+ python -m lidar_slam --no-model /working/2ebe2e34-2dd4-4ae1-892e-b7f820598c99 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/2ebe2e34-2dd4-4ae1-892e-b7f820598c99 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 0.001346184 Adjusted end_distance from 9.223372036854776e+18 to 231.381346184 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001346184 meters Centerline goodness : 0.219778 Centerline is valid? [0, False] SLAMing on 0.031346184 meters Centerline goodness : 0.173262 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999855e-01 -4.94780224e-04 -2.11554844e-04 1.07827229e-03] [ 4.94920588e-04 9.99999657e-01 6.63954310e-04 -3.02551860e-03] [ 2.11226260e-04 -6.64058917e-04 9.99999757e-01 -4.31115355e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.061346184 meters Centerline goodness : 0.172282 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999814e-01 -4.62007464e-04 -3.97001358e-04 2.30392551e-03] [ 4.62476246e-04 9.99999195e-01 1.18152872e-03 -5.08210011e-03] [ 3.96455164e-04 -1.18171210e-03 9.99999223e-01 -9.35298324e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.091346184 meters Centerline goodness : 0.170613 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999681e-01 -6.86429807e-04 -4.07903785e-04 3.04291490e-03] [ 6.87038068e-04 9.99998650e-01 1.49292360e-03 -7.41261547e-03] [ 4.06878447e-04 -1.49320337e-03 9.99998802e-01 -1.17482787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.121346184 meters Centerline goodness : 0.172096 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999384e-01 -1.06340814e-03 -3.19169674e-04 3.66486642e-03] [ 1.06399293e-03 9.99997745e-01 1.83767686e-03 -1.01532195e-02] [ 3.17214754e-04 -1.83801533e-03 9.99998261e-01 -1.60085335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.151346184 meters Centerline goodness : 0.178298 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99998684 -0.00493251 -0.00140817 0.00784633] [ 0.00493058 0.99998691 -0.00136837 -0.01300757] [ 0.0014149 0.0013614 0.99999807 -0.00172018] [ 0. 0. 0. 1. ]] SLAMing on 0.181346184 meters Centerline goodness : 0.178800 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99987189e-01 -4.76246010e-03 -1.71472917e-03 9.98772181e-03] [ 4.76159328e-03 9.99988534e-01 -5.09239257e-04 -1.67501356e-02] [ 1.71713474e-03 5.01067890e-04 9.99998400e-01 -2.49561530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.211346184 meters Centerline goodness : 0.183457 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99985737e-01 -5.05024733e-03 -1.73822123e-03 1.11537543e-02] [ 5.05011875e-03 9.99987245e-01 -7.83538907e-05 -1.97861450e-02] [ 1.73859477e-03 6.95745495e-05 9.99998486e-01 -2.97562352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.241346184 meters Centerline goodness : 0.225566 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.00 [[ 0.99996082 -0.00807261 -0.0036316 0.01917315] [ 0.00806019 0.99996166 -0.00342246 -0.02320471] [ 0.00365909 0.00339306 0.99998755 -0.00270646] [ 0. 0. 0. 1. ]] SLAMing on 0.271346184 meters Centerline goodness : 0.229358 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.00 [[ 0.99992379 -0.01144758 -0.00462222 0.02327987] [ 0.011413 0.99990719 -0.00744004 -0.02275011] [ 0.00470696 0.00738672 0.99996164 -0.00245644] [ 0. 0. 0. 1. ]] SLAMing on 0.30134618399999996 meters Centerline goodness : 0.222210 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.00 [[ 0.99992025 -0.0115214 -0.00517135 0.02613751] [ 0.01148673 0.99991168 -0.00668453 -0.02615767] [ 0.00524791 0.00662459 0.99996429 -0.00320026] [ 0. 0. 0. 1. ]] SLAMing on 0.33134618399999993 meters Centerline goodness : 0.212532 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.00 [[ 0.99987714 -0.01550364 -0.00231072 0.05846792] [ 0.01547732 0.99981968 -0.01100311 -0.02756913] [ 0.00248089 0.010966 0.99993679 -0.00119898] [ 0. 0. 0. 1. ]] SLAMing on 0.36134618399999996 meters Centerline goodness : 0.211601 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.00 [[ 0.99988461 -0.01503405 -0.00217624 0.05832895] [ 0.01500999 0.99983031 -0.01067918 -0.0315325 ] [ 0.00233643 0.01064529 0.99994061 -0.00106942] [ 0. 0. 0. 1. ]] SLAMing on 0.391346184 meters Centerline goodness : 0.348902 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.00 [[ 9.99883156e-01 -1.51765815e-02 -1.82889725e-03 5.76523026e-02] [ 1.51551558e-02 9.99822325e-01 -1.12089242e-02 -3.47326553e-02] [ 1.99868545e-03 1.11798973e-02 9.99935505e-01 -7.27432155e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42134618399999996 meters Centerline goodness : 0.370170 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:-0.00 [[ 9.99871130e-01 -1.59847831e-02 -1.48687390e-03 5.68017507e-02] [ 1.59651139e-02 9.99795487e-01 -1.24136628e-02 -3.78811500e-02] [ 1.68499952e-03 1.23883249e-02 9.99921842e-01 -8.10293100e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45134618399999993 meters Centerline goodness : 0.213596 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.04, Z:0.00 [[ 9.99728089e-01 -2.27341291e-02 -5.18715166e-03 6.85853846e-02] [ 2.26355899e-02 9.99575835e-01 -1.83243201e-02 -3.87138763e-02] [ 5.60153891e-03 1.82019233e-02 9.99818640e-01 3.19085796e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48134618399999995 meters Centerline goodness : 0.213963 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.04, Z:-0.00 [[ 0.99971203 -0.02317503 -0.00622746 0.07271079] [ 0.02306609 0.99958887 -0.01703071 -0.0425981 ] [ 0.00661959 0.01688216 0.99983557 -0.00158815] [ 0. 0. 0. 1. ]] SLAMing on 0.511346184 meters Centerline goodness : 0.229017 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.05, Z:-0.00 [[ 0.99969301 -0.0237321 -0.00711866 0.07637152] [ 0.02361721 0.99959604 -0.01581116 -0.04591968] [ 0.00749101 0.01563818 0.99984965 -0.00326279] [ 0. 0. 0. 1. ]] SLAMing on 0.541346184 meters Centerline goodness : 0.082771 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.05, Z:-0.00 [[ 0.99967527 -0.02418178 -0.00803714 0.07992082] [ 0.02406385 0.99960584 -0.01445997 -0.049428 ] [ 0.00838364 0.01426187 0.99986315 -0.00472942] [ 0. 0. 0. 1. ]] SLAMing on 0.5713461839999999 meters Centerline goodness : 0.670640 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.00 [[ 0.99953192 -0.02868111 -0.01064611 0.08885884] [ 0.02849297 0.99944215 -0.01742224 -0.05238599] [ 0.01113986 0.01711074 0.99979154 -0.00495655] [ 0. 0. 0. 1. ]] SLAMing on 0.601346184 meters Centerline goodness : 0.635075 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.06, Z:-0.01 [[ 0.99950106 -0.0293906 -0.01156795 0.09282269] [ 0.02919771 0.9994374 -0.01650378 -0.05597289] [ 0.0120465 0.01615778 0.99979688 -0.00692051] [ 0. 0. 0. 1. ]] SLAMing on 0.631346184 meters Centerline goodness : 0.606395 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.06, Z:-0.01 [[ 0.99948172 -0.03159124 -0.00618732 0.11051593] [ 0.03153595 0.99946354 -0.00883846 -0.06155964] [ 0.00646322 0.00863876 0.9999418 -0.01396433] [ 0. 0. 0. 1. ]] SLAMing on 0.6613461839999999 meters Centerline goodness : 0.077613 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.06, Z:-0.01 [[ 0.99935842 -0.0345732 -0.00935059 0.12187336] [ 0.03446851 0.99934376 -0.0111342 -0.06434153] [ 0.00972939 0.01080476 0.99989429 -0.01432989] [ 0. 0. 0. 1. ]] SLAMing on 0.6913461839999999 meters Centerline goodness : 0.395660 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:-0.02 [[ 0.9993449 -0.03484292 -0.0097851 0.12491806] [ 0.03474602 0.99934709 -0.00990485 -0.06670149] [ 0.01012382 0.00955837 0.99990307 -0.01627809] [ 0. 0. 0. 1. ]] SLAMing on 0.721346184 meters Centerline goodness : 0.397516 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:-0.02 [[ 0.99932722 -0.03514261 -0.01049342 0.12855779] [ 0.03505093 0.99934681 -0.00879678 -0.06902908] [ 0.01079571 0.00842306 0.99990625 -0.01804979] [ 0. 0. 0. 1. ]] SLAMing on 0.751346184 meters Centerline goodness : 0.397516 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:-0.02 [[ 0.99932722 -0.03514261 -0.01049342 0.12855779] [ 0.03505093 0.99934681 -0.00879678 -0.06902908] [ 0.01079571 0.00842306 0.99990625 -0.01804979] [ 0. 0. 0. 1. ]] SLAMing on 0.781346184 meters Centerline goodness : 0.401400 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:-0.02 [[ 0.99931013 -0.03549007 -0.01094196 0.13145342] [ 0.03540581 0.99934257 -0.00780093 -0.07116228] [ 0.01121163 0.00740814 0.99990971 -0.01958124] [ 0. 0. 0. 1. ]] SLAMing on 0.8113461839999999 meters Centerline goodness : 0.405573 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.07, Z:-0.02 [[ 0.99915862 -0.03902244 -0.01262145 0.13917821] [ 0.0388976 0.99919327 -0.00998971 -0.07313177] [ 0.01300109 0.00949036 0.99987044 -0.0212268 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8413461839999999 meters Centerline goodness : 0.403945 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.08, Z:-0.02 [[ 0.99913552 -0.0393647 -0.01336511 0.1431669 ] [ 0.03924777 0.99918986 -0.0089017 -0.07591653] [ 0.01370469 0.00836946 0.99987106 -0.02355071] [ 0. 0. 0. 1. ]] SLAMing on 0.871346184 meters Centerline goodness : 0.102129 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.08, Z:-0.03 [[ 0.9991032 -0.03988967 -0.01419909 0.14779126] [ 0.03977966 0.99917686 -0.00794825 -0.07878902] [ 0.01450446 0.00737629 0.9998676 -0.02632826] [ 0. 0. 0. 1. ]] SLAMing on 0.9013461839999999 meters Centerline goodness : 0.193808 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.08, Z:-0.03 [[ 0.99907606 -0.04029972 -0.01493177 0.15177819] [ 0.04020171 0.9991684 -0.00680704 -0.08157622] [ 0.01519367 0.00620047 0.99986534 -0.02851402] [ 0. 0. 0. 1. ]] SLAMing on 0.9313461839999999 meters Centerline goodness : 0.199418 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:-0.03 [[ 0.99904774 -0.04078033 -0.01551066 0.15510033] [ 0.04069356 0.99915443 -0.00586953 -0.08333268] [ 0.01573691 0.00523275 0.99986247 -0.03035957] [ 0. 0. 0. 1. ]] SLAMing on 0.9613461839999999 meters Centerline goodness : 0.211927 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.09, Z:-0.04 [[ 9.98926616e-01 -4.52484256e-02 -9.90933607e-03 1.73567018e-01] [ 4.52476222e-02 9.98975755e-01 -3.05366217e-04 -8.58809630e-02] [ 9.91300382e-03 -1.43335453e-04 9.99950855e-01 -3.56996278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.991346184 meters Centerline goodness : 0.802888 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.09, Z:-0.04 [[ 9.98919329e-01 -4.53408711e-02 -1.02166175e-02 1.76383633e-01] [ 4.53502003e-02 9.98970917e-01 6.83215116e-04 -8.73595321e-02] [ 1.01751262e-02 -1.14580243e-03 9.99947576e-01 -3.73176261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.021346184 meters Centerline goodness : 0.457531 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.09, Z:-0.04 [[ 0.99890959 -0.04544636 -0.0106891 0.17919132] [ 0.0454664 0.99896452 0.00163967 -0.08926635] [ 0.01060352 -0.00212388 0.99994153 -0.0386948 ] [ 0. 0. 0. 1. ]] SLAMing on 1.051346184 meters Centerline goodness : 0.251398 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.09, Z:-0.04 [[ 0.99891051 -0.04532901 -0.01109426 0.18237603] [ 0.04536142 0.99896703 0.00268714 -0.09122057] [ 0.010961 -0.00318746 0.99993485 -0.0405161 ] [ 0. 0. 0. 1. ]] SLAMing on 1.081346184 meters Centerline goodness : 0.244698 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:-0.04 [[ 0.99894721 -0.04526166 -0.00747287 0.1986393 ] [ 0.04523721 0.99897045 -0.00340993 -0.09031132] [ 0.00761951 0.00306829 0.99996626 -0.04222241] [ 0. 0. 0. 1. ]] SLAMing on 1.1113461839999998 meters Centerline goodness : 0.238861 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:-0.04 [[ 0.99895265 -0.04506598 -0.00791607 0.20154654] [ 0.04504905 0.99898212 -0.00230444 -0.09113984] [ 0.00801187 0.00194541 0.99996601 -0.04375691] [ 0. 0. 0. 1. ]] SLAMing on 1.1413461839999999 meters Centerline goodness : 0.242938 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:-0.05 [[ 9.98963624e-01 -4.47054904e-02 -8.54967411e-03 2.04903990e-01] [ 4.46974207e-02 9.98999929e-01 -1.13271289e-03 -9.16306053e-02] [ 8.59176231e-03 7.49390588e-04 9.99962809e-01 -4.56048218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.171346184 meters Centerline goodness : 0.242614 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.09, Z:-0.05 [[ 9.98960627e-01 -4.45197085e-02 -9.78061927e-03 2.10676166e-01] [ 4.45269637e-02 9.99008045e-01 5.25186627e-04 -9.43634448e-02] [ 9.74753618e-03 -9.60142041e-04 9.99952031e-01 -4.77036211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.201346184 meters Centerline goodness : 0.246066 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.09, Z:-0.05 [[ 9.98908381e-01 -4.55263246e-02 -1.04594490e-02 2.15910625e-01] [ 4.55216460e-02 9.98963118e-01 -6.85069091e-04 -9.45134606e-02] [ 1.04797925e-02 2.08189921e-04 9.99945064e-01 -5.04496544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.231346184 meters Centerline goodness : 0.309136 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.10, Z:-0.05 [[ 9.98932304e-01 -4.48364546e-02 -1.11329928e-02 2.19494102e-01] [ 4.48479800e-02 9.98993513e-01 7.87635096e-04 -9.65316766e-02] [ 1.10864728e-02 -1.28608638e-03 9.99937716e-01 -5.26308649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.261346184 meters Centerline goodness : 0.321777 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.10, Z:-0.05 [[ 0.99895128 -0.04418586 -0.01199797 0.22337876] [ 0.04421424 0.99901984 0.00211082 -0.09827304] [ 0.01189295 -0.00263909 0.99992579 -0.05451652] [ 0. 0. 0. 1. ]] SLAMing on 1.291346184 meters Centerline goodness : 0.779899 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:-0.06 [[ 9.99083996e-01 -4.12735670e-02 -1.12987045e-02 2.37309729e-01] [ 4.12799840e-02 9.99147562e-01 3.35225386e-04 -1.00909427e-01] [ 1.12752371e-02 -8.01328660e-04 9.99936111e-01 -5.60251166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3213461839999998 meters Centerline goodness : 0.367162 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:-0.06 [[ 0.99910218 -0.04064858 -0.01193839 0.24066602] [ 0.04067499 0.99917047 0.00197785 -0.10389164] [ 0.01184809 -0.00246166 0.99992678 -0.05786279] [ 0. 0. 0. 1. ]] SLAMing on 1.3513461839999998 meters Centerline goodness : 0.804398 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:-0.06 [[ 0.99910464 -0.04035136 -0.01271571 0.24397608] [ 0.04039924 0.99917738 0.00353107 -0.10759148] [ 0.01256276 -0.00404161 0.99991292 -0.05947171] [ 0. 0. 0. 1. ]] SLAMing on 1.3813461839999999 meters Centerline goodness : 0.801287 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.11, Z:-0.06 [[ 0.99897501 -0.04317156 -0.01360661 0.24821443] [ 0.04319111 0.99906617 0.0011461 -0.10934205] [ 0.01354442 -0.00173261 0.99990677 -0.06109205] [ 0. 0. 0. 1. ]] SLAMing on 1.411346184 meters Centerline goodness : 0.762943 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.06 [[ 9.98836070e-01 -4.57256784e-02 -1.53514387e-02 2.55527681e-01] [ 4.57279383e-02 9.98953910e-01 -2.03952614e-04 -1.17131656e-01] [ 1.53447056e-02 -4.98274417e-04 9.99882139e-01 -6.18520180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.441346184 meters Centerline goodness : 0.834663 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.06 [[ 0.99882516 -0.04561005 -0.01637165 0.25914449] [ 0.04564357 0.99895638 0.00167915 -0.12269076] [ 0.01627797 -0.00242444 0.99986457 -0.06378683] [ 0. 0. 0. 1. ]] SLAMing on 1.471346184 meters Centerline goodness : 0.539789 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.13, Z:-0.07 [[ 9.98678482e-01 -4.83626499e-02 -1.73880126e-02 2.63293408e-01] [ 4.83574169e-02 9.98829835e-01 -7.21522997e-04 -1.25334486e-01] [ 1.74025605e-02 -1.20269884e-04 9.99848557e-01 -6.50012649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.501346184 meters Centerline goodness : 0.838750 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.13, Z:-0.07 [[ 9.98538303e-01 -5.08641471e-02 -1.82783082e-02 2.68669426e-01] [ 5.08432570e-02 9.98705354e-01 -1.60608437e-03 -1.32243468e-01] [ 1.83363364e-02 6.74408039e-04 9.99831648e-01 -6.61623880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.531346184 meters Centerline goodness : 0.639275 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.14, Z:-0.07 [[ 9.98559631e-01 -5.01132394e-02 -1.91657730e-02 2.72111907e-01] [ 5.01338076e-02 9.98742333e-01 5.93913265e-04 -1.37369129e-01] [ 1.91119059e-02 -1.55391099e-03 9.99816143e-01 -6.78724021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.561346184 meters Centerline goodness : 0.760492 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.14, Z:-0.07 [[ 0.99857305 -0.04936849 -0.02036226 0.2761479 ] [ 0.04943797 0.99877292 0.00292241 -0.14347168] [ 0.020193 -0.00392491 0.9997884 -0.06994214] [ 0. 0. 0. 1. ]] SLAMing on 1.5913461839999998 meters Centerline goodness : 0.669758 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.15, Z:-0.07 [[ 9.98421880e-01 -5.18717929e-02 -2.15190002e-02 2.80714257e-01] [ 5.19037690e-02 9.98651658e-01 9.29717302e-04 -1.47887716e-01] [ 2.14417592e-02 -2.04516731e-03 9.99768007e-01 -7.14257971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6213461839999999 meters Centerline goodness : 0.776246 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.15, Z:-0.07 [[ 9.98268649e-01 -5.42904093e-02 -2.26330781e-02 2.85451691e-01] [ 5.42842364e-02 9.98525129e-01 -8.87487624e-04 -1.52429190e-01] [ 2.26478793e-02 -3.42668289e-04 9.99743445e-01 -7.34523464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6513461839999999 meters Centerline goodness : 0.793850 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.16, Z:-0.08 [[ 0.99828464 -0.05343528 -0.02392571 0.28973102] [ 0.0534847 0.99856764 0.00143001 -0.15906981] [ 0.02381503 -0.00270722 0.99971272 -0.07549905] [ 0. 0. 0. 1. ]] SLAMing on 1.681346184 meters Centerline goodness : 0.874038 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.17, Z:-0.08 [[ 0.99820937 -0.05406468 -0.02559418 0.29747745] [ 0.05412708 0.99853252 0.00175109 -0.16937367] [ 0.02546195 -0.0031333 0.99967088 -0.07738938] [ 0. 0. 0. 1. ]] SLAMing on 1.711346184 meters Centerline goodness : 0.884866 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.17, Z:-0.08 [[ 9.98071348e-01 -5.58989165e-02 -2.69980629e-02 3.02576752e-01] [ 5.59210852e-02 9.98435190e-01 6.62126929e-05 -1.73953894e-01] [ 2.69521149e-02 -1.57584597e-03 9.99635484e-01 -7.86719568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.741346184 meters Centerline goodness : 0.763822 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.18, Z:-0.08 [[ 0.99809301 -0.05494377 -0.02813405 0.30654909] [ 0.05503674 0.9984811 0.00254026 -0.18168697] [ 0.02795174 -0.00408383 0.99960093 -0.08068375] [ 0. 0. 0. 1. ]] SLAMing on 1.771346184 meters Centerline goodness : 0.874931 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.20, Z:-0.08 [[ 9.97932429e-01 -5.62371452e-02 -3.11167121e-02 3.19466994e-01] [ 5.62775792e-02 9.98415071e-01 4.24465558e-04 -1.95073109e-01] [ 3.10435236e-02 -2.17476118e-03 9.99515668e-01 -8.27114417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8013461839999998 meters Centerline goodness : 0.903186 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.20, Z:-0.08 [[ 9.97766585e-01 -5.84941244e-02 -3.22533652e-02 3.23903173e-01] [ 5.84934085e-02 9.98287327e-01 -9.66553640e-04 -2.01249758e-01] [ 3.22546635e-02 -9.22214344e-04 9.99479258e-01 -8.42377208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8313461839999998 meters Centerline goodness : 0.900969 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.21, Z:-0.09 [[ 0.99782047 -0.05952613 -0.02847707 0.3416236 ] [ 0.05978199 0.99817762 0.00821846 -0.21239509] [ 0.02793596 -0.00990296 0.99956066 -0.08871364] [ 0. 0. 0. 1. ]] SLAMing on 1.8613461839999998 meters Centerline goodness : 0.683706 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.22, Z:-0.09 [[ 0.99765953 -0.06156419 -0.02975421 0.34626014] [ 0.06179901 0.99806381 0.00703725 -0.21959066] [ 0.02926336 -0.00885956 0.99953247 -0.08986024] [ 0. 0. 0. 1. ]] SLAMing on 1.8913461839999999 meters Centerline goodness : 0.899297 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.24, Z:-0.10 [[ 0.99744551 -0.06398462 -0.03175583 0.35385216] [ 0.06443387 0.99783294 0.01333026 -0.24049027] [ 0.03083408 -0.01534236 0.99940676 -0.0956093 ] [ 0. 0. 0. 1. ]] SLAMing on 1.921346184 meters Centerline goodness : 0.664354 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.25, Z:-0.10 [[ 0.99730567 -0.06624466 -0.03151263 0.35600648] [ 0.066691 0.99768464 0.01332903 -0.24983192] [ 0.03055669 -0.01539473 0.99941447 -0.09734377] [ 0. 0. 0. 1. ]] SLAMing on 1.951346184 meters Centerline goodness : 0.663866 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.26, Z:-0.10 [[ 0.9971739 -0.06757468 -0.03283089 0.36208971] [ 0.06826348 0.99746013 0.02033197 -0.26284064] [ 0.03137358 -0.02251566 0.99925409 -0.10166531] [ 0. 0. 0. 1. ]] SLAMing on 1.981346184 meters Centerline goodness : 0.641610 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.27, Z:-0.10 [[ 0.99698504 -0.07022094 -0.03301296 0.36548688] [ 0.07091072 0.99727794 0.02020818 -0.27258846] [ 0.03150406 -0.02248822 0.99925061 -0.103652 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0113461839999998 meters Centerline goodness : 0.641313 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.29, Z:-0.11 [[ 0.99642392 -0.07622487 -0.03645727 0.37639097] [ 0.07709371 0.99675739 0.02304939 -0.29316109] [ 0.03458212 -0.02577759 0.99906936 -0.10841307] [ 0. 0. 0. 1. ]] SLAMing on 2.041346184 meters Centerline goodness : 0.868019 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.30, Z:-0.11 [[ 0.99619121 -0.07908434 -0.03672523 0.38019802] [ 0.07996112 0.99653143 0.02305038 -0.30246863] [ 0.03477492 -0.02589918 0.99905953 -0.11047646] [ 0. 0. 0. 1. ]] SLAMing on 2.071346184 meters Centerline goodness : 0.846044 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.31, Z:-0.11 [[ 0.99595524 -0.08189795 -0.03695791 0.38379537] [ 0.08277746 0.99630427 0.02292783 -0.31189766] [ 0.03494358 -0.02589438 0.99905377 -0.11244063] [ 0. 0. 0. 1. ]] SLAMing on 2.101346184 meters Centerline goodness : 0.850198 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.32, Z:-0.11 [[ 0.99568827 -0.08491041 -0.03735084 0.38745182] [ 0.08580138 0.9960483 0.02293282 -0.32104057] [ 0.035256 -0.02603869 0.99903904 -0.11387354] [ 0. 0. 0. 1. ]] SLAMing on 2.131346184 meters Centerline goodness : 0.851894 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.33, Z:-0.12 [[ 0.99537152 -0.08836707 -0.03777293 0.3910285 ] [ 0.08924535 0.99576154 0.02223132 -0.32931211] [ 0.03564831 -0.02549948 0.99903903 -0.11512185] [ 0. 0. 0. 1. ]] SLAMing on 2.161346184 meters Centerline goodness : 0.844634 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.35, Z:-0.12 [[ 0.99459566 -0.09218107 -0.04777158 0.41320634] [ 0.09362872 0.99518464 0.02900341 -0.35021898] [ 0.04486798 -0.03331946 0.99843712 -0.11714111] [ 0. 0. 0. 1. ]] SLAMing on 2.191346184 meters Centerline goodness : 0.840705 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.36, Z:-0.12 [[ 0.99423107 -0.09569898 -0.04843844 0.41807794] [ 0.09711936 0.99488253 0.02786715 -0.35731892] [ 0.0455237 -0.0324107 0.99843735 -0.11942524] [ 0. 0. 0. 1. ]] SLAMing on 2.2213461839999997 meters Centerline goodness : 0.842918 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.36, Z:-0.12 [[ 0.99386379 -0.09910525 -0.04912136 0.42273076] [ 0.10048682 0.99458549 0.02649704 -0.36346029] [ 0.0462294 -0.03127049 0.99844128 -0.12150764] [ 0. 0. 0. 1. ]] SLAMing on 2.251346184 meters Centerline goodness : 0.851353 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.37, Z:-0.12 [[ 0.99344869 -0.10304192 -0.04941726 0.42591751] [ 0.10431264 0.99425837 0.02385732 -0.36737407] [ 0.04667522 -0.02885587 0.99849325 -0.12309984] [ 0. 0. 0. 1. ]] SLAMing on 2.2813461839999998 meters Centerline goodness : 0.849180 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.38, Z:-0.12 [[ 0.99270578 -0.10299795 -0.06266308 0.4287619 ] [ 0.10479784 0.99414994 0.02614011 -0.38004017] [ 0.05960412 -0.03251639 0.99769235 -0.1230107 ] [ 0. 0. 0. 1. ]] SLAMing on 2.311346184 meters Centerline goodness : 0.846616 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.38, Z:-0.13 [[ 0.99233062 -0.10629057 -0.06310508 0.43276364] [ 0.10794419 0.99388175 0.02339068 -0.38241357] [ 0.06023278 -0.03002312 0.99773274 -0.12560697] [ 0. 0. 0. 1. ]] SLAMing on 2.341346184 meters Centerline goodness : 0.845724 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.39, Z:-0.13 [[ 0.99193501 -0.10968881 -0.0635082 0.43676898] [ 0.11119458 0.99358365 0.0206712 -0.38504373] [ 0.06083331 -0.02756626 0.99776721 -0.12822311] [ 0. 0. 0. 1. ]] SLAMing on 2.371346184 meters Centerline goodness : 0.847307 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.39, Z:-0.13 [[ 0.99152553 -0.11312954 -0.06386565 0.44062407] [ 0.11448236 0.99326357 0.01792407 -0.38769558] [ 0.06140768 -0.02508367 0.99779753 -0.13074299] [ 0. 0. 0. 1. ]] SLAMing on 2.401346184 meters Centerline goodness : 0.842209 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.39, Z:-0.13 [[ 0.99062047 -0.1207924 -0.06387711 0.44555771] [ 0.12176591 0.99249154 0.01155915 -0.39183815] [ 0.06200123 -0.01922879 0.99789083 -0.13416074] [ 0. 0. 0. 1. ]] SLAMing on 2.4313461839999997 meters Centerline goodness : 0.845293 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.40, Z:-0.14 [[ 0.99047393 -0.1211879 -0.06538269 0.45056787] [ 0.12230466 0.99240292 0.01334229 -0.39598 ] [ 0.06326905 -0.0212118 0.99777106 -0.13537745] [ 0. 0. 0. 1. ]] SLAMing on 2.461346184 meters Centerline goodness : 0.847451 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.40, Z:-0.14 [[ 0.99032502 -0.12161254 -0.06683371 0.45507167] [ 0.12285182 0.99231554 0.01474138 -0.39868904] [ 0.06452739 -0.0228094 0.99765522 -0.13625693] [ 0. 0. 0. 1. ]] SLAMing on 2.4913461839999997 meters Centerline goodness : 0.844141 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.40, Z:-0.14 [[ 0.99017684 -0.1219656 -0.06836821 0.45985195] [ 0.12333075 0.99223501 0.01609978 -0.40124515] [ 0.06587372 -0.02437353 0.99753024 -0.13734058] [ 0. 0. 0. 1. ]] SLAMing on 2.521346184 meters Centerline goodness : 0.842842 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.40, Z:-0.14 [[ 0.98945978 -0.12676118 -0.0700067 0.4671871 ] [ 0.12795184 0.9916981 0.0127755 -0.40109559] [ 0.06780607 -0.02159833 0.99746471 -0.1407447 ] [ 0. 0. 0. 1. ]] SLAMing on 2.551346184 meters Centerline goodness : 0.846530 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.40, Z:-0.14 [[ 0.98930579 -0.12725969 -0.07126726 0.47125322] [ 0.12852667 0.99161464 0.01346489 -0.40215346] [ 0.06895612 -0.02248064 0.99736637 -0.14192646] [ 0. 0. 0. 1. ]] SLAMing on 2.581346184 meters Centerline goodness : 0.845102 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.40, Z:-0.14 [[ 0.98916953 -0.12763703 -0.07247364 0.47477768] [ 0.12898706 0.99154397 0.01424437 -0.40363289] [ 0.07004269 -0.02343826 0.9972686 -0.1425823 ] [ 0. 0. 0. 1. ]] SLAMing on 2.611346184 meters Centerline goodness : 0.835537 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.41, Z:-0.14 [[ 0.98906022 -0.12786085 -0.07356281 0.47848887] [ 0.12930546 0.99148826 0.01520273 -0.40623492] [ 0.07099283 -0.02454849 0.9971747 -0.14368785] [ 0. 0. 0. 1. ]] SLAMing on 2.6413461839999997 meters Centerline goodness : 0.867299 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.40, Z:-0.15 [[ 0.98802493 -0.13550639 -0.0737886 0.48412495] [ 0.13637973 0.99063257 0.00690526 -0.40292769] [ 0.07216168 -0.01688584 0.99725 -0.14807732] [ 0. 0. 0. 1. ]] SLAMing on 2.671346184 meters Centerline goodness : 0.867299 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.40, Z:-0.15 [[ 0.98802493 -0.13550639 -0.0737886 0.48412495] [ 0.13637973 0.99063257 0.00690526 -0.40292769] [ 0.07216168 -0.01688584 0.99725 -0.14807732] [ 0. 0. 0. 1. ]] SLAMing on 2.7013461839999997 meters Centerline goodness : 0.864157 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.40, Z:-0.15 [[ 0.98780632 -0.13629905 -0.07524118 0.48854556] [ 0.13719877 0.99051952 0.0068971 -0.40275316] [ 0.07358779 -0.017136 0.99714151 -0.14943445] [ 0. 0. 0. 1. ]] SLAMing on 2.731346184 meters Centerline goodness : 0.864689 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.40, Z:-0.15 [[ 0.98762062 -0.13675263 -0.07683895 0.49387853] [ 0.13771913 0.99044369 0.00739831 -0.40304746] [ 0.07509291 -0.01788892 0.99701607 -0.15147311] [ 0. 0. 0. 1. ]] SLAMing on 2.7613461839999998 meters Centerline goodness : 0.862468 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.40, Z:-0.15 [[ 0.98744393 -0.13719911 -0.07830002 0.49875869] [ 0.13823841 0.99036679 0.00798511 -0.40401704] [ 0.07645019 -0.01870892 0.99689786 -0.15322613] [ 0. 0. 0. 1. ]] SLAMing on 2.791346184 meters Centerline goodness : 0.864421 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.40, Z:-0.16 [[ 0.98674181 -0.14173608 -0.07906631 0.50402434] [ 0.14244528 0.98979693 0.00337401 -0.4005734 ] [ 0.07778137 -0.0145919 0.99686365 -0.15649896] [ 0. 0. 0. 1. ]] SLAMing on 2.821346184 meters Centerline goodness : 0.860433 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.40, Z:-0.16 [[ 0.9866127 -0.14207143 -0.08006924 0.50721638] [ 0.1428154 0.98974275 0.0036134 -0.40110029] [ 0.07873459 -0.01500014 0.99678275 -0.15751183] [ 0. 0. 0. 1. ]] SLAMing on 2.851346184 meters Centerline goodness : 0.860877 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.40, Z:-0.16 [[ 0.98648174 -0.14232141 -0.08123044 0.51107601] [ 0.14311274 0.98969841 0.00397424 -0.40151401] [ 0.07982802 -0.01554563 0.99668742 -0.15898748] [ 0. 0. 0. 1. ]] SLAMing on 2.881346184 meters Centerline goodness : 0.861791 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.40, Z:-0.16 [[ 0.9863962 -0.14226876 -0.08235369 0.51527329] [ 0.14310303 0.98969851 0.00428765 -0.40120572] [ 0.08089533 -0.01601438 0.99659394 -0.16107935] [ 0. 0. 0. 1. ]] SLAMing on 2.9113461839999997 meters Centerline goodness : 0.860887 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.40, Z:-0.17 [[ 0.98623 -0.14268371 -0.0836166 0.52109592] [ 0.1434696 0.98964876 0.0034355 -0.3978031 ] [ 0.08226088 -0.01538463 0.99649208 -0.16525952] [ 0. 0. 0. 1. ]] SLAMing on 2.941346184 meters Centerline goodness : 0.860930 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.40, Z:-0.17 [[ 0.98617947 -0.1424676 -0.08457557 0.52500059] [ 0.14325082 0.98968113 0.00323404 -0.39514753] [ 0.0832421 -0.01530486 0.99641182 -0.16774668] [ 0. 0. 0. 1. ]] SLAMing on 2.9713461839999997 meters Centerline goodness : 0.859792 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.39, Z:-0.17 [[ 0.98649638 -0.13917479 -0.08634387 0.5286256 ] [ 0.1403122 0.99008101 0.00721723 -0.39466786] [ 0.08448297 -0.01923487 0.99623925 -0.16870415] [ 0. 0. 0. 1. ]] SLAMing on 3.001346184 meters Centerline goodness : 0.858599 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.39, Z:-0.17 [[ 0.98642711 -0.13956128 -0.08651128 0.52984536] [ 0.1405743 0.99005372 0.0057002 -0.39048015] [ 0.08485528 -0.01778409 0.99623456 -0.1703191 ] [ 0. 0. 0. 1. ]] SLAMing on 3.0313461839999998 meters Centerline goodness : 0.857212 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.39, Z:-0.17 [[ 0.98672188 -0.13618188 -0.08851229 0.53609635] [ 0.13746896 0.99046889 0.00858311 -0.38742802] [ 0.0864998 -0.02063683 0.9960381 -0.17448619] [ 0. 0. 0. 1. ]] SLAMing on 3.061346184 meters Centerline goodness : 0.858087 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.39, Z:-0.18 [[ 0.98702083 -0.13326639 -0.08961005 0.53894084] [ 0.13479766 0.99080948 0.01123199 -0.38592589] [ 0.08728964 -0.02316543 0.99591359 -0.17621752] [ 0. 0. 0. 1. ]] SLAMing on 3.091346184 meters Centerline goodness : 0.855958 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.38, Z:-0.18 [[ 0.98733573 -0.12983178 -0.09116946 0.54234171] [ 0.13168675 0.99118373 0.01460884 -0.38381863] [ 0.088469 -0.02642964 0.99572823 -0.17770581] [ 0. 0. 0. 1. ]] SLAMing on 3.121346184 meters Centerline goodness : 0.856416 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.38, Z:-0.18 [[ 0.98761165 -0.12633204 -0.09307768 0.54755334] [ 0.12840112 0.991584 0.0165626 -0.37672896] [ 0.09020195 -0.02830869 0.99552108 -0.18138175] [ 0. 0. 0. 1. ]] SLAMing on 3.151346184 meters Centerline goodness : 0.854634 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.37, Z:-0.18 [[ 0.98757694 -0.12600381 -0.09388726 0.55116429] [ 0.12800412 0.99165137 0.01557258 -0.37180038] [ 0.09114123 -0.02739708 0.99546104 -0.18452868] [ 0. 0. 0. 1. ]] SLAMing on 3.1813461839999997 meters Centerline goodness : 0.854851 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.37, Z:-0.19 [[ 0.98768748 -0.12399873 -0.09538212 0.55546705] [ 0.12625409 0.9918353 0.01796214 -0.3696531 ] [ 0.09237608 -0.02978336 0.99527866 -0.18662931] [ 0. 0. 0. 1. ]] SLAMing on 3.211346184 meters Centerline goodness : 0.854228 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.37, Z:-0.19 [[ 0.98749546 -0.12497065 -0.09609917 0.55788179] [ 0.12709851 0.99175574 0.01632526 -0.36519395] [ 0.09326672 -0.02833518 0.99523788 -0.18820181] [ 0. 0. 0. 1. ]] SLAMing on 3.2413461839999997 meters Centerline goodness : 0.852483 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.36, Z:-0.19 [[ 0.98747066 -0.12309089 -0.09874379 0.56518359] [ 0.12554954 0.99190423 0.01906057 -0.36064002] [ 0.0955982 -0.03121899 0.99493033 -0.19118676] [ 0. 0. 0. 1. ]] SLAMing on 3.271346184 meters Centerline goodness : 0.849395 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.36, Z:-0.19 [[ 0.98729098 -0.12407511 -0.09930702 0.56739746] [ 0.12642726 0.99181743 0.01772921 -0.35750165] [ 0.09629468 -0.030059 0.99489889 -0.192723 ] [ 0. 0. 0. 1. ]] SLAMing on 3.301346184 meters Centerline goodness : 0.848681 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.36, Z:-0.19 [[ 0.98710899 -0.12498775 -0.09996949 0.57009709] [ 0.1272858 0.99172168 0.01692412 -0.35590011] [ 0.0970266 -0.02943065 0.99484656 -0.19429338] [ 0. 0. 0. 1. ]] SLAMing on 3.331346184 meters Centerline goodness : 0.847097 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.35, Z:-0.20 [[ 0.98695258 -0.12576489 -0.10053755 0.57239114] [ 0.12802057 0.99163784 0.01628257 -0.35474804] [ 0.09764906 -0.028941 0.99480002 -0.19556997] [ 0. 0. 0. 1. ]] SLAMing on 3.361346184 meters Centerline goodness : 0.846128 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.35, Z:-0.20 [[ 0.98680814 -0.12654227 -0.100979 0.57480884] [ 0.12870949 0.99156558 0.01521713 -0.35280799] [ 0.09820169 -0.02801334 0.99477218 -0.1976348 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3913461839999997 meters Centerline goodness : 0.846614 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.20 [[ 0.98676897 -0.12670354 -0.10115939 0.57563764] [ 0.12881756 0.99156054 0.01461991 -0.35139304] [ 0.09845326 -0.02745758 0.9947628 -0.1984211 ] [ 0. 0. 0. 1. ]] SLAMing on 3.421346184 meters Centerline goodness : 0.846125 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.20 [[ 0.98681395 -0.12639118 -0.10111132 0.57557913] [ 0.12844062 0.99161843 0.01399616 -0.34934764] [ 0.09849486 -0.02679841 0.99477666 -0.19906502] [ 0. 0. 0. 