0.56, Z:-3.32 [[ 9.98431797e-01 -5.59547249e-02 -1.73660694e-03 3.36802185e+01] [ 5.59547372e-02 9.98433306e-01 -4.15225854e-05 -5.59765741e-01] [ 1.73620959e-03 -5.57139152e-05 9.99998491e-01 -3.32288169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.141193817 meters Centerline goodness : 0.958091 Centerline is valid? [True, True] Translation: X:33.71, Y:-0.56, Z:-3.32 [[ 9.98295961e-01 -5.83520408e-02 -4.62243068e-04 3.37073048e+01] [ 5.83520397e-02 9.98296068e-01 -1.58635441e-05 -5.55628902e-01] [ 4.62381107e-04 -1.11363138e-05 9.99999893e-01 -3.32380771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.171193817 meters Centerline goodness : 0.958708 Centerline is valid? [True, True] Translation: X:33.74, Y:-0.55, Z:-3.32 [[ 9.98137031e-01 -6.10120170e-02 -1.61259134e-05 3.37350339e+01] [ 6.10120169e-02 9.98137032e-01 -1.15500232e-05 -5.50906456e-01] [ 1.68005616e-05 1.05446314e-05 1.00000000e+00 -3.32483841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.201193817 meters Centerline goodness : 0.960000 Centerline is valid? [True, True] Translation: X:33.76, Y:-0.54, Z:-3.33 [[ 9.97803687e-01 -6.62357459e-02 7.92578240e-04 3.37622475e+01] [ 6.62357593e-02 9.97804001e-01 9.37406931e-06 -5.40865962e-01] [-7.91458637e-04 4.31435406e-05 9.99999686e-01 -3.32674905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.231193817 meters Centerline goodness : 0.959231 Centerline is valid? [True, True] Translation: X:33.79, Y:-0.54, Z:-3.33 [[ 9.97652210e-01 -6.84726789e-02 1.24934761e-03 3.37894911e+01] [ 6.84727101e-02 9.97652990e-01 1.78045863e-05 -5.35623935e-01] [-1.24763450e-03 6.77834317e-05 9.99999219e-01 -3.32801756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.261193817 meters Centerline goodness : 0.958664 Centerline is valid? [True, True] Translation: X:33.82, Y:-0.53, Z:-3.33 [[ 9.97531155e-01 -7.01791920e-02 2.54460887e-03 3.38176682e+01] [ 7.01793279e-02 9.97534391e-01 3.59622384e-05 -5.30131232e-01] [-2.54085866e-03 1.42705487e-04 9.99996762e-01 -3.32926605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.291193817 meters Centerline goodness : 0.958108 Centerline is valid? [True, True] Translation: X:33.84, Y:-0.52, Z:-3.33 [[ 9.97598131e-01 -6.91343044e-02 4.29153495e-03 3.38449102e+01] [ 6.91346196e-02 9.97607337e-01 7.50300158e-05 -5.18598639e-01] [-4.28645390e-03 2.21843833e-04 9.99990789e-01 -3.32939821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.321193817 meters Centerline goodness : 0.957678 Centerline is valid? [True, True] Translation: X:33.87, Y:-0.51, Z:-3.33 [[ 9.97739624e-01 -6.70931796e-02 3.76140826e-03 3.38732350e+01] [ 6.70934293e-02 9.97746695e-01 5.99169197e-05 -5.11224246e-01] [-3.75695268e-03 1.92584294e-04 9.99992924e-01 -3.32999647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.351193817 meters Centerline goodness : 0.956987 Centerline is valid? [True, True] Translation: X:33.90, Y:-0.50, Z:-3.33 [[ 9.97975437e-01 -6.34593533e-02 4.23525919e-03 3.39001031e+01] [ 6.34596016e-02 9.97984405e-01 7.58587634e-05 -5.03310461e-01] [-4.23153657e-03 1.93062678e-04 9.99991028e-01 -3.33189366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.381193817 meters Centerline goodness : 0.955077 Centerline is valid? [True, True] Translation: X:33.93, Y:-0.49, Z:-3.33 [[ 9.98251501e-01 -5.89957529e-02 3.66627088e-03 3.39281863e+01] [ 5.89959282e-02 9.98258222e-01 6.04168868e-05 -4.94775284e-01] [-3.66344939e-03 1.55983806e-04 9.99993277e-01 -3.33342580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.411193817 meters Centerline goodness : 0.954076 Centerline is valid? [True, True] Translation: X:33.96, Y:-0.49, Z:-3.34 [[ 9.98510725e-01 -5.45252287e-02 1.82529001e-03 3.39564201e+01] [ 5.45252750e-02 9.98512390e-01 2.44437545e-05 -4.85599251e-01] [-1.82390749e-03 7.51170887e-05 9.99998334e-01 -3.33515852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.441193817 meters Centerline goodness : 0.953239 Centerline is valid? [True, True] Translation: X:33.98, Y:-0.47, Z:-3.34 [[ 9.99031222e-01 -4.40049711e-02 4.23125732e-04 3.39841403e+01] [ 4.40049763e-02 9.99031312e-01 -3.02662553e-06 -4.70980511e-01] [-4.22582669e-04 2.16433312e-05 9.99999910e-01 -3.33812495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.471193817 meters Centerline goodness : 0.950557 Centerline is valid? [True, True] Translation: X:34.01, Y:-0.46, Z:-3.34 [[ 9.99209207e-01 -3.97532197e-02 -8.01171772e-04 3.40113916e+01] [ 3.97532155e-02 9.99209528e-01 -2.11239975e-05 -4.63718285e-01] [ 8.01378215e-04 -1.07418614e-05 9.99999679e-01 -3.33947054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.501193817 meters Centerline goodness : 0.951105 Centerline is valid? [True, True] Translation: X:34.04, Y:-0.46, Z:-3.34 [[ 9.99336673e-01 -3.63868400e-02 -1.48722857e-03 3.40391214e+01] [ 3.63868183e-02 9.99337780e-01 -4.17109448e-05 -4.56352074e-01] [ 1.48776143e-03 -1.24322390e-05 9.99998893e-01 -3.34204890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53119381700003 meters Centerline goodness : 0.947868 Centerline is valid? [True, False] Translation: X:34.06, Y:-0.44, Z:-3.35 [[ 9.99486475e-01 -3.19986635e-02 1.69455145e-03 3.40561653e+01] [ 3.20093894e-02 9.99464882e-01 -6.73414946e-03 -4.42173679e-01] [-1.47816089e-03 6.78493286e-03 9.99975890e-01 -3.34756562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.561193817 meters Centerline goodness : 0.949379 Centerline is valid? [False, False] Translation: X:34.06, Y:-0.44, Z:-3.35 [[ 9.99584033e-01 -2.88189940e-02 1.10776842e-03 3.40570632e+01] [ 2.88231767e-02 9.99576658e-01 -3.96601016e-03 -4.38968624e-01] [-9.93003030e-04 3.99628984e-03 9.99991522e-01 -3.34749084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.591193817 meters Centerline goodness : 0.946876 Centerline is valid? [False, False] Translation: X:34.07, Y:-0.43, Z:-3.35 [[ 9.99636430e-01 -2.61493106e-02 6.57430800e-03 3.40677331e+01] [ 2.62324915e-02 9.99572610e-01 -1.29016609e-02 -4.32045186e-01] [-6.23412867e-03 1.30694307e-02 9.99895157e-01 -3.35132570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.621193817 meters Centerline goodness : 0.946733 Centerline is valid? [False, False] Translation: X:34.08, Y:-0.42, Z:-3.35 [[ 9.99686881e-01 -2.23714630e-02 1.12096730e-02 3.40827603e+01] [ 2.25553509e-02 9.99608506e-01 -1.65556724e-02 -4.23304308e-01] [-1.08349099e-02 1.68033266e-02 9.99800106e-01 -3.35279667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.651193817 meters Centerline goodness : 0.946436 Centerline is valid? [False, False] Translation: X:34.08, Y:-0.42, Z:-3.35 [[ 9.99687714e-01 -2.24466480e-02 1.09828629e-02 3.40831290e+01] [ 2.26351528e-02 9.99593208e-01 -1.73513348e-02 -4.20442522e-01] [-1.05889159e-02 1.75945150e-02 9.99789132e-01 -3.35275184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.681193817 meters Centerline goodness : 0.947414 Centerline is valid? [False, False] Translation: X:34.08, Y:-0.42, Z:-3.35 [[ 9.99756896e-01 -1.93916721e-02 1.04934223e-02 3.40839901e+01] [ 1.95385986e-02 9.99709882e-01 -1.40852540e-02 -4.19872366e-01] [-1.02172413e-02 1.42868566e-02 9.99845735e-01 -3.35258149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.711193817 meters Centerline goodness : 0.947585 Centerline is valid? [False, False] Translation: X:34.10, Y:-0.42, Z:-3.35 [[ 9.99766108e-01 -1.68378292e-02 1.35726174e-02 3.41018845e+01] [ 1.70712404e-02 9.99705137e-01 -1.72688293e-02 -4.16688397e-01] [-1.32778457e-02 1.74964916e-02 9.99758757e-01 -3.35409565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.741193817 meters Centerline goodness : 0.947043 Centerline is valid? [False, False] Translation: X:34.10, Y:-0.41, Z:-3.35 [[ 9.99821969e-01 -1.33604167e-02 1.33240448e-02 3.41022148e+01] [ 1.35541067e-02 9.99802213e-01 -1.45540930e-02 -4.12362831e-01] [-1.31269608e-02 1.47320974e-02 9.99805305e-01 -3.35404687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.771193817 meters Centerline goodness : 0.946776 Centerline is valid? [False, False] Translation: X:34.12, Y:-0.41, Z:-3.36 [[ 9.99871002e-01 -9.27964029e-03 1.31098104e-02 3.41233306e+01] [ 9.47156243e-03 9.99847761e-01 -1.46541441e-02 -4.10889276e-01] [-1.29718294e-02 1.47764241e-02 9.99806676e-01 -3.35538932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.801193817 meters Centerline goodness : 0.946965 Centerline is valid? [False, False] Translation: X:34.14, Y:-0.41, Z:-3.36 [[ 9.99865762e-01 -6.40676960e-03 1.50801506e-02 3.41426602e+01] [ 6.66482300e-03 9.99831151e-01 -1.71245307e-02 -4.08833775e-01] [-1.49678914e-02 1.72227384e-02 9.99739636e-01 -3.35726604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.831193817 meters Centerline goodness : 0.946167 Centerline is valid? [False, False] Translation: X:34.14, Y:-0.41, Z:-3.36 [[ 9.99872640e-01 -5.72138756e-03 1.48986289e-02 3.41425840e+01] [ 5.97190973e-03 9.99840611e-01 -1.68252742e-02 -4.08390037e-01] [-1.47999903e-02 1.69121046e-02 9.99747439e-01 -3.35680878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.861193817 meters Centerline goodness : 0.948300 Centerline is valid? [False, False] Translation: X:34.14, Y:-0.41, Z:-3.36 [[ 9.99877679e-01 -5.68563419e-03 1.45705545e-02 3.41434046e+01] [ 5.92680363e-03 9.99845267e-01 -1.65624598e-02 -4.09305940e-01] [-1.44741318e-02 1.66467906e-02 9.99756662e-01 -3.35703778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.891193817 meters Centerline goodness : 0.945993 Centerline is valid? [False, False] Translation: X:34.14, Y:-0.41, Z:-3.36 [[ 9.99880919e-01 -6.13573657e-03 1.41597916e-02 3.41448203e+01] [ 6.37167231e-03 9.99840613e-01 -1.66778554e-02 -4.10147410e-01] [-1.40552038e-02 1.67660909e-02 9.99760646e-01 -3.35782824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.921193817 meters Centerline goodness : 0.945492 Centerline is valid? [False, False] Translation: X:34.15, Y:-0.41, Z:-3.36 [[ 9.99885243e-01 -6.37536705e-03 1.37424688e-02 3.41462555e+01] [ 6.60183239e-03 9.99842114e-01 -1.64973498e-02 -4.11316940e-01] [-1.36351224e-02 1.65861821e-02 9.99769464e-01 -3.35862381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.951193817 meters Centerline goodness : 0.945842 Centerline is valid? [False, False] Translation: X:34.17, Y:-0.41, Z:-3.36 [[ 9.99927376e-01 -4.86240554e-03 1.10272320e-02 3.41694181e+01] [ 5.04680382e-03 9.99846865e-01 -1.67563691e-02 -4.14046686e-01] [-1.09440671e-02 1.68108044e-02 9.99798792e-01 -3.36027721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.981193817 meters Centerline goodness : 0.945435 Centerline is valid? [False, False] Translation: X:34.17, Y:-0.42, Z:-3.36 [[ 9.99903484e-01 -8.63217600e-03 1.08861260e-02 3.41701302e+01] [ 8.84809449e-03 9.99761934e-01 -1.99446100e-02 -4.16870193e-01] [-1.07113690e-02 2.00390065e-02 9.99741819e-01 -3.36081934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.011193817 meters Centerline goodness : 0.945435 Centerline is valid? [False, False] Translation: X:34.17, Y:-0.42, Z:-3.36 [[ 9.99903484e-01 -8.63217600e-03 1.08861260e-02 3.41701302e+01] [ 8.84809449e-03 9.99761934e-01 -1.99446100e-02 -4.16870193e-01] [-1.07113690e-02 2.00390065e-02 9.99741819e-01 -3.36081934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.041193817 meters Centerline goodness : 0.945754 Centerline is valid? [False, False] Translation: X:34.17, Y:-0.42, Z:-3.36 [[ 9.99901355e-01 -9.58514229e-03 1.02667018e-02 3.41726050e+01] [ 9.79092998e-03 9.99748318e-01 -2.01850874e-02 -4.18863758e-01] [-1.00706410e-02 2.02836168e-02 9.99743546e-01 -3.36234610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.071193817 meters Centerline goodness : 0.945178 Centerline is valid? [False, False] Translation: X:34.20, Y:-0.42, Z:-3.36 [[ 9.99933192e-01 -9.19441095e-03 7.00531582e-03 3.41957441e+01] [ 9.34408037e-03 9.99722146e-01 -2.16406895e-02 -4.21603160e-01] [-6.80439597e-03 2.17047019e-02 9.99741270e-01 -3.36398545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.101193817 meters Centerline goodness : 0.945675 Centerline is valid? [False, False] Translation: X:34.20, Y:-0.42, Z:-3.37 [[ 9.99890755e-01 -1.31593790e-02 6.73112526e-03 3.41974333e+01] [ 1.33233507e-02 9.99600538e-01 -2.49249369e-02 -4.24836144e-01] [-6.40043974e-03 2.50118952e-02 9.99666664e-01 -3.36539106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.131193817 meters Centerline goodness : 0.945289 Centerline is valid? [False, False] Translation: X:34.20, Y:-0.43, Z:-3.36 [[ 9.99895081e-01 -1.29870591e-02 6.41585547e-03 3.41977973e+01] [ 1.31366291e-02 9.99629279e-01 -2.38481398e-02 -4.28322086e-01] [-6.10375978e-03 2.39299204e-02 9.99695005e-01 -3.36490664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.161193817 meters Centerline goodness : 0.946049 Centerline is valid? [False, False] Translation: X:34.20, Y:-0.43, Z:-3.36 [[ 9.99899102e-01 -1.28278728e-02 6.10181068e-03 3.41983509e+01] [ 1.29648431e-02 9.99652217e-01 -2.29642546e-02 -4.31186569e-01] [-5.80510604e-03 2.30410466e-02 9.99717666e-01 -3.36469362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.191193817 meters Centerline goodness : 0.945723 Centerline is valid? [False, False] Translation: X:34.20, Y:-0.43, Z:-3.36 [[ 9.99904244e-01 -1.25316059e-02 5.87042406e-03 3.41985894e+01] [ 1.26579568e-02 9.99677731e-01 -2.20047925e-02 -4.33849399e-01] [-5.59277681e-03 2.20769930e-02 9.99740630e-01 -3.36430334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.221193817 meters Centerline goodness : 0.947030 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.44, Z:-3.36 [[ 9.99925034e-01 -1.01841456e-02 6.79769060e-03 3.42186254e+01] [ 1.03275029e-02 9.99717690e-01 -2.13981814e-02 -4.37370018e-01] [-6.57784935e-03 2.14667804e-02 9.99747923e-01 -3.36476248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.251193817 meters Centerline goodness : 0.947826 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.44, Z:-3.36 [[ 9.99929568e-01 -9.66449421e-03 6.88893360e-03 3.42180679e+01] [ 9.80019157e-03 9.99753064e-01 -1.99441061e-02 -4.41036723e-01] [-6.69448277e-03 2.00102142e-02 9.99777363e-01 -3.36413304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28119381700003 meters Centerline goodness : 0.946593 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.44, Z:-3.36 [[ 9.99932351e-01 -9.49576845e-03 6.71741709e-03 3.42183051e+01] [ 9.62413138e-03 9.99766605e-01 -1.93419788e-02 -4.42920730e-01] [-6.53218233e-03 1.94053196e-02 9.99790360e-01 -3.36391088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.311193817 meters Centerline goodness : 0.947929 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.44, Z:-3.36 [[ 9.99936294e-01 -9.17890862e-03 6.56936162e-03 3.42182372e+01] [ 9.29950597e-03 9.99784338e-01 -1.85686916e-02 -4.44827078e-01] [-6.39750454e-03 1.86286005e-02 9.99806005e-01 -3.36330147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.341193817 meters Centerline goodness : 0.946526 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.45, Z:-3.36 [[ 9.99939058e-01 -8.97165844e-03 6.43342673e-03 3.42183326e+01] [ 9.08594865e-03 9.99797394e-01 -1.79615325e-02 -4.46409273e-01] [-6.27097854e-03 1.80188917e-02 9.99817981e-01 -3.36301682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.371193817 meters Centerline goodness : 0.946500 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.45, Z:-3.36 [[ 9.99939916e-01 -8.98699720e-03 6.27676986e-03 3.42180968e+01] [ 9.09228796e-03 9.99814953e-01 -1.69525851e-02 -4.49436811e-01] [-6.12325552e-03 1.70086367e-02 9.99836593e-01 -3.36193546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.401193817 meters Centerline goodness : 0.946233 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.45, Z:-3.36 [[ 9.99938321e-01 -9.30060744e-03 6.07062693e-03 3.42187750e+01] [ 9.40149352e-03 9.99814546e-01 -1.68073332e-02 -4.50525227e-01] [-5.91318269e-03 1.68633695e-02 9.99840318e-01 -3.36218598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.431193817 meters Centerline goodness : 0.946396 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.45, Z:-3.36 [[ 9.99936191e-01 -9.68885948e-03 5.80858062e-03 3.42195471e+01] [ 9.78467033e-03 9.99812673e-01 -1.66996894e-02 -4.51514206e-01] [-5.64569157e-03 1.67554589e-02 9.99843678e-01 -3.36238556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.461193817 meters Centerline goodness : 0.946482 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.45, Z:-3.36 [[ 9.99934172e-01 -1.01019710e-02 5.44080274e-03 3.42204331e+01] [ 1.01908754e-02 9.99810801e-01 -1.65682984e-02 -4.52671497e-01] [-5.27240087e-03 1.66226543e-02 9.99847933e-01 -3.36246767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.491193817 meters Centerline goodness : 0.944127 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.45, Z:-3.36 [[ 9.99922984e-01 -1.10824736e-02 5.58618329e-03 3.42202028e+01] [ 1.11739597e-02 9.99799421e-01 -1.66211014e-02 -4.53709762e-01] [-5.40085990e-03 1.66822411e-02 9.99846255e-01 -3.36201206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.521193817 meters Centerline goodness : 0.942820 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.45, Z:-3.36 [[ 9.99917362e-01 -1.16971133e-02 5.33362890e-03 3.42208628e+01] [ 1.17864830e-02 9.99785264e-01 -1.70441984e-02 -4.53024822e-01] [-5.13311566e-03 1.71056546e-02 9.99840511e-01 -3.36208339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.551193817 meters Centerline goodness : 0.945301 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.45, Z:-3.36 [[ 9.99911289e-01 -1.23783863e-02 4.91840121e-03 3.42218582e+01] [ 1.24622882e-02 9.99770748e-01 -1.74109766e-02 -4.52755114e-01] [-4.70175386e-03 1.74707266e-02 9.99836320e-01 -3.36218385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.581193817 meters Centerline goodness : 0.946594 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.45, Z:-3.36 [[ 9.99889610e-01 -1.40564321e-02 4.81498185e-03 3.42226223e+01] [ 1.41424266e-02 9.99732197e-01 -1.83173586e-02 -4.52276473e-01] [-4.55621568e-03 1.83834320e-02 9.99820629e-01 -3.36242149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.611193817 meters Centerline goodness : 0.945779 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.45, Z:-3.36 [[ 9.99879842e-01 -1.48416763e-02 4.47515790e-03 3.42238473e+01] [ 1.49240946e-02 9.99708413e-01 -1.89831680e-02 -4.51163136e-01] [-4.19211096e-03 1.90476747e-02 9.99809788e-01 -3.36307486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.641193817 meters Centerline goodness : 0.945383 Centerline is valid? [False, False] Translation: X:34.25, Y:-0.45, Z:-3.37 [[ 9.99895093e-01 -1.43059277e-02 2.26792113e-03 3.42465698e+01] [ 1.43515870e-02 9.99663923e-01 -2.15887464e-02 -4.50663405e-01] [-1.95831188e-03 2.16190299e-02 9.99764364e-01 -3.36506107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.671193817 meters Centerline goodness : 0.943617 Centerline is valid? [False, False] Translation: X:34.25, Y:-0.45, Z:-3.37 [[ 9.99883679e-01 -1.51358168e-02 1.88017457e-03 3.42481222e+01] [ 1.51742656e-02 9.99632341e-01 -2.24705383e-02 -4.49027168e-01] [-1.53937336e-03 2.24964548e-02 9.99745738e-01 -3.36605421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.701193817 meters Centerline goodness : 0.943947 Centerline is valid? [False, False] Translation: X:34.25, Y:-0.45, Z:-3.37 [[ 9.99903408e-01 -1.38235574e-02 1.44380149e-03 3.42502335e+01] [ 1.38506946e-02 9.99686174e-01 -2.08737048e-02 -4.45915291e-01] [-1.15479954e-03 2.08916863e-02 9.99781078e-01 -3.36728449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.731193817 meters Centerline goodness : 0.945433 Centerline is valid? [False, False] Translation: X:34.25, Y:-0.44, Z:-3.37 [[ 9.99934382e-01 -1.14176217e-02 9.32166341e-04 3.42521772e+01] [ 1.14327835e-02 9.99766889e-01 -1.83155360e-02 -4.44032245e-01] [-7.22829181e-04 1.83249914e-02 9.99831822e-01 -3.36830118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.761193817 meters Centerline goodness : 0.944308 Centerline is valid? [False, False] Translation: X:34.25, Y:-0.44, Z:-3.37 [[ 9.99966294e-01 -8.18369337e-03 6.61486946e-04 3.42529326e+01] [ 8.19280740e-03 9.99850811e-01 -1.52063466e-02 -4.41731262e-01] [-5.36944182e-04 1.52112535e-02 9.99884158e-01 -3.36851888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.791193817 meters Centerline goodness : 0.945329 Centerline is valid? [False, False] Translation: X:34.25, Y:-0.44, Z:-3.37 [[ 9.99987465e-01 -4.98974618e-03 4.15461120e-04 3.42537982e+01] [ 4.99452760e-03 9.99910188e-01 -1.24366636e-02 -4.38625771e-01] [-3.53368012e-04 1.24385827e-02 9.99922575e-01 -3.36897014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.821193817 meters Centerline goodness : 0.944952 Centerline is valid? [False, False] Translation: X:34.25, Y:-0.43, Z:-3.37 [[ 9.99998262e-01 1.86163041e-03 1.03712029e-04 3.42541759e+01] [-1.86085655e-03 9.99973632e-01 -7.01947986e-03 -4.31231353e-01] [-1.16776971e-04 7.01927466e-03 9.99975358e-01 -3.36864605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.851193817 meters Centerline goodness : 0.943652 Centerline is valid? [False, False] Translation: X:34.25, Y:-0.43, Z:-3.37 [[ 9.99985672e-01 5.35250895e-03 -7.96273431e-05 3.42546865e+01] [-5.35281483e-03 9.99975406e-01 -4.53143778e-03 -4.26531241e-01] [ 5.53708235e-05 4.53179909e-03 9.99989730e-01 -3.36880274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.881193817 meters Centerline goodness : 0.943414 Centerline is valid? [False, False] Translation: X:34.26, Y:-0.42, Z:-3.37 [[ 9.99960234e-01 8.91434296e-03 -2.55741781e-04 3.42550728e+01] [-8.91486446e-03 9.99958023e-01 -2.11613575e-03 -4.21436359e-01] [ 2.36867086e-04 2.11833150e-03 9.99997728e-01 -3.36879178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.911193817 meters Centerline goodness : 0.945079 Centerline is valid? [False, False] Translation: X:34.26, Y:-0.42, Z:-3.37 [[ 9.99921055e-01 1.25565424e-02 -4.64979026e-04 3.42554770e+01] [-1.25564126e-02 9.99921126e-01 2.81110778e-04 -4.15978424e-01] [ 4.68472130e-04 -2.75250117e-04 9.99999852e-01 -3.36872277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.941193817 meters Centerline goodness : 0.947078 Centerline is valid? [False, False] Translation: X:34.27, Y:-0.40, Z:-3.37 [[ 9.99773858e-01 2.08768637e-02 4.04843857e-03 3.42687030e+01] [-2.08574009e-02 9.99770979e-01 -4.79156387e-03 -4.02807710e-01] [-4.14754421e-03 4.70604039e-03 9.99980325e-01 -3.37429384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.971193817 meters Centerline goodness : 0.947000 Centerline is valid? [False, False] Translation: X:34.27, Y:-0.40, Z:-3.37 [[ 9.99690917e-01 2.45695635e-02 3.79560895e-03 3.42695916e+01] [-2.45612430e-02 9.99695855e-01 -2.22343303e-03 -3.98169322e-01] [-3.84908331e-03 2.12952093e-03 9.99990325e-01 -3.37461276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.001193817 meters Centerline goodness : 0.948928 Centerline is valid? [False, False] Translation: X:34.27, Y:-0.39, Z:-3.38 [[ 9.99599039e-01 2.81020894e-02 3.46908490e-03 3.42707805e+01] [-2.81033925e-02 9.99604968e-01 3.27429434e-04 -3.93849145e-01] [-3.45851305e-03 -4.24791202e-04 9.99993929e-01 -3.37508068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03119381700003 meters Centerline goodness : 0.945931 Centerline is valid? [False, False] Translation: X:34.27, Y:-0.39, Z:-3.38 [[ 9.99499606e-01 3.14733763e-02 3.15675486e-03 3.42718698e+01] [-3.14826759e-02 9.99499971e-01 2.94081503e-03 -3.90007492e-01] [-3.06261901e-03 -3.03872655e-03 9.99990693e-01 -3.37533456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.061193817 meters Centerline goodness : 0.947784 Centerline is valid? [False, False] Translation: X:34.29, Y:-0.38, Z:-3.38 [[ 9.99388061e-01 3.43288835e-02 6.71049832e-03 3.42873564e+01] [-3.43008778e-02 9.99402537e-01 -4.24491640e-03 -3.80400522e-01] [-6.85221229e-03 4.01214279e-03 9.99968474e-01 -3.37861460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.091193817 meters Centerline goodness : 0.950505 Centerline is valid? [False, True] Translation: X:34.29, Y:-0.38, Z:-3.38 [[ 9.99406120e-01 3.38552443e-02 6.42110344e-03 3.42877936e+01] [-3.38208128e-02 9.99413340e-01 -5.39713307e-03 -3.77236033e-01] [-6.60005769e-03 5.17676088e-03 9.99964820e-01 -3.37842372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.121193817 meters Centerline goodness : 0.948814 Centerline is valid? [True, False] Translation: X:34.29, Y:-0.37, Z:-3.38 [[ 9.99423091e-01 3.33778913e-02 6.27710025e-03 3.42878936e+01] [-3.33377715e-02 9.99423708e-01 -6.39104902e-03 -3.74402805e-01] [-6.48680255e-03 6.17809743e-03 9.99959875e-01 -3.37811430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.151193817 meters Centerline goodness : 0.949690 Centerline is valid? [False, False] Translation: X:34.29, Y:-0.37, Z:-3.38 [[ 9.99448148e-01 3.26510407e-02 6.10803727e-03 3.42880895e+01] [-3.26046605e-02 9.99439849e-01 -7.54475678e-03 -3.71501961e-01] [-6.35096001e-03 7.34144271e-03 9.99952883e-01 -3.37787468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.181193817 meters Centerline goodness : 0.951432 Centerline is valid? [False, True] Translation: X:34.29, Y:-0.37, Z:-3.38 [[ 9.99489030e-01 3.13832603e-02 6.06378414e-03 3.42881318e+01] [-3.13282788e-02 9.99468998e-01 -8.95887580e-03 -3.68876725e-01] [-6.34172299e-03 8.76433016e-03 9.99941483e-01 -3.37767857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.211193817 meters Centerline goodness : 0.952388 Centerline is valid? [True, True] Translation: X:34.32, Y:-0.37, Z:-3.38 [[ 9.99570516e-01 2.88043711e-02 5.39376378e-03 3.43211464e+01] [-2.88037282e-02 9.99585067e-01 -1.96854526e-04 -3.74353466e-01] [-5.39719600e-03 4.14094743e-05 9.99985434e-01 -3.37745005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.241193817 meters Centerline goodness : 0.952067 Centerline is valid? [True, True] Translation: X:34.35, Y:-0.38, Z:-3.38 [[ 9.99632117e-01 2.68928366e-02 3.52222985e-03 3.43542302e+01] [-2.68925612e-02 9.99638322e-01 -1.25525679e-04 -3.76829217e-01] [-3.52433167e-03 3.07577179e-05 9.99993789e-01 -3.37833386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.271193817 meters Centerline goodness : 0.952175 Centerline is valid? [True, True] Translation: X:34.39, Y:-0.38, Z:-3.38 [[ 9.99680580e-01 2.51387152e-02 2.60433122e-03 3.43866477e+01] [-2.51385649e-02 9.99683972e-01 -9.04559031e-05 -3.78337766e-01] [-2.60578213e-03 2.49578603e-05 9.99996605e-01 -3.37965747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.301193817 meters Centerline goodness : 0.952103 Centerline is valid? [True, True] Translation: X:34.42, Y:-0.38, Z:-3.38 [[ 9.99717626e-01 2.36306209e-02 2.50234471e-03 3.44183924e+01] [-2.36304742e-02 9.99720757e-01 -8.81675210e-05 -3.76702970e-01] [-2.50372940e-03 2.90110328e-05 9.99996865e-01 -3.38206406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.331193817 meters Centerline goodness : 0.951549 Centerline is valid? [True, True] Translation: X:34.45, Y:-0.38, Z:-3.38 [[ 9.99718206e-01 2.36434358e-02 2.12027851e-03 3.44517245e+01] [-2.36433343e-02 9.99720455e-01 -7.29313246e-05 -3.76919873e-01] [-2.12141014e-03 2.27803196e-05 9.99997750e-01 -3.38313041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.361193817 meters Centerline goodness : 0.951139 Centerline is valid? [True, True] Translation: X:34.48, Y:-0.38, Z:-3.38 [[ 9.99715350e-01 2.37379955e-02 2.39296483e-03 3.44841207e+01] [-2.37378590e-02 9.99718214e-01 -8.54568878e-05 -3.78096525e-01] [-2.39431910e-03 2.86287008e-05 9.99997133e-01 -3.38470170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.391193817 meters Centerline goodness : 0.953020 Centerline is valid? [True, True] Translation: X:34.52, Y:-0.38, Z:-3.39 [[ 9.99707747e-01 2.41136696e-02 1.71813765e-03 3.45172496e+01] [-2.41136051e-02 9.99709223e-01 -5.82473704e-05 -3.80019983e-01] [-1.71904262e-03 1.67998546e-05 9.99998522e-01 -3.38565890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.421193817 meters Centerline goodness : 0.951475 Centerline is valid? [True, True] Translation: X:34.55, Y:-0.38, Z:-3.39 [[ 9.99697634e-01 2.45375161e-02 1.59685001e-03 3.45490934e+01] [-2.45374602e-02 9.99698910e-01 -5.46038116e-05 -3.82189781e-01] [-1.59770906e-03 1.54046577e-05 9.99998724e-01 -3.38722202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.451193817 meters Centerline goodness : 0.952541 Centerline is valid? [True, True] Translation: X:34.58, Y:-0.38, Z:-3.39 [[ 9.99678020e-01 2.53324709e-02 1.45711427e-03 3.45818855e+01] [-2.53324268e-02 9.99679081e-01 -4.86845431e-05 -3.84138274e-01] [-1.45787995e-03 1.17566271e-05 9.99998937e-01 -3.38836105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.481193817 meters Centerline goodness : 0.953768 Centerline is valid? [True, True] Translation: X:34.61, Y:-0.39, Z:-3.39 [[ 9.99665234e-01 2.58115864e-02 1.78368338e-03 3.46146768e+01] [-2.58115157e-02 9.99666825e-01 -6.26321791e-05 -3.85957588e-01] [-1.78470574e-03 1.65716404e-05 9.99998407e-01 -3.38903232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.511193817 meters Centerline goodness : 0.953743 Centerline is valid? [True, True] Translation: X:34.65, Y:-0.39, Z:-3.39 [[ 9.99657468e-01 2.60826735e-02 2.15408224e-03 3.46478467e+01] [-2.60825649e-02 9.99659789e-01 -7.85081092e-05 -3.88677654e-01] [-2.15539710e-03 2.22972278e-05 9.99997677e-01 -3.39081304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.541193817 meters Centerline goodness : 0.954202 Centerline is valid? [True, True] Translation: X:34.68, Y:-0.39, Z:-3.39 [[ 9.99661405e-01 2.59865772e-02 1.33136832e-03 3.46795859e+01] [-2.59865400e-02 9.99662292e-01 -4.52825557e-05 -3.91233003e-01] [-1.33209545e-03 1.06695672e-05 9.99999113e-01 -3.39147612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.571193817 meters Centerline goodness : 0.953435 Centerline is valid? [True, True] Translation: X:34.71, Y:-0.39, Z:-3.39 [[ 9.99664574e-01 2.58974989e-02 -2.41047627e-04 3.47124500e+01] [-2.58974943e-02 9.99664603e-01 2.19771384e-05 -3.93314044e-01] [ 2.41535933e-04 -1.57272371e-05 9.99999971e-01 -3.39374101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.601193817 meters Centerline goodness : 0.951654 Centerline is valid? [True, True] Translation: X:34.75, Y:-0.40, Z:-3.39 [[ 9.99616695e-01 2.76527853e-02 -1.33636766e-03 3.47450881e+01] [-2.76527177e-02 9.99617588e-01 6.90762126e-05 -3.96086165e-01] [ 1.33776677e-03 -3.20955377e-05 9.99999105e-01 -3.39413257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.631193817 meters Centerline goodness : 0.950964 Centerline is valid? [True, True] Translation: X:34.78, Y:-0.40, Z:-3.40 [[ 9.99547628e-01 3.00268957e-02 -1.71031553e-03 3.47767237e+01] [-3.00268010e-02 9.99549091e-01 8.10695094e-05 -3.98472610e-01] [ 1.71197859e-03 -2.96775320e-05 9.99998534e-01 -3.39518228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.661193817 meters Centerline goodness : 0.952052 Centerline is valid? [True, True] Translation: X:34.81, Y:-0.40, Z:-3.40 [[ 9.99312062e-01 3.70787620e-02 -7.54059124e-04 3.48086249e+01] [-3.70787399e-02 9.99312346e-01 4.33362569e-05 -4.03196341e-01] [ 7.55147447e-04 -1.53468821e-05 9.99999715e-01 -3.39569832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.691193817 meters Centerline goodness : 0.950925 Centerline is valid? [True, True] Translation: X:34.84, Y:-0.41, Z:-3.40 [[ 9.99152599e-01 4.11381036e-02 -1.31903213e-03 3.48414902e+01] [-4.11380480e-02 9.99153470e-01 6.92390862e-05 -4.06391881e-01] [ 1.32076390e-03 -1.49180057e-05 9.99999128e-01 -3.39573369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.721193817 meters Centerline goodness : 0.951241 Centerline is valid? [True, True] Translation: X:34.87, Y:-0.41, Z:-3.40 [[ 9.98957970e-01 4.56283800e-02 -1.01210869e-03 3.48737835e+01] [-4.56283474e-02 9.98958483e-01 5.52772508e-05 -4.09364203e-01] [ 1.01357677e-03 -9.03880339e-06 9.99999486e-01 -3.39778407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.751193817 meters Centerline goodness : 0.951901 Centerline is valid? [True, True] Translation: X:34.91, Y:-0.41, Z:-3.40 [[ 9.98750104e-01 4.99685581e-02 -1.17188567e-03 3.49067226e+01] [-4.99685183e-02 9.98750791e-01 6.31948275e-05 -4.11804371e-01] [ 1.17357950e-03 -4.55844981e-06 9.99999311e-01 -3.39901559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78119381700003 meters Centerline goodness : 0.950256 Centerline is valid? [True, True] Translation: X:34.94, Y:-0.41, Z:-3.40 [[ 9.98252854e-01 5.90436658e-02 -2.25502225e-03 3.49392239e+01] [-5.90435636e-02 9.98255401e-01 1.11934626e-04 -4.14956026e-01] [ 2.25769717e-03 2.14054899e-05 9.99997451e-01 -3.39950020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.811193817 meters Centerline goodness : 0.949898 Centerline is valid? [True, False] Translation: X:34.94, Y:-0.41, Z:-3.39 [[ 9.98235239e-01 5.72834782e-02 -1.56528032e-02 3.49365723e+01] [-5.73391803e-02 9.98349840e-01 -3.13292438e-03 -4.12505791e-01] [ 1.54475088e-02 4.02491443e-03 9.99872579e-01 -3.39234183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.841193817 meters Centerline goodness : 0.948937 Centerline is valid? [False, False] Translation: X:34.94, Y:-0.41, Z:-3.39 [[ 9.98232818e-01 5.66372707e-02 -1.79849968e-02 3.49406207e+01] [-5.67694983e-02 9.98363272e-01 -6.92830003e-03 -4.12946829e-01] [ 1.75631602e-02 7.93705570e-03 9.99814252e-01 -3.39107813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.871193817 meters Centerline goodness : 0.948996 Centerline is valid? [False, False] Translation: X:34.94, Y:-0.42, Z:-3.39 [[ 9.98120772e-01 5.82722077e-02 -1.89545462e-02 3.49416197e+01] [-5.83917362e-02 9.98276814e-01 -5.81448438e-03 -4.16362112e-01] [ 1.85830611e-02 6.91034650e-03 9.99803439e-01 -3.38967156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.901193817 meters Centerline goodness : 0.948996 Centerline is valid? [False, False] Translation: X:34.94, Y:-0.42, Z:-3.39 [[ 9.98120772e-01 5.82722077e-02 -1.89545462e-02 3.49416197e+01] [-5.83917362e-02 9.98276814e-01 -5.81448438e-03 -4.16362112e-01] [ 1.85830611e-02 6.91034650e-03 9.99803439e-01 -3.38967156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.931193817 meters Centerline goodness : 0.948021 Centerline is valid? [False, False] Translation: X:34.94, Y:-0.42, Z:-3.39 [[ 9.98171469e-01 5.67547243e-02 -2.07995260e-02 3.49446010e+01] [-5.69635721e-02 9.98330202e-01 -9.58949743e-03 -4.17148161e-01] [ 2.02205457e-02 1.07567780e-02 9.99737676e-01 -3.38858942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.961193817 meters Centerline goodness : 0.947196 Centerline is valid? [False, False] Translation: X:34.94, Y:-0.42, Z:-3.39 [[ 9.98080376e-01 5.82057357e-02 -2.11578529e-02 3.49447964e+01] [-5.83625973e-02 9.98271791e-01 -6.87305599e-03 -4.23323216e-01] [ 2.07212365e-02 8.09468956e-03 9.99752523e-01 -3.38847504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.991193817 meters Centerline goodness : 0.947363 Centerline is valid? [False, False] Translation: X:34.94, Y:-0.43, Z:-3.39 [[ 9.98038806e-01 5.88614747e-02 -2.13041672e-02 3.49449101e+01] [-5.89680080e-02 9.98250146e-01 -4.40686419e-03 -4.28806120e-01] [ 2.10074935e-02 5.65448578e-03 9.99763328e-01 -3.38900173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.021193817 meters Centerline goodness : 0.947222 Centerline is valid? [False, False] Translation: X:34.95, Y:-0.43, Z:-3.39 [[ 9.98168397e-01 5.61662552e-02 -2.24767228e-02 3.49468935e+01] [-5.63259268e-02 9.98391051e-01 -6.53447099e-03 -4.33415927e-01] [ 2.20735422e-02 7.78852467e-03 9.99726011e-01 -3.38953411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.051193817 meters Centerline goodness : 0.949760 Centerline is valid? [False, False] Translation: X:34.95, Y:-0.44, Z:-3.39 [[ 9.98346743e-01 5.27694745e-02 -2.27851397e-02 3.49473865e+01] [-5.29838970e-02 9.98555604e-01 -8.91135747e-03 -4.38545568e-01] [ 2.22819812e-02 1.01038702e-02 9.99700668e-01 -3.38996281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.081193817 meters Centerline goodness : 0.948060 Centerline is valid? [False, False] Translation: X:34.95, Y:-0.44, Z:-3.39 [[ 9.98521260e-01 4.91891898e-02 -2.31455673e-02 3.49476333e+01] [-4.94572307e-02 9.98713958e-01 -1.11540063e-02 -4.44538176e-01] [ 2.25671446e-02 1.22822281e-02 9.99669881e-01 -3.38989145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.111193817 meters Centerline goodness : 0.948181 Centerline is valid? [False, False] Translation: X:34.95, Y:-0.46, Z:-3.39 [[ 9.98856370e-01 4.18355883e-02 -2.31459677e-02 3.49467999e+01] [-4.21916691e-02 9.98995185e-01 -1.51156436e-02 -4.56648773e-01] [ 2.24903385e-02 1.60749239e-02 9.99617818e-01 -3.38895392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.141193817 meters Centerline goodness : 0.949670 Centerline is valid? [False, False] Translation: X:34.95, Y:-0.46, Z:-3.39 [[ 9.98995664e-01 3.82267495e-02 -2.33747422e-02 3.49468143e+01] [-3.86414954e-02 9.99098893e-01 -1.75566956e-02 -4.61444344e-01] [ 2.26825437e-02 1.84422978e-02 9.99572601e-01 -3.38878581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.171193817 meters Centerline goodness : 0.949085 Centerline is valid? [False, False] Translation: X:34.95, Y:-0.47, Z:-3.39 [[ 9.99236888e-01 3.11695193e-02 -2.35393801e-02 3.49464978e+01] [-3.16883274e-02 9.99255685e-01 -2.19982943e-02 -4.72408856e-01] [ 2.28361832e-02 2.27274308e-02 9.99480852e-01 -3.38836708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.201193817 meters Centerline goodness : 0.951392 Centerline is valid? [False, True] Translation: X:34.95, Y:-0.48, Z:-3.39 [[ 9.99335289e-01 2.76429110e-02 -2.37665553e-02 3.49465028e+01] [-2.82184495e-02 9.99308027e-01 -2.42319318e-02 -4.78100983e-01] [ 2.30802683e-02 2.48864800e-02 9.99423816e-01 -3.38802989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.231193817 meters Centerline goodness : 0.952683 Centerline is valid? [True, True] Translation: X:34.98, Y:-0.49, Z:-3.38 [[ 9.99507794e-01 2.25070878e-02 -2.18540780e-02 3.49754775e+01] [-2.24987036e-02 9.99746674e-01 6.29472451e-04 -4.94158664e-01] [ 2.18627094e-02 -1.37474198e-04 9.99760973e-01 -3.38136883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.261193817 meters Centerline goodness : 0.953805 Centerline is valid? [True, True] Translation: X:35.00, Y:-0.50, Z:-3.38 [[ 9.99604798e-01 1.79424275e-02 -2.16406268e-02 3.50037237e+01] [-1.79331696e-02 9.99838994e-01 6.21803422e-04 -4.98875285e-01] [ 2.16482992e-02 -2.33472652e-04 9.99765621e-01 -3.38163493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.291193817 meters Centerline goodness : 0.953632 Centerline is valid? [True, True] Translation: X:35.03, Y:-0.51, Z:-3.38 [[ 9.99650046e-01 8.93753516e-03 -2.48979251e-02 3.50315414e+01] [-8.92255803e-03 9.99959939e-01 7.12572677e-04 -5.05434593e-01] [ 2.49032963e-02 -4.90170127e-04 9.99689745e-01 -3.38080761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.321193817 meters Centerline goodness : 0.953916 Centerline is valid? [True, True] Translation: X:35.06, Y:-0.51, Z:-3.38 [[ 9.99684750e-01 4.26254124e-03 -2.47433040e-02 3.50580231e+01] [-4.24641371e-03 9.99990736e-01 7.04300670e-04 -5.08561018e-01] [ 2.47460769e-02 -5.99008334e-04 9.99693589e-01 -3.38189540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.351193817 meters Centerline goodness : 0.954590 Centerline is valid? [True, True] Translation: X:35.09, Y:-0.51, Z:-3.38 [[ 9.99662807e-01 2.20008478e-04 -2.59658194e-02 3.50857888e+01] [-2.00944189e-04 9.99999708e-01 7.36814106e-04 -5.11344611e-01] [ 2.59659739e-02 -7.31347977e-04 9.99662560e-01 -3.38080956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.381193817 meters Centerline goodness : 0.954480 Centerline is valid? [True, True] Translation: X:35.11, Y:-0.51, Z:-3.38 [[ 9.99640829e-01 -3.79074750e-03 -2.65300565e-02 3.51129256e+01] [ 3.81194889e-03 9.99992454e-01 7.48617166e-04 -5.14068087e-01] [ 2.65270185e-02 -8.49479504e-04 9.99647736e-01 -3.38037981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.411193817 meters Centerline goodness : 0.955368 Centerline is valid? [True, True] Translation: X:35.14, Y:-0.52, Z:-3.38 [[ 9.99626707e-01 -7.98873770e-03 -2.61271359e-02 3.51414373e+01] [ 8.01046001e-03 9.99967652e-01 7.26848873e-04 -5.16098997e-01] [ 2.61204841e-02 -9.35867922e-04 9.99658364e-01 -3.37995151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.441193817 meters Centerline goodness : 0.953721 Centerline is valid? [True, True] Translation: X:35.17, Y:-0.52, Z:-3.38 [[ 9.99603415e-01 -1.20005927e-02 -2.54754363e-02 3.51696761e+01] [ 1.20223288e-02 9.99927484e-01 7.00220642e-04 -5.16659304e-01] [ 2.54651859e-02 -1.00621702e-03 9.99675203e-01 -3.37997900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.471193817 meters Centerline goodness : 0.956127 Centerline is valid? [True, True] Translation: X:35.20, Y:-0.51, Z:-3.38 [[ 9.99545558e-01 -1.73090913e-02 -2.46794188e-02 3.51963370e+01] [ 1.73310566e-02 9.99849577e-01 6.76394617e-04 -5.14381947e-01] [ 2.46639987e-02 -1.10380764e-03 9.99695188e-01 -3.38064161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.501193817 meters Centerline goodness : 0.954547 Centerline is valid? [True, True] Translation: X:35.22, Y:-0.51, Z:-3.38 [[ 9.99521366e-01 -1.91639236e-02 -2.42854456e-02 3.52247709e+01] [ 1.91855033e-02 9.99815726e-01 6.55878211e-04 -5.12780409e-01] [ 2.42684012e-02 -1.12149278e-03 9.99704850e-01 -3.38105278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53119381700003 meters Centerline goodness : 0.954242 Centerline is valid? [True, True] Translation: X:35.25, Y:-0.51, Z:-3.38 [[ 9.99515851e-01 -2.00036658e-02 -2.38310262e-02 3.52522311e+01] [ 2.00246415e-02 9.99799281e-01 6.41851597e-04 -5.11095365e-01] [ 2.38134035e-02 -1.11874860e-03 9.99715795e-01 -3.38168201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.561193817 meters Centerline goodness : 0.955521 Centerline is valid? [True, True] Translation: X:35.28, Y:-0.51, Z:-3.38 [[ 9.99484282e-01 -2.10469223e-02 -2.42527803e-02 3.52801523e+01] [ 2.10687234e-02 9.99777823e-01 6.43708459e-04 -5.08346308e-01] [ 2.42338438e-02 -1.15435160e-03 9.99705651e-01 -3.38139975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.591193817 meters Centerline goodness : 0.955399 Centerline is valid? [True, True] Translation: X:35.31, Y:-0.50, Z:-3.38 [[ 9.99507974e-01 -2.13792049e-02 -2.29508178e-02 3.53079910e+01] [ 2.13986362e-02 9.99770842e-01 6.01368327e-04 -4.99399939e-01] [ 2.29327017e-02 -1.09218864e-03 9.99736414e-01 -3.38209085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.621193817 meters Centerline goodness : 0.955470 Centerline is valid? [True, True] Translation: X:35.34, Y:-0.49, Z:-3.38 [[ 9.99539536e-01 -2.15952759e-02 -2.13157238e-02 3.53366789e+01] [ 2.16119315e-02 9.99766283e-01 5.51294847e-04 -4.94578278e-01] [ 2.12988366e-02 -1.01171496e-03 9.99772642e-01 -3.38332949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.651193817 meters Centerline goodness : 0.955175 Centerline is valid? [True, True] Translation: X:35.36, Y:-0.49, Z:-3.38 [[ 9.99551450e-01 -2.19532953e-02 -2.03703484e-02 3.53633828e+01] [ 2.19685532e-02 9.99758524e-01 5.25525534e-04 -4.89533281e-01] [ 2.03538924e-02 -9.72796893e-04 9.99792365e-01 -3.38361895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.681193817 meters Centerline goodness : 0.954131 Centerline is valid? [True, True] Translation: X:35.39, Y:-0.48, Z:-3.38 [[ 9.99514819e-01 -2.45696020e-02 -1.91431619e-02 3.53912764e+01] [ 2.45834051e-02 9.99697664e-01 4.86020658e-04 -4.77971465e-01] [ 1.91254329e-02 -9.56388954e-04 9.99816635e-01 -3.38488165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.711193817 meters Centerline goodness : 0.954256 Centerline is valid? [True, True] Translation: X:35.42, Y:-0.47, Z:-3.39 [[ 9.99460684e-01 -2.70165879e-02 -1.86666888e-02 3.54196231e+01] [ 2.70300247e-02 9.99634513e-01 4.67853235e-04 -4.72008627e-01] [ 1.86472265e-02 -9.72161972e-04 9.99825653e-01 -3.38590885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.741193817 meters Centerline goodness : 0.955016 Centerline is valid? [True, True] Translation: X:35.45, Y:-0.47, Z:-3.39 [[ 9.99391695e-01 -2.93760584e-02 -1.87959540e-02 3.54468562e+01] [ 2.93900807e-02 9.99567908e-01 4.70172422e-04 -4.65993089e-01] [ 1.87740206e-02 -1.02230102e-03 9.99823230e-01 -3.38684288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.771193817 meters Centerline goodness : 0.955445 Centerline is valid? [True, True] Translation: X:35.48, Y:-0.46, Z:-3.39 [[ 9.99271696e-01 -3.29724066e-02 -1.92067350e-02 3.54754565e+01] [ 3.29875621e-02 9.99455650e-01 4.72698663e-04 -4.59557572e-01] [ 1.91806938e-02 -1.10593776e-03 9.99815422e-01 -3.38817732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.801193817 meters Centerline goodness : 0.954029 Centerline is valid? [True, True] Translation: X:35.50, Y:-0.45, Z:-3.39 [[ 9.99077408e-01 -3.87837650e-02 -1.84432281e-02 3.55030036e+01] [ 3.87987070e-02 9.99246944e-01 4.52899791e-04 -4.48347162e-01] [ 1.84117741e-02 -1.16805535e-03 9.99829807e-01 -3.38840717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.831193817 meters Centerline goodness : 0.953602 Centerline is valid? [True, True] Translation: X:35.53, Y:-0.44, Z:-3.39 [[ 9.98993823e-01 -4.12954413e-02 -1.74936660e-02 3.55308431e+01] [ 4.13091261e-02 9.99146325e-01 4.21491491e-04 -4.42215723e-01] [ 1.74613264e-02 -1.14371545e-03 9.99846885e-01 -3.38911183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.861193817 meters Centerline goodness : 0.953665 Centerline is valid? [True, True] Translation: X:35.56, Y:-0.44, Z:-3.39 [[ 9.98910563e-01 -4.33985664e-02 -1.71537857e-02 3.55579829e+01] [ 4.34120188e-02 9.99057169e-01 4.12462972e-04 -4.35108590e-01] [ 1.71197122e-02 -1.15669409e-03 9.99852778e-01 -3.39015442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.891193817 meters Centerline goodness : 0.954813 Centerline is valid? [True, True] Translation: X:35.59, Y:-0.43, Z:-3.39 [[ 9.98806774e-01 -4.52735109e-02 -1.83122283e-02 3.55862963e+01] [ 4.52890288e-02 9.98973832e-01 4.33375757e-04 -4.26830855e-01] [ 1.82738164e-02 -1.26220168e-03 9.99832223e-01 -3.39038222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.921193817 meters Centerline goodness : 0.954514 Centerline is valid? [True, True] Translation: X:35.62, Y:-0.41, Z:-3.39 [[ 9.98657312e-01 -4.76306391e-02 -2.03690028e-02 3.56150980e+01] [ 4.76502070e-02 9.98863970e-01 4.76133187e-04 -4.09842129e-01] [ 2.03231845e-02 -1.44608109e-03 9.99792417e-01 -3.39278144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.951193817 meters Centerline goodness : 0.952846 Centerline is valid? [True, True] Translation: X:35.64, Y:-0.40, Z:-3.39 [[ 9.98574738e-01 -4.82094132e-02 -2.28985885e-02 3.56432063e+01] [ 4.82341421e-02 9.98835917e-01 5.28520611e-04 -4.02875434e-01] [ 2.28464530e-02 -1.63226110e-03 9.99737653e-01 -3.39233865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.981193817 meters Centerline goodness : 0.952901 Centerline is valid? [True, True] Translation: X:35.67, Y:-0.40, Z:-3.39 [[ 9.98555725e-01 -4.77091562e-02 -2.47042717e-02 3.56699950e+01] [ 4.77377516e-02 9.98859742e-01 5.68713285e-04 -3.95689712e-01] [ 2.46489696e-02 -1.74721829e-03 9.99694641e-01 -3.39271517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.011193817 meters Centerline goodness : 0.951016 Centerline is valid? [True, True] Translation: X:35.70, Y:-0.39, Z:-3.39 [[ 9.98515522e-01 -4.76936946e-02 -2.63070930e-02 3.56986773e+01] [ 4.77258375e-02 9.98860296e-01 5.94959278e-04 -3.87192811e-01] [ 2.62487348e-02 -1.84960412e-03 9.99653731e-01 -3.39234780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.041193817 meters Centerline goodness : 0.951045 Centerline is valid? [True, True] Translation: X:35.73, Y:-0.38, Z:-3.39 [[ 9.98575330e-01 -4.64137825e-02 -2.63262489e-02 3.57261865e+01] [ 4.64453970e-02 9.98920656e-01 5.90345452e-04 -3.78029180e-01] [ 2.62704337e-02 -1.81223749e-03 9.99653230e-01 -3.39220553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.071193817 meters Centerline goodness : 0.951560 Centerline is valid? [True, True] Translation: X:35.76, Y:-0.36, Z:-3.39 [[ 9.98751536e-01 -4.38819386e-02 -2.38693075e-02 3.57550842e+01] [ 4.39069934e-02 9.99035484e-01 5.26339140e-04 -3.57862543e-01] [ 2.38231884e-02 -1.57371155e-03 9.99714949e-01 -3.39417142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.101193817 meters Centerline goodness : 0.950871 Centerline is valid? [True, True] Translation: X:35.78, Y:-0.35, Z:-3.39 [[ 9.98835858e-01 -4.27541390e-02 -2.23385856e-02 3.57831726e+01] [ 4.27756352e-02 9.99084586e-01 4.85127982e-04 -3.48910591e-01] [ 2.22973954e-02 -1.44011041e-03 9.99750345e-01 -3.39482631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.131193817 meters Centerline goodness : 0.950441 Centerline is valid? [True, True] Translation: X:35.81, Y:-0.34, Z:-3.39 [[ 9.98880698e-01 -4.23303669e-02 -2.11066537e-02 3.58103492e+01] [ 4.23494324e-02 9.99102756e-01 4.56935306e-04 -3.40732617e-01] [ 2.10683736e-02 -1.35027866e-03 9.99777125e-01 -3.39453356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.161193817 meters Centerline goodness : 0.950047 Centerline is valid? [True, True] Translation: X:35.84, Y:-0.33, Z:-3.39 [[ 9.98911593e-01 -4.26526296e-02 -1.88781182e-02 3.58386714e+01] [ 4.26677870e-02 9.99089235e-01 4.00671059e-04 -3.32909826e-01] [ 1.88438350e-02 -1.20572249e-03 9.99821712e-01 -3.39379672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.191193817 meters Centerline goodness : 0.949881 Centerline is valid? [True, False] Translation: X:35.85, Y:-0.31, Z:-3.40 [[ 9.98942015e-01 -4.39790456e-02 -1.34422760e-02 3.58524298e+01] [ 4.38699735e-02 9.99002736e-01 -8.30418592e-03 -3.13112006e-01] [ 1.37940807e-02 7.70568792e-03 9.99875165e-01 -3.39587355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.221193817 meters Centerline goodness : 0.950655 Centerline is valid? [False, True] Translation: X:35.87, Y:-0.30, Z:-3.40 [[ 9.98970159e-01 -4.41670846e-02 -1.03869976e-02 3.58704022e+01] [ 4.40312232e-02 9.98946039e-01 -1.29639176e-02 -3.03149308e-01] [ 1.09486286e-02 1.24932146e-02 9.99862014e-01 -3.39696019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.251193817 meters Centerline goodness : 0.949802 Centerline is valid? [True, False] Translation: X:35.87, Y:-0.30, Z:-3.40 [[ 9.99053085e-01 -4.21785472e-02 -1.06725371e-02 3.58715792e+01] [ 4.20540249e-02 9.99047592e-01 -1.16347817e-02 -2.96740341e-01] [ 1.11531107e-02 1.11749414e-02 9.99875357e-01 -3.39802851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28119381700003 meters Centerline goodness : 0.946793 Centerline is valid? [False, False] Translation: X:35.89, Y:-0.28, Z:-3.40 [[ 9.99000275e-01 -4.38613113e-02 -8.63924145e-03 3.58909520e+01] [ 4.36889434e-02 9.98860266e-01 -1.92209704e-02 -2.79286485e-01] [ 9.47245198e-03 1.88243154e-02 9.99777934e-01 -3.40158887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.311193817 meters Centerline goodness : 0.947674 Centerline is valid? [False, False] Translation: X:35.91, Y:-0.27, Z:-3.40 [[ 9.98991765e-01 -4.41503577e-02 -8.13629303e-03 3.59117061e+01] [ 4.39593029e-02 9.98783750e-01 -2.23293601e-02 -2.71626192e-01] [ 9.11224650e-03 2.19491811e-02 9.99717560e-01 -3.40261718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.341193817 meters Centerline goodness : 0.948809 Centerline is valid? [False, False] Translation: X:35.91, Y:-0.27, Z:-3.40 [[ 9.99033521e-01 -4.30749154e-02 -8.75072150e-03 3.59137204e+01] [ 4.28754878e-02 9.98842008e-01 -2.18251121e-02 -2.65160554e-01] [ 9.68070309e-03 2.14288271e-02 9.99723506e-01 -3.40382574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.371193817 meters Centerline goodness : 0.946825 Centerline is valid? [False, False] Translation: X:35.93, Y:-0.26, Z:-3.40 [[ 9.99081203e-01 -4.21951995e-02 -7.50439514e-03 3.59338122e+01] [ 4.20096013e-02 9.98843754e-01 -2.33741016e-02 -2.57800883e-01] [ 8.48199309e-03 2.30373689e-02 9.99698622e-01 -3.40462621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.401193817 meters Centerline goodness : 0.947283 Centerline is valid? [False, False] Translation: X:35.95, Y:-0.24, Z:-3.41 [[ 9.99216490e-01 -3.93719225e-02 -4.03221268e-03 3.59510158e+01] [ 3.92537214e-02 9.98888617e-01 -2.60897646e-02 -2.40938028e-01] [ 5.05493554e-03 2.59110436e-02 9.99651472e-01 -3.40655797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.431193817 meters Centerline goodness : 0.946166 Centerline is valid? [False, False] Translation: X:35.95, Y:-0.24, Z:-3.41 [[ 9.99429980e-01 -3.34676568e-02 -4.43074337e-03 3.59517598e+01] [ 3.33704605e-02 9.99233944e-01 -2.04435316e-02 -2.36246622e-01] [ 5.11154627e-03 2.02840224e-02 9.99781191e-01 -3.40699336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.461193817 meters Centerline goodness : 0.946759 Centerline is valid? [False, False] Translation: X:35.95, Y:-0.23, Z:-3.41 [[ 9.99528521e-01 -3.03458605e-02 -4.67584708e-03 3.59524371e+01] [ 3.02534890e-02 9.99367326e-01 -1.86995799e-02 -2.29341201e-01] [ 5.24034364e-03 1.85493027e-02 9.99814214e-01 -3.40736109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.491193817 meters Centerline goodness : 0.948148 Centerline is valid? [False, False] Translation: X:35.97, Y:-0.22, Z:-3.41 [[ 9.99664405e-01 -2.59039102e-02 2.53730213e-04 3.59673369e+01] [ 2.59033012e-02 9.99427900e-01 -2.17460797e-02 -2.20635888e-01] [ 3.09723441e-04 2.17453543e-02 9.99763494e-01 -3.41141782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.521193817 meters Centerline goodness : 0.948185 Centerline is valid? [False, False] Translation: X:35.97, Y:-0.21, Z:-3.41 [[ 9.99860202e-01 -1.67188239e-02 2.38580880e-04 3.59671723e+01] [ 1.67205183e-02 9.99744095e-01 -1.52370827e-02 -2.07220352e-01] [ 1.62262772e-05 1.52389418e-02 9.99883880e-01 -3.41085388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.551193817 meters Centerline goodness : 0.948722 Centerline is valid? [False, False] Translation: X:35.97, Y:-0.20, Z:-3.41 [[ 9.99951422e-01 -9.85557425e-03 1.45452216e-04 3.59670859e+01] [ 9.85646399e-03 9.99913974e-01 -8.65421188e-03 -2.03790863e-01] [-6.01474751e-05 8.65522513e-03 9.99962541e-01 -3.41069042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.581193817 meters Centerline goodness : 0.950121 Centerline is valid? [False, True] Translation: X:35.97, Y:-0.20, Z:-3.41 [[ 9.99993591e-01 -3.57870298e-03 1.01714244e-04 3.59671612e+01] [ 3.57894249e-03 9.99990567e-01 -2.46116535e-03 -2.00520612e-01] [-9.29055049e-05 2.46151361e-03 9.99996966e-01 -3.41078809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.611193817 meters Centerline goodness : 0.949880 Centerline is valid? [True, False] Translation: X:35.97, Y:-0.20, Z:-3.41 [[ 9.99999782e-01 -6.45884868e-04 1.33696662e-04 3.59672099e+01] [ 6.45945208e-04 9.99999689e-01 -4.51775673e-04 -1.95137310e-01] [-1.33404825e-04 4.51861936e-04 9.99999889e-01 -3.41086876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.641193817 meters Centerline goodness : 0.952555 Centerline is valid? [False, True] Translation: X:35.97, Y:-0.19, Z:-3.41 [[ 9.99998019e-01 1.98860024e-03 8.69555340e-05 3.59674860e+01] [-1.98871010e-03 9.99997201e-01 1.28216937e-03 -1.89621033e-01] [-8.44055683e-05 -1.28233976e-03 9.99999174e-01 -3.41104516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.671193817 meters Centerline goodness : 0.951179 Centerline is valid? [True, True] Translation: X:36.00, Y:-0.18, Z:-3.41 [[ 9.99993122e-01 3.28924327e-03 -1.71366397e-03 3.59988453e+01] [-3.28908146e-03 9.99994586e-01 9.72330711e-05 -1.78176304e-01] [ 1.71397452e-03 -9.15960220e-05 9.99998527e-01 -3.41162745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.701193817 meters Centerline goodness : 0.952816 Centerline is valid? [True, True] Translation: X:36.03, Y:-0.17, Z:-3.41 [[ 9.99989523e-01 3.66192798e-03 -2.74668085e-03 3.60289918e+01] [-3.66151625e-03 9.99993285e-01 1.54916604e-04 -1.73917999e-01] [ 2.74722970e-03 -1.44857964e-04 9.99996216e-01 -3.41218713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.731193817 meters Centerline goodness : 0.953332 Centerline is valid? [True, True] Translation: X:36.06, Y:-0.17, Z:-3.41 [[ 9.99985534e-01 4.38577533e-03 -3.11398996e-03 3.60577910e+01] [-4.38525108e-03 9.99990369e-01 1.75159766e-04 -1.69886578e-01] [ 3.11472818e-03 -1.61501605e-04 9.99995136e-01 -3.41246915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.761193817 meters Centerline goodness : 0.956510 Centerline is valid? [True, True] Translation: X:36.09, Y:-0.16, Z:-3.41 [[ 9.99958720e-01 8.78398829e-03 -2.32363454e-03 3.60869082e+01] [-8.78372035e-03 9.99961415e-01 1.25492138e-04 -1.60945243e-01] [ 2.32464721e-03 -1.05076802e-04 9.99997292e-01 -3.41293201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.791193817 meters Centerline goodness : 0.954246 Centerline is valid? [True, True] Translation: X:36.12, Y:-0.16, Z:-3.41 [[ 9.99931061e-01 1.14268647e-02 -2.70178258e-03 3.61158595e+01] [-1.14264997e-02 9.99934704e-01 1.50491259e-04 -1.57404829e-01] [ 2.70332581e-03 -1.19608966e-04 9.99996339e-01 -3.41327565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.821193817 meters Centerline goodness : 0.954246 Centerline is valid? [True, True] Translation: X:36.14, Y:-0.16, Z:-3.41 [[ 9.99932174e-01 1.13290892e-02 -2.70181924e-03 3.61441329e+01] [-1.13287256e-02 9.99935817e-01 1.49838106e-04 -1.58885873e-01] [ 2.70334336e-03 -1.19219774e-04 9.99996339e-01 -3.41384774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.851193817 meters Centerline goodness : 0.955241 Centerline is valid? [True, True] Translation: X:36.17, Y:-0.16, Z:-3.41 [[ 9.99893273e-01 1.43318819e-02 -2.83555283e-03 3.61735409e+01] [-1.43314927e-02 9.99897286e-01 1.57537314e-04 -1.56347660e-01] [ 2.83751938e-03 -1.16882796e-04 9.99995967e-01 -3.41436382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.881193817 meters Centerline goodness : 0.954339 Centerline is valid? [True, True] Translation: X:36.20, Y:-0.15, Z:-3.41 [[ 9.99842424e-01 1.74488615e-02 -3.26558853e-03 3.62013351e+01] [-1.74483637e-02 9.99847749e-01 1.80867600e-04 -1.53786211e-01] [ 3.26824728e-03 -1.23859923e-04 9.99994652e-01 -3.41494418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.911193817 meters Centerline goodness : 0.956775 Centerline is valid? [True, True] Translation: X:36.23, Y:-0.15, Z:-3.42 [[ 9.99785263e-01 2.06154379e-02 -2.10535596e-03 3.62302300e+01] [-2.06152388e-02 9.99787477e-01 1.16211639e-04 -1.47405181e-01] [ 2.10730427e-03 -7.27842686e-05 9.99997777e-01 -3.41550356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.941193817 meters Centerline goodness : 0.956836 Centerline is valid? [True, True] Translation: X:36.26, Y:-0.15, Z:-3.42 [[ 9.99782387e-01 2.08092694e-02 -1.46732922e-03 3.62592606e+01] [-2.08091737e-02 9.99783462e-01 8.04234669e-05 -1.45166382e-01] [ 1.46868504e-03 -4.98720570e-05 9.99998920e-01 -3.41531445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.971193817 meters Centerline goodness : 0.957167 Centerline is valid? [True, True] Translation: X:36.29, Y:-0.14, Z:-3.42 [[ 9.99798212e-01 2.00870591e-02 2.12135010e-04 3.62883736e+01] [-2.00870567e-02 9.99798235e-01 -1.34671797e-05 -1.43177890e-01] [-2.12362725e-04 9.20329420e-06 9.99999977e-01 -3.41701253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.001193817 meters Centerline goodness : 0.959647 Centerline is valid? [True, True] Translation: X:36.32, Y:-0.14, Z:-3.42 [[ 9.99807358e-01 1.95974593e-02 1.08910458e-03 3.63170295e+01] [-1.95974030e-02 9.99807951e-01 -6.22900481e-05 -1.41969729e-01] [-1.09011614e-03 4.09344270e-05 9.99999405e-01 -3.41757403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03119381700003 meters Centerline goodness : 0.957782 Centerline is valid? [True, True] Translation: X:36.35, Y:-0.14, Z:-3.42 [[ 9.99834107e-01 1.81846916e-02 1.03738972e-03 3.63455671e+01] [-1.81846402e-02 9.99834644e-01 -5.89214752e-05 -1.39827817e-01] [-1.03828965e-03 4.00471417e-05 9.99999460e-01 -3.41958008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.061193817 meters Centerline goodness : 0.957169 Centerline is valid? [True, True] Translation: X:36.37, Y:-0.14, Z:-3.42 [[ 9.99838911e-01 1.79382470e-02 -6.09870298e-04 3.63745469e+01] [-1.79382301e-02 9.99839096e-01 3.31071711e-05 -1.38920410e-01] [ 6.10366052e-04 -2.21618441e-05 9.99999813e-01 -3.41987232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.091193817 meters Centerline goodness : 0.957509 Centerline is valid? [True, True] Translation: X:36.40, Y:-0.14, Z:-3.42 [[ 9.99838636e-01 1.78747455e-02 -1.78756383e-03 3.64022076e+01] [-1.78746001e-02 9.99840232e-01 9.72691560e-05 -1.37552336e-01] [ 1.78901690e-03 -6.53014716e-05 9.99998398e-01 -3.42141021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.121193817 meters Centerline goodness : 0.957567 Centerline is valid? [True, True] Translation: X:36.43, Y:-0.14, Z:-3.42 [[ 9.99829457e-01 1.82209156e-02 -3.00918976e-03 3.64311260e+01] [-1.82205011e-02 9.99833979e-01 1.65118807e-04 -1.36945732e-01] [ 3.01169878e-03 -1.10261702e-04 9.99995459e-01 -3.42249607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.151193817 meters Centerline goodness : 0.957535 Centerline is valid? [True, True] Translation: X:36.46, Y:-0.14, Z:-3.42 [[ 9.99798988e-01 1.96375127e-02 -4.04381723e-03 3.64585677e+01] [-1.96367766e-02 9.99807155e-01 2.21655980e-04 -1.36164304e-01] [ 4.04739017e-03 -1.42203889e-04 9.99991799e-01 -3.42419999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.181193817 meters Centerline goodness : 0.956554 Centerline is valid? [True, True] Translation: X:36.49, Y:-0.14, Z:-3.42 [[ 9.99767299e-01 2.10656379e-02 -4.64615686e-03 3.64877858e+01] [-2.10646798e-02 9.99778082e-01 2.55046291e-04 -1.37273538e-01] [ 4.65049851e-03 -1.57117135e-04 9.99989174e-01 -3.42494932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.211193817 meters Centerline goodness : 0.957490 Centerline is valid? [True, True] Translation: X:36.52, Y:-0.14, Z:-3.43 [[ 9.99721797e-01 2.31469178e-02 -4.53301790e-03 3.65170121e+01] [-2.31460290e-02 9.99732064e-01 2.48446106e-04 -1.38350159e-01] [ 4.53755410e-03 -1.43455624e-04 9.99989695e-01 -3.42568622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.241193817 meters Centerline goodness : 0.957010 Centerline is valid? [True, True] Translation: X:36.54, Y:-0.14, Z:-3.43 [[ 9.99665993e-01 2.54377306e-02 -4.56340393e-03 3.65447097e+01] [-2.54368574e-02 9.99676400e-01 2.49294316e-04 -1.39290860e-01] [ 4.56826869e-03 -1.33132395e-04 9.99989557e-01 -3.42620813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.271193817 meters Centerline goodness : 0.956794 Centerline is valid? [True, True] Translation: X:36.57, Y:-0.14, Z:-3.43 [[ 9.99591733e-01 2.80569560e-02 -5.40126304e-03 3.65739990e+01] [-2.80557693e-02 9.99606316e-01 2.95365557e-04 -1.40269367e-01] [ 5.40742370e-03 -1.43708379e-04 9.99985369e-01 -3.42723904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.301193817 meters Centerline goodness : 0.956161 Centerline is valid? [True, True] Translation: X:36.60, Y:-0.14, Z:-3.43 [[ 9.99478591e-01 3.16764022e-02 -6.25712789e-03 3.66021396e+01] [-3.16748852e-02 9.99498167e-01 3.41424742e-04 -1.42672456e-01] [ 6.26480296e-03 -1.43052913e-04 9.99980366e-01 -3.42812674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.331193817 meters Centerline goodness : 0.955322 Centerline is valid? [True, True] Translation: X:36.63, Y:-0.15, Z:-3.43 [[ 9.99470458e-01 3.20048437e-02 -5.87307581e-03 3.66311304e+01] [-3.20035140e-02 9.99487705e-01 3.20270769e-04 -1.46584101e-01] [ 5.88031728e-03 -1.32142108e-04 9.99982702e-01 -3.42897883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.361193817 meters Centerline goodness : 0.956964 Centerline is valid? [True, True] Translation: X:36.66, Y:-0.15, Z:-3.43 [[ 9.99490579e-01 3.14103389e-02 -5.65453660e-03 3.66601069e+01] [-3.14091001e-02 9.99506565e-01 3.07763607e-04 -1.51593907e-01] [ 5.66141341e-03 -1.30002919e-04 9.99983966e-01 -3.42915970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.391193817 meters Centerline goodness : 0.955971 Centerline is valid? [True, True] Translation: X:36.69, Y:-0.16, Z:-3.43 [[ 9.99547453e-01 2.95867422e-02 -5.43262740e-03 3.66883237e+01] [-2.95855748e-02 9.99562207e-01 2.95139088e-04 -1.55911938e-01] [ 5.43898124e-03 -1.34278120e-04 9.99985200e-01 -3.42932485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.421193817 meters Centerline goodness : 0.953805 Centerline is valid? [True, True] Translation: X:36.72, Y:-0.16, Z:-3.43 [[ 9.99687987e-01 2.39638275e-02 -7.04726734e-03 3.67153604e+01] [-2.39617295e-02 9.99712804e-01 3.81994809e-04 -1.63703259e-01] [ 7.05439745e-03 -2.13010908e-04 9.99975095e-01 -3.42942781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.451193817 meters Centerline goodness : 0.953902 Centerline is valid? [True, True] Translation: X:36.74, Y:-0.17, Z:-3.43 [[ 9.99749121e-01 2.10493240e-02 -7.65640734e-03 3.67442238e+01] [-2.10467609e-02 9.99778406e-01 4.15196300e-04 -1.69007802e-01] [ 7.66345033e-03 -2.53949562e-04 9.99970603e-01 -3.43084072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.481193817 meters Centerline goodness : 0.953753 Centerline is valid? [True, True] Translation: X:36.77, Y:-0.17, Z:-3.43 [[ 9.99788505e-01 1.82714873e-02 -9.43915379e-03 3.67726424e+01] [-1.82674716e-02 9.99833005e-01 5.11472949e-04 -1.74451952e-01] [ 9.44692287e-03 -3.38935301e-04 9.99955319e-01 -3.43059653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.511193817 meters Centerline goodness : 0.951670 Centerline is valid? [True, True] Translation: X:36.80, Y:-0.18, Z:-3.43 [[ 9.99830772e-01 1.56032932e-02 -9.74498696e-03 3.68015166e+01] [-1.55988941e-02 9.99878191e-01 5.27278810e-04 -1.79091223e-01] [ 9.75202722e-03 -3.75178561e-04 9.99952377e-01 -3.43076663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.541193817 meters Centerline goodness : 0.954516 Centerline is valid? [True, True] Translation: X:36.83, Y:-0.19, Z:-3.43 [[ 9.99898696e-01 1.05020774e-02 -9.60747413e-03 3.68300965e+01] [-1.04975740e-02 9.99944764e-01 5.19044856e-04 -1.86877019e-01] [ 9.61239451e-03 -4.18137104e-04 9.99953712e-01 -3.43076088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.571193817 meters Centerline goodness : 0.950848 Centerline is valid? [True, True] Translation: X:36.86, Y:-0.19, Z:-3.43 [[ 9.99918917e-01 8.49310116e-03 -9.48820229e-03 3.68587765e+01] [-8.48862633e-03 9.99963840e-01 5.11793372e-04 -1.89929039e-01] [ 9.49220591e-03 -4.31210071e-04 9.99954855e-01 -3.43122394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.601193817 meters Centerline goodness : 0.951100 Centerline is valid? [True, True] Translation: X:36.89, Y:-0.19, Z:-3.43 [[ 9.99921687e-01 7.05470398e-03 -1.03369009e-02 3.68869811e+01] [-7.04932959e-03 9.99974998e-01 5.56265647e-04 -1.92707693e-01] [ 1.03405668e-02 -4.83353862e-04 9.99946418e-01 -3.43111107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.631193817 meters Centerline goodness : 0.950376 Centerline is valid? [True, True] Translation: X:36.92, Y:-0.19, Z:-3.43 [[ 9.99912760e-01 7.09636598e-03 -1.11406211e-02 3.69155343e+01] [-7.09012996e-03 9.99974685e-01 5.99151527e-04 -1.94374508e-01] [ 1.11445909e-02 -5.20110806e-04 9.99937762e-01 -3.43143776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.661193817 meters Centerline goodness : 0.950447 Centerline is valid? [True, True] Translation: X:36.94, Y:-0.20, Z:-3.43 [[ 9.99910089e-01 7.94941316e-03 -1.07991110e-02 3.69447234e+01] [-7.94361375e-03 9.99968281e-01 5.79814172e-04 -1.96431262e-01] [ 1.08033777e-02 -4.93978074e-04 9.99941520e-01 -3.43183818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.691193817 meters Centerline goodness : 0.947873 Centerline is valid? [True, False] Translation: X:36.94, Y:-0.20, Z:-3.43 [[ 9.99884961e-01 1.09309937e-02 -1.05155819e-02 3.69434170e+01] [-1.08901391e-02 9.99932960e-01 3.93460191e-03 -1.97708112e-01] [ 1.05578860e-02 -3.81963313e-03 9.99936969e-01 -3.43100807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.721193817 meters Centerline goodness : 0.948616 Centerline is valid? [False, False] Translation: X:36.94, Y:-0.20, Z:-3.43 [[ 9.99813297e-01 1.60978572e-02 -1.06878420e-02 3.69444720e+01] [-1.60085109e-02 9.99836628e-01 8.39320227e-03 -1.97750618e-01] [ 1.08212085e-02 -8.22053880e-03 9.99907658e-01 -3.43172668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.751193817 meters Centerline goodness : 0.947565 Centerline is valid? [False, False] Translation: X:36.94, Y:-0.20, Z:-3.43 [[ 9.99731543e-01 2.05377093e-02 -1.07258312e-02 3.69446752e+01] [-2.04035757e-02 9.99714070e-01 1.24688482e-02 -1.97325114e-01] [ 1.09788459e-02 -1.22466556e-02 9.99864733e-01 -3.43168685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78119381700003 meters Centerline goodness : 0.950394 Centerline is valid? [False, True] Translation: X:36.94, Y:-0.20, Z:-3.43 [[ 9.99565537e-01 2.80947754e-02 -8.91185988e-03 3.69419096e+01] [-2.78992822e-02 9.99382705e-01 2.13503894e-02 -1.98666825e-01] [ 9.50619303e-03 -2.10924790e-02 9.99732334e-01 -3.43229655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.811193817 meters Centerline goodness : 0.949817 Centerline is valid? [True, False] Translation: X:36.94, Y:-0.20, Z:-3.43 [[ 9.99435771e-01 3.23688442e-02 -8.96649213e-03 3.69418351e+01] [-3.21322679e-02 9.99161360e-01 2.53789895e-02 -1.98357139e-01] [ 9.78046104e-03 -2.50765562e-02 9.99637689e-01 -3.43174786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.841193817 meters Centerline goodness : 0.949684 Centerline is valid? [False, False] Translation: X:36.94, Y:-0.20, Z:-3.43 [[ 9.99404738e-01 3.32024019e-02 -9.36859517e-03 3.69420755e+01] [-3.29532826e-02 9.99129034e-01 2.55979559e-02 -1.97732549e-01] [ 1.02103491e-02 -2.52739924e-02 9.99628418e-01 -3.43085975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.871193817 meters Centerline goodness : 0.950170 Centerline is valid? [False, True] Translation: X:36.96, Y:-0.20, Z:-3.43 [[ 9.99327335e-01 3.61770257e-02 -6.00832412e-03 3.69599153e+01] [-3.59567409e-02 9.98794114e-01 3.34279988e-02 -2.03824874e-01] [ 7.21040433e-03 -3.31894732e-02 9.99423068e-01 -3.43170390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.901193817 meters Centerline goodness : 0.950236 Centerline is valid? [True, True] Translation: X:36.99, Y:-0.20, Z:-3.43 [[ 9.99361836e-01 3.55244771e-02 -3.73260812e-03 3.69891729e+01] [-3.55240562e-02 9.99368805e-01 1.79025452e-04 -1.98661925e-01] [ 3.73661191e-03 -4.63138241e-05 9.99993018e-01 -3.42921572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.931193817 meters Centerline goodness : 0.949513 Centerline is valid? [True, False] Translation: X:37.00, Y:-0.21, Z:-3.43 [[ 9.99422840e-01 3.39580662e-02 9.14820453e-04 3.70008554e+01] [-3.39653495e-02 9.99375971e-01 9.69656325e-03 -2.05058455e-01] [-5.84973041e-04 -9.72203897e-03 9.99952569e-01 -3.43246352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.961193817 meters Centerline goodness : 0.950013 Centerline is valid? [False, True] Translation: X:37.01, Y:-0.21, Z:-3.44 [[ 9.99480618e-01 3.18278910e-02 5.04770080e-03 3.70124798e+01] [-3.19183486e-02 9.99310133e-01 1.89862308e-02 -2.10020453e-01] [-4.43992687e-03 -1.91374840e-02 9.99807003e-01 -3.43563574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.991193817 meters Centerline goodness : 0.951584 Centerline is valid? [True, True] Translation: X:37.04, Y:-0.21, Z:-3.43 [[ 9.99508712e-01 3.11781678e-02 3.20271006e-03 3.70419750e+01] [-3.11778211e-02 9.99513841e-01 -1.58115333e-04 -2.07157824e-01] [-3.20608278e-03 5.81841313e-05 9.99994859e-01 -3.43419662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.021193817 meters Centerline goodness : 0.947780 Centerline is valid? [True, False] Translation: X:37.06, Y:-0.22, Z:-3.43 [[ 9.99545254e-01 3.00213972e-02 -2.82850741e-03 3.70567901e+01] [-2.99855375e-02 9.99478707e-01 1.19658878e-02 -2.15339173e-01] [ 3.18626559e-03 -1.18756320e-02 9.99924406e-01 -3.43489804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.051193817 meters Centerline goodness : 0.945874 Centerline is valid? [False, False] Translation: X:37.07, Y:-0.22, Z:-3.43 [[ 9.99504228e-01 3.02768599e-02 -8.63769678e-03 3.70680701e+01] [-3.00744718e-02 9.99290543e-01 2.26701699e-02 -2.19902043e-01] [ 9.31795027e-03 -2.23991565e-02 9.99705683e-01 -3.43435390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.081193817 meters Centerline goodness : 0.945582 Centerline is valid? [False, False] Translation: X:37.07, Y:-0.22, Z:-3.44 [[ 9.99474663e-01 3.10846844e-02 -9.17286057e-03 3.70702941e+01] [-3.08551561e-02 9.99231239e-01 2.41844994e-02 -2.23078525e-01] [ 9.91757636e-03 -2.38887643e-02 9.99665428e-01 -3.43587036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.111193817 meters Centerline goodness : 0.942372 Centerline is valid? [False, False] Translation: X:37.07, Y:-0.23, Z:-3.44 [[ 9.99437411e-01 3.19382802e-02 -1.02375818e-02 3.70737866e+01] [-3.16586494e-02 9.99149970e-01 2.64020426e-02 -2.28730468e-01] [ 1.10721154e-02 -2.60630811e-02 9.99598982e-01 -3.43770711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.141193817 meters Centerline goodness : 0.944841 Centerline is valid? [False, False] Translation: X:37.08, Y:-0.23, Z:-3.44 [[ 9.99420696e-01 3.23362025e-02 -1.06132697e-02 3.70750024e+01] [-3.20355169e-02 9.99111812e-01 2.73735870e-02 -2.31240989e-01] [ 1.14890010e-02 -2.70177278e-02 9.99568930e-01 -3.43837431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.171193817 meters Centerline goodness : 0.941643 Centerline is valid? [False, False] Translation: X:37.08, Y:-0.23, Z:-3.44 [[ 9.99415527e-01 3.24317865e-02 -1.08066641e-02 3.70755456e+01] [-3.21178532e-02 9.99090218e-01 2.80567187e-02 -2.33102203e-01] [ 1.17067619e-02 -2.76932334e-02 9.99547916e-01 -3.43850499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.201193817 meters Centerline goodness : 0.942810 Centerline is valid? [False, False] Translation: X:37.08, Y:-0.23, Z:-3.44 [[ 9.99429217e-01 3.19321099e-02 -1.10263791e-02 3.70756294e+01] [-3.16095317e-02 9.99099993e-01 2.82850109e-02 -2.34792681e-01] [ 1.19196554e-02 -2.79203276e-02 9.99539082e-01 -3.43805923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.231193817 meters Centerline goodness : 0.941978 Centerline is valid? [False, False] Translation: X:37.07, Y:-0.24, Z:-3.44 [[ 9.99472455e-01 3.11825017e-02 -9.08097907e-03 3.70720682e+01] [-3.09029766e-02 9.99088530e-01 2.94468172e-02 -2.37333590e-01] [ 9.99092746e-03 -2.91506534e-02 9.99525098e-01 -3.43860576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.261193817 meters Centerline goodness : 0.939958 Centerline is valid? [False, False] Translation: X:37.04, Y:-0.24, Z:-3.44 [[ 9.99668625e-01 2.38875421e-02 -9.59303645e-03 3.70426811e+01] [-2.34533282e-02 9.98796448e-01 4.30766452e-02 -2.44645951e-01] [ 1.06104859e-02 -4.28373820e-02 9.99025714e-01 -3.43723628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.291193817 meters Centerline goodness : 0.940793 Centerline is valid? [False, False] Translation: X:37.02, Y:-0.25, Z:-3.44 [[ 9.99723753e-01 2.14442397e-02 -9.62092310e-03 3.70202819e+01] [-2.10367849e-02 9.98953124e-01 4.06215388e-02 -2.45339185e-01] [ 1.04819492e-02 -4.04079239e-02 9.99128284e-01 -3.43618165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.321193817 meters Centerline goodness : 0.939383 Centerline is valid? [False, False] Translation: X:36.97, Y:-0.24, Z:-3.44 [[ 9.99831397e-01 1.65347358e-02 -7.98621414e-03 3.69730706e+01] [-1.62032917e-02 9.99071429e-01 3.99215860e-02 -2.43965256e-01] [ 8.63889125e-03 -3.97854522e-02 9.99170900e-01 -3.43799518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.351193817 meters Centerline goodness : 0.938958 Centerline is valid? [False, False] Translation: X:36.93, Y:-0.24, Z:-3.44 [[ 9.99859769e-01 1.40414578e-02 -9.12573595e-03 3.69331927e+01] [-1.37045595e-02 9.99258295e-01 3.59867391e-02 -2.43392162e-01] [ 9.62427362e-03 -3.58566285e-02 9.99310600e-01 -3.43823896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.381193817 meters Centerline goodness : 0.940520 Centerline is valid? [False, False] Translation: X:36.90, Y:-0.25, Z:-3.44 [[ 9.99953394e-01 6.68628391e-03 -6.96449905e-03 3.69030167e+01] [-6.42707257e-03 9.99309368e-01 3.65989163e-02 -2.45791786e-01] [ 7.20439989e-03 -3.65524492e-02 9.99305767e-01 -3.43937612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.411193817 meters Centerline goodness : 0.941509 Centerline is valid? [False, False] Translation: X:36.86, Y:-0.24, Z:-3.44 [[ 9.99961457e-01 4.06443959e-03 -7.78231161e-03 3.68625131e+01] [-3.81616320e-03 9.99491538e-01 3.16560000e-02 -2.43260822e-01] [ 7.90701850e-03 -3.16250813e-02 9.99468525e-01 -3.43912012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.441193817 meters Centerline goodness : 0.939390 Centerline is valid? [False, False] Translation: X:36.86, Y:-0.24, Z:-3.44 [[ 9.99968819e-01 2.93077120e-04 -7.89145126e-03 3.68624851e+01] [-7.49528931e-05 9.99618307e-01 2.76266927e-02 -2.42677324e-01] [ 7.89653591e-03 -2.76252398e-02 9.99587160e-01 -3.43877054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.471193817 meters Centerline goodness : 0.938438 Centerline is valid? [False, False] Translation: X:36.84, Y:-0.24, Z:-3.44 [[ 9.99964645e-01 -1.75394722e-03 -8.22387354e-03 3.68401470e+01] [ 1.96262042e-03 9.99674550e-01 2.54350503e-02 -2.42439848e-01] [ 8.17658534e-03 -2.54502914e-02 9.99642649e-01 -3.43714802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.501193817 meters Centerline goodness : 0.939200 Centerline is valid? [False, False] Translation: X:36.82, Y:-0.24, Z:-3.44 [[ 9.99946930e-01 -7.21126794e-03 -7.35761858e-03 3.68179573e+01] [ 7.35141278e-03 9.99788602e-01 1.92017491e-02 -2.42089812e-01] [ 7.21759424e-03 -1.92548189e-02 9.99788557e-01 -3.43638173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53119381700003 meters Centerline goodness : 0.940046 Centerline is valid? [False, False] Translation: X:36.82, Y:-0.24, Z:-3.44 [[ 9.99908021e-01 -1.11785227e-02 -7.68053665e-03 3.68188066e+01] [ 1.12921894e-02 9.99824942e-01 1.49188706e-02 -2.40878826e-01] [ 7.51242118e-03 -1.50042284e-02 9.99859208e-01 -3.43654006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.561193817 meters Centerline goodness : 0.940959 Centerline is valid? [False, False] Translation: X:36.82, Y:-0.24, Z:-3.44 [[ 9.99873765e-01 -1.40574856e-02 -7.40549380e-03 3.68172940e+01] [ 1.41437290e-02 9.99831224e-01 1.17251534e-02 -2.39871319e-01] [ 7.23941775e-03 -1.18284146e-02 9.99903835e-01 -3.43524363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.591193817 meters Centerline goodness : 0.939444 Centerline is valid? [False, False] Translation: X:36.82, Y:-0.24, Z:-3.44 [[ 9.99862762e-01 -1.47645767e-02 -7.51425726e-03 3.68173550e+01] [ 1.48490022e-02 9.99825821e-01 1.13064257e-02 -2.39736010e-01] [ 7.34601384e-03 -1.14164533e-02 9.99907846e-01 -3.43504154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.621193817 meters Centerline goodness : 0.941851 Centerline is valid? [False, False] Translation: X:36.81, Y:-0.24, Z:-3.43 [[ 9.99821189e-01 -1.75648742e-02 -7.00462582e-03 3.68145274e+01] [ 1.76247659e-02 9.99807838e-01 8.58226331e-03 -2.38005980e-01] [ 6.85253342e-03 -8.70418360e-03 9.99938638e-01 -3.43265957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.651193817 meters Centerline goodness : 0.940141 Centerline is valid? [False, False] Translation: X:36.81, Y:-0.24, Z:-3.43 [[ 9.99809765e-01 -1.81712435e-02 -7.08793463e-03 3.68142625e+01] [ 1.82277246e-02 9.99801958e-01 7.98711637e-03 -2.37100325e-01] [ 6.94139509e-03 -8.11479387e-03 9.99942982e-01 -3.43208288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.681193817 meters Centerline goodness : 0.941995 Centerline is valid? [False, False] Translation: X:36.81, Y:-0.24, Z:-3.43 [[ 9.99798997e-01 -1.88228573e-02 -6.90397135e-03 3.68134978e+01] [ 1.88728286e-02 9.99795637e-01 7.24576021e-03 -2.35899911e-01] [ 6.76617452e-03 -7.37460126e-03 9.99949916e-01 -3.43148797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.711193817 meters Centerline goodness : 0.941995 Centerline is valid? [False, False] Translation: X:36.81, Y:-0.24, Z:-3.43 [[ 9.99798997e-01 -1.88228573e-02 -6.90397135e-03 3.68134978e+01] [ 1.88728286e-02 9.99795637e-01 7.24576021e-03 -2.35899911e-01] [ 6.76617452e-03 -7.37460126e-03 9.99949916e-01 -3.43148797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.741193817 meters Centerline goodness : 0.940253 Centerline is valid? [False, False] Translation: X:36.81, Y:-0.23, Z:-3.43 [[ 9.99792104e-01 -1.91856010e-02 -6.90369623e-03 3.68134140e+01] [ 1.92311505e-02 9.99793326e-01 6.59307959e-03 -2.34169698e-01] [ 6.77577722e-03 -6.72447494e-03 9.99954434e-01 -3.43136138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.771193817 meters Centerline goodness : 0.943910 Centerline is valid? [False, False] Translation: X:36.81, Y:-0.23, Z:-3.43 [[ 9.99770967e-01 -2.02918941e-02 -6.80091643e-03 3.68136857e+01] [ 2.03228954e-02 9.99783248e-01 4.52071125e-03 -2.28473638e-01] [ 6.70770853e-03 -4.65789017e-03 9.99966655e-01 -3.43195393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.801193817 meters Centerline goodness : 0.944978 Centerline is valid? [False, False] Translation: X:36.81, Y:-0.22, Z:-3.43 [[ 9.99756617e-01 -2.09055201e-02 -7.04736680e-03 3.68144409e+01] [ 2.09290180e-02 9.99775593e-01 3.27718355e-03 -2.24925787e-01] [ 6.97727409e-03 -3.42388041e-03 9.99969797e-01 -3.43231241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.831193817 meters Centerline goodness : 0.947164 Centerline is valid? [False, False] Translation: X:36.82, Y:-0.22, Z:-3.43 [[ 9.99747747e-01 -2.12278169e-02 -7.33638365e-03 3.68153604e+01] [ 2.12447315e-02 9.99771806e-01 2.23538247e-03 -2.21486954e-01] [ 7.28725724e-03 -2.39067809e-03 9.99970590e-01 -3.43275531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.861193817 meters Centerline goodness : 0.946318 Centerline is valid? [False, False] Translation: X:36.82, Y:-0.22, Z:-3.43 [[ 9.99794053e-01 -1.88960904e-02 -7.40200854e-03 3.68157837e+01] [ 1.89304237e-02 9.99810239e-01 4.59609985e-03 -2.19460466e-01] [ 7.31375561e-03 -4.73527645e-03 9.99962042e-01 -3.43329971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.891193817 meters Centerline goodness : 0.948826 Centerline is valid? [False, False] Translation: X:36.82, Y:-0.21, Z:-3.43 [[ 9.99824750e-01 -1.71458522e-02 -7.51587395e-03 3.68166121e+01] [ 1.71811493e-02 9.99841547e-01 4.65720603e-03 -2.09625350e-01] [ 7.43483127e-03 -4.78552121e-03 9.99960910e-01 -3.43415070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.921193817 meters Centerline goodness : 0.949404 Centerline is valid? [False, False] Translation: X:36.82, Y:-0.20, Z:-3.43 [[ 9.99862707e-01 -1.47033539e-02 -7.64059517e-03 3.68167151e+01] [ 1.47526843e-02 9.99870430e-01 6.44061156e-03 -2.04328573e-01] [ 7.54490659e-03 -6.55244660e-03 9.99950069e-01 -3.43412313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.951193817 meters Centerline goodness : 0.949911 Centerline is valid? [False, False] Translation: X:36.82, Y:-0.20, Z:-3.43 [[ 9.99853469e-01 -1.51838126e-02 -7.90519398e-03 3.68174350e+01] [ 1.52213966e-02 9.99873026e-01 4.71608127e-03 -1.96708968e-01] [ 7.83258213e-03 -4.83571831e-03 9.99957632e-01 -3.43425038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.981193817 meters Centerline goodness : 0.950115 Centerline is valid? [False, True] Translation: X:36.82, Y:-0.19, Z:-3.43 [[ 9.99891487e-01 -1.23165804e-02 -8.08179662e-03 3.68174562e+01] [ 1.23725911e-02 9.99899529e-01 6.91746687e-03 -1.91617951e-01] [ 7.99578510e-03 -7.01670900e-03 9.99943415e-01 -3.43390997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.011193817 meters Centerline goodness : 0.946861 Centerline is valid? [True, False] Translation: X:36.82, Y:-0.18, Z:-3.43 [[ 9.99918195e-01 -9.82820751e-03 -8.18590782e-03 3.68180089e+01] [ 9.88831035e-03 9.99924211e-01 7.33440879e-03 -1.82245718e-01] [ 8.11320333e-03 -7.41475359e-03 9.99939597e-01 -3.43452115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.041193817 meters Centerline goodness : 0.949427 Centerline is valid? [False, False] Translation: X:36.82, Y:-0.18, Z:-3.44 [[ 9.99939455e-01 -7.11186566e-03 -8.39683422e-03 3.68189996e+01] [ 7.19173275e-03 9.99928822e-01 9.52000202e-03 -1.78512526e-01] [ 8.32853158e-03 -9.57981342e-03 9.99919428e-01 -3.43537352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.071193817 meters Centerline goodness : 0.948421 Centerline is valid? [False, False] Translation: X:36.82, Y:-0.17, Z:-3.44 [[ 9.99954987e-01 -4.14479741e-03 -8.53492672e-03 3.68196175e+01] [ 4.24486295e-03 9.99922077e-01 1.17396962e-02 -1.74051640e-01] [ 8.48560299e-03 -1.17753973e-02 9.99894662e-01 -3.43590545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.101193817 meters Centerline goodness : 0.947366 Centerline is valid? [False, False] Translation: X:36.82, Y:-0.17, Z:-3.44 [[ 9.99961401e-01 -1.13191069e-03 -8.71294132e-03 3.68199872e+01] [ 1.25257553e-03 9.99903217e-01 1.38559449e-02 -1.69061535e-01] [ 8.69641437e-03 -1.38663237e-02 9.99866040e-01 -3.43594537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.131193817 meters Centerline goodness : 0.948398 Centerline is valid? [False, False] Translation: X:36.82, Y:-0.16, Z:-3.44 [[ 9.99959054e-01 1.99872405e-03 -8.82578917e-03 3.68200531e+01] [-1.85787895e-03 9.99871259e-01 1.59378216e-02 -1.63672870e-01] [ 8.85650823e-03 -1.59207718e-02 9.99834032e-01 -3.43571564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.161193817 meters Centerline goodness : 0.946750 Centerline is valid? [False, False] Translation: X:36.82, Y:-0.15, Z:-3.43 [[ 9.99921933e-01 8.93217841e-03 -8.73752457e-03 3.68194628e+01] [-8.75274865e-03 9.99754346e-01 2.03626146e-02 -1.53060396e-01] [ 8.91726068e-03 -2.02845476e-02 9.99754480e-01 -3.43472346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.191193817 meters Centerline goodness : 0.951979 Centerline is valid? [False, True] Translation: X:36.82, Y:-0.15, Z:-3.43 [[ 9.99886272e-01 1.22377471e-02 -8.81370892e-03 3.68193615e+01] [-1.20373764e-02 9.99675742e-01 2.24390847e-02 -1.47514109e-01] [ 9.08545484e-03 -2.23304388e-02 9.99709361e-01 -3.43421525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.221193817 meters Centerline goodness : 0.950210 Centerline is valid? [True, True] Translation: X:36.85, Y:-0.13, Z:-3.43 [[ 9.99743812e-01 1.93622877e-02 -1.17222656e-02 3.68481722e+01] [-1.93550518e-02 9.99812407e-01 7.30415042e-04 -1.31467547e-01] [ 1.17342091e-02 -5.03342860e-04 9.99931025e-01 -3.43071230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.251193817 meters Centerline goodness : 0.949640 Centerline is valid? [True, False] Translation: X:36.85, Y:-0.13, Z:-3.43 [[ 9.99667939e-01 2.29517763e-02 -1.17144176e-02 3.68482537e+01] [-2.29060900e-02 9.99729541e-01 4.01940319e-03 -1.29910960e-01] [ 1.18035018e-02 -3.74973700e-03 9.99923305e-01 -3.43060949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28119381700003 meters Centerline goodness : 0.950186 Centerline is valid? [False, True] Translation: X:36.85, Y:-0.13, Z:-3.43 [[ 9.99584949e-01 2.63672694e-02 -1.16058683e-02 3.68479911e+01] [-2.62840183e-02 9.99628092e-01 7.26822987e-03 -1.28779734e-01] [ 1.17931954e-02 -6.96016433e-03 9.99906234e-01 -3.43041271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.311193817 meters Centerline goodness : 0.950503 Centerline is valid? [True, True] Translation: X:36.88, Y:-0.13, Z:-3.43 [[ 9.99568243e-01 2.71986523e-02 -1.11158103e-02 3.68760867e+01] [-2.71923249e-02 9.99629961e-01 7.19994192e-04 -1.25492377e-01] [ 1.11312799e-02 -4.17418603e-04 9.99937958e-01 -3.43017753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.341193817 meters Centerline goodness : 0.949390 Centerline is valid? [True, False] Translation: X:36.88, Y:-0.12, Z:-3.43 [[ 9.99481952e-01 3.02338391e-02 -1.10336769e-02 3.68761366e+01] [-3.01992353e-02 9.99538486e-01 3.28948598e-03 -1.22050529e-01] [ 1.11280385e-02 -2.95457326e-03 9.99933716e-01 -3.43021446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.371193817 meters Centerline goodness : 0.950019 Centerline is valid? [False, True] Translation: X:36.88, Y:-0.12, Z:-3.43 [[ 9.99382835e-01 3.33884502e-02 -1.09161097e-02 3.68761513e+01] [-3.33148127e-02 9.99421368e-01 6.85946544e-03 -1.21892581e-01] [ 1.11388202e-02 -6.49156386e-03 9.99916890e-01 -3.43037762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.401193817 meters Centerline goodness : 0.950555 Centerline is valid? [True, True] Translation: X:36.90, Y:-0.12, Z:-3.43 [[ 9.99361027e-01 3.37639219e-02 -1.17275103e-02 3.69030686e+01] [-3.37566864e-02 9.99429749e-01 8.14421906e-04 -1.19904616e-01] [ 1.17483208e-02 -4.18019624e-04 9.99930899e-01 -3.43040066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.431193817 meters Centerline goodness : 0.950960 Centerline is valid? [True, True] Translation: X:36.93, Y:-0.12, Z:-3.43 [[ 9.99371125e-01 3.32070781e-02 -1.24355933e-02 3.69303595e+01] [-3.31989180e-02 9.99448392e-01 8.62104392e-04 -1.20584528e-01] [ 1.24573617e-02 -4.48713996e-04 9.99922303e-01 -3.43117064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.461193817 meters Centerline goodness : 0.951250 Centerline is valid? [True, True] Translation: X:36.96, Y:-0.12, Z:-3.43 [[ 9.99396601e-01 3.23851644e-02 -1.25552507e-02 3.69573119e+01] [-3.23768019e-02 9.99475356e-01 8.68791400e-04 -1.21238755e-01] [ 1.25767996e-02 -4.61768306e-04 9.99920802e-01 -3.43279570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.491193817 meters Centerline goodness : 0.949260 Centerline is valid? [True, False] Translation: X:36.95, Y:-0.12, Z:-3.43 [[ 9.99355267e-01 3.42392955e-02 -1.08037448e-02 3.69546039e+01] [-3.41978452e-02 9.99407084e-01 3.99840904e-03 -1.20742444e-01] [ 1.09342418e-02 -3.62636634e-03 9.99933644e-01 -3.43368114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.521193817 meters Centerline goodness : 0.950599 Centerline is valid? [False, True] Translation: X:36.96, Y:-0.12, Z:-3.43 [[ 9.99463782e-01 3.15783390e-02 -8.65779637e-03 3.69627437e+01] [-3.14592458e-02 9.99413008e-01 1.35630350e-02 -1.21219566e-01] [ 9.08101243e-03 -1.32833945e-02 9.99870535e-01 -3.43340305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.551193817 meters Centerline goodness : 0.951235 Centerline is valid? [True, True] Translation: X:36.99, Y:-0.12, Z:-3.43 [[ 9.99488973e-01 3.03710624e-02 -9.96956572e-03 3.69916474e+01] [-3.03654840e-02 9.99538610e-01 7.10472859e-04 -1.16837716e-01] [ 9.98654368e-03 -4.07379100e-04 9.99950050e-01 -3.43153425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.581193817 meters Centerline goodness : 0.950115 Centerline is valid? [True, True] Translation: X:37.02, Y:-0.12, Z:-3.43 [[ 9.99561300e-01 2.80799184e-02 -9.41938832e-03 3.70192962e+01] [-2.80748484e-02 9.99605599e-01 6.70069973e-04 -1.17114704e-01] [ 9.43448882e-03 -4.05328114e-04 9.99955412e-01 -3.43242538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.611193817 meters Centerline goodness : 0.952846 Centerline is valid? [True, True] Translation: X:37.05, Y:-0.12, Z:-3.43 [[ 9.99638366e-01 2.53109837e-02 -9.08250646e-03 3.70468791e+01] [-2.53061657e-02 9.99679540e-01 6.45015491e-04 -1.17249264e-01] [ 9.09592185e-03 -4.14938817e-04 9.99958545e-01 -3.43330368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.641193817 meters Centerline goodness : 0.951376 Centerline is valid? [True, True] Translation: X:37.08, Y:-0.12, Z:-3.44 [[ 9.99768296e-01 1.92515577e-02 -9.62976015e-03 3.70752718e+01] [-1.92458719e-02 9.99814548e-01 6.82761740e-04 -1.17857270e-01] [ 9.64111851e-03 -4.97270410e-04 9.99953400e-01 -3.43519657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.671193817 meters Centerline goodness : 0.950362 Centerline is valid? [True, True] Translation: X:37.10, Y:-0.12, Z:-3.44 [[ 9.99824128e-01 1.59015180e-02 -9.94259000e-03 3.71031320e+01] [-1.58952953e-02 9.99873414e-01 7.04583742e-04 -1.19652444e-01] [ 9.95253535e-03 -5.46419422e-04 9.99950323e-01 -3.43596480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.701193817 meters Centerline goodness : 0.951783 Centerline is valid? [True, True] Translation: X:37.13, Y:-0.12, Z:-3.44 [[ 9.99878314e-01 1.11499364e-02 -1.09103980e-02 3.71311561e+01] [-1.11421749e-02 9.99937626e-01 7.71920700e-04 -1.20715636e-01] [ 1.09183244e-02 -6.50261205e-04 9.99940182e-01 -3.43694464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.731193817 meters Centerline goodness : 0.950131 Centerline is valid? [True, True] Translation: X:37.16, Y:-0.12, Z:-3.44 [[ 9.99899097e-01 8.46215879e-03 -1.14099382e-02 3.71589124e+01] [-8.45350824e-03 9.99963943e-01 8.06175472e-04 -1.22628282e-01] [ 1.14163488e-02 -7.09640120e-04 9.99934580e-01 -3.43757292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.761193817 meters Centerline goodness : 0.949306 Centerline is valid? [True, False] Translation: X:37.16, Y:-0.12, Z:-3.44 [[ 9.99904236e-01 7.80923033e-03 -1.14251847e-02 3.71587795e+01] [-7.80292901e-03 9.99969379e-01 5.96001491e-04 -1.23125402e-01] [ 1.14294892e-02 -5.06794510e-04 9.99934553e-01 -3.43751096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.791193817 meters Centerline goodness : 0.950574 Centerline is valid? [False, True] Translation: X:37.13, Y:-0.12, Z:-3.44 [[ 9.99927677e-01 1.55564935e-03 -1.19256093e-02 3.71295027e+01] [-1.36307432e-03 9.99868826e-01 1.61391793e-02 -1.23031539e-01] [ 1.19491519e-02 -1.61217566e-02 9.99798633e-01 -3.43820226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.821193817 meters Centerline goodness : 0.949779 Centerline is valid? [True, False] Translation: X:37.13, Y:-0.12, Z:-3.44 [[ 9.99928090e-01 1.09370788e-03 -1.19422726e-02 3.71291322e+01] [-9.08102744e-04 9.99878893e-01 1.55362377e-02 -1.21836811e-01] [ 1.19578184e-02 -1.55242757e-02 9.99807985e-01 -3.43762035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.851193817 meters Centerline goodness : 0.950118 Centerline is valid? [False, True] Translation: X:37.13, Y:-0.12, Z:-3.44 [[ 9.99926398e-01 9.49192100e-04 -1.20953519e-02 3.71289679e+01] [-7.68163015e-04 9.99887758e-01 1.49626969e-02 -1.20371803e-01] [ 1.21081967e-02 -1.49523044e-02 9.99814893e-01 -3.43691674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.881193817 meters Centerline goodness : 0.952142 Centerline is valid? [True, True] Translation: X:37.16, Y:-0.12, Z:-3.43 [[ 9.99904132e-01 4.03205632e-03 -1.32464713e-02 3.71571914e+01] [-4.02022683e-03 9.99991496e-01 9.19536287e-04 -1.15055509e-01] [ 1.32500663e-02 -8.66194313e-04 9.99911839e-01 -3.43393004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.911193817 meters Centerline goodness : 0.951691 Centerline is valid? [True, True] Translation: X:37.19, Y:-0.11, Z:-3.43 [[ 9.99836770e-01 1.31421794e-02 -1.23982638e-02 3.71850543e+01] [-1.31326157e-02 9.99913400e-01 8.52483344e-04 -1.12165128e-01] [ 1.24083936e-02 -6.89522559e-04 9.99922775e-01 -3.43326902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.941193817 meters Centerline goodness : 0.950132 Centerline is valid? [True, True] Translation: X:37.21, Y:-0.11, Z:-3.43 [[ 9.99782926e-01 1.80220475e-02 -1.04550239e-02 3.72128989e+01] [-1.80154935e-02 9.99837448e-01 7.20721458e-04 -1.11956843e-01] [ 1.04663133e-02 -5.32212592e-04 9.99945085e-01 -3.43360018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.971193817 meters Centerline goodness : 0.952581 Centerline is valid? [True, True] Translation: X:37.24, Y:-0.11, Z:-3.43 [[ 9.99723647e-01 2.17872515e-02 -8.82863281e-03 3.72408662e+01] [-2.17827386e-02 9.99762544e-01 6.07006435e-04 -1.11780264e-01] [ 8.83976140e-03 -4.14526886e-04 9.99960843e-01 -3.43344918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.001193817 meters Centerline goodness : 0.955615 Centerline is valid? [True, True] Translation: X:37.27, Y:-0.11, Z:-3.43 [[ 9.99614204e-01 2.75014101e-02 -3.88778301e-03 3.72689479e+01] [-2.75005859e-02 9.99621752e-01 2.65298459e-04 -1.09129187e-01] [ 3.89360854e-03 -1.58279798e-04 9.99992407e-01 -3.43325909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03119381700003 meters Centerline goodness : 0.956182 Centerline is valid? [True, True] Translation: X:37.30, Y:-0.11, Z:-3.43 [[ 9.99584657e-01 2.86978408e-02 -2.63594826e-03 3.72966922e+01] [-2.86974678e-02 9.99588127e-01 1.79212831e-04 -1.08753491e-01] [ 2.64000561e-03 -1.03493356e-04 9.99996510e-01 -3.43395038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.061193817 meters Centerline goodness : 0.957542 Centerline is valid? [True, True] Translation: X:37.32, Y:-0.11, Z:-3.43 [[ 9.99597380e-01 2.82893519e-02 -2.18873877e-03 3.73247614e+01] [-2.82890950e-02 9.99599772e-01 1.48236415e-04 -1.09037224e-01] [ 2.19205629e-03 -8.62592928e-05 9.99997594e-01 -3.43470268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.091193817 meters Centerline goodness : 0.958268 Centerline is valid? [True, True] Translation: X:37.35, Y:-0.11, Z:-3.44 [[ 9.99623784e-01 2.73878382e-02 -1.48234109e-03 3.73530883e+01] [-2.73877198e-02 9.99624881e-01 1.00079298e-04 -1.10350353e-01] [ 1.48452599e-03 -5.94437047e-05 9.99998896e-01 -3.43649525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.121193817 meters Centerline goodness : 0.958205 Centerline is valid? [True, True] Translation: X:37.38, Y:-0.11, Z:-3.44 [[ 9.99648059e-01 2.64505469e-02 -2.03166067e-03 3.73823673e+01] [-2.64503218e-02 9.99650120e-01 1.37619346e-04 -1.11815930e-01] [ 2.03458994e-03 -8.38328336e-05 9.99997927e-01 -3.43685914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.151193817 meters Centerline goodness : 0.957565 Centerline is valid? [True, True] Translation: X:37.41, Y:-0.11, Z:-3.44 [[ 9.99669408e-01 2.56636410e-02 -1.56576210e-03 3.74102351e+01] [-2.56635085e-02 9.99670632e-01 1.04639307e-04 -1.12130645e-01] [ 1.56793181e-03 -6.44217654e-05 9.99998769e-01 -3.43781040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.181193817 meters Centerline goodness : 0.958104 Centerline is valid? [True, True] Translation: X:37.44, Y:-0.11, Z:-3.44 [[ 9.99598204e-01 2.81168802e-02 -3.58769125e-03 3.74382100e+01] [-2.81161884e-02 9.99604632e-01 2.43139176e-04 -1.10928790e-01] [ 3.59310910e-03 -1.42169281e-04 9.99993535e-01 -3.43882064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.211193817 meters Centerline goodness : 0.957015 Centerline is valid? [True, True] Translation: X:37.47, Y:-0.11, Z:-3.44 [[ 9.99487707e-01 3.14626322e-02 -5.86743378e-03 3.74657101e+01] [-3.14608381e-02 9.99504906e-01 3.97838460e-04 -1.11847639e-01] [ 5.87704589e-03 -2.13040266e-04 9.99982707e-01 -3.43954234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.241193817 meters Centerline goodness : 0.954500 Centerline is valid? [True, True] Translation: X:37.49, Y:-0.11, Z:-3.44 [[ 9.99361208e-01 3.47549199e-02 -8.32290326e-03 3.74930710e+01] [-3.47514369e-02 9.99395828e-01 5.62778208e-04 -1.12524535e-01] [ 8.33743411e-03 -2.73185863e-04 9.99965206e-01 -3.43956160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.271193817 meters Centerline goodness : 0.955746 Centerline is valid? [True, True] Translation: X:37.52, Y:-0.11, Z:-3.44 [[ 9.99262360e-01 3.74823287e-02 -8.35530510e-03 3.75214478e+01] [-3.74789122e-02 9.99297259e-01 5.65154966e-04 -1.12888690e-01] [ 8.37061681e-03 -2.51590338e-04 9.99964934e-01 -3.44002448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.301193817 meters Centerline goodness : 0.955735 Centerline is valid? [True, True] Translation: X:37.55, Y:-0.11, Z:-3.44 [[ 9.99185888e-01 3.99579795e-02 -5.56067782e-03 3.75486490e+01] [-3.99565159e-02 9.99201350e-01 3.74105543e-04 -1.13119583e-01] [ 5.57118529e-03 -1.51615667e-04 9.99984469e-01 -3.44155222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.331193817 meters Centerline goodness : 0.955974 Centerline is valid? [True, True] Translation: X:37.58, Y:-0.12, Z:-3.44 [[ 9.99185688e-01 4.01168954e-02 -4.31217680e-03 3.75766722e+01] [-4.01160201e-02 9.99194987e-01 2.89316896e-04 -1.15291352e-01] [ 4.32031193e-03 -1.16093931e-04 9.99990661e-01 -3.44194455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.361193817 meters Centerline goodness : 0.954183 Centerline is valid? [True, True] Translation: X:37.60, Y:-0.12, Z:-3.44 [[ 9.99179736e-01 4.03195787e-02 -3.76654351e-03 3.76043050e+01] [-4.03189153e-02 9.99186830e-01 2.51942353e-04 -1.18039143e-01] [ 3.77363888e-03 -9.98727453e-05 9.99992875e-01 -3.44347785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.391193817 meters Centerline goodness : 0.952561 Centerline is valid? [True, True] Translation: X:37.63, Y:-0.12, Z:-3.44 [[ 9.99155610e-01 4.08115602e-02 -4.74174516e-03 3.76321502e+01] [-4.08105142e-02 9.99166854e-01 3.17195204e-04 -1.20222797e-01] [ 4.75073982e-03 -1.23414310e-04 9.99988708e-01 -3.44441169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.421193817 meters Centerline goodness : 0.950545 Centerline is valid? [True, True] Translation: X:37.66, Y:-0.12, Z:-3.45 [[ 9.98982011e-01 4.41611370e-02 -9.20520475e-03 3.76585244e+01] [-4.41573431e-02 9.99024399e-01 6.15082693e-04 -1.23957586e-01] [ 9.22338690e-03 -2.07979161e-04 9.99957442e-01 -3.44583679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.451193817 meters Centerline goodness : 0.950873 Centerline is valid? [True, True] Translation: X:37.69, Y:-0.13, Z:-3.45 [[ 9.98894437e-01 4.56263184e-02 -1.13200558e-02 3.76864770e+01] [-4.56206640e-02 9.98958548e-01 7.57354133e-04 -1.27276324e-01] [ 1.13428218e-02 -2.40088369e-04 9.99935639e-01 -3.44615536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.481193817 meters Centerline goodness : 0.950733 Centerline is valid? [True, True] Translation: X:37.71, Y:-0.13, Z:-3.45 [[ 9.98846724e-01 4.65993963e-02 -1.15636348e-02 3.77138188e+01] [-4.65935769e-02 9.98913631e-01 7.72291568e-04 -1.30615494e-01] [ 1.15870607e-02 -2.32609797e-04 9.99932841e-01 -3.44740506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.511193817 meters Centerline goodness : 0.949250 Centerline is valid? [True, False] Translation: X:37.71, Y:-0.13, Z:-3.45 [[ 9.98818882e-01 4.70822883e-02 -1.20041317e-02 3.77146512e+01] [-4.70684149e-02 9.98890636e-01 1.43578586e-03 -1.32451898e-01] [ 1.20584148e-02 -8.69074581e-04 9.99926917e-01 -3.44734526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.541193817 meters Centerline goodness : 0.949994 Centerline is valid? [False, False] Translation: X:37.72, Y:-0.14, Z:-3.45 [[ 9.98749263e-01 4.84436974e-02 -1.23740749e-02 3.77153138e+01] [-4.83998719e-02 9.98820746e-01 3.81713992e-03 -1.38802757e-01] [ 1.25443991e-02 -3.21346204e-03 9.99916152e-01 -3.44740822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.571193817 meters Centerline goodness : 0.950237 Centerline is valid? [False, True] Translation: X:37.72, Y:-0.14, Z:-3.45 [[ 9.98871983e-01 4.56564574e-02 -1.30480016e-02 3.77163833e+01] [-4.56497538e-02 9.98957177e-01 8.11284438e-04 -1.40183978e-01] [ 1.30714352e-02 -2.14731232e-04 9.99914542e-01 -3.44727482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.601193817 meters Centerline goodness : 0.949161 Centerline is valid? [True, False] Translation: X:37.72, Y:-0.14, Z:-3.45 [[ 9.98842308e-01 4.62407511e-02 -1.32603521e-02 3.77166056e+01] [-4.62166576e-02 9.98929194e-01 2.11784325e-03 -1.44294961e-01] [ 1.33440835e-02 -1.50254229e-03 9.99909835e-01 -3.44711619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.631193817 meters Centerline goodness : 0.949161 Centerline is valid? [False, False] Translation: X:37.72, Y:-0.14, Z:-3.45 [[ 9.98842308e-01 4.62407511e-02 -1.32603521e-02 3.77166056e+01] [-4.62166576e-02 9.98929194e-01 2.11784325e-03 -1.44294961e-01] [ 1.33440835e-02 -1.50254229e-03 9.99909835e-01 -3.44711619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.661193817 meters Centerline goodness : 0.951036 Centerline is valid? [False, True] Translation: X:37.72, Y:-0.15, Z:-3.45 [[ 9.98801391e-01 4.70114015e-02 -1.36275134e-02 3.77173187e+01] [-4.69661850e-02 9.98889922e-01 3.61946364e-03 -1.48404501e-01] [ 1.37825418e-02 -2.97509301e-03 9.99900590e-01 -3.44718487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.691193817 meters Centerline goodness : 0.950341 Centerline is valid? [True, True] Translation: X:37.75, Y:-0.15, Z:-3.45 [[ 9.98749796e-01 4.80160034e-02 -1.39035083e-02 3.77451616e+01] [-4.80087265e-02 9.98846549e-01 8.56869596e-04 -1.52756876e-01] [ 1.39286147e-02 -1.88308609e-04 9.99902974e-01 -3.44642460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.721193817 meters Centerline goodness : 0.949090 Centerline is valid? [True, False] Translation: X:37.75, Y:-0.16, Z:-3.45 [[ 9.98653823e-01 4.99077654e-02 -1.41335452e-02 3.77454869e+01] [-4.98589709e-02 9.98749099e-01 3.78417768e-03 -1.60235392e-01] [ 1.43047254e-02 -3.07439949e-03 9.99892956e-01 -3.44634130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.751193817 meters Centerline goodness : 0.949806 Centerline is valid? [False, False] Translation: X:37.75, Y:-0.16, Z:-3.45 [[ 9.98754301e-01 4.76502242e-02 -1.48088538e-02 3.77470114e+01] [-4.76373452e-02 9.98863950e-01 1.22141432e-03 -1.62296515e-01] [ 1.48502309e-02 -5.14438324e-04 9.99889597e-01 -3.44677873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78119381700003 meters Centerline goodness : 0.948706 Centerline is valid? [False, False] Translation: X:37.76, Y:-0.17, Z:-3.45 [[ 9.98771780e-01 4.84613827e-02 -1.03162658e-02 3.77627635e+01] [-4.83617298e-02 9.98782789e-01 9.69962872e-03 -1.70184898e-01] [ 1.07737662e-02 -9.18880298e-03 9.99899741e-01 -3.45035130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.811193817 meters Centerline goodness : 0.948421 Centerline is valid? [False, False] Translation: X:37.76, Y:-0.17, Z:-3.45 [[ 9.98885337e-01 4.59017389e-02 -1.10051963e-02 3.77643736e+01] [-4.58273177e-02 9.98925395e-01 6.92190965e-03 -1.72121466e-01] [ 1.13110978e-02 -6.40985542e-03 9.99915483e-01 -3.45094900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.841193817 meters Centerline goodness : 0.945906 Centerline is valid? [False, False] Translation: X:37.78, Y:-0.18, Z:-3.45 [[ 9.98982952e-01 4.41718234e-02 -9.05052556e-03 3.77833233e+01] [-4.40649468e-02 9.98960314e-01 1.16863812e-02 -1.84063468e-01] [ 9.55732462e-03 -1.12756847e-02 9.99890752e-01 -3.45343324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.871193817 meters Centerline goodness : 0.945482 Centerline is valid? [False, False] Translation: X:37.78, Y:-0.19, Z:-3.45 [[ 9.99095458e-01 4.14279618e-02 -9.59111205e-03 3.77843717e+01] [-4.13383365e-02 9.99101347e-01 9.36160653e-03 -1.88053934e-01] [ 9.97032525e-03 -8.95665795e-03 9.99910181e-01 -3.45373256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.901193817 meters Centerline goodness : 0.943378 Centerline is valid? [False, False] Translation: X:37.79, Y:-0.19, Z:-3.45 [[ 9.99192723e-01 3.88604812e-02 -1.01865361e-02 3.77854952e+01] [-3.87888733e-02 9.99221951e-01 7.13548783e-03 -1.91856212e-01] [ 1.04558990e-02 -6.73460326e-03 9.99922657e-01 -3.45391539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.931193817 meters Centerline goodness : 0.942692 Centerline is valid? [False, False] Translation: X:37.79, Y:-0.20, Z:-3.45 [[ 9.99275095e-01 3.65144886e-02 -1.07692330e-02 3.77867417e+01] [-3.64623400e-02 9.99322521e-01 4.99966599e-03 -1.95344355e-01] [ 1.09444974e-02 -4.60337027e-03 9.99929511e-01 -3.45419332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.961193817 meters Centerline goodness : 0.941526 Centerline is valid? [False, False] Translation: X:37.80, Y:-0.20, Z:-3.46 [[ 9.99371972e-01 3.50731606e-02 -5.05328825e-03 3.77996014e+01] [-3.50083498e-02 9.99310228e-01 1.23888855e-02 -2.02883614e-01] [ 5.48432000e-03 -1.22041977e-02 9.99910486e-01 -3.45791035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.991193817 meters Centerline goodness : 0.944414 Centerline is valid? [False, False] Translation: X:37.82, Y:-0.22, Z:-3.46 [[ 9.99421207e-01 3.36837966e-02 -4.75956834e-03 3.78207233e+01] [-3.35982756e-02 9.99290293e-01 1.70313370e-02 -2.15375474e-01] [ 5.32987053e-03 -1.68615661e-02 9.99843628e-01 -3.45999751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.021193817 meters Centerline goodness : 0.942005 Centerline is valid? [False, False] Translation: X:37.84, Y:-0.22, Z:-3.46 [[ 9.99509958e-01 3.09996881e-02 -4.34317060e-03 3.78418483e+01] [-3.09189960e-02 9.99367723e-01 1.75547609e-02 -2.21491970e-01] [ 4.88461663e-03 -1.74118719e-02 9.99836470e-01 -3.46111920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.051193817 meters Centerline goodness : 0.940462 Centerline is valid? [False, False] Translation: X:37.86, Y:-0.23, Z:-3.46 [[ 9.99609833e-01 2.78277868e-02 -2.40737667e-03 3.78615696e+01] [-2.77806809e-02 9.99455899e-01 1.77803015e-02 -2.28132593e-01] [ 2.90085325e-03 -1.77064857e-02 9.99839020e-01 -3.46207289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.081193817 meters Centerline goodness : 0.939831 Centerline is valid? [False, False] Translation: X:37.87, Y:-0.24, Z:-3.47 [[ 9.99711974e-01 2.38058486e-02 3.04155938e-03 3.78744910e+01] [-2.38686430e-02 9.99459215e-01 2.26178198e-02 -2.36025215e-01] [-2.50147816e-03 -2.26839032e-02 9.99739558e-01 -3.46563792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.111193817 meters Centerline goodness : 0.938607 Centerline is valid? [False, False] Translation: X:37.91, Y:-0.26, Z:-3.46 [[ 9.99910269e-01 1.19598242e-02 6.03468295e-03 3.79062447e+01] [-1.22873265e-02 9.98268841e-01 5.75181945e-02 -2.58341349e-01] [-5.33632845e-03 -5.75871834e-02 9.98326219e-01 -3.46189565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.141193817 meters Centerline goodness : 0.940523 Centerline is valid? [False, False] Translation: X:37.92, Y:-0.27, Z:-3.46 [[ 9.99965159e-01 5.39883965e-03 6.36661547e-03 3.79184302e+01] [-5.81407111e-03 9.97728329e-01 6.71146679e-02 -2.65539303e-01] [-5.98981129e-03 -6.71493455e-02 9.97724956e-01 -3.46094111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.171193817 meters Centerline goodness : 0.938857 Centerline is valid? [False, False] Translation: X:37.91, Y:-0.27, Z:-3.46 [[ 9.99991512e-01 -2.11354191e-03 3.53670246e-03 3.79092138e+01] [ 1.85167550e-03 9.97368553e-01 7.24744175e-02 -2.71895231e-01] [-3.68057354e-03 -7.24672535e-02 9.97364001e-01 -3.45927093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.201193817 meters Centerline goodness : 0.939889 Centerline is valid? [False, False] Translation: X:37.88, Y:-0.28, Z:-3.46 [[ 9.99905384e-01 -1.24360884e-02 5.87942660e-03 3.78789676e+01] [ 1.19472883e-02 9.96966248e-01 7.69126936e-02 -2.83633340e-01] [-6.81808294e-03 -7.68351732e-02 9.97020496e-01 -3.45993252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.231193817 meters Centerline goodness : 0.938031 Centerline is valid? [False, False] Translation: X:37.88, Y:-0.28, Z:-3.46 [[ 9.99884197e-01 -1.52121794e-02 -4.27150400e-04 3.78762254e+01] [ 1.52105912e-02 9.98106109e-01 5.96056480e-02 -2.82394519e-01] [-4.80390387e-04 -5.96052427e-02 9.98221911e-01 -3.45700830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.261193817 meters Centerline goodness : 0.938487 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.28, Z:-3.46 [[ 9.99839849e-01 -1.78845343e-02 6.47712588e-04 3.78850966e+01] [ 1.78355722e-02 9.98774561e-01 4.61656588e-02 -2.82521113e-01] [-1.47257017e-03 -4.61467130e-02 9.98933588e-01 -3.45571117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.291193817 meters Centerline goodness : 0.938485 Centerline is valid? [False, False] Translation: X:37.88, Y:-0.28, Z:-3.45 [[ 9.99820178e-01 -1.80566225e-02 -5.79394824e-03 3.78839891e+01] [ 1.82226626e-02 9.99383367e-01 3.00136710e-02 -2.81153997e-01] [ 5.24842998e-03 -3.01138551e-02 9.99532696e-01 -3.45334111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.321193817 meters Centerline goodness : 0.938027 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.28, Z:-3.45 [[ 9.99781332e-01 -1.99322687e-02 -6.32392528e-03 3.78862048e+01] [ 2.01015985e-02 9.99407202e-01 2.79494126e-02 -2.82411867e-01] [ 5.76308127e-03 -2.80704219e-02 9.99589335e-01 -3.45450671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.351193817 meters Centerline goodness : 0.938946 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.28, Z:-3.45 [[ 9.99868364e-01 -1.50539383e-02 -6.05262796e-03 3.78864553e+01] [ 1.51319769e-02 9.99800194e-01 1.30611995e-02 -2.79728410e-01] [ 5.85479612e-03 -1.31510684e-02 9.99896380e-01 -3.45441376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.381193817 meters Centerline goodness : 0.937714 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.28, Z:-3.46 [[ 9.99888816e-01 -1.33596172e-02 -6.62390131e-03 3.78886803e+01] [ 1.34520250e-02 9.99809984e-01 1.41081053e-02 -2.78848094e-01] [ 6.43416377e-03 -1.41956415e-02 9.99878535e-01 -3.45567334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.411193817 meters Centerline goodness : 0.940019 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.28, Z:-3.46 [[ 9.99923114e-01 -1.02315770e-02 -7.00578089e-03 3.78903285e+01] [ 1.03486080e-02 9.99804008e-01 1.68775762e-02 -2.77677285e-01] [ 6.83172359e-03 -1.69487786e-02 9.99833019e-01 -3.45672241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.441193817 meters Centerline goodness : 0.939384 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.28, Z:-3.46 [[ 9.99954234e-01 -6.17664021e-03 -7.30609407e-03 3.78908996e+01] [ 6.32589287e-03 9.99768095e-01 2.05849455e-02 -2.76616200e-01] [ 7.17725394e-03 -2.06302209e-02 9.99761412e-01 -3.45674580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.471193817 meters Centerline goodness : 0.939063 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.28, Z:-3.46 [[ 9.99969429e-01 -2.10687662e-03 -7.53007434e-03 3.78911867e+01] [ 2.28975752e-03 9.99700599e-01 2.43612064e-02 -2.75835627e-01] [ 7.47649377e-03 -2.43777037e-02 9.99674862e-01 -3.45657946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.501193817 meters Centerline goodness : 0.938960 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.27, Z:-3.46 [[ 9.99966782e-01 2.88843752e-03 -7.62180147e-03 3.78913475e+01] [-2.67356349e-03 9.99602857e-01 2.80531732e-02 -2.74034719e-01] [ 7.69980436e-03 -2.80318639e-02 9.99577375e-01 -3.45651386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53119381700003 meters Centerline goodness : 0.937949 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.27, Z:-3.46 [[ 9.99949808e-01 6.49163088e-03 -7.63148602e-03 3.78913618e+01] [-6.24705983e-03 9.99479615e-01 3.16460585e-02 -2.74128787e-01] [ 7.83294924e-03 -3.15967958e-02 9.99470003e-01 -3.45647403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.561193817 meters Centerline goodness : 0.938545 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.27, Z:-3.46 [[ 9.99943307e-01 7.03450325e-03 -7.99369692e-03 3.78925603e+01] [-6.77984946e-03 9.99482351e-01 3.14493736e-02 -2.72227768e-01] [ 8.21078971e-03 -3.13933945e-02 9.99473380e-01 -3.45706433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.591193817 meters Centerline goodness : 0.940742 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.27, Z:-3.46 [[ 9.99938687e-01 7.64845416e-03 -8.00764916e-03 3.78928565e+01] [-7.39827188e-03 9.99497580e-01 3.08196768e-02 -2.68630957e-01] [ 8.23934885e-03 -3.07585444e-02 9.99492884e-01 -3.45748972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.621193817 meters Centerline goodness : 0.939759 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.27, Z:-3.46 [[ 9.99932269e-01 7.93723122e-03 -8.51215749e-03 3.78941534e+01] [-7.66986423e-03 9.99490094e-01 3.09955764e-02 -2.68685092e-01] [ 8.75383614e-03 -3.09281900e-02 9.99483275e-01 -3.45786900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.651193817 meters Centerline goodness : 0.937855 Centerline is valid? [False, False] Translation: X:37.90, Y:-0.27, Z:-3.46 [[ 9.99923661e-01 8.38354099e-03 -9.07678481e-03 3.78957812e+01] [-8.09310416e-03 9.99468618e-01 3.15750332e-02 -2.70138664e-01] [ 9.33667216e-03 -3.14991635e-02 9.99460169e-01 -3.45853894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.681193817 meters Centerline goodness : 0.938801 Centerline is valid? [False, False] Translation: X:37.91, Y:-0.27, Z:-3.46 [[ 9.99898654e-01 7.25082228e-03 -1.22518066e-02 3.79069801e+01] [-6.75705571e-03 9.99181898e-01 3.98732592e-02 -2.72357949e-01] [ 1.25308973e-02 -3.97864320e-02 9.99129629e-01 -3.45714741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.711193817 meters Centerline goodness : 0.935428 Centerline is valid? [False, False] Translation: X:37.91, Y:-0.27, Z:-3.46 [[ 9.99889724e-01 7.51243027e-03 -1.28103006e-02 3.79085515e+01] [-6.99035079e-03 9.99162223e-01 4.03235353e-02 -2.73313804e-01] [ 1.31024962e-02 -4.02295401e-02 9.99104553e-01 -3.45771638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.741193817 meters Centerline goodness : 0.937971 Centerline is valid? [False, False] Translation: X:37.91, Y:-0.28, Z:-3.46 [[ 9.99875081e-01 8.11474412e-03 -1.35636941e-02 3.79101837e+01] [-7.54107631e-03 9.99096563e-01 4.18233169e-02 -2.77104903e-01] [ 1.38908256e-02 -4.17158075e-02 9.99032951e-01 -3.45767023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.771193817 meters Centerline goodness : 0.937084 Centerline is valid? [False, False] Translation: X:37.92, Y:-0.28, Z:-3.46 [[ 9.99905213e-01 7.47341670e-03 -1.15633971e-02 3.79182704e+01] [-6.84155135e-03 9.98530974e-01 5.37502254e-02 -2.82923639e-01] [ 1.19481080e-02 -5.36660191e-02 9.98487457e-01 -3.45672322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.801193817 meters Centerline goodness : 0.936806 Centerline is valid? [False, False] Translation: X:37.92, Y:-0.28, Z:-3.46 [[ 9.99902261e-01 7.83328757e-03 -1.15805304e-02 3.79177994e+01] [-7.19384831e-03 9.98500745e-01 5.42633425e-02 -2.84306959e-01] [ 1.19882286e-02 -5.41747303e-02 9.98459504e-01 -3.45575513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.831193817 meters Centerline goodness : 0.937688 Centerline is valid? [False, False] Translation: X:37.92, Y:-0.28, Z:-3.46 [[ 9.99939541e-01 7.06382004e-03 -8.42716854e-03 3.79235539e+01] [-6.71816395e-03 9.99162494e-01 4.03630556e-02 -2.82949628e-01] [ 8.70522810e-03 -4.03040002e-02 9.99149542e-01 -3.45532449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.861193817 meters Centerline goodness : 0.937188 Centerline is valid? [False, False] Translation: X:37.92, Y:-0.28, Z:-3.46 [[ 9.99959210e-01 8.07112741e-03 -4.05412859e-03 3.79208727e+01] [-7.98241171e-03 9.99738227e-01 2.14419692e-02 -2.80812383e-01] [ 4.22612819e-03 -2.14087328e-02 9.99761875e-01 -3.45573674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.891193817 meters Centerline goodness : 0.935331 Centerline is valid? [False, False] Translation: X:37.92, Y:-0.29, Z:-3.45 [[ 9.99932286e-01 1.02539315e-02 -5.50272228e-03 3.79213355e+01] [-1.01058854e-02 9.99603293e-01 2.62892898e-02 -2.88591785e-01] [ 5.77010790e-03 -2.62318998e-02 9.99639232e-01 -3.45189956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.921193817 meters Centerline goodness : 0.934950 Centerline is valid? [False, False] Translation: X:37.93, Y:-0.29, Z:-3.45 [[ 9.99947326e-01 9.94535057e-03 -2.53689326e-03 3.79295737e+01] [-9.90998387e-03 9.99858514e-01 1.35920480e-02 -2.87564256e-01] [ 2.67171201e-03 -1.35661915e-02 9.99904406e-01 -3.45259603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.951193817 meters Centerline goodness : 0.936269 Centerline is valid? [False, False] Translation: X:37.93, Y:-0.29, Z:-3.45 [[ 9.99971811e-01 7.01163017e-03 -2.68583173e-03 3.79298042e+01] [-6.98389689e-03 9.99923594e-01 1.01995998e-02 -2.87875353e-01] [ 2.75714234e-03 -1.01805547e-02 9.99944376e-01 -3.45253487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.981193817 meters Centerline goodness : 0.937628 Centerline is valid? [False, False] Translation: X:37.93, Y:-0.29, Z:-3.45 [[ 9.99986252e-01 4.43503698e-03 -2.79744637e-03 3.79302386e+01] [-4.41284554e-03 9.99959139e-01 7.88965324e-03 -2.91691170e-01] [ 2.83232297e-03 -7.87720008e-03 9.99964963e-01 -3.45283614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.011193817 meters Centerline goodness : 0.934848 Centerline is valid? [False, False] Translation: X:37.93, Y:-0.29, Z:-3.45 [[ 9.99994477e-01 1.29327400e-03 -3.06168726e-03 3.79308615e+01] [-1.27899050e-03 9.99988312e-01 4.66260620e-03 -2.93363059e-01] [ 3.06768151e-03 -4.65866458e-03 9.99984443e-01 -3.45299717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.041193817 meters Centerline goodness : 0.934191 Centerline is valid? [False, False] Translation: X:37.93, Y:-0.30, Z:-3.45 [[ 9.99992362e-01 -1.22241651e-03 -3.71249019e-03 3.79327628e+01] [ 1.23128264e-03 9.99996393e-01 2.38684456e-03 -2.96648317e-01] [ 3.70955909e-03 -2.39139746e-03 9.99990260e-01 -3.45376911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.071193817 meters Centerline goodness : 0.935453 Centerline is valid? [False, False] Translation: X:37.93, Y:-0.30, Z:-3.45 [[ 9.99983760e-01 -3.79462058e-03 -4.25204267e-03 3.79345966e+01] [ 3.79557187e-03 9.99992774e-01 2.15679386e-04 -3.00315714e-01] [ 4.25119352e-03 -2.31814817e-04 9.99990937e-01 -3.45473562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.101193817 meters Centerline goodness : 0.933162 Centerline is valid? [False, False] Translation: X:37.94, Y:-0.30, Z:-3.46 [[ 9.99967617e-01 -6.38982972e-03 -4.89237248e-03 3.79365003e+01] [ 6.37897942e-03 9.99977167e-01 -2.23020135e-03 -3.02934702e-01] [ 4.90651138e-03 2.19892079e-03 9.99985545e-01 -3.45552634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.131193817 meters Centerline goodness : 0.932007 Centerline is valid? [False, False] Translation: X:37.94, Y:-0.31, Z:-3.46 [[ 9.99960513e-01 -7.01194319e-03 -5.45936735e-03 3.79385423e+01] [ 6.99972604e-03 9.99972962e-01 -2.25373362e-03 -3.08398975e-01] [ 5.47502279e-03 2.21543055e-03 9.99982558e-01 -3.45647930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.161193817 meters Centerline goodness : 0.935408 Centerline is valid? [False, False] Translation: X:37.94, Y:-0.31, Z:-3.46 [[ 9.99962009e-01 -6.36964924e-03 -5.95053831e-03 3.79395719e+01] [ 6.36506229e-03 9.99979431e-01 -7.89467318e-04 -3.12149797e-01] [ 5.95544454e-03 7.51561778e-04 9.99981984e-01 -3.45661513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.191193817 meters Centerline goodness : 0.935285 Centerline is valid? [False, False] Translation: X:37.94, Y:-0.32, Z:-3.46 [[ 9.99953150e-01 -6.39775742e-03 -7.26410631e-03 3.79433326e+01] [ 6.39256548e-03 9.99979295e-01 -7.37732501e-04 -3.15861255e-01] [ 7.26867574e-03 6.91261663e-04 9.99973344e-01 -3.45804781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.221193817 meters Centerline goodness : 0.932647 Centerline is valid? [False, False] Translation: X:37.95, Y:-0.32, Z:-3.46 [[ 9.99943974e-01 -6.59447610e-03 -8.28016239e-03 3.79465390e+01] [ 6.58918759e-03 9.99978069e-01 -6.65814511e-04 -3.19638542e-01] [ 8.28437150e-03 6.11217665e-04 9.99965497e-01 -3.45950564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.251193817 meters Centerline goodness : 0.935819 Centerline is valid? [False, False] Translation: X:37.95, Y:-0.33, Z:-3.46 [[ 9.99938421e-01 -6.21903239e-03 -9.19116351e-03 3.79491996e+01] [ 6.22550925e-03 9.99980393e-01 6.76240900e-04 -3.28287526e-01] [ 9.18677773e-03 -7.33418931e-04 9.99957532e-01 -3.46064532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28119381700003 meters Centerline goodness : 0.935922 Centerline is valid? [False, False] Translation: X:37.95, Y:-0.33, Z:-3.46 [[ 9.99915919e-01 -9.02166540e-03 -9.31473576e-03 3.79494387e+01] [ 9.00443337e-03 9.99957673e-01 -1.89025976e-03 -3.31254866e-01] [ 9.33139478e-03 1.80622691e-03 9.99954830e-01 -3.46051514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.311193817 meters Centerline goodness : 0.936322 Centerline is valid? [False, False] Translation: X:37.96, Y:-0.33, Z:-3.46 [[ 9.99942180e-01 -9.66873548e-03 -4.70667373e-03 3.79606327e+01] [ 9.60895734e-03 9.99874926e-01 -1.25618275e-02 -3.33388252e-01] [ 4.82754204e-03 1.25158749e-02 9.99910020e-01 -3.46415879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.341193817 meters Centerline goodness : 0.937444 Centerline is valid? [False, False] Translation: X:37.96, Y:-0.34, Z:-3.46 [[ 9.99945431e-01 -9.14087096e-03 -5.05770814e-03 3.79612640e+01] [ 9.08699108e-03 9.99902789e-01 -1.05753738e-02 -3.39574174e-01] [ 5.15388461e-03 1.05288374e-02 9.99931288e-01 -3.46397189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.371193817 meters Centerline goodness : 0.939291 Centerline is valid? [False, False] Translation: X:37.96, Y:-0.35, Z:-3.46 [[ 9.99916998e-01 -1.18821762e-02 -4.98097418e-03 3.79603136e+01] [ 1.18280109e-02 9.99872083e-01 -1.07663925e-02 -3.49813255e-01] [ 5.10826520e-03 1.07065839e-02 9.99929635e-01 -3.46247573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.401193817 meters Centerline goodness : 0.939059 Centerline is valid? [False, False] Translation: X:37.96, Y:-0.35, Z:-3.46 [[ 9.99873191e-01 -1.50189649e-02 -5.29466896e-03 3.79609960e+01] [ 1.49490309e-02 9.99803622e-01 -1.30093727e-02 -3.54598873e-01] [ 5.48901651e-03 1.29285728e-02 9.99901356e-01 -3.46232724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.431193817 meters Centerline goodness : 0.940461 Centerline is valid? [False, False] Translation: X:37.96, Y:-0.36, Z:-3.46 [[ 9.99817001e-01 -1.83214278e-02 -5.50361120e-03 3.79613319e+01] [ 1.82359610e-02 9.99718203e-01 -1.51974939e-02 -3.59964953e-01] [ 5.78050009e-03 1.50943492e-02 9.99869365e-01 -3.46197964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.461193817 meters