1. ]] SLAMing on 3.4513461839999997 meters Centerline goodness : 0.845735 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.20 [[ 0.98685992 -0.12609823 -0.10102836 0.5757781 ] [ 0.12804293 0.99168374 0.01297532 -0.3471231 ] [ 0.09855202 -0.02574079 0.99479893 -0.20032811] [ 0. 0. 0. 1. ]] SLAMing on 3.481346184 meters Centerline goodness : 0.844841 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.20 [[ 0.98697127 -0.12545339 -0.10074299 0.57562049] [ 0.12731873 0.99178585 0.01227905 -0.3457675 ] [ 0.09837502 -0.02494554 0.99483671 -0.20169365] [ 0. 0. 0. 1. ]] SLAMing on 3.5113461839999998 meters Centerline goodness : 0.842548 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:-0.21 [[ 0.98792172 -0.12411777 -0.09276558 0.58731434] [ 0.12545547 0.99206104 0.00870771 -0.33965576] [ 0.09094834 -0.02024049 0.9956499 -0.20570116] [ 0. 0. 0. 1. ]] SLAMing on 3.541346184 meters Centerline goodness : 0.844850 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:-0.21 [[ 0.98808524 -0.12318565 -0.09226508 0.58541181] [ 0.12446283 0.99219041 0.00819668 -0.33794367] [ 0.09053481 -0.01958259 0.99570074 -0.20542516] [ 0. 0. 0. 1. ]] SLAMing on 3.571346184 meters Centerline goodness : 0.846107 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.20 [[ 0.98848115 -0.11977162 -0.09251901 0.58401034] [ 0.12141741 0.99252472 0.01234918 -0.33946723] [ 0.09034832 -0.02344035 0.99563434 -0.20362508] [ 0. 0. 0. 1. ]] SLAMing on 3.6013461839999996 meters Centerline goodness : 0.847498 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:-0.20 [[ 0.98951091 -0.11826267 -0.08295844 0.58954636] [ 0.11965333 0.99274346 0.01197926 -0.33813538] [ 0.08093975 -0.02177986 0.99648101 -0.20110164] [ 0. 0. 0. 1. ]] SLAMing on 3.631346184 meters Centerline goodness : 0.849931 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:-0.20 [[ 0.98966753 -0.11744519 -0.08224844 0.58604744] [ 0.11890607 0.99281938 0.01307758 -0.34066224] [ 0.08012195 -0.02272229 0.99652605 -0.19822568] [ 0. 0. 0. 1. ]] SLAMing on 3.6613461839999997 meters Centerline goodness : 0.850567 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.20 [[ 0.98978641 -0.11665885 -0.08193645 0.58396933] [ 0.11822922 0.99287949 0.01456609 -0.3436467 ] [ 0.07965376 -0.0241046 0.99653111 -0.19578778] [ 0. 0. 0. 1. ]] SLAMing on 3.691346184 meters Centerline goodness : 0.854517 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.19 [[ 0.99003874 -0.11401474 -0.0826071 0.58303216] [ 0.11599749 0.99305613 0.01959846 -0.34798469] [ 0.07979897 -0.02898545 0.99638947 -0.19224268] [ 0. 0. 0. 1. ]] SLAMing on 3.7213461839999997 meters Centerline goodness : 0.856405 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:-0.19 [[ 0.99057421 -0.11589369 -0.07301634 0.58796594] [ 0.1174198 0.99293766 0.01695256 -0.34407907] [ 0.07053598 -0.02536633 0.99718666 -0.18810496] [ 0. 0. 0. 1. ]] SLAMing on 3.751346184 meters Centerline goodness : 0.858355 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.35, Z:-0.19 [[ 0.99088791 -0.11241824 -0.07418416 0.58881736] [ 0.11437803 0.99317775 0.02270726 -0.34662512] [ 0.07112535 -0.03098539 0.996986 -0.18576521] [ 0. 0. 0. 1. ]] SLAMing on 3.7813461839999998 meters Centerline goodness : 0.859057 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.35, Z:-0.18 [[ 0.9908778 -0.11267444 -0.07393006 0.58636636] [ 0.11462169 0.99315134 0.02263369 -0.34597708] [ 0.0708735 -0.03090121 0.99700655 -0.18310251] [ 0. 0. 0. 1. ]] SLAMing on 3.811346184 meters Centerline goodness : 0.861368 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.35, Z:-0.18 [[ 0.99093749 -0.1121479 -0.07393064 0.58538544] [ 0.1141577 0.99318393 0.02353086 -0.34673114] [ 0.07078779 -0.03175737 0.99698574 -0.18159407] [ 0. 0. 0. 1. ]] SLAMing on 3.841346184 meters Centerline goodness : 0.860086 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.18 [[ 0.99085161 -0.1129319 -0.07388819 0.58304111] [ 0.1149507 0.99308959 0.0236519 -0.34646387] [ 0.07070654 -0.03192903 0.99698602 -0.17804103] [ 0. 0. 0. 1. ]] SLAMing on 3.8713461839999996 meters Centerline goodness : 0.860951 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.18 [[ 0.9908098 -0.11322359 -0.07400248 0.58254374] [ 0.1152556 0.99305126 0.02377688 -0.34606066] [ 0.07079616 -0.03208756 0.99697457 -0.17677851] [ 0. 0. 0. 1. ]] SLAMing on 3.901346184 meters Centerline goodness : 0.862429 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.17 [[ 0.99079476 -0.11341914 -0.0739043 0.58084215] [ 0.11545354 0.99302654 0.02384906 -0.34567196] [ 0.07068399 -0.03216203 0.99698013 -0.17465589] [ 0. 0. 0. 1. ]] SLAMing on 3.9313461839999997 meters Centerline goodness : 0.865093 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.17 [[ 0.99075512 -0.11345525 -0.07437881 0.58047658] [ 0.11556299 0.99299398 0.02466082 -0.34545357] [ 0.07105982 -0.03302827 0.99692509 -0.17243069] [ 0. 0. 0. 1. ]] SLAMing on 3.961346184 meters Centerline goodness : 0.865390 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.17 [[ 0.99055791 -0.11509842 -0.07448074 0.57721596] [ 0.11719757 0.99280783 0.02444078 -0.34389154] [ 0.07113197 -0.03293897 0.9969229 -0.16703783] [ 0. 0. 0. 1. ]] SLAMing on 3.9913461839999997 meters Centerline goodness : 0.864974 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.17 [[ 0.99042154 -0.11595099 -0.07497033 0.57718473] [ 0.11807307 0.99270245 0.02450687 -0.34285171] [ 0.07158163 -0.03312411 0.99688458 -0.16513785] [ 0. 0. 0. 1. ]] SLAMing on 4.0213461839999995 meters Centerline goodness : 0.866529 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.16 [[ 0.99000975 -0.11819078 -0.07688721 0.57984474] [ 0.12041754 0.99240889 0.0249841 -0.33952564] [ 0.07335066 -0.03399307 0.99672672 -0.16231994] [ 0. 0. 0. 1. ]] SLAMing on 4.051346184 meters Centerline goodness : 0.865315 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.16 [[ 0.98983656 -0.11926888 -0.07745017 0.5802021 ] [ 0.12148759 0.99228856 0.02457986 -0.33740304] [ 0.07392131 -0.03373928 0.99669318 -0.16092435] [ 0. 0. 0. 1. ]] SLAMing on 4.081346184 meters Centerline goodness : 0.866225 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.16 [[ 0.98966493 -0.12037244 -0.07793458 0.58007405] [ 0.12259136 0.99215909 0.02432502 -0.33538367] [ 0.07439543 -0.03362773 0.99666168 -0.159034 ] [ 0. 0. 0. 1. ]] SLAMing on 4.111346183999999 meters Centerline goodness : 0.866664 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.16 [[ 0.98953571 -0.120996 -0.07860686 0.58085423] [ 0.12327644 0.99206197 0.02481851 -0.33506142] [ 0.07497994 -0.03424917 0.99659671 -0.15764196] [ 0. 0. 0. 1. ]] SLAMing on 4.141346184 meters Centerline goodness : 0.868747 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.16 [[ 0.98895901 -0.12568833 -0.0785017 0.58038264] [ 0.12770186 0.99158688 0.02115885 -0.33497485] [ 0.07518184 -0.03095005 0.99668941 -0.15545451] [ 0. 0. 0. 1. ]] SLAMing on 4.171346184 meters Centerline goodness : 0.867807 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.15 [[ 0.98880345 -0.12669674 -0.07883957 0.58058748] [ 0.12872737 0.99145318 0.02120989 -0.33516205] [ 0.07547852 -0.03112123 0.99666166 -0.15415409] [ 0. 0. 0. 1. ]] SLAMing on 4.201346184 meters Centerline goodness : 0.869159 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.9886833 -0.12716636 -0.07958678 0.58152593] [ 0.1292518 0.99137644 0.0216037 -0.33445487] [ 0.07615319 -0.03164595 0.99659381 -0.15292236] [ 0. 0. 0. 1. ]] SLAMing on 4.2313461839999995 meters Centerline goodness : 0.868649 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.15 [[ 0.98890002 -0.12437974 -0.08127991 0.58415487] [ 0.1268969 0.99156042 0.0265541 -0.33559935] [ 0.07729115 -0.03657351 0.99633752 -0.15181567] [ 0. 0. 0. 1. ]] SLAMing on 4.261346184 meters Centerline goodness : 0.869181 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98883239 -0.12484373 -0.08139126 0.58349513] [ 0.12729948 0.99153144 0.02569518 -0.33294172] [ 0.07749411 -0.03576929 0.99635095 -0.15095235] [ 0. 0. 0. 1. ]] SLAMing on 4.291346184 meters Centerline goodness : 0.870726 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98892251 -0.12444739 -0.08090185 0.58178391] [ 0.12677439 0.99163455 0.02427274 -0.32950726] [ 0.07720439 -0.03426014 0.99642648 -0.15096459] [ 0. 0. 0. 1. ]] SLAMing on 4.321346184 meters Centerline goodness : 0.869465 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98925027 -0.1210469 -0.08204602 0.58395007] [ 0.12375545 0.99189606 0.02875418 -0.33104973] [ 0.07790052 -0.03859872 0.99621366 -0.15117979] [ 0. 0. 0. 1. ]] SLAMing on 4.351346184 meters Centerline goodness : 0.869096 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98926338 -0.12096126 -0.08201432 0.58351103] [ 0.12363808 0.99192184 0.02836715 -0.32981595] [ 0.07792047 -0.03820267 0.99622736 -0.15097781] [ 0. 0. 0. 1. ]] SLAMing on 4.381346184 meters Centerline goodness : 0.868385 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98927343 -0.12087619 -0.08201847 0.5829008 ] [ 0.12354938 0.99193419 0.02832158 -0.32924204] [ 0.07793352 -0.03815112 0.99622832 -0.15027052] [ 0. 0. 0. 1. ]] SLAMing on 4.411346184 meters Centerline goodness : 0.868178 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98929615 -0.12077354 -0.08189559 0.58218438] [ 0.12344402 0.99194647 0.02835091 -0.3292023 ] [ 0.077812 -0.03815697 0.99623759 -0.14969663] [ 0. 0. 0. 1. ]] SLAMing on 4.4413461839999995 meters Centerline goodness : 0.870664 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98928742 -0.12053105 -0.08235695 0.58297563] [ 0.12328603 0.99194121 0.0292095 -0.32992394] [ 0.0781726 -0.03905006 0.99617475 -0.14915903] [ 0. 0. 0. 1. ]] SLAMing on 4.471346184 meters Centerline goodness : 0.870317 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98925121 -0.12068143 -0.08257137 0.58300514] [ 0.12346842 0.9919098 0.02950409 -0.33009665] [ 0.07834276 -0.03938191 0.99614832 -0.14838334] [ 0. 0. 0. 1. ]] SLAMing on 4.501346184 meters Centerline goodness : 0.871384 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98927797 -0.12041824 -0.08263498 0.58261971] [ 0.12324657 0.99192233 0.03000633 -0.33075394] [ 0.07835417 -0.03986908 0.99612804 -0.14756881] [ 0. 0. 0. 1. ]] SLAMing on 4.531346184 meters Centerline goodness : 0.870990 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98935567 -0.11988361 -0.08248198 0.58054459] [ 0.12276721 0.99195723 0.03080701 -0.33109914] [ 0.07812534 -0.04060517 0.99611628 -0.14516118] [ 0. 0. 0. 1. ]] SLAMing on 4.561346184 meters Centerline goodness : 0.870990 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98935567 -0.11988361 -0.08248198 0.58054459] [ 0.12276721 0.99195723 0.03080701 -0.33109914] [ 0.07812534 -0.04060517 0.99611628 -0.14516118] [ 0. 0. 0. 1. ]] SLAMing on 4.591346184 meters Centerline goodness : 0.871132 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.14 [[ 0.98935473 -0.11983721 -0.0825606 0.57974135] [ 0.12276821 0.99193941 0.03137166 -0.33174675] [ 0.07813562 -0.04117352 0.99609215 -0.14359033] [ 0. 0. 0. 1. ]] SLAMing on 4.621346184 meters Centerline goodness : 0.870250 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.14 [[ 0.98933711 -0.11981872 -0.08279834 0.58014118] [ 0.12282915 0.99190346 0.03225709 -0.33364887] [ 0.07826296 -0.04208318 0.99604413 -0.14287103] [ 0. 0. 0. 1. ]] SLAMing on 4.651346183999999 meters Centerline goodness : 0.870530 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.14 [[ 0.98921286 -0.12051359 -0.08327295 0.58109784] [ 0.12360258 0.99178381 0.03297397 -0.33552813] [ 0.07861495 -0.04291103 0.99598109 -0.14194566] [ 0. 0. 0. 1. ]] SLAMing on 4.681346184 meters Centerline goodness : 0.870868 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.14 [[ 0.98868779 -0.12495141 -0.08296748 0.58062425] [ 0.12778216 0.99135708 0.02971286 -0.33644698] [ 0.07853774 -0.03997851 0.9961092 -0.14027852] [ 0. 0. 0. 1. ]] SLAMing on 4.711346184 meters Centerline goodness : 0.870544 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.14 [[ 0.98854683 -0.12552464 -0.08377783 0.58219127] [ 0.12845212 0.99124665 0.03049802 -0.33738522] [ 0.07921624 -0.04091016 0.99601764 -0.13935929] [ 0. 0. 0. 1. ]] SLAMing on 4.741346184 meters Centerline goodness : 0.871501 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.14 [[ 0.98841011 -0.12631427 -0.08420309 0.58271166] [ 0.12927092 0.99113655 0.03061641 -0.33755737] [ 0.07958947 -0.04114658 0.99597815 -0.1383646 ] [ 0. 0. 0. 1. ]] SLAMing on 4.7713461839999995 meters Centerline goodness : 0.870774 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.14 [[ 0.98830991 -0.1268648 -0.08455081 0.58315715] [ 0.12985724 0.99105223 0.03086373 -0.33809612] [ 0.07987875 -0.04148246 0.99594106 -0.13750575] [ 0. 0. 0. 1. ]] SLAMing on 4.801346184 meters Centerline goodness : 0.873079 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.14 [[ 0.98828824 -0.12705735 -0.08451498 0.58237923] [ 0.13003884 0.99103229 0.03073913 -0.33778481] [ 0.07985144 -0.04136936 0.99594795 -0.13654278] [ 0. 0. 0. 1. ]] SLAMing on 4.831346184 meters Centerline goodness : 0.872746 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.14 [[ 0.9885901 -0.12395048 -0.08559139 0.58358633] [ 0.12729449 0.99125557 0.03476362 -0.33784489] [ 0.08053398 -0.04526228 0.99572366 -0.13594232] [ 0. 0. 0. 1. ]] SLAMing on 4.861346183999999 meters Centerline goodness : 0.872165 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.14 [[ 0.98863209 -0.12370472 -0.08546186 0.58258393] [ 0.12696134 0.99133286 0.03376363 -0.33478221] [ 0.08054443 -0.04423016 0.99576919 -0.13571521] [ 0. 0. 0. 1. ]] SLAMing on 4.891346184 meters Centerline goodness : 0.871228 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.13 [[ 0.98918112 -0.11948602 -0.08511058 0.57892744] [ 0.12298512 0.99171438 0.03711117 -0.33374015] [ 0.07997112 -0.04717701 0.99568014 -0.1334927 ] [ 0. 0. 0. 1. ]] SLAMing on 4.921346184 meters Centerline goodness : 0.872303 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.13 [[ 0.98923562 -0.11923067 -0.08483472 0.57698382] [ 0.12266349 0.99177854 0.03645532 -0.33111245] [ 0.07979066 -0.04646903 0.99572791 -0.13227202] [ 0. 0. 0. 1. ]] SLAMing on 4.951346184 meters Centerline goodness : 0.893308 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.13 [[ 0.98922385 -0.11904098 -0.08523741 0.57664209] [ 0.12245953 0.99181855 0.03605029 -0.32792332] [ 0.08024858 -0.04609994 0.99570827 -0.13120905] [ 0. 0. 0. 1. ]] SLAMing on 4.9813461839999995 meters Centerline goodness : 0.873482 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.32, Z:-0.13 [[ 0.98917529 -0.11952082 -0.08512939 0.57442144] [ 0.12285049 0.99180806 0.03499322 -0.3240123 ] [ 0.08024959 -0.04507261 0.99575522 -0.12905917] [ 0. 0. 0. 1. ]] SLAMing on 5.011346184 meters Centerline goodness : 0.873048 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.32, Z:-0.13 [[ 0.98912806 -0.11981076 -0.08527048 0.5746863 ] [ 0.12314704 0.99177153 0.03498615 -0.32415912] [ 0.08037712 -0.04510659 0.9957434 -0.12875561] [ 0. 0. 0. 1. ]] SLAMing on 5.041346184 meters Centerline goodness : 0.874836 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.32, Z:-0.13 [[ 0.98878993 -0.1233421 -0.08414993 0.57247752] [ 0.12623115 0.99155009 0.02990164 -0.32133525] [ 0.07975074 -0.04018878 0.99600436 -0.128588 ] [ 0. 0. 0. 1. ]] SLAMing on 5.071346183999999 meters Centerline goodness : 0.874339 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.32, Z:-0.13 [[ 0.98870243 -0.12367794 -0.08468341 0.57386947] [ 0.12661186 0.99149317 0.03017846 -0.32157413] [ 0.08023061 -0.04055944 0.99595079 -0.12855694] [ 0. 0. 0. 1. ]] SLAMing on 5.101346184 meters Centerline goodness : 0.873465 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.32, Z:-0.13 [[ 0.98844128 -0.12533035 -0.08530025 0.57468161] [ 0.12826982 0.99128915 0.02987762 -0.32043396] [ 0.08081264 -0.04047372 0.99590722 -0.1272014 ] [ 0. 0. 0. 1. ]] SLAMing on 5.131346184 meters Centerline goodness : 0.874926 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.13 [[ 0.98833133 -0.12583511 -0.08582956 0.5752023 ] [ 0.1288134 0.99121283 0.0300706 -0.31971862] [ 0.08129143 -0.04077571 0.99585594 -0.12606663] [ 0. 0. 0. 1. ]] SLAMing on 5.161346184 meters Centerline goodness : 0.876016 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.98822213 -0.12638016 -0.08628491 0.57553415] [ 0.12940155 0.99112776 0.03034814 -0.31885591] [ 0.08168397 -0.04115611 0.99580817 -0.12486087] [ 0. 0. 0. 1. ]] SLAMing on 5.1913461839999995 meters Centerline goodness : 0.874798 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.98812676 -0.12694149 -0.08655268 0.5755056 ] [ 0.12997089 0.99105502 0.03029039 -0.31826091] [ 0.08193337 -0.04118007 0.99578669 -0.12379784] [ 0. 0. 0. 1. ]] SLAMing on 5.221346184 meters Centerline goodness : 0.875701 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.98783878 -0.12857468 -0.08742477 0.57713929] [ 0.1316385 0.99083738 0.03020897 -0.31787754] [ 0.08273963 -0.04135006 0.99571297 -0.12275127] [ 0. 0. 0. 1. ]] SLAMing on 5.251346184 meters Centerline goodness : 0.875212 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.98772643 -0.12890039 -0.08821108 0.57915694] [ 0.13205552 0.99076074 0.03089497 -0.31872674] [ 0.0834137 -0.04216453 0.99562257 -0.12264153] [ 0. 0. 0. 1. ]] SLAMing on 5.281346183999999 meters Centerline goodness : 0.874227 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.9876052 -0.12961783 -0.08851656 0.57971747] [ 0.13280547 0.99065405 0.03110086 -0.31952661] [ 0.08365806 -0.04247086 0.99558905 -0.12193726] [ 0. 0. 0. 1. ]] SLAMing on 5.311346184 meters Centerline goodness : 0.874745 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.98742106 -0.13040539 -0.0894096 0.5815626 ] [ 0.13372246 0.99049731 0.03214628 -0.32101317] [ 0.08436792 -0.04369799 0.99547604 -0.12097347] [ 0. 0. 0. 1. ]] SLAMing on 5.341346184 meters Centerline goodness : 0.875417 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.98730573 -0.13103506 -0.089762 0.58165466] [ 0.13433325 0.99042844 0.03171875 -0.31906119] [ 0.08474657 -0.04337412 0.99545804 -0.12008526] [ 0. 0. 0. 1. ]] SLAMing on 5.371346184 meters Centerline goodness : 0.875016 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.98727867 -0.13117519 -0.08985487 0.58102339] [ 0.13442856 0.99043387 0.03114024 -0.31667764] [ 0.08491048 -0.04282316 0.99546792 -0.119317 ] [ 0. 0. 0. 1. ]] SLAMing on 5.401346183999999 meters Centerline goodness : 0.874666 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.98730766 -0.13075789 -0.09014406 0.58112752] [ 0.13402064 0.9904898 0.03111963 -0.31528903] [ 0.08521763 -0.04280581 0.99544242 -0.11887389] [ 0. 0. 0. 1. ]] SLAMing on 5.431346184 meters Centerline goodness : 0.879348 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.31, Z:-0.12 [[ 0.98756994 -0.12918902 -0.08953109 0.57909251] [ 0.1324125 0.99070896 0.03102705 -0.31392889] [ 0.0846909 -0.04249641 0.99550063 -0.11876515] [ 0. 0. 0. 1. ]] SLAMing on 5.461346184 meters Centerline goodness : 0.878296 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.31, Z:-0.12 [[ 0.9877098 -0.12851903 -0.08895065 0.57752589] [ 0.13165656 0.99083131 0.03032917 -0.31274515] [ 0.08423721 -0.04166736 0.99557417 -0.11894802] [ 0. 0. 0. 1. ]] SLAMing on 5.491346184 meters Centerline goodness : 0.879329 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.31, Z:-0.12 [[ 0.98782908 -0.12791549 -0.08849487 0.57639466] [ 0.13095757 0.9909506 0.02944537 -0.31090496] [ 0.08392752 -0.04067606 0.99564132 -0.11941327] [ 0. 0. 0. 1. ]] SLAMing on 5.5213461839999995 meters Centerline goodness : 0.879657 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.31, Z:-0.12 [[ 0.98796536 -0.12689705 -0.08843971 0.57643278] [ 0.12988673 0.9911079 0.02888894 -0.30855016] [ 0.08398737 -0.04002841 0.99566252 -0.12055301] [ 0. 0. 0. 1. ]] SLAMing on 5.551346184 meters Centerline goodness : 0.879799 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.30, Z:-0.12 [[ 0.9883857 -0.12307549 -0.08914108 0.57688484] [ 0.12627662 0.9915047 0.03118737 -0.30409008] [ 0.08454539 -0.04208159 0.99553062 -0.12136483] [ 0. 0. 0. 1. ]] SLAMing on 5.581346184 meters Centerline goodness : 0.879541 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.30, Z:-0.12 [[ 0.98847151 -0.12249873 -0.08898385 0.57565829] [ 0.12558848 0.99162949 0.02997492 -0.30035371] [ 0.08456712 -0.04080471 0.99558193 -0.12123142] [ 0. 0. 0. 1. ]] SLAMing on 5.611346183999999 meters Centerline goodness : 0.876666 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.30, Z:-0.12 [[ 0.98861003 -0.12174173 -0.08848251 0.57404033] [ 0.12470284 0.99177823 0.02872521 -0.29733313] [ 0.08425797 -0.03943205 0.99566345 -0.1215699 ] [ 0. 0. 0. 1. ]] SLAMing on 5.641346184 meters Centerline goodness : 0.879493 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.29, Z:-0.12 [[ 0.98875783 -0.12098508 -0.08786679 0.5721528 ] [ 0.12377097 0.99194446 0.02696164 -0.29283718] [ 0.08389702 -0.03753389 0.99576729 -0.12203445] [ 0. 0. 0. 1. ]] SLAMing on 5.671346184 meters Centerline goodness : 0.880096 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.29, Z:-0.12 [[ 0.98870382 -0.12134191 -0.08798232 0.57168838] [ 0.1240784 0.99192353 0.02631082 -0.2907107 ] [ 0.08407913 -0.03693032 0.9957745 -0.12127891] [ 0. 0. 0. 1. ]] SLAMing on 5.701346184 meters Centerline goodness : 0.880715 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.29, Z:-0.12 [[ 0.98856439 -0.1221475 -0.08843317 0.57209103] [ 0.12483711 0.99184874 0.02552973 -0.28770408] [ 0.08459394 -0.03627752 0.99575489 -0.12065885] [ 0. 0. 0. 1. ]] SLAMing on 5.7313461839999995 meters Centerline goodness : 0.881077 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.28, Z:-0.12 [[ 0.98817755 -0.12469068 -0.08920407 0.57231567] [ 0.12723434 0.99159666 0.02339864 -0.28110027] [ 0.08553686 -0.03447183 0.99573849 -0.11890017] [ 0. 0. 0. 1. ]] SLAMing on 5.761346184 meters Centerline goodness : 0.882568 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.28, Z:-0.12 [[ 0.98820409 -0.13058058 -0.08000864 0.58129279] [ 0.13291058 0.99082516 0.02450059 -0.27596262] [ 0.07607527 -0.03484558 0.99649302 -0.12425629] [ 0. 0. 0. 1. ]] SLAMing on 5.791346184 meters Centerline goodness : 0.880649 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.27, Z:-0.12 [[ 0.98802946 -0.13163858 -0.08043055 0.58191593] [ 0.13392024 0.99071008 0.02364114 -0.27316282] [ 0.07657127 -0.03412942 0.99647982 -0.12384988] [ 0. 0. 0. 1. ]] SLAMing on 5.821346183999999 meters Centerline goodness : 0.881937 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.27, Z:-0.12 [[ 0.98784651 -0.13266128 -0.08099546 0.58392741] [ 0.13489775 0.99059785 0.02277039 -0.27076864] [ 0.07721318 -0.03341975 0.99645434 -0.12482792] [ 0. 0. 0. 1. ]] SLAMing on 5.851346184 meters Centerline goodness : 0.881292 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.27, Z:-0.13 [[ 0.98765471 -0.13388472 -0.08132064 0.58560019] [ 0.13603797 0.99046994 0.02151669 -0.26844597] [ 0.0776649 -0.03231375 0.99645571 -0.12604146] [ 0. 0. 0. 1. ]] SLAMing on 5.881346184 meters Centerline goodness : 0.883074 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.26, Z:-0.13 [[ 0.98736568 -0.13500945 -0.08295463 0.59027668] [ 0.13712389 0.99034552 0.02031742 -0.26135886] [ 0.0794107 -0.03143578 0.99634619 -0.12825966] [ 0. 0. 0. 1. ]] SLAMing on 5.911346184 meters Centerline goodness : 0.882725 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.26, Z:-0.13 [[ 0.98723586 -0.13578593 -0.08323181 0.59040204] [ 0.13776784 0.99029133 0.01852321 -0.25655607] [ 0.07990854 -0.02975344 0.99635805 -0.12833243] [ 0. 0. 0. 1. ]] SLAMing on 5.9413461839999995 meters Centerline goodness : 0.882301 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.25, Z:-0.13 [[ 0.98719313 -0.13597464 -0.08343027 0.59053649] [ 0.13785957 0.99030178 0.017237 -0.25209378] [ 0.08027735 -0.02851791 0.99636453 -0.12870075] [ 0. 0. 0. 1. ]] SLAMing on 5.971346184 meters Centerline goodness : 0.882751 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.25, Z:-0.13 [[ 0.9874914 -0.1332296 -0.08432442 0.59125023] [ 0.13524629 0.99063652 0.01864757 -0.24620969] [ 0.08105045 -0.02981888 0.99626385 -0.12916367] [ 0. 0. 0. 1. ]] SLAMing on 6.001346184 meters Centerline goodness : 0.883180 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.24, Z:-0.13 [[ 0.98760797 -0.13254061 -0.08404455 0.59007223] [ 0.13443568 0.99077165 0.01727974 -0.24249875] [ 0.08097869 -0.02836419 0.99631216 -0.1294912 ] [ 0. 0. 0. 1. ]] SLAMing on 6.031346183999999 meters Centerline goodness : 0.884323 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.24, Z:-0.13 [[ 0.98789437 -0.1297232 -0.08506821 0.59197734] [ 0.13187565 0.99106109 0.02016734 -0.24033894] [ 0.08169162 -0.03114163 0.99617101 -0.13036685] [ 0. 0. 0. 1. ]] SLAMing on 6.061346184 meters Centerline goodness : 0.884797 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.23, Z:-0.13 [[ 0.98806376 -0.12864127 -0.08474334 0.59041227] [ 0.130555 0.99128804 0.0174187 -0.23335652] [ 0.08176429 -0.02827445 0.99625055 -0.13128194] [ 0. 0. 0. 1. ]] SLAMing on 6.091346184 meters Centerline goodness : 0.885758 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.23, Z:-0.13 [[ 0.98834988 -0.13252357 -0.07484669 0.59767615] [ 0.13374406 0.99094901 0.01151455 -0.22505077] [ 0.0726433 -0.0213907 0.99712857 -0.13324537] [ 0. 0. 0. 1. ]] SLAMing on 6.121346184 meters Centerline goodness : 0.886123 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.22, Z:-0.13 [[ 0.98857981 -0.13012965 -0.07600151 0.60008082] [ 0.13160836 0.99119187 0.01476178 -0.22348275] [ 0.07341113 -0.02459563 0.99699843 -0.13399118] [ 0. 0. 0. 1. ]] SLAMing on 6.151346183999999 meters Centerline goodness : 0.887312 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.22, Z:-0.13 [[ 0.98862091 -0.12989441 -0.0758692 0.59878406] [ 0.13130882 0.99124349 0.01394054 -0.22081385] [ 0.07339405 -0.02374421 0.99702032 -0.13327827] [ 0. 0. 0. 1. ]] SLAMing on 6.181346184 meters Centerline goodness : 0.889924 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.22, Z:-0.13 [[ 0.98859639 -0.1298381 -0.07628394 0.59949784] [ 0.13125109 0.99125325 0.01378951 -0.21817915] [ 0.0738263 -0.02364461 0.99699078 -0.13336518] [ 0. 0. 0. 1. ]] SLAMing on 6.211346184 meters Centerline goodness : 0.888525 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.22, Z:-0.13 [[ 0.98840467 -0.13098014 -0.07681412 0.60090718] [ 0.13237789 0.99110909 0.01337402 -0.21624915] [ 0.07437944 -0.02338744 0.99695573 -0.13339776] [ 0. 0. 0. 1. ]] SLAMing on 6.241346184 meters Centerline goodness : 0.888903 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.21, Z:-0.13 [[ 0.98812081 -0.13232692 -0.07814631 0.60463442] [ 0.13379698 0.99091181 0.01386221 -0.21428909] [ 0.07560176 -0.02415328 0.99684552 -0.13385397] [ 0. 0. 0. 1. ]] SLAMing on 6.2713461839999995 meters Centerline goodness : 0.888211 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.13 [[ 0.98751571 -0.13608639 -0.07932976 0.6077558 ] [ 0.13744871 0.99043683 0.01194744 -0.20998164] [ 0.07694523 -0.02270206 0.99677683 -0.13379698] [ 0. 0. 0. 1. ]] SLAMing on 6.301346184 meters Centerline goodness : 0.888649 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.14 [[ 0.98746065 -0.13609011 -0.08000597 0.61036315] [ 0.13748719 0.99042847 0.01219497 -0.20901157] [ 0.07758057 -0.02304185 0.99671978 -0.13525898] [ 0. 0. 0. 1. ]] SLAMing on 6.331346184 meters Centerline goodness : 0.889916 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.14 [[ 0.98750049 -0.1359532 -0.07974651 0.60950088] [ 0.1372894 0.9904643 0.01149342 -0.20726667] [ 0.07742351 -0.02229811 0.99674891 -0.13524435] [ 0. 0. 0. 1. ]] SLAMing on 6.361346183999999 meters Centerline goodness : 0.891383 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.14 [[ 0.98780985 -0.13320519 -0.08054864 0.61064832] [ 0.13480844 0.99076144 0.0147804 -0.20684076] [ 0.07783566 -0.02545886 0.99664109 -0.13538933] [ 0. 0. 0. 1. ]] SLAMing on 6.391346184 meters Centerline goodness : 0.893254 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.14 [[ 0.98860326 -0.13382158 -0.06895919 0.61288393] [ 0.13498466 0.99076921 0.01247071 -0.19813523] [ 0.06665379 -0.02163702 0.99754153 -0.13714554] [ 0. 0. 0. 1. ]] SLAMing on 6.421346184 meters Centerline goodness : 0.895258 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.14 [[ 0.98899957 -0.13044975 -0.06973313 0.61377192] [ 0.13182674 0.99115153 0.01550363 -0.19617602] [ 0.06709365 -0.02452578 0.9974452 -0.13763209] [ 0. 0. 0. 1. ]] SLAMing on 6.451346184 meters Centerline goodness : 0.894092 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.19, Z:-0.14 [[ 0.98920679 -0.12902305 -0.06944765 0.61182749] [ 0.13032011 0.99136648 0.01446284 -0.19274018] [ 0.06698204 -0.02335716 0.99748075 -0.13730411] [ 0. 0. 0. 1. ]] SLAMing on 6.4813461839999995 meters Centerline goodness : 0.894092 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.19, Z:-0.14 [[ 0.98920679 -0.12902305 -0.06944765 0.61182749] [ 0.13032011 0.99136648 0.01446284 -0.19274018] [ 0.06698204 -0.02335716 0.99748075 -0.13730411] [ 0. 0. 0. 1. ]] SLAMing on 6.511346184 meters Centerline goodness : 0.895096 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.19, Z:-0.14 [[ 0.9897181 -0.1248397 -0.06980776 0.61127206] [ 0.12619472 0.99188699 0.0153324 -0.1863964 ] [ 0.06732731 -0.02398413 0.99744263 -0.13846698] [ 0. 0. 0. 1. ]] SLAMing on 6.541346184 meters Centerline goodness : 0.896236 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.18, Z:-0.14 [[ 0.98982228 -0.12406775 -0.06970682 0.60988972] [ 0.12531022 0.99202265 0.01372654 -0.18188813] [ 0.06744773 -0.02232181 0.99747308 -0.13833719] [ 0. 0. 0. 1. ]] SLAMing on 6.571346183999999 meters Centerline goodness : 0.894724 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.18, Z:-0.14 [[ 0.98991533 -0.12343487 -0.06950879 0.60872947] [ 0.12455803 0.99213919 0.01204639 -0.17750458] [ 0.06747545 -0.02058278 0.9975086 -0.13866176] [ 0. 0. 0. 1. ]] SLAMing on 6.601346184 meters Centerline goodness : 0.896251 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.17, Z:-0.14 [[ 0.98990853 -0.12305658 -0.07027223 0.61017113] [ 0.12404791 0.99222679 0.00990507 -0.16845859] [ 0.0685071 -0.01852224 0.99747867 -0.14041633] [ 0. 0. 0. 1. ]] SLAMing on 6.631346184 meters Centerline goodness : 0.894505 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.17, Z:-0.14 [[ 0.9899096 -0.12240238 -0.07139084 0.61370503] [ 0.12348672 0.99228568 0.01096173 -0.16522787] [ 0.06949836 -0.01966694 0.99738818 -0.14250605] [ 0. 0. 0. 1. ]] SLAMing on 6.661346184 meters Centerline goodness : 0.893079 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.14 [[ 0.98985176 -0.12213608 -0.07263796 0.61737043] [ 0.12335264 0.99228432 0.01248802 -0.16197104] [ 0.07055227 -0.02132137 0.99728019 -0.14408572] [ 0. 0. 0. 1. ]] SLAMing on 6.6913461839999995 meters Centerline goodness : 0.893142 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.14 [[ 0.98979012 -0.1225636 -0.07275767 0.61746432] [ 0.12369691 0.99225612 0.01126336 -0.15786392] [ 0.07081377 -0.02014826 0.99728605 -0.14386234] [ 0. 0. 0. 1. ]] SLAMing on 6.721346184 meters Centerline goodness : 0.892935 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.15 [[ 0.98999037 -0.12470197 -0.06609445 0.62731417] [ 0.12622957 0.99181042 0.01944704 -0.14840287] [ 0.06312808 -0.02759545 0.99762384 -0.15095807] [ 0. 0. 0. 1. ]] SLAMing on 6.751346184 meters Centerline goodness : 0.891493 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.15 [[ 0.99007446 -0.12328437 -0.06747976 0.62938434] [ 0.12501496 0.99191007 0.02203781 -0.144938 ] [ 0.06421694 -0.03025505 0.99747723 -0.15064422] [ 0. 0. 0. 1. ]] SLAMing on 6.781346183999999 meters Centerline goodness : 0.889596 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 0.99012466 -0.12668488 -0.06003422 0.63944522] [ 0.1284352 0.99137075 0.02623794 -0.13872615] [ 0.05619221 -0.03368934 0.99785142 -0.1588569 ] [ 0. 0. 0. 1. ]] SLAMing on 6.811346184 meters Centerline goodness : 0.889480 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.16 [[ 0.9902967 -0.12454032 -0.06166161 0.64143053] [ 0.12644092 0.99158085 0.02793044 -0.13055676] [ 0.05766401 -0.03545597 0.99770624 -0.1590805 ] [ 0. 0. 0. 1. ]] SLAMing on 6.841346184 meters Centerline goodness : 0.888249 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.16 [[ 0.99041415 -0.12285957 -0.06312956 0.64449647] [ 0.12499631 0.99167036 0.03107765 -0.12743642] [ 0.05878553 -0.03867071 0.99752135 -0.15980186] [ 0. 0. 0. 1. ]] SLAMing on 6.871346184 meters Centerline goodness : 0.888571 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.16 [[ 0.99035684 -0.12293377 -0.06387973 0.64593922] [ 0.12510417 0.99165444 0.03115153 -0.12374072] [ 0.05951704 -0.03884276 0.99747128 -0.16012352] [ 0. 0. 0. 1. ]] SLAMing on 6.901346183999999 meters Centerline goodness : 0.887383 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.16 [[ 0.99028013 -0.12311149 -0.06472109 0.64801993] [ 0.1253192 0.9916251 0.03122119 -0.1201723 ] [ 0.06033537 -0.03902852 0.99741487 -0.16101916] [ 0. 0. 0. 1. ]] SLAMing on 6.931346184 meters Centerline goodness : 0.888976 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.16 [[ 0.99033611 -0.12199444 -0.06596772 0.64949436] [ 0.12436431 0.99168494 0.03308324 -0.11515816] [ 0.06138322 -0.04096756 0.99727316 -0.16056883] [ 0. 0. 0. 1. ]] SLAMing on 6.961346184 meters Centerline goodness : 0.888570 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.11, Z:-0.16 [[ 0.99025816 -0.1224347 -0.06632137 0.64876723] [ 0.12477029 0.99166026 0.0322848 -0.1117897 ] [ 0.06181549 -0.04024523 0.99727587 -0.15908338] [ 0. 0. 0. 1. ]] SLAMing on 6.991346183999999 meters Centerline goodness : 0.887549 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.11, Z:-0.16 [[ 0.99023148 -0.12220471 -0.06713886 0.65018714] [ 0.12463268 0.99164617 0.03323511 -0.10917778] [ 0.0625165 -0.04127815 0.99718995 -0.15903173] [ 0. 0. 0. 1. ]] SLAMing on 7.0213461839999995 meters Centerline goodness : 0.889447 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.11, Z:-0.16 [[ 0.990221 -0.1212415 -0.06901352 0.65306842] [ 0.12396968 0.99160671 0.03671024 -0.10527229] [ 0.06398346 -0.04490683 0.99694006 -0.15833098] [ 0. 0. 0. 1. ]] SLAMing on 7.051346184 meters Centerline goodness : 0.888752 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.10, Z:-0.16 [[ 0.99007416 -0.12207475 -0.06964852 0.65287688] [ 0.12480025 0.991521 0.03620784 -0.1020025 ] [ 0.06463791 -0.0445406 0.99691428 -0.156578 ] [ 0. 0. 0. 1. ]] SLAMing on 7.081346184 meters Centerline goodness : 0.887566 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.16 [[ 0.99017981 -0.12675286 -0.0589717 0.65837666] [ 0.12879081 0.99115111 0.03213104 -0.09478195] [ 0.05437716 -0.03941052 0.99774242 -0.15856021] [ 0. 0. 0. 1. ]] SLAMing on 7.111346183999999 meters Centerline goodness : 0.884369 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.16 [[ 0.99004788 -0.12757632 -0.05940946 0.65920211] [ 0.1295824 0.99107702 0.03122091 -0.09219194] [ 0.0548963 -0.03860862 0.99774534 -0.1586378 ] [ 0. 0. 0. 1. ]] SLAMing on 7.141346184 meters Centerline goodness : 0.885011 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.16 [[ 0.98985905 -0.12852246 -0.06050658 0.66369682] [ 0.13050964 0.99098979 0.03010757 -0.08833093] [ 0.0560919 -0.03769895 0.99771363 -0.16218778] [ 0. 0. 0. 1. ]] SLAMing on 7.171346184 meters Centerline goodness : 0.884388 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.16 [[ 0.98976185 -0.12890345 -0.06128114 0.66582006] [ 0.13092246 0.99093425 0.03014322 -0.08642939] [ 0.05684001 -0.03785769 0.99766528 -0.16291235] [ 0. 0. 0. 1. ]] SLAMing on 7.201346183999999 meters Centerline goodness : 0.884550 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.16 [[ 0.98965301 -0.12947573 -0.06183008 0.66655961] [ 0.13151719 0.99085503 0.03015857 -0.08420385] [ 0.05735984 -0.03797823 0.99763095 -0.16241045] [ 0. 0. 0. 1. ]] SLAMing on 7.2313461839999995 meters Centerline goodness : 0.880966 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.16 [[ 0.98939186 -0.13091478 -0.06296879 0.66935409] [ 0.13298907 0.99066503 0.02994502 -0.08035152] [ 0.05846073 -0.03800152 0.99756615 -0.16312614] [ 0. 0. 0. 1. ]] SLAMing on 7.261346184 meters Centerline goodness : 0.881722 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.16 [[ 0.98925882 -0.13160085 -0.06362541 0.67076409] [ 0.13369793 0.99057124 0.02989108 -0.07888037] [ 0.05909181 -0.0380766 0.99752611 -0.16312975] [ 0. 0. 0. 1. ]] SLAMing on 7.291346184 meters Centerline goodness : 0.879863 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.16 [[ 0.98910655 -0.13235477 -0.06442404 0.67200431] [ 0.13450533 0.99045085 0.03025596 -0.07740601] [ 0.05980433 -0.03859174 0.99746384 -0.16240892] [ 0. 0. 0. 1. ]] SLAMing on 7.321346183999999 meters Centerline goodness : 0.879936 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.16 [[ 0.98897653 -0.13309367 -0.064896 0.67238895] [ 0.13526032 0.99034967 0.03020218 -0.07576825] [ 0.06025002 -0.0386471 0.99743488 -0.16157552] [ 0. 0. 0. 1. ]] SLAMing on 7.351346184 meters Centerline goodness : 0.880365 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.16 [[ 0.98882302 -0.1339805 -0.06540834 0.6734208 ] [ 0.13614228 0.99024175 0.02977501 -0.07276609] [ 0.0607808 -0.03834706 0.99741426 -0.16170417] [ 0. 0. 0. 1. ]] SLAMing on 7.381346184 meters Centerline goodness : 0.880398 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.16 [[ 0.98882563 -0.13373643 -0.06586688 0.67442968] [ 0.13593096 0.99026319 0.03002637 -0.07168463] [ 0.06120993 -0.0386442 0.99737654 -0.16202716] [ 0. 0. 0. 1. ]] SLAMing on 7.411346184 meters Centerline goodness : 0.881120 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.16 [[ 0.98885773 -0.13346947 -0.06592643 0.67365493] [ 0.13564669 0.99031161 0.02971351 -0.06999568] [ 0.06132186 -0.03832514 0.99738198 -0.16118982] [ 0. 0. 0. 1. ]] SLAMing on 7.4413461839999995 meters Centerline goodness : 0.878049 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.16 [[ 0.98898884 -0.1323641 -0.06618776 0.67461154] [ 0.13451135 0.99048489 0.02909275 -0.06576902] [ 0.06170714 -0.03767542 0.99738297 -0.16298351] [ 0. 0. 0. 1. ]] SLAMing on 7.471346184 meters Centerline goodness : 0.876206 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.16 [[ 0.98900237 -0.13233668 -0.06604024 0.67493097] [ 0.1343912 0.99054158 0.02768352 -0.06413463] [ 0.06175206 -0.0362543 0.99743286 -0.16424867] [ 0. 0. 0. 1. ]] SLAMing on 7.501346184 meters Centerline goodness : 0.876532 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.16 [[ 0.98900954 -0.13235493 -0.06589617 0.67489515] [ 0.13432132 0.99058762 0.02634312 -0.06295531] [ 0.06178929 -0.03490486 0.99747869 -0.16489869] [ 0. 0. 0. 1. ]] SLAMing on 7.531346183999999 meters Centerline goodness : 0.877041 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.17 [[ 0.9890239 -0.13195207 -0.06648585 0.67671626] [ 0.13397315 0.99061987 0.02689751 -0.06193533] [ 0.06231302 -0.0355096 0.99742476 -0.1658684 ] [ 0. 0. 0. 1. ]] SLAMing on 7.561346184 meters Centerline goodness : 0.875660 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.16 [[ 0.9891322 -0.13026668 -0.06817681 0.67831095] [ 0.13255198 0.99071813 0.03012557 -0.05858227] [ 0.06361965 -0.03883514 0.99721832 -0.16443485] [ 0. 0. 0. 1. ]] SLAMing on 7.591346184 meters Centerline goodness : 0.874997 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.16 [[ 0.98914074 -0.13005171 -0.06846269 0.67840186] [ 0.13233685 0.99075208 0.02995463 -0.05648509] [ 0.06393391 -0.03868948 0.99720388 -0.16423992] [ 0. 0. 0. 1. ]] SLAMing on 7.621346184 meters Centerline goodness : 0.875673 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.17 [[ 0.98921513 -0.12927881 -0.06885072 0.67987136] [ 0.13158351 0.99084971 0.0300437 -0.05475528] [ 0.06433671 -0.0387793 0.99717449 -0.16568307] [ 0. 0. 0. 1. ]] SLAMing on 7.651346183999999 meters Centerline goodness : 0.874394 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.17 [[ 0.98945773 -0.12746366 -0.06874891 0.67816782] [ 0.12970883 0.99112122 0.02922915 -0.05109731] [ 0.06441284 -0.03783835 0.99720572 -0.16513914] [ 0. 0. 0. 1. ]] SLAMing on 7.681346184 meters Centerline goodness : 0.874793 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.17 [[ 0.98964487 -0.12595838 -0.0688296 0.67777047] [ 0.12823602 0.99129818 0.02972269 -0.04957223] [ 0.06448683 -0.03824134 0.99718556 -0.16514889] [ 0. 0. 0. 1. ]] SLAMing on 7.711346184 meters Centerline goodness : 0.875083 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.17 [[ 0.99001933 -0.1227195 -0.06929389 0.67790422] [ 0.12509437 0.99165963 0.03102535 -0.04624654] [ 0.06490854 -0.03938397 0.99711373 -0.16591627] [ 0. 0. 0. 1. ]] SLAMing on 7.741346183999999 meters Centerline goodness : 0.873660 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:-0.17 [[ 0.99020019 -0.12096841 -0.06978705 0.67898186] [ 0.12347895 0.99180357 0.03284254 -0.04482534] [ 0.06524213 -0.04113792 0.99702113 -0.16669339] [ 0. 0. 0. 1. ]] SLAMing on 7.7713461839999995 meters Centerline goodness : 0.875991 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:-0.17 [[ 0.99039878 -0.12508885 -0.0588476 0.68342542] [ 0.12695636 0.99148045 0.02913077 -0.03746767] [ 0.05470231 -0.03632215 0.99784185 -0.16874942] [ 0. 0. 0. 1. ]] SLAMing on 7.801346184 meters Centerline goodness : 0.873816 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:-0.17 [[ 0.99035474 -0.12523021 -0.05928639 0.6838645 ] [ 0.12710324 0.99146727 0.02893828 -0.03522796] [ 0.05515657 -0.03619466 0.99782148 -0.16836783] [ 0. 0. 0. 1. ]] SLAMing on 7.831346184 meters Centerline goodness : 0.873505 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.17 [[ 0.99014163 -0.12637562 -0.06040485 0.68593614] [ 0.12824882 0.99134114 0.0281955 -0.03111147] [ 0.05631859 -0.03566439 0.99777566 -0.16855528] [ 0. 0. 0. 1. ]] SLAMing on 7.861346183999999 meters Centerline goodness : 0.871211 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.17 [[ 0.99008776 -0.12659431 -0.06082847 0.68750627] [ 0.12847427 0.99131628 0.02804286 -0.02965726] [ 0.05675018 -0.03557979 0.99775423 -0.1695382 ] [ 0. 0. 0. 1. ]] SLAMing on 7.891346184 meters Centerline goodness : 0.870990 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.17 [[ 0.99000039 -0.12716635 -0.06105686 0.68784394] [ 0.12901425 0.99126616 0.02732637 -0.02795896] [ 0.0570486 -0.03493032 0.99776016 -0.16943333] [ 0. 0. 0. 1. ]] SLAMing on 7.921346184 meters Centerline goodness : 0.872911 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.17 [[ 0.99000499 -0.12685049 -0.06163666 0.68929196] [ 0.12874728 0.99128692 0.02782779 -0.02655419] [ 0.05756965 -0.0354852 0.99771065 -0.17000632] [ 0. 0. 0. 1. ]] SLAMing on 7.951346183999999 meters Centerline goodness : 0.874853 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.17 [[ 0.9902577 -0.12448208 -0.06240117 0.68951684] [ 0.12655603 0.991492 0.03044975 -0.02409787] [ 0.05807981 -0.03805035 0.99758654 -0.16932125] [ 0. 0. 0. 1. ]] SLAMing on 7.9813461839999995 meters Centerline goodness : 0.873740 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.17 [[ 0.99034541 -0.12348922 -0.06297913 0.68945062] [ 0.1256401 0.99157871 0.03140415 -0.02197134] [ 0.05857069 -0.03901366 0.99752063 -0.16837604] [ 0. 0. 0. 1. ]] SLAMing on 8.011346184 meters Centerline goodness : 0.874897 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.17 [[ 0.99039683 -0.12289808 -0.06332596 0.68919237] [ 0.1250723 0.99164484 0.03158198 -0.01950507] [ 0.05891549 -0.03919901 0.99749306 -0.16760536] [ 0. 0. 0. 1. ]] SLAMing on 8.041346184 meters Centerline goodness : 0.874534 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.17 [[ 0.99051267 -0.12218671 -0.06288919 0.68715772] [ 0.1242629 0.99178902 0.03022041 -0.01634189] [ 0.05868027 -0.03774849 0.99756287 -0.16661896] [ 0. 0. 0. 1. ]] SLAMing on 8.071346184000001 meters Centerline goodness : 0.874497 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.17 [[ 0.9905432 -0.12194745 -0.06287279 0.68667946] [ 0.12401534 0.99182381 0.0300952 -0.01538145] [ 0.05868869 -0.03760778 0.99756769 -0.16615414] [ 0. 0. 0. 1. ]] SLAMing on 8.101346184 meters Centerline goodness : 0.873292 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.17 [[ 0.99059177 -0.12156292 -0.06285229 0.68637087] [ 0.12362549 0.99187457 0.0300263 -0.01488034] [ 0.0586915 -0.03751396 0.99757106 -0.1658979 ] [ 0. 0. 0. 1. ]] SLAMing on 8.131346184 meters Centerline goodness : 0.875510 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.17 [[ 0.990594 -0.12153375 -0.06287355 0.6868002 ] [ 0.12359433 0.99187987 0.02997945 -0.01429323] [ 0.0587195 -0.03746828 0.99757112 -0.16632306] [ 0. 0. 0. 1. ]] SLAMing on 8.161346184000001 meters Centerline goodness : 0.874840 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.99056605 -0.12159426 -0.063196 0.68641603] [ 0.12367279 0.99186715 0.03007648 -0.01335378] [ 0.0590249 -0.03760837 0.99754783 -0.16497075] [ 0. 0. 0. 1. ]] SLAMing on 8.191346184 meters Centerline goodness : 0.876105 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.9905443 -0.12131838 -0.06406122 0.68683724] [ 0.12351245 0.99184407 0.03146436 -0.01213738] [ 0.05972153 -0.0390792 0.99744983 -0.16339356] [ 0. 0. 0. 1. ]] SLAMing on 8.221346184 meters Centerline goodness : 0.874730 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.99045844 -0.12169659 -0.06466852 0.68669916] [ 0.12393406 0.99178144 0.03177928 -0.01076417] [ 0.0602696 -0.03949068 0.99740065 -0.16150783] [ 0. 0. 0. 1. ]] SLAMing on 8.251346184 meters Centerline goodness : 0.874953 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.99027933 -0.12280853 -0.0653063 0.68853007] [ 0.12509483 0.99162408 0.03213976 -0.01084492] [ 0.06081226 -0.03999682 0.99734754 -0.16158052] [ 0. 0. 0. 1. ]] SLAMing on 8.281346184 meters Centerline goodness : 0.875893 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.99011927 -0.1238973 -0.06567564 0.68907004] [ 0.12619162 0.9914895 0.032004 -0.01095246] [ 0.0611515 -0.03997549 0.99732766 -0.1608502 ] [ 0. 0. 0. 1. ]] SLAMing on 8.311346184000001 meters Centerline goodness : 0.875252 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98999916 -0.12477134 -0.06583146 0.68909677] [ 0.1270489 0.99139266 0.03160973 -0.01062996] [ 0.06132084 -0.03965742 0.99732996 -0.16009124] [ 0. 0. 0. 1. ]] SLAMing on 8.341346184 meters Centerline goodness : 0.873741 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98972357 -0.12737719 -0.06497932 0.68775353] [ 0.12941458 0.99119075 0.02815611 -0.0094705 ] [ 0.06082046 -0.03627604 0.99748931 -0.15971241] [ 0. 0. 0. 1. ]] SLAMing on 8.371346184 meters Centerline goodness : 0.873741 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98972357 -0.12737719 -0.06497932 0.68775353] [ 0.12941458 0.99119075 0.02815611 -0.0094705 ] [ 0.06082046 -0.03627604 0.99748931 -0.15971241] [ 0. 0. 0. 1. ]] SLAMing on 8.401346184000001 meters Centerline goodness : 0.875373 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98959679 -0.12832584 -0.06504357 0.68846027] [ 0.13030107 0.99110467 0.02707702 -0.00911753] [ 0.0609903 -0.03527058 0.997515 -0.16019489] [ 0. 0. 0. 1. ]] SLAMing on 8.431346184 meters Centerline goodness : 0.875021 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98945562 -0.1292873 -0.06528679 0.68916003] [ 0.13121995 0.9910065 0.02621903 -0.00865436] [ 0.06130984 -0.0345095 0.99752203 -0.1602003 ] [ 0. 0. 0. 1. ]] SLAMing on 8.461346184 meters Centerline goodness : 0.875723 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98923209 -0.13157825 -0.06408611 0.6879709 ] [ 0.13322119 0.99084085 0.02205745 -0.00802254] [ 0.06059685 -0.03035757 0.99770058 -0.16104668] [ 0. 0. 0. 1. ]] SLAMing on 8.491346184000001 meters Centerline goodness : 0.875924 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98923698 -0.13150446 -0.06416215 0.68904117] [ 0.13313098 0.99085974 0.02175134 -0.0084214 ] [ 0.0607153 -0.0300592 0.99770241 -0.16217216] [ 0. 0. 0. 1. ]] SLAMing on 8.521346184 meters Centerline goodness : 0.877817 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98919948 -0.13171914 -0.06429976 0.68895895] [ 0.13334925 0.99083071 0.02173641 -0.00842452] [ 0.06084707 -0.03007597 0.99769388 -0.16150282] [ 0. 0. 0. 1. ]] SLAMing on 8.551346184 meters Centerline goodness : 0.881691 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98932708 -0.13080533 -0.06420197 0.68714468] [ 0.13251248 0.99091268 0.02307602 -0.00898406] [ 0.06060008 -0.0313373 0.99767009 -0.15911517] [ 0. 0. 0. 1. ]] SLAMing on 8.581346184000001 meters Centerline goodness : 0.883158 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98935711 -0.13054733 -0.06426425 0.68648074] [ 0.13227821 0.99093541 0.02344097 -0.00901912] [ 0.06062157 -0.03169225 0.99765757 -0.15791936] [ 0. 0. 0. 1. ]] SLAMing on 8.611346184 meters Centerline goodness : 0.882134 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98948197 -0.12953723 -0.0643858 0.68639753] [ 0.13132441 0.99104086 0.02432916 -0.00915885] [ 0.06065743 -0.03252869 0.99762847 -0.15763394] [ 0. 0. 0. 1. ]] SLAMing on 8.641346184000001 meters Centerline goodness : 0.883366 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.16 [[ 0.98974074 -0.12812056 -0.06323284 0.68439026] [ 0.12984369 0.99124587 0.02392136 -0.00963851] [ 0.05961447 -0.03188633 0.99771207 -0.15815164] [ 0. 0. 0. 1. ]] SLAMing on 8.671346184 meters Centerline goodness : 0.884685 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.16 [[ 0.98986362 -0.12758915 -0.06237811 0.68313665] [ 0.12920705 0.99135975 0.02261386 -0.00977986] [ 0.05895387 -0.03044433 0.99779636 -0.15883828] [ 0. 0. 0. 1. ]] SLAMing on 8.701346184 meters Centerline goodness : 0.886666 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.16 [[ 0.99003807 -0.12633592 -0.06215996 0.68296312] [ 0.12796271 0.99151434 0.02290995 -0.00986032] [ 0.05873814 -0.03063588 0.99780322 -0.15948503] [ 0. 0. 0. 1. ]] SLAMing on 8.731346184000001 meters Centerline goodness : 0.885798 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.16 [[ 0.9902323 -0.12492897 -0.0619092 0.68139474] [ 0.12654212 0.99169815 0.02284429 -0.00893955] [ 0.05854132 -0.03045527 0.99782032 -0.1586908 ] [ 0. 0. 0. 1. ]] SLAMing on 8.761346184 meters Centerline goodness : 0.887488 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.16 [[ 0.99071201 -0.12110302 -0.06183672 0.68073587] [ 0.12279671 0.99213302 0.02435242 -0.00682658] [ 0.0584011 -0.03171958 0.99778915 -0.15954825] [ 0. 0. 0. 1. ]] SLAMing on 8.791346184 meters Centerline goodness : 0.886914 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.16 [[ 0.99089383 -0.11972621 -0.06160404 0.68082393] [ 0.12138796 0.99231578 0.02396552 -0.00565607] [ 0.05826136 -0.03122527 0.99781291 -0.16090351] [ 0. 0. 0. 1. ]] SLAMing on 8.821346184000001 meters Centerline goodness : 0.886437 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.16 [[ 0.99110109 -0.11844756 -0.06073551 0.67984434] [ 0.12000718 0.99251357 0.02269565 -0.00455299] [ 0.05759257 -0.02978238 0.99789584 -0.16249092] [ 0. 0. 0. 1. ]] SLAMing on 8.851346184 meters Centerline goodness : 0.885568 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.16 [[ 0.99135686 -0.11677904 -0.05978493 0.67861569] [ 0.11817282 0.99278507 0.02032193 -0.00245844] [ 0.05698041 -0.02721124 0.9980044 -0.16442072] [ 0. 0. 0. 1. ]] SLAMing on 8.881346184 meters Centerline goodness : 0.885714 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.16 [[ 0.99140357 -0.11639382 -0.05976155 0.67850426] [ 0.11776126 0.99284289 0.01988153 -0.00167246] [ 0.05701974 -0.02674822 0.99801467 -0.16455964] [ 0. 0. 0. 1. ]] SLAMing on 8.911346184000001 meters Centerline goodness : 0.885374 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.16 [[ 0.9914521 -0.11590652 -0.05990332 0.67883245] [ 0.11730499 0.99288701 0.02036959 -0.00105757] [ 0.05711626 -0.02722243 0.99799633 -0.16479033] [ 0. 0. 0. 1. ]] SLAMing on 8.941346184 meters Centerline goodness : 0.886998 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.16 [[ 9.91475413e-01 -1.15649889e-01 -6.00134013e-02 6.77918966e-01] [ 1.17070796e-01 9.92907509e-01 2.07149033e-02 -2.62153045e-04] [ 5.71920805e-02 -2.75641339e-02 9.97982607e-01 -1.63208994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.971346184 meters Centerline goodness : 0.887893 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.16 [[ 9.91624921e-01 -1.14249956e-01 -6.02242742e-02 6.76298126e-01] [ 1.15812692e-01 9.93001983e-01 2.31188822e-02 -3.51058713e-04] [ 5.71614924e-02 -2.98999950e-02 9.97917108e-01 -1.60417814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.001346184 meters Centerline goodness : 0.887196 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.16 [[ 9.91664237e-01 -1.13986531e-01 -6.00758868e-02 6.76254128e-01] [ 1.15590968e-01 9.93008514e-01 2.39336244e-02 -7.15976221e-04] [ 5.69277563e-02 -3.06783493e-02 9.97906844e-01 -1.60541161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.031346184 meters Centerline goodness : 0.886692 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.16 [[ 9.91665780e-01 -1.14090383e-01 -5.98528602e-02 6.75848754e-01] [ 1.15663882e-01 9.93010200e-01 2.35076382e-02 -8.47075678e-04] [ 5.67525052e-02 -3.02345345e-02 9.97930371e-01 -1.60400978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.061346184000001 meters Centerline goodness : 0.887441 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 9.91660248e-01 -1.14525465e-01 -5.91089738e-02 6.75008160e-01] [ 1.15962198e-01 9.93021640e-01 2.14660503e-02 2.08215350e-04] [ 5.62380807e-02 -2.81414353e-02 9.98020710e-01 -1.61185932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.091346184 meters Centerline goodness : 0.888857 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 9.91600858e-01 -1.14951927e-01 -5.92772514e-02 6.75418075e-01] [ 1.16360878e-01 9.92987494e-01 2.08801936e-02 8.63567207e-04] [ 5.64613509e-02 -2.76023709e-02 9.98023159e-01 -1.61115410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.121346184 meters Centerline goodness : 0.887299 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 0.99153385 -0.11540794 -0.05951159 0.67561145] [ 0.11681105 0.99293942 0.02065173 0.001647 ] [ 0.05670803 -0.0274285 0.99801397 -0.16055134] [ 0. 0. 0. 1. ]] SLAMing on 9.151346184000001 meters Centerline goodness : 0.888628 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 0.9914147 -0.11630723 -0.05974547 0.67593227] [ 0.11772269 0.99283006 0.02073278 0.00223901] [ 0.05690572 -0.02758818 0.99799831 -0.16001501] [ 0. 0. 0. 1. ]] SLAMing on 9.181346184 meters Centerline goodness : 0.885494 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 0.99111609 -0.11880619 -0.05978278 0.67768406] [ 0.120135 0.99257316 0.0191341 0.00220605] [ 0.05706553 -0.02614612 0.99802801 -0.16125084] [ 0. 0. 0. 1. ]] SLAMing on 9.211346184 meters Centerline goodness : 0.885686 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 0.99093376 -0.12070538 -0.05899573 0.67616931] [ 0.12183747 0.99242156 0.01597123 0.00244314] [ 0.05662082 -0.02301433 0.99813046 -0.16058519] [ 0. 0. 0. 1. ]] SLAMing on 9.241346184000001 meters Centerline goodness : 0.887908 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 0.99084288 -0.12140211 -0.05909248 0.67733531] [ 0.12255536 0.99232804 0.01628613 0.00216103] [ 0.05666195 -0.0233791 0.99811965 -0.16137367] [ 0. 0. 0. 1. ]] SLAMing on 9.271346184 meters Centerline goodness : 0.887142 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 0.99080918 -0.12141154 -0.05963553 0.67785791] [ 0.1226471 0.99229603 0.01750102 0.00278482] [ 0.05705128 -0.0246543 0.99806679 -0.16054558] [ 0. 0. 0. 1. ]] SLAMing on 9.301346184 meters Centerline goodness : 0.889599 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 0.99080951 -0.12100503 -0.06045072 0.67880154] [ 0.12236844 0.99229567 0.01937193 0.00370932] [ 0.05764088 -0.02659116 0.99798319 -0.15963151] [ 0. 0. 0. 1. ]] SLAMing on 9.331346184000001 meters Centerline goodness : 0.891171 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.99085866 -0.12030957 -0.06103057 0.67857755] [ 0.12181041 0.99232084 0.0214843 0.00510886] [ 0.05797714 -0.02872206 0.99790465 -0.15791972] [ 0. 0. 0. 1. ]] SLAMing on 9.361346184 meters Centerline goodness : 0.890779 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.99082924 -0.12059408 -0.06094652 0.67839335] [ 0.12204756 0.9923083 0.02070329 0.00572473] [ 0.05798104 -0.0279518 0.9979263 -0.15781115] [ 0. 0. 0. 1. ]] SLAMing on 9.391346184 meters Centerline goodness : 0.890869 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.99079429 -0.12090315 -0.0609024 0.67984948] [ 0.12233607 0.99227983 0.02036242 0.00557551] [ 0.05797034 -0.02762553 0.997936 -0.15962177] [ 0. 0. 0. 1. ]] SLAMing on 9.421346184 meters Centerline goodness : 0.890357 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.99056366 -0.12351044 -0.05940374 0.67755633] [ 0.12467381 0.99206422 0.01627931 0.0051015 ] [ 0.05692166 -0.02353178 0.99810129 -0.15935745] [ 0. 0. 0. 1. ]] SLAMing on 9.451346184 meters Centerline goodness : 0.893665 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 0.99043605 -0.12408898 -0.06031874 0.67967746] [ 0.12539064 0.991939 0.01828142 0.00481709] [ 0.05756399 -0.02566998 0.99801174 -0.15924024] [ 0. 0. 0. 1. ]] SLAMing on 9.481346184000001 meters Centerline goodness : 0.892146 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.99018133 -0.12560851 -0.06134677 0.68090339] [ 0.12697281 0.99172696 0.01885604 0.00566099] [ 0.05847076 -0.02646027 0.99793839 -0.15758961] [ 0. 0. 0. 1. ]] SLAMing on 9.511346184 meters Centerline goodness : 0.893830 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.98994563 -0.12705279 -0.06217109 0.68271057] [ 0.12847506 0.99152249 0.01942426 0.00615198] [ 0.05917613 -0.0272164 0.99787647 -0.15714822] [ 0. 0. 0. 1. ]] SLAMing on 9.541346184 meters Centerline goodness : 0.895050 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.98975249 -0.12840457 -0.06246821 0.68422482] [ 0.12979707 0.99136324 0.01875199 0.00673536] [ 0.05952084 -0.02666802 0.99787078 -0.15766102] [ 0. 0. 0. 1. ]] SLAMing on 9.571346184000001 meters Centerline goodness : 0.895932 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.98967913 -0.12888766 -0.06263535 0.6843658 ] [ 0.13024564 0.99131677 0.01808699 0.00754868] [ 0.05976028 -0.0260583 0.99787257 -0.15731177] [ 0. 0. 0. 1. ]] SLAMing on 9.601346184 meters Centerline goodness : 0.895229 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.98963209 -0.12924279 -0.06264684 0.68396059] [ 0.13056939 0.99128385 0.01754865 0.00863427] [ 0.05983276 -0.02554647 0.99788147 -0.1567026 ] [ 0. 0. 0. 1. ]] SLAMing on 9.631346184 meters Centerline goodness : 0.896625 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.16 [[ 0.98959476 -0.12929072 -0.06313579 0.68603852] [ 0.13064638 0.99126886 0.0178204 0.01077054] [ 0.06028053 -0.02588343 0.99784583 -0.15820999] [ 0. 0. 0. 1. ]] SLAMing on 9.661346184000001 meters Centerline goodness : 0.897553 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.16 [[ 0.98950087 -0.12985184 -0.06345499 0.68643068] [ 0.13118778 0.99120582 0.01734345 0.01207966] [ 0.06064487 -0.02548587 0.99783399 -0.15781823] [ 0. 0. 0. 1. ]] SLAMing on 9.691346184 meters Centerline goodness : 0.899150 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.16 [[ 0.98947875 -0.1299313 -0.06363697 0.68648749] [ 0.13125624 0.99120126 0.01708422 0.01354143] [ 0.06085727 -0.02525722 0.99782687 -0.15745498] [ 0. 0. 0. 1. ]] SLAMing on 9.721346184 meters Centerline goodness : 0.896602 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.16 [[ 0.98954147 -0.12937594 -0.06379299 0.68603941] [ 0.13071306 0.99127043 0.0172346 0.01612975] [ 0.06100636 -0.02539293 0.99781432 -0.15669575] [ 0. 0. 0. 1. ]] SLAMing on 9.751346184 meters Centerline goodness : 0.898125 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.16 [[ 0.98954313 -0.12924416 -0.06403397 0.68734664] [ 0.13061381 0.99127587 0.01766848 0.01729876] [ 0.06119178 -0.02584744 0.9977913 -0.15787583] [ 0. 0. 0. 1. ]] SLAMing on 9.781346184 meters Centerline goodness : 0.898332 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.16 [[ 0.98950636 -0.12948431 -0.0641169 0.68748075] [ 0.13084555 0.99124849 0.01748952 0.01860071] [ 0.06129116 -0.0256954 0.99778913 -0.15779706] [ 0. 0. 0. 1. ]] SLAMing on 9.811346184000001 meters Centerline goodness : 0.897963 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.16 [[ 0.98938813 -0.13014951 -0.06459291 0.68910519] [ 0.13152945 0.99115648 0.0175739 0.02007837] [ 0.06173445 -0.02588328 0.99775694 -0.15846078] [ 0. 0. 0. 1. ]] SLAMing on 9.841346184 meters Centerline goodness : 0.898271 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.16 [[ 0.98909612 -0.13217655 -0.06494782 0.68999421] [ 0.13354064 0.9908956 0.01711172 0.02204051] [ 0.06209474 -0.02559831 0.99774194 -0.15791243] [ 0. 0. 0. 1. ]] SLAMing on 9.871346184 meters Centerline goodness : 0.897417 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.16 [[ 0.98888531 -0.13332789 -0.06579912 0.69190865] [ 0.1347454 0.99072434 0.01757723 0.02331959] [ 0.06284526 -0.02624799 0.99767806 -0.15770455] [ 0. 0. 0. 1. ]] SLAMing on 9.901346184000001 meters Centerline goodness : 0.897415 Centerline is valid? [False, False] Translation: X:0.69, Y:0.03, Z:-0.16 [[ 0.98862352 -0.13474361 -0.06684086 0.69417123] [ 0.13624882 0.99050235 0.01847567 0.02505702] [ 0.06371655 -0.02737247 0.99759258 -0.15744909] [ 0. 0. 0. 1. ]] SLAMing on 9.931346184 meters Centerline goodness : 0.897855 Centerline is valid? [False, False] Translation: X:0.69, Y:0.03, Z:-0.16 [[ 0.98834809 -0.13639748 -0.06755573 0.69496026] [ 0.13791047 0.99027671 0.01824134 0.02711857] [ 0.06441079 -0.02734543 0.99754873 -0.15615069] [ 0. 0. 0. 1. ]] SLAMing on 9.961346184 meters Centerline goodness : 0.896770 Centerline is valid? [False, False] Translation: X:0.70, Y:0.03, Z:-0.16 [[ 0.98785193 -0.13916148 -0.06915662 0.6996181 ] [ 0.1407339 0.98987671 0.0183864 0.03139299] [ 0.06589785 -0.02789572 0.99743636 -0.15754573] [ 0. 0. 0. 1. ]] SLAMing on 9.991346184000001 meters Centerline goodness : 0.894219 Centerline is valid? [False, False] Translation: X:0.70, Y:0.03, Z:-0.16 [[ 0.98766149 -0.14049904 -0.06917223 0.70028227] [ 0.1419737 0.98972682 0.01686062 0.03348594] [ 0.06609271 -0.02647323 0.99746224 -0.15804993] [ 0. 0. 0. 1. ]] SLAMing on 10.021346184 meters Centerline goodness : 0.892952 Centerline is valid? [False, False] Translation: X:0.70, Y:0.03, Z:-0.16 [[ 0.98742902 -0.14206734 -0.06928776 0.70137704] [ 0.14346807 0.98953117 0.01565166 0.03482694] [ 0.06633881 -0.02539549 0.99747393 -0.15878991] [ 0. 0. 0. 1. ]] SLAMing on 10.051346184 meters Centerline goodness : 0.895829 Centerline is valid? [False, False] Translation: X:0.70, Y:0.04, Z:-0.16 [[ 0.98704918 -0.14398672 -0.07072303 0.70482684] [ 0.14547773 0.98922596 0.01637754 0.03724429] [ 0.06760291 -0.02645406 0.99736153 -0.1591266 ] [ 0. 0. 0. 1. ]] SLAMing on 10.081346184000001 meters Centerline goodness : 0.894019 Centerline is valid? [False, False] Translation: X:0.71, Y:0.04, Z:-0.16 [[ 0.98690729 -0.14445469 -0.07174145 0.70630285] [ 0.14605997 0.98911863 0.01763032 0.03895498] [ 0.06841402 -0.02787804 0.99726743 -0.15834917] [ 0. 0. 0. 1. ]] SLAMing on 10.111346184 meters Centerline goodness : 0.893246 Centerline is valid? [False, False] Translation: X:0.71, Y:0.04, Z:-0.16 [[ 0.98680614 -0.14493448 -0.07216401 0.70611428] [ 0.14656102 0.98904235 0.01775098 0.04105602] [ 0.06880054 -0.02809321 0.99723481 -0.1567162 ] [ 0. 0. 0. 1. ]] SLAMing on 10.141346184 meters Centerline goodness : 0.891812 Centerline is valid? [False, False] Translation: X:0.71, Y:0.04, Z:-0.16 [[ 0.98668001 -0.14548816 -0.07277192 0.70643578] [ 0.14713574 0.98895635 0.01778777 0.04322413] [ 0.06938035 -0.02825818 0.99718997 -0.15549471] [ 0. 0. 0. 1. ]] SLAMing on 10.171346184 meters Centerline goodness : 0.893222 Centerline is valid? [False, False] Translation: X:0.71, Y:0.05, Z:-0.16 [[ 0.98667466 -0.14495039 -0.0739088 0.70925852] [ 0.14676195 0.98897624 0.01967029 0.0457885 ] [ 0.07024283 -0.03025518 0.997071 -0.15666073] [ 0. 0. 0. 1. ]] SLAMing on 10.201346184 meters Centerline goodness : 0.893017 Centerline is valid? [False, False] Translation: X:0.71, Y:0.05, Z:-0.16 [[ 0.98658587 -0.14551549 -0.07398352 0.70966141] [ 0.14728424 0.98891146 0.01901255 0.04713197] [ 0.07039653 -0.02965412 0.99707821 -0.15675216] [ 0. 0. 0. 1. ]] SLAMing on 10.231346184000001 meters Centerline goodness : 0.893157 Centerline is valid? [False, False] Translation: X:0.71, Y:0.05, Z:-0.16 [[ 0.98658826 -0.14529197 -0.07438981 0.71174778] [ 0.14708694 0.98893685 0.01921846 0.04829262] [ 0.07077453 -0.02990248 0.99704403 -0.15843374] [ 0. 0. 0. 1. ]] SLAMing on 10.261346184 meters Centerline goodness : 0.890831 Centerline is valid? [False, False] Translation: X:0.71, Y:0.05, Z:-0.16 [[ 0.98658347 -0.14530495 -0.07442803 0.71251077] [ 0.14704357 0.98895869 0.01840915 0.05137771] [ 0.07093131 -0.02910633 0.99705645 -0.15957428] [ 0. 0. 0. 1. ]] SLAMing on 10.291346184 meters Centerline goodness : 0.890831 Centerline is valid? [False, False] Translation: X:0.71, Y:0.05, Z:-0.16 [[ 0.98658347 -0.14530495 -0.07442803 0.71251077] [ 0.14704357 0.98895869 0.01840915 0.05137771] [ 0.07093131 -0.02910633 0.99705645 -0.15957428] [ 0. 0. 0. 1. ]] SLAMing on 10.321346184000001 meters Centerline goodness : 0.893433 Centerline is valid? [False, False] Translation: X:0.71, Y:0.05, Z:-0.16 [[ 0.98652377 -0.1456062 -0.07463029 0.71241066] [ 0.14729526 0.98893558 0.01762184 0.05373817] [ 0.0712387 -0.02837705 0.99705556 -0.15905614] [ 0. 0. 0. 1. ]] SLAMing on 10.351346184 meters Centerline goodness : 0.892275 Centerline is valid? [False, False] Translation: X:0.72, Y:0.06, Z:-0.16 [[ 0.98653772 -0.14495928 -0.07569764 0.71613321] [ 0.14674112 0.98900186 0.01850325 0.0559223 ] [ 0.07218288 -0.02936211 0.99695913 -0.16147789] [ 0. 0. 0. 1. ]] SLAMing on 10.381346184 meters Centerline goodness : 0.889453 Centerline is valid? [False, False] Translation: X:0.72, Y:0.06, Z:-0.16 [[ 0.98670334 -0.14399587 -0.07537716 0.7173056 ] [ 0.14569966 0.98917255 0.01758596 0.05867753] [ 0.07202871 -0.02833455 0.99700001 -0.16414041] [ 0. 0. 0. 1. ]] SLAMing on 10.411346184000001 meters Centerline goodness : 0.890235 Centerline is valid? [False, False] Translation: X:0.72, Y:0.06, Z:-0.16 [[ 0.98683777 -0.1433399 -0.07486581 0.71692997] [ 0.1449578 0.98929832 0.01661522 0.05988115] [ 0.071683 -0.02724891 0.99705519 -0.16496811] [ 0. 0. 0. 1. ]] SLAMing on 10.441346184 meters Centerline goodness : 0.890232 Centerline is valid? [False, False] Translation: X:0.72, Y:0.06, Z:-0.17 [[ 0.98698519 -0.14246519 -0.07459163 0.71682549] [ 0.14403182 0.98944313 0.01603495 0.06113108] [ 0.07151976 -0.02656983 0.99708524 -0.16574874] [ 0. 0. 0. 1. ]] SLAMing on 10.471346184 meters Centerline goodness : 0.890130 Centerline is valid? [False, False] Translation: X:0.72, Y:0.06, Z:-0.17 [[ 0.98706655 -0.14169095 -0.07498864 0.71749931] [ 0.14327176 0.98955223 0.01611139 0.06278098] [ 0.07192234 -0.02664677 0.99705422 -0.16591931] [ 0. 0. 0. 1. ]] SLAMing on 10.501346184 meters Centerline goodness : 0.890952 Centerline is valid? [False, False] Translation: X:0.72, Y:0.06, Z:-0.17 [[ 0.98750535 -0.13852981 -0.07511769 0.71719429] [ 0.14026421 0.98994495 0.01830155 0.06456703] [ 0.07182707 -0.0286092 0.99700671 -0.16618317] [ 0. 0. 0. 1. ]] SLAMing on 10.531346184 meters Centerline goodness : 0.888502 Centerline is valid? [False, False] Translation: X:0.72, Y:0.07, Z:-0.17 [[ 0.98772494 -0.13708678 -0.07487763 0.71773671] [ 0.13885208 0.9901332 0.01887734 0.06552664] [ 0.07155099 -0.02904254 0.99701404 -0.16776405] [ 0. 0. 0. 1. ]] SLAMing on 10.561346184 meters Centerline goodness : 0.889435 Centerline is valid? [False, False] Translation: X:0.72, Y:0.07, Z:-0.17 [[ 0.98783359 -0.13650179 -0.07451213 0.7169413 ] [ 0.1382064 0.99023626 0.01819708 0.06675681] [ 0.07130068 -0.02827374 0.99705407 -0.16771661] [ 0. 0. 0. 1. ]] SLAMing on 10.591346184 meters Centerline goodness : 0.889828 Centerline is valid? [False, False] Translation: X:0.72, Y:0.07, Z:-0.17 [[ 0.98796536 -0.13574599 -0.07414501 0.71653899] [ 0.13745162 0.99033787 0.01838361 0.0676089 ] [ 0.07093311 -0.02835372 0.99707801 -0.16824779] [ 0. 0. 0. 1. ]] SLAMing on 10.621346184 meters Centerline goodness : 0.889920 Centerline is valid? [False, False] Translation: X:0.72, Y:0.07, Z:-0.17 [[ 0.98793302 -0.13608273 -0.07395838 0.71570666] [ 0.13767077 0.99033569 0.01679211 0.07189995] [ 0.07095851 -0.02677139 0.99711994 -0.16655746] [ 0. 0. 0. 1. ]] SLAMing on 10.651346184000001 meters Centerline goodness : 0.889154 Centerline is valid? [False, False] Translation: X:0.72, Y:0.07, Z:-0.17 [[ 0.98790071 -0.13632512 -0.07394357 0.71547798] [ 0.13786315 0.99032063 0.01608699 0.07346146] [ 0.07103478 -0.02608644 0.99713267 -0.16587935] [ 0. 0. 0. 1. ]] SLAMing on 10.681346184 meters Centerline goodness : 0.890596 Centerline is valid? [False, False] Translation: X:0.72, Y:0.07, Z:-0.17 [[ 0.98788097 -0.13643201 -0.07401007 0.715767 ] [ 0.13794371 0.99031579 0.01568965 0.07422233] [ 0.07115277 -0.02570874 0.99713406 -0.16571786] [ 0. 0. 0. 1. ]] SLAMing on 10.711346184 meters Centerline goodness : 0.890744 Centerline is valid? [False, False] Translation: X:0.72, Y:0.08, Z:-0.16 [[ 0.98741801 -0.13985059 -0.07380714 0.71738621] [ 0.14098619 0.98995713 0.01038128 0.07889949] [ 0.07161408 -0.02065645 0.9972185 -0.16424162] [ 0. 0. 0. 1. ]] SLAMing on 10.741346184000001 meters Centerline goodness : 0.888875 Centerline is valid? [False, False] Translation: X:0.72, Y:0.08, Z:-0.16 [[ 0.9873704 -0.14022047 -0.07374227 0.71705609] [ 0.14131588 0.98991578 0.00982692 0.0800577 ] [ 0.0716207 -0.02012376 0.99722892 -0.16384034] [ 0. 0. 0. 1. ]] SLAMing on 10.771346184 meters Centerline goodness : 0.889657 Centerline is valid? [False, False] Translation: X:0.72, Y:0.08, Z:-0.16 [[ 0.98726114 -0.14120759 -0.07332024 0.71507329] [ 0.14219115 0.98980403 0.00834626 0.08285499] [ 0.07139412 -0.01866543 0.99727352 -0.16188941] [ 0. 0. 0. 1. ]] SLAMing on 10.801346184 meters Centerline goodness : 0.888703 Centerline is valid? [False, False] Translation: X:0.71, Y:0.08, Z:-0.16 [[ 0.98719808 -0.14174393 -0.07313413 0.71409298] [ 0.14266109 0.98974358 0.00744665 0.08475603] [ 0.07132851 -0.01778471 0.99729431 -0.16078877] [ 0. 0. 0. 