Centerline goodness : 0.941545 Centerline is valid? [False, False] Translation: X:37.96, Y:-0.36, Z:-3.46 [[ 9.99745086e-01 -2.18412901e-02 -5.72023721e-03 3.79618393e+01] [ 2.17370417e-02 9.99607149e-01 -1.76931634e-02 -3.64543698e-01] [ 6.10443152e-03 1.75643121e-02 9.99827100e-01 -3.46181756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.491193817 meters Centerline goodness : 0.940028 Centerline is valid? [False, False] Translation: X:37.96, Y:-0.37, Z:-3.46 [[ 9.99654202e-01 -2.56239592e-02 -5.90665602e-03 3.79625931e+01] [ 2.54965020e-02 9.99459982e-01 -2.07285514e-02 -3.67471138e-01] [ 6.43461388e-03 2.05707844e-02 9.99767692e-01 -3.46209018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.521193817 meters Centerline goodness : 0.940028 Centerline is valid? [False, False] Translation: X:37.96, Y:-0.37, Z:-3.46 [[ 9.99654202e-01 -2.56239592e-02 -5.90665602e-03 3.79625931e+01] [ 2.54965020e-02 9.99459982e-01 -2.07285514e-02 -3.67471138e-01] [ 6.43461388e-03 2.05707844e-02 9.99767692e-01 -3.46209018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.551193817 meters Centerline goodness : 0.945235 Centerline is valid? [False, False] Translation: X:37.97, Y:-0.37, Z:-3.46 [[ 9.99506120e-01 -3.14212081e-02 -4.73275428e-04 3.79722213e+01] [ 3.14102094e-02 9.99388073e-01 -1.53908388e-02 -3.73896501e-01] [ 9.56584568e-04 1.53683719e-02 9.99881442e-01 -3.46424232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.581193817 meters Centerline goodness : 0.946079 Centerline is valid? [False, False] Translation: X:37.97, Y:-0.38, Z:-3.46 [[ 9.99509329e-01 -3.13184952e-02 -5.02243070e-04 3.79715914e+01] [ 3.13080340e-02 9.99406211e-01 -1.43886060e-02 -3.76957183e-01] [ 9.52574332e-04 1.43658217e-02 9.99896353e-01 -3.46310231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.611193817 meters Centerline goodness : 0.942764 Centerline is valid? [False, False] Translation: X:37.97, Y:-0.38, Z:-3.46 [[ 9.99507341e-01 -3.13764221e-02 -7.72032459e-04 3.79716216e+01] [ 3.13627644e-02 9.99412447e-01 -1.38252350e-02 -3.79327644e-01] [ 1.20536526e-03 1.37942108e-02 9.99904129e-01 -3.46224550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.641193817 meters Centerline goodness : 0.942911 Centerline is valid? [False, False] Translation: X:37.97, Y:-0.38, Z:-3.46 [[ 9.99513792e-01 -3.11619018e-02 -1.05634776e-03 3.79718973e+01] [ 3.11451635e-02 9.99426770e-01 -1.32706343e-02 -3.80899455e-01] [ 1.46928044e-03 1.32312819e-02 9.99911383e-01 -3.46182629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.671193817 meters Centerline goodness : 0.943814 Centerline is valid? [False, False] Translation: X:37.97, Y:-0.38, Z:-3.46 [[ 9.99520526e-01 -3.09319622e-02 -1.39008748e-03 3.79729895e+01] [ 3.09108468e-02 9.99434171e-01 -1.32611482e-02 -3.80458822e-01] [ 1.79949426e-03 1.32118211e-02 9.99911101e-01 -3.46251255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.701193817 meters Centerline goodness : 0.941394 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.38, Z:-3.46 [[ 9.99557629e-01 -2.96749449e-02 -1.98603949e-03 3.79757592e+01] [ 2.96489939e-02 9.99488077e-01 -1.20217082e-02 -3.80666212e-01] [ 2.34176632e-03 1.19575060e-02 9.99925764e-01 -3.46453899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.731193817 meters Centerline goodness : 0.941285 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.38, Z:-3.47 [[ 9.99560619e-01 -2.95408817e-02 -2.42997204e-03 3.79774963e+01] [ 2.95093912e-02 9.99491154e-01 -1.21090532e-02 -3.79812693e-01] [ 2.78644767e-03 1.20320257e-02 9.99923730e-01 -3.46571256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.761193817 meters Centerline goodness : 0.942473 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.38, Z:-3.47 [[ 9.99562758e-01 -2.94347082e-02 -2.80899115e-03 3.79787855e+01] [ 2.93982134e-02 9.99492686e-01 -1.22521660e-02 -3.78912973e-01] [ 3.16820504e-03 1.21642295e-02 9.99920994e-01 -3.46648578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.791193817 meters Centerline goodness : 0.938787 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.38, Z:-3.47 [[ 9.99564692e-01 -2.93302485e-02 -3.18802199e-03 3.79802330e+01] [ 2.92894432e-02 9.99496882e-01 -1.21701299e-02 -3.78639481e-01] [ 3.54337098e-03 1.20714568e-02 9.99920859e-01 -3.46747212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.821193817 meters Centerline goodness : 0.939431 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.38, Z:-3.47 [[ 9.99561617e-01 -2.93563287e-02 -3.84456637e-03 3.79821249e+01] [ 2.93086284e-02 9.99499266e-01 -1.19256663e-02 -3.79678011e-01] [ 4.19273504e-03 1.18077593e-02 9.99921496e-01 -3.46826138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.851193817 meters Centerline goodness : 0.938337 Centerline is valid? [False, False] Translation: X:37.99, Y:-0.38, Z:-3.47 [[ 9.99539505e-01 -2.99978691e-02 -4.57223764e-03 3.79850232e+01] [ 2.99400357e-02 9.99476850e-01 -1.22319262e-02 -3.80680652e-01] [ 4.93677740e-03 1.20894005e-02 9.99914734e-01 -3.47004437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.881193817 meters Centerline goodness : 0.939688 Centerline is valid? [False, False] Translation: X:37.99, Y:-0.38, Z:-3.47 [[ 9.99512787e-01 -3.07736742e-02 -5.21247031e-03 3.79877119e+01] [ 3.07057272e-02 9.99448427e-01 -1.26491469e-02 -3.81521902e-01] [ 5.59885597e-03 1.24829314e-02 9.99906410e-01 -3.47175162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.911193817 meters Centerline goodness : 0.942325 Centerline is valid? [False, False] Translation: X:37.99, Y:-0.38, Z:-3.47 [[ 9.99508824e-01 -3.08318993e-02 -5.61287529e-03 3.79885846e+01] [ 3.07608669e-02 9.99450721e-01 -1.23298752e-02 -3.82538155e-01] [ 5.98994572e-03 1.21511622e-02 9.99908231e-01 -3.47181914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.941193817 meters Centerline goodness : 0.942871 Centerline is valid? [False, False] Translation: X:38.01, Y:-0.38, Z:-3.47 [[ 9.99535445e-01 -3.01488277e-02 -4.46577733e-03 3.80087174e+01] [ 3.00941431e-02 9.99476891e-01 -1.18442605e-02 -3.84036681e-01] [ 4.82053181e-03 1.17043644e-02 9.99919882e-01 -3.47229723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.971193817 meters Centerline goodness : 0.940656 Centerline is valid? [False, False] Translation: X:38.01, Y:-0.39, Z:-3.47 [[ 9.99533417e-01 -3.01617774e-02 -4.81831281e-03 3.80093724e+01] [ 3.01069336e-02 9.99485316e-01 -1.10759394e-02 -3.86475110e-01] [ 5.14990292e-03 1.09257069e-02 9.99927051e-01 -3.47219965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.001193817 meters Centerline goodness : 0.941481 Centerline is valid? [False, False] Translation: X:38.01, Y:-0.39, Z:-3.47 [[ 9.99531929e-01 -3.01562756e-02 -5.15002346e-03 3.80104603e+01] [ 3.00991593e-02 9.99488250e-01 -1.08295383e-02 -3.87075380e-01] [ 5.47396647e-03 1.06694579e-02 9.99928097e-01 -3.47273098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03119381700003 meters Centerline goodness : 0.939366 Centerline is valid? [False, False] Translation: X:38.01, Y:-0.39, Z:-3.47 [[ 9.99532586e-01 -3.00866086e-02 -5.42272967e-03 3.80117751e+01] [ 3.00289514e-02 9.99494741e-01 -1.04175619e-02 -3.88218649e-01] [ 5.73341889e-03 1.02498537e-02 9.99931032e-01 -3.47374637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.061193817 meters Centerline goodness : 0.941497 Centerline is valid? [False, False] Translation: X:38.01, Y:-0.39, Z:-3.47 [[ 9.99532998e-01 -2.99992789e-02 -5.81620065e-03 3.80128831e+01] [ 2.99382460e-02 9.99498566e-01 -1.03110984e-02 -3.88190302e-01] [ 6.12260972e-03 1.01321563e-02 9.99929924e-01 -3.47417968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.091193817 meters Centerline goodness : 0.939270 Centerline is valid? [False, False] Translation: X:38.01, Y:-0.39, Z:-3.47 [[ 9.99527704e-01 -3.01041645e-02 -6.17319130e-03 3.80136912e+01] [ 3.00378730e-02 9.99492936e-01 -1.05639822e-02 -3.87366543e-01] [ 6.48808095e-03 1.03735634e-02 9.99925144e-01 -3.47424938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.121193817 meters Centerline goodness : 0.941250 Centerline is valid? [False, False] Translation: X:38.01, Y:-0.39, Z:-3.47 [[ 9.99531083e-01 -2.99367219e-02 -6.43476660e-03 3.80140357e+01] [ 2.98677277e-02 9.99498041e-01 -1.05633475e-02 -3.86730337e-01] [ 6.74776861e-03 1.03662023e-02 9.99923502e-01 -3.47398839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.151193817 meters Centerline goodness : 0.941611 Centerline is valid? [False, False] Translation: X:38.01, Y:-0.39, Z:-3.47 [[ 9.99530437e-01 -2.98930858e-02 -6.73118170e-03 3.80146766e+01] [ 2.98190277e-02 9.99496466e-01 -1.08462172e-02 -3.85527796e-01] [ 7.05201922e-03 1.06404070e-02 9.99918522e-01 -3.47404667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.181193817 meters Centerline goodness : 0.941687 Centerline is valid? [False, False] Translation: X:38.02, Y:-0.38, Z:-3.47 [[ 9.99525938e-01 -2.99472493e-02 -7.14578021e-03 3.80156039e+01] [ 2.98647532e-02 9.99489110e-01 -1.13849239e-02 -3.83679267e-01] [ 7.48307666e-03 1.11661198e-02 9.99909657e-01 -3.47419765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.211193817 meters Centerline goodness : 0.941202 Centerline is valid? [False, False] Translation: X:38.05, Y:-0.38, Z:-3.47 [[ 9.99674934e-01 -2.35287952e-02 -9.81945878e-03 3.80450061e+01] [ 2.33587939e-02 9.99581191e-01 -1.70824478e-02 -3.78688457e-01] [ 1.02172757e-02 1.68475242e-02 9.99805865e-01 -3.47360769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.241193817 meters Centerline goodness : 0.942176 Centerline is valid? [False, False] Translation: X:38.06, Y:-0.37, Z:-3.48 [[ 9.99815735e-01 -1.85449866e-02 -4.95780008e-03 3.80578762e+01] [ 1.84328688e-02 9.99592918e-01 -2.17767819e-02 -3.74816030e-01] [ 5.35963197e-03 2.16813827e-02 9.99750565e-01 -3.47747108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.271193817 meters Centerline goodness : 0.941072 Centerline is valid? [False, False] Translation: X:38.07, Y:-0.37, Z:-3.48 [[ 9.99916558e-01 -1.29124205e-02 -3.82908671e-04 3.80740100e+01] [ 1.29006085e-02 9.99665964e-01 -2.23949529e-02 -3.70971965e-01] [ 6.71953815e-04 2.23881445e-02 9.99749128e-01 -3.48024823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.301193817 meters Centerline goodness : 0.941446 Centerline is valid? [False, False] Translation: X:38.10, Y:-0.37, Z:-3.48 [[ 9.99981242e-01 -5.63395432e-03 -2.40309289e-03 3.81013772e+01] [ 5.57047229e-03 9.99655403e-01 -2.56523917e-02 -3.67548938e-01] [ 2.54678920e-03 2.56385241e-02 9.99668035e-01 -3.47810018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.331193817 meters Centerline goodness : 0.943263 Centerline is valid? [False, False] Translation: X:38.12, Y:-0.36, Z:-3.48 [[ 9.99998758e-01 -1.56408695e-03 -1.95417004e-04 3.81212175e+01] [ 1.55856878e-03 9.99670733e-01 -2.56124236e-02 -3.63697894e-01] [ 2.35412717e-04 2.56120872e-02 9.99671929e-01 -3.47927616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.361193817 meters Centerline goodness : 0.944224 Centerline is valid? [False, False] Translation: X:38.16, Y:-0.36, Z:-3.48 [[ 9.99955756e-01 9.39043845e-03 -5.52498717e-04 3.81627006e+01] [-9.40405883e-03 9.99337436e-01 -3.51603943e-02 -3.58051024e-01] [ 2.21961133e-04 3.51640344e-02 9.99381529e-01 -3.47948460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.391193817 meters Centerline goodness : 0.940242 Centerline is valid? [False, False] Translation: X:38.20, Y:-0.36, Z:-3.48 [[ 9.99920427e-01 1.26054616e-02 4.92399605e-04 3.82002521e+01] [-1.25776611e-02 9.99199052e-01 -3.79875892e-02 -3.56408984e-01] [-9.70856316e-04 3.79783732e-02 9.99278090e-01 -3.48105002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.421193817 meters Centerline goodness : 0.942352 Centerline is valid? [False, False] Translation: X:38.22, Y:-0.36, Z:-3.48 [[ 9.99896297e-01 1.43937771e-02 4.62207349e-04 3.82227440e+01] [-1.43655534e-02 9.99164396e-01 -3.82640906e-02 -3.56429349e-01] [-1.01258592e-03 3.82534826e-02 9.99267555e-01 -3.48301733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.451193817 meters Centerline goodness : 0.941189 Centerline is valid? [False, False] Translation: X:38.24, Y:-0.36, Z:-3.49 [[ 9.99895573e-01 1.41017037e-02 3.15989824e-03 3.82365957e+01] [-1.40080648e-02 9.99512037e-01 -2.79188380e-02 -3.63550572e-01] [-3.55205951e-03 2.78716585e-02 9.99605199e-01 -3.48705020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.481193817 meters Centerline goodness : 0.939956 Centerline is valid? [False, False] Translation: X:38.24, Y:-0.37, Z:-3.49 [[ 9.99910811e-01 1.31424760e-02 2.37588735e-03 3.82393304e+01] [-1.30714832e-02 9.99528988e-01 -2.77657807e-02 -3.67226497e-01] [-2.73967939e-03 2.77322480e-02 9.99611633e-01 -3.48872539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.511193817 meters Centerline goodness : 0.938519 Centerline is valid? [False, False] Translation: X:38.24, Y:-0.37, Z:-3.49 [[ 9.99922459e-01 1.23357507e-02 1.70449066e-03 3.82414461e+01] [-1.22845688e-02 9.99550822e-01 -2.73357415e-02 -3.71375710e-01] [-2.04093193e-03 2.73126830e-02 9.99624856e-01 -3.48980955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.541193817 meters Centerline goodness : 0.939899 Centerline is valid? [False, False] Translation: X:38.25, Y:-0.38, Z:-3.49 [[ 9.99947171e-01 8.52065459e-03 5.74924345e-03 3.82530198e+01] [-8.40038558e-03 9.99751916e-01 -2.06286205e-02 -3.76871736e-01] [-5.92358650e-03 2.05792349e-02 9.99770677e-01 -3.49299239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.571193817 meters Centerline goodness : 0.938154 Centerline is valid? [False, False] Translation: X:38.25, Y:-0.39, Z:-3.49 [[ 9.99965126e-01 6.01407522e-03 5.79460903e-03 3.82513739e+01] [-5.89266816e-03 9.99767417e-01 -2.07457981e-02 -3.87762446e-01] [-5.91802809e-03 2.07109289e-02 9.99767990e-01 -3.49084227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.601193817 meters Centerline goodness : 0.940347 Centerline is valid? [False, False] Translation: X:38.25, Y:-0.39, Z:-3.49 [[ 9.99962782e-01 6.65249278e-03 5.49351022e-03 3.82513969e+01] [-6.54858059e-03 9.99803290e-01 -1.87215992e-02 -3.94025135e-01] [-5.61697489e-03 1.86849277e-02 9.99809643e-01 -3.49007138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.631193817 meters Centerline goodness : 0.941512 Centerline is valid? [False, False] Translation: X:38.25, Y:-0.40, Z:-3.49 [[ 9.99960276e-01 7.16468555e-03 5.30228023e-03 3.82516886e+01] [-7.07211371e-03 9.99825741e-01 -1.72763898e-02 -3.98428938e-01] [-5.42513616e-03 1.72382051e-02 9.99836693e-01 -3.48993898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.661193817 meters Centerline goodness : 0.940047 Centerline is valid? [False, False] Translation: X:38.25, Y:-0.40, Z:-3.49 [[ 9.99957686e-01 7.72234968e-03 4.99906318e-03 3.82524845e+01] [-7.64170222e-03 9.99843502e-01 -1.59554435e-02 -4.02069346e-01] [-5.12149435e-03 1.59165671e-02 9.99860207e-01 -3.49025293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.691193817 meters Centerline goodness : 0.940679 Centerline is valid? [False, False] Translation: X:38.25, Y:-0.41, Z:-3.49 [[ 9.99952328e-01 8.61947178e-03 4.58767092e-03 3.82534707e+01] [-8.55222438e-03 9.99858564e-01 -1.44814206e-02 -4.05705629e-01] [-4.71184425e-03 1.44414955e-02 9.99884614e-01 -3.49049005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.721193817 meters Centerline goodness : 0.941859 Centerline is valid? [False, False] Translation: X:38.25, Y:-0.41, Z:-3.49 [[ 9.99938375e-01 1.02101015e-02 4.35883755e-03 3.82539407e+01] [-1.01586912e-02 9.99880438e-01 -1.16580559e-02 -4.13317893e-01] [-4.47734634e-03 1.16130574e-02 9.99922542e-01 -3.49064922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.751193817 meters Centerline goodness : 0.941353 Centerline is valid? [False, False] Translation: X:38.28, Y:-0.42, Z:-3.49 [[ 9.99944362e-01 1.00124175e-02 3.32033068e-03 3.82764708e+01] [-9.96577194e-03 9.99855395e-01 -1.37794013e-02 -4.16408850e-01] [-3.45781567e-03 1.37455449e-02 9.99899547e-01 -3.49228570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78119381700003 meters Centerline goodness : 0.941101 Centerline is valid? [False, False] Translation: X:38.28, Y:-0.42, Z:-3.49 [[ 9.99955395e-01 9.05037008e-03 2.70156350e-03 3.82791302e+01] [-9.01121803e-03 9.99859011e-01 -1.41688278e-02 -4.19247556e-01] [-2.82941574e-03 1.41438515e-02 9.99895968e-01 -3.49409511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.811193817 meters Centerline goodness : 0.940620 Centerline is valid? [False, False] Translation: X:38.28, Y:-0.42, Z:-3.50 [[ 9.99966783e-01 7.92321418e-03 1.91191384e-03 3.82821991e+01] [-7.89462963e-03 9.99863387e-01 -1.45217718e-02 -4.22910411e-01] [-2.02671176e-03 1.45061956e-02 9.99892726e-01 -3.49605326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.841193817 meters Centerline goodness : 0.940582 Centerline is valid? [False, False] Translation: X:38.29, Y:-0.43, Z:-3.50 [[ 9.99998347e-01 1.38197094e-03 1.18119064e-03 3.82851286e+01] [-1.35852368e-03 9.99806469e-01 -1.96259986e-02 -4.29546465e-01] [-1.20808460e-03 1.96243615e-02 9.99806694e-01 -3.49819167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.871193817 meters Centerline goodness : 0.940602 Centerline is valid? [False, False] Translation: X:38.29, Y:-0.43, Z:-3.50 [[ 9.99996633e-01 -2.45050726e-03 8.54015926e-04 3.82863009e+01] [ 2.46918439e-03 9.99741498e-01 -2.26017729e-02 -4.33025665e-01] [-7.98409353e-04 2.26038055e-02 9.99744183e-01 -3.49893332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.901193817 meters Centerline goodness : 0.939230 Centerline is valid? [False, False] Translation: X:38.29, Y:-0.44, Z:-3.50 [[ 9.99979056e-01 -6.45320560e-03 4.92904746e-04 3.82873430e+01] [ 6.46372183e-03 9.99650408e-01 -2.56375127e-02 -4.36683142e-01] [-3.27288290e-04 2.56401618e-02 9.99671183e-01 -3.49931747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.931193817 meters Centerline goodness : 0.941521 Centerline is valid? [False, False] Translation: X:38.29, Y:-0.44, Z:-3.50 [[ 9.99946148e-01 -1.03754060e-02 2.26606114e-04 3.82881135e+01] [ 1.03776463e-02 9.99538546e-01 -2.85482098e-02 -4.40569178e-01] [ 6.96977213e-05 2.85490240e-02 9.99592391e-01 -3.49951185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.961193817 meters Centerline goodness : 0.943657 Centerline is valid? [False, False] Translation: X:38.28, Y:-0.45, Z:-3.50 [[ 9.99759617e-01 -2.19189745e-02 5.15761967e-04 3.82849740e+01] [ 2.19249711e-02 9.99539427e-01 -2.09816580e-02 -4.50648823e-01] [-5.56279933e-05 2.09879225e-02 9.99779728e-01 -3.49816946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.991193817 meters Centerline goodness : 0.944025 Centerline is valid? [False, False] Translation: X:38.29, Y:-0.45, Z:-3.50 [[ 9.99744360e-01 -2.26076244e-02 3.31434310e-04 3.82856110e+01] [ 2.26097097e-02 9.99540872e-01 -2.01704145e-02 -4.54858664e-01] [ 1.24723016e-04 2.01727518e-02 9.99796502e-01 -3.49816522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.021193817 meters Centerline goodness : 0.944141 Centerline is valid? [False, False] Translation: X:38.29, Y:-0.46, Z:-3.50 [[ 9.99734093e-01 -2.30593409e-02 1.01782418e-04 3.82863222e+01] [ 2.30569825e-02 9.99546307e-01 -1.93792557e-02 -4.58445705e-01] [ 3.45136623e-04 1.93764494e-02 9.99812199e-01 -3.49830602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.051193817 meters Centerline goodness : 0.942708 Centerline is valid? [False, False] Translation: X:38.29, Y:-0.46, Z:-3.50 [[ 9.99725613e-01 -2.34234691e-02 -1.98004975e-04 3.82873573e+01] [ 2.34156531e-02 9.99550350e-01 -1.87297956e-02 -4.61580215e-01] [ 6.36632730e-04 1.87200199e-02 9.99824562e-01 -3.49868554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.081193817 meters Centerline goodness : 0.943545 Centerline is valid? [False, False] Translation: X:38.29, Y:-0.46, Z:-3.50 [[ 9.99624108e-01 -2.74116685e-02 -4.92279629e-04 3.82886478e+01] [ 2.73940145e-02 9.99378630e-01 -2.21792980e-02 -4.63478976e-01] [ 1.09994531e-03 2.21574754e-02 9.99753888e-01 -3.49936388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.111193817 meters Centerline goodness : 0.943154 Centerline is valid? [False, False] Translation: X:38.30, Y:-0.47, Z:-3.50 [[ 9.99578330e-01 -2.86977902e-02 4.42697169e-03 3.82984989e+01] [ 2.87537928e-02 9.99499986e-01 -1.31528576e-02 -4.67370608e-01] [-4.04730019e-03 1.32746037e-02 9.99903697e-01 -3.50154596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.141193817 meters Centerline goodness : 0.942551 Centerline is valid? [False, False] Translation: X:38.30, Y:-0.47, Z:-3.50 [[ 9.99578290e-01 -2.87223710e-02 4.27406760e-03 3.82984245e+01] [ 2.87748599e-02 9.99504309e-01 -1.27727749e-02 -4.68460252e-01] [-3.90508461e-03 1.28903742e-02 9.99909290e-01 -3.50093542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.171193817 meters Centerline goodness : 0.944499 Centerline is valid? [False, False] Translation: X:38.30, Y:-0.47, Z:-3.50 [[ 9.99579933e-01 -2.86930777e-02 4.08234228e-03 3.82986432e+01] [ 2.87420621e-02 9.99508774e-01 -1.24942012e-02 -4.68988958e-01] [-3.72183984e-03 1.26062877e-02 9.99913611e-01 -3.50064480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.201193817 meters Centerline goodness : 0.946419 Centerline is valid? [False, False] Translation: X:38.30, Y:-0.47, Z:-3.50 [[ 9.99670735e-01 -2.53864646e-02 3.73492938e-03 3.82991266e+01] [ 2.54164927e-02 9.99643113e-01 -8.22489175e-03 -4.71050964e-01] [-3.52479551e-03 8.31711238e-03 9.99959200e-01 -3.50030834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.231193817 meters Centerline goodness : 0.944795 Centerline is valid? [False, False] Translation: X:38.30, Y:-0.47, Z:-3.50 [[ 9.99750919e-01 -2.20354139e-02 3.54132185e-03 3.82989992e+01] [ 2.20528167e-02 9.99744540e-01 -4.95265375e-03 -4.69758455e-01] [-3.43128341e-03 5.02951626e-03 9.99981465e-01 -3.49961593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.261193817 meters Centerline goodness : 0.945411 Centerline is valid? [False, False] Translation: X:38.30, Y:-0.47, Z:-3.50 [[ 9.99826185e-01 -1.83823593e-02 3.11264543e-03 3.82994182e+01] [ 1.83862461e-02 9.99830209e-01 -1.22470516e-03 -4.69394327e-01] [-3.08960396e-03 1.28172215e-03 9.99994406e-01 -3.49913907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.291193817 meters Centerline goodness : 0.947163 Centerline is valid? [False, False] Translation: X:38.31, Y:-0.47, Z:-3.50 [[ 9.99877960e-01 -1.33623749e-02 8.09398922e-03 3.83105695e+01] [ 1.34220157e-02 9.99882836e-01 -7.35957980e-03 -4.65658069e-01] [-7.99469943e-03 7.46731929e-03 9.99940160e-01 -3.50303700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.321193817 meters Centerline goodness : 0.944739 Centerline is valid? [False, False] Translation: X:38.32, Y:-0.46, Z:-3.51 [[ 9.99909254e-01 -4.86398065e-03 1.25628403e-02 3.83223064e+01] [ 5.00535421e-03 9.99924229e-01 -1.12464927e-02 -4.56502585e-01] [-1.25071857e-02 1.13083536e-02 9.99857836e-01 -3.50743740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.351193817 meters Centerline goodness : 0.947250 Centerline is valid? [False, False] Translation: X:38.32, Y:-0.45, Z:-3.51 [[ 9.99925878e-01 -1.17320307e-03 1.21187083e-02 3.83234318e+01] [ 1.27198446e-03 9.99966006e-01 -8.14665984e-03 -4.53530338e-01] [-1.21087386e-02 8.16147079e-03 9.99893379e-01 -3.50783497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.381193817 meters Centerline goodness : 0.945427 Centerline is valid? [False, False] Translation: X:38.32, Y:-0.45, Z:-3.51 [[ 9.99929368e-01 2.32171476e-03 1.16563052e-02 3.83247423e+01] [-2.26425947e-03 9.99985235e-01 -4.93989672e-03 -4.51468320e-01] [-1.16676021e-02 4.91315490e-03 9.99919861e-01 -3.50834286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.411193817 meters Centerline goodness : 0.945626 Centerline is valid? [False, False] Translation: X:38.33, Y:-0.45, Z:-3.51 [[ 9.99921799e-01 5.38707890e-03 1.12860726e-02 3.83263481e+01] [-5.36428477e-03 9.99983513e-01 -2.04896821e-03 -4.49490340e-01] [-1.12969244e-02 1.98826627e-03 9.99934211e-01 -3.50938210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.441193817 meters Centerline goodness : 0.945626 Centerline is valid? [False, False] Translation: X:38.33, Y:-0.45, Z:-3.51 [[ 9.99921799e-01 5.38707890e-03 1.12860726e-02 3.83263481e+01] [-5.36428477e-03 9.99983513e-01 -2.04896821e-03 -4.49490340e-01] [-1.12969244e-02 1.98826627e-03 9.99934211e-01 -3.50938210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.471193817 meters Centerline goodness : 0.947153 Centerline is valid? [False, False] Translation: X:38.33, Y:-0.45, Z:-3.51 [[ 9.99928150e-01 5.09823422e-03 1.08491356e-02 3.83277556e+01] [-5.06411916e-03 9.99982154e-01 -3.16964782e-03 -4.45992965e-01] [-1.08651016e-02 3.11447876e-03 9.99936123e-01 -3.51024310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.501193817 meters Centerline goodness : 0.945114 Centerline is valid? [False, False] Translation: X:38.33, Y:-0.44, Z:-3.51 [[ 9.99935895e-01 4.51019628e-03 1.03857647e-02 3.83292212e+01] [-4.46650738e-03 9.99981096e-01 -4.22597278e-03 -4.43581635e-01] [-1.04046284e-02 4.17931378e-03 9.99937137e-01 -3.51104413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53119381700003 meters Centerline goodness : 0.945922 Centerline is valid? [False, False] Translation: X:38.33, Y:-0.44, Z:-3.51 [[ 9.99945611e-01 3.04884200e-03 9.97390636e-03 3.83308112e+01] [-2.98904317e-03 9.99977503e-01 -6.00494944e-03 -4.40513421e-01] [-9.99199012e-03 5.97481040e-03 9.99932229e-01 -3.51204711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.561193817 meters Centerline goodness : 0.946614 Centerline is valid? [False, False] Translation: X:38.33, Y:-0.44, Z:-3.51 [[ 9.99952243e-01 2.18986655e-03 9.52447135e-03 3.83324334e+01] [-2.12403304e-03 9.99973824e-01 -6.91666976e-03 -4.39082473e-01] [-9.53936861e-03 6.89610915e-03 9.99930720e-01 -3.51303895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.591193817 meters Centerline goodness : 0.944110 Centerline is valid? [False, False] Translation: X:38.33, Y:-0.44, Z:-3.51 [[ 9.99959591e-01 1.20630437e-03 8.90843577e-03 3.83346923e+01] [-1.13579487e-03 9.99968025e-01 -7.91573537e-03 -4.37946915e-01] [-8.91769971e-03 7.90529735e-03 9.99928988e-01 -3.51437438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.621193817 meters Centerline goodness : 0.944035 Centerline is valid? [False, False] Translation: X:38.34, Y:-0.44, Z:-3.52 [[ 9.99964642e-01 6.13420201e-04 8.38686233e-03 3.83363373e+01] [-5.41120114e-04 9.99962699e-01 -8.62018916e-03 -4.36975931e-01] [-8.39183729e-03 8.61534606e-03 9.99927674e-01 -3.51520003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.651193817 meters Centerline goodness : 0.945212 Centerline is valid? [False, False] Translation: X:38.34, Y:-0.43, Z:-3.52 [[ 9.99967567e-01 1.90220057e-03 7.82598937e-03 3.83384831e+01] [-1.84145272e-03 9.99968178e-01 -7.76221872e-03 -4.34674397e-01] [-7.84050563e-03 7.74755578e-03 9.99939249e-01 -3.51639414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.681193817 meters Centerline goodness : 0.943332 Centerline is valid? [False, False] Translation: X:38.34, Y:-0.43, Z:-3.52 [[ 9.99967559e-01 2.32417535e-03 7.71228085e-03 3.83383547e+01] [-2.26328920e-03 9.99966280e-01 -7.89405962e-03 -4.33097657e-01] [-7.73036797e-03 7.87634841e-03 9.99939100e-01 -3.51589955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.711193817 meters Centerline goodness : 0.944204 Centerline is valid? [False, False] Translation: X:38.34, Y:-0.43, Z:-3.52 [[ 9.99968510e-01 2.50959211e-03 7.52873416e-03 3.83383236e+01] [-2.44832477e-03 9.99963905e-01 -8.13600940e-03 -4.31771936e-01] [-7.54888047e-03 8.11732040e-03 9.99938560e-01 -3.51532990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.741193817 meters Centerline goodness : 0.943439 Centerline is valid? [False, False] Translation: X:38.34, Y:-0.43, Z:-3.52 [[ 9.99970423e-01 2.67546290e-03 7.21080595e-03 3.83387443e+01] [-2.61582404e-03 9.99962402e-01 -8.26754186e-03 -4.30855180e-01] [-7.23265433e-03 8.24843513e-03 9.99939824e-01 -3.51503772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.771193817 meters Centerline goodness : 0.943657 Centerline is valid? [False, False] Translation: X:38.34, Y:-0.43, Z:-3.51 [[ 9.99970300e-01 3.08424949e-03 7.06306599e-03 3.83389053e+01] [-3.02494642e-03 9.99960215e-01 -8.39156858e-03 -4.29235895e-01] [-7.08866668e-03 8.36995395e-03 9.99939846e-01 -3.51488125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.801193817 meters Centerline goodness : 0.943562 Centerline is valid? [False, False] Translation: X:38.34, Y:-0.43, Z:-3.51 [[ 9.99972890e-01 2.98696197e-03 6.73031857e-03 3.83396367e+01] [-2.92805275e-03 9.99957468e-01 -8.74573290e-03 -4.27876585e-01] [-6.75615549e-03 8.72578907e-03 9.99939106e-01 -3.51495637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.831193817 meters Centerline goodness : 0.943035 Centerline is valid? [False, False] Translation: X:38.34, Y:-0.43, Z:-3.51 [[ 9.99974717e-01 3.01419766e-03 6.44044211e-03 3.83401166e+01] [-2.95653477e-03 9.99955630e-01 -8.94409038e-03 -4.26870712e-01] [-6.46711560e-03 8.92482285e-03 9.99939260e-01 -3.51479206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.861193817 meters Centerline goodness : 0.942070 Centerline is valid? [False, False] Translation: X:38.34, Y:-0.43, Z:-3.52 [[ 9.99976374e-01 3.09532492e-03 6.13764558e-03 3.83409297e+01] [-3.03932542e-03 9.99953863e-01 -9.11236964e-03 -4.25974692e-01] [-6.16556815e-03 9.09350005e-03 9.99939645e-01 -3.51507233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.891193817 meters Centerline goodness : 0.942526 Centerline is valid? [False, False] Translation: X:38.34, Y:-0.43, Z:-3.52 [[ 9.99977306e-01 3.34476805e-03 5.84816093e-03 3.83416152e+01] [-3.29092851e-03 9.99952340e-01 -9.19174754e-03 -4.25261946e-01] [-5.87862647e-03 9.17229306e-03 9.99940654e-01 -3.51524318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.921193817 meters Centerline goodness : 0.940903 Centerline is valid? [False, False] Translation: X:38.34, Y:-0.43, Z:-3.52 [[ 9.99978075e-01 3.70162606e-03 5.49061698e-03 3.83424523e+01] [-3.65193212e-03 9.99952530e-01 -9.03328260e-03 -4.25180050e-01] [-5.52379418e-03 9.01303319e-03 9.99944125e-01 -3.51541647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.951193817 meters Centerline goodness : 0.941004 Centerline is valid? [False, False] Translation: X:38.34, Y:-0.43, Z:-3.52 [[ 9.99953842e-01 8.02227293e-03 5.28742818e-03 3.83431712e+01] [-7.99934278e-03 9.99958571e-01 -4.34370454e-03 -4.27387894e-01] [-5.32205551e-03 4.30120809e-03 9.99976587e-01 -3.51572119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.981193817 meters Centerline goodness : 0.941078 Centerline is valid? [False, False] Translation: X:38.35, Y:-0.43, Z:-3.52 [[ 9.99940775e-01 9.80359009e-03 4.72602022e-03 3.83454077e+01] [-9.79017737e-03 9.99948005e-01 -2.85288876e-03 -4.27977684e-01] [-4.75374304e-03 2.80645122e-03 9.99984763e-01 -3.51713743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.011193817 meters Centerline goodness : 0.940302 Centerline is valid? [False, False] Translation: X:38.36, Y:-0.43, Z:-3.52 [[ 9.99828880e-01 1.64690048e-02 8.42506327e-03 3.83566894e+01] [-1.64014346e-02 9.99833264e-01 -8.02733616e-03 -4.28437127e-01] [-8.55586075e-03 7.88777940e-03 9.99932288e-01 -3.52046951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.041193817 meters