1. ]] SLAMing on 10.831346184000001 meters Centerline goodness : 0.890038 Centerline is valid? [False, False] Translation: X:0.71, Y:0.09, Z:-0.16 [[ 0.98714769 -0.14214477 -0.07303632 0.71363975] [ 0.14300727 0.98969901 0.00669198 0.08629703] [ 0.07133275 -0.0170507 0.99730683 -0.16010829] [ 0. 0. 0. 1. ]] SLAMing on 10.861346184 meters Centerline goodness : 0.886426 Centerline is valid? [False, False] Translation: X:0.71, Y:0.09, Z:-0.16 [[ 0.98712525 -0.14237876 -0.07288372 0.71356466] [ 0.14321276 0.98967174 0.00632092 0.08675295] [ 0.07123099 -0.01667741 0.99732041 -0.16025825] [ 0. 0. 0. 1. ]] SLAMing on 10.891346184 meters Centerline goodness : 0.886357 Centerline is valid? [False, False] Translation: X:0.71, Y:0.09, Z:-0.16 [[ 0.98708006 -0.1428028 -0.07266576 0.7129116 ] [ 0.14358818 0.98962126 0.00567449 0.08776188] [ 0.07110125 -0.01603512 0.99734021 -0.15972891] [ 0. 0. 0. 1. ]] SLAMing on 10.921346184 meters Centerline goodness : 0.884685 Centerline is valid? [False, False] Translation: X:0.71, Y:0.09, Z:-0.16 [[ 0.98700961 -0.14339122 -0.07246365 0.71187641] [ 0.14410733 0.98955078 0.00472556 0.08944735] [ 0.07102886 -0.01510672 0.99735986 -0.15862217] [ 0. 0. 0. 1. ]] SLAMing on 10.951346184 meters Centerline goodness : 0.887789 Centerline is valid? [False, False] Translation: X:0.71, Y:0.09, Z:-0.16 [[ 0.98694342 -0.14397438 -0.07220855 0.71074698] [ 0.1446284 0.98947842 0.00388474 0.090852 ] [ 0.07088949 -0.01427742 0.99738199 -0.15756629] [ 0. 0. 0. 1. ]] SLAMing on 10.981346184000001 meters Centerline goodness : 0.888281 Centerline is valid? [False, False] Translation: X:0.71, Y:0.09, Z:-0.16 [[ 0.98685501 -0.14474699 -0.07187133 0.70938625] [ 0.14531681 0.98938139 0.00273609 0.092814 ] [ 0.07071212 -0.01314423 0.99741016 -0.15626884] [ 0. 0. 0. 1. ]] SLAMing on 11.011346184 meters Centerline goodness : 0.888019 Centerline is valid? [False, False] Translation: X:0.71, Y:0.09, Z:-0.16 [[ 0.98682369 -0.14495407 -0.0718841 0.709329 ] [ 0.14549288 0.98935665 0.00228915 0.09377768] [ 0.07078719 -0.01271761 0.99741036 -0.15594797] [ 0. 0. 0. 1. ]] SLAMing on 11.041346184 meters Centerline goodness : 0.887618 Centerline is valid? [False, False] Translation: X:0.71, Y:0.09, Z:-0.16 [[ 0.98677654 -0.14529843 -0.07183617 0.70894248] [ 0.14579349 0.98931364 0.00166877 0.09479735] [ 0.07082603 -0.01211995 0.99741505 -0.15527745] [ 0. 0. 0. 1. ]] SLAMing on 11.071346184000001 meters Centerline goodness : 0.887899 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 0.986734 -0.14566605 -0.07167573 0.70833805] [ 0.14611527 0.98926703 0.0010363 0.09605741] [ 0.07075549 -0.01149547 0.99742745 -0.15469254] [ 0. 0. 0. 1. ]] SLAMing on 11.101346184 meters Centerline goodness : 0.889717 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86683992e-01 -1.46184101e-01 -7.13085472e-02 7.06974683e-01] [ 1.46552607e-01 9.89202876e-01 -6.48179454e-05 9.88269777e-02] [ 7.05480953e-02 -1.03864987e-02 9.97454303e-01 -1.53388558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.131346184 meters Centerline goodness : 0.891344 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86655084e-01 -1.46317161e-01 -7.14355149e-02 7.07038219e-01] [ 1.46656544e-01 9.89187348e-01 -4.99184489e-04 9.97109815e-02] [ 7.07361468e-02 -9.98396282e-03 9.97445095e-01 -1.52844785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.161346184000001 meters Centerline goodness : 0.888374 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86653452e-01 -1.46324315e-01 -7.14434087e-02 7.07336363e-01] [ 1.46659004e-01 9.89186947e-01 -5.66738872e-04 9.95701484e-02] [ 7.07538150e-02 -9.91864428e-03 9.97444494e-01 -1.53015401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.191346184 meters Centerline goodness : 0.889811 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86636838e-01 -1.46490588e-01 -7.13320231e-02 7.07198394e-01] [ 1.46820009e-01 9.89163023e-01 -6.31469638e-04 9.89840120e-02] [ 7.06515040e-02 -9.84993705e-03 9.97452427e-01 -1.53051414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.221346184 meters Centerline goodness : 0.891846 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86614890e-01 -1.46563086e-01 -7.14865130e-02 7.07619749e-01] [ 1.46897942e-01 9.89151484e-01 -5.79086238e-04 9.85617113e-02] [ 7.07958632e-02 -9.92988655e-03 9.97441398e-01 -1.53139316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.251346184 meters Centerline goodness : 0.891563 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86605998e-01 -1.46513882e-01 -7.17097430e-02 7.08357867e-01] [ 1.46854467e-01 9.89157968e-01 -5.28180529e-04 9.86626458e-02] [ 7.10096495e-02 -1.00097900e-02 9.97425403e-01 -1.53457834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.281346184 meters Centerline goodness : 0.889583 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86640306e-01 -1.46098498e-01 -7.20842246e-02 7.09726691e-01] [ 1.46468288e-01 9.89215354e-01 -1.57599582e-04 9.78111093e-02] [ 7.13298468e-02 -1.04025589e-02 9.97398536e-01 -1.53943488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.311346184 meters Centerline goodness : 0.890309 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86634677e-01 -1.45963919e-01 -7.24330684e-02 7.10540668e-01] [ 1.46329907e-01 9.89235812e-01 -2.56440747e-04 9.80045740e-02] [ 7.16908163e-02 -1.03461108e-02 9.97373242e-01 -1.53757181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.341346184 meters Centerline goodness : 0.892005 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86634625e-01 -1.45743083e-01 -7.28770871e-02 7.11625001e-01] [ 1.46098940e-01 9.89269880e-01 -4.52394613e-04 9.88455896e-02] [ 7.21610406e-02 -1.02009170e-02 9.97340827e-01 -1.53564120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.371346184 meters Centerline goodness : 0.891299 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86649584e-01 -1.45490946e-01 -7.31777506e-02 7.12600962e-01] [ 1.45850092e-01 9.89306604e-01 -4.40315370e-04 9.92195846e-02] [ 7.24592939e-02 -1.02385447e-02 9.97318817e-01 -1.53769314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.401346184000001 meters Centerline goodness : 0.891760 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86709692e-01 -1.44876443e-01 -7.35853270e-02 7.14498414e-01] [ 1.45286211e-01 9.89389645e-01 2.18241795e-04 9.75280574e-02] [ 7.27729424e-02 -1.09062746e-02 9.97288901e-01 -1.54889318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.431346184 meters Centerline goodness : 0.891312 Centerline is valid? [False, False] Translation: X:0.72, Y:0.10, Z:-0.16 [[ 9.86713388e-01 -1.44755594e-01 -7.37733560e-02 7.15153575e-01] [ 1.45171293e-01 9.89406499e-01 2.75609577e-04 9.71945589e-02] [ 7.29519418e-02 -1.09817211e-02 9.97274995e-01 -1.55014907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.461346184 meters Centerline goodness : 0.890671 Centerline is valid? [False, False] Translation: X:0.72, Y:0.10, Z:-0.15 [[ 9.86689926e-01 -1.44777122e-01 -7.40444133e-02 7.15576688e-01] [ 1.45173710e-01 9.89406182e-01 -2.62253765e-05 9.76293471e-02] [ 7.32637971e-02 -1.07234259e-02 9.97254944e-01 -1.54474523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.491346184000001 meters Centerline goodness : 0.892920 Centerline is valid? [False, False] Translation: X:0.72, Y:0.10, Z:-0.15 [[ 9.86653319e-01 -1.44912527e-01 -7.42670014e-02 7.15658553e-01] [ 1.45263180e-01 9.89392812e-01 -6.86902362e-04 9.87872059e-02] [ 7.35787781e-02 -1.01105263e-02 9.97238156e-01 -1.53404999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.521346184 meters Centerline goodness : 0.891219 Centerline is valid? [False, False] Translation: X:0.72, Y:0.10, Z:-0.15 [[ 0.98665147 -0.14478499 -0.07453978 0.71618452] [ 0.14508621 0.98941804 -0.00138662 0.10052854] [ 0.07395176 -0.00944659 0.99721708 -0.15230713] [ 0. 0. 0. 1. ]] SLAMing on 11.551346184 meters Centerline goodness : 0.891228 Centerline is valid? [False, False] Translation: X:0.72, Y:0.10, Z:-0.15 [[ 0.98624061 -0.14729305 -0.07506135 0.71989364] [ 0.14727289 0.98907869 -0.00583402 0.10390236] [ 0.07510089 -0.00530075 0.99716185 -0.15158362] [ 0. 0. 0. 1. ]] SLAMing on 11.581346184000001 meters Centerline goodness : 0.892497 Centerline is valid? [False, False] Translation: X:0.72, Y:0.10, Z:-0.15 [[ 0.98626267 -0.14692213 -0.0754972 0.7213441 ] [ 0.14690607 0.98913346 -0.00579653 0.10432184] [ 0.07552845 -0.00537409 0.99712917 -0.15193516] [ 0. 0. 0. 1. ]] SLAMing on 11.611346184 meters Centerline goodness : 0.893015 Centerline is valid? [False, False] Translation: X:0.73, Y:0.11, Z:-0.15 [[ 0.98589619 -0.14906737 -0.07607647 0.72591618] [ 0.14877684 0.98882512 -0.00950411 0.10690479] [ 0.07664308 -0.00194835 0.99705669 -0.15239981] [ 0. 0. 0. 1. ]] SLAMing on 11.641346184 meters Centerline goodness : 0.894552 Centerline is valid? [False, False] Translation: X:0.73, Y:0.11, Z:-0.15 [[ 0.98591078 -0.14889449 -0.07622569 0.72676686] [ 0.14863622 0.98885024 -0.00908215 0.10611263] [ 0.07672807 -0.00237571 0.99704923 -0.1532392 ] [ 0. 0. 0. 1. ]] SLAMing on 11.671346184 meters Centerline goodness : 0.891439 Centerline is valid? [False, False] Translation: X:0.73, Y:0.11, Z:-0.15 [[ 0.98590691 -0.14885956 -0.07634399 0.72730199] [ 0.14861796 0.98885492 -0.00886818 0.10553327] [ 0.07681325 -0.00260289 0.9970421 -0.15365575] [ 0. 0. 0. 1. ]] SLAMing on 11.701346184 meters Centerline goodness : 0.892253 Centerline is valid? [False, False] Translation: X:0.73, Y:0.11, Z:-0.15 [[ 0.98582889 -0.14940035 -0.0762951 0.72675813] [ 0.14915612 0.98877341 -0.00892172 0.10509274] [ 0.07677148 -0.00258459 0.99704537 -0.15352788] [ 0. 0. 0. 1. ]] SLAMing on 11.731346184000001 meters Centerline goodness : 0.893705 Centerline is valid? [False, False] Translation: X:0.73, Y:0.10, Z:-0.15 [[ 0.98580597 -0.1495434 -0.07631096 0.72694531] [ 0.14931076 0.98875136 -0.00877723 0.10407697] [ 0.07676514 -0.0027414 0.99704543 -0.15376847] [ 0. 0. 0. 1. ]] SLAMing on 11.761346184 meters Centerline goodness : 0.890933 Centerline is valid? [False, False] Translation: X:0.73, Y:0.10, Z:-0.15 [[ 0.98580938 -0.14945982 -0.07643057 0.72761087] [ 0.14925673 0.98876284 -0.00839491 0.10234838] [ 0.07682641 -0.003132 0.99703956 -0.15425231] [ 0. 0. 0. 1. ]] SLAMing on 11.791346184 meters Centerline goodness : 0.890623 Centerline is valid? [False, False] Translation: X:0.73, Y:0.10, Z:-0.15 [[ 0.98578583 -0.14966614 -0.0763305 0.72752578] [ 0.14946155 0.9887317 -0.00841847 0.10141883] [ 0.07673035 -0.00310966 0.99704703 -0.15431936] [ 0. 0. 0. 1. ]] SLAMing on 11.821346184000001 meters Centerline goodness : 0.893462 Centerline is valid? [False, False] Translation: X:0.73, Y:0.10, Z:-0.15 [[ 0.98575807 -0.14985502 -0.07631836 0.72731278] [ 0.14962014 0.98870422 -0.00881869 0.10183275] [ 0.07677781 -0.00272567 0.9970445 -0.15372206] [ 0. 0. 0. 1. ]] SLAMing on 11.851346184 meters Centerline goodness : 0.893131 Centerline is valid? [False, False] Translation: X:0.73, Y:0.10, Z:-0.15 [[ 0.98575602 -0.14969506 -0.07665804 0.72794314] [ 0.1494293 0.98872939 -0.00922372 0.10301165] [ 0.0771748 -0.00236262 0.99701478 -0.15303346] [ 0. 0. 0. 1. ]] SLAMing on 11.881346184 meters Centerline goodness : 0.891677 Centerline is valid? [False, False] Translation: X:0.73, Y:0.10, Z:-0.15 [[ 0.98575525 -0.14941451 -0.07721323 0.72914031] [ 0.14910682 0.98877285 -0.00976746 0.10437466] [ 0.07780574 -0.00188469 0.99696676 -0.15205709] [ 0. 0. 0. 1. ]] SLAMing on 11.911346184000001 meters Centerline goodness : 0.892282 Centerline is valid? [False, False] Translation: X:0.73, Y:0.11, Z:-0.15 [[ 9.85809036e-01 -1.48633257e-01 -7.80301137e-02 7.30841790e-01] [ 1.48203837e-01 9.88892296e-01 -1.12982153e-02 1.08278116e-01] [ 7.88426689e-02 -4.26479520e-04 9.96886980e-01 -1.49222364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.941346184 meters Centerline goodness : 0.893301 Centerline is valid? [False, False] Translation: X:0.73, Y:0.11, Z:-0.15 [[ 9.85834803e-01 -1.48177462e-01 -7.85695885e-02 7.32219909e-01] [ 1.47733931e-01 9.88960739e-01 -1.14604347e-02 1.08765428e-01] [ 7.94004165e-02 -3.09298802e-04 9.96842755e-01 -1.48647306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.971346184 meters Centerline goodness : 0.893204 Centerline is valid? [False, False] Translation: X:0.73, Y:0.11, Z:-0.15 [[ 0.98587909 -0.14762513 -0.07905218 0.73410996] [ 0.14725852 0.98904252 -0.01047949 0.10868493] [ 0.079733 -0.00130959 0.9968154 -0.14981069] [ 0. 0. 0. 1. ]] SLAMing on 12.001346184 meters Centerline goodness : 0.895619 Centerline is valid? [False, False] Translation: X:0.73, Y:0.11, Z:-0.15 [[ 0.98587685 -0.14755183 -0.07921674 0.73444213] [ 0.14718671 0.98905341 -0.01046087 0.1080909 ] [ 0.07989311 -0.00134652 0.99680253 -0.14947495] [ 0. 0. 0. 1. ]] SLAMing on 12.031346184 meters Centerline goodness : 0.894621 Centerline is valid? [False, False] Translation: X:0.74, Y:0.11, Z:-0.15 [[ 0.9858813 -0.14748458 -0.07928653 0.73501094] [ 0.14716735 0.98906244 -0.00986199 0.10565016] [ 0.07987382 -0.00194563 0.99680308 -0.1501735 ] [ 0. 0. 0. 1. ]] SLAMing on 12.061346184 meters Centerline goodness : 0.895524 Centerline is valid? [False, False] Translation: X:0.74, Y:0.11, Z:-0.15 [[ 0.98534565 -0.15086221 -0.07958986 0.73781106] [ 0.15022274 0.9885531 -0.01399651 0.10717776] [ 0.08079034 0.0018352 0.99672943 -0.14997392] [ 0. 0. 0. 1. ]] SLAMing on 12.091346184 meters Centerline goodness : 0.893863 Centerline is valid? [False, False] Translation: X:0.74, Y:0.11, Z:-0.15 [[ 0.98513418 -0.15203252 -0.07997969 0.73991462] [ 0.15137914 0.98837369 -0.01420583 0.10679156] [ 0.08120956 0.00188739 0.99669526 -0.15114858] [ 0. 0. 0. 1. ]] SLAMing on 12.121346184 meters Centerline goodness : 0.894084 Centerline is valid? [False, False] Translation: X:0.74, Y:0.11, Z:-0.15 [[ 0.98484832 -0.15378047 -0.08015831 0.74117745] [ 0.15303319 0.98810072 -0.01542094 0.10658732] [ 0.08157592 0.0029204 0.99666285 -0.15144244] [ 0. 0. 0. 1. ]] SLAMing on 12.151346184000001 meters Centerline goodness : 0.893493 Centerline is valid? [False, False] Translation: X:0.74, Y:0.11, Z:-0.15 [[ 0.98430727 -0.15746697 -0.07964516 0.74165642] [ 0.15652115 0.98751018 -0.01802161 0.10558944] [ 0.08148822 0.00527265 0.99666036 -0.15155641] [ 0. 0. 0. 1. ]] SLAMing on 12.181346184 meters Centerline goodness : 0.896393 Centerline is valid? [False, False] Translation: X:0.74, Y:0.10, Z:-0.15 [[ 0.98410727 -0.15846116 -0.0801433 0.74336013] [ 0.15757267 0.98735528 -0.01733204 0.10415364] [ 0.08187637 0.00442819 0.99663266 -0.1517328 ] [ 0. 0. 0. 1. ]] SLAMing on 12.211346184 meters Centerline goodness : 0.896393 Centerline is valid? [False, False] Translation: X:0.74, Y:0.10, Z:-0.15 [[ 0.98410727 -0.15846116 -0.0801433 0.74336013] [ 0.15757267 0.98735528 -0.01733204 0.10415364] [ 0.08187637 0.00442819 0.99663266 -0.1517328 ] [ 0. 0. 0. 1. ]] SLAMing on 12.241346184000001 meters Centerline goodness : 0.897068 Centerline is valid? [False, False] Translation: X:0.74, Y:0.10, Z:-0.15 [[ 0.98393401 -0.15933205 -0.0805429 0.74457949] [ 0.15848608 0.98721775 -0.01683057 0.10286005] [ 0.08219503 0.00379525 0.99660904 -0.15168854] [ 0. 0. 0. 1. ]] SLAMing on 12.271346184 meters Centerline goodness : 0.896567 Centerline is valid? [False, False] Translation: X:0.75, Y:0.10, Z:-0.15 [[ 0.98376524 -0.1602752 -0.08073301 0.74514942] [ 0.15948254 0.98706758 -0.01621484 0.09993685] [ 0.08228777 0.00307609 0.99660386 -0.15095116] [ 0. 0. 0. 1. ]] SLAMing on 12.301346184 meters Centerline goodness : 0.896704 Centerline is valid? [False, False] Translation: X:0.75, Y:0.10, Z:-0.15 [[ 0.98375952 -0.15996063 -0.08142357 0.74684095] [ 0.15931283 0.98712263 -0.01443375 0.09838389] [ 0.08268388 0.00122752 0.99657507 -0.15117663] [ 0. 0. 0. 1. ]] SLAMing on 12.331346184000001 meters Centerline goodness : 0.898208 Centerline is valid? [False, False] Translation: X:0.75, Y:0.10, Z:-0.15 [[ 9.83782250e-01 -1.59610901e-01 -8.18342468e-02 7.48104393e-01] [ 1.59051769e-01 9.87179997e-01 -1.33487039e-02 9.74003642e-02] [ 8.29157302e-02 1.16336173e-04 9.96556555e-01 -1.51536072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.361346184 meters Centerline goodness : 0.897404 Centerline is valid? [False, False] Translation: X:0.75, Y:0.10, Z:-0.15 [[ 9.83748515e-01 -1.59818801e-01 -8.18340442e-02 7.48905216e-01] [ 1.59234582e-01 9.87146284e-01 -1.36587695e-02 9.66073073e-02] [ 8.29651008e-02 4.05984368e-04 9.96552371e-01 -1.52106023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.391346184 meters Centerline goodness : 0.897433 Centerline is valid? [False, False] Translation: X:0.75, Y:0.10, Z:-0.15 [[ 0.98373076 -0.16044559 -0.08081464 0.74858899] [ 0.15970612 0.98704173 -0.01557474 0.09530154] [ 0.08226632 0.00241476 0.99660746 -0.15361647] [ 0. 0. 0. 1. ]] SLAMing on 12.421346184 meters Centerline goodness : 0.896269 Centerline is valid? [False, False] Translation: X:0.75, Y:0.09, Z:-0.15 [[ 0.98370826 -0.16034588 -0.081285 0.75042639] [ 0.15964263 0.98705907 -0.01512053 0.09473363] [ 0.08265761 0.00189764 0.9965762 -0.15455551] [ 0. 0. 0. 1. ]] SLAMing on 12.451346184 meters Centerline goodness : 0.896844 Centerline is valid? [False, False] Translation: X:0.75, Y:0.09, Z:-0.16 [[ 0.98370025 -0.16032232 -0.08142835 0.75167213] [ 0.15962371 0.98706304 -0.01506056 0.0943644 ] [ 0.08278945 0.00181718 0.9965654 -0.15565692] [ 0. 0. 0. 1. ]] SLAMing on 12.481346184000001 meters Centerline goodness : 0.893095 Centerline is valid? [False, False] Translation: X:0.75, Y:0.09, Z:-0.16 [[ 0.98369017 -0.16030973 -0.08157473 0.75377397] [ 0.15961241 0.98706516 -0.01504142 0.09371183] [ 0.08293086 0.00177576 0.99655372 -0.15771686] [ 0. 0. 0. 1. ]] SLAMing on 12.511346184 meters Centerline goodness : 0.898452 Centerline is valid? [False, False] Translation: X:0.75, Y:0.09, Z:-0.16 [[ 0.9838235 -0.15985819 -0.08084974 0.75279989] [ 0.15910978 0.98713672 -0.01565806 0.09126504] [ 0.08231282 0.00254078 0.9966033 -0.15763423] [ 0. 0. 0. 1. ]] SLAMing on 12.541346184 meters Centerline goodness : 0.899035 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 9.83723706e-01 -1.59734930e-01 -8.22947246e-02 7.55762396e-01] [ 1.59146646e-01 9.87159869e-01 -1.37017786e-02 9.13138235e-02] [ 8.34267022e-02 3.81834998e-04 9.96513843e-01 -1.57865600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.571346184000001 meters Centerline goodness : 0.899706 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 9.83637236e-01 -1.59898438e-01 -8.30076960e-02 7.56677893e-01] [ 1.59401744e-01 9.87133132e-01 -1.26199771e-02 9.11130602e-02] [ 8.39575615e-02 -8.18092094e-04 9.96468995e-01 -1.56997911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.601346184 meters Centerline goodness : 0.895669 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 9.83460700e-01 -1.60963414e-01 -8.30411403e-02 7.57453904e-01] [ 1.60456441e-01 9.86960090e-01 -1.27871658e-02 9.06323446e-02] [ 8.40165571e-02 -7.48810841e-04 9.96464077e-01 -1.57373390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.631346184 meters Centerline goodness : 0.896960 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 9.83423548e-01 -1.61124540e-01 -8.31685475e-02 7.59651129e-01] [ 1.60598560e-01 9.86933928e-01 -1.30201742e-02 8.98151954e-02] [ 8.41797308e-02 -5.52403119e-04 9.96450434e-01 -1.59578789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.661346184000001 meters Centerline goodness : 0.895697 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 0.98341279 -0.16162992 -0.08231073 0.75965614] [ 0.16089567 0.98684937 -0.01552084 0.08878792] [ 0.08373693 0.00201996 0.99648585 -0.1610487 ] [ 0. 0. 0. 1. ]] SLAMing on 12.691346184 meters Centerline goodness : 0.895682 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 0.9834606 -0.16154049 -0.08191415 0.7604537 ] [ 0.16076803 0.98686279 -0.01598347 0.08762089] [ 0.08342 0.00254994 0.99651121 -0.1627308 ] [ 0. 0. 0. 1. ]] SLAMing on 12.721346184 meters Centerline goodness : 0.895174 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 0.98404737 -0.15835858 -0.08107606 0.75821792] [ 0.15769921 0.98738053 -0.01451343 0.08594815] [ 0.08235125 0.00149627 0.99660224 -0.16251833] [ 0. 0. 0. 1. ]] SLAMing on 12.751346184 meters Centerline goodness : 0.897558 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 0.98443703 -0.15553487 -0.08180849 0.75912279] [ 0.15513883 0.98782902 -0.01121457 0.08552399] [ 0.08255706 -0.00165164 0.99658497 -0.16266106] [ 0. 0. 0. 1. ]] SLAMing on 12.781346184 meters Centerline goodness : 0.898507 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 0.98484429 -0.15295048 -0.08177941 0.75906141] [ 0.15266059 0.98822986 -0.00982311 0.08536152] [ 0.0823193 -0.00281026 0.99660204 -0.16339925] [ 0. 0. 0. 1. ]] SLAMing on 12.811346184 meters Centerline goodness : 0.901785 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98565465 -0.1479652 -0.08118628 0.75742181] [ 0.14778546 0.98898502 -0.00825193 0.08410655] [ 0.08151301 -0.0038646 0.99666479 -0.16413838] [ 0. 0. 0. 1. ]] SLAMing on 12.841346184 meters Centerline goodness : 0.900540 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98591889 -0.1460507 -0.081444 0.75816232] [ 0.14601579 0.98926145 -0.00641676 0.08354729] [ 0.08150658 -0.0055657 0.99665726 -0.1649042 ] [ 0. 0. 0. 1. ]] SLAMing on 12.871346184 meters Centerline goodness : 0.900692 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.986034 -0.14530624 -0.08138206 0.75725391] [ 0.1453169 0.98936802 -0.0058237 0.08353785] [ 0.08136303 -0.00608382 0.99666596 -0.16389162] [ 0. 0. 0. 1. ]] SLAMing on 12.901346184000001 meters Centerline goodness : 0.902574 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98600019 -0.14533794 -0.08173436 0.75735823] [ 0.14537548 0.98936114 -0.00552343 0.08387421] [ 0.08166756 -0.00643606 0.99663884 -0.16307543] [ 0. 0. 0. 1. ]] SLAMing on 12.931346184 meters Centerline goodness : 0.901422 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98568624 -0.14698737 -0.08256724 0.75938714] [ 0.14704775 0.98911475 -0.00538267 0.08440282] [ 0.08245966 -0.0068357 0.99657096 -0.16319193] [ 0. 0. 0. 1. ]] SLAMing on 12.961346184 meters Centerline goodness : 0.899945 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98537274 -0.14874247 -0.0831639 0.76135293] [ 0.14876755 0.98885441 -0.00593002 0.0846267 ] [ 0.08311903 -0.00652881 0.99651824 -0.16364251] [ 0. 0. 0. 1. ]] SLAMing on 12.991346184000001 meters Centerline goodness : 0.898130 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98501435 -0.15152807 -0.08237697 0.76077709] [ 0.15127045 0.98844776 -0.00939604 0.08457441] [ 0.0828491 -0.00320597 0.99655695 -0.16376443] [ 0. 0. 0. 1. ]] SLAMing on 13.021346184 meters Centerline goodness : 0.897184 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 9.84429509e-01 -1.55975669e-01 -8.10563546e-02 7.60401919e-01] [ 1.55424098e-01 9.87760850e-01 -1.31092895e-02 8.17599947e-02] [ 8.21090239e-02 3.07060614e-04 9.96623306e-01 -1.64388601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.051346184 meters Centerline goodness : 0.897783 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 9.84062946e-01 -1.57792190e-01 -8.19862320e-02 7.62471160e-01] [ 1.57320230e-01 9.87471961e-01 -1.22258880e-02 8.14112135e-02] [ 8.28882549e-02 -8.67049523e-04 9.96558471e-01 -1.63962739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.081346184000001 meters Centerline goodness : 0.898256 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98380164 -0.15891546 -0.08294709 0.76378073] [ 0.15859323 0.98728816 -0.01050149 0.08116356] [ 0.08356153 -0.00282346 0.99649862 -0.1625442 ] [ 0. 0. 0. 1. ]] SLAMing on 13.111346184 meters Centerline goodness : 0.899095 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98364197 -0.15967315 -0.08338443 0.76414953] [ 0.15942228 0.98716281 -0.00970142 0.0811127 ] [ 0.08386306 -0.00375061 0.99647023 -0.16149568] [ 0. 0. 0. 1. ]] SLAMing on 13.141346184 meters Centerline goodness : 0.899714 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98361882 -0.16000903 -0.08301276 0.7640039 ] [ 0.15970693 0.98711063 -0.01031011 0.0805676 ] [ 0.08359249 -0.00311649 0.99649515 -0.1620077 ] [ 0. 0. 0. 1. ]] SLAMing on 13.171346184 meters Centerline goodness : 0.900646 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98362016 -0.16027079 -0.08249028 0.76385974] [ 0.15985588 0.98707158 -0.01165316 0.07993524] [ 0.08329147 -0.00172427 0.99652374 -0.16267228] [ 0. 0. 0. 1. ]] SLAMing on 13.201346184 meters Centerline goodness : 0.899190 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 9.83616516e-01 -1.60536257e-01 -8.20162146e-02 7.63962759e-01] [ 1.60015840e-01 9.87029857e-01 -1.29225156e-02 7.91077521e-02] [ 8.30269849e-02 -4.13093720e-04 9.96547214e-01 -1.63534946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.231346184 meters Centerline goodness : 0.898306 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.17 [[ 0.98367219 -0.16014485 -0.08211368 0.7655396 ] [ 0.15968403 0.98709289 -0.01219171 0.07824067] [ 0.08300627 -0.00111959 0.9965484 -0.16520431] [ 0. 0. 0. 1. ]] SLAMing on 13.261346184 meters Centerline goodness : 0.899417 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.17 [[ 0.98400481 -0.15764748 -0.08295669 0.7665061 ] [ 0.15754878 0.98748059 -0.00777596 0.07730909] [ 0.08314398 -0.00541814 0.99652282 -0.16504185] [ 0. 0. 0. 1. ]] SLAMing on 13.291346184 meters Centerline goodness : 0.899820 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.16 [[ 0.98414434 -0.15661269 -0.08326094 0.76634546] [ 0.15666549 0.98763386 -0.00593967 0.07793112] [ 0.08316155 -0.00719862 0.99651008 -0.16439339] [ 0. 0. 0. 1. ]] SLAMing on 13.321346184000001 meters Centerline goodness : 0.899207 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.17 [[ 0.98439704 -0.16073273 -0.07160625 0.76972494] [ 0.16088245 0.9869666 -0.00370951 0.08205424] [ 0.07126921 -0.00786856 0.99742608 -0.17229493] [ 0. 0. 0. 1. ]] SLAMing on 13.351346184 meters Centerline goodness : 0.897465 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.17 [[ 0.98492984 -0.15816898 -0.06996981 0.76787445] [ 0.15819747 0.98739396 -0.00516917 0.08017545] [ 0.06990537 -0.00597778 0.99753572 -0.17422694] [ 0. 0. 0. 1. ]] SLAMing on 13.381346184 meters Centerline goodness : 0.898168 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.18 [[ 0.98519434 -0.15676277 -0.06940856 0.76763683] [ 0.15680266 0.98761776 -0.00490734 0.07900446] [ 0.06931842 -0.00604876 0.99757625 -0.17546256] [ 0. 0. 0. 1. ]] SLAMing on 13.411346184000001 meters Centerline goodness : 0.898431 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.18 [[ 0.98541855 -0.15550221 -0.06906037 0.76659325] [ 0.15555326 0.98781646 -0.00467085 0.07834929] [ 0.06894529 -0.00613982 0.99760155 -0.1751687 ] [ 0. 0. 0. 1. ]] SLAMing on 13.441346184 meters Centerline goodness : 0.899846 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.18 [[ 0.98567385 -0.1539662 -0.06885833 0.76627399] [ 0.15403207 0.98805612 -0.00438388 0.07810317] [ 0.06871087 -0.00628532 0.99761682 -0.17549257] [ 0. 0. 0. 1. ]] SLAMing on 13.471346184 meters Centerline goodness : 0.901133 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.18 [[ 0.9863316 -0.15045937 -0.067171 0.76390787] [ 0.15049103 0.98860059 -0.00461752 0.0756266 ] [ 0.06710004 -0.00555423 0.99773079 -0.17713874] [ 0. 0. 0. 1. ]] SLAMing on 13.501346184 meters Centerline goodness : 0.899227 Centerline is valid? [False, False] Translation: X:0.76, Y:0.07, Z:-0.18 [[ 0.98658402 -0.14913982 -0.06640247 0.76309368] [ 0.14913829 0.98880367 -0.00500797 0.07408017] [ 0.0664059 -0.00496236 0.99778035 -0.17807714] [ 0. 0. 0. 1. ]] SLAMing on 13.531346184 meters Centerline goodness : 0.900402 Centerline is valid? [False, False] Translation: X:0.76, Y:0.07, Z:-0.18 [[ 0.98669956 -0.14856303 -0.06597736 0.76263488] [ 0.14853733 0.98889248 -0.00532221 0.07270769] [ 0.0660352 -0.00454867 0.99780693 -0.17839196] [ 0. 0. 0. 1. ]] SLAMing on 13.561346184 meters Centerline goodness : 0.898812 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.18 [[ 0.98676983 -0.14776463 -0.06671514 0.76539795] [ 0.14784858 0.98900307 -0.00370471 0.07148083] [ 0.0665289 -0.00620804 0.99776519 -0.18004788] [ 0. 0. 0. 1. ]] SLAMing on 13.591346184 meters Centerline goodness : 0.899717 Centerline is valid? [False, False] Translation: X:0.76, Y:0.07, Z:-0.18 [[ 0.98695427 -0.14731617 -0.06495546 0.76224506] [ 0.14722504 0.9890835 -0.00621363 0.06788131] [ 0.06516174 -0.0034305 0.99786882 -0.17982009] [ 0. 0. 0. 1. ]] SLAMing on 13.621346184 meters Centerline goodness : 0.901446 Centerline is valid? [False, False] Translation: X:0.76, Y:0.07, Z:-0.18 [[ 0.98702604 -0.14715939 -0.06421608 0.76071392] [ 0.14702821 0.989109 -0.00678966 0.06519698] [ 0.06451586 -0.00274 0.99791292 -0.17927878] [ 0. 0. 0. 1. ]] SLAMing on 13.651346184000001 meters Centerline goodness : 0.903880 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.18 [[ 0.98712779 -0.14653296 -0.0640845 0.760839 ] [ 0.14646214 0.98919911 -0.00582697 0.06273766] [ 0.06424617 -0.00363399 0.99792746 -0.17935214] [ 0. 0. 0. 1. ]] SLAMing on 13.681346184 meters Centerline goodness : 0.906600 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.18 [[ 0.98721641 -0.14610681 -0.06369111 0.75965268] [ 0.14610017 0.98925822 -0.00478688 0.05845048] [ 0.06370635 -0.0045796 0.99795818 -0.17821026] [ 0. 0. 0. 1. ]] SLAMing on 13.711346184 meters Centerline goodness : 0.906796 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.18 [[ 0.98723865 -0.14619796 -0.06313483 0.75835406] [ 0.14612828 0.98924897 -0.00574478 0.05616311] [ 0.06329594 -0.00355431 0.99798847 -0.1774213 ] [ 0. 0. 0. 1. ]] SLAMing on 13.741346184000001 meters Centerline goodness : 0.908002 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.18 [[ 0.98731228 -0.14588694 -0.06270142 0.75880895] [ 0.14582976 0.98929434 -0.00551215 0.05353045] [ 0.06283431 -0.00370152 0.99801711 -0.17857882] [ 0. 0. 0. 1. ]] SLAMing on 13.771346184 meters Centerline goodness : 0.907094 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.18 [[ 9.87200525e-01 -1.47144220e-01 -6.15118094e-02 7.56637752e-01] [ 1.46878697e-01 9.89115001e-01 -8.84104255e-03 5.21419285e-02] [ 6.21431617e-02 -3.06892555e-04 9.98067199e-01 -1.78049908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.801346184 meters Centerline goodness : 0.908024 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.18 [[ 9.87203012e-01 -1.46962972e-01 -6.19039467e-02 7.59705999e-01] [ 1.46731646e-01 9.89141587e-01 -8.29131078e-03 5.04172071e-02] [ 6.24502837e-02 -8.98061018e-04 9.98047672e-01 -1.80672145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.831346184000001 meters Centerline goodness : 0.906380 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.18 [[ 0.98719215 -0.14783629 -0.05996745 0.75675363] [ 0.14740206 0.98900833 -0.01162567 0.04697646] [ 0.06102701 0.00263744 0.99813263 -0.18079102] [ 0. 0. 0. 1. ]] SLAMing on 13.861346184 meters Centerline goodness : 0.909651 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.18 [[ 0.98721897 -0.14759597 -0.06011762 0.75739357] [ 0.14717694 0.9890449 -0.011364 0.04526269] [ 0.0611363 0.00237083 0.99812661 -0.18097974] [ 0. 0. 0. 1. ]] SLAMing on 13.891346184 meters Centerline goodness : 0.910811 Centerline is valid? [False, False] Translation: X:0.76, Y:0.04, Z:-0.18 [[ 0.98718372 -0.14775778 -0.06029871 0.75782594] [ 0.14734772 0.98902116 -0.0112157 0.04378858] [ 0.06129391 0.00218708 0.99811736 -0.18068917] [ 0. 0. 0. 1. ]] SLAMing on 13.921346184 meters Centerline goodness : 0.909928 Centerline is valid? [False, False] Translation: X:0.76, Y:0.04, Z:-0.18 [[ 9.87252948e-01 -1.47162268e-01 -6.06208148e-02 7.60068949e-01] [ 1.46828196e-01 9.89111930e-01 -9.95344537e-03 4.14843384e-02] [ 6.14255428e-02 9.25723416e-04 9.98111239e-01 -1.82402679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.951346184 meters Centerline goodness : 0.912675 Centerline is valid? [False, False] Translation: X:0.76, Y:0.04, Z:-0.18 [[ 0.98716384 -0.14840777 -0.0590142 0.75725989] [ 0.14795708 0.98892147 -0.01195912 0.03609509] [ 0.06013524 0.00307404 0.99818551 -0.18133276] [ 0. 0. 0. 1. ]] SLAMing on 13.981346184 meters Centerline goodness : 0.913987 Centerline is valid? [False, False] Translation: X:0.76, Y:0.03, Z:-0.18 [[ 0.98708849 -0.14869106 -0.05955909 0.75935643] [ 0.14832105 0.98888234 -0.01061065 0.03326856] [ 0.06047464 0.00163978 0.99816839 -0.18201531] [ 0. 0. 0. 1. ]] SLAMing on 14.011346184 meters Centerline goodness : 0.915077 Centerline is valid? [False, False] Translation: X:0.76, Y:0.03, Z:-0.18 [[ 9.86909866e-01 -1.49763723e-01 -5.98309670e-02 7.59946160e-01] [ 1.49438301e-01 9.88721465e-01 -9.90246305e-03 3.05453510e-02] [ 6.06391911e-02 8.31800417e-04 9.98159404e-01 -1.81049996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.041346184 meters Centerline goodness : 0.916810 Centerline is valid? [False, False] Translation: X:0.76, Y:0.03, Z:-0.18 [[ 9.86619608e-01 -1.51311394e-01 -6.07174637e-02 7.61694278e-01] [ 1.51050238e-01 9.88486068e-01 -8.89493186e-03 2.84453119e-02] [ 6.13642715e-02 -3.95473162e-04 9.98115359e-01 -1.79911804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.071346184000001 meters Centerline goodness : 0.918831 Centerline is valid? [False, False] Translation: X:0.76, Y:0.02, Z:-0.18 [[ 0.98596093 -0.15604941 -0.05941067 0.75934702] [ 0.15561093 0.98774595 -0.01196558 0.02280753] [ 0.06054987 0.00255265 0.99816191 -0.17724614] [ 0. 0. 0. 1. ]] SLAMing on 14.101346184 meters Centerline goodness : 0.919641 Centerline is valid? [False, False] Translation: X:0.76, Y:0.02, Z:-0.18 [[ 0.98571224 -0.15737237 -0.06004436 0.76265924] [ 0.15699047 0.98753824 -0.01105534 0.01918902] [ 0.06103591 0.00147099 0.99813449 -0.1786078 ] [ 0. 0. 0. 1. ]] SLAMing on 14.131346184 meters Centerline goodness : 0.919641 Centerline is valid? [False, False] Translation: X:0.76, Y:0.02, Z:-0.18 [[ 0.98571224 -0.15737237 -0.06004436 0.76265924] [ 0.15699047 0.98753824 -0.01105534 0.01918902] [ 0.06103591 0.00147099 0.99813449 -0.1786078 ] [ 0. 0. 0. 1. ]] SLAMing on 14.161346184000001 meters Centerline goodness : 0.920582 Centerline is valid? [False, False] Translation: X:0.76, Y:0.02, Z:-0.18 [[ 0.98534575 -0.15977945 -0.0597016 0.76332668] [ 0.15928546 0.98714731 -0.01297462 0.01627274] [ 0.06100735 0.00327489 0.99813194 -0.17874474] [ 0. 0. 0. 1. ]] SLAMing on 14.191346184 meters Centerline goodness : 0.921945 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.18 [[ 0.98461129 -0.16411888 -0.0600467 0.76664443] [ 0.16354631 0.9864311 -0.01436256 0.01102123] [ 0.0615891 0.00432112 0.99809224 -0.17956989] [ 0. 0. 0. 1. ]] SLAMing on 14.221346184 meters Centerline goodness : 0.922287 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.18 [[ 0.98437746 -0.16514113 -0.06106901 0.77002695] [ 0.16464316 0.98626576 -0.01313309 0.00881598] [ 0.06239909 0.00287333 0.99804714 -0.18033645] [ 0. 0. 0. 1. ]] SLAMing on 14.251346184 meters Centerline goodness : 0.923362 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.18 [[ 0.98407417 -0.16638445 -0.06256393 0.77359426] [ 0.16598458 0.98606045 -0.01157189 0.00701172] [ 0.0636172 0.00100295 0.99797387 -0.18010527] [ 0. 0. 0. 1. ]] SLAMing on 14.281346184 meters Centerline goodness : 0.921968 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.18 [[ 0.98377833 -0.16755535 -0.06407335 0.77746645] [ 0.16727387 0.98586205 -0.00977093 0.00560573] [ 0.06480465 -0.00110537 0.99789736 -0.1803131 ] [ 0. 