Centerline goodness : 0.939857 Centerline is valid? [False, False] Translation: X:38.38, Y:-0.43, Z:-3.52 [[ 9.99772025e-01 1.88026647e-02 1.01171781e-02 3.83757116e+01] [-1.86902964e-02 9.99763827e-01 -1.10889097e-02 -4.27969419e-01] [-1.03232898e-02 1.08972887e-02 9.99887333e-01 -3.52215259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.071193817 meters Centerline goodness : 0.940110 Centerline is valid? [False, False] Translation: X:38.39, Y:-0.43, Z:-3.52 [[ 9.99698602e-01 2.12016723e-02 1.23771281e-02 3.83941947e+01] [-2.10181600e-02 9.99669941e-01 -1.47731568e-02 -4.27805181e-01] [-1.26862586e-02 1.45085597e-02 9.99814263e-01 -3.52468302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.101193817 meters Centerline goodness : 0.939747 Centerline is valid? [False, False] Translation: X:38.40, Y:-0.43, Z:-3.53 [[ 9.99646597e-01 2.38913649e-02 1.16569072e-02 3.83966884e+01] [-2.37533465e-02 9.99647755e-01 -1.18382428e-02 -4.30909665e-01] [-1.19356329e-02 1.15571686e-02 9.99861977e-01 -3.52604349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.131193817 meters Centerline goodness : 0.939818 Centerline is valid? [False, False] Translation: X:38.42, Y:-0.43, Z:-3.53 [[ 9.99595738e-01 2.53683672e-02 1.28377000e-02 3.84167014e+01] [-2.51740218e-02 9.99569333e-01 -1.50803518e-02 -4.32326246e-01] [-1.32147352e-02 1.47510788e-02 9.99803869e-01 -3.52825170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.161193817 meters Centerline goodness : 0.937071 Centerline is valid? [False, False] Translation: X:38.42, Y:-0.44, Z:-3.53 [[ 9.99494093e-01 2.93474839e-02 1.22589749e-02 3.84187107e+01] [-2.92214964e-02 9.99519552e-01 -1.03329107e-02 -4.41395996e-01] [-1.25563300e-02 9.96945762e-03 9.99871466e-01 -3.52963230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.191193817 meters Centerline goodness : 0.937891 Centerline is valid? [False, False] Translation: X:38.44, Y:-0.44, Z:-3.53 [[ 9.99475954e-01 2.99815311e-02 1.22034734e-02 3.84399964e+01] [-2.98162746e-02 9.99464150e-01 -1.35056619e-02 -4.44909310e-01] [-1.26018546e-02 1.31347222e-02 9.99834322e-01 -3.53199482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.221193817 meters Centerline goodness : 0.934360 Centerline is valid? [False, False] Translation: X:38.44, Y:-0.45, Z:-3.53 [[ 9.99455836e-01 3.07412102e-02 1.19587088e-02 3.84407250e+01] [-3.06007443e-02 9.99462542e-01 -1.17567592e-02 -4.51137921e-01] [-1.23136985e-02 1.13844162e-02 9.99859374e-01 -3.53234293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.251193817 meters Centerline goodness : 0.936974 Centerline is valid? [False, False] Translation: X:38.46, Y:-0.46, Z:-3.53 [[ 9.99481591e-01 3.00846577e-02 1.14656867e-02 3.84621768e+01] [-2.99120473e-02 9.99440878e-01 -1.49398934e-02 -4.57370771e-01] [-1.19087376e-02 1.45891863e-02 9.99822653e-01 -3.53421917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28119381700003 meters Centerline goodness : 0.934293 Centerline is valid? [False, False] Translation: X:38.46, Y:-0.47, Z:-3.53 [[ 9.99529866e-01 2.85405108e-02 1.12020685e-02 3.84629215e+01] [-2.83660610e-02 9.99478433e-01 -1.54346358e-02 -4.65105288e-01] [-1.16367383e-02 1.51096209e-02 9.99818126e-01 -3.53485034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.311193817 meters Centerline goodness : 0.934703 Centerline is valid? [False, False] Translation: X:38.47, Y:-0.49, Z:-3.53 [[ 9.99608692e-01 2.62864667e-02 9.56479649e-03 3.84660925e+01] [-2.61907986e-02 9.99607008e-01 -9.99356410e-03 -4.86084315e-01] [-9.82373310e-03 9.73914388e-03 9.99904317e-01 -3.53434141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.341193817 meters Centerline goodness : 0.935387 Centerline is valid? [False, False] Translation: X:38.47, Y:-0.49, Z:-3.54 [[ 9.99675758e-01 2.37987043e-02 9.05538742e-03 3.84681691e+01] [-2.36989480e-02 9.99658967e-01 -1.09685404e-02 -4.94966452e-01] [-9.31333628e-03 1.07503808e-02 9.99898840e-01 -3.53591236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.371193817 meters Centerline goodness : 0.933267 Centerline is valid? [False, False] Translation: X:38.47, Y:-0.51, Z:-3.54 [[ 9.99716571e-01 2.20359646e-02 9.01078024e-03 3.84683272e+01] [-2.19364071e-02 9.99698828e-01 -1.10021960e-02 -5.05118760e-01] [-9.25051044e-03 1.08014135e-02 9.99898874e-01 -3.53607503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.401193817 meters Centerline goodness : 0.932502 Centerline is valid? [False, False] Translation: X:38.47, Y:-0.52, Z:-3.54 [[ 9.99755821e-01 2.02679607e-02 8.80387692e-03 3.84686690e+01] [-2.01696529e-02 9.99734783e-01 -1.11152604e-02 -5.15314824e-01] [-9.02682564e-03 1.09349751e-02 9.99899466e-01 -3.53610675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.431193817 meters Centerline goodness : 0.935502 Centerline is valid? [False, False] Translation: X:38.47, Y:-0.54, Z:-3.53 [[ 9.99772741e-01 1.95461502e-02 8.50963113e-03 3.84693095e+01] [-1.94938538e-02 9.99790841e-01 -6.18572470e-03 -5.37415803e-01] [-8.62875837e-03 6.01843344e-03 9.99944660e-01 -3.53438954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.461193817 meters Centerline goodness : 0.937083 Centerline is valid? [False, False] Translation: X:38.47, Y:-0.55, Z:-3.53 [[ 9.99798109e-01 1.82529073e-02 8.40071111e-03 3.84695987e+01] [-1.82004965e-02 9.99814675e-01 -6.27358722e-03 -5.46830885e-01] [-8.51366546e-03 6.11942352e-03 9.99945034e-01 -3.53458089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.491193817 meters Centerline goodness : 0.936339 Centerline is valid? [False, False] Translation: X:38.47, Y:-0.56, Z:-3.53 [[ 9.99827026e-01 1.66978097e-02 8.19151347e-03 3.84695970e+01] [-1.66460632e-02 9.99841311e-01 -6.34511627e-03 -5.56950724e-01] [-8.29616312e-03 6.20766228e-03 9.99946318e-01 -3.53421128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.521193817 meters Centerline goodness : 0.939164 Centerline is valid? [False, False] Translation: X:38.47, Y:-0.58, Z:-3.53 [[ 9.99834434e-01 1.59442314e-02 8.76852030e-03 3.84681303e+01] [-1.59419127e-02 9.99872864e-01 -3.34265996e-04 -5.81512251e-01] [-8.77273512e-03 1.94423668e-04 9.99961500e-01 -3.53091862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.551193817 meters Centerline goodness : 0.941564 Centerline is valid? [False, False] Translation: X:38.47, Y:-0.59, Z:-3.53 [[ 9.99874866e-01 1.32481257e-02 8.64519659e-03 3.84690094e+01] [-1.32354920e-02 9.99911256e-01 -1.51693960e-03 -5.90925654e-01] [-8.66452599e-03 1.40232635e-03 9.99961479e-01 -3.53162512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.581193817 meters Centerline goodness : 0.942601 Centerline is valid? [False, False] Translation: X:38.47, Y:-0.60, Z:-3.53 [[ 9.99907820e-01 1.06689353e-02 8.39787921e-03 3.84695030e+01] [-1.06515846e-02 9.99941048e-01 -2.10810997e-03 -6.01161643e-01] [-8.41987542e-03 2.01846492e-03 9.99962515e-01 -3.53120871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.611193817 meters Centerline goodness : 0.942343 Centerline is valid? [False, False] Translation: X:38.47, Y:-0.61, Z:-3.53 [[ 9.99940887e-01 7.38142368e-03 7.98354121e-03 3.84704143e+01] [-7.35365622e-03 9.99966830e-01 -3.50186759e-03 -6.12412391e-01] [-8.00912516e-03 3.44295237e-03 9.99961999e-01 -3.53103987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.641193817 meters Centerline goodness : 0.945284 Centerline is valid? [False, False] Translation: X:38.47, Y:-0.64, Z:-3.53 [[ 9.99949948e-01 1.05018614e-03 9.94981607e-03 3.84670445e+01] [-1.07995201e-03 9.99994957e-01 2.98670048e-03 -6.41282374e-01] [-9.94662930e-03 -2.99729631e-03 9.99946039e-01 -3.52590137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.671193817 meters Centerline goodness : 0.946406 Centerline is valid? [False, False] Translation: X:38.47, Y:-0.65, Z:-3.53 [[ 9.99954080e-01 -2.73189133e-03 9.18552848e-03 3.84694624e+01] [ 2.72059471e-03 9.99995528e-01 1.24209832e-03 -6.52559447e-01] [-9.18888068e-03 -1.21705119e-03 9.99957041e-01 -3.52660893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.701193817 meters Centerline goodness : 0.950379 Centerline is valid? [False, True] Translation: X:38.47, Y:-0.66, Z:-3.53 [[ 9.99942209e-01 -5.88660292e-03 8.99586991e-03 3.84709699e+01] [ 5.88605682e-03 9.99982673e-01 8.71803200e-05 -6.63794202e-01] [-8.99622724e-03 -3.42250804e-05 9.99959533e-01 -3.52748855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.731193817 meters Centerline goodness : 0.951187 Centerline is valid? [True, True] Translation: X:38.50, Y:-0.67, Z:-3.53 [[ 9.99931173e-01 -8.81161183e-03 7.74631777e-03 3.85023718e+01] [ 8.81011566e-03 9.99961164e-01 2.27249766e-04 -6.74407205e-01] [-7.74801937e-03 -1.58988170e-04 9.99969971e-01 -3.52944638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.761193817 meters Centerline goodness : 0.945857 Centerline is valid? [True, False] Translation: X:38.52, Y:-0.69, Z:-3.53 [[ 9.99941742e-01 -1.05577786e-02 2.24636080e-03 3.85162056e+01] [ 1.05680929e-02 9.99933435e-01 -4.63035188e-03 -6.94945033e-01] [-2.19732504e-03 4.65382188e-03 9.99986757e-01 -3.53094899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.791193817 meters Centerline goodness : 0.945754 Centerline is valid? [False, False] Translation: X:38.52, Y:-0.70, Z:-3.53 [[ 9.99909302e-01 -1.32987456e-02 2.12874747e-03 3.85177126e+01] [ 1.33110627e-02 9.99894112e-01 -5.88048666e-03 -7.03399659e-01] [-2.05031897e-03 5.90828920e-03 9.99980444e-01 -3.53208037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.821193817 meters Centerline goodness : 0.943559 Centerline is valid? [False, False] Translation: X:38.52, Y:-0.71, Z:-3.53 [[ 9.99867958e-01 -1.61543610e-02 1.76159951e-03 3.85202142e+01] [ 1.61669062e-02 9.99842245e-01 -7.35634824e-03 -7.11414085e-01] [-1.64248450e-03 7.38385650e-03 9.99971390e-01 -3.53380391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.851193817 meters Centerline goodness : 0.944360 Centerline is valid? [False, False] Translation: X:38.52, Y:-0.72, Z:-3.54 [[ 9.99812870e-01 -1.92912834e-02 1.43893239e-03 3.85224760e+01] [ 1.93038590e-02 9.99770333e-01 -9.30814986e-03 -7.18956110e-01] [-1.25903576e-03 9.33418498e-03 9.99955643e-01 -3.53542755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.881193817 meters Centerline goodness : 0.940976 Centerline is valid? [False, False] Translation: X:38.53, Y:-0.73, Z:-3.54 [[ 9.99747838e-01 -2.24379580e-02 8.93814101e-04 3.85251078e+01] [ 2.24464778e-02 9.99686865e-01 -1.10602204e-02 -7.26598009e-01] [-6.45365455e-04 1.10774944e-02 9.99938434e-01 -3.53700540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.911193817 meters Centerline goodness : 0.929460 Centerline is valid? [False, False] Translation: X:38.55, Y:-0.74, Z:-3.54 [[ 9.99712747e-01 -2.37895311e-02 -2.91226864e-03 3.85479624e+01] [ 2.37521953e-02 9.99642874e-01 -1.22457050e-02 -7.44627298e-01] [ 3.20254817e-03 1.21730147e-02 9.99920778e-01 -3.53749595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.941193817 meters Centerline goodness : 0.924335 Centerline is valid? [False, False] Translation: X:38.55, Y:-0.75, Z:-3.54 [[ 9.99693649e-01 -2.44867494e-02 -3.60654783e-03 3.85504299e+01] [ 2.44434207e-02 9.99633862e-01 -1.16043166e-02 -7.52485788e-01] [ 3.88937933e-03 1.15126053e-02 9.99926164e-01 -3.53837195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.971193817 meters Centerline goodness : 0.922395 Centerline is valid? [False, False] Translation: X:38.55, Y:-0.76, Z:-3.54 [[ 9.99683970e-01 -2.47627929e-02 -4.33172906e-03 3.85525018e+01] [ 2.47176424e-02 9.99642604e-01 -1.01834388e-02 -7.60766392e-01] [ 4.58235130e-03 1.00731504e-02 9.99938765e-01 -3.53835601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.001193817 meters Centerline goodness : 0.918747 Centerline is valid? [False, False] Translation: X:38.57, Y:-0.77, Z:-3.54 [[ 9.99723504e-01 -2.34228770e-02 -2.06968497e-03 3.85701649e+01] [ 2.33935292e-02 9.99638938e-01 -1.32188244e-02 -7.68939128e-01] [ 2.37856058e-03 1.31667523e-02 9.99910486e-01 -3.53935090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03119381700003 meters Centerline goodness : 0.913195 Centerline is valid? [False, False] Translation: X:38.59, Y:-0.78, Z:-3.54 [[ 9.99701991e-01 -2.41762655e-02 -3.38192765e-03 3.85942750e+01] [ 2.41339391e-02 9.99636212e-01 -1.20414938e-02 -7.84930369e-01] [ 3.67181570e-03 1.19562861e-02 9.99921779e-01 -3.53841571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.061193817 meters Centerline goodness : 0.909708 Centerline is valid? [False, False] Translation: X:38.60, Y:-0.79, Z:-3.54 [[ 9.99694556e-01 -2.43830886e-02 -4.03226472e-03 3.85964081e+01] [ 2.43400308e-02 9.99649606e-01 -1.04032309e-02 -7.92560733e-01] [ 4.28451475e-03 1.03019078e-02 9.99937755e-01 -3.53842088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09119381700003 meters Centerline goodness : 0.908136 Centerline is valid? [False, False] Translation: X:38.60, Y:-0.80, Z:-3.54 [[ 9.99606431e-01 -2.77668058e-02 -3.99849980e-03 3.85969648e+01] [ 2.77127017e-02 9.99531337e-01 -1.30042901e-02 -7.97810542e-01] [ 4.35771345e-03 1.28883627e-02 9.99907446e-01 -3.53883144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.121193817 meters Centerline goodness : 0.906616 Centerline is valid? [False, False] Translation: X:38.60, Y:-0.80, Z:-3.54 [[ 9.99502985e-01 -3.12561680e-02 -4.10309158e-03 3.85976608e+01] [ 3.11892983e-02 9.99393945e-01 -1.54586546e-02 -8.03491320e-01] [ 4.58378319e-03 1.53229988e-02 9.99872089e-01 -3.53909005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.151193817 meters Centerline goodness : 0.906740 Centerline is valid? [False, False] Translation: X:38.61, Y:-0.81, Z:-3.55 [[ 9.99605643e-01 -2.78670678e-02 3.46200523e-03 3.86056005e+01] [ 2.79312291e-02 9.99407295e-01 -2.01222628e-02 -8.12483001e-01] [-2.89920482e-03 2.02110255e-02 9.99791533e-01 -3.54785030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.181193817 meters Centerline goodness : 0.902783 Centerline is valid? [False, False] Translation: X:38.61, Y:-0.82, Z:-3.55 [[ 9.99505913e-01 -3.14230858e-02 7.21085903e-04 3.86130914e+01] [ 3.14312317e-02 9.99173713e-01 -2.57675934e-02 -8.22206747e-01] [ 8.92072198e-05 2.57775266e-02 9.99667700e-01 -3.55072893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.211193817 meters Centerline goodness : 0.893966 Centerline is valid? [False, False] Translation: X:38.62, Y:-0.83, Z:-3.56 [[ 9.99637552e-01 -2.49196251e-02 1.01870506e-02 3.86191114e+01] [ 2.51908263e-02 9.99306477e-01 -2.74223820e-02 -8.31417967e-01] [-9.49663015e-03 2.76690630e-02 9.99572027e-01 -3.55978931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.241193817 meters Centerline goodness : 0.899305 Centerline is valid? [False, False] Translation: X:38.62, Y:-0.84, Z:-3.56 [[ 9.99661961e-01 -2.45452237e-02 8.57295256e-03 3.86229130e+01] [ 2.47868835e-02 9.99262631e-01 -2.93224254e-02 -8.36469330e-01] [-7.84690564e-03 2.95250100e-02 9.99533241e-01 -3.56038484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.271193817 meters Centerline goodness : 0.898741 Centerline is valid? [False, False] Translation: X:38.63, Y:-0.84, Z:-3.57 [[ 9.99747769e-01 -1.91789599e-02 1.16861767e-02 3.86343739e+01] [ 1.95511828e-02 9.99276691e-01 -3.26166422e-02 -8.43937410e-01] [-1.10521707e-02 3.28368938e-02 9.99399614e-01 -3.56683510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.301193817 meters Centerline goodness : 0.894921 Centerline is valid? [False, False] Translation: X:38.64, Y:-0.86, Z:-3.56 [[ 9.99843873e-01 -1.39435672e-02 1.08538456e-02 3.86352223e+01] [ 1.41957883e-02 9.99622607e-01 -2.35185789e-02 -8.57190323e-01] [-1.05218165e-02 2.36689859e-02 9.99664479e-01 -3.56282424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.331193817 meters Centerline goodness : 0.894921 Centerline is valid? [False, False] Translation: X:38.64, Y:-0.86, Z:-3.56 [[ 9.99843873e-01 -1.39435672e-02 1.08538456e-02 3.86352223e+01] [ 1.41957883e-02 9.99622607e-01 -2.35185789e-02 -8.57190323e-01] [-1.05218165e-02 2.36689859e-02 9.99664479e-01 -3.56282424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.361193817 meters Centerline goodness : 0.894220 Centerline is valid? [False, False] Translation: X:38.64, Y:-0.86, Z:-3.56 [[ 9.99901608e-01 -9.81203697e-03 1.00248833e-02 3.86369170e+01] [ 9.98222919e-03 9.99804459e-01 -1.70703929e-02 -8.64943748e-01] [-9.85542775e-03 1.71687840e-02 9.99804032e-01 -3.56117353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.391193817 meters Centerline goodness : 0.896239 Centerline is valid? [False, False] Translation: X:38.64, Y:-0.87, Z:-3.56 [[ 9.99941402e-01 -6.01834020e-03 8.99840896e-03 3.86392620e+01] [ 6.11361457e-03 9.99925149e-01 -1.05981630e-02 -8.73038154e-01] [-8.93395206e-03 1.06525548e-02 9.99903349e-01 -3.55928939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.421193817 meters Centerline goodness : 0.892668 Centerline is valid? [False, False] Translation: X:38.64, Y:-0.88, Z:-3.56 [[ 9.99947692e-01 -5.50036791e-03 8.62317475e-03 3.86404887e+01] [ 5.58067325e-03 9.99941028e-01 -9.31649825e-03 -8.78185036e-01] [-8.57142206e-03 9.36413404e-03 9.99919419e-01 -3.55969207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.451193817 meters Centerline goodness : 0.889973 Centerline is valid? [False, False] Translation: X:38.64, Y:-0.89, Z:-3.56 [[ 9.99957295e-01 -3.46436925e-03 8.56769926e-03 3.86404558e+01] [ 3.50858955e-03 9.99980575e-01 -5.15164647e-03 -8.90702421e-01] [-8.54968563e-03 5.18148701e-03 9.99950026e-01 -3.55841867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.481193817 meters Centerline goodness : 0.892461 Centerline is valid? [False, False] Translation: X:38.64, Y:-0.90, Z:-3.56 [[ 9.99961284e-01 -2.54856435e-03 8.42229343e-03 3.86401592e+01] [ 2.57329784e-03 9.99992405e-01 -2.92713825e-03 -8.97542461e-01] [-8.41476946e-03 2.94869800e-03 9.99960248e-01 -3.55680030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.511193817 meters Centerline goodness : 0.890246 Centerline is valid? [False, False] Translation: X:38.64, Y:-0.90, Z:-3.55 [[ 9.99964241e-01 -1.45612066e-03 8.33040041e-03 3.86393580e+01] [ 1.45811807e-03 9.99998910e-01 -2.33705896e-04 -9.04979061e-01] [-8.33005102e-03 2.45844246e-04 9.99965274e-01 -3.55426315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.541193817 meters Centerline goodness : 0.889220 Centerline is valid? [False, False] Translation: X:38.64, Y:-0.91, Z:-3.55 [[ 9.99965415e-01 -4.14961347e-04 8.30639382e-03 3.86385599e+01] [ 3.98757748e-04 9.99998015e-01 1.95229918e-03 -9.11827705e-01] [-8.30718746e-03 -1.94891942e-03 9.99963596e-01 -3.55241637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.571193817 meters Centerline goodness : 0.890151 Centerline is valid? [False, False] Translation: X:38.64, Y:-0.92, Z:-3.55 [[ 9.99963674e-01 6.77085421e-04 8.49657350e-03 3.86374679e+01] [-7.10261968e-04 9.99992134e-01 3.90228741e-03 -9.18222203e-01] [-8.49386448e-03 -3.90818045e-03 9.99956289e-01 -3.55108695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.601193817 meters Centerline goodness : 0.889419 Centerline is valid? [False, False] Translation: X:38.63, Y:-0.93, Z:-3.55 [[ 9.99946154e-01 3.90455069e-03 9.61478074e-03 3.86331446e+01] [-3.98271376e-03 9.99959070e-01 8.12378705e-03 -9.32036194e-01] [-9.58266747e-03 -8.16164253e-03 9.99920777e-01 -3.54869074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.631193817 meters Centerline goodness : 0.887412 Centerline is valid? [False, False] Translation: X:38.63, Y:-0.94, Z:-3.55 [[ 9.99937024e-01 5.12432005e-03 9.98444022e-03 3.86320466e+01] [-5.22540598e-03 9.99935091e-01 1.01247013e-02 -9.39406513e-01] [-9.93190993e-03 -1.01762365e-02 9.99898896e-01 -3.54798316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.661193817 meters Centerline goodness : 0.887470 Centerline is valid? [False, False] Translation: X:38.63, Y:-0.95, Z:-3.55 [[ 9.99927293e-01 6.36995331e-03 1.02387799e-02 3.86309229e+01] [-6.49439038e-03 9.99904894e-01 1.21665565e-02 -9.47168561e-01] [-1.01603057e-02 -1.22321666e-02 9.99873563e-01 -3.54701977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.691193817 meters Centerline goodness : 0.888694 Centerline is valid? [False, False] Translation: X:38.63, Y:-0.96, Z:-3.55 [[ 9.99920006e-01 7.35453960e-03 1.02904208e-02 3.86306150e+01] [-7.49925716e-03 9.99872522e-01 1.40961386e-02 -9.55152364e-01] [-1.01854384e-02 -1.41721815e-02 9.99847691e-01 -3.54637328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.721193817 meters Centerline goodness : 0.886766 Centerline is valid? [False, False] Translation: X:38.63, Y:-0.96, Z:-3.55 [[ 9.99915032e-01 8.02546363e-03 1.02723275e-02 3.86311302e+01] [-8.18610947e-03 9.99843340e-01 1.56933808e-02 -9.63257720e-01] [-1.01447716e-02 -1.57761378e-02 9.99824083e-01 -3.54668818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.751193817 meters Centerline goodness : 0.888059 Centerline is valid? [False, False] Translation: X:38.65, Y:-0.98, Z:-3.55 [[ 9.99938174e-01 1.00088422e-02 4.84472325e-03 3.86498189e+01] [-1.00634806e-02 9.99884512e-01 1.13880843e-02 -9.81124827e-01] [-4.73018221e-03 -1.14361350e-02 9.99923417e-01 -3.55037743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78119381700003 meters Centerline goodness : 0.889375 Centerline is valid? [False, False] Translation: X:38.65, Y:-0.98, Z:-3.55 [[ 9.99962408e-01 6.80037188e-03 5.37943017e-03 3.86504784e+01] [-6.83794879e-03 9.99952134e-01 6.99802184e-03 -9.84852579e-01] [-5.33158353e-03 -7.03454304e-03 9.99961044e-01 -3.55490485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.811193817 meters Centerline goodness : 0.892322 Centerline is valid? [False, False] Translation: X:38.65, Y:-0.99, Z:-3.55 [[ 9.99989570e-01 1.86835686e-03 4.16764591e-03 3.86526170e+01] [-1.88737686e-03 9.99987802e-01 4.56447323e-03 -9.91423584e-01] [-4.15906701e-03 -4.57229154e-03 9.99980898e-01 -3.55122104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84119381700003 meters Centerline goodness : 0.895730 Centerline is valid? [False, False] Translation: X:38.66, Y:-1.00, Z:-3.55 [[ 9.99994670e-01 -5.57149105e-04 3.21695337e-03 3.86572422e+01] [ 5.41416286e-04 9.99987900e-01 4.88939715e-03 -9.95564537e-01] [-3.21963857e-03 -4.88762938e-03 9.99982872e-01 -3.55083991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.871193817 meters Centerline goodness : 0.893432 Centerline is valid? [False, False] Translation: X:38.66, Y:-1.00, Z:-3.55 [[ 9.99995469e-01 -2.16387264e-03 2.09258787e-03 3.86621807e+01] [ 2.15520623e-03 9.99989129e-01 4.13490479e-03 -9.95630980e-01] [-2.10151253e-03 -4.13037610e-03 9.99989262e-01 -3.55302580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.901193817 meters Centerline goodness : 0.890623 Centerline is valid? [False, False] Translation: X:38.67, Y:-0.99, Z:-3.56 [[ 9.99992427e-01 -3.58698199e-03 1.50950584e-03 3.86662953e+01] [ 3.58314636e-03 9.99990365e-01 2.53606353e-03 -9.93145032e-01] [-1.51858811e-03 -2.53063555e-03 9.99995645e-01 -3.55690478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.931193817 meters Centerline goodness : 0.882369 Centerline is valid? [False, False] Translation: X:38.68, Y:-0.99, Z:-3.56 [[ 9.99990248e-01 -4.37794680e-03 -5.81472288e-04 3.86833374e+01] [ 4.38294554e-03 9.99950849e-01 8.89324374e-03 -9.91024384e-01] [ 5.42509559e-04 -8.89570557e-03 9.99960285e-01 -3.55993443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.961193817 meters Centerline goodness : 0.883703 Centerline is valid? [False, False] Translation: X:38.69, Y:-0.99, Z:-3.56 [[ 9.99997487e-01 -1.32765966e-03 -1.80665446e-03 3.86860891e+01] [ 1.35324068e-03 9.99897796e-01 1.42325551e-02 -9.92888642e-01] [ 1.78757383e-03 -1.42349642e-02 9.99897080e-01 -3.55689417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.991193817 meters Centerline goodness : 0.881790 Centerline is valid? [False, False] Translation: X:38.69, Y:-1.00, Z:-3.55 [[ 9.99995425e-01 -5.29329314e-04 -2.97813690e-03 3.86922026e+01] [ 5.98523308e-04 9.99728775e-01 2.32812748e-02 -9.97767670e-01] [ 2.96500569e-03 -2.32829508e-02 9.99724519e-01 -3.54723594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.021193817 meters Centerline goodness : 0.884796 Centerline is valid? [False, False] Translation: X:38.70, Y:-1.00, Z:-3.54 [[ 9.99988803e-01 -1.82058392e-03 -4.36795839e-03 3.86953377e+01] [ 1.93535397e-03 9.99649144e-01 2.64167224e-02 -1.00195193e+00] [ 4.31833200e-03 -2.64248802e-02 9.99641475e-01 -3.54089450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.051193817 meters Centerline goodness : 0.888472 Centerline is valid? [False, False] Translation: X:38.70, Y:-1.00, Z:-3.54 [[ 9.99918240e-01 -1.19680794e-02 -4.50312329e-03 3.86976095e+01] [ 1.20353321e-02 9.99811788e-01 1.52163898e-02 -1.00348259e+00] [ 4.32016479e-03 -1.52693423e-02 9.99874084e-01 -3.54427564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.081193817 meters Centerline goodness : 0.890129 Centerline is valid? [False, False] Translation: X:38.71, Y:-1.00, Z:-3.55 [[ 9.99900735e-01 -1.40800176e-02 5.23326588e-04 3.87114544e+01] [ 1.40803758e-02 9.99900631e-01 -6.87089874e-04 -9.98795752e-01] [-5.13600348e-04 6.94390304e-04 9.99999627e-01 -3.55441854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.111193817 meters Centerline goodness : 0.892087 Centerline is valid? [False, False] Translation: X:38.71, Y:-1.00, Z:-3.55 [[ 9.99884027e-01 -1.52247161e-02 -3.74694422e-04 3.87144543e+01] [ 1.52244672e-02 9.99883884e-01 -6.58454015e-04 -9.99444508e-01] [ 3.84675689e-04 6.52673130e-04 9.99999713e-01 -3.55421745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.141193817 meters Centerline goodness : 0.890920 Centerline is valid? [False, False] Translation: X:38.72, Y:-1.00, Z:-3.56 [[ 9.99859049e-01 -1.67390886e-02 -1.29833406e-03 3.87182455e+01] [ 1.67375719e-02 9.99859232e-01 -1.17037867e-03 -9.99276416e-01] [ 1.31774237e-03 1.14848275e-03 9.99998472e-01 -3.55511304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.171193817 meters Centerline goodness : 0.888956 Centerline is valid? [False, False] Translation: X:38.72, Y:-1.00, Z:-3.56 [[ 9.99817342e-01 -1.89774095e-02 -2.26742244e-03 3.87227781e+01] [ 1.89742886e-02 9.99819006e-01 -1.39007529e-03 -9.99988923e-01] [ 2.29339208e-03 1.34679865e-03 9.99996463e-01 -3.55541512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.201193817 meters Centerline goodness : 0.888204 Centerline is valid? [False, False] Translation: X:38.62, Y:-1.00, Z:-3.55 [[ 9.99595679e-01 -2.83890376e-02 1.59381970e-03 3.86236015e+01] [ 2.83727019e-02 9.99552497e-01 9.47608595e-03 -9.99146645e-01] [-1.86212342e-03 -9.42703360e-03 9.99953831e-01 -3.54799766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.231193817 meters Centerline goodness : 0.887148 Centerline is valid? [False, False] Translation: X:38.83, Y:-1.05, Z:-3.50 [[ 9.98517114e-01 4.27466135e-02 -3.37090602e-02 3.88347616e+01] [-4.14794363e-02 9.98437808e-01 3.74352797e-02 -1.05455559e+00] [ 3.52566316e-02 -3.59815346e-02 9.98730344e-01 -3.50125002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.261193817 meters Centerline goodness : 0.887764 Centerline is valid? [False, False] Translation: X:38.83, Y:-1.05, Z:-3.50 [[ 9.98777443e-01 3.70905747e-02 -3.26788769e-02 3.88335329e+01] [-3.59174811e-02 9.98713976e-01 3.57816859e-02 -1.05425406e+00] [ 3.39640143e-02 -3.45641978e-02 9.98825191e-01 -3.50154668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.291193817 meters Centerline goodness : 0.889200 Centerline is valid? [False, False] Translation: X:38.85, Y:-1.05, Z:-3.51 [[ 9.98989185e-01 3.41614573e-02 -2.92164953e-02 3.88472767e+01] [-3.36866764e-02 9.99294720e-01 1.65912619e-02 -1.04862595e+00] [ 2.97626712e-02 -1.55902846e-02 9.99435404e-01 -3.51459194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.321193817 meters Centerline goodness : 0.887830 Centerline is valid? [False, False] Translation: X:38.86, Y:-1.04, Z:-3.52 [[ 9.99169168e-01 3.14156962e-02 -2.59620471e-02 3.88646478e+01] [-3.13845238e-02 9.99506092e-01 1.60739235e-03 -1.04442023e+00] [ 2.59997216e-02 -7.91250386e-04 9.99661637e-01 -3.52411322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.351193817 meters Centerline goodness : 0.891564 Centerline is valid? [False, False] Translation: X:38.87, Y:-1.04, Z:-3.52 [[ 9.99180631e-01 3.03725108e-02 -2.67502894e-02 3.88670937e+01] [-3.03502137e-02 9.99538558e-01 1.23924079e-03 -1.04387943e+00] [ 2.67755846e-02 -4.26348398e-04 9.99641379e-01 -3.52409299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.381193817 meters Centerline goodness : 0.890028 Centerline is valid? [False, False] Translation: X:38.87, Y:-1.04, Z:-3.52 [[ 9.99192569e-01 2.94599340e-02 -2.73189175e-02 3.88691244e+01] [-2.94528197e-02 9.99565952e-01 6.62852601e-04 -1.04295982e+00] [ 2.73265874e-02 1.42301760e-04 9.99626549e-01 -3.52458178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.411193817 meters Centerline goodness : 0.886202 Centerline is valid? [False, False] Translation: X:38.88, Y:-1.04, Z:-3.54 [[ 9.99613168e-01 2.22762591e-02 -1.66518074e-02 3.88849146e+01] [-2.23600779e-02 9.99738148e-01 -4.86447509e-03 -1.03588389e+00] [ 1.65390848e-02 5.23492906e-03 9.99849516e-01 -3.53557953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.441193817 meters Centerline goodness : 0.884707 Centerline is valid? [False, False] Translation: X:38.89, Y:-1.03, Z:-3.54 [[ 9.99626669e-01 2.12284948e-02 -1.72009863e-02 3.88874283e+01] [-2.13341008e-02 9.99754521e-01 -5.97945268e-03 -1.03357637e+00] [ 1.70698290e-02 6.34418794e-03 9.99834172e-01 -3.53715685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.471193817 meters Centerline goodness : 0.883093 Centerline is valid? [False, False] Translation: X:38.91, Y:-1.03, Z:-3.54 [[ 9.99662430e-01 2.22555960e-02 -1.34057531e-02 3.89070736e+01] [-2.24376770e-02 9.99655891e-01 -1.35885798e-02 -1.03088675e+00] [ 1.30987181e-02 1.38847866e-02 9.99817802e-01 -3.54302218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.501193817 meters Centerline goodness : 0.883675 Centerline is valid? [False, False] Translation: X:38.91, Y:-1.03, Z:-3.54 [[ 9.99571040e-01 2.55098411e-02 -1.43869141e-02 3.89094695e+01] [-2.56311262e-02 9.99636930e-01 -8.30978959e-03 -1.03279067e+00] [ 1.41697092e-02 8.67497784e-03 9.99861973e-01 -3.54034081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53119381700003 meters Centerline goodness : 0.881800 Centerline is valid? [False, False] Translation: X:38.93, Y:-1.03, Z:-3.55 [[ 9.99577760e-01 2.68107892e-02 -1.12019504e-02 3.89292596e+01] [-2.69845983e-02 9.99513115e-01 -1.56641385e-02 -1.03116637e+00] [ 1.07765284e-02 1.59598046e-02 9.99814558e-01 -3.54588895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.561193817 meters Centerline goodness : 0.880818 Centerline is valid? [False, False] Translation: X:38.93, Y:-1.03, Z:-3.55 [[ 9.99479857e-01 2.98033762e-02 -1.23196357e-02 3.89326090e+01] [-2.99442531e-02 9.99486407e-01 -1.14133653e-02 -1.03160065e+00] [ 1.19731516e-02 1.17763311e-02 9.99858971e-01 -3.54502751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59119381700003 meters Centerline goodness : 0.879745 Centerline is valid? [False, False] Translation: X:38.93, Y:-1.03, Z:-3.55 [[ 9.99482860e-01 2.94603051e-02 -1.28880649e-02 3.89342133e+01] [-2.96112518e-02 9.99493219e-01 -1.16824022e-02 -1.03143128e+00] [ 1.25373663e-02 1.20579925e-02 9.99848698e-01 -3.54549300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.621193817 meters Centerline goodness : 0.880597 Centerline is valid? [False, False] Translation: X:38.94, Y:-1.04, Z:-3.54 [[ 9.99367237e-01 3.27875140e-02 -1.37878530e-02 3.89365308e+01] [-3.28751443e-02 9.99440374e-01 -6.17767469e-03 -1.03521691e+00] [ 1.35775864e-02 6.62704334e-03 9.99885859e-01 -3.54312406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.651193817 meters Centerline goodness : 0.882144 Centerline is valid? [False, False] Translation: X:38.95, Y:-1.03, Z:-3.55 [[ 9.99275069e-01 3.70662513e-02 -8.68496082e-03 3.89496283e+01] [-3.71841063e-02 9.99212782e-01 -1.38259991e-02 -1.03493857e+00] [ 8.16564591e-03 1.41389187e-02 9.99866698e-01 -3.54945644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.681193817 meters Centerline goodness : 0.880257 Centerline is valid? [False, False] Translation: X:38.95, Y:-1.04, Z:-3.55 [[ 9.99119660e-01 4.09373127e-02 -9.16745630e-03 3.89509374e+01] [-4.10145843e-02 9.99123190e-01 -8.40571297e-03 -1.03839787e+00] [ 8.81531088e-03 8.77431249e-03 9.99922648e-01 -3.54761660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.711193817 meters Centerline goodness : 0.882856 Centerline is valid? [False, False] Translation: X:38.96, Y:-1.04, Z:-3.56 [[ 9.99260621e-01 3.83868376e-02 2.15901685e-03 3.89628765e+01] [-3.83610891e-02 9.99204316e-01 -1.09161534e-02 -1.03739230e+00] [-2.57633557e-03 1.08252600e-02 9.99938086e-01 -3.55707774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.741193817 meters Centerline goodness : 0.883409 Centerline is valid? [False, False] Translation: X:38.97, Y:-1.04, Z:-3.56 [[ 9.98867180e-01 4.67975743e-02 8.62231268e-03 3.89729180e+01] [-4.66593337e-02 9.98789175e-01 -1.55913607e-02 -1.03525675e+00] [-9.34151043e-03 1.51713871e-02 9.99841270e-01 -3.56132380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.771193817 meters Centerline goodness : 0.882653 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.02, Z:-3.59 [[ 9.98490481e-01 5.03942483e-02 2.18444303e-02 3.89832063e+01] [-4.91603623e-02 9.97343378e-01 -5.37535657e-02 -1.01864960e+00] [-2.44952685e-02 5.25985435e-02 9.98315268e-01 -3.58713721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.801193817 meters Centerline goodness : 0.883543 Centerline is valid? [False, False] Translation: X:38.99, Y:-1.01, Z:-3.58 [[ 9.98793619e-01 4.89405115e-02 4.01670857e-03 3.89948543e+01] [-4.86415781e-02 9.97262963e-01 -5.56828409e-02 -1.01263518e+00] [-6.73086140e-03 5.54202871e-02 9.98440428e-01 -3.58095585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.831193817 meters Centerline goodness : 0.885468 Centerline is valid? [False, False] Translation: X:38.96, Y:-1.01, Z:-3.57 [[ 9.98699979e-01 5.05521456e-02 6.54472982e-03 3.89587249e+01] [-5.03097647e-02 9.98187419e-01 -3.30273188e-02 -1.01335745e+00] [-8.20246879e-03 3.26551187e-02 9.99433021e-01 -3.56903747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.861193817 meters Centerline goodness : 0.885655 Centerline is valid? [False, False] Translation: X:38.96, Y:-1.02, Z:-3.56 [[ 9.98025746e-01 6.24786180e-02 6.40567194e-03 3.89600619e+01] [-6.23652267e-02 9.97915481e-01 -1.65912730e-02 -1.01785359e+00] [-7.42891901e-03 1.61590264e-02 9.99841836e-01 -3.56145143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.891193817 meters Centerline goodness : 0.888794 Centerline is valid? [False, False] Translation: X:38.96, Y:-1.02, Z:-3.56 [[ 9.98073477e-01 6.17656162e-02 5.86029633e-03 3.89612899e+01] [-6.16855191e-02 9.98011169e-01 -1.29847312e-02 -1.02304837e+00] [-6.65065111e-03 1.25982204e-02 9.99898522e-01 -3.55513847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.921193817 meters Centerline goodness : 0.889780 Centerline is valid? [False, False] Translation: X:38.96, Y:-1.02, Z:-3.55 [[ 9.98303036e-01 5.79330117e-02 5.90041646e-03 3.89602318e+01] [-5.78296325e-02 9.98191776e-01 -1.63985444e-02 -1.02415777e+00] [-6.83976424e-03 1.60294977e-02 9.99848125e-01 -3.55398403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.951193817 meters Centerline goodness : 0.888084 Centerline is valid? [False, False] Translation: X:38.96, Y:-1.03, Z:-3.55 [[ 9.98344084e-01 5.72842856e-02 5.25371126e-03 3.89619731e+01] [-5.71950580e-02 9.98238006e-01 -1.57989824e-02 -1.02564663e+00] [-6.14948768e-03 1.54723343e-02 9.99861386e-01 -3.55292535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.981193817 meters Centerline goodness : 0.888497 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.03, Z:-3.55 [[ 9.98587692e-01 5.27888075e-02 5.99686541e-03 3.89833851e+01] [-5.27697700e-02 9.98601286e-01 -3.28975832e-03 -1.03008178e+00] [-6.16213993e-03 2.96865897e-03 9.99976607e-01 -3.54519421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.011193817 meters Centerline goodness : 0.887008 Centerline is valid? [False, False] Translation: X:38.99, Y:-1.03, Z:-3.55 [[ 9.98659234e-01 5.15265381e-02 4.97498505e-03 3.89867976e+01] [-5.15097960e-02 9.98666576e-01 -3.43679673e-03 -1.03064946e+00] [-5.14543752e-03 3.17592833e-03 9.99981719e-01 -3.54549911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.041193817 meters Centerline goodness : 0.886167 Centerline is valid? [False, False] Translation: X:38.99, Y:-1.03, Z:-3.55 [[ 9.98723817e-01 5.02595370e-02 4.97163643e-03 3.89872479e+01] [-5.02503461e-02 9.98734737e-01 -1.95670716e-03 -1.03060015e+00] [-5.06368920e-03 1.70438359e-03 9.99985727e-01 -3.54573812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.071193817 meters Centerline goodness : 0.885866 Centerline is valid? [False, False] Translation: X:38.99, Y:-1.03, Z:-3.54 [[ 9.99083308e-01 4.14901044e-02 -1.05410631e-02 3.89941033e+01] [-4.15163321e-02 9.99135220e-01 -2.28152908e-03 -1.02568975e+00] [ 1.04372865e-02 2.71706389e-03 9.99941839e-01 -3.54107390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.101193817 meters Centerline goodness : 0.884170 Centerline is valid? [False, False] Translation: X:38.99, Y:-1.03, Z:-3.54 [[ 9.99161634e-01 3.95728989e-02 -1.04887941e-02 3.89944993e+01] [-3.95735297e-02 9.99216650e-01 1.47482697e-04 -1.02875871e+00] [ 1.04864141e-02 2.67719553e-04 9.99944980e-01 -3.54187753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.131193817 meters Centerline goodness : 0.882603 Centerline is valid? [False, False] Translation: X:39.00, Y:-1.03, Z:-3.54 [[ 9.99252523e-01 3.67708810e-02 -1.19288146e-02 3.89970056e+01] [-3.67888978e-02 9.99322221e-01 -1.29438773e-03 -1.03129203e+00] [ 1.18731337e-02 1.73226814e-03 9.99928011e-01 -3.54200215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.161193817 meters Centerline goodness : 0.885610 Centerline is valid? [False, False] Translation: X:39.00, Y:-1.03, Z:-3.54 [[ 9.99343148e-01 3.38861170e-02 -1.28453550e-02 3.89981031e+01] [-3.39300517e-02 9.99419030e-01 -3.21785578e-03 -1.03374411e+00] [ 1.27288516e-02 3.65158568e-03 9.99912317e-01 -3.54144978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.191193817 meters Centerline goodness : 0.886643 Centerline is valid? [False, False] Translation: X:39.00, Y:-1.03, Z:-3.54 [[ 9.99455292e-01 3.06121835e-02 -1.23293563e-02 3.89959566e+01] [-3.07021394e-02 9.99502832e-01 -7.17406201e-03 -1.03310561e+00] [ 1.21036128e-02 7.54869186e-03 9.99898255e-01 -3.54131042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.221193817 meters Centerline goodness : 0.886135 Centerline is valid? [False, False] Translation: X:39.00, Y:-1.03, Z:-3.54 [[ 9.99446976e-01 3.04493653e-02 -1.33633209e-02 3.89953900e+01] [-3.05804564e-02 9.99485070e-01 -9.71754913e-03 -1.03272946e+00] [ 1.30605465e-02 1.01208315e-02 9.99863486e-01 -3.53752158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.251193817 meters Centerline goodness : 0.886135 Centerline is valid? [False, False] Translation: X:39.00, Y:-1.03, Z:-3.54 [[ 9.99446976e-01 3.04493653e-02 -1.33633209e-02 3.89953900e+01] [-3.05804564e-02 9.99485070e-01 -9.71754913e-03 -1.03272946e+00] [ 1.30605465e-02 1.01208315e-02 9.99863486e-01 -3.53752158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28119381700003 meters Centerline goodness : 0.885853 Centerline is valid? [False, False] Translation: X:38.95, Y:-1.03, Z:-3.53 [[ 9.99521422e-01 2.84111248e-02 -1.22365946e-02 3.89514251e+01] [-2.83603979e-02 9.99588517e-01 4.29931184e-03 -1.03313808e+00] [ 1.23537077e-02 -3.95021960e-03 9.99915887e-01 -3.52818505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.311193817 meters Centerline goodness : 0.886191 Centerline is valid? [False, False] Translation: X:38.95, Y:-1.03, Z:-3.53 [[ 9.99517136e-01 2.84210084e-02 -1.25594878e-02 3.89521427e+01] [-2.83600335e-02 9.99585235e-01 5.00664490e-03 -1.03228138e+00] [ 1.26965724e-02 -4.64803988e-03 9.99908592e-01 -3.52798288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34119381700003 meters Centerline goodness : 0.885587 Centerline is valid? [False, False] Translation: X:38.95, Y:-1.03, Z:-3.53 [[ 9.99520107e-01 2.81918449e-02 -1.28364683e-02 3.89538431e+01] [-2.81198866e-02 9.99588007e-01 5.75220868e-03 -1.03085867e+00] [ 1.29933451e-02 -5.38848820e-03 9.99901064e-01 -3.52931309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.371193817 meters Centerline goodness : 0.883425 Centerline is valid? [False, False] Translation: X:38.96, Y:-1.03, Z:-3.53 [[ 9.99515873e-01 2.83340904e-02 -1.28529404e-02 3.89551570e+01] [-2.82435463e-02 9.99575340e-01 7.17230323e-03 -1.03006494e+00] [ 1.30507029e-02 -6.80581831e-03 9.99891674e-01 -3.53085530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.401193817 meters Centerline goodness : 0.884209 Centerline is valid? [False, False] Translation: X:38.95, Y:-1.03, Z:-3.53 [[ 9.99503508e-01 2.86906803e-02 -1.30223819e-02 3.89548038e+01] [-2.85966925e-02 9.99564029e-01 7.34715892e-03 -1.03021764e+00] [ 1.32274995e-02 -6.97111406e-03 9.99888212e-01 -3.52955359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.431193817 meters Centerline goodness : 0.884021 Centerline is valid? [False, False] Translation: X:38.96, Y:-1.03, Z:-3.53 [[ 9.99472399e-01 2.92486955e-02 -1.41222025e-02 3.89559915e+01] [-2.91532908e-02 9.99551034e-01 6.91495156e-03 -1.02990090e+00] [ 1.43181154e-02 -6.49959455e-03 9.99876366e-01 -3.52800673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.461193817 meters Centerline goodness : 0.883557 Centerline is valid? [False, False] Translation: X:38.96, Y:-1.03, Z:-3.53 [[ 9.99455210e-01 2.94257217e-02 -1.49469169e-02 3.89579309e+01] [-2.93394937e-02 9.99551760e-01 5.95588047e-03 -1.02967381e+00] [ 1.51154732e-02 -5.51410079e-03 9.99870550e-01 -3.52863930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.491193817 meters Centerline goodness : 0.880419 Centerline is valid? [False, False] Translation: X:38.96, Y:-1.03, Z:-3.53 [[ 9.99441470e-01 2.93261330e-02 -1.60226478e-02 3.89607015e+01] [-2.92479115e-02 9.99559205e-01 5.09469426e-03 -1.03022879e+00] [ 1.61649928e-02 -4.62321974e-03 9.99858649e-01 -3.52993371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.521193817 meters Centerline goodness : 0.880409 Centerline is valid? [False, False] Translation: X:38.96, Y:-1.03, Z:-3.53 [[ 9.99510829e-01 2.71228118e-02 -1.55709869e-02 3.89606612e+01] [-2.70455690e-02 9.99620935e-01 5.15005192e-03 -1.03296853e+00] [ 1.57047684e-02 -4.72640647e-03 9.99865502e-01 -3.53139374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.551193817 meters Centerline goodness : 0.880527 Centerline is valid? [False, False] Translation: X:38.96, Y:-1.04, Z:-3.53 [[ 9.99562025e-01 2.54191478e-02 -1.51533790e-02 3.89601878e+01] [-2.53486593e-02 9.99667023e-01 4.82576672e-03 -1.03522537e+00] [ 1.52710001e-02 -4.43953531e-03 9.99873536e-01 -3.53186500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.581193817 meters Centerline goodness : 0.884160 Centerline is valid? [False, False] Translation: X:38.96, Y:-1.04, Z:-3.53 [[ 9.99697770e-01 2.03107474e-02 -1.38506865e-02 3.89585024e+01] [-2.02557323e-02 9.99786422e-01 4.10080601e-03 -1.03838853e+00] [ 1.39310187e-02 -3.81901082e-03 9.99895665e-01 -3.53259973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.611193817 meters Centerline goodness : 0.882007 Centerline is valid? [False, False] Translation: X:38.96, Y:-1.04, Z:-3.53 [[ 9.99741929e-01 1.83929775e-02 -1.33331964e-02 3.89575019e+01] [-1.83453860e-02 9.99824926e-01 3.68296876e-03 -1.03891005e+00] [ 1.33986029e-02 -3.43741566e-03 9.99904326e-01 -3.53214604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.641193817 meters Centerline goodness : 0.886928 Centerline is valid? [False, False] Translation: X:38.96, Y:-1.04, Z:-3.53 [[ 9.99729595e-01 1.88003429e-02 -1.36851803e-02 3.89571879e+01] [-1.87626708e-02 9.99819829e-01 2.87598410e-03 -1.03768607e+00] [ 1.37367841e-02 -2.61843588e-03 9.99902217e-01 -3.53016828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.671193817 meters Centerline goodness : 0.890995 Centerline is valid? [False, False] Translation: X:38.99, Y:-1.03, Z:-3.54 [[ 9.99746265e-01 2.07707504e-02 -8.71676936e-03 3.89860464e+01] [-2.09419767e-02 9.99579934e-01 -2.00346792e-02 -1.03135834e+00] [ 8.29697243e-03 2.02121421e-02 9.99761286e-01 -3.54319273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.701193817 meters Centerline goodness : 0.888530 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.03, Z:-3.54 [[ 9.99702699e-01 2.30528236e-02 -7.94231023e-03 3.89813208e+01] [-2.31963654e-02 9.99560082e-01 -1.84816321e-02 -1.02879091e+00] [ 7.51276246e-03 1.86603702e-02 9.99797654e-01 -3.53955737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.731193817 meters Centerline goodness : 0.890170 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.03, Z:-3.54 [[ 9.99683133e-01 2.43907174e-02 -6.22300917e-03 3.89774070e+01] [-2.44934931e-02 9.99555241e-01 -1.70114585e-02 -1.02690747e+00] [ 5.80531975e-03 1.71584914e-02 9.99835929e-01 -3.53778253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.761193817 meters Centerline goodness : 0.888018 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.03, Z:-3.54 [[ 9.99661285e-01 2.53968150e-02 -5.68475057e-03 3.89751494e+01] [-2.54888537e-02 9.99534767e-01 -1.67501878e-02 -1.02511405e+00] [ 5.25670442e-03 1.68894121e-02 9.99843545e-01 -3.53689703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.791193817 meters Centerline goodness : 0.888095 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.03, Z:-3.53 [[ 9.99527997e-01 3.00651513e-02 -6.31420346e-03 3.89809786e+01] [-3.00925661e-02 9.99537899e-01 -4.29257562e-03 -1.02893209e+00] [ 6.18222872e-03 4.48056010e-03 9.99970852e-01 -3.52832748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.821193817 meters Centerline goodness : 0.886833 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.03, Z:-3.53 [[ 9.99377858e-01 3.47260669e-02 -6.16420809e-03 3.89800506e+01] [-3.47296466e-02 9.99396631e-01 -4.74610040e-04 -1.02735357e+00] [ 6.14400746e-03 6.88395533e-04 9.99980888e-01 -3.52801291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.851193817 meters Centerline goodness : 0.883534 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.02, Z:-3.53 [[ 9.99359900e-01 3.52748088e-02 -5.95635891e-03 3.89795057e+01] [-3.52836860e-02 9.99376368e-01 -1.39189690e-03 -1.02453990e+00] [ 5.90354544e-03 1.60116824e-03 9.99981292e-01 -3.52947876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.881193817 meters Centerline goodness : 0.884621 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.02, Z:-3.53 [[ 9.99224280e-01 3.88149990e-02 -6.65085080e-03 3.89818604e+01] [-3.87988109e-02 9.99243799e-01 2.54601241e-03 -1.02385351e+00] [ 6.74464489e-03 -2.28599232e-03 9.99974642e-01 -3.52944717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.911193817 meters Centerline goodness : 0.879857 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.02, Z:-3.53 [[ 9.99197465e-01 3.95209190e-02 -6.52088385e-03 3.89818056e+01] [-3.95119049e-02 9.99217966e-01 1.50547324e-03 -1.02016853e+00] [ 6.57528199e-03 -1.24661250e-03 9.99977606e-01 -3.53164102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.941193817 meters Centerline goodness : 0.876907 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.02, Z:-3.53 [[ 9.99167854e-01 4.02875634e-02 -6.36496342e-03 3.89813627e+01] [-4.02849432e-02 9.99188087e-01 5.39393535e-04 -1.01664011e+00] [ 6.38152647e-03 -2.82532491e-04 9.99979598e-01 -3.53343607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.971193817 meters Centerline goodness : 0.878098 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.01, Z:-3.54 [[ 9.98996088e-01 4.42695047e-02 -6.85767316e-03 3.89832644e+01] [-4.42469543e-02 9.99014818e-01 3.40596071e-03 -1.01428089e+00] [ 7.00169730e-03 -3.09911027e-03 9.99970685e-01 -3.53546096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.001193817 meters Centerline goodness : 0.874231 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.01, Z:-3.54 [[ 9.98999080e-01 4.41653812e-02 -7.08920097e-03 3.89844704e+01] [-4.41499827e-02 9.99022234e-01 2.31417318e-03 -1.01186839e+00] [ 7.18447573e-03 -1.99886878e-03 9.99972194e-01 -3.53744386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03119381700003 meters Centerline goodness : 0.875055 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.01, Z:-3.54 [[ 9.98982988e-01 4.45530051e-02 -6.92961076e-03 3.89839556e+01] [-4.45410754e-02 9.99005810e-01 1.86653481e-03 -1.01056326e+00] [ 7.00588114e-03 -1.55598421e-03 9.99974248e-01 -3.53811970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.061193817 meters Centerline goodness : 0.875221 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.01, Z:-3.54 [[ 9.98979278e-01 4.45887002e-02 -7.22843020e-03 3.89843759e+01] [-4.45780181e-02 9.99004572e-01 1.63231713e-03 -1.00950123e+00] [ 7.29401772e-03 -1.30842190e-03 9.99972542e-01 -3.53805881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09119381700003 meters Centerline goodness : 0.873492 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.01, Z:-3.54 [[ 9.98934986e-01 4.56097708e-02 -6.97436465e-03 3.89822302e+01] [-4.55946944e-02 9.98957360e-01 2.30570388e-03 -1.01006298e+00] [ 7.07225553e-03 -1.98525425e-03 9.99973021e-01 -3.53635367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.121193817 meters Centerline goodness : 0.874768 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.01, Z:-3.54 [[ 9.98930218e-01 4.56835429e-02 -7.17177989e-03 3.89822240e+01] [-4.56663039e-02 9.98953497e-01 2.54944604e-03 -1.00993859e+00] [ 7.28074233e-03 -2.21921000e-03 9.99971033e-01 -3.53546312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.151193817 meters Centerline goodness : 0.874102 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.01, Z:-3.53 [[ 9.98915245e-01 4.60422221e-02 -6.96035213e-03 3.89812734e+01] [-4.60245146e-02 9.98936707e-01 2.68325821e-03 -1.00948353e+00] [ 7.07649441e-03 -2.36000070e-03 9.99972176e-01 -3.53494756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.181193817 meters Centerline goodness : 0.875506 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.01, Z:-3.53 [[ 9.98884834e-01 4.67553392e-02 -6.55941996e-03 3.89795426e+01] [-4.67377480e-02 9.98903242e-01 2.81004514e-03 -1.00871512e+00] [ 6.68361048e-03 -2.50033896e-03 9.99974539e-01 -3.53435773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.211193817 meters Centerline goodness : 0.876158 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.01, Z:-3.53 [[ 9.98882125e-01 4.68044411e-02 -6.62159497e-03 3.89793570e+01] [-4.67858960e-02 9.98900648e-01 2.92848862e-03 -1.00855476e+00] [ 6.75138178e-03 -2.61541768e-03 9.99973789e-01 -3.53372415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.241193817 meters Centerline goodness : 0.876196 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.01, Z:-3.53 [[ 9.98869479e-01 4.70929706e-02 -6.48202778e-03 3.89786351e+01] [-4.70735377e-02 9.98886558e-01 3.11865792e-03 -1.00871530e+00] [ 6.62167729e-03 -2.81000023e-03 9.99974128e-01 -3.53326552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.271193817 meters Centerline goodness : 0.876115 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.01, Z:-3.53 [[ 9.98863436e-01 4.72019992e-02 -6.61873658e-03 3.89786886e+01] [-4.71792921e-02 9.98880143e-01 3.54597123e-03 -1.00906325e+00] [ 6.77870148e-03 -3.22967370e-03 9.99971809e-01 -3.53248143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.301193817 meters Centerline goodness : 0.880423 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.01, Z:-3.53 [[ 9.98864405e-01 4.71806640e-02 -6.62457886e-03 3.89788191e+01] [-4.71581443e-02 9.98881249e-01 3.51552603e-03 -1.00963878e+00] [ 6.78303246e-03 -3.19913098e-03 9.99971878e-01 -3.53272264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.331193817 meters Centerline goodness : 0.880039 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.01, Z:-3.53 [[ 9.98881446e-01 4.67702628e-02 -6.95698250e-03 3.89799674e+01] [-4.67492131e-02 9.98901665e-01 3.15824015e-03 -1.00952539e+00] [ 7.09705313e-03 -2.82947403e-03 9.99970813e-01 -3.53332357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.361193817 meters Centerline goodness : 0.880624 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.01, Z:-3.53 [[ 9.98908023e-01 4.61356263e-02 -7.36654672e-03 3.89817296e+01] [-4.61144794e-02 9.98931611e-01 3.01526492e-03 -1.01069384e+00] [ 7.49778752e-03 -2.67226785e-03 9.99968321e-01 -3.53409630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.391193817 meters Centerline goodness : 0.878840 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.01, Z:-3.53 [[ 9.98921768e-01 4.57821555e-02 -7.70035383e-03 3.89827934e+01] [-4.57603236e-02 9.98947979e-01 2.98796105e-03 -1.01155478e+00] [ 7.82904820e-03 -2.63236865e-03 9.99965888e-01 -3.53428973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.421193817 meters Centerline goodness : 0.881745 Centerline is valid? [False, False] Translation: X:38.98, Y:-1.01, Z:-3.54 [[ 9.99115536e-01 4.12444324e-02 -8.18791074e-03 3.89843345e+01] [-4.12609827e-02 9.99146667e-01 -1.86270993e-03 -1.01135222e+00] [ 8.10409731e-03 2.19890367e-03 9.99964744e-01 -3.53607697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.451193817 meters Centerline goodness : 0.883486 Centerline is valid? [False, False] Translation: X:38.99, Y:-1.01, Z:-3.54 [[ 9.99183381e-01 3.93510383e-02 -9.16880192e-03 3.89885338e+01] [-3.93646695e-02 9.99224051e-01 -1.31092754e-03 -1.01470462e+00] [ 9.11010104e-03 1.67078386e-03 9.99957106e-01 -3.53588481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.481193817 meters Centerline goodness : 0.882091 Centerline is valid? [False, False] Translation: X:39.00, Y:-1.02, Z:-3.54 [[ 9.99390722e-01 3.33211038e-02 -1.03869210e-02 3.89986935e+01] [-3.33323256e-02 9.99443910e-01 -9.09085616e-04 -1.01869203e+00] [ 1.03508532e-02 1.25475196e-03 9.99945641e-01 -3.53516841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.511193817 meters Centerline goodness : 0.880009 Centerline is valid? [False, False] Translation: X:39.04, Y:-1.04, Z:-3.52 [[ 9.99917196e-01 1.11644700e-02 -6.39965235e-03 3.90378472e+01] [-1.09990491e-02 9.99618745e-01 2.53256107e-02 -1.03577857e+00] [ 6.67995947e-03 -2.52531235e-02 9.99658771e-01 -3.51835584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.541193817 meters Centerline goodness : 0.886310 Centerline is valid? [False, False] Translation: X:39.04, Y:-1.04, Z:-3.52 [[ 9.99954384e-01 6.83851143e-03 -6.66825584e-03 3.90387519e+01] [-6.69926769e-03 9.99763598e-01 2.06849740e-02 -1.03608054e+00] [ 6.80813388e-03 -2.06393580e-02 9.99763805e-01 -3.51944205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.571193817 meters Centerline goodness : 0.887164 Centerline is valid? [False, False] Translation: X:39.04, Y:-1.04, Z:-3.52 [[ 9.99973074e-01 2.57623494e-03 -6.87132773e-03 3.90391542e+01] [-2.46300653e-03 9.99861882e-01 1.64362572e-02 -1.03592913e+00] [ 6.91272233e-03 -1.64188905e-02 9.99841305e-01 -3.51948499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.601193817 meters Centerline goodness : 0.886297 Centerline is valid? [False, False] Translation: X:39.01, Y:-1.04, Z:-3.51 [[ 9.99966879e-01 -7.11988264e-03 -3.94316362e-03 3.90126817e+01] [ 7.23949781e-03 9.99486930e-01 3.12004264e-02 -1.03739362e+00] [ 3.71899712e-03 -3.12279395e-02 9.99505370e-01 -3.51255244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.631193817 meters Centerline goodness : 0.887994 Centerline is valid? [False, False] Translation: X:39.03, Y:-1.03, Z:-3.53 [[ 9.99947104e-01 -1.02182173e-02 -1.17367913e-03 3.90278958e+01] [ 1.02294172e-02 9.99897976e-01 9.96980773e-03 -1.02895273e+00] [ 1.07168573e-03 -9.98128642e-03 9.99949611e-01 -3.52897346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.661193817 meters Centerline goodness : 0.885936 Centerline is valid? [False, False] Translation: X:39.03, Y:-1.03, Z:-3.53 [[ 9.99917945e-01 -1.26345912e-02 -2.11443977e-03 3.90333753e+01] [ 1.26523786e-02 9.99882785e-01 8.62174862e-03 -1.02770639e+00] [ 2.00525965e-03 -8.64779386e-03 9.99960597e-01 -3.53186742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.691193817 meters Centerline goodness : 0.882464 Centerline is valid? [False, False] Translation: X:39.04, Y:-1.03, Z:-3.53 [[ 9.99895754e-01 -1.41553933e-02 -2.84707728e-03 3.90371374e+01] [ 1.41764635e-02 9.99871216e-01 7.52187860e-03 -1.02581663e+00] [ 2.74023547e-03 -7.56145596e-03 9.99967657e-01 -3.53404253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.721193817 meters Centerline goodness : 0.882529 Centerline is valid? [False, False] Translation: X:39.04, Y:-1.02, Z:-3.53 [[ 9.99896242e-01 -1.40925258e-02 -2.98443920e-03 3.90363827e+01] [ 1.41141098e-02 9.99873457e-01 7.33902563e-03 -1.02333364e+00] [ 2.88063613e-03 -7.38038684e-03 9.99968615e-01 -3.53266016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.751193817 meters Centerline goodness : 0.881294 Centerline is valid? [False, False] Translation: X:39.04, Y:-1.02, Z:-3.54 [[ 9.99836434e-01 -1.77215342e-02 -3.61271418e-03 3.90392610e+01] [ 1.77349657e-02 9.99835802e-01 3.72032662e-03 -1.02175230e+00] [ 3.54619108e-03 -3.78378947e-03 9.99986554e-01 -3.53512742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78119381700003 meters Centerline goodness : 0.885127 Centerline is valid? [False, False] Translation: X:39.04, Y:-1.02, Z:-3.53 [[ 9.99809536e-01 -1.90680976e-02 -4.15917109e-03 3.90409410e+01] [ 1.90840369e-02 9.99810559e-01 3.82690265e-03 -1.02097245e+00] [ 4.08541142e-03 -3.90554754e-03 9.99984028e-01 -3.53346952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.811193817 meters Centerline goodness : 0.880980 Centerline is valid? [False, False] Translation: X:39.04, Y:-1.02, Z:-3.53 [[ 9.99784135e-01 -2.02041005e-02 -4.84528271e-03 3.90432364e+01] [ 2.02217126e-02 9.99788989e-01 3.61387009e-03 -1.02087717e+00] [ 4.77124531e-03 -3.71106990e-03 9.99981731e-01 -3.53325215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84119381700003 meters Centerline goodness : 0.884311 Centerline is valid? [False, False] Translation: X:39.05, Y:-1.02, Z:-3.53 [[ 9.99756958e-01 -2.13688325e-02 -5.42204378e-03 3.90459459e+01] [ 2.13881178e-02 9.99765037e-01 3.52412128e-03 -1.02181741e+00] [ 5.34546345e-03 -3.63923209e-03 9.99979091e-01 -3.53374293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.871193817 meters Centerline goodness : 0.880888 Centerline is valid? [False, False] Translation: X:39.05, Y:-1.02, Z:-3.53 [[ 9.99726366e-01 -2.25745510e-02 -6.13045199e-03 3.90491719e+01] [ 2.25952822e-02 9.99739136e-01 3.33373581e-03 -1.02313312e+00] [ 6.05359518e-03 -3.47134288e-03 9.99975652e-01 -3.53476798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.901193817 meters Centerline goodness : 0.879043 Centerline is valid? [False, False] Translation: X:39.05, Y:-1.03, Z:-3.54 [[ 9.99680019e-01 -2.45989619e-02 -5.89495034e-03 3.90514075e+01] [ 2.46177503e-02 9.99692018e-01 3.13609825e-03 -1.02819343e+00] [ 5.81599004e-03 -3.28021518e-03 9.99977707e-01 -3.53587630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.931193817 meters Centerline goodness : 0.879307 Centerline is valid? [False, False] Translation: X:39.05, Y:-1.03, Z:-3.53 [[ 9.99689751e-01 -2.41682780e-02 -6.02469797e-03 3.90507404e+01] [ 2.41938304e-02 9.99698442e-01 4.20509119e-03 -1.03091910e+00] [ 5.92125136e-03 -4.34954708e-03 9.99973010e-01 -3.53390821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.961193817 meters Centerline goodness : 0.880280 Centerline is valid? [False, False] Translation: X:39.05, Y:-1.03, Z:-3.53 [[ 9.99713412e-01 -2.32258488e-02 -5.80110630e-03 3.90487847e+01] [ 2.32572929e-02 9.99714858e-01 5.41302926e-03 -1.03318635e+00] [ 5.67372997e-03 -5.54639598e-03 9.99968523e-01 -3.53168879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.991193817 meters Centerline goodness : 0.880811 Centerline is valid? [False, False] Translation: X:39.06, Y:-1.03, Z:-3.54 [[ 9.99843279e-01 -1.76378120e-02 -1.52506789e-03 3.90590277e+01] [ 1.76309146e-02 9.99834777e-01 -4.42368050e-03 -1.03205170e+00] [ 1.60283996e-03 4.39609888e-03 9.99989053e-01 -3.53964578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.021193817 meters Centerline goodness : 0.877831 Centerline is valid? [False, False] Translation: X:39.06, Y:-1.03, Z:-3.54 [[ 9.99894793e-01 -1.43338357e-02 -2.22361850e-03 3.90615786e+01] [ 1.43343637e-02 9.99897233e-01 2.21676428e-04 -1.03495269e+00] [ 2.22021251e-03 -2.53527262e-04 9.99997503e-01 -3.53974070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.051193817 meters Centerline goodness : 0.876265 Centerline is valid? [False, False] Translation: X:39.06, Y:-1.04, Z:-3.54 [[ 9.99935161e-01 -1.09996964e-02 -2.94619532e-03 3.90644768e+01] [ 1.10124438e-02 9.99929917e-01 4.34604669e-03 -1.03707768e+00] [ 2.89818364e-03 -4.37820971e-03 9.99986216e-01 -3.54084773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.081193817 meters Centerline goodness : 0.874064 Centerline is valid? [False, False] Translation: X:39.08, Y:-1.03, Z:-3.55 [[ 9.99974321e-01 -7.15025791e-03 4.81660603e-04 3.90787815e+01] [ 7.15271207e-03 9.99960361e-01 -5.30231430e-03 -1.03483177e+00] [-4.43728596e-04 5.30562332e-03 9.99985827e-01 -3.54935607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.111193817 meters Centerline goodness : 0.874039 Centerline is valid? [False, False] Translation: X:39.11, Y:-1.03, Z:-3.56 [[ 9.99987423e-01 4.47010258e-03 2.27417643e-03 3.91118259e+01] [-4.38623984e-03 9.99355312e-01 -3.56331556e-02 -1.02936704e+00] [-2.43199416e-03 3.56227324e-02 9.99362350e-01 -3.56439232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.141193817 meters Centerline goodness : 0.874039 Centerline is valid? [False, False] Translation: X:39.11, Y:-1.03, Z:-3.56 [[ 9.99987423e-01 4.47010258e-03 2.27417643e-03 3.91118259e+01] [-4.38623984e-03 9.99355312e-01 -3.56331556e-02 -1.02936704e+00] [-2.43199416e-03 3.56227324e-02 9.99362350e-01 -3.56439232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.171193817 meters Centerline goodness : 0.873524 Centerline is valid? [False, False] Translation: X:39.11, Y:-1.03, Z:-3.56 [[ 9.99974871e-01 7.02990405e-03 9.14827871e-04 3.91128583e+01] [-6.99170876e-03 9.99305341e-01 -3.66053521e-02 -1.02934051e+00] [-1.17152449e-03 3.65980361e-02 9.99329381e-01 -3.56224954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.201193817 meters Centerline goodness : 0.874418 Centerline is valid? [False, False] Translation: X:39.13, Y:-1.03, Z:-3.57 [[ 9.99956151e-01 