0. 0. 1. ]] SLAMing on 14.311346184 meters Centerline goodness : 0.925575 Centerline is valid? [False, False] Translation: X:0.78, Y:0.00, Z:-0.18 [[ 9.83040990e-01 -1.71619479e-01 -6.46310004e-02 7.80076349e-01] [ 1.71245217e-01 9.85163311e-01 -1.13281040e-02 2.88815309e-03] [ 6.56162136e-02 6.82409339e-05 9.97844932e-01 -1.79921274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.341346184 meters Centerline goodness : 0.924907 Centerline is valid? [False, False] Translation: X:0.78, Y:0.00, Z:-0.18 [[ 9.82678308e-01 -1.73369526e-01 -6.54702305e-02 7.83833535e-01] [ 1.73013989e-01 9.84856759e-01 -1.11051255e-02 9.86270621e-04] [ 6.64040893e-02 -4.14499826e-04 9.97792727e-01 -1.81282480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.371346184 meters Centerline goodness : 0.926049 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.00, Z:-0.18 [[ 9.82147712e-01 -1.76134443e-01 -6.60494441e-02 7.86896708e-01] [ 1.75700013e-01 9.84365966e-01 -1.23753689e-02 -6.17863584e-04] [ 6.71965536e-02 5.49552090e-04 9.97739606e-01 -1.82101425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.401346184 meters Centerline goodness : 0.926744 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.00, Z:-0.18 [[ 9.81053180e-01 -1.81531534e-01 -6.76827932e-02 7.90792161e-01] [ 1.81143847e-01 9.83384934e-01 -1.18734544e-02 -3.55655419e-03] [ 6.87136455e-02 -6.11831315e-04 9.97636237e-01 -1.79842452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.431346184 meters Centerline goodness : 0.928890 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.00, Z:-0.18 [[ 0.98058491 -0.18335179 -0.06953672 0.79434877] [ 0.18312964 0.98304179 -0.00961082 -0.00440796] [ 0.07011966 -0.00331001 0.9975331 -0.17839706] [ 0. 0. 0. 1. ]] SLAMing on 14.461346184 meters Centerline goodness : 0.926197 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.01, Z:-0.18 [[ 0.9801169 -0.18518552 -0.07125437 0.79818429] [ 0.18510065 0.98268821 -0.00785019 -0.00530424] [ 0.07147457 -0.00549512 0.99742729 -0.17767511] [ 0. 0. 0. 1. ]] SLAMing on 14.491346184000001 meters Centerline goodness : 0.929062 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.01, Z:-0.18 [[ 0.97964269 -0.18728972 -0.07226867 0.80150075] [ 0.18725579 0.98228402 -0.00730513 -0.00664154] [ 0.07235654 -0.00637631 0.99735845 -0.17786398] [ 0. 0. 0. 1. ]] SLAMing on 14.521346184 meters Centerline goodness : 0.927296 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.01, Z:-0.18 [[ 0.97878963 -0.19161605 -0.07248548 0.80445563] [ 0.19143702 0.98145917 -0.00947436 -0.00935539] [ 0.07295697 -0.004603 0.99732447 -0.17845368] [ 0. 0. 0. 1. ]] SLAMing on 14.551346184 meters Centerline goodness : 0.926804 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.18 [[ 0.97860077 -0.19218927 -0.07351072 0.80826992] [ 0.19207966 0.98134144 -0.00862452 -0.01026468] [ 0.07379665 -0.00567995 0.99725713 -0.18002097] [ 0. 0. 0. 1. ]] SLAMing on 14.581346184000001 meters Centerline goodness : 0.928352 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.02, Z:-0.18 [[ 0.97844769 -0.1865425 -0.08855517 0.81216242] [ 0.18699857 0.982355 -0.0031917 -0.01585391] [ 0.087588 -0.01343678 0.99606616 -0.17873604] [ 0. 0. 0. 1. ]] SLAMing on 14.611346184 meters Centerline goodness : 0.927163 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.02, Z:-0.18 [[ 0.97885603 -0.18466721 -0.08797102 0.81055535] [ 0.18513792 0.98270842 -0.00284926 -0.01579492] [ 0.08697603 -0.01349775 0.99611896 -0.1789493 ] [ 0. 0. 0. 1. ]] SLAMing on 14.641346184 meters Centerline goodness : 0.927984 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.02, Z:-0.18 [[ 9.79248410e-01 -1.82003137e-01 -8.91482394e-02 8.12327779e-01] [ 1.82783276e-01 9.83153048e-01 5.97804155e-04 -1.51626221e-02] [ 8.75375611e-02 -1.68802060e-02 9.96018190e-01 -1.79349484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.671346184 meters Centerline goodness : 0.926961 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.18 [[ 0.97963705 -0.17947726 -0.08999539 0.81463207] [ 0.18044743 0.98358094 0.00269539 -0.01416025] [ 0.08803399 -0.01887994 0.99593853 -0.18120259] [ 0. 0. 0. 1. ]] SLAMing on 14.701346184 meters Centerline goodness : 0.926951 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.18 [[ 0.97988967 -0.17840501 -0.08937499 0.81374175] [ 0.17929612 0.98379316 0.00197801 -0.01363782] [ 0.08757362 -0.01796283 0.99599608 -0.18220841] [ 0. 0. 0. 1. ]] SLAMing on 14.731346184 meters Centerline goodness : 0.926030 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.18 [[ 0.98049541 -0.17519726 -0.08907679 0.81426285] [ 0.17613107 0.9843631 0.00267169 -0.01353613] [ 0.08721583 -0.01830877 0.99602118 -0.1849307 ] [ 0. 0. 0. 1. ]] SLAMing on 14.761346184 meters Centerline goodness : 0.927637 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.19 [[ 0.98058294 -0.17457193 -0.08934055 0.81521821] [ 0.17556774 0.98446165 0.00335079 -0.01342518] [ 0.08736739 -0.01897105 0.9959955 -0.18555487] [ 0. 0. 0. 1. ]] SLAMing on 14.791346184 meters Centerline goodness : 0.927977 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.19 [[ 0.98051079 -0.17486761 -0.0895539 0.81601082] [ 0.17587769 0.98440597 0.00345335 -0.0133042 ] [ 0.08755352 -0.01913658 0.99597599 -0.18582758] [ 0. 0. 0. 1. ]] SLAMing on 14.821346184000001 meters Centerline goodness : 0.925937 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.19 [[ 0.98036249 -0.17527034 -0.09038642 0.81886124] [ 0.17639011 0.9843101 0.00449058 -0.01357754] [ 0.0881812 -0.02034567 0.99589665 -0.1867984 ] [ 0. 0. 0. 1. ]] SLAMing on 14.851346184 meters Centerline goodness : 0.925895 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.19 [[ 9.79531296e-01 -1.79966760e-01 -9.01687648e-02 8.20994049e-01] [ 1.80788487e-01 9.83521528e-01 9.62609155e-04 -1.40071761e-02] [ 8.85096837e-02 -1.72443803e-02 9.95926035e-01 -1.87938355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.881346184 meters Centerline goodness : 0.925256 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.02, Z:-0.19 [[ 9.79138390e-01 -1.81860532e-01 -9.06353169e-02 8.24123677e-01] [ 1.82669180e-01 9.83174229e-01 6.37919677e-04 -1.51920351e-02] [ 8.89942953e-02 -1.71808906e-02 9.95883945e-01 -1.89414509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.911346184000001 meters Centerline goodness : 0.923277 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:-0.19 [[ 0.97871332 -0.18354865 -0.09181572 0.82837909] [ 0.18445662 0.98283962 0.00142968 -0.01591505] [ 0.08997771 -0.01833526 0.99577499 -0.19059612] [ 0. 0. 0. 1. ]] SLAMing on 14.941346184 meters Centerline goodness : 0.921961 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:-0.19 [[ 0.97824669 -0.18562361 -0.09261362 0.83024253] [ 0.18657559 0.98243922 0.00165242 -0.01586242] [ 0.09068052 -0.01889592 0.99570075 -0.18979423] [ 0. 0. 0. 1. ]] SLAMing on 14.971346184 meters Centerline goodness : 0.923170 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:-0.19 [[ 0.97762333 -0.1879308 -0.09452326 0.83382963] [ 0.18909015 0.98195391 0.00338074 -0.01553454] [ 0.09218214 -0.02117851 0.99551691 -0.18830468] [ 0. 0. 0. 1. ]] SLAMing on 15.001346184 meters Centerline goodness : 0.921263 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.19 [[ 0.97758843 -0.18780155 -0.09513902 0.83523666] [ 0.18908303 0.98195053 0.00455705 -0.01603399] [ 0.09256599 -0.0224441 0.99545356 -0.18826247] [ 0. 0. 0. 1. ]] SLAMing on 15.031346184 meters Centerline goodness : 0.923270 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.19 [[ 0.977707 -0.18723569 -0.0950359 0.83519031] [ 0.18854689 0.98205182 0.00492932 -0.01640009] [ 0.09240724 -0.02273816 0.99546164 -0.18851714] [ 0. 0. 0. 1. ]] SLAMing on 15.061346184 meters Centerline goodness : 0.924711 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.19 [[ 0.97784675 -0.18646768 -0.09510807 0.83537171] [ 0.18781405 0.98219016 0.005327 -0.0162266 ] [ 0.0924209 -0.02307162 0.9954527 -0.18884316] [ 0. 0. 0. 1. ]] SLAMing on 15.091346184 meters Centerline goodness : 0.923473 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.19 [[ 0.97792884 -0.18583947 -0.09549276 0.83612072] [ 0.18726073 0.98229152 0.00606465 -0.01535598] [ 0.09267468 -0.02381284 0.99541165 -0.18910412] [ 0. 0. 0. 1. ]] SLAMing on 15.121346184 meters Centerline goodness : 0.924097 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.01, Z:-0.19 [[ 0.97819557 -0.18336207 -0.09752835 0.83951144] [ 0.18523551 0.98263873 0.01043679 -0.01297909] [ 0.09392143 -0.02827494 0.99517802 -0.18948874] [ 0. 0. 0. 1. ]] SLAMing on 15.151346184 meters Centerline goodness : 0.922484 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.01, Z:-0.19 [[ 0.97843468 -0.18740875 -0.08685351 0.84493496] [ 0.18870624 0.98200932 0.0069035 -0.00602587] [ 0.08399718 -0.02314442 0.99619717 -0.19092492] [ 0. 0. 0. 1. ]] SLAMing on 15.181346184 meters Centerline goodness : 0.923133 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.00, Z:-0.19 [[ 0.97836881 -0.18758443 -0.08721553 0.84614522] [ 0.18889898 0.98197159 0.00699744 -0.00482631] [ 0.08433056 -0.02332101 0.99616489 -0.19160391] [ 0. 0. 0. 1. ]] SLAMing on 15.211346184 meters Centerline goodness : 0.920203 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.00, Z:-0.19 [[ 0.9782323 -0.18797277 -0.08790797 0.84962638] [ 0.18923458 0.98191251 0.00617195 -0.00241771] [ 0.08515778 -0.02267282 0.99610948 -0.19442943] [ 0. 0. 0. 1. ]] SLAMing on 15.241346184000001 meters Centerline goodness : 0.919763 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.00, Z:-0.20 [[ 0.97817699 -0.18796902 -0.08852917 0.85157237] [ 0.18925385 0.98190815 0.0062742 -0.0010095 ] [ 0.08574816 -0.02289177 0.99605382 -0.1953671 ] [ 0. 0. 0. 1. ]] SLAMing on 15.271346184 meters Centerline goodness : 0.922209 Centerline is valid? [False, False] Translation: X:0.85, Y:0.00, Z:-0.20 [[ 9.78134225e-01 -1.87787107e-01 -8.93836647e-02 8.53330650e-01] [ 1.89217986e-01 9.81904625e-01 7.73697392e-03 7.50833079e-04] [ 8.63133299e-02 -2.44807960e-02 9.95967218e-01 -1.95632822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.301346184 meters Centerline goodness : 0.920105 Centerline is valid? [False, False] Translation: X:0.86, Y:0.00, Z:-0.20 [[ 0.97815335 -0.18668164 -0.09146577 0.85737125] [ 0.18849795 0.98200552 0.01156174 0.00188227] [ 0.08766153 -0.02855027 0.9957411 -0.19587199] [ 0. 0. 0. 1. ]] SLAMing on 15.331346184000001 meters Centerline goodness : 0.919343 Centerline is valid? [False, False] Translation: X:0.86, Y:0.00, Z:-0.19 [[ 0.97798492 -0.18705061 -0.09250715 0.85744443] [ 0.18906012 0.98187435 0.01338003 0.00447976] [ 0.08832765 -0.03057488 0.99562212 -0.19366992] [ 0. 0. 0. 1. ]] SLAMing on 15.361346184 meters Centerline goodness : 0.919834 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.97783664 -0.18753926 -0.09308347 0.85869395] [ 0.18958819 0.9817695 0.01360019 0.00540266] [ 0.08883594 -0.03094629 0.99556542 -0.19354047] [ 0. 0. 0. 1. ]] SLAMing on 15.391346184 meters Centerline goodness : 0.919431 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.97779783 -0.18768186 -0.09320362 0.85952217] [ 0.1897615 0.98173188 0.01389561 0.00552304] [ 0.08889301 -0.03127356 0.9955501 -0.1940756 ] [ 0. 0. 0. 1. ]] SLAMing on 15.421346184 meters Centerline goodness : 0.921201 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.97763805 -0.18787373 -0.09448436 0.8628187 ] [ 0.19010452 0.98164758 0.01510955 0.00621476] [ 0.08991165 -0.03273357 0.99541168 -0.1949151 ] [ 0. 0. 0. 1. ]] SLAMing on 15.451346184 meters Centerline goodness : 0.920916 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.9774749 -0.18853613 -0.09485226 0.862698 ] [ 0.19074428 0.98152975 0.01469572 0.00764047] [ 0.09032964 -0.03245722 0.99538288 -0.19376727] [ 0. 0. 0. 1. ]] SLAMing on 15.481346184 meters Centerline goodness : 0.921217 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.97749383 -0.18822277 -0.09527859 0.86387426] [ 0.1904857 0.98157294 0.01515783 0.00829919] [ 0.09066983 -0.03296589 0.99533524 -0.19424324] [ 0. 0. 0. 1. ]] SLAMing on 15.511346184 meters Centerline goodness : 0.922072 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.19 [[ 0.97742694 -0.18788851 -0.09661516 0.86674988] [ 0.19040961 0.98154893 0.01748914 0.00909979] [ 0.0915465 -0.03549081 0.99516815 -0.19459612] [ 0. 0. 0. 1. ]] SLAMing on 15.541346184 meters Centerline goodness : 0.922082 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.19 [[ 0.9772767 -0.18845244 -0.09703573 0.86629464] [ 0.19094793 0.98145255 0.01702296 0.01206363] [ 0.09202794 -0.03516491 0.99513531 -0.19335405] [ 0. 0. 0. 1. ]] SLAMing on 15.571346184000001 meters Centerline goodness : 0.922307 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.19 [[ 0.9770728 -0.18931435 -0.09741055 0.86648985] [ 0.19181953 0.98128394 0.01694395 0.01318488] [ 0.09237968 -0.03524072 0.99510004 -0.19239487] [ 0. 0. 0. 1. ]] SLAMing on 15.601346184 meters Centerline goodness : 0.922583 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.19 [[ 0.97688945 -0.19016551 -0.09759136 0.86755274] [ 0.19260964 0.98114207 0.01617911 0.01412193] [ 0.09267428 -0.03460223 0.99509505 -0.19299832] [ 0. 0. 0. 1. ]] SLAMing on 15.631346184 meters Centerline goodness : 0.919892 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.20 [[ 0.97630873 -0.19258033 -0.09866143 0.87201091] [ 0.19501891 0.98067529 0.01560781 0.01580899] [ 0.09374907 -0.03447888 0.99499865 -0.19510402] [ 0. 0. 0. 1. ]] SLAMing on 15.661346184000001 meters Centerline goodness : 0.918716 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.19 [[ 0.9759358 -0.19408429 -0.09940121 0.87276756] [ 0.19653006 0.9803778 0.01533983 0.0173864 ] [ 0.09447352 -0.03450601 0.99492919 -0.1937471 ] [ 0. 0. 0. 1. ]] SLAMing on 15.691346184 meters Centerline goodness : 0.918901 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.19 [[ 0.97572213 -0.19482779 -0.10004229 0.87374614] [ 0.19730754 0.98022028 0.01542525 0.01886117] [ 0.09505821 -0.03478985 0.99486361 -0.19323112] [ 0. 0. 0. 1. ]] SLAMing on 15.721346184 meters Centerline goodness : 0.916797 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.97560725 -0.19484038 -0.10113223 0.87662336] [ 0.19745935 0.98017273 0.01646894 0.01979438] [ 0.09591824 -0.03603672 0.99473667 -0.19400794] [ 0. 0. 0. 1. ]] SLAMing on 15.751346184 meters Centerline goodness : 0.917873 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.20 [[ 0.97553516 -0.19521711 -0.10110106 0.87833847] [ 0.19774004 0.98013246 0.01546712 0.02141489] [ 0.09607299 -0.03508045 0.99475592 -0.19632022] [ 0. 0. 0. 1. ]] SLAMing on 15.781346184 meters Centerline goodness : 0.916973 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.20 [[ 0.97548046 -0.19560811 -0.10087287 0.87820126] [ 0.19802091 0.98009217 0.01438985 0.02216717] [ 0.09604994 -0.03401195 0.99479525 -0.19667054] [ 0. 0. 0. 1. ]] SLAMing on 15.811346184 meters Centerline goodness : 0.919624 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.20 [[ 0.97554637 -0.19527077 -0.10088908 0.87866467] [ 0.19766945 0.98016509 0.01425456 0.0226439 ] [ 0.09610445 -0.03384868 0.99479556 -0.19733965] [ 0. 0. 0. 1. ]] SLAMing on 15.841346184 meters Centerline goodness : 0.918770 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.20 [[ 0.97563325 -0.19494751 -0.10067389 0.87739181] [ 0.19731268 0.98024065 0.01399898 0.0230351 ] [ 0.09595557 -0.03352211 0.99482099 -0.19646286] [ 0. 0. 0. 1. ]] SLAMing on 15.871346184 meters Centerline goodness : 0.916756 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.20 [[ 0.97593618 -0.19214351 -0.10309921 0.88130664] [ 0.19506295 0.98060806 0.0189285 0.02478403] [ 0.09746292 -0.03858384 0.99449096 -0.1968751 ] [ 0. 0. 0. 1. ]] SLAMing on 15.901346184 meters Centerline goodness : 0.918348 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 0.97602374 -0.19124746 -0.10393305 0.88276479] [ 0.19435096 0.98071767 0.02050737 0.02622484] [ 0.098007 -0.04021517 0.99437285 -0.19720246] [ 0. 0. 0. 1. ]] SLAMing on 15.931346184 meters Centerline goodness : 0.914806 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 0.97644049 -0.1954171 -0.09152123 0.88452882] [ 0.19767283 0.98013453 0.01617885 0.03253801] [ 0.0865415 -0.03388895 0.99567169 -0.1991529 ] [ 0. 0. 0. 1. ]] SLAMing on 15.961346184 meters Centerline goodness : 0.918158 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 0.97662971 -0.19445034 -0.09156134 0.88461556] [ 0.19673865 0.98031577 0.01657987 0.03265037] [ 0.08653506 -0.03420604 0.9956614 -0.19951953] [ 0. 0. 0. 1. ]] SLAMing on 15.991346184000001 meters Centerline goodness : 0.918047 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 0.97675356 -0.19403 -0.09113095 0.88342021] [ 0.19625822 0.98042047 0.01607503 0.0329755 ] [ 0.08622761 -0.03358654 0.99570917 -0.19918099] [ 0. 0. 0. 1. ]] SLAMing on 16.021346184 meters Centerline goodness : 0.918047 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 0.97675356 -0.19403 -0.09113095 0.88342021] [ 0.19625822 0.98042047 0.01607503 0.0329755 ] [ 0.08622761 -0.03358654 0.99570917 -0.19918099] [ 0. 0. 0. 1. ]] SLAMing on 16.051346184 meters Centerline goodness : 0.919485 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.20 [[ 0.97681677 -0.19306736 -0.09248778 0.88634086] [ 0.19558781 0.9805036 0.01892369 0.03340903] [ 0.08703106 -0.03657446 0.99553398 -0.19984108] [ 0. 0. 0. 1. ]] SLAMing on 16.081346183999997 meters Centerline goodness : 0.918327 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.20 [[ 0.97670879 -0.19313286 -0.09348607 0.88799576] [ 0.19579068 0.98044055 0.02005848 0.03478956] [ 0.08778358 -0.03789499 0.99541851 -0.19958065] [ 0. 0. 0. 1. ]] SLAMing on 16.111346184 meters Centerline goodness : 0.918359 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97665033 -0.19331802 -0.09371384 0.88915107] [ 0.19598894 0.98040008 0.0201001 0.03508429] [ 0.08799135 -0.03799765 0.99539625 -0.20032286] [ 0. 0. 0. 1. ]] SLAMing on 16.141346184 meters Centerline goodness : 0.918050 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97644745 -0.19397842 -0.09446027 0.89189875] [ 0.19669736 0.98025432 0.02028851 0.03618212] [ 0.08865956 -0.03839075 0.99532187 -0.20175763] [ 0. 0. 0. 1. ]] SLAMing on 16.171346183999997 meters Centerline goodness : 0.919329 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97626403 -0.19493185 -0.09439339 0.89212078] [ 0.19756414 0.9800999 0.01930302 0.03693253] [ 0.08875218 -0.0374936 0.99534782 -0.20184553] [ 0. 0. 0. 1. ]] SLAMing on 16.201346184 meters Centerline goodness : 0.917742 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97615986 -0.19541102 -0.09448 0.89311384] [ 0.19802143 0.98001353 0.0190001 0.03740322] [ 0.08887885 -0.0372562 0.99534543 -0.2026789 ] [ 0. 0. 0. 1. ]] SLAMing on 16.231346184 meters Centerline goodness : 0.916088 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97600872 -0.19618117 -0.09444539 0.89354753] [ 0.198703 0.97989465 0.01798899 0.03824713] [ 0.08901743 -0.036324 0.9953675 -0.2030329 ] [ 0. 0. 0. 1. ]] SLAMing on 16.261346183999997 meters Centerline goodness : 0.915317 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.20 [[ 0.9759265 -0.19623882 -0.09517242 0.89593522] [ 0.19886832 0.97984424 0.01888551 0.03906544] [ 0.08954807 -0.03735765 0.99528164 -0.20412956] [ 0. 0. 0. 1. ]] SLAMing on 16.291346184 meters Centerline goodness : 0.916091 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97587227 -0.19651937 -0.09514965 0.89490413] [ 0.19913066 0.97979489 0.01868025 0.04121728] [ 0.08955611 -0.03717675 0.99528769 -0.20313526] [ 0. 0. 0. 1. ]] SLAMing on 16.321346184 meters Centerline goodness : 0.913518 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.20 [[ 0.97593392 -0.19617726 -0.09522323 0.8953238 ] [ 0.19881715 0.97985274 0.01898257 0.0415498 ] [ 0.08958079 -0.03745775 0.99527494 -0.20362619] [ 0. 0. 0. 1. ]] SLAMing on 16.351346183999997 meters Centerline goodness : 0.913783 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.21 [[ 0.97613117 -0.19533666 -0.09492909 0.89586917] [ 0.19797643 0.98001985 0.0191423 0.04079108] [ 0.0892932 -0.03747912 0.99529997 -0.20507439] [ 0. 0. 0. 1. ]] SLAMing on 16.381346183999998 meters Centerline goodness : 0.915935 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.21 [[ 0.97651123 -0.19447808 -0.09275826 0.89251772] [ 0.19684276 0.9802881 0.01697546 0.03835534] [ 0.08762846 -0.03483552 0.99554394 -0.20600106] [ 0. 0. 0. 1. ]] SLAMing on 16.411346184 meters Centerline goodness : 0.916087 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.21 [[ 0.97648178 -0.19468021 -0.09264422 0.89208131] [ 0.19703312 0.98025154 0.01687828 0.03784914] [ 0.08752877 -0.03473532 0.99555621 -0.2054655 ] [ 0. 0. 0. 1. ]] SLAMing on 16.441346183999997 meters Centerline goodness : 0.916543 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.21 [[ 0.97639306 -0.19511076 -0.09267354 0.8924168 ] [ 0.19744056 0.98017456 0.01658504 0.03755601] [ 0.08760033 -0.03449104 0.99555841 -0.2054193 ] [ 0. 0. 0. 1. ]] SLAMing on 16.471346183999998 meters Centerline goodness : 0.917805 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.21 [[ 0.97635129 -0.19530241 -0.09270995 0.89248414] [ 0.19763001 0.98013719 0.01653709 0.03696221] [ 0.08763873 -0.03446827 0.99555582 -0.20512151] [ 0. 0. 0. 1. ]] SLAMing on 16.501346184 meters Centerline goodness : 0.920228 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97664567 -0.19300924 -0.09439638 0.89255682] [ 0.19582096 0.98040609 0.02140189 0.03733774] [ 0.08841602 -0.03938685 0.99530462 -0.2020817 ] [ 0. 0. 0. 1. ]] SLAMing on 16.531346184 meters Centerline goodness : 0.923646 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97695675 -0.1907227 -0.09581419 0.89335092] [ 0.19391047 0.98069925 0.025054 0.03809582] [ 0.08918654 -0.04305604 0.99508388 -0.20066349] [ 0. 0. 0. 1. ]] SLAMing on 16.561346183999998 meters Centerline goodness : 0.920762 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97724931 -0.18881891 -0.09659818 0.89494971] [ 0.19227012 0.98095165 0.0276777 0.03860997] [ 0.08953207 -0.04562096 0.99493856 -0.20155024] [ 0. 0. 0. 1. ]] SLAMing on 16.591346184 meters Centerline goodness : 0.920103 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97732001 -0.18860396 -0.09630232 0.8944822 ] [ 0.19195897 0.98103786 0.02676688 0.03918183] [ 0.08942788 -0.0446459 0.99499216 -0.2019279 ] [ 0. 0. 0. 1. ]] SLAMing on 16.621346184 meters Centerline goodness : 0.917125 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.20 [[ 0.97732094 -0.18831873 -0.09684954 0.89729767] [ 0.19171977 0.98107783 0.02701528 0.04045776] [ 0.08992945 -0.04497057 0.99493233 -0.20427804] [ 0. 0. 0. 1. ]] SLAMing on 16.651346183999998 meters Centerline goodness : 0.919020 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.20 [[ 0.97718642 -0.18891722 -0.09704111 0.89710164] [ 0.19229932 0.98097345 0.02668463 0.0415293 ] [ 0.09015356 -0.04473679 0.99492259 -0.20345485] [ 0. 0. 0. 1. ]] SLAMing on 16.681346184 meters Centerline goodness : 0.917976 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.20 [[ 0.97697178 -0.18979684 -0.09748488 0.89763312] [ 0.19316744 0.98081325 0.02630023 0.04304219] [ 0.09062277 -0.04452549 0.99488944 -0.20292749] [ 0. 0. 0. 1. ]] SLAMing on 16.711346184 meters Centerline goodness : 0.915317 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.20 [[ 0.97663582 -0.19138138 -0.09775296 0.89819376] [ 0.19467556 0.98054229 0.02526351 0.04453334] [ 0.09101595 -0.04370336 0.99489 -0.20257695] [ 0. 0. 0. 1. ]] SLAMing on 16.741346183999998 meters Centerline goodness : 0.914560 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.20 [[ 0.97623706 -0.19322674 -0.09810519 0.89926364] [ 0.19647134 0.9802041 0.02447331 0.04549195] [ 0.09143421 -0.04316661 0.99487508 -0.2023416 ] [ 0. 0. 0. 1. ]] SLAMing on 16.771346184 meters Centerline goodness : 0.914198 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.20 [[ 0.97562371 -0.19588774 -0.09892612 0.90057403] [ 0.19914052 0.97967564 0.02405605 0.04731838] [ 0.09220322 -0.04316985 0.99480397 -0.2011351 ] [ 0. 0. 0. 1. ]] SLAMing on 16.801346184 meters Centerline goodness : 0.915106 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.20 [[ 0.97547795 -0.19604568 -0.10004424 0.90251507] [ 0.19951372 0.97955463 0.02582634 0.04856529] [ 0.09293566 -0.04515322 0.99464775 -0.20083964] [ 0. 0. 0. 1. ]] SLAMing on 16.831346183999997 meters Centerline goodness : 0.916468 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.20 [[ 0.97533901 -0.19645499 -0.10059447 0.90207395] [ 0.19997738 0.97945231 0.02611919 0.04993203] [ 0.09339624 -0.04559169 0.99458461 -0.19904732] [ 0. 0. 0. 1. ]] SLAMing on 16.861346184 meters Centerline goodness : 0.914184 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.20 [[ 0.97546997 -0.19493275 -0.10227196 0.90486074] [ 0.19886229 0.97957887 0.02964833 0.05162303] [ 0.09440402 -0.04925909 0.99431455 -0.19935275] [ 0. 0. 0. 1. ]] SLAMing on 16.891346184 meters Centerline goodness : 0.912707 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.20 [[ 0.97538168 -0.19484493 -0.10327646 0.90694849] [ 0.19895339 0.97951863 0.0309969 0.05291635] [ 0.09512163 -0.05078102 0.99416959 -0.19961544] [ 0. 0. 0. 1. ]] SLAMing on 16.921346183999997 meters Centerline goodness : 0.912285 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.20 [[ 0.97531436 -0.19510017 -0.10343032 0.90649359] [ 0.19921712 0.97946518 0.03099182 0.05398586] [ 0.09525988 -0.05083186 0.99415375 -0.19880495] [ 0. 0. 0. 1. ]] SLAMing on 16.951346184 meters Centerline goodness : 0.912872 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.20 [[ 0.97514219 -0.19593889 -0.10346814 0.90598137] [ 0.19999354 0.97932907 0.03028464 0.05542903] [ 0.09539542 -0.05022479 0.99417161 -0.19804868] [ 0. 0. 0. 1. ]] SLAMing on 16.981346184 meters Centerline goodness : 0.908547 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.20 [[ 0.97493402 -0.19720996 -0.10301399 0.90628135] [ 0.20103535 0.97918167 0.02807217 0.0578902 ] [ 0.0953333 -0.04807796 0.9942837 -0.19950989] [ 0. 0. 0. 1. ]] SLAMing on 17.011346183999997 meters Centerline goodness : 0.909466 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.20 [[ 0.9748336 -0.1976804 -0.1030627 0.90619848] [ 0.20143196 0.97912319 0.02725698 0.059427 ] [ 0.09552291 -0.04733114 0.99430133 -0.19941632] [ 0. 0. 0. 1. ]] SLAMing on 17.041346184 meters Centerline goodness : 0.906398 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.20 [[ 0.97467235 -0.19834187 -0.10331658 0.90560566] [ 0.20202922 0.97902268 0.0264344 0.06182176] [ 0.09590623 -0.04663785 0.99429719 -0.19830461] [ 0. 0. 0. 1. ]] SLAMing on 17.071346184 meters Centerline goodness : 0.903642 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.20 [[ 0.97475646 -0.19673541 -0.10556995 0.91056428] [ 0.20079913 0.97919571 0.0292486 0.0651698 ] [ 0.0976194 -0.04970861 0.99398164 -0.20048759] [ 0. 0. 0. 1. ]] SLAMing on 17.101346183999997 meters Centerline goodness : 0.903342 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.20 [[ 0.9746847 -0.19722393 -0.10532071 0.91037734] [ 0.201111 0.97918088 0.02755309 0.06669553] [ 0.0976939 -0.04803673 0.99405653 -0.20087998] [ 0. 0. 0. 1. ]] SLAMing on 17.131346183999998 meters Centerline goodness : 0.902184 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.20 [[ 0.974835 -0.19684152 -0.10464292 0.90983187] [ 0.20061051 0.9793072 0.0266987 0.06703785] [ 0.09722215 -0.0470193 0.99415142 -0.20197578] [ 0. 0. 0. 1. ]] SLAMing on 17.161346184 meters Centerline goodness : 0.903862 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.20 [[ 0.97498568 -0.196193 -0.10445686 0.90898079] [ 0.199937 0.9794486 0.02656365 0.06814973] [ 0.09709852 -0.04678397 0.9941746 -0.20179458] [ 0. 0. 0. 1. ]] SLAMing on 17.191346183999997 meters Centerline goodness : 0.905051 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.20 [[ 0.97538465 -0.19358608 -0.10558981 0.907483 ] [ 0.19773397 0.97978914 0.03024101 0.07034476] [ 0.09760151 -0.05037531 0.99394983 -0.19878117] [ 0. 0. 0. 1. ]] SLAMing on 17.221346183999998 meters Centerline goodness : 0.904184 Centerline is valid? [False, False] Translation: X:0.91, Y:0.08, Z:-0.20 [[ 0.97570158 -0.19743442 -0.0950057 0.91149654] [ 0.20092908 0.97918683 0.02864716 0.0770307 ] [ 0.08737239 -0.04704049 0.99506445 -0.19952436] [ 0. 0. 0. 1. ]] SLAMing on 17.251346184 meters Centerline goodness : 0.904374 Centerline is valid? [False, False] Translation: X:0.91, Y:0.08, Z:-0.20 [[ 0.97589896 -0.19636544 -0.09519371 0.9110089 ] [ 0.19990612 0.97938247 0.02911227 0.07826925] [ 0.08751441 -0.04744044 0.99503298 -0.19900643] [ 0. 0. 0. 1. ]] SLAMing on 17.281346184 meters Centerline goodness : 0.905958 Centerline is valid? [False, False] Translation: X:0.91, Y:0.08, Z:-0.20 [[ 0.97610286 -0.19551969 -0.0948433 0.90953893] [ 0.19896372 0.97960001 0.02823565 0.08000192] [ 0.08738787 -0.04643128 0.9950917 -0.1986564 ] [ 0. 0. 0. 1. ]] SLAMing on 17.311346183999998 meters Centerline goodness : 0.903527 Centerline is valid? [False, False] Translation: X:0.91, Y:0.08, Z:-0.20 [[ 0.97667489 -0.19283801 -0.09444396 0.90952515] [ 0.19616293 0.98019403 0.02719857 0.08341127] [ 0.08732849 -0.04509056 0.99515857 -0.20132925] [ 0. 0. 0. 1. ]] SLAMing on 17.341346184 meters Centerline goodness : 0.900594 Centerline is valid? [False, False] Translation: X:0.91, Y:0.09, Z:-0.20 [[ 0.97692776 -0.19142261 -0.09470762 0.91043745] [ 0.19475985 0.98047206 0.02726051 0.08539888] [ 0.0876399 -0.04507679 0.99513182 -0.20260096] [ 0. 0. 0. 1. ]] SLAMing on 17.371346184 meters Centerline goodness : 0.901099 Centerline is valid? [False, False] Translation: X:0.91, Y:0.09, Z:-0.20 [[ 0.97694411 -0.19106771 -0.09525404 0.91097031] [ 0.19441414 0.98054516 0.02709844 0.08790815] [ 0.08822325 -0.04499239 0.99508409 -0.20244706] [ 0. 0. 0. 1. ]] SLAMing on 17.401346183999998 meters Centerline goodness : 0.897435 Centerline is valid? [False, False] Translation: X:0.91, Y:0.09, Z:-0.20 [[ 0.97666874 -0.19210118 -0.09599642 0.91089183] [ 0.19538322 0.98038338 0.02595811 0.09333853] [ 0.08912671 -0.04410856 0.99504315 -0.20128336] [ 0. 0. 0. 1. ]] SLAMing on 17.431346184 meters Centerline goodness : 0.897352 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.20 [[ 0.97643138 -0.19289133 -0.09682298 0.91295553] [ 0.1961875 0.98023027 0.02567275 0.09548276] [ 0.08995676 -0.04406313 0.99497046 -0.20167872] [ 0. 0. 0. 1. ]] SLAMing on 17.461346184 meters Centerline goodness : 0.896983 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.20 [[ 0.97618869 -0.19388813 -0.09727813 0.91320291] [ 0.19718217 0.9800382 0.02538325 0.09702355] [ 0.09041478 -0.04396035 0.99493349 -0.20068863] [ 0. 0. 0. 1. ]] SLAMing on 17.491346183999998 meters Centerline goodness : 0.896267 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.20 [[ 0.97597004 -0.19484416 -0.09756141 0.91268278] [ 0.1981161 0.97986068 0.02496125 0.09909899] [ 0.09073303 -0.04368992 0.99491643 -0.1993087 ] [ 0. 0. 0. 1. ]] SLAMing on 17.521346184 meters Centerline goodness : 0.898134 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.20 [[ 0.97555518 -0.19613059 -0.09912055 0.91308217] [ 0.19953228 0.97955785 0.02555964 0.1024819 ] [ 0.09208128 -0.04471259 0.99474711 -0.1960753 ] [ 0. 0. 0. 1. ]] SLAMing on 17.551346184 meters Centerline goodness : 0.898032 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.20 [[ 0.97536524 -0.19637057 -0.10050496 0.91488724] [ 0.19993769 0.97944628 0.02664394 0.10420877] [ 0.09320713 -0.04608231 0.99457974 -0.19504121] [ 0. 0. 0. 1. ]] SLAMing on 17.581346183999997 meters Centerline goodness : 0.897020 Centerline is valid? [False, False] Translation: X:0.92, Y:0.11, Z:-0.19 [[ 0.97531914 -0.19625345 -0.10117883 0.91518685] [ 0.19993078 0.97942445 0.02748492 0.10584554] [ 0.09370301 -0.04703533 0.99448852 -0.19403141] [ 0. 0. 0. 1. ]] SLAMing on 17.611346184 meters Centerline goodness : 0.898455 Centerline is valid? [False, False] Translation: X:0.92, Y:0.11, Z:-0.19 [[ 0.97519163 -0.19641017 -0.10209965 0.91652901] [ 0.2001567 0.97937099 0.02774464 0.10841377] [ 0.09454411 -0.04749227 0.9943872 -0.19379337] [ 0. 0. 0. 1. ]] SLAMing on 17.641346184 meters Centerline goodness : 0.896404 Centerline is valid? [False, False] Translation: X:0.92, Y:0.11, Z:-0.19 [[ 0.97489301 -0.19794671 -0.10198392 0.91665976] [ 0.20147203 0.97916466 0.02540841 0.11195636] [ 0.09482954 -0.04531739 0.99446151 -0.19428583] [ 0. 0. 0. 1. ]] SLAMing on 17.671346183999997 meters Centerline goodness : 0.895014 Centerline is valid? [False, False] Translation: X:0.92, Y:0.11, Z:-0.19 [[ 0.9746249 -0.19898993 -0.10251497 0.91801266] [ 0.20244461 0.97899043 0.02437026 0.11329419] [ 0.09551174 -0.04450546 0.99443289 -0.19429771] [ 0. 0. 0. 1. ]] SLAMing on 17.701346184 meters Centerline goodness : 0.896305 Centerline is valid? [False, False] Translation: X:0.92, Y:0.12, Z:-0.19 [[ 0.97428961 -0.19987376 -0.10397225 0.92094564] [ 0.20347442 0.97875713 0.02515235 0.11545813] [ 0.09673629 -0.04566136 0.9942621 -0.19449856] [ 0. 0. 0. 1. ]] SLAMing on 17.731346184 meters Centerline goodness : 0.894884 Centerline is valid? [False, False] Translation: X:0.92, Y:0.12, Z:-0.19 [[ 0.97396467 -0.20112079 -0.10460999 0.92111997] [ 0.20470442 0.9785142 0.02461832 0.11774692] [ 0.0974111 -0.0453915 0.99420857 -0.19314163] [ 0. 0. 0. 1. ]] SLAMing on 17.761346183999997 meters Centerline goodness : 0.892113 Centerline is valid? [False, False] Translation: X:0.92, Y:0.12, Z:-0.19 [[ 0.97365305 -0.20201058 -0.1057897 0.92365759] [ 0.20560317 0.9783382 0.02411849 0.12104152] [ 0.09862591 -0.04523374 0.99409599 -0.19369523] [ 0. 0. 0. 1. ]] SLAMing on 17.791346184 meters Centerline goodness : 0.891658 Centerline is valid? [False, False] Translation: X:0.92, Y:0.12, Z:-0.19 [[ 0.9734577 -0.20285074 -0.10597965 0.92389881] [ 0.20636469 0.97820008 0.02319961 0.1229497 ] [ 0.09896325 -0.04445429 0.99409763 -0.19349666] [ 0. 0. 0. 1. ]] SLAMing on 17.821346184 meters Centerline goodness : 0.892875 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.19 [[ 0.97337595 -0.20283891 -0.10675038 0.9254736 ] [ 0.20642907 0.97817657 0.02361417 0.12468127] [ 0.09963085 -0.04502185 0.9940054 -0.19398403] [ 0. 0. 0. 1. ]] SLAMing on 17.851346183999997 meters Centerline goodness : 0.893184 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:-0.19 [[ 0.97337735 -0.20245419 -0.10746553 0.92720907] [ 0.2061324 0.97822525 0.02418268 0.12584278] [ 0.10022961 -0.045691 0.99391466 -0.19472018] [ 0. 0. 0. 1. ]] SLAMing on 17.881346183999998 meters Centerline goodness : 0.891280 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:-0.19 [[ 0.97338851 -0.20250487 -0.10726876 0.92600721] [ 0.20598111 0.97830258 0.0222676 0.13004409] [ 0.10043201 -0.04377036 0.99398067 -0.19412016] [ 0. 0. 0. 1. ]] SLAMing on 17.911346184 meters Centerline goodness : 0.891280 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:-0.19 [[ 0.97338851 -0.20250487 -0.10726876 0.92600721] [ 0.20598111 0.97830258 0.0222676 0.13004409] [ 0.10043201 -0.04377036 0.99398067 -0.19412016] [ 0. 0. 0. 1. ]] SLAMing on 17.941346183999997 meters Centerline goodness : 0.890670 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:-0.19 [[ 0.97337711 -0.20246803 -0.10744162 0.92553062] [ 0.20585726 0.97834943 0.02133493 0.13294764] [ 0.1007958 -0.04288457 0.99398245 -0.19353798] [ 0. 0. 0. 1. ]] SLAMing on 17.971346183999998 meters Centerline goodness : 0.890886 Centerline is valid? [False, False] Translation: X:0.93, Y:0.14, Z:-0.19 [[ 0.97342679 -0.20179956 -0.10824607 0.92762406] [ 0.20522429 0.97848154 0.02137422 0.13564817] [ 0.10160347 -0.04302096 0.99389433 -0.19478411] [ 0. 0. 0. 1. ]] SLAMing on 18.001346184 meters Centerline goodness : 0.891315 Centerline is valid? [False, False] Translation: X:0.93, Y:0.14, Z:-0.20 [[ 0.97392776 -0.19971518 -0.10760371 0.9268423 ] [ 0.20298385 0.97897329 0.02022028 0.13933139] [ 0.10130286 -0.04153491 0.99398822 -0.1965806 ] [ 0. 0. 0. 1. ]] SLAMing on 18.031346183999997 meters Centerline goodness : 0.890426 Centerline is valid? [False, False] Translation: X:0.93, Y:0.14, Z:-0.20 [[ 0.97413767 -0.19882753 -0.10734716 0.92552191] [ 0.20202521 0.97918271 0.01967342 0.1411247 ] [ 0.10120086 -0.04085145 0.99402693 -0.1960167 ] [ 0. 0. 0. 1. ]] SLAMing on 18.061346183999998 meters Centerline goodness : 0.889776 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:-0.20 [[ 0.97433692 -0.19778055 -0.10747292 0.92467728] [ 0.20099871 0.97938983 0.01987671 0.1431043 ] [ 0.10132666 -0.04096853 0.9940093 -0.19528175] [ 0. 0. 0. 1. ]] SLAMing on 18.091346184 meters Centerline goodness : 0.888215 Centerline is valid? [False, False] Translation: X:0.93, Y:0.15, Z:-0.19 [[ 0.97443167 -0.19684119 -0.10833501 0.92524948] [ 0.20018309 0.9795381 0.0207809 0.1454393 ] [ 0.10202774 -0.0419364 0.99389722 -0.19468067] [ 0. 0. 0. 1. ]] SLAMing on 18.121346184 meters Centerline goodness : 0.889575 Centerline is valid? [False, False] Translation: X:0.93, Y:0.15, Z:-0.19 [[ 0.97480288 -0.19420438 -0.10974519 0.92584111] [ 0.19778777 0.97998285 0.02266277 0.15036811] [ 0.1031472 -0.04379799 0.99370136 -0.19414928] [ 0. 0. 0. 1. ]] SLAMing on 18.151346183999998 meters Centerline goodness : 0.888466 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:-0.19 [[ 0.97500013 -0.1932823 -0.10962073 0.92435879] [ 0.19680247 0.98019284 0.02215376 0.15288701] [ 0.10316753 -0.04317355 0.99372658 -0.19331764] [ 0. 0. 0. 1. ]] SLAMing on 18.181346184 meters Centerline goodness : 0.891043 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:-0.19 [[ 0.97514961 -0.19272815 -0.1092662 0.92359201] [ 0.19615969 0.98033677 0.0214756 0.15494005] [ 0.10297872 -0.04237554 0.99378051 -0.19358048] [ 0. 0. 0. 1. ]] SLAMing on 18.211346184 meters Centerline goodness : 0.890068 Centerline is valid? [False, False] Translation: X:0.92, Y:0.16, Z:-0.19 [[ 0.97522897 -0.19256828 -0.10883897 0.92283501] [ 0.19585077 0.98042526 0.0202183 0.15661632] [ 0.10281507 -0.04103367 0.99385376 -0.19373772] [ 0. 0. 0. 1. ]] SLAMing on 18.241346183999998 meters Centerline goodness : 0.889370 Centerline is valid? [False, False] Translation: X:0.92, Y:0.16, Z:-0.19 [[ 0.9752416 -0.19266478 -0.10855459 0.92181408] [ 0.19578023 0.98046928 0.01871063 0.1599555 ] [ 0.10282956 -0.03950023 0.99391439 -0.19341435] [ 0. 0. 0. 1. ]] SLAMing on 18.271346184 meters Centerline goodness : 0.889776 Centerline is valid? [False, False] Translation: X:0.92, Y:0.16, Z:-0.19 [[ 0.97517706 -0.19280924 -0.10887744 0.92242481] [ 0.19594739 0.98043423 0.01879742 0.16161523] [ 0.10312286 -0.03966507 0.99387744 -0.19354632] [ 0. 0. 0. 1. ]] SLAMing on 18.301346184 meters Centerline goodness : 0.891167 Centerline is valid? [False, False] Translation: X:0.92, Y:0.16, Z:-0.19 [[ 0.97499889 -0.19331227 -0.10957888 0.92269666] [ 0.19644145 0.98034261 0.01841543 0.16375574] [ 0.10386492 -0.03948085 0.9938075 -0.19236867] [ 0. 0. 0. 1. ]] SLAMing on 18.331346183999997 meters Centerline goodness : 0.890097 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.19 [[ 0.97483284 -0.19348024 -0.11075349 0.92458979] [ 0.19673354 0.98027023 0.0191362 0.16653127] [ 0.10486588 -0.04044352 0.99366366 -0.19242276] [ 0. 0. 0. 1. ]] SLAMing on 18.361346184 meters Centerline goodness : 0.891307 Centerline is valid? [False, False] Translation: X:0.93, Y:0.17, Z:-0.19 [[ 0.97458028 -0.19423426 -0.11165273 0.92500802] [ 0.1974017 0.98015845 0.01794365 0.17247062] [ 0.1059521 -0.03952796 0.99358527 -0.1915761 ] [ 0. 0. 0. 1. ]] SLAMing on 18.391346184 meters Centerline goodness : 0.890014 Centerline is valid? [False, False] Translation: X:0.93, Y:0.18, Z:-0.19 [[ 0.97452966 -0.19436997 -0.11185817 0.92561273] [ 0.19745765 0.98016203 0.01711343 0.17541165] [ 0.10631279 -0.0387648 0.99357681 -0.19154953] [ 0. 0. 0. 1. ]] SLAMing on 18.421346183999997 meters Centerline goodness : 0.888995 Centerline is valid? [False, False] Translation: X:0.93, Y:0.18, Z:-0.19 [[ 0.97447715 -0.1945548 -0.11199424 0.92587517] [ 0.19754474 0.98016096 0.01614202 0.1785013 ] [ 0.10663187 -0.0378539 0.99357774 -0.19116087] [ 0. 0. 0. 1. ]] SLAMing on 18.451346184 meters Centerline goodness : 0.887930 Centerline is valid? [False, False] Translation: X:0.93, Y:0.18, Z:-0.19 [[ 0.97445297 -0.19469706 -0.1119574 0.92569698] [ 0.19749341 0.98019924 0.0143459 0.18492751] [ 0.10694745 -0.03609025 0.99360945 -0.19025736] [ 0. 0. 0. 1. ]] SLAMing on 18.481346184 meters Centerline goodness : 0.890421 Centerline is valid? [False, False] Translation: X:0.93, Y:0.19, Z:-0.19 [[ 0.97439498 -0.19497227 -0.11198321 0.92552506] [ 0.19765622 0.98018146 0.01327904 0.18816032] [ 0.10717482 -0.03507321 0.99362137 -0.18961608] [ 0. 0. 0. 1. ]] SLAMing on 18.511346183999997 meters Centerline goodness : 0.889756 Centerline is valid? [False, False] Translation: X:0.93, Y:0.19, Z:-0.19 [[ 0.97436283 -0.19515827 -0.1119389 0.92547475] [ 0.19775038 0.98017357 0.01243219 0.19080741] [ 0.10729331 -0.03424942 0.99363732 -0.18938362] [ 0. 0. 0. 1. ]] SLAMing on 18.541346184 meters Centerline goodness : 0.890596 Centerline is valid? [False, False] Translation: X:0.93, Y:0.19, Z:-0.19 [[ 0.97432786 -0.19545386 -0.11172735 0.92509869] [ 0.19790989 0.98015597 0.01122246 0.19441377] [ 0.10731676 -0.0330463 0.99367553 -0.18896136] [ 0. 0. 0. 1. ]] SLAMing on 18.571346184 meters Centerline goodness : 0.887680 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:-0.19 [[ 0.97422246 -0.19613209 -0.11145761 0.92373207] [ 0.19846326 0.98005618 0.01011059 0.19682157] [ 0.10725171 -0.0319702 0.99371776 -0.18779375] [ 0. 0. 0. 1. ]] SLAMing on 18.601346183999997 meters Centerline goodness : 0.890779 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:-0.19 [[ 0.9740901 -0.1969459 -0.11117914 0.92198976] [ 0.19913308 0.97993283 0.00881292 0.19922581] [ 0.10721242 -0.03072402 0.99376131 -0.18603373] [ 0. 0. 0. 1. ]] SLAMing on 18.631346183999998 meters Centerline goodness : 0.894543 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:-0.18 [[ 0.97397718 -0.19759474 -0.11101697 0.92071181] [ 0.19967453 0.97983101 0.0078274 0.20091853] [ 0.10723122 -0.02979097 0.99378769 -0.18467513] [ 0. 0. 0. 1. ]] SLAMing on 18.661346184 meters Centerline goodness : 0.891975 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:-0.18 [[ 0.97387661 -0.19813627 -0.11093403 0.91978876] [ 0.20011864 0.97974725 0.00691755 0.2026179 ] [ 0.10731669 -0.02893681 0.9938037 -0.18348267] [ 0. 0. 0. 1. ]] SLAMing on 18.691346183999997 meters Centerline goodness : 0.893375 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:-0.18 [[ 0.97381194 -0.19850248 -0.11084703 0.91929763] [ 0.2004182 0.97969016 0.00630335 0.20404934] [ 0.10734452 -0.02835404 0.99381749 -0.18298395] [ 0. 0. 0. 1. ]] SLAMing on 18.721346183999998 meters Centerline goodness : 0.890025 Centerline is valid? [False, False] Translation: X:0.92, Y:0.21, Z:-0.18 [[ 0.9737895 -0.19845581 -0.11112742 0.91996252] [ 0.20033597 0.97970947 0.00590344 0.20538224] [ 0.10770102 -0.02801153 0.99378863 -0.18272636] [ 0. 0. 0. 1. ]] SLAMing on 18.751346184 meters Centerline goodness : 0.891049 Centerline is valid? [False, False] Translation: X:0.92, Y:0.21, Z:-0.18 [[ 0.97389514 -0.19761592 -0.11169697 0.92264399] [ 0.1995566 0.97986568 0.00635781 0.20552921] [ 0.10819162 -0.0284817 0.99372198 -0.18417716] [ 0. 0. 0. 1. ]] SLAMing on 18.781346183999997 meters Centerline goodness : 0.890719 Centerline is valid? [False, False] Translation: X:0.92, Y:0.21, Z:-0.18 [[ 0.97395363 -0.19711652 -0.11206877 0.92423642] [ 0.19907595 0.97996278 0.00645933 0.20566016] [ 0.10854998 -0.02860129 0.99367946 -0.18464685] [ 0. 0. 0. 1. ]] SLAMing on 18.811346183999998 meters Centerline goodness : 0.889094 Centerline is valid? [False, False] Translation: X:0.93, Y:0.21, Z:-0.18 [[ 0.97400625 -0.19661813 -0.11248615 0.92566624] [ 0.19855959 0.98006912 0.00621347 0.20680983] [ 0.10902252 -0.02838716 0.99363387 -0.18458666] [ 0. 0. 0. 1. ]] SLAMing on 18.841346184 meters Centerline goodness : 0.889810 Centerline is valid? [False, False] Translation: X:0.93, Y:0.21, Z:-0.18 [[ 0.97406295 -0.19599176 -0.11308671 0.92737843] [ 0.19789013 0.98020762 0.00570206 0.20896018] [ 0.1097309 -0.02793291 0.99356876 -0.18401946] [ 0. 0. 0. 1. ]] SLAMing on 18.871346184 meters Centerline goodness : 0.892886 Centerline is valid? [False, False] Translation: X:0.93, Y:0.21, Z:-0.18 [[ 0.97504551 -0.19031798 -0.11430359 0.9289141 ] [ 0.19262931 0.98122633 0.00942517 0.21171721] [ 0.11036392 -0.03120819 0.99340115 -0.18351298] [ 0. 0. 0. 1. ]] SLAMing on 18.901346183999998 meters Centerline goodness : 0.895212 Centerline is valid? [False, False] Translation: X:0.93, Y:0.22, Z:-0.18 [[ 0.97517985 -0.18898306 -0.11536751 0.93193651] [ 0.19107072 0.98154978 0.00721201 0.21644436] [ 0.111876 -0.02907636 0.9932967 -0.17965395] [ 0. 0. 0. 1. ]] SLAMing on 18.931346184 meters Centerline goodness : 0.895695 Centerline is valid? [False, False] Translation: X:0.93, Y:0.22, Z:-0.18 [[ 0.97596978 -0.1842961 -0.1162667 0.93230615] [ 0.18681065 0.98233413 0.0110195 0.21711718] [ 0.1121819 -0.03247455 0.9931569 -0.17933592] [ 0. 0. 0. 1. ]] SLAMing on 18.961346184 meters Centerline goodness : 0.895467 Centerline is valid? [False, False] Translation: X:0.95, Y:0.23, Z:-0.17 [[ 0.97751513 -0.17709001 -0.11446961 0.95135853] [ 0.17853133 0.98393134 0.00238198 0.22630505] [ 0.11220841 -0.02276484 0.9934239 -0.16876403] [ 0. 0. 0. 1. ]] SLAMing on 18.991346183999998 meters Centerline goodness : 0.895687 Centerline is valid? [False, False] Translation: X:0.95, Y:0.23, Z:-0.17 [[ 0.97754002 -0.17651257 -0.11514699 0.95348071] [ 0.17791614 0.98404373 0.00194587 0.22751015] [ 0.1129662 -0.02238868 0.99334656 -0.16811069] [ 0. 0. 0. 1. ]] SLAMing on 19.021346184 meters Centerline goodness : 0.893463 Centerline is valid? [False, False] Translation: X:0.96, Y:0.23, Z:-0.17 [[ 0.9770166 -0.1792475 -0.11536418 0.95695824] [ 0.18012737 0.9836392 -0.00283825 0.23114702] [ 0.11398548 -0.01800723 0.99331921 -0.16684533] [ 0. 0. 0. 1. ]] SLAMing on 19.051346184 meters Centerline goodness : 0.890858 Centerline is valid? [False, False] Translation: X:0.96, Y:0.23, Z:-0.17 [[ 0.97704063 -0.17899319 -0.11555542 0.95820614] [ 0.1799252 0.98367737 -0.00239992 0.22983275] [ 0.11409882 -0.01844651 0.99329814 -0.16776546] [ 0. 0. 0. 1. ]] SLAMing on 19.081346183999997 meters Centerline goodness : 0.892628 Centerline is valid? [False, False] Translation: X:0.96, Y:0.23, Z:-0.17 [[ 0.97630818 -0.18322315 -0.11511562 0.95934599] [ 0.18370131 0.9829604 -0.00653263 0.22970179] [ 0.11435102 -0.01476903 0.99333062 -0.16766097] [ 0. 0. 0. 1. ]] SLAMing on 19.111346184 meters Centerline goodness : 0.892051 Centerline is valid? [False, False] Translation: X:0.96, Y:0.23, Z:-0.16 [[ 0.97546678 -0.1878423 -0.11480341 0.95943346] [ 0.18770136 0.98215119 -0.01213457 0.23251048] [ 0.11503369 -0.00971188 0.99331411 -0.16482815] [ 0. 0. 0. 1. ]] SLAMing on 19.141346184 meters Centerline goodness : 0.891575 Centerline is valid? [False, False] Translation: X:0.96, Y:0.24, Z:-0.16 [[ 0.9746289 -0.19231396 -0.11451573 0.95978005] [ 0.19156539 0.98132184 -0.01761091 0.23556316] [ 0.11576362 -0.00477315 0.99326532 -0.16217578] [ 0. 0. 0. 1. ]] SLAMing on 19.171346183999997 meters Centerline goodness : 0.892818 Centerline is valid? [False, False] Translation: X:0.96, Y:0.23, Z:-0.16 [[ 0.97452329 -0.1930468 -0.11418093 0.95834096] [ 0.19227203 0.98117903 -0.0178655 0.23453932] [ 0.11548081 -0.00454345 0.99329932 -0.16141965] [ 0. 0. 0. 1. ]] SLAMing on 19.201346184 meters Centerline goodness : 0.892272 Centerline is valid? [False, False] Translation: X:0.96, Y:0.23, Z:-0.16 [[ 0.9741362 -0.19529081 -0.11366687 0.95526633] [ 0.19441552 0.98073824 -0.01884426 0.23240159] [ 0.11515756 -0.00374172 0.99334019 -0.15974172] [ 0. 0. 0. 1. ]] SLAMing on 19.231346184 meters Centerline goodness : 0.892321 Centerline is valid? [False, False] Translation: X:0.95, Y:0.23, Z:-0.16 [[ 0.97401572 -0.19609504 -0.11331422 0.95393338] [ 0.19523177 0.9805774 -0.01877567 0.23030516] [ 0.11479518 -0.00383474 0.99338178 -0.15949767] [ 0. 0. 0. 1. ]] SLAMing on 19.261346183999997 meters Centerline goodness : 0.893883 Centerline is valid? [False, False] Translation: X:0.95, Y:0.23, Z:-0.16 [[ 0.97386217 -0.19712435 -0.11284705 0.95234429] [ 0.19625579 0.98037123 -0.01886583 0.22819101] [ 0.11435091 -0.00377417 0.99343325 -0.15924014] [ 0. 0. 0. 1. ]] SLAMing on 19.291346184 meters Centerline goodness : 0.891638 Centerline is valid? [False, False] Translation: X:0.95, Y:0.23, Z:-0.16 [[ 9.72945860e-01 -2.02167948e-01 -1.11823409e-01 9.51837851e-01] [ 2.00879406e-01 9.79350824e-01 -2.27909388e-02 2.26347626e-01] [ 1.14121945e-01 -2.88670437e-04 9.93466707e-01 -1.59391021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.321346184 meters Centerline goodness : 0.891042 Centerline is valid? [False, False] Translation: X:0.95, Y:0.22, Z:-0.16 [[ 9.72845726e-01 -2.02935305e-01 -1.11303436e-01 9.50712325e-01] [ 2.01652211e-01 9.79192108e-01 -2.27859791e-02 2.24234647e-01] [ 1.13611526e-01 -2.77341665e-04 9.93525211e-01 -1.59632418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.351346183999997 meters Centerline goodness : 0.890528 Centerline is valid? [False, False] Translation: X:0.95, Y:0.22, Z:-0.16 [[ 9.72701968e-01 -2.03952949e-01 -1.10698128e-01 9.48656330e-01] [ 2.02641017e-01 9.78980691e-01 -2.30959873e-02 2.22648036e-01] [ 1.13081825e-01 3.35309446e-05 9.93585678e-01 -1.58976864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.381346183999998 meters Centerline goodness : 0.891411 Centerline is valid? [False, False] Translation: X:0.95, Y:0.22, Z:-0.16 [[ 9.72560084e-01 -2.05031225e-01 -1.09950349e-01 9.46013226e-01] [ 2.03659015e-01 9.78755218e-01 -2.36902628e-02 2.21787043e-01] [ 1.12471721e-01 6.47824263e-04 9.93654715e-01 -1.57749358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.411346184 meters Centerline goodness : 0.890467 Centerline is valid? [False, False] Translation: X:0.94, Y:0.22, Z:-0.16 [[ 0.97233579 -0.20657992 -0.10903144 0.94234422] [ 0.20511519 0.97842848 -0.02460615 0.22111356] [ 0.1117626 0.00156143 0.99373371 -0.15584973] [ 0. 0. 0. 1. ]] SLAMing on 19.441346183999997 meters Centerline goodness : 0.890401 Centerline is valid? [False, False] Translation: X:0.94, Y:0.22, Z:-0.16 [[ 0.97226507 -0.20701634 -0.10883418 0.9415788 ] [ 0.20553759 0.97833601 -0.02475804 0.22027515] [ 0.11160171 0.00170186 0.99375156 -0.15541724] [ 0. 0. 0. 1. ]] SLAMing on 19.471346183999998 meters Centerline goodness : 0.888528 Centerline is valid? [False, False] Translation: X:0.94, Y:0.22, Z:-0.16 [[ 0.97223052 -0.20728083 -0.10863915 0.94115561] [ 0.20582456 0.97828028 -0.0245752 0.21876492] [ 0.11137351 0.00153216 0.99377744 -0.15551494] [ 0. 0. 0. 1. ]] SLAMing on 19.501346184 meters Centerline goodness : 0.889132 Centerline is valid? [False, False] Translation: X:0.94, Y:0.22, Z:-0.15 [[ 0.97203482 -0.20845215 -0.10814806 0.93923882] [ 0.20699666 0.97803131 -0.02464004 0.21558961] [ 0.11090846 0.00156469 0.99382939 -0.15482796] [ 0. 0. 0. 1. ]] SLAMing on 19.531346183999997 meters Centerline goodness : 0.890890 Centerline is valid? [False, False] Translation: X:0.94, Y:0.21, Z:-0.15 [[ 0.97202116 -0.20856684 -0.10804973 0.93892217] [ 0.2071244 0.97800702 -0.02453065 0.21443462] [ 0.11078968 0.00146458 0.9938428 -0.15456427] [ 0. 0. 0. 1. ]] SLAMing on 19.561346183999998 meters Centerline goodness : 0.888696 Centerline is valid? [False, False] Translation: X:0.94, Y:0.21, Z:-0.15 [[ 0.97203182 -0.20847406 -0.10813279 0.93920041] [ 0.20704226 0.97802695 -0.02442911 0.21409261] [ 0.11084962 0.00135781 0.99383626 -0.15458698] [ 0. 0. 0. 1. ]] SLAMing on 19.591346184 meters Centerline goodness : 0.888807 Centerline is valid? [False, False] Translation: X:0.94, Y:0.21, Z:-0.15 [[ 0.97205473 -0.20824993 -0.10835855 0.93971659] [ 0.20680836 0.97807463 -0.02450128 0.21443738] [ 0.11108514 0.00140713 0.9938099 -0.15427889] [ 0. 0. 0. 1. ]] SLAMing on 19.621346184 meters Centerline goodness : 0.888728 Centerline is valid? [False, False] Translation: X:0.94, Y:0.21, Z:-0.16 [[ 0.97294297 -0.20369492 -0.10904294 0.93986341] [ 0.20274928 0.97903031 -0.01980881 0.2121733 ] [ 0.11079129 -0.00283554 0.99383965 -0.15515337] [ 0. 0. 0. 1. ]] SLAMing on 19.651346183999998 meters Centerline goodness : 0.886336 Centerline is valid? [False, False] Translation: X:0.94, Y:0.21, Z:-0.16 [[ 0.97305208 -0.20287962 -0.10958794 0.94220296] [ 0.20200353 0.97919744 -0.01915583 0.21111388] [ 0.11119456 -0.00349753 0.9937925 -0.15624272] [ 0. 0. 0. 1. ]] SLAMing on 19.681346184 meters Centerline goodness : 0.887106 Centerline is valid? [False, False] Translation: X:0.94, Y:0.21, Z:-0.16 [[ 0.97316939 -0.20200964 -0.1101519 0.94479815] [ 0.20122356 0.97937395 -0.01832356 0.20927389] [ 0.11158143 -0.00433323 0.99374585 -0.15755416] [ 0. 0. 0. 1. ]] SLAMing on 19.711346184 meters Centerline goodness : 0.888741 Centerline is valid? [False, False] Translation: X:0.95, Y:0.21, Z:-0.16 [[ 0.97333386 -0.20067894 -0.11112677 0.94851608] [ 0.19999062 0.97964291 -0.01742203 0.20824408] [ 0.11236078 -0.00526686 0.99365352 -0.15889212] [ 0. 0. 0. 1. ]] SLAMing on 19.741346183999998 meters Centerline goodness : 0.887390 Centerline is valid? [False, False] Translation: X:0.95, Y:0.21, Z:-0.16 [[ 0.97334546 -0.20038222 -0.11155975 0.94956544] [ 0.19968177 0.97970394 -0.01753235 0.2094357 ] [ 0.11280869 -0.00521142 0.99360306 -0.15876361] [ 0. 0. 0. 1. ]] SLAMing on 19.771346184 meters Centerline goodness : 0.886190 Centerline is valid? [False, False] Translation: X:0.95, Y:0.21, Z:-0.16 [[ 0.97334536 -0.20012332 -0.11202441 0.95067262] [ 0.19941122 0.97975709 -0.0176413 0.21030563] [ 0.11328715 -0.00516784 0.99354885 -0.15858387] [ 0. 0. 0. 1. ]] SLAMing on 19.801346184 meters Centerline goodness : 0.886190 Centerline is valid? [False, False] Translation: X:0.95, Y:0.21, Z:-0.16 [[ 0.97334536 -0.20012332 -0.11202441 0.95067262] [ 0.19941122 0.97975709 -0.0176413 0.21030563] [ 0.11328715 -0.00516784 0.99354885 -0.15858387] [ 0. 0. 0. 1. ]] SLAMing on 19.831346183999997 meters Centerline goodness : 0.889898 Centerline is valid? [False, False] Translation: X:0.95, Y:0.21, Z:-0.16 [[ 0.97330808 -0.20028792 -0.11205413 0.95178779] [ 0.19958273 0.97972306 -0.01759152 0.21042419] [ 0.11330538 -0.0052421 0.99354638 -0.15981877] [ 0. 0. 0. 1. ]] SLAMing on 19.861346184 meters Centerline goodness : 0.887779 Centerline is valid? [False, False] Translation: X:0.95, Y:0.21, Z:-0.16 [[ 0.97334038 -0.19993248 -0.11240777 0.95344636] [ 0.19936226 0.97978851 -0.0164064 0.20557175] [ 0.11341602 -0.00644085 0.99352671 -0.16092657] [ 0. 0. 0. 1. ]] SLAMing on 19.891346184 meters Centerline goodness : 0.890737 Centerline is valid? [False, False] Translation: X:0.95, Y:0.20, Z:-0.16 [[ 0.97323637 -0.20040037 -0.11247511 0.95426787] [ 0.1999313 0.9796865 -0.01555128 0.20371655] [ 0.11330683 -0.00735223 0.99353284 -0.1611962 ] [ 0. 0. 0. 1. ]] SLAMing on 19.921346183999997 meters Centerline goodness : 0.889076 Centerline is valid? [False, False] Translation: X:0.95, Y:0.20, Z:-0.16 [[ 0.97308796 -0.20097611 -0.11273166 0.95452223] [ 0.20055205 0.97956501 -0.0152076 0.20233605] [ 0.11348435 -0.00781023 0.99350909 -0.1602271 ] [ 0. 0. 0. 1. ]] SLAMing on 19.951346184 meters Centerline goodness : 0.890085 Centerline is valid? [False, False] Translation: X:0.95, Y:0.20, Z:-0.16 [[ 0.973158 -0.20077066 -0.1124929 0.95401946] [ 0.2003988 0.9796038 -0.01472105 0.20095123] [ 0.11315402 -0.00821754 0.99354348 -0.15988973] [ 0. 0. 0. 1. ]] SLAMing on 19.981346184 meters Centerline goodness : 0.890442 Centerline is valid? [False, False] Translation: X:0.95, Y:0.20, Z:-0.16 [[ 0.97344566 -0.19968789 -0.11192983 0.95248322] [ 0.19935697 0.97982323 -0.01425592 0.19944208] [ 0.11251818 -0.00843663 0.99361385 -0.15905834] [ 0. 0. 0. 1. ]] SLAMing on 20.011346183999997 meters Centerline goodness : 0.891826 Centerline is valid? [False, False] Translation: X:0.95, Y:0.20, Z:-0.16 [[ 0.97373736 -0.19866155 -0.11121665 0.95123122] [ 0.19829862 0.98003546 -0.01442759 0.19865916] [ 0.11186247 -0.00800542 0.99369145 -0.15905298] [ 0. 0. 0. 1. ]] SLAMing on 20.041346184 meters Centerline goodness : 0.889436 Centerline is valid? [False, False] Translation: X:0.95, Y:0.20, Z:-0.16 [[ 0.97487984 -0.19454406 -0.10845234 0.94885389] [ 0.19407603 0.98087246 -0.01495678 0.19594426] [ 0.10928767 -0.00646694 0.99398913 -0.16308204] [ 0. 0. 0. 1. ]] SLAMing on 20.071346184 meters Centerline goodness : 0.890949 Centerline is valid? [False, False] Translation: X:0.95, Y:0.19, Z:-0.16 [[ 0.97552308 -0.19200541 -0.10718505 0.94727728] [ 0.19147709 0.98137788 -0.01529636 0.19493843] [ 0.10812603 -0.00560153 0.99412141 -0.16446924] [ 0. 0. 0. 1. ]] SLAMing on 20.101346183999997 meters Centerline goodness : 0.892772 Centerline is valid? [False, False] Translation: X:0.95, Y:0.19, Z:-0.17 [[ 0.97621166 -0.18897542 -0.10629713 0.94538063] [ 0.1885383 0.98196261 -0.01423855 0.19402534] [ 0.10707054 -0.00614124 0.99423246 -0.16504477] [ 0. 0. 0. 1. ]] SLAMing on 20.131346183999998 meters Centerline goodness : 0.893285 Centerline is valid? [False, False] Translation: X:0.95, Y:0.20, Z:-0.17 [[ 0.97706436 -0.19105762 -0.09403309 0.9460043 ] [ 0.19044327 0.98157507 -0.01554838 0.19931896] [ 0.09527117 -0.0027162 0.99544765 -0.16657817] [ 0. 0. 0. 1. ]] SLAMing on 20.161346184 meters Centerline goodness : 0.894371 Centerline is valid? [False, False] Translation: X:0.94, Y:0.20, Z:-0.17 [[ 0.97758866 -0.18835461 -0.09403702 0.94430101] [ 0.18785258 0.98209396 -0.01424304 0.19917055] [ 0.09503593 -0.00374126 0.99546681 -0.16522639] [ 0. 0. 0. 1. ]] SLAMing on 20.191346183999997 meters Centerline goodness : 0.892541 Centerline is valid? [False, False] Translation: X:0.94, Y:0.20, Z:-0.17 [[ 0.97837368 -0.18486232 -0.09279476 0.9420607 ] [ 0.18440197 0.98275701 -0.01358599 0.19709015] [ 0.09370623 -0.00381936 0.99559256 -0.16583769] [ 0. 0. 0. 1. ]] SLAMing on 20.221346183999998 meters Centerline goodness : 0.895741 Centerline is valid? [False, False] Translation: X:0.94, Y:0.20, Z:-0.17 [[ 0.97850509 -0.18473939 -0.09164682 0.94029456] [ 0.18412749 0.98278543 -0.01516139 0.19526179] [ 0.09287007 -0.0020392 0.99567615 -0.16568418] [ 0. 0. 0. 1. ]] SLAMing on 20.251346184 meters Centerline goodness : 0.894632 Centerline is valid? [False, False] Translation: X:0.94, Y:0.19, Z:-0.17 [[ 9.78576902e-01 -1.84883947e-01 -9.05824113e-02 9.39352268e-01] [ 1.84146634e-01 9.82760217e-01 -1.65036973e-02 1.92760315e-01] [ 9.20720589e-02 -5.30309191e-04 9.95752205e-01 -1.66214019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.281346183999997 meters Centerline goodness : 0.895806 Centerline is valid? [False, False] Translation: X:0.94, Y:0.19, Z:-0.17 [[ 9.78499110e-01 -1.85660161e-01 -8.98320475e-02 9.38120517e-01] [ 1.84809073e-01 9.82613698e-01 -1.77743241e-02 1.90268104e-01] [ 9.15701843e-02 7.90382874e-04 9.95798311e-01 -1.65341792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.311346183999998 meters Centerline goodness : 0.896796 Centerline is valid? [False, False] Translation: X:0.94, Y:0.19, Z:-0.16 [[ 9.78412335e-01 -1.86236172e-01 -8.95845491e-02 9.36991063e-01] [ 1.85459099e-01 9.82505007e-01 -1.69951365e-02 1.85891186e-01] [ 9.11823771e-02 1.39814302e-05 9.95834210e-01 -1.63352625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.341346184 meters Centerline goodness : 0.895591 Centerline is valid? [False, False] Translation: X:0.94, Y:0.18, Z:-0.16 [[ 9.78438464e-01 -1.86175688e-01 -8.94247487e-02 9.37831004e-01] [ 1.85479392e-01 9.82516123e-01 -1.61078877e-02 1.83651423e-01] [ 9.08601544e-02 -8.25871050e-04 9.95863319e-01 -1.64378907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.371346184 meters Centerline goodness : 0.895789 Centerline is valid? [False, False] Translation: X:0.94, Y:0.18, Z:-0.16 [[ 0.97828134 -0.18776557 -0.0878049 0.93573942] [ 0.18680145 0.98221111 -0.01914543 0.18154843] [ 0.0898378 0.00232753 0.99595369 -0.16422799] [ 0. 0. 0. 1. ]] SLAMing on 20.401346183999998 meters Centerline goodness : 0.893935 Centerline is valid? [False, False] Translation: X:0.93, Y:0.17, Z:-0.16 [[ 0.97775273 -0.19248615 -0.08335869 0.93101306] [ 0.19088066 0.98124474 -0.02689506 0.17411886] [ 0.08697221 0.01038516 0.99615661 -0.16473779] [ 0. 0. 0. 1. ]] SLAMing on 20.431346184 meters Centerline goodness : 0.896290 Centerline is valid? [False, False] Translation: X:0.93, Y:0.17, Z:-0.16 [[ 0.97715488 -0.19599411 -0.08218671 0.92978794] [ 0.19417511 0.98051873 -0.02964883 0.1700282 ] [ 0.0863966 0.01301288 0.99617583 -0.16364044] [ 0. 0. 0. 1. ]] SLAMing on 20.461346184 meters Centerline goodness : 0.898905 Centerline is valid? [False, False] Translation: X:0.93, Y:0.17, Z:-0.16 [[ 0.97642654 -0.1998686 -0.08150924 0.92886066] [ 0.19793616 0.97971763 -0.0312194 0.16554505] [ 0.08609582 0.01434982 0.99618351 -0.16160007] [ 0. 0. 0. 1. ]] SLAMing on 20.491346183999998 meters Centerline goodness : 0.901085 Centerline is valid? [False, False] Translation: X:0.93, Y:0.16, Z:-0.16 [[ 0.9755559 -0.20387652 -0.08200635 0.93085165] [ 0.20198832 0.97890396 -0.03078577 0.16124987] [ 0.08655284 0.01346891 0.99615621 -0.16053695] [ 0. 0. 0. 1. ]] SLAMing on 20.521346184 meters Centerline goodness : 0.901202 Centerline is valid? [False, False] Translation: X:0.93, Y:0.15, Z:-0.16 [[ 0.97362654 -0.21288229 -0.08205181 0.93147012] [ 0.21088774 0.97697471 -0.03235406 0.15197406] [ 0.08705015 0.01419705 0.99610276 -0.15563629] [ 0. 0. 0. 1. ]] SLAMing on 20.551346184 meters Centerline goodness : 0.902692 Centerline is valid? [False, False] Translation: X:0.93, Y:0.15, Z:-0.15 [[ 0.97255838 -0.21784428 -0.08169501 0.93203107] [ 0.2156914 0.97585476 -0.0344195 0.14696865] [ 0.08722055 0.01585406 0.99606286 -0.15383438] [ 0. 0. 0. 1. ]] SLAMing on 20.581346183999997 meters Centerline goodness : 0.904100 Centerline is valid? [False, False] Translation: X:0.94, Y:0.14, Z:-0.15 [[ 0.97155492 -0.22226875 -0.08171679 0.93502161] [ 0.21997701 0.97483437 -0.03616716 0.14244359] [ 0.08769916 0.01716257 0.99599915 -0.15437959] [ 0. 0. 0. 1. ]] SLAMing on 20.611346184 meters Centerline goodness : 0.905295 Centerline is valid? [False, False] Translation: X:0.94, Y:0.14, Z:-0.15 [[ 0.97064926 -0.22634635 -0.0812855 0.9359844 ] [ 0.22388972 0.97386234 -0.03828238 0.13747672] [ 0.08782597 0.01895978 0.99595538 -0.1535077 ] [ 0. 0. 0. 1. ]] SLAMing on 20.641346184 meters Centerline goodness : 0.909785 Centerline is valid? [False, False] Translation: X:0.94, Y:0.12, Z:-0.15 [[ 0.96921651 -0.22742822 -0.09431736 0.93635091] [ 0.22492017 0.97369097 -0.03656233 0.12453296] [ 0.10015126 0.01422294 0.99487056 -0.14838879] [ 0. 0. 0. 1. ]] SLAMing on 20.671346183999997 meters Centerline goodness : 0.910430 Centerline is valid? [False, False] Translation: X:0.94, Y:0.12, Z:-0.15 [[ 0.96864061 -0.2301724 -0.09357369 0.93514432] [ 0.22749539 0.97301856 -0.03848032 0.12176564] [ 0.09990604 0.01598602 0.99486845 -0.1466015 ] [ 0. 0. 0. 1. ]] SLAMing on 20.701346184 meters Centerline goodness : 0.912273 Centerline is valid? [False, False] Translation: X:0.94, Y:0.12, Z:-0.15 [[ 0.96864062 -0.23041259 -0.09298053 0.93539918] [ 0.22778811 0.97296657 -0.03806099 0.11605124] [ 0.09923668 0.01568756 0.99494019 -0.14692227] [ 0. 0. 0. 1. ]] SLAMing on 20.731346184 meters Centerline goodness : 0.912442 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.15 [[ 0.96881531 -0.2295508 -0.09329158 0.93722736] [ 0.22702643 0.9731866 -0.03697092 0.11440378] [ 0.09927682 0.01463834 0.99495218 -0.14839929] [ 0. 0. 0. 1. ]] SLAMing on 20.761346183999997 meters Centerline goodness : 0.911847 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.15 [[ 0.96915584 -0.22807976 -0.0933626 0.93810126] [ 0.2255966 0.97353753 -0.03648086 0.11313028] [ 0.09921254 0.01429335 0.9949636 -0.14956968] [ 0. 0. 0. 1. ]] SLAMing on 20.791346184 meters Centerline goodness : 0.913673 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.15 [[ 0.96971459 -0.22558666 -0.09361771 0.93954357] [ 0.22324164 0.97413653 -0.03494563 0.11206217] [ 0.0990797 0.01298792 0.99499474 -0.15147931] [ 0. 0. 0. 1. ]] SLAMing on 20.821346184 meters Centerline goodness : 0.913350 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.16 [[ 0.9708732 -0.22079615 -0.09302839 0.93996848] [ 0.21863072 0.97524995 -0.03298709 0.1106351 ] [ 0.09800936 0.01168742 0.99511686 -0.15520982] [ 0. 0. 0. 1. ]] SLAMing on 20.851346183999997 meters Centerline goodness : 0.913261 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.16 [[ 0.97124888 -0.21919846 -0.09288515 0.94107108] [ 0.21705537 0.9756113 -0.03270399 0.11018182] [ 0.09778846 0.01160249 0.99513959 -0.15741395] [ 0. 0. 0. 1. ]] SLAMing on 20.881346183999998 meters Centerline goodness : 0.913126 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.16 [[ 0.97161314 -0.21739508 -0.09331278 0.94299466] [ 0.21534518 0.97602578 -0.0316248 0.10973845] [ 0.09795076 0.01063261 0.99513446 -0.15931851] [ 0. 0. 0. 1. ]] SLAMing on 20.911346184 meters Centerline goodness : 0.912784 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.16 [[ 0.97188714 -0.21597436 -0.0937575 0.94489105] [ 0.21399783 0.97634946 -0.03076784 0.10985343] [ 0.09818515 0.00983897 0.99511953 -0.16107757] [ 0. 0. 0. 1. ]] SLAMing on 20.941346183999997 meters Centerline goodness : 0.913174 Centerline is valid? [False, False] Translation: X:0.95, Y:0.11, Z:-0.16 [[ 0.97208514 -0.21493697 -0.0940881 0.94631852] [ 0.21308248 0.97659023 -0.02945142 0.10846613] [ 0.09821572 0.00858076 0.99512815 -0.16212454] [ 0. 0. 0. 1. ]] SLAMing on 20.971346183999998 meters Centerline goodness : 0.911621 Centerline is valid? [False, False] Translation: X:0.95, Y:0.11, Z:-0.16 [[ 0.97213532 -0.21465353 -0.09421665 0.94617994] [ 0.21298124 0.97666697 -0.02757924 0.10582266] [ 0.09793827 0.00674437 0.99516964 -0.1612634 ] [ 0. 0. 0. 1. ]] SLAMing on 21.001346184 meters Centerline goodness : 0.911253 Centerline is valid? [False, False] Translation: X:0.95, Y:0.11, Z:-0.16 [[ 0.97196744 -0.21496498 -0.09523313 0.94906415] [ 0.21340688 0.97660731 -0.02637565 0.10565392] [ 0.09867521 0.00531286 0.99510551 -0.16206086] [ 0. 0. 0. 1. ]] SLAMing on 21.031346183999997 meters Centerline goodness : 0.910663 Centerline is valid? [False, False] Translation: X:0.95, Y:0.10, Z:-0.17 [[ 0.97138117 -0.21817521 -0.09390532 0.95073284] [ 0.21623949 0.97586563 -0.03044264 0.10450176] [ 0.0982808 0.00926537 0.99511559 -0.16527515] [ 0. 0. 0. 1. ]] SLAMing on 21.061346183999998 meters Centerline goodness : 0.907768 Centerline is valid? [False, False] Translation: X:0.95, Y:0.10, Z:-0.17 [[ 0.97114447 -0.21924559 -0.09386051 0.95334794] [ 0.21724536 0.97561988 -0.03114965 0.10335911] [ 0.0984016 0.00986005 0.99509794 -0.16760184] [ 0. 0. 0. 1. ]] SLAMing on 21.091346184 meters Centerline goodness : 0.910827 Centerline is valid? [False, False] Translation: X:0.96, Y:0.10, Z:-0.17 [[ 0.97100974 -0.21954692 -0.09454753 0.95633226] [ 0.21762233 0.97556153 -0.0303353 0.10240707] [ 0.09889695 0.00888022 0.99505806 -0.16912088] [ 0. 0. 0. 1. ]] SLAMing on 21.121346183999997 meters Centerline goodness : 0.909450 Centerline is valid? [False, False] Translation: X:0.96, Y:0.10, Z:-0.17 [[ 0.97084751 -0.21999224 -0.09517631 0.95774344] [ 0.21815541 0.97547043 -0.02942209 0.10219874] [ 0.0993143 0.00780114 0.99502553 -0.16902339] [ 0. 0. 0. 1. ]] SLAMing on 21.151346183999998 meters Centerline goodness : 0.908139 Centerline is valid? [False, False] Translation: X:0.96, Y:0.10, Z:-0.17 [[ 0.97054483 -0.22074177 -0.09651839 0.96150873] [ 0.21902806 0.97531279 -0.02813677 0.1029006 ] [ 0.10034658 0.00616776 0.99493343 -0.17009042] [ 0. 0. 0. 1. ]] SLAMing on 21.181346184 meters Centerline goodness : 0.905934 Centerline is valid? [False, False] Translation: X:0.96, Y:0.10, Z:-0.17 [[ 0.9704071 -0.22104703 -0.09720223 0.96442157] [ 0.2193527 0.97524607 -0.02791949 0.10358869] [ 0.10096761 0.0057717 0.99487297 -0.17176866] [ 0. 0. 0. 1. ]] SLAMing on 21.211346184 meters Centerline goodness : 0.908030 Centerline is valid? [False, False] Translation: X:0.97, Y:0.10, Z:-0.17 [[ 0.97021985 -0.22162747 -0.09774814 0.96702108] [ 0.21994222 0.97511589 -0.02782826 0.10391118] [ 0.10148327 0.00550059 0.99482204 -0.17319968] [ 0. 0. 0. 1. ]] SLAMing on 21.241346183999998 meters Centerline goodness : 0.904508 Centerline is valid? [False, False] Translation: X:0.97, Y:0.10, Z:-0.17 [[ 0.9701195 -0.22187375 -0.09818446 0.96943224] [ 0.22022708 0.97506259 -0.02744026 0.10427458] [ 0.10182427 0.00499745 0.99478985 -0.1748077 ] [ 0. 0. 0. 1. ]] SLAMing on 21.271346184 meters Centerline goodness : 0.903842 Centerline is valid? [False, False] Translation: X:0.97, Y:0.11, Z:-0.18 [[ 0.96979216 -0.22239951 -0.10020795 0.97388215] [ 0.22098344 0.97495301 -0.02515828 0.10620639] [ 0.10329324 0.00225401 0.99464839 -0.17547615] [ 0. 0. 0. 1. ]] SLAMing on 21.301346184 meters Centerline goodness : 0.905226 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.18 [[ 9.69660261e-01 -2.22242013e-01 -1.01820756e-01 9.77100864e-01] [ 2.21053988e-01 9.74991499e-01 -2.29501878e-02 1.07814399e-01] [ 1.04374868e-01 -2.53999179e-04 9.94537994e-01 -1.75832309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.331346183999997 meters Centerline goodness : 0.906580 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.18 [[ 0.96937677 -0.22295059 -0.10296458 0.97928015] [ 0.22188635 0.97482828 -0.02182362 0.10973321] [ 0.10523837 -0.00169112 0.99444559 -0.17568193] [ 0. 0. 0. 1. ]] SLAMing on 21.361346184 meters Centerline goodness : 0.907126 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.18 [[ 0.96891852 -0.22392967 -0.10513039 0.98345985] [ 0.22306343 0.97459711 -0.02007907 0.11288774] [ 0.10695608 -0.00399577 0.99425572 -0.17573592] [ 0. 0. 0. 1. ]] SLAMing on 21.391346184 meters Centerline goodness : 0.906196 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.18 [[ 0.96868506 -0.2243167 -0.10644844 0.98603072] [ 0.22364988 0.97449743 -0.01831638 0.11501868] [ 0.1078424 -0.00606438 0.99414951 -0.17581361] [ 0. 0. 0. 1. ]] SLAMing on 21.421346183999997 meters Centerline goodness : 0.907338 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.18 [[ 0.96852448 -0.22410635 -0.10833594 0.98928067] [ 0.22377276 0.97451991 -0.01538461 0.1170458 ] [ 0.10902331 -0.00934226 0.99399529 -0.17573125] [ 0. 0. 0. 