8.20332986e-03 4.51677654e-03 3.91346391e+01] [-8.00759959e-03 9.99095224e-01 -4.17685521e-02 -1.02924187e+00] [-4.85533108e-03 4.17305520e-02 9.99117104e-01 -3.56587349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.231193817 meters Centerline goodness : 0.871632 Centerline is valid? [False, False] Translation: X:39.14, Y:-1.03, Z:-3.56 [[ 9.99952407e-01 9.25627588e-03 3.08298782e-03 3.91412476e+01] [-9.14079191e-03 9.99325251e-01 -3.55737184e-02 -1.03356954e+00] [-3.41018773e-03 3.55438444e-02 9.99362300e-01 -3.56280090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.261193817 meters Centerline goodness : 0.871013 Centerline is valid? [False, False] Translation: X:39.17, Y:-1.04, Z:-3.56 [[ 9.99930274e-01 1.17697576e-02 9.59231223e-04 3.91718909e+01] [-1.17330630e-02 9.99419501e-01 -3.19843140e-02 -1.03748012e+00] [-1.33512201e-03 3.19708292e-02 9.99487911e-01 -3.55913804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.291193817 meters Centerline goodness : 0.872344 Centerline is valid? [False, False] Translation: X:39.17, Y:-1.04, Z:-3.56 [[ 9.99947611e-01 1.02106729e-02 7.19826971e-04 3.91721794e+01] [-1.01821670e-02 9.99428457e-01 -3.22348004e-02 -1.03699858e+00] [-1.04855456e-03 3.22257822e-02 9.99480065e-01 -3.55840125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.321193817 meters Centerline goodness : 0.872313 Centerline is valid? [False, False] Translation: X:39.17, Y:-1.04, Z:-3.56 [[ 9.99973930e-01 7.21230180e-03 3.49748690e-04 3.91730687e+01] [-7.19711132e-03 9.99445022e-01 -3.25246086e-02 -1.03669585e+00] [-5.84131880e-04 3.25212435e-02 9.99470874e-01 -3.55824992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.351193817 meters Centerline goodness : 0.873548 Centerline is valid? [False, False] Translation: X:39.17, Y:-1.04, Z:-3.56 [[ 9.99994879e-01 1.92352147e-03 2.55786632e-03 3.91704466e+01] [-1.84227537e-03 9.99505359e-01 -3.13949512e-02 -1.03606251e+00] [-2.61698996e-03 3.13900781e-02 9.99503784e-01 -3.55890021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.381193817 meters Centerline goodness : 0.870346 Centerline is valid? [False, False] Translation: X:39.18, Y:-1.04, Z:-3.56 [[ 9.99999358e-01 -6.78117063e-04 9.07855721e-04 3.91770881e+01] [ 7.06524994e-04 9.99498273e-01 -3.16655026e-02 -1.03694631e+00] [-8.85927307e-04 3.16661236e-02 9.99498110e-01 -3.55991519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.411193817 meters Centerline goodness : 0.871289 Centerline is valid? [False, False] Translation: X:39.19, Y:-1.04, Z:-3.56 [[ 9.99985627e-01 -5.22015147e-03 -1.22306128e-03 3.91873765e+01] [ 5.17836997e-03 9.99475041e-01 -3.19816806e-02 -1.03805906e+00] [ 1.38936844e-03 3.19748875e-02 9.99487707e-01 -3.56097335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.441193817 meters Centerline goodness : 0.866238 Centerline is valid? [False, False] Translation: X:39.20, Y:-1.04, Z:-3.56 [[ 9.99958642e-01 -8.47615773e-03 -3.29688913e-03 3.91952424e+01] [ 8.36689662e-03 9.99457603e-01 -3.18511493e-02 -1.03953781e+00] [ 3.56507627e-03 3.18222473e-02 9.99487186e-01 -3.56077655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.471193817 meters Centerline goodness : 0.873699 Centerline is valid? [False, False] Translation: X:39.21, Y:-1.04, Z:-3.56 [[ 9.99805506e-01 -1.91547111e-02 -4.69546041e-03 3.92125674e+01] [ 1.90025265e-02 9.99352399e-01 -3.05562837e-02 -1.04309820e+00] [ 5.27771641e-03 3.04611150e-02 9.99522019e-01 -3.55600524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.501193817 meters Centerline goodness : 0.873529 Centerline is valid? [False, False] Translation: X:39.22, Y:-1.05, Z:-3.55 [[ 9.99801836e-01 -1.87580499e-02 -6.66515112e-03 3.92201149e+01] [ 1.85993765e-02 9.99559664e-01 -2.31201383e-02 -1.04649473e+00] [ 7.09590492e-03 2.29915891e-02 9.99710476e-01 -3.54885077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53119381700003 meters Centerline goodness : 0.877333 Centerline is valid? [False, False] Translation: X:39.23, Y:-1.05, Z:-3.55 [[ 9.99749697e-01 -2.08195858e-02 -8.19070736e-03 3.92251660e+01] [ 2.06231563e-02 9.99513986e-01 -2.33768458e-02 -1.04634473e+00] [ 8.67342281e-03 2.32020763e-02 9.99693171e-01 -3.54864175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.561193817 meters Centerline goodness : 0.877052 Centerline is valid? [False, False] Translation: X:39.23, Y:-1.05, Z:-3.54 [[ 9.99746138e-01 -2.01745371e-02 -1.00323748e-02 3.92320368e+01] [ 1.99998477e-02 9.99651708e-01 -1.72182610e-02 -1.04836477e+00] [ 1.03762511e-02 1.70132440e-02 9.99801422e-01 -3.54387387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59119381700003 meters Centerline goodness : 0.875700 Centerline is valid? [False, False] Translation: X:39.25, Y:-1.04, Z:-3.55 [[ 9.99508393e-01 -2.91022702e-02 -1.16632112e-02 3.92464111e+01] [ 2.88699248e-02 9.99390652e-01 -1.96176409e-02 -1.04474582e+00] [ 1.22270221e-02 1.92712807e-02 9.99739525e-01 -3.54539825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.621193817 meters Centerline goodness : 0.876466 Centerline is valid? [False, False] Translation: X:39.25, Y:-1.05, Z:-3.54 [[ 9.99391678e-01 -3.23497827e-02 -1.30294326e-02 3.92528735e+01] [ 3.20948594e-02 9.99298066e-01 -1.93208668e-02 -1.04582541e+00] [ 1.36453126e-02 1.88909357e-02 9.99728432e-01 -3.54466327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.651193817 meters Centerline goodness : 0.872466 Centerline is valid? [False, False] Translation: X:39.26, Y:-1.05, Z:-3.54 [[ 9.99278153e-01 -3.51870393e-02 -1.43194024e-02 3.92586976e+01] [ 3.49130601e-02 9.99210607e-01 -1.89536328e-02 -1.04780065e+00] [ 1.49750210e-02 1.84400171e-02 9.99717817e-01 -3.54401258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.681193817 meters Centerline goodness : 0.875974 Centerline is valid? [False, False] Translation: X:39.26, Y:-1.05, Z:-3.54 [[ 9.99173471e-01 -3.75259084e-02 -1.56262876e-02 3.92638692e+01] [ 3.72349248e-02 9.99135028e-01 -1.85137025e-02 -1.05044648e+00] [ 1.63075148e-02 1.79165567e-02 9.99706488e-01 -3.54327891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.711193817 meters Centerline goodness : 0.875487 Centerline is valid? [False, False] Translation: X:39.27, Y:-1.05, Z:-3.54 [[ 9.98945689e-01 -4.28143102e-02 -1.65664073e-02 3.92667335e+01] [ 4.24496715e-02 9.98861405e-01 -2.17696997e-02 -1.05328978e+00] [ 1.74795995e-02 2.10435091e-02 9.99625747e-01 -3.54149053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.741193817 meters Centerline goodness : 0.878700 Centerline is valid? [False, False] Translation: X:39.27, Y:-1.06, Z:-3.53 [[ 9.99067971e-01 -3.94179776e-02 -1.75901328e-02 3.92682886e+01] [ 3.91876226e-02 9.99143967e-01 -1.32537919e-02 -1.05990709e+00] [ 1.80975127e-02 1.25521235e-02 9.99757433e-01 -3.53344683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.771193817 meters Centerline goodness : 0.882158 Centerline is valid? [False, False] Translation: X:39.27, Y:-1.07, Z:-3.53 [[ 9.99201942e-01 -3.54053777e-02 -1.84915883e-02 3.92690405e+01] [ 3.53036845e-02 9.99359816e-01 -5.79731659e-03 -1.06509047e+00] [ 1.86850065e-02 5.13986879e-03 9.99812209e-01 -3.52751320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.801193817 meters Centerline goodness : 0.881930 Centerline is valid? [False, False] Translation: X:39.27, Y:-1.07, Z:-3.53 [[ 9.99322671e-01 -3.13218084e-02 -1.93169051e-02 3.92699618e+01] [ 3.13219019e-02 9.99509305e-01 -2.97780692e-04 -1.06808901e+00] [ 1.93167534e-02 -3.07463209e-04 9.99813367e-01 -3.52510887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.831193817 meters Centerline goodness : 0.880445 Centerline is valid? [False, False] Translation: X:39.27, Y:-1.07, Z:-3.52 [[ 9.99457732e-01 -2.65307954e-02 -1.95027709e-02 3.92694112e+01] [ 2.66171435e-02 9.99636956e-01 4.18126476e-03 -1.06794452e+00] [ 1.93847583e-02 -4.69810545e-03 9.99801060e-01 -3.52452798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.861193817 meters Centerline goodness : 0.882001 Centerline is valid? [False, False] Translation: X:39.28, Y:-1.07, Z:-3.53 [[ 9.99641353e-01 -2.20800122e-02 -1.51538144e-02 3.92812968e+01] [ 2.19971121e-02 9.99742263e-01 -5.61564609e-03 -1.06624166e+00] [ 1.52739023e-02 5.28029191e-03 9.99869405e-01 -3.53274599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.891193817 meters Centerline goodness : 0.883533 Centerline is valid? [False, False] Translation: X:39.28, Y:-1.07, Z:-3.53 [[ 9.99738629e-01 -1.70553236e-02 -1.52246689e-02 3.92796289e+01] [ 1.70540764e-02 9.99854546e-01 -2.11754628e-04 -1.06759275e+00] [ 1.52260659e-02 -4.79433850e-05 9.99884076e-01 -3.52998227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.921193817 meters Centerline goodness : 0.884432 Centerline is valid? [False, False] Translation: X:39.29, Y:-1.07, Z:-3.53 [[ 9.99903670e-01 -9.20979014e-03 -1.03841201e-02 3.92898332e+01] [ 9.15584820e-03 9.99944406e-01 -5.23028472e-03 -1.06599013e+00] [ 1.04317127e-02 5.13470546e-03 9.99932405e-01 -3.53324176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.951193817 meters Centerline goodness : 0.890655 Centerline is valid? [False, False] Translation: X:39.30, Y:-1.07, Z:-3.53 [[ 9.99989820e-01 3.34894706e-04 -4.49976368e-03 3.92979209e+01] [-3.70266456e-04 9.99969023e-01 -7.86226947e-03 -1.06518660e+00] [ 4.49699126e-03 7.86385554e-03 9.99958968e-01 -3.53490684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.981193817 meters Centerline goodness : 0.893984 Centerline is valid? [False, False] Translation: X:39.30, Y:-1.07, Z:-3.53 [[ 9.99977538e-01 4.45880086e-03 -5.00435489e-03 3.92983826e+01] [-4.47313569e-03 9.99985914e-01 -2.85694229e-03 -1.06606792e+00] [ 4.99154586e-03 2.87926327e-03 9.99983397e-01 -3.53285848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.011193817 meters Centerline goodness : 0.893277 Centerline is valid? [False, False] Translation: X:39.30, Y:-1.07, Z:-3.53 [[ 9.99948683e-01 8.68325370e-03 -5.21855870e-03 3.92982194e+01] [-8.67427278e-03 9.99960862e-01 1.74113527e-03 -1.06618548e+00] [ 5.23347318e-03 -1.69577872e-03 9.99984867e-01 -3.53124716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.041193817 meters Centerline goodness : 0.892764 Centerline is valid? [False, False] Translation: X:39.30, Y:-1.06, Z:-3.53 [[ 9.99948109e-01 8.80418612e-03 -5.12505099e-03 3.92980840e+01] [-8.79861152e-03 9.99960676e-01 1.10924963e-03 -1.06482788e+00] [ 5.13461550e-03 -1.06409873e-03 9.99986252e-01 -3.53222703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.071193817 meters Centerline goodness : 0.896341 Centerline is valid? [False, False] Translation: X:39.30, Y:-1.07, Z:-3.53 [[ 9.99951396e-01 8.15810450e-03 -5.53633479e-03 3.93001098e+01] [-8.15506669e-03 9.99966584e-01 5.71057916e-04 -1.06521843e+00] [ 5.54080853e-03 -5.25880981e-04 9.99984511e-01 -3.53379908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.101193817 meters Centerline goodness : 0.896525 Centerline is valid? [False, False] Translation: X:39.30, Y:-1.07, Z:-3.53 [[ 9.99953612e-01 7.41569581e-03 -6.14665049e-03 3.93024708e+01] [-7.41441128e-03 9.99972486e-01 2.31741751e-04 -1.06599884e+00] [ 6.14819990e-03 -1.86157207e-04 9.99981082e-01 -3.53487135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.131193817 meters Centerline goodness : 0.894943 Centerline is valid? [False, False] Translation: X:39.30, Y:-1.06, Z:-3.54 [[ 9.99951248e-01 7.43907008e-03 -6.49320418e-03 3.93031350e+01] [-7.44131417e-03 9.99972261e-01 -3.21515493e-04 -1.06479030e+00] [ 6.49063229e-03 3.69817791e-04 9.99978867e-01 -3.53544076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.161193817 meters Centerline goodness : 0.896556 Centerline is valid? [False, False] Translation: X:39.30, Y:-1.06, Z:-3.54 [[ 9.99950069e-01 7.05767849e-03 -7.07451311e-03 3.93046561e+01] [-7.06320610e-03 9.99974769e-01 -7.56661325e-04 -1.06430643e+00] [ 7.06899434e-03 8.06592288e-04 9.99974689e-01 -3.53586909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.191193817 meters Centerline goodness : 0.894846 Centerline is valid? [False, False] Translation: X:39.31, Y:-1.07, Z:-3.54 [[ 9.99951013e-01 5.98010016e-03 -7.88738133e-03 3.93080293e+01] [-5.98961142e-03 9.99981363e-01 -1.18281285e-03 -1.06570425e+00] [ 7.88016099e-03 1.22999726e-03 9.99968195e-01 -3.53746074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.221193817 meters Centerline goodness : 0.897386 Centerline is valid? [False, False] Translation: X:39.31, Y:-1.07, Z:-3.54 [[ 9.99921218e-01 8.76060083e-03 -8.98946749e-03 3.93125831e+01] [-8.74476055e-03 9.99960144e-01 1.79988948e-03 -1.06551849e+00] [ 9.00487732e-03 -1.72113694e-03 9.99957974e-01 -3.54016570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.251193817 meters Centerline goodness : 0.895368 Centerline is valid? [False, False] Translation: X:39.32, Y:-1.06, Z:-3.54 [[ 9.99923400e-01 8.01622054e-03 -9.43046717e-03 3.93150022e+01] [-8.00880386e-03 9.99967590e-01 8.23961675e-04 -1.06496972e+00] [ 9.43676658e-03 -7.48371798e-04 9.99955193e-01 -3.54252878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28119381700003 meters Centerline goodness : 0.891283 Centerline is valid? [False, False] Translation: X:39.32, Y:-1.07, Z:-3.54 [[ 9.99923352e-01 7.13022766e-03 -1.01217999e-02 3.93181160e+01] [-7.12439061e-03 9.99974434e-01 6.12621266e-04 -1.06696894e+00] [ 1.01259092e-02 -5.40462653e-04 9.99948586e-01 -3.54416669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.311193817 meters Centerline goodness : 0.894587 Centerline is valid? [False, False] Translation: X:39.32, Y:-1.07, Z:-3.55 [[ 9.99922401e-01 5.91298171e-03 -1.09648843e-02 3.93217941e+01] [-5.90587774e-03 9.99982329e-01 6.80150293e-04 -1.07057608e+00] [ 1.09687123e-02 -6.15340248e-04 9.99939653e-01 -3.54539517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34119381700003 meters Centerline goodness : 0.899230 Centerline is valid? [False, False] Translation: X:39.33, Y:-1.07, Z:-3.55 [[ 9.99944819e-01 7.82595624e-03 -7.00816053e-03 3.93345575e+01] [-7.89206498e-03 9.99924150e-01 -9.45566861e-03 -1.07034627e+00] [ 6.93362931e-03 9.51045569e-03 9.99930736e-01 -3.54956947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.371193817 meters Centerline goodness : 0.901628 Centerline is valid? [False, False] Translation: X:39.33, Y:-1.07, Z:-3.55 [[ 9.99940349e-01 8.35885463e-03 -7.03049033e-03 3.93333670e+01] [-8.41779714e-03 9.99929318e-01 -8.39645618e-03 -1.07152822e+00] [ 6.95980864e-03 8.45513657e-03 9.99940034e-01 -3.54719750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.401193817 meters Centerline goodness : 0.901958 Centerline is valid? [False, False] Translation: X:39.33, Y:-1.07, Z:-3.55 [[ 9.99939167e-01 8.39319930e-03 -7.15660511e-03 3.93333066e+01] [-8.44962059e-03 9.99933171e-01 -7.89035867e-03 -1.07207736e+00] [ 7.08990149e-03 7.95034927e-03 9.99943261e-01 -3.54612761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.431193817 meters Centerline goodness : 0.901866 Centerline is valid? [False, False] Translation: X:39.34, Y:-1.07, Z:-3.54 [[ 9.99904006e-01 1.13389590e-02 -7.96279599e-03 3.93358585e+01] [-1.13622208e-02 9.99931294e-01 -2.88217625e-03 -1.07486816e+00] [ 7.92956802e-03 2.97237463e-03 9.99964143e-01 -3.54434961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.461193817 meters Centerline goodness : 0.900467 Centerline is valid? [False, False] Translation: X:39.34, Y:-1.07, Z:-3.55 [[ 9.99911773e-01 1.04716968e-02 -8.17251613e-03 3.93375267e+01] [-1.05016202e-02 9.99938278e-01 -3.62718080e-03 -1.07417074e+00] [ 8.13402897e-03 3.71268544e-03 9.99960026e-01 -3.54571284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.491193817 meters Centerline goodness : 0.900114 Centerline is valid? [False, False] Translation: X:39.34, Y:-1.07, Z:-3.55 [[ 9.99914746e-01 9.67765496e-03 -8.76608177e-03 3.93396611e+01] [-9.71314908e-03 9.99944764e-01 -4.01554443e-03 -1.07409257e+00] [ 8.72673651e-03 4.10034834e-03 9.99953515e-01 -3.54636375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.521193817 meters Centerline goodness : 0.899293 Centerline is valid? [False, False] Translation: X:39.34, Y:-1.08, Z:-3.55 [[ 9.99918254e-01 8.25256512e-03 -9.76625492e-03 3.93434371e+01] [-8.29314270e-03 9.99957117e-01 -4.12169729e-03 -1.07581582e+00] [ 9.73182154e-03 4.20235331e-03 9.99943814e-01 -3.54705384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.551193817 meters Centerline goodness : 0.902703 Centerline is valid? [False, False] Translation: X:39.35, Y:-1.08, Z:-3.55 [[ 9.99936803e-01 4.71802627e-03 -1.02044685e-02 3.93476373e+01] [-4.77468656e-03 9.99973281e-01 -5.53528066e-03 -1.07796212e+00] [ 1.01780802e-02 5.58365398e-03 9.99932612e-01 -3.54804009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.581193817 meters Centerline goodness : 0.906114 Centerline is valid? [False, False] Translation: X:39.35, Y:-1.08, Z:-3.55 [[ 9.99931458e-01 3.70432568e-03 -1.11066569e-02 3.93503595e+01] [-3.76244992e-03 9.99979313e-01 -5.21695904e-03 -1.07947805e+00] [ 1.10871018e-02 5.25838970e-03 9.99924710e-01 -3.54748161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.611193817 meters Centerline goodness : 0.907538 Centerline is valid? [False, False] Translation: X:39.35, Y:-1.08, Z:-3.55 [[ 9.99926553e-01 3.10968782e-03 -1.17140433e-02 3.93521355e+01] [-3.16963273e-03 9.99981960e-01 -5.10227025e-03 -1.07996334e+00] [ 1.16979655e-02 5.13902472e-03 9.99918371e-01 -3.54730112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.641193817 meters Centerline goodness : 0.906871 Centerline is valid? [False, False] Translation: X:39.36, Y:-1.08, Z:-3.55 [[ 9.99917652e-01 1.74667395e-03 -1.27136875e-02 3.93558769e+01] [-1.81874402e-03 9.99982332e-01 -5.65934580e-03 -1.08002095e+00] [ 1.27035778e-02 5.68200271e-03 9.99903162e-01 -3.54848765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.671193817 meters Centerline goodness : 0.906263 Centerline is valid? [False, False] Translation: X:39.37, Y:-1.08, Z:-3.55 [[ 9.99900450e-01 2.05473435e-04 -1.41084088e-02 3.93654203e+01] [-2.52555812e-04 9.99994405e-01 -3.33548495e-03 -1.07927243e+00] [ 1.41076445e-02 3.33871606e-03 9.99894908e-01 -3.54988241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.701193817 meters Centerline goodness : 0.907476 Centerline is valid? [False, False] Translation: X:39.37, Y:-1.08, Z:-3.55 [[ 9.99895841e-01 -9.21818470e-05 -1.44325470e-02 3.93662056e+01] [ 3.33505616e-05 9.99991691e-01 -4.07648028e-03 -1.07659661e+00] [ 1.44328029e-02 4.07557434e-03 9.99887536e-01 -3.55032072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.731193817 meters Centerline goodness : 0.913466 Centerline is valid? [False, False] Translation: X:39.37, Y:-1.08, Z:-3.55 [[ 9.99878522e-01 3.14523070e-03 -1.52659262e-02 3.93683463e+01] [-3.13869377e-03 9.99994972e-01 4.52143449e-04 -1.07722440e+00] [ 1.52672716e-02 -4.04173456e-04 9.99883367e-01 -3.54890785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.761193817 meters Centerline goodness : 0.908036 Centerline is valid? [False, False] Translation: X:39.37, Y:-1.07, Z:-3.55 [[ 9.99859370e-01 4.75092037e-03 -1.60831698e-02 3.93713070e+01] [-4.74916149e-03 9.99988712e-01 1.47553733e-04 -1.07265574e+00] [ 1.60836893e-02 -7.11514119e-05 9.99870647e-01 -3.55132709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.791193817 meters Centerline goodness : 0.907783 Centerline is valid? [False, False] Translation: X:39.37, Y:-1.07, Z:-3.55 [[ 9.99859235e-01 4.62586708e-03 -1.61280002e-02 3.93712774e+01] [-4.62856556e-03 9.99989280e-01 -1.29992642e-04 -1.07099530e+00] [ 1.61272260e-02 2.04623850e-04 9.99869927e-01 -3.55113350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.821193817 meters Centerline goodness : 0.908617 Centerline is valid? [False, False] Translation: X:39.37, Y:-1.07, Z:-3.55 [[ 9.99877028e-01 3.81966565e-03 -1.52098052e-02 3.93695823e+01] [-3.81333882e-03 9.99992630e-01 4.44950572e-04 -1.06911868e+00] [ 1.52113927e-02 -3.86895715e-04 9.99884225e-01 -3.55054583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.851193817 meters Centerline goodness : 0.911920 Centerline is valid? [False, False] Translation: X:39.37, Y:-1.07, Z:-3.55 [[ 9.99875693e-01 3.51960270e-03 -1.53691795e-02 3.93701963e+01] [-3.51657858e-03 9.99993792e-01 2.23786201e-04 -1.06811663e+00] [ 1.53698718e-02 -1.69711455e-04 9.99881862e-01 -3.55069703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.881193817 meters Centerline goodness : 0.911702 Centerline is valid? [False, False] Translation: X:39.37, Y:-1.07, Z:-3.55 [[ 9.99874555e-01 3.29484783e-03 -1.54925134e-02 3.93704728e+01] [-3.29508736e-03 9.99994571e-01 1.00653236e-05 -1.06655209e+00] [ 1.54924625e-02 4.09851242e-05 9.99879984e-01 -3.55051977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.911193817 meters Centerline goodness : 0.913815 Centerline is valid? [False, False] Translation: X:39.37, Y:-1.07, Z:-3.55 [[ 9.99872186e-01 3.37940524e-03 -1.56266233e-02 3.93703171e+01] [-3.37625682e-03 9.99994274e-01 2.27855365e-04 -1.06629502e+00] [ 1.56273039e-02 -1.75066748e-04 9.99877871e-01 -3.54971397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.941193817 meters Centerline goodness : 0.913371 Centerline is valid? [False, False] Translation: X:39.37, Y:-1.07, Z:-3.55 [[ 9.99871156e-01 3.61310571e-03 -1.56402400e-02 3.93696360e+01] [-3.60578549e-03 9.99993376e-01 4.96211465e-04 -1.06599718e+00] [ 1.56419293e-02 -4.39752181e-04 9.99877561e-01 -3.54866330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.971193817 meters Centerline goodness : 0.914933 Centerline is valid? [False, False] Translation: X:39.37, Y:-1.07, Z:-3.55 [[ 9.99871410e-01 3.82044083e-03 -1.55745851e-02 3.93688381e+01] [-3.80797120e-03 9.99992405e-01 8.30216467e-04 -1.06592611e+00] [ 1.55776386e-02 -7.70802138e-04 9.99878364e-01 -3.54754391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.001193817 meters Centerline goodness : 0.915562 Centerline is valid? [False, False] Translation: X:39.37, Y:-1.07, Z:-3.55 [[ 9.99872577e-01 4.09804675e-03 -1.54284326e-02 3.93677157e+01] [-4.07768253e-03 9.99990773e-01 1.35114148e-03 -1.06597301e+00] [ 1.54338273e-02 -1.28805706e-03 9.99880062e-01 -3.54607091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03119381700003 meters Centerline goodness : 0.915879 Centerline is valid? [False, False] Translation: X:39.36, Y:-1.07, Z:-3.54 [[ 9.99880423e-01 4.74582158e-03 -1.47178975e-02 3.93647569e+01] [-4.71297810e-03 9.99986328e-01 2.26541567e-03 -1.06550077e+00] [ 1.47284475e-02 -2.19577965e-03 9.99889120e-01 -3.54334456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.061193817 meters Centerline goodness : 0.915879 Centerline is valid? [False, False] Translation: X:39.36, Y:-1.07, Z:-3.54 [[ 9.99880423e-01 4.74582158e-03 -1.47178975e-02 3.93647569e+01] [-4.71297810e-03 9.99986328e-01 2.26541567e-03 -1.06550077e+00] [ 1.47284475e-02 -2.19577965e-03 9.99889120e-01 -3.54334456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09119381700003 meters Centerline goodness : 0.916682 Centerline is valid? [False, False] Translation: X:39.36, Y:-1.07, Z:-3.54 [[ 9.99882542e-01 4.80932262e-03 -1.45523916e-02 3.93642010e+01] [-4.77600677e-03 9.99985896e-01 2.32326098e-03 -1.06504863e+00] [ 1.45633596e-02 -2.25348578e-03 9.99891409e-01 -3.54297089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.121193817 meters Centerline goodness : 0.916404 Centerline is valid? [False, False] Translation: X:39.36, Y:-1.06, Z:-3.54 [[ 9.99883419e-01 4.71114538e-03 -1.45242457e-02 3.93641349e+01] [-4.67992957e-03 9.99986667e-01 2.18246010e-03 -1.06421643e+00] [ 1.45343339e-02 -2.11423322e-03 9.99892136e-01 -3.54289470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.151193817 meters Centerline goodness : 0.921067 Centerline is valid? [False, False] Translation: X:39.35, Y:-1.06, Z:-3.54 [[ 9.99911273e-01 6.71380589e-03 -1.15052390e-02 3.93537388e+01] [-6.67578425e-03 9.99972139e-01 3.33994890e-03 -1.05986309e+00] [ 1.15273422e-02 -3.26284606e-03 9.99928235e-01 -3.53567592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.181193817 meters Centerline goodness : 0.924630 Centerline is valid? [False, False] Translation: X:39.35, Y:-1.05, Z:-3.53 [[ 9.99892892e-01 1.03849361e-02 -1.03130248e-02 3.93455309e+01] [-1.03313655e-02 9.99932931e-01 5.23422437e-03 -1.05476295e+00] [ 1.03666902e-02 -5.12711611e-03 9.99933120e-01 -3.52935280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.211193817 meters Centerline goodness : 0.926800 Centerline is valid? [False, False] Translation: X:39.34, Y:-1.05, Z:-3.53 [[ 9.99837643e-01 1.49693574e-02 -1.00302076e-02 3.93409944e+01] [-1.48906159e-02 9.99858080e-01 7.87966276e-03 -1.04606168e+00] [ 1.01467376e-02 -7.72902748e-03 9.99918650e-01 -3.52534855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.241193817 meters Centerline goodness : 0.925816 Centerline is valid? [False, False] Translation: X:39.34, Y:-1.04, Z:-3.52 [[ 9.99690804e-01 2.25890241e-02 -1.03938771e-02 3.93392942e+01] [-2.24441506e-02 9.99652158e-01 1.38500482e-02 -1.03663587e+00] [ 1.07031207e-02 -1.36124841e-02 9.99850061e-01 -3.52269605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.271193817 meters Centerline goodness : 0.925611 Centerline is valid? [False, False] Translation: X:39.33, Y:-1.01, Z:-3.53 [[ 9.99086890e-01 4.20959577e-02 -7.30181367e-03 3.93329330e+01] [-4.19738576e-02 9.98988359e-01 1.61385752e-02 -1.00741571e+00] [ 7.97379563e-03 -1.58173536e-02 9.99843103e-01 -3.53006630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.301193817 meters Centerline goodness : 0.925420 Centerline is valid? [False, False] Translation: X:39.33, Y:-0.99, Z:-3.53 [[ 9.98523979e-01 5.38249409e-02 -7.26212305e-03 3.93325382e+01] [-5.36298699e-02 9.98252612e-01 2.48104686e-02 -9.93311549e-01] [ 8.58485531e-03 -2.43843811e-02 9.99665795e-01 -3.52971232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.331193817 meters Centerline goodness : 0.923735 Centerline is valid? [False, False] Translation: X:39.33, Y:-0.98, Z:-3.53 [[ 9.97806304e-01 6.58187295e-02 -7.10450013e-03 3.93319554e+01] [-6.55499588e-02 9.97301195e-01 3.30685445e-02 -9.77524976e-01] [ 9.26185606e-03 -3.25303025e-02 9.99427835e-01 -3.52941222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.361193817 meters Centerline goodness : 0.929389 Centerline is valid? [False, False] Translation: X:39.33, Y:-0.96, Z:-3.53 [[ 9.96869650e-01 7.88915319e-02 -5.19874405e-03 3.93284502e+01] [-7.86343776e-02 9.96158891e-01 3.85240007e-02 -9.58278234e-01] [ 8.21799253e-03 -3.79946071e-02 9.99244152e-01 -3.53013102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.391193817 meters Centerline goodness : 0.934222 Centerline is valid? [False, False] Translation: X:39.30, Y:-0.93, Z:-3.54 [[ 9.95257768e-01 9.71034786e-02 -5.73486585e-03 3.92990200e+01] [-9.69044344e-02 9.94890550e-01 2.83253431e-02 -9.32044061e-01] [ 8.45605318e-03 -2.76352838e-02 9.99582306e-01 -3.53674711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.421193817 meters Centerline goodness : 0.947756 Centerline is valid? [False, False] Translation: X:39.28, Y:-0.87, Z:-3.50 [[ 9.90896989e-01 1.33084150e-01 -2.02920419e-02 3.92786148e+01] [-1.31982264e-01 9.90070432e-01 4.83861637e-02 -8.74535323e-01] [ 2.65299822e-02 -4.52675142e-02 9.98622557e-01 -3.50315442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.451193817 meters Centerline goodness : 0.957470 Centerline is valid? [False, True] Translation: X:39.27, Y:-0.84, Z:-3.49 [[ 9.87599206e-01 1.54612397e-01 -2.72546269e-02 3.92701893e+01] [-1.52846910e-01 9.86546330e-01 5.80013794e-02 -8.43152975e-01] [ 3.58556844e-02 -5.31163307e-02 9.97944400e-01 -3.49156523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.481193817 meters Centerline goodness : 0.962451 Centerline is valid? [True, True] Translation: X:39.31, Y:-0.79, Z:-3.52 [[ 9.83968377e-01 1.75289478e-01 -3.28607958e-02 3.93076316e+01] [-1.75293727e-01 9.84512272e-01 2.77407417e-03 -7.93715711e-01] [ 3.28381228e-02 3.03069011e-03 9.99456088e-01 -3.51725853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.511193817 meters Centerline goodness : 0.965346 Centerline is valid? [True, True] Translation: X:39.34, Y:-0.77, Z:-3.51 [[ 9.80600463e-01 1.92867414e-01 -3.49984573e-02 3.93425291e+01] [-1.92882905e-01 9.81217301e-01 2.96520053e-03 -7.65122612e-01] [ 3.49129824e-02 3.84292711e-03 9.99382967e-01 -3.51085013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.541193817 meters Centerline goodness : 0.959970 Centerline is valid? [True, True] Translation: X:39.38, Y:-0.72, Z:-3.51 [[ 9.77105649e-01 2.09957255e-01 -3.43875299e-02 3.93797496e+01] [-2.09982253e-01 9.77700826e-01 2.92360177e-03 -7.17556729e-01] [ 3.42345478e-02 4.36410322e-03 9.99404298e-01 -3.51420237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.571193817 meters Centerline goodness : 0.958364 Centerline is valid? [True, True] Translation: X:39.41, Y:-0.70, Z:-3.52 [[ 9.78714219e-01 2.02543897e-01 -3.30824217e-02 3.94133254e+01] [-2.02562536e-01 9.79265262e-01 2.82228628e-03 -7.00737115e-01] [ 3.29681032e-02 3.93904753e-03 9.99448642e-01 -3.51602472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.601193817 meters Centerline goodness : 0.954328 Centerline is valid? [True, True] Translation: X:39.45, Y:-0.69, Z:-3.52 [[ 9.82775557e-01 1.81419882e-01 -3.51998785e-02 3.94476899e+01] [-1.81427198e-01 9.83399763e-01 3.01289796e-03 -6.88305309e-01] [ 3.51621518e-02 3.42521286e-03 9.99375751e-01 -3.51720217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.631193817 meters Centerline goodness : 0.953849 Centerline is valid? [True, True] Translation: X:39.48, Y:-0.68, Z:-3.52 [[ 9.88316110e-01 1.47096440e-01 -3.99237372e-02 3.94813551e+01] [-1.47077600e-01 9.89119028e-01 3.42469002e-03 -6.80365913e-01] [ 3.99930878e-02 2.48721112e-03 9.99196861e-01 -3.51812814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.661193817 meters Centerline goodness : 0.952576 Centerline is valid? [True, True] Translation: X:39.51, Y:-0.68, Z:-3.52 [[ 9.97536912e-01 5.25273779e-02 -4.64863883e-02 3.95135871e+01] [-5.23977083e-02 9.98618268e-01 4.00441801e-03 -6.78558104e-01] [ 4.66324981e-02 -1.55877456e-03 9.98910897e-01 -3.52177870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.691193817 meters Centerline goodness : 0.949095 Centerline is valid? [True, False] Translation: X:39.51, Y:-0.68, Z:-3.52 [[ 9.99116790e-01 9.70114570e-03 -4.08843265e-02 3.95099989e+01] [-9.32673422e-03 9.99912897e-01 9.33863856e-03 -6.82862861e-01] [ 4.09713609e-02 -8.94907333e-03 9.99120244e-01 -3.52401774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.721193817 meters Centerline goodness : 0.944813 Centerline is valid? [False, False] Translation: X:39.50, Y:-0.69, Z:-3.53 [[ 9.99077760e-01 -2.39494741e-02 -3.56377935e-02 3.94993247e+01] [ 2.41902858e-02 9.99687260e-01 6.34137142e-03 -6.88720451e-01] [ 3.54747756e-02 -7.19761156e-03 9.99344653e-01 -3.52512660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.751193817 meters Centerline goodness : 0.943014 Centerline is valid? [False, False] Translation: X:39.50, Y:-0.70, Z:-3.53 [[ 9.98471689e-01 -4.73864800e-02 -2.84395571e-02 3.95006066e+01] [ 4.74361283e-02 9.98873697e-01 1.07324697e-03 -6.96203911e-01] [ 2.83566681e-02 -2.42066920e-03 9.99594938e-01 -3.52581289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 17553.95 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%| | 0/9390 [00:00