1. ]] SLAMing on 21.451346184 meters Centerline goodness : 0.906551 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.18 [[ 0.96842597 -0.22349291 -0.11046297 0.99354893] [ 0.22352194 0.97462153 -0.0122806 0.11952198] [ 0.11040421 -0.01279804 0.99380437 -0.17650575] [ 0. 0. 0. 1. ]] SLAMing on 21.481346184 meters Centerline goodness : 0.904220 Centerline is valid? [False, False] Translation: X:1.00, Y:0.12, Z:-0.18 [[ 0.96814222 -0.22384939 -0.11221452 0.99781922] [ 0.22401271 0.97452054 -0.01131463 0.12434744] [ 0.11188813 -0.01418331 0.99361959 -0.17817765] [ 0. 0. 0. 1. ]] SLAMing on 21.511346183999997 meters Centerline goodness : 0.902945 Centerline is valid? [False, False] Translation: X:1.00, Y:0.13, Z:-0.18 [[ 0.96798151 -0.22412486 -0.11304797 1.0003121 ] [ 0.2243125 0.97445264 -0.01122274 0.12729044] [ 0.11267519 -0.01449467 0.99352615 -0.17946883] [ 0. 0. 0. 1. ]] SLAMing on 21.541346184 meters Centerline goodness : 0.900228 Centerline is valid? [False, False] Translation: X:1.00, Y:0.13, Z:-0.18 [[ 0.96723624 -0.22647603 -0.11472861 1.00375158] [ 0.22658501 0.97391418 -0.01226364 0.13405964] [ 0.11451324 -0.01413394 0.99332117 -0.17994883] [ 0. 0. 0. 1. ]] SLAMing on 21.571346184 meters Centerline goodness : 0.898963 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.18 [[ 0.96691613 -0.22752673 -0.11534639 1.00671702] [ 0.22755891 0.97367666 -0.0130657 0.13717384] [ 0.11528288 -0.01361466 0.9932394 -0.18197158] [ 0. 0. 0. 1. ]] SLAMing on 21.601346183999997 meters Centerline goodness : 0.897832 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.18 [[ 0.96665272 -0.22844139 -0.11574559 1.00914856] [ 0.22843457 0.97346562 -0.01350325 0.13941202] [ 0.11575905 -0.01338734 0.9931871 -0.18370127] [ 0. 0. 0. 1. ]] SLAMing on 21.631346183999998 meters Centerline goodness : 0.894970 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.18 [[ 0.9663933 -0.22936655 -0.11608176 1.01015033] [ 0.22933029 0.97325012 -0.01385028 0.1413353 ] [ 0.11615338 -0.01323625 0.99314309 -0.18400401] [ 0. 0. 0. 1. ]] SLAMing on 21.661346184 meters Centerline goodness : 0.894021 Centerline is valid? [False, False] Translation: X:1.02, Y:0.15, Z:-0.19 [[ 0.96568999 -0.23595352 -0.10848402 1.01743168] [ 0.23649548 0.97159942 -0.00802867 0.14926033] [ 0.10729741 -0.01790277 0.99406577 -0.1904054 ] [ 0. 0. 0. 1. ]] SLAMing on 21.691346183999997 meters Centerline goodness : 0.895113 Centerline is valid? [False, False] Translation: X:1.02, Y:0.15, Z:-0.19 [[ 0.96525071 -0.23701834 -0.11006082 1.02045851] [ 0.23773662 0.97130626 -0.0067413 0.15145231] [ 0.10850057 -0.01965844 0.99390199 -0.19026259] [ 0. 0. 0. 1. ]] SLAMing on 21.721346183999998 meters Centerline goodness : 0.895113 Centerline is valid? [False, False] Translation: X:1.02, Y:0.15, Z:-0.19 [[ 0.96525071 -0.23701834 -0.11006082 1.02045851] [ 0.23773662 0.97130626 -0.0067413 0.15145231] [ 0.10850057 -0.01965844 0.99390199 -0.19026259] [ 0. 0. 0. 1. ]] SLAMing on 21.751346184 meters Centerline goodness : 0.891538 Centerline is valid? [False, False] Translation: X:1.02, Y:0.15, Z:-0.19 [[ 0.96488292 -0.23831083 -0.11049388 1.02150034] [ 0.23900093 0.970993 -0.00715178 0.15288523] [ 0.10899314 -0.01950751 0.99385107 -0.19013079] [ 0. 0. 0. 1. ]] SLAMing on 21.781346183999997 meters Centerline goodness : 0.891301 Centerline is valid? [False, False] Translation: X:1.02, Y:0.15, Z:-0.19 [[ 0.96467467 -0.23880884 -0.11123452 1.02344154] [ 0.23958453 0.97085349 -0.00653823 0.15363937] [ 0.10955381 -0.0203428 0.99377268 -0.19060169] [ 0. 0. 0. 1. ]] SLAMing on 21.811346183999998 meters Centerline goodness : 0.887813 Centerline is valid? [False, False] Translation: X:1.03, Y:0.16, Z:-0.19 [[ 0.96425559 -0.23984894 -0.11262168 1.02592691] [ 0.2407851 0.97056333 -0.00541823 0.15603209] [ 0.11060603 -0.02189306 0.99362317 -0.19044869] [ 0. 0. 0. 1. ]] SLAMing on 21.841346184 meters Centerline goodness : 0.888159 Centerline is valid? [False, False] Translation: X:1.03, Y:0.16, Z:-0.19 [[ 0.96401118 -0.24034287 -0.11365628 1.02868935] [ 0.24133905 0.97042736 -0.00511859 0.15821517] [ 0.11152538 -0.02249532 0.99350695 -0.19144271] [ 0. 0. 0. 1. ]] SLAMing on 21.871346183999997 meters Centerline goodness : 0.889212 Centerline is valid? [False, False] Translation: X:1.03, Y:0.16, Z:-0.19 [[ 0.96397442 -0.2403165 -0.11402319 1.03015506] [ 0.24131846 0.97043237 -0.00514009 0.15971885] [ 0.11188705 -0.02256099 0.99346479 -0.19258352] [ 0. 0. 0. 1. ]] SLAMing on 21.901346183999998 meters Centerline goodness : 0.886548 Centerline is valid? [False, False] Translation: X:1.03, Y:0.16, Z:-0.19 [[ 0.96414174 -0.23905475 -0.11525417 1.03201872] [ 0.24027925 0.97069801 -0.00335528 0.16343376] [ 0.11267909 -0.02445822 0.99333037 -0.19352015] [ 0. 0. 0. 1. ]] SLAMing on 21.931346184 meters Centerline goodness : 0.883760 Centerline is valid? [False, False] Translation: X:1.03, Y:0.17, Z:-0.19 [[ 0.9643533 -0.23802261 -0.11561982 1.03276754] [ 0.23928432 0.97094476 -0.00304606 0.1657847 ] [ 0.11298548 -0.02472854 0.99328887 -0.19444718] [ 0. 0. 0. 1. ]] SLAMing on 21.961346184 meters Centerline goodness : 0.883311 Centerline is valid? [False, False] Translation: X:1.03, Y:0.17, Z:-0.19 [[ 0.96456241 -0.2373348 -0.11528894 1.03174094] [ 0.2385125 0.97113248 -0.00367204 0.16761594] [ 0.11283234 -0.02395594 0.99332521 -0.19466321] [ 0. 0. 0. 1. ]] SLAMing on 21.991346183999998 meters Centerline goodness : 0.884503 Centerline is valid? [False, False] Translation: X:1.03, Y:0.17, Z:-0.20 [[ 0.96490913 -0.23557708 -0.11599057 1.03410957] [ 0.23688911 0.97153338 -0.00253926 0.16929261] [ 0.1132869 -0.02502675 0.99324707 -0.19691557] [ 0. 0. 0. 1. ]] SLAMing on 22.021346184 meters Centerline goodness : 0.881779 Centerline is valid? [False, False] Translation: X:1.03, Y:0.17, Z:-0.20 [[ 0.96521405 -0.2344148 -0.11580823 1.03409652] [ 0.23571867 0.97181812 -0.00250054 0.17068268] [ 0.1131307 -0.0248846 0.99326844 -0.19796765] [ 0. 0. 0. 1. ]] SLAMing on 22.051346184 meters Centerline goodness : 0.882494 Centerline is valid? [False, False] Translation: X:1.03, Y:0.17, Z:-0.20 [[ 9.65668218e-01 -2.31961697e-01 -1.16955819e-01 1.03410236e+00] [ 2.33569876e-01 9.72340018e-01 4.58722430e-05 1.73373145e-01] [ 1.13710182e-01 -2.73616534e-02 9.93137118e-01 -1.97215492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.081346183999997 meters Centerline goodness : 0.879080 Centerline is valid? [False, False] Translation: X:1.04, Y:0.18, Z:-0.20 [[ 0.96573865 -0.23081348 -0.11863385 1.03659853] [ 0.23275726 0.97253137 0.00260749 0.17550628] [ 0.1147733 -0.03013104 0.99293465 -0.19734234] [ 0. 0. 0. 1. ]] SLAMing on 22.111346184 meters Centerline goodness : 0.879925 Centerline is valid? [False, False] Translation: X:1.04, Y:0.18, Z:-0.20 [[ 0.96571166 -0.23049395 -0.11947191 1.03835959] [ 0.23253549 0.97258249 0.00324642 0.17777577] [ 0.115448 -0.03091656 0.99283227 -0.19806122] [ 0. 0. 0. 1. ]] SLAMing on 22.141346184 meters Centerline goodness : 0.878132 Centerline is valid? [False, False] Translation: X:1.04, Y:0.18, Z:-0.20 [[ 0.96536027 -0.23126303 -0.12081789 1.04117805] [ 0.23336527 0.97238336 0.00335412 0.18196214] [ 0.11670562 -0.03143264 0.99266902 -0.19893936] [ 0. 0. 0. 1. ]] SLAMing on 22.171346183999997 meters Centerline goodness : 0.878619 Centerline is valid? [False, False] Translation: X:1.04, Y:0.18, Z:-0.20 [[ 0.96495142 -0.23223951 -0.12220296 1.04375862] [ 0.23443129 0.97212575 0.00367255 0.18477888] [ 0.11794373 -0.03219203 0.99249834 -0.19898109] [ 0. 0. 0. 1. ]] SLAMing on 22.201346184 meters Centerline goodness : 0.876582 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.20 [[ 0.96454363 -0.23387185 -0.1223092 1.04460453] [ 0.23589273 0.97177682 0.00210605 0.18674766] [ 0.1183647 -0.03088322 0.99248981 -0.19937188] [ 0. 0. 0. 1. ]] SLAMing on 22.231346184 meters Centerline goodness : 0.877464 Centerline is valid? [False, False] Translation: X:1.05, Y:0.19, Z:-0.20 [[ 0.96363117 -0.23789939 -0.12173265 1.04712952] [ 0.23943636 0.97090988 -0.00205805 0.18854053] [ 0.11868104 -0.02716402 0.99256079 -0.20185021] [ 0. 0. 0. 1. ]] SLAMing on 22.261346183999997 meters Centerline goodness : 0.877830 Centerline is valid? [False, False] Translation: X:1.05, Y:0.19, Z:-0.20 [[ 0.96329449 -0.23899452 -0.12225115 1.04747796] [ 0.24059285 0.97062458 -0.00173568 0.18875506] [ 0.11907479 -0.02774078 0.99249768 -0.20068919] [ 0. 0. 0. 1. ]] SLAMing on 22.291346184 meters Centerline goodness : 0.878887 Centerline is valid? [False, False] Translation: X:1.05, Y:0.19, Z:-0.20 [[ 9.62828433e-01 -2.40082448e-01 -1.23781366e-01 1.04895509e+00] [ 2.41850573e-01 9.70313205e-01 -7.63935133e-04 1.90145468e-01] [ 1.20290102e-01 -2.92010560e-02 9.92309221e-01 -1.98813735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.321346184 meters Centerline goodness : 0.876640 Centerline is valid? [False, False] Translation: X:1.05, Y:0.19, Z:-0.20 [[ 9.62509140e-01 -2.40869002e-01 -1.24732831e-01 1.05008188e+00] [ 2.42748687e-01 9.70089201e-01 -1.32981913e-04 1.91329499e-01] [ 1.21034004e-01 -3.01507347e-02 9.92190356e-01 -1.97883730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.351346183999997 meters Centerline goodness : 0.879300 Centerline is valid? [False, False] Translation: X:1.05, Y:0.19, Z:-0.20 [[ 9.62384039e-01 -2.41270753e-01 -1.24921516e-01 1.05011932e+00] [ 2.43150722e-01 9.69988497e-01 -2.03973579e-04 1.91717779e-01] [ 1.21221647e-01 -3.01784559e-02 9.92166606e-01 -1.97277981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381346183999998 meters Centerline goodness : 0.878791 Centerline is valid? [False, False] Translation: X:1.05, Y:0.19, Z:-0.20 [[ 0.96266437 -0.23977146 -0.12564614 1.05057015] [ 0.24186701 0.9703083 0.00146861 0.19207405] [ 0.12156336 -0.03180344 0.99207404 -0.19699709] [ 0. 0. 0. 1. ]] SLAMing on 22.411346184 meters Centerline goodness : 0.876589 Centerline is valid? [False, False] Translation: X:1.05, Y:0.19, Z:-0.20 [[ 0.96258714 -0.23934875 -0.1270361 1.05320106] [ 0.24160871 0.97037064 0.00245947 0.19432769] [ 0.12268343 -0.03306048 0.99189505 -0.19755959] [ 0. 0. 0. 1. ]] SLAMing on 22.441346183999997 meters Centerline goodness : 0.876377 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.20 [[ 0.96251411 -0.23941772 -0.12745882 1.0536723 ] [ 0.24164066 0.97036365 0.00204218 0.19761447] [ 0.12319247 -0.03276486 0.99184176 -0.19774931] [ 0. 0. 0. 1. ]] SLAMing on 22.471346183999998 meters Centerline goodness : 0.875326 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.20 [[ 0.96254633 -0.2390563 -0.1278931 1.05506515] [ 0.24130711 0.97044637 0.00217333 0.19899428] [ 0.12359384 -0.03295345 0.99178558 -0.19870625] [ 0. 0. 0. 1. ]] SLAMing on 22.501346184 meters Centerline goodness : 0.873205 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.20 [[ 0.96261624 -0.23858781 -0.1282413 1.05590261] [ 0.24086118 0.97055687 0.00229134 0.20042628] [ 0.12391879 -0.03309403 0.99174035 -0.19927673] [ 0. 0. 0. 1. ]] SLAMing on 22.531346183999997 meters Centerline goodness : 0.874281 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.20 [[ 0.96274106 -0.23813538 -0.12814517 1.05520399] [ 0.24038083 0.97067633 0.00212352 0.20170323] [ 0.1238818 -0.03284805 0.99175315 -0.19903405] [ 0. 0. 0. 1. ]] SLAMing on 22.561346183999998 meters Centerline goodness : 0.873049 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.20 [[ 0.96322395 -0.23647687 -0.12758652 1.05515529] [ 0.23868842 0.97109391 0.00210954 0.20188022] [ 0.12339963 -0.03248539 0.9918252 -0.20065186] [ 0. 0. 0. 1. ]] SLAMing on 22.591346184 meters Centerline goodness : 0.872669 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.20 [[ 0.96317665 -0.2367642 -0.12741061 1.05447954] [ 0.23894459 0.97103137 0.00188668 0.20132114] [ 0.123273 -0.03226128 0.99184826 -0.20006641] [ 0. 0. 0. 1. ]] SLAMing on 22.621346183999997 meters Centerline goodness : 0.875788 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.20 [[ 9.63036178e-01 -2.37548010e-01 -1.27012844e-01 1.05245462e+00] [ 2.39605722e-01 9.70869813e-01 9.50981554e-04 2.02207360e-01] [ 1.23087032e-01 -3.13488338e-02 9.91900617e-01 -1.98422086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.651346183999998 meters Centerline goodness : 0.874547 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.20 [[ 9.62860570e-01 -2.38453753e-01 -1.26646478e-01 1.04991335e+00] [ 2.40323584e-01 9.70692687e-01 -5.30704346e-04 2.04876378e-01] [ 1.23061359e-01 -2.99251413e-02 9.91947775e-01 -1.95979648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.681346184 meters Centerline goodness : 0.873702 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96358956 -0.2354454 -0.12673054 1.04581048] [ 0.2375956 0.97136228 0.00190846 0.20617613] [ 0.12265192 -0.03194959 0.99193535 -0.19305668] [ 0. 0. 0. 1. ]] SLAMing on 22.711346184 meters Centerline goodness : 0.870273 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96360994 -0.2352831 -0.12687693 1.04615259] [ 0.23741283 0.97140733 0.00171535 0.20636979] [ 0.12284558 -0.03177514 0.99191698 -0.19271035] [ 0. 0. 0. 1. ]] SLAMing on 22.741346183999998 meters Centerline goodness : 0.871667 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96370192 -0.23475117 -0.12716324 1.04755213] [ 0.23691813 0.97152761 0.00197546 0.20552075] [ 0.12307886 -0.03203103 0.99187984 -0.19310776] [ 0. 0. 0. 1. ]] SLAMing on 22.771346184 meters Centerline goodness : 0.873284 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96387407 -0.23380117 -0.12760796 1.04961251] [ 0.23602079 0.97174518 0.0023444 0.20648148] [ 0.12345429 -0.03237784 0.99182192 -0.19425156] [ 0. 0. 0. 1. ]] SLAMing on 22.801346184 meters Centerline goodness : 0.871205 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96383314 -0.23380144 -0.12791622 1.04992105] [ 0.23596317 0.97176033 0.00179933 0.20864254] [ 0.12388322 -0.03191778 0.99178334 -0.19373248] [ 0. 0. 0. 1. ]] SLAMing on 22.831346183999997 meters Centerline goodness : 0.871822 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96378625 -0.23391113 -0.1280689 1.04987116] [ 0.23601772 0.97174787 0.00131177 0.21001557] [ 0.12414385 -0.0314908 0.99176441 -0.19311387] [ 0. 0. 0. 1. ]] SLAMing on 22.861346184 meters Centerline goodness : 0.871353 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96383336 -0.23374168 -0.12802379 1.04962169] [ 0.23584083 0.97179086 0.00127499 0.209848 ] [ 0.12411433 -0.03142211 0.99177028 -0.19283376] [ 0. 0. 0. 1. ]] SLAMing on 22.891346184 meters Centerline goodness : 0.872637 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96359276 -0.23567508 -0.12627846 1.04718566] [ 0.23734708 0.97142314 -0.00185535 0.20860329] [ 0.12310708 -0.02818402 0.9919931 -0.19225022] [ 0. 0. 0. 1. ]] SLAMing on 22.921346183999997 meters Centerline goodness : 0.870617 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96335049 -0.23636469 -0.12683679 1.04991683] [ 0.2380985 0.9712398 -0.0015334 0.20740624] [ 0.12355138 -0.02872244 0.99192241 -0.19361439] [ 0. 0. 0. 1. ]] SLAMing on 22.951346184 meters Centerline goodness : 0.869449 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96290526 -0.23877244 -0.12570277 1.04834978] [ 0.24019469 0.97071672 -0.00394318 0.20653189] [ 0.1229633 -0.02639623 0.99206011 -0.19272993] [ 0. 0. 0. 1. ]] SLAMing on 22.981346184 meters Centerline goodness : 0.871253 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.96249521 -0.24050238 -0.12554514 1.04811782] [ 0.24193082 0.97028537 -0.00397218 0.20442512] [ 0.12276993 -0.02655004 0.99207996 -0.19158137] [ 0. 0. 0. 1. ]] SLAMing on 23.011346183999997 meters Centerline goodness : 0.872206 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.96242936 -0.24057131 -0.1259173 1.0491217 ] [ 0.24207823 0.97025069 -0.00342515 0.20366248] [ 0.12299534 -0.02718537 0.99203483 -0.19157744] [ 0. 0. 0. 1. ]] SLAMing on 23.041346184 meters Centerline goodness : 0.870787 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.9625794 -0.24013631 -0.12560039 1.04875006] [ 0.2416297 0.97036245 -0.00343535 0.20313565] [ 0.12270285 -0.02704199 0.99207497 -0.19181076] [ 0. 0. 0. 1. ]] SLAMing on 23.071346184 meters Centerline goodness : 0.870635 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.9628703 -0.23926744 -0.12502749 1.04731582] [ 0.24072676 0.97058651 -0.00352801 0.20334353] [ 0.12219413 -0.02670044 0.99214701 -0.19165507] [ 0. 0. 0. 1. ]] SLAMing on 23.101346183999997 meters Centerline goodness : 0.870394 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.96403494 -0.23466915 -0.12476784 1.04678823] [ 0.23635459 0.97166596 -0.00133001 0.20410175] [ 0.12154477 -0.02820727 0.99218507 -0.19382013] [ 0. 0. 0. 1. ]] SLAMing on 23.131346183999998 meters Centerline goodness : 0.870051 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.20 [[ 0.96451857 -0.23307908 -0.12400837 1.04612864] [ 0.23473403 0.97205877 -0.00130016 0.2044496 ] [ 0.12084646 -0.02785496 0.99228032 -0.1954299 ] [ 0. 0. 0. 1. ]] SLAMing on 23.161346184 meters Centerline goodness : 0.871911 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.20 [[ 0.96489139 -0.23190192 -0.12331302 1.04487548] [ 0.23346898 0.97236261 -0.00178849 0.20433143] [ 0.12031972 -0.02706407 0.99236621 -0.19567212] [ 0. 0. 0. 1. ]] SLAMing on 23.191346183999997 meters Centerline goodness : 0.873375 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.20 [[ 9.65462954e-01 -2.29491310e-01 -1.23349190e-01 1.04524035e+00] [ 2.31228096e-01 9.72899537e-01 -2.41821494e-04 2.03974336e-01] [ 1.20061866e-01 -2.82883288e-02 9.92363300e-01 -1.96935147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.221346183999998 meters Centerline goodness : 0.873940 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.20 [[ 0.96625168 -0.22645102 -0.12279102 1.04240061] [ 0.22832374 0.97358451 0.0012134 0.20312622] [ 0.11927266 -0.02920855 0.99243181 -0.19583163] [ 0. 0. 0. 1. ]] SLAMing on 23.251346184 meters Centerline goodness : 0.875531 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.20 [[ 9.66326310e-01 -2.26315488e-01 -1.22453102e-01 1.04202114e+00] [ 2.28137401e-01 9.73628548e-01 8.81584834e-04 2.02451991e-01] [ 1.19024319e-01 -2.87880309e-02 9.92473909e-01 -1.95874793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.281346183999997 meters Centerline goodness : 0.873674 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.9659246 -0.22886793 -0.12086829 1.03971277] [ 0.2303401 0.97310845 -0.00183802 0.20004906] [ 0.11803862 -0.02606543 0.99266685 -0.19481288] [ 0. 0. 0. 1. ]] SLAMing on 23.311346183999998 meters Centerline goodness : 0.874105 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.96569495 -0.22966574 -0.12118958 1.03927951] [ 0.23120883 0.97290319 -0.00136427 0.19875419] [ 0.11821905 -0.02670263 0.99262844 -0.19292618] [ 0. 0. 0. 1. ]] SLAMing on 23.341346184 meters Centerline goodness : 0.875965 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.96558632 -0.22919115 -0.12294096 1.04174801] [ 0.23120815 0.97290181 0.0022038 0.19771927] [ 0.11910439 -0.03055292 0.99241154 -0.19226072] [ 0. 0. 0. 1. ]] SLAMing on 23.371346183999997 meters Centerline goodness : 0.876332 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.96561556 -0.22901677 -0.12303624 1.04054994] [ 0.23110721 0.97292426 0.00280195 0.19729779] [ 0.11906325 -0.03114017 0.99239822 -0.19056448] [ 0. 0. 0. 1. ]] SLAMing on 23.401346183999998 meters Centerline goodness : 0.878435 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.96566417 -0.22883661 -0.12298993 1.04024447] [ 0.23093401 0.97296514 0.00288358 0.19664653] [ 0.11900505 -0.03118713 0.99240373 -0.19015026] [ 0. 0. 0. 1. ]] SLAMing on 23.431346184 meters Centerline goodness : 0.879582 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.96641572 -0.22650735 -0.12138812 1.03891723] [ 0.22849567 0.97354163 0.00253299 0.19517468] [ 0.11760265 -0.03018458 0.99260189 -0.19264525] [ 0. 0. 0. 1. ]] SLAMing on 23.461346184 meters Centerline goodness : 0.879201 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96690056 -0.22433849 -0.12155473 1.03963982] [ 0.22644464 0.97401731 0.00361872 0.19495221] [ 0.11758459 -0.03102436 0.99257813 -0.19383001] [ 0. 0. 0. 1. ]] SLAMing on 23.491346183999998 meters Centerline goodness : 0.884401 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96728101 -0.22298201 -0.12102261 1.03813034] [ 0.22508079 0.97433276 0.00378193 0.19469795] [ 0.11707299 -0.03089805 0.99264255 -0.19367322] [ 0. 0. 0. 1. ]] SLAMing on 23.521346184 meters Centerline goodness : 0.883356 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96756546 -0.22208077 -0.12040438 1.03660669] [ 0.22412865 0.97455303 0.00356849 0.1939691 ] [ 0.11654796 -0.03043882 0.99271852 -0.19331688] [ 0. 0. 0. 1. ]] SLAMing on 23.551346184 meters Centerline goodness : 0.885022 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96736248 -0.22273275 -0.12083029 1.03673642] [ 0.22481539 0.97439431 0.00371148 0.19377104] [ 0.11690968 -0.03075485 0.99266624 -0.19212105] [ 0. 0. 0. 1. ]] SLAMing on 23.581346183999997 meters Centerline goodness : 0.885662 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96702584 -0.22387717 -0.12140855 1.03740662] [ 0.22599189 0.97412193 0.0037587 0.19357431] [ 0.11742524 -0.0310721 0.99259551 -0.19101866] [ 0. 0. 0. 1. ]] SLAMing on 23.611346184 meters Centerline goodness : 0.885662 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96702584 -0.22387717 -0.12140855 1.03740662] [ 0.22599189 0.97412193 0.0037587 0.19357431] [ 0.11742524 -0.0310721 0.99259551 -0.19101866] [ 0. 0. 0. 1. ]] SLAMing on 23.641346184 meters Centerline goodness : 0.884406 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 9.65629650e-01 -2.30045248e-01 -1.20989927e-01 1.03873310e+00] [ 2.31723903e-01 9.72781575e-01 -2.00903510e-04 1.92696706e-01] [ 1.17742989e-01 -2.78422597e-02 9.92653715e-01 -1.90508139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.671346183999997 meters Centerline goodness : 0.884752 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96472965 -0.23436165 -0.1198804 1.03889263] [ 0.2356054 0.971841 -0.00389344 0.19175695] [ 0.11741716 -0.02448835 0.99278071 -0.19083997] [ 0. 0. 0. 1. ]] SLAMing on 23.701346184 meters Centerline goodness : 0.885747 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96374897 -0.2384969 -0.11961253 1.04045469] [ 0.23942441 0.97089142 -0.00676819 0.19131929] [ 0.11774497 -0.02211533 0.99279758 -0.19109596] [ 0. 0. 0. 1. ]] SLAMing on 23.731346184 meters Centerline goodness : 0.886816 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96229974 -0.24420015 -0.11977269 1.04216347] [ 0.24488796 0.96950801 -0.00917053 0.19060221] [ 0.11836002 -0.02050609 0.99275899 -0.18992 ] [ 0. 0. 0. 1. ]] SLAMing on 23.761346183999997 meters Centerline goodness : 0.887837 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96180494 -0.24615489 -0.11974568 1.04169117] [ 0.24676211 0.96902486 -0.00996434 0.19012641] [ 0.11848931 -0.01996494 0.99275459 -0.18839313] [ 0. 0. 0. 1. ]] SLAMing on 23.791346184 meters Centerline goodness : 0.889661 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96156132 -0.24681401 -0.12034395 1.04282055] [ 0.24750666 0.96884064 -0.00939487 0.18967101] [ 0.1189129 -0.02075219 0.9926878 -0.18784004] [ 0. 0. 0. 1. ]] SLAMing on 23.821346184 meters Centerline goodness : 0.889934 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96167614 -0.24643685 -0.12019934 1.04168699] [ 0.24722172 0.968921 -0.0085741 0.18886892] [ 0.11857664 -0.02147038 0.99271275 -0.18673684] [ 0. 0. 0. 1. ]] SLAMing on 23.851346183999997 meters Centerline goodness : 0.889710 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96203007 -0.24506269 -0.12017661 1.04204986] [ 0.24590835 0.96926028 -0.00797412 0.18842575] [ 0.11843658 -0.02188109 0.9927205 -0.18758771] [ 0. 0. 0. 1. ]] SLAMing on 23.881346183999998 meters Centerline goodness : 0.890376 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96244344 -0.24372187 -0.11959214 1.04059593] [ 0.24450911 0.9696117 -0.00827302 0.18827684] [ 0.11797425 -0.02127906 0.99278864 -0.18760173] [ 0. 0. 0. 1. ]] SLAMing on 23.911346184 meters Centerline goodness : 0.889880 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.9627834 -0.24208576 -0.12017739 1.04191775] [ 0.24302915 0.96999396 -0.00696708 0.1886402 ] [ 0.11825797 -0.02249882 0.99272799 -0.18846397] [ 0. 0. 0. 1. ]] SLAMing on 23.941346183999997 meters Centerline goodness : 0.892152 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96333635 -0.23918332 -0.12155008 1.04203946] [ 0.24062965 0.9706128 -0.00285564 0.18875906] [ 0.11866108 -0.02649761 0.99258119 -0.1871724 ] [ 0. 0. 0. 1. ]] SLAMing on 23.971346183999998 meters Centerline goodness : 0.888731 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96326101 -0.23941017 -0.12170042 1.04131805] [ 0.24085168 0.97055747 -0.00294408 0.18932903] [ 0.1188221 -0.02647583 0.99256251 -0.18596027] [ 0. 0. 0. 1. ]] SLAMing on 24.001346184 meters Centerline goodness : 0.890374 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96309746 -0.24024718 -0.12134487 1.04119057] [ 0.24155701 0.97037831 -0.00401919 0.1893428 ] [ 0.11871603 -0.02544083 0.99260227 -0.18605422] [ 0. 0. 0. 1. ]] SLAMing on 24.031346183999997 meters Centerline goodness : 0.889607 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96318119 -0.24056761 -0.1200384 1.04115769] [ 0.24166119 0.97034464 -0.00558132 0.18765017] [ 0.11782131 -0.0236328 0.99275356 -0.18817515] [ 0. 0. 0. 1. ]] SLAMing on 24.061346183999998 meters Centerline goodness : 0.890323 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96341614 -0.23973957 -0.11980936 1.04151009] [ 0.24086149 0.97054533 -0.005244 0.18695444] [ 0.11753761 -0.02380531 0.99278307 -0.18919674] [ 0. 0. 0. 1. ]] SLAMing on 24.091346184 meters Centerline goodness : 0.892782 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96377959 -0.23806639 -0.12022186 1.0411753 ] [ 0.23931483 0.97093312 -0.00415728 0.1862144 ] [ 0.11771709 -0.02476417 0.99273835 -0.18826885] [ 0. 0. 0. 1. ]] SLAMing on 24.121346183999997 meters Centerline goodness : 0.891841 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 9.64355587e-01 -2.35338854e-01 -1.20970767e-01 1.04078921e+00] [ 2.36972821e-01 9.71515859e-01 -9.04064897e-04 1.85712312e-01] [ 1.17737780e-01 -2.77949438e-02 9.92655658e-01 -1.87453206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.151346183999998 meters Centerline goodness : 0.889715 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 9.65284568e-01 -2.36818716e-01 -1.10193465e-01 1.04342962e+00] [ 2.38230042e-01 9.71208686e-01 -3.68542871e-04 1.93249147e-01] [ 1.07108128e-01 -2.58956449e-02 9.93910089e-01 -1.88957022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.181346184 meters Centerline goodness : 0.890665 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 9.65532196e-01 -2.35828932e-01 -1.10146691e-01 1.04276609e+00] [ 2.37205900e-01 9.71459200e-01 -6.19648288e-04 1.94130151e-01] [ 1.07149148e-01 -2.55291547e-02 9.93915149e-01 -1.88649893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.211346184 meters Centerline goodness : 0.890017 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.96558791 -0.23554919 -0.11025685 1.04285801] [ 0.23685428 0.97154432 -0.00129554 0.19526231] [ 0.10742458 -0.02486385 0.99390228 -0.18874719] [ 0. 0. 0. 1. ]] SLAMing on 24.241346183999998 meters Centerline goodness : 0.887006 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.96549733 -0.23605265 -0.10997296 1.04341701] [ 0.23715579 0.9714666 -0.00312789 0.19724527] [ 0.1075734 -0.02306076 0.99392966 -0.19004422] [ 0. 0. 0. 1. ]] SLAMing on 24.271346184 meters Centerline goodness : 0.884473 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.96527635 -0.23680941 -0.11028541 1.04496233] [ 0.23783269 0.97129801 -0.00397359 0.19797394] [ 0.10806098 -0.02239387 0.99389202 -0.19060609] [ 0. 0. 0. 1. ]] SLAMing on 24.301346184 meters Centerline goodness : 0.885304 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.96509871 -0.23727312 -0.11084194 1.04645675] [ 0.23828075 0.97118697 -0.0042594 0.19817184] [ 0.10865889 -0.02230076 0.99382892 -0.19068338] [ 0. 0. 0. 1. ]] SLAMing on 24.331346183999997 meters Centerline goodness : 0.884778 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.96476402 -0.23833396 -0.11147787 1.0489092 ] [ 0.23931483 0.97093067 -0.0046953 0.19985103] [ 0.10935633 -0.02214845 0.99375582 -0.19200969] [ 0. 0. 0. 1. ]] SLAMing on 24.361346184 meters Centerline goodness : 0.883183 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.96441922 -0.23955745 -0.11183823 1.05022902] [ 0.24046801 0.97064161 -0.00547627 0.20048937] [ 0.10986672 -0.02161209 0.99371134 -0.19218071] [ 0. 0. 0. 1. ]] SLAMing on 24.391346184 meters Centerline goodness : 0.883074 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.96412669 -0.24026974 -0.1128281 1.05302421] [ 0.2412292 0.97045384 -0.00527517 0.20183505] [ 0.11076192 -0.0221315 0.99360052 -0.19312185] [ 0. 0. 0. 1. ]] SLAMing on 24.421346183999997 meters Centerline goodness : 0.883581 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.96406186 -0.23992339 -0.1141118 1.05454498] [ 0.24108442 0.97049702 -0.00372126 0.20272697] [ 0.11163797 -0.02392305 0.99346095 -0.19242685] [ 0. 0. 0. 1. ]] SLAMing on 24.451346184 meters Centerline goodness : 0.884954 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 9.64395787e-01 -2.37474384e-01 -1.16390216e-01 1.05680185e+00] [ 2.39180387e-01 9.70974889e-01 7.12203495e-04 2.04920173e-01] [ 1.12842847e-01 -2.85251030e-02 9.93203308e-01 -1.92050107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481346184 meters Centerline goodness : 0.884060 Centerline is valid? [False, False] Translation: X:1.06, Y:0.21, Z:-0.19 [[ 9.64403422e-01 -2.37577037e-01 -1.16117142e-01 1.05665774e+00] [ 2.39180316e-01 9.70975159e-01 -1.29923939e-04 2.05133542e-01] [ 1.12777728e-01 -2.76476357e-02 9.93235517e-01 -1.92209858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.511346183999997 meters Centerline goodness : 0.884547 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.96433397 -0.23814345 -0.11553218 1.05683474] [ 0.23955958 0.97088022 -0.00167328 0.20470989] [ 0.11256639 -0.02606324 0.99330233 -0.19294527] [ 0. 0. 0. 1. ]] SLAMing on 24.541346184 meters Centerline goodness : 0.885343 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 9.64270753e-01 -2.38216284e-01 -1.15909086e-01 1.05740932e+00] [ 2.39747844e-01 9.70834903e-01 -7.49282713e-04 2.03649934e-01] [ 1.12707077e-01 -2.70664420e-02 9.93259544e-01 -1.92484559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.571346184 meters Centerline goodness : 0.889093 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.96409321 -0.23829798 -0.11721077 1.05830013] [ 0.24008072 0.97075228 0.00112518 0.20392184] [ 0.11351449 -0.02922483 0.99310642 -0.19066209] [ 0. 0. 0. 1. ]] SLAMing on 24.601346183999997 meters Centerline goodness : 0.887565 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.9637102 -0.23941316 -0.11808465 1.05787031] [ 0.24132708 0.97044183 0.00197165 0.20433792] [ 0.11412224 -0.03039712 0.99300158 -0.1878639 ] [ 0. 0. 0. 1. ]] SLAMing on 24.631346183999998 meters Centerline goodness : 0.889911 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.96329076 -0.24061218 -0.11906595 1.05894119] [ 0.24267169 0.97010416 0.00289355 0.20400887] [ 0.11481015 -0.03168126 0.99288213 -0.1863606 ] [ 0. 0. 0. 1. ]] SLAMing on 24.661346184 meters Centerline goodness : 0.890594 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 9.62221601e-01 -2.44796895e-01 -1.19180833e-01 1.06104322e+00] [ 2.46630309e-01 9.69109417e-01 6.54759918e-04 2.03542481e-01] [ 1.15338984e-01 -3.00236298e-02 9.92872348e-01 -1.86387805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.691346183999997 meters Centerline goodness : 0.888210 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.96149092 -0.24838219 -0.11764991 1.06092511] [ 0.24967675 0.96832162 -0.00384126 0.20321544] [ 0.11487705 -0.02568111 0.9930477 -0.18746744] [ 0. 0. 0. 1. ]] SLAMing on 24.721346183999998 meters Centerline goodness : 0.887367 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.96091632 -0.25133686 -0.11605867 1.06130866] [ 0.25211921 0.96766202 -0.00813102 0.20180232] [ 0.11434919 -0.02144739 0.99320908 -0.18914054] [ 0. 0. 0. 1. ]] SLAMing on 24.751346184 meters Centerline goodness : 0.888953 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.96003609 -0.25506467 -0.11520731 1.06262923] [ 0.25547127 0.96674857 -0.01147297 0.19995124] [ 0.11430285 -0.0184177 0.99327521 -0.18992619] [ 0. 0. 0. 1. ]] SLAMing on 24.781346183999997 meters Centerline goodness : 0.892526 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.95964612 -0.25594642 -0.1164936 1.06302558] [ 0.25651708 0.96648456 -0.01032367 0.20079147] [ 0.11523157 -0.01997553 0.99313779 -0.18734747] [ 0. 0. 0. 1. ]] SLAMing on 24.811346183999998 meters Centerline goodness : 0.893368 Centerline is valid? [False, False] Translation: X:1.07, Y:0.20, Z:-0.19 [[ 0.95949438 -0.25491249 -0.11995896 1.06758892] [ 0.25613851 0.9666253 -0.00534684 0.2021814 ] [ 0.11731834 -0.02559585 0.99276445 -0.1861168 ] [ 0. 0. 0. 1. ]] SLAMing on 24.841346184 meters Centerline goodness : 0.892929 Centerline is valid? [False, False] Translation: X:1.07, Y:0.20, Z:-0.19 [[ 0.96021149 -0.25173779 -0.12092135 1.06709098] [ 0.25333575 0.96737585 -0.00222589 0.20278735] [ 0.11753674 -0.02849638 0.9926596 -0.18520135] [ 0. 0. 0. 1. ]] SLAMing on 24.871346183999997 meters Centerline goodness : 0.892477 Centerline is valid? [False, False] Translation: X:1.07, Y:0.20, Z:-0.19 [[ 0.96090108 -0.24966149 -0.11974245 1.0662071 ] [ 0.25115307 0.96794358 -0.00271398 0.20168706] [ 0.11658151 -0.02746582 0.99280128 -0.18707785] [ 0. 0. 0. 1. ]] SLAMing on 24.901346183999998 meters Centerline goodness : 0.893310 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.9615565 -0.2477195 -0.11850805 1.06432501] [ 0.24906965 0.96847919 -0.00351567 0.20065251] [ 0.11564348 -0.02613625 0.99294687 -0.18786572] [ 0. 0. 0. 1. ]] SLAMing on 24.931346184 meters Centerline goodness : 0.894849 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 9.62596755e-01 -2.43406403e-01 -1.18999199e-01 1.06363056e+00] [ 2.45076689e-01 9.69503500e-01 -6.16259560e-04 2.01376317e-01] [ 1.15520141e-01 -2.85707202e-02 9.92894159e-01 -1.88050957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.961346184 meters Centerline goodness : 0.894990 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.96283468 -0.24194137 -0.1200573 1.0635691 ] [ 0.24390097 0.96979869 0.00168157 0.20297281] [ 0.11602457 -0.03090117 0.99276554 -0.18683221] [ 0. 0. 0. 1. ]] SLAMing on 24.991346183999998 meters Centerline goodness : 0.895000 Centerline is valid? [False, False] Translation: X:1.06, Y:0.21, Z:-0.18 [[ 0.96277392 -0.24186021 -0.12070636 1.06275429] [ 0.24385009 0.96981132 0.00177071 0.20505798] [ 0.11663413 -0.03113905 0.99268668 -0.18491021] [ 0. 0. 0. 1. ]] SLAMing on 25.021346184 meters Centerline goodness : 0.893110 Centerline is valid? [False, False] Translation: X:1.06, Y:0.21, Z:-0.19 [[ 0.96244765 -0.24275242 -0.12151454 1.06403439] [ 0.24474805 0.96958548 0.00154688 0.20875584] [ 0.11744322 -0.03122924 0.99258845 -0.18510497] [ 0. 0. 0. 1. ]] SLAMing on 25.051346184 meters Centerline goodness : 0.890614 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.19 [[ 9.62124119e-01 -2.44225523e-01 -1.21124206e-01 1.06544940e+00] [ 2.45998829e-01 9.69270072e-01 -3.22675921e-04 2.09610376e-01] [ 1.17480874e-01 -2.94859586e-02 9.92637307e-01 -1.86885825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.081346183999997 meters Centerline goodness : 0.890107 Centerline is valid? [False, False] Translation: X:1.06, Y:0.21, Z:-0.19 [[ 0.96158317 -0.2470855 -0.11961001 1.06448505] [ 0.24837203 0.96865532 -0.00426654 0.2100488 ] [ 0.11691507 -0.02560515 0.99281179 -0.18747752] [ 0. 0. 0. 1. ]] SLAMing on 25.111346184 meters Centerline goodness : 0.890580 Centerline is valid? [False, False] Translation: X:1.06, Y:0.21, Z:-0.19 [[ 0.96109127 -0.24943331 -0.11868693 1.06384219] [ 0.25038859 0.96811985 -0.00703577 0.20983913] [ 0.11665813 -0.02295584 0.9929068 -0.18726121] [ 0. 0. 0. 1. ]] SLAMing on 25.141346184 meters Centerline goodness : 0.893359 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.18 [[ 0.96006596 -0.25207411 -0.12137543 1.06669767] [ 0.25336186 0.96735886 -0.00496003 0.21056641] [ 0.11866389 -0.02598994 0.99259428 -0.18380825] [ 0. 0. 0. 1. ]] SLAMing on 25.171346183999997 meters Centerline goodness : 0.889959 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.18 [[ 0.95951347 -0.25337572 -0.12302291 1.06826553] [ 0.25489298 0.9669629 -0.00350887 0.21113605] [ 0.11984765 -0.02799087 0.99239763 -0.18160769] [ 0. 0. 0. 1. ]] SLAMing on 25.201346184 meters Centerline goodness : 0.891035 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.18 [[ 0.95901971 -0.25492245 -0.12367599 1.06851374] [ 0.25646921 0.966546 -0.00351926 0.21141754] [ 0.12043567 -0.02834405 0.99231641 -0.17983705] [ 0. 0. 0. 1. ]] SLAMing on 25.231346184 meters Centerline goodness : 0.894261 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.18 [[ 0.95846773 -0.25671314 -0.12424961 1.06984596] [ 0.25827604 0.96606431 -0.00363908 0.21068089] [ 0.12096731 -0.02860276 0.99224432 -0.17901732] [ 0. 0. 0. 1. ]] SLAMing on 25.261346183999997 meters Centerline goodness : 0.895347 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.18 [[ 0.95827108 -0.25699714 -0.12517588 1.07264482] [ 0.2586665 0.965962 -0.00301053 0.21005216] [ 0.12168885 -0.0294939 0.99213 -0.17965144] [ 0. 0. 0. 1. ]] SLAMing on 25.291346184 meters Centerline goodness : 0.894698 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.18 [[ 0.95806163 -0.25765597 -0.12542452 1.07295363] [ 0.25931195 0.96578824 -0.00322325 0.20989333] [ 0.12196402 -0.02943601 0.99209793 -0.17899518] [ 0. 0. 0. 1. ]] SLAMing on 25.321346184 meters Centerline goodness : 0.895625 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.18 [[ 0.95789677 -0.25784971 -0.12628264 1.07388463] [ 0.25960388 0.96571155 -0.00265063 0.2100635 ] [ 0.12263607 -0.03024443 0.99199076 -0.17793682] [ 0. 0. 0. 1. ]] SLAMing on 25.351346183999997 meters Centerline goodness : 0.895039 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.18 [[ 0.95775628 -0.2582789 -0.126471 1.07518579] [ 0.25999963 0.96560407 -0.00299576 0.20966615] [ 0.12289465 -0.03001321 0.99196578 -0.17840929] [ 0. 0. 0. 1. ]] SLAMing on 25.381346183999998 meters Centerline goodness : 0.895815 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.18 [[ 0.95737564 -0.2602562 -0.125294 1.07464738] [ 0.26152511 0.96517476 -0.0065043 0.20932012] [ 0.12262339 -0.02654047 0.99209834 -0.17875823] [ 0. 0. 0. 1. ]] SLAMing on 25.411346184 meters Centerline goodness : 0.892454 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.18 [[ 0.95686186 -0.26239521 -0.12475629 1.07508887] [ 0.26338395 0.96465096 -0.00879902 0.20843512] [ 0.12265509 -0.02443936 0.9921484 -0.17878783] [ 0. 0. 0. 1. ]] SLAMing on 25.441346183999997 meters Centerline goodness : 0.895944 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.18 [[ 0.95605017 -0.2646335 -0.12624259 1.07623394] [ 0.26581647 0.96399297 -0.00769113 0.2082181 ] [ 0.1237323 -0.02620425 0.99196958 -0.17589661] [ 0. 0. 0. 1. ]] SLAMing on 25.471346183999998 meters Centerline goodness : 0.895445 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.17 [[ 0.95569317 -0.2651163 -0.1279215 1.07809404] [ 0.26654043 0.96380399 -0.00617007 0.20845017] [ 0.12492704 -0.02819956 0.9917651 -0.17408987] [ 0. 0. 0. 1. ]] SLAMing on 25.501346184 meters Centerline goodness : 0.894226 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.17 [[ 0.95536537 -0.26587764 -0.12878698 1.07972328] [ 0.2673203 0.96358732 -0.00627211 0.20881175] [ 0.12576511 -0.02843522 0.99165245 -0.17350233] [ 0. 0. 0. 1. ]] SLAMing on 25.531346183999997 meters Centerline goodness : 0.894226 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.17 [[ 0.95536537 -0.26587764 -0.12878698 1.07972328] [ 0.2673203 0.96358732 -0.00627211 0.20881175] [ 0.12576511 -0.02843522 0.99165245 -0.17350233] [ 0. 0. 0. 1. ]] SLAMing on 25.561346183999998 meters Centerline goodness : 0.896835 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.17 [[ 0.95540474 -0.26603596 -0.12816649 1.07974309] [ 0.26730322 0.96358305 -0.00752915 0.20837113] [ 0.12550208 -0.02706593 0.99172409 -0.17434171] [ 0. 0. 0. 1. ]] SLAMing on 25.591346184 meters Centerline goodness : 0.897995 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.18 [[ 0.95617336 -0.26338728 -0.12790487 1.08099394] [ 0.26476013 0.96429269 -0.00645672 0.2070053 ] [ 0.12503835 -0.02769036 0.99176542 -0.17705043] [ 0. 0. 0. 1. ]] SLAMing on 25.621346183999997 meters Centerline goodness : 0.899115 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.17 [[ 0.95644158 -0.26215116 -0.12843784 1.07982431] [ 0.26361763 0.96461011 -0.00575216 0.20738174] [ 0.12540037 -0.02835687 0.99170088 -0.17498609] [ 0. 0. 0. 1. ]] SLAMing on 25.651346183999998 meters Centerline goodness : 0.902200 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.17 [[ 0.9568439 -0.25986581 -0.13007504 1.08046334] [ 0.26181224 0.9651163 -0.00220866 0.20795432] [ 0.1261115 -0.0319419 0.99150169 -0.17358823] [ 0. 0. 0. 1. ]] SLAMing on 25.681346184 meters Centerline goodness : 0.899093 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.17 [[ 9.57389989e-01 -2.57129832e-01 -1.31486345e-01 1.08048133e+00] [ 2.59392842e-01 9.65771891e-01 8.62924310e-05 2.10814124e-01] [ 1.26963627e-01 -3.41892322e-02 9.91317978e-01 -1.72477818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.711346183999996 meters Centerline goodness : 0.901076 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.17 [[ 9.57656091e-01 -2.56039157e-01 -1.31676733e-01 1.08196426e+00] [ 2.58267168e-01 9.66073519e-01 -1.63457336e-04 2.12185332e-01] [ 1.27251256e-01 -3.38512410e-02 9.91292697e-01 -1.74268115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.741346183999998 meters Centerline goodness : 0.898260 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.18 [[ 0.95776854 -0.25594222 -0.13104583 1.0816973 ] [ 0.25795323 0.96615594 -0.0016835 0.21330368] [ 0.12704159 -0.03219129 0.99137488 -0.17526992] [ 0. 0. 0. 1. ]] SLAMing on 25.771346184 meters Centerline goodness : 0.899018 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.18 [[ 0.95802786 -0.25516234 -0.13067056 1.08220659] [ 0.25701114 0.96640438 -0.00280226 0.21433872] [ 0.12699564 -0.03089914 0.99142188 -0.17669699] [ 0. 0. 0. 1. ]] SLAMing on 25.801346184 meters Centerline goodness : 0.901005 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.18 [[ 0.95800287 -0.25524921 -0.13068416 1.08213224] [ 0.2570821 0.96638511 -0.00293569 0.21455812] [ 0.12704056 -0.03078416 0.9914197 -0.17647794] [ 0. 0. 0. 1. ]] SLAMing on 25.831346183999997 meters Centerline goodness : 0.902003 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.18 [[ 0.95780925 -0.25579405 -0.13103753 1.08183083] [ 0.25764216 0.96623593 -0.00294085 0.21510207] [ 0.12736542 -0.03094402 0.99137305 -0.1751208 ] [ 0. 0. 0. 1. ]] SLAMing on 25.861346184 meters Centerline goodness : 0.900088 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95751362 -0.25647043 -0.13187336 1.08176635] [ 0.25838712 0.96603779 -0.00266123 0.21628237] [ 0.12807717 -0.03152621 0.991263 -0.17305579] [ 0. 0. 0. 1. ]] SLAMing on 25.891346184 meters Centerline goodness : 0.903029 Centerline is valid? [False, False] Translation: X:1.09, Y:0.22, Z:-0.17 [[ 9.56861693e-01 -2.57228969e-01 -1.35088704e-01 1.08599012e+00] [ 2.59628638e-01 9.65708521e-01 1.51685165e-04 2.19149107e-01] [ 1.30417295e-01 -3.52180380e-02 9.90833497e-01 -1.71648659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.921346183999997 meters Centerline goodness : 0.904495 Centerline is valid? [False, False] Translation: X:1.09, Y:0.22, Z:-0.17 [[ 9.56557411e-01 -2.57993496e-01 -1.35783929e-01 1.08726083e+00] [ 2.60451357e-01 9.65486908e-01 3.48591603e-04 2.19711089e-01] [ 1.31007671e-01 -3.56985563e-02 9.90738413e-01 -1.71328690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.951346184 meters Centerline goodness : 0.901588 Centerline is valid? [False, False] Translation: X:1.09, Y:0.22, Z:-0.17 [[ 0.95610589 -0.26019608 -0.1347573 1.08571621] [ 0.26221607 0.96500498 -0.00285093 0.22023355] [ 0.13078327 -0.03260974 0.99087453 -0.17047507] [ 0. 0. 0. 1. ]] SLAMing on 25.981346184 meters Centerline goodness : 0.901424 Centerline is valid? [False, False] Translation: X:1.09, Y:0.22, Z:-0.17 [[ 0.95582817 -0.26110817 -0.13496307 1.0884886 ] [ 0.26304883 0.96477593 -0.00356682 0.22046524] [ 0.13114044 -0.03209261 0.99084421 -0.17258126] [ 0. 0. 0. 1. ]] SLAMing on 26.011346183999997 meters Centerline goodness : 0.901852 Centerline is valid? [False, False] Translation: X:1.09, Y:0.22, Z:-0.17 [[ 0.95547449 -0.26357144 -0.13265969 1.08649683] [ 0.26489127 0.96424575 -0.00792095 0.22108318] [ 0.13000428 -0.02757213 0.99112999 -0.17381134] [ 0. 0. 0. 1. ]] SLAMing on 26.041346184 meters Centerline goodness : 0.903316 Centerline is valid? [False, False] Translation: X:1.09, Y:0.22, Z:-0.17 [[ 0.95539057 -0.26355989 -0.13328554 1.08755644] [ 0.26495336 0.9642321 -0.00749494 0.22174814] [ 0.13049356 -0.02815386 0.99104934 -0.17371222] [ 0. 0. 0. 1. ]] SLAMing on 26.071346184 meters Centerline goodness : 0.902557 Centerline is valid? [False, False] Translation: X:1.09, Y:0.22, Z:-0.17 [[ 0.95542907 -0.26315744 -0.13380376 1.08782999] [ 0.26471626 0.96430559 -0.00632706 0.22192568] [ 0.13069273 -0.02937498 0.99098765 -0.17319642] [ 0. 0. 0. 1. ]] SLAMing on 26.101346183999997 meters Centerline goodness : 0.904648 Centerline is valid? [False, False] Translation: X:1.09, Y:0.22, Z:-0.17 [[ 0.95602939 -0.26076042 -0.13420807 1.08591943] [ 0.26264009 0.96488631 -0.00381885 0.2204379 ] [ 0.13049134 -0.03159748 0.99094582 -0.17088061] [ 0. 0. 0. 1. ]] SLAMing on 26.131346183999998 meters Centerline goodness : 0.905112 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95633854 -0.25959746 -0.13426005 1.08467491] [ 0.26158299 0.96517649 -0.00294556 0.22030826] [ 0.1303493 -0.03230319 0.99094176 -0.16962878] [ 0. 0. 0. 1. ]] SLAMing on 26.161346184 meters Centerline goodness : 0.907618 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95652234 -0.25896709 -0.13416803 1.08377832] [ 0.26099004 0.96533801 -0.00259351 0.21982033] [ 0.13018914 -0.03253577 0.9909552 -0.16868792] [ 0. 0. 0. 1. ]] SLAMing on 26.191346183999997 meters Centerline goodness : 0.907157 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95616877 -0.26138412 -0.13198346 1.08225904] [ 0.26283665 0.96481774 -0.00660567 0.21897605] [ 0.1290666 -0.02837395 0.99122991 -0.16983263] [ 0. 0. 0. 1. ]] SLAMing on 26.221346183999998 meters Centerline goodness : 0.906453 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95569045 -0.26356826 -0.13110127 1.08118865] [ 0.26461263 0.96430593 -0.00970751 0.21898061] [ 0.12898032 -0.02541368 0.99132145 -0.16890958] [ 0. 0. 0. 1. ]] SLAMing on 26.251346184 meters Centerline goodness : 0.906636 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95538346 -0.26417211 -0.13211941 1.08230569] [ 0.26537776 0.96410508 -0.0087205 0.21962562] [ 0.12968071 -0.02673013 0.99119545 -0.167914 ] [ 0. 0. 0. 1. ]] SLAMing on 26.281346183999997 meters Centerline goodness : 0.906131 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95532626 -0.26431675 -0.13224368 1.08225194] [ 0.265496 0.96407034 -0.00895794 0.22039357] [ 0.12985994 -0.02655241 0.99117676 -0.16748794] [ 0. 0. 0. 1. ]] SLAMing on 26.311346183999998 meters Centerline goodness : 0.906514 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95563277 -0.26314486 -0.13236615 1.08321806] [ 0.2643394 0.96438971 -0.00878472 0.22080233] [ 0.12996421 -0.02659462 0.99116196 -0.16858577] [ 0. 0. 0. 1. ]] SLAMing on 26.341346184 meters Centerline goodness : 0.905117 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95625101 -0.26116976 -0.13181187 1.08324936] [ 0.26239887 0.96492408 -0.00826791 0.2209052 ] [ 0.12934778 -0.02668109 0.99124027 -0.17057039] [ 0. 0. 0. 1. ]] SLAMing on 26.371346183999997 meters Centerline goodness : 0.906790 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.9581938 -0.25476385 -0.13023065 1.07945099] [ 0.25604675 0.96663847 -0.00708078 0.22027635] [ 0.12768989 -0.02656038 0.99145844 -0.17213557] [ 0. 0. 0. 1. ]] SLAMing on 26.401346183999998 meters Centerline goodness : 0.910673 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95931708 -0.24998057 -0.13122676 1.07978535] [ 0.25176834 0.9677827 -0.00305728 0.2204124 ] [ 0.12776325 -0.03010584 0.99134766 -0.17265595] [ 0. 0. 0. 1. ]] SLAMing on 26.431346184 meters Centerline goodness : 0.913307 Centerline is valid? [False, False] Translation: X:1.08, Y:0.23, Z:-0.17 [[ 0.96037483 -0.25161667 -0.11987178 1.07957044] [ 0.25304346 0.96744887 -0.00341772 0.22773637] [ 0.11682977 -0.02705048 0.9927835 -0.17197857] [ 0. 0. 0. 1. ]] SLAMing on 26.461346183999996 meters Centerline goodness : 0.910606 Centerline is valid? [False, False] Translation: X:1.08, Y:0.23, Z:-0.17 [[ 9.61219121e-01 -2.47487326e-01 -1.21687407e-01 1.08002356e+00] [ 2.49332665e-01 9.68417894e-01 -6.43438968e-05 2.29870477e-01] [ 1.17860187e-01 -3.02787970e-02 9.92568472e-01 -1.70770718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.491346183999998 meters Centerline goodness : 0.908806 Centerline is valid? [False, False] Translation: X:1.08, Y:0.23, Z:-0.17 [[ 0.96194523 -0.24416519 -0.12265697 1.08190533] [ 0.24620163 0.96921748 0.00149452 0.23393902] [ 0.11851637 -0.03163599 0.992448 -0.17308828] [ 0. 0. 0. 1. ]] SLAMing on 26.521346184 meters Centerline goodness : 0.909739 Centerline is valid? [False, False] Translation: X:1.08, Y:0.23, Z:-0.18 [[ 9.61913859e-01 -2.44369524e-01 -1.22495971e-01 1.08400101e+00] [ 2.46234875e-01 9.69210182e-01 9.23163386e-05 2.34896571e-01] [ 1.18701783e-01 -3.02515805e-02 9.92469006e-01 -1.75468554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.551346184 meters Centerline goodness : 0.905989 Centerline is valid? [False, False] Translation: X:1.08, Y:0.24, Z:-0.18 [[ 0.96154227 -0.24629977 -0.12154374 1.08333318] [ 0.2477672 0.96881455 -0.0031278 0.23548937] [ 0.11852372 -0.02710704 0.99258115 -0.17552852] [ 0. 0. 0. 1. ]] SLAMing on 26.581346183999997 meters Centerline goodness : 0.905860 Centerline is valid? [False, False] Translation: X:1.08, Y:0.24, Z:-0.17 [[ 0.96014901 -0.25162676 -0.12164646 1.0833741 ] [ 0.25275992 0.96750865 -0.00627947 0.23730763] [ 0.11927409 -0.02471812 0.99255363 -0.17317389] [ 0. 0. 0. 1. ]] SLAMing on 26.611346184 meters Centerline goodness : 0.906273 Centerline is valid? [False, False] Translation: X:1.09, Y:0.24, Z:-0.17 [[ 0.95957074 -0.25298028 -0.12338953 1.08617048] [ 0.25428662 0.96711434 -0.0053072 0.23806642] [ 0.1206744 -0.02628367 0.99234412 -0.17219074] [ 0. 0. 0. 1. ]] SLAMing on 26.641346184 meters Centerline goodness : 0.904292 Centerline is valid? [False, False] Translation: X:1.09, Y:0.24, Z:-0.17 [[ 0.95911631 -0.2544118 -0.123978 1.08693848] [ 0.25568328 0.96674312 -0.00581434 0.2392012 ] [ 0.12133411 -0.02612247 0.99226793 -0.17121113] [ 0. 0. 0. 1. ]] SLAMing on 26.671346183999997 meters Centerline goodness : 0.902628 Centerline is valid? [False, False] Translation: X:1.09, Y:0.24, Z:-0.17 [[ 0.95874176 -0.25538893 -0.12486283 1.08918974] [ 0.25664223 0.96648648 -0.0062174 0.24001166] [ 0.12226609 -0.02608419 0.99215453 -0.17132629] [ 0. 0. 0. 1. ]] SLAMing on 26.701346184 meters Centerline goodness : 0.903880 Centerline is valid? [False, False] Translation: X:1.09, Y:0.24, Z:-0.17 [[ 0.95833321 -0.25704477 -0.12460111 1.08923465] [ 0.25813864 0.96607827 -0.00756435 0.24080385] [ 0.1223188 -0.02491519 0.99217808 -0.17128497] [ 0. 0. 0. 1. ]] SLAMing on 26.731346184 meters Centerline goodness : 0.903963 Centerline is valid? [False, False] Translation: X:1.09, Y:0.24, Z:-0.17 [[ 0.95838289 -0.2568547 -0.12461103 1.08900173] [ 0.25791973 0.96613496 -0.00778782 0.24155462] [ 0.12239141 -0.02467593 0.99217511 -0.17093799] [ 0. 0. 0. 1. ]] SLAMing on 26.761346183999997 meters Centerline goodness : 0.904920 Centerline is valid? [False, False] Translation: X:1.09, Y:0.24, Z:-0.17 [[ 0.958369 -0.25625961 -0.12593597 1.09013767] [ 0.25744781 0.96626664 -0.00702827 0.24317257] [ 0.12348878 -0.02568626 0.99201348 -0.16981772] [ 0. 0. 0. 1. ]] SLAMing on 26.791346184 meters Centerline goodness : 0.902429 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.17 [[ 0.95891125 -0.25359772 -0.12719045 1.08983204] [ 0.25507241 0.96690989 -0.0048301 0.24624359] [ 0.1242066 -0.02781114 0.99186655 -0.16867978] [ 0. 0. 0. 1. ]] SLAMing on 26.821346184 meters Centerline goodness : 0.899334 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.17 [[ 0.95912289 -0.25247225 -0.12783211 1.09131137] [ 0.25397669 0.9671991 -0.00466295 0.24851574] [ 0.12481637 -0.02799403 0.99178486 -0.16970613] [ 0. 0. 0. 1. ]] SLAMing on 26.851346183999997 meters Centerline goodness : 0.900931 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.17 [[ 0.95935227 -0.251809 -0.12741843 1.09120118] [ 0.25317331 0.96740449 -0.00564105 0.25039105] [ 0.12468563 -0.02684719 0.99183301 -0.17087164] [ 0. 0. 0. 1. ]] SLAMing on 26.881346183999998 meters Centerline goodness : 0.899599 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.17 [[ 0.95936 -0.25210333 -0.12677657 1.0903145 ] [ 0.25319483 0.96738468 -0.0076978 0.25340715] [ 0.12458236 -0.02471421 0.99190143 -0.17148013] [ 0. 0. 0. 1. ]] SLAMing on 26.911346184 meters Centerline goodness : 0.898830 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.17 [[ 0.95913012 -0.25229628 -0.12812493 1.09338886] [ 0.25350121 0.96730912 -0.00708565 0.25482531] [ 0.1257241 -0.02568377 0.99173272 -0.17231642] [ 0. 0. 0. 1. ]] SLAMing on 26.941346183999997 meters Centerline goodness : 0.899602 Centerline is valid? [False, False] Translation: X:1.09, Y:0.26, Z:-0.17 [[ 0.95880072 -0.25327315 -0.12866191 1.09393674] [ 0.25447921 0.96705105 -0.0072533 0.25588472] [ 0.1262597 -0.02578731 0.99166199 -0.17147636] [ 0. 0. 0. 1. ]] SLAMing on 26.971346183999998 meters Centerline goodness : 0.898540 Centerline is valid? [False, False] Translation: X:1.09, Y:0.26, Z:-0.17 [[ 0.95830297 -0.25470345 -0.12954369 1.09454157] [ 0.25592919 0.96666737 -0.00737828 0.25730861] [ 0.12710493 -0.02608338 0.99154626 -0.16998128] [ 0. 0. 0. 1. ]] SLAMing on 27.001346184 meters Centerline goodness : 0.899058 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.17 [[ 0.95717583 -0.25786652 -0.13160276 1.09704989] [ 0.25910801 0.96581604 -0.00790027 0.2595365 ] [ 0.12914127 -0.02653738 0.99127105 -0.16756652] [ 0. 0. 0. 1. ]] SLAMing on 27.031346183999997 meters Centerline goodness : 0.897350 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.17 [[ 0.95665212 -0.25964457 -0.13191445 1.098103 ] [ 0.26077542 0.96535814 -0.00893488 0.26011347] [ 0.12966458 -0.02585247 0.99122084 -0.16720047] [ 0. 0. 0. 1. ]] SLAMing on 27.061346183999998 meters Centerline goodness : 0.897817 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.17 [[ 0.95640674 -0.26032757 -0.1323469 1.09958199] [ 0.26138598 0.96518641 -0.00962105 0.26051711] [ 0.13024405 -0.02539198 0.99115677 -0.16736186] [ 0. 0. 0. 1. ]] SLAMing on 27.091346184 meters Centerline goodness : 0.897200 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.17 [[ 0.95630899 -0.26054065 -0.13263364 1.10047054] [ 0.26157839 0.96513198 -0.00984924 0.26111913] [ 0.1305751 -0.02527518 0.99111619 -0.16756744] [ 0. 0. 0. 1. ]] SLAMing on 27.121346183999997 meters Centerline goodness : 0.897960 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.17 [[ 0.95644923 -0.25988663 -0.13290528 1.10026425] [ 0.26082485 0.96532784 -0.01060966 0.26348456] [ 0.13105447 -0.0245174 0.99107196 -0.16708487] [ 0. 0. 0. 1. ]] SLAMing on 27.151346183999998 meters Centerline goodness : 0.897501 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.17 [[ 0.95669515 -0.2586373 -0.13357072 1.10028059] [ 0.25962474 0.9656549 -0.01027657 0.26523542] [ 0.13164112 -0.02484672 0.990986 -0.16625678] [ 0. 0. 0. 1. ]] SLAMing on 27.181346184 meters Centerline goodness : 0.898181 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.17 [[ 0.95730815 -0.25563968 -0.13494243 1.10106677] [ 0.25698872 0.96638433 -0.00762393 0.26670588] [ 0.13235523 -0.02738023 0.99082411 -0.16587492] [ 0. 0. 0. 1. ]] SLAMing on 27.211346183999996 meters Centerline goodness : 0.896119 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.17 [[ 0.95832954 -0.25129942 -0.13584216 1.1005856 ] [ 0.25302844 0.96744757 -0.00467004 0.27061298] [ 0.13259374 -0.02989649 0.99071949 -0.16555917] [ 0. 0. 0. 1. ]] SLAMing on 27.241346183999998 meters Centerline goodness : 0.894536 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.17 [[ 0.95835899 -0.25103095 -0.13613048 1.10174384] [ 0.2527051 0.96752977 -0.00512535 0.27295922] [ 0.13299692 -0.02948894 0.99067766 -0.16585018] [ 0. 0. 0. 1. ]] SLAMing on 27.271346184 meters Centerline goodness : 0.895704 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.95854927 -0.24995352 -0.13677185 1.10424343] [ 0.25163375 0.96780885 -0.00514637 0.27587574] [ 0.13365536 -0.02948336 0.99058921 -0.16810031] [ 0. 0. 0. 1. ]] SLAMing on 27.301346184 meters Centerline goodness : 0.895528 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.95942442 -0.24645674 -0.13698123 1.10208763] [ 0.24853752 0.96862026 -0.00197131 0.27849347] [ 0.13316863 -0.03215365 0.99057168 -0.16849332] [ 0. 0. 0. 1. ]] SLAMing on 27.331346183999997 meters Centerline goodness : 0.893354 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.95933918 -0.24687462 -0.13682568 1.1012897 ] [ 0.2488331 0.96854212 -0.00287324 0.2806179 ] [ 0.13323076 -0.03129035 0.99059097 -0.16764546] [ 0. 0. 0. 1. ]] SLAMing on 27.361346184 meters Centerline goodness : 0.895406 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.95929902 -0.24709192 -0.13671492 1.10104833] [ 0.24899727 0.96849871 -0.00325762 0.28145487] [ 0.13321316 -0.03091661 0.99060508 -0.16755029] [ 0. 0. 0. 1. ]] SLAMing on 27.391346184 meters Centerline goodness : 0.894073 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.95925472 -0.24730804 -0.13663499 1.10125621] [ 0.24918666 0.96844932 -0.00345322 0.28152838] [ 0.13317808 -0.0307351 0.99061544 -0.16793965] [ 0. 0. 0. 1. ]] SLAMing on 27.421346183999997 meters Centerline goodness : 0.894073 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.95925472 -0.24730804 -0.13663499 1.10125621] [ 0.24918666 0.96844932 -0.00345322 0.28152838] [ 0.13317808 -0.0307351 0.99061544 -0.16793965] [ 0. 0. 0. 1. ]] SLAMing on 27.451346184 meters Centerline goodness : 0.893067 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.9591908 -0.24753726 -0.13666863 1.10124239] [ 0.24938422 0.9683975 -0.00371273 0.28212706] [ 0.1332686 -0.03052178 0.99060986 -0.16787543] [ 0. 0. 0. 1. ]] SLAMing on 27.481346184 meters Centerline goodness : 0.892647 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.9590708 -0.24810056 -0.13648924 1.10022186] [ 0.2498724 0.96826936 -0.00427029 0.28322524] [ 0.13321781 -0.03000938 0.99063235 -0.16726341] [ 0. 0. 0. 1. ]] SLAMing on 27.511346183999997 meters Centerline goodness : 0.894156 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.95896111 -0.24866791 -0.13622723 1.09905393] [ 0.25034883 0.96814316 -0.00492815 0.28427434] [ 0.13311294 -0.02937842 0.99066536 -0.16646941] [ 0. 0. 0. 1. ]] SLAMing on 27.541346184 meters Centerline goodness : 0.893624 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.17 [[ 0.95888401 -0.24898434 -0.13619194 1.0982378 ] [ 0.25054936 0.96808642 -0.00580498 0.28652021] [ 0.13329091 -0.0285565 0.99066546 -0.16522601] [ 0. 0. 0. 1. ]] SLAMing on 27.571346184 meters Centerline goodness : 0.892686 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95885297 -0.24906567 -0.13626176 1.09807376] [ 0.25055443 0.96808141 -0.00639195 0.28797652] [ 0.13350449 -0.02801205 0.99065225 -0.16446031] [ 0. 0. 0. 1. ]] SLAMing on 27.601346183999997 meters Centerline goodness : 0.891754 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95883941 -0.24909813 -0.13629787 1.09788771] [ 0.25050986 0.96808893 -0.00697311 0.28920956] [ 0.13368545 -0.02745787 0.99064336 -0.16358262] [ 0. 0. 0. 1. ]] SLAMing on 27.631346183999998 meters Centerline goodness : 0.894710 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95878116 -0.24944581 -0.13607156 1.09668616] [ 0.25072475 0.96802589 -0.00793577 0.2911448 ] [ 0.13370034 -0.02650784 0.99066723 -0.16216107] [ 0. 0. 0. 1. ]] SLAMing on 27.661346184 meters Centerline goodness : 0.892563 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95876037 -0.24947999 -0.13615539 1.09684837] [ 0.25073308 0.96802198 -0.00814639 0.2915363 ] [ 0.13383377 -0.02632822 0.990654 -0.16193931] [ 0. 0. 0. 1. ]] SLAMing on 27.691346183999997 meters Centerline goodness : 0.894536 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95879408 -0.24919295 -0.13644332 1.09818556] [ 0.25048 0.96808928 -0.00793206 0.29109361] [ 0.13406593 -0.02657112 0.99061612 -0.16256978] [ 0. 0. 0. 1. ]] SLAMing on 27.721346183999998 meters Centerline goodness : 0.890758 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95893435 -0.24827849 -0.13712292 1.10147416] [ 0.24969761 0.96829834 -0.00703049 0.29052508] [ 0.13452141 -0.02749749 0.99052909 -0.16489528] [ 0. 0. 0. 1. ]] SLAMing on 27.751346184 meters Centerline goodness : 0.892922 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95890944 -0.24821263 -0.13741604 1.10204991] [ 0.2495809 0.96832522 -0.00745961 0.29207935] [ 0.13491499 -0.02714333 0.99048533 -0.16454043] [ 0. 0. 0. 1. ]] SLAMing on 27.781346183999997 meters Centerline goodness : 0.892696 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95883271 -0.2485206 -0.13739482 1.1014709 ] [ 0.24981169 0.96826103 -0.0080439 0.29350738] [ 0.13503312 -0.02661008 0.9904837 -0.16380693] [ 0. 0. 0. 1. ]] SLAMing on 27.811346183999998 meters Centerline goodness : 0.891797 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95866874 -0.2493885 -0.13696575 1.09975816] [ 0.25061713 0.96804914 -0.00848038 0.29265663] [ 0.13470449 -0.02619609 0.99053948 -0.16289428] [ 0. 0. 0. 1. ]] SLAMing on 27.841346184 meters Centerline goodness : 0.892448 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95857022 -0.24991672 -0.1366922 1.09857199] [ 0.25110151 0.96792087 -0.00878751 0.29202985] [ 0.13450338 -0.02590017 0.99057459 -0.16205897] [ 0. 0. 0. 1. ]] SLAMing on 27.871346183999997 meters Centerline goodness : 0.891230 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95846159 -0.2504911 -0.13640231 1.09740917] [ 0.25163154 0.96778033 -0.00909952 0.29128178] [ 0.13428682 -0.02560159 0.99061173 -0.16128264] [ 0. 0. 0. 1. ]] SLAMing on 27.901346183999998 meters Centerline goodness : 0.891062 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95836603 -0.25099623 -0.13614497 1.09667206] [ 0.25212985 0.96765028 -0.00913656 0.28992125] [ 0.13403396 -0.02557004 0.99064679 -0.16111044] [ 0. 0. 0. 1. ]] SLAMing on 27.931346184 meters Centerline goodness : 0.889834 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.9572544 -0.25580901 -0.13500286 1.09618187] [ 0.25633932 0.96648922 -0.01373832 0.29118819] [ 0.1339932 -0.02145547 0.99074996 -0.16041788] [ 0. 0. 0. 1. ]] SLAMing on 27.961346183999996 meters Centerline goodness : 0.888584 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95715702 -0.25625297 -0.13485121 1.09550636] [ 0.25675221 0.96637622 -0.01397535 0.29107489] [ 0.13389823 -0.02124674 0.9907673 -0.16007408] [ 0. 0. 0. 1. ]] SLAMing on 27.991346183999998 meters Centerline goodness : 0.888775 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95706978 -0.2566426 -0.13472939 1.094993 ] [ 0.25713623 0.96627339 -0.01402518 0.29042446] [ 0.13378489 -0.02122074 0.99078317 -0.15987446] [ 0. 0. 0. 1. ]] SLAMing on 28.021346184 meters Centerline goodness : 0.892217 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95693697 -0.25735096 -0.13432097 1.09354059] [ 0.25781127 0.9660901 -0.01425745 0.28942024] [ 0.13343533 -0.02098598 0.99083531 -0.15926409] [ 0. 0. 0. 1. ]] SLAMing on 28.051346184 meters Centerline goodness : 0.889856 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95650672 -0.25961462 -0.13302309 1.08827036] [ 0.2599047 0.96551009 -0.01548565 0.28830469] [ 0.13245544 -0.0197612 0.99099195 -0.15656734] [ 0. 0. 0. 1. ]] SLAMing on 28.081346183999997 meters Centerline goodness : 0.889885 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95637624 -0.26027 -0.13268009 1.08674358] [ 0.26049305 0.96534342 -0.01598251 0.2883939 ] [ 0.13224163 -0.01927695 0.99103005 -0.15559635] [ 0. 0. 0. 1. ]] SLAMing on 28.111346184 meters Centerline goodness : 0.889259 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95631056 -0.26053961 -0.13262436 1.08659477] [ 0.2607509 0.96527217 -0.01608144 0.28801678] [ 0.13220845 -0.01920306 0.99103591 -0.15552616] [ 0. 0. 0. 1. ]] SLAMing on 28.141346184 meters Centerline goodness : 0.888139 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95628468 -0.26060441 -0.13268366 1.08748827] [ 0.26087404 0.96524587 -0.0156574 0.28622679] [ 0.13215274 -0.01964079 0.99103476 -0.15651841] [ 0. 0. 0. 1. ]] SLAMing on 28.171346183999997 meters Centerline goodness : 0.886290 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95628195 -0.26050538 -0.13289765 1.08810369] [ 0.26077656 0.96527199 -0.01567088 0.28626259] [ 0.13236473 -0.01967081 0.99100587 -0.15657284] [ 0. 0. 0. 1. ]] SLAMing on 28.201346184 meters Centerline goodness : 0.886245 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95633258 -0.26013961 -0.13324931 1.08933316] [ 0.26041764 0.96536927 -0.01564669 0.28646108] [ 0.13270512 -0.01973703 0.99095903 -0.15679353] [ 0. 0. 0. 1. ]] SLAMing on 28.231346184 meters Centerline goodness : 0.886064 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95640083 -0.25967408 -0.13366687 1.09067987] [ 0.25995329 0.96549408 -0.01566767 0.28701153] [ 0.13312305 -0.01976257 0.99090246 -0.15695222] [ 0. 0. 0. 1. ]] SLAMing on 28.261346183999997 meters Centerline goodness : 0.887313 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95747946 -0.25518924 -0.13457907 1.09040089] [ 0.25594895 0.96661679 -0.01192119 0.28831379] [ 0.13312855 -0.02303108 0.99083115 -0.15713454] [ 0. 0. 0. 1. ]] SLAMing on 28.291346184 meters Centerline goodness : 0.891411 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95845407 -0.2511604 -0.13521928 1.08919155] [ 0.25243249 0.96758195 -0.00793763 0.2875533 ] [ 0.13282935 -0.02652589 0.9907839 -0.15703486] [ 0. 0. 0. 1. ]] SLAMing on 28.321346184 meters Centerline goodness : 0.889894 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95841991 -0.25124099 -0.13531166 1.08872092] [ 0.25241819 0.96757941 -0.00866879 0.28926513] [ 0.13310273 -0.02584679 0.99076516 -0.15578158] [ 0. 0. 0. 1. ]] SLAMing on 28.351346183999997 meters Centerline goodness : 0.889668 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.9584346 -0.25132785 -0.13504601 1.08753792] [ 0.25238023 0.96758098 -0.00955311 0.2904119 ] [ 0.13306891 -0.02492691 0.99079327 -0.15390925] [ 0. 0. 0. 1. ]] SLAMing on 28.381346183999998 meters Centerline goodness : 0.889717 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.95843827 -0.25127648 -0.13511557 1.08756202] [ 0.25229376 0.96760082 -0.00982368 0.29075934] [ 0.13320639 -0.02467343 0.99078115 -0.15338402] [ 0. 0. 0. 1. ]] SLAMing on 28.411346184 meters Centerline goodness : 0.890392 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.95847655 -0.25104162 -0.13528049 1.08841902] [ 0.25208776 0.96765653 -0.00962341 0.2903897 ] [ 0.13332092 -0.02487874 0.99076061 -0.15386956] [ 0. 0. 0. 1. ]] SLAMing on 28.441346183999997 meters Centerline goodness : 0.888804 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95776211 -0.25364761 -0.13547929 1.09355971] [ 0.25431767 0.96703826 -0.01263009 0.29083544] [ 0.13421725 -0.02235815 0.99069967 -0.15610354] [ 0. 0. 0. 1. ]] SLAMing on 28.471346183999998 meters Centerline goodness : 0.887435 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95777096 -0.25351704 -0.13566096 1.09440751] [ 0.25422675 0.96706567 -0.01235896 0.2900924 ] [ 0.13432626 -0.0226516 0.99067823 -0.15663366] [ 0. 0. 0. 1. ]] SLAMing on 28.501346184 meters Centerline goodness : 0.888514 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95770482 -0.25375415 -0.13568458 1.09405907] [ 0.25440544 0.9670128 -0.01281058 0.29079298] [ 0.13445946 -0.02225014 0.99066926 -0.15590193] [ 0. 0. 0. 1. ]] SLAMing on 28.531346183999997 meters Centerline goodness : 0.889828 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.95760806 -0.25410979 -0.13570195 1.0932078 ] [ 0.25466537 0.96693439 -0.01354353 0.29219461] [ 0.13465642 -0.0215892 0.99065713 -0.15458516] [ 0. 0. 0. 1. ]] SLAMing on 28.561346183999998 meters Centerline goodness : 0.888235 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.95750624 -0.25452148 -0.13564888 1.0918752 ] [ 0.25494711 0.96684598 -0.01451999 0.2939052 ] [ 0.13484722 -0.0206803 0.99065057 -0.15255165] [ 0. 0. 0. 1. ]] SLAMing on 28.591346184 meters Centerline goodness : 0.889340 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.95749177 -0.25457072 -0.13565865 1.0916985 ] [ 0.25498484 0.96683468 -0.01460951 0.29343449] [ 0.13487864 -0.02060241 0.99064792 -0.15206547] [ 0. 0. 0. 1. ]] SLAMing on 28.621346183999997 meters Centerline goodness : 0.886997 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.9574844 -0.25460159 -0.13565271 1.09163042] [ 0.25500856 0.96682761 -0.01466335 0.29278766] [ 0.1348861 -0.02055268 0.99064793 -0.15170412] [ 0. 0. 0. 1. ]] SLAMing on 28.651346183999998 meters Centerline goodness : 0.888789 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.95746069 -0.25467167 -0.13568849 1.0915603 ] [ 0.25505598 0.9668124 -0.01484032 0.29270862] [ 0.13496473 -0.02039914 0.9906404 -0.15124891] [ 0. 0. 0. 1. ]] SLAMing on 28.681346184 meters Centerline goodness : 0.886966 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.95754147 -0.25414292 -0.13610921 1.09352015] [ 0.25461364 0.9669381 -0.01423385 0.29197328] [ 0.13522661 -0.02102575 0.99059158 -0.15256453] [ 0. 0. 0. 1. ]] SLAMing on 28.711346183999996 meters Centerline goodness : 0.885629 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.15 [[ 0.95765034 -0.25345491 -0.13662517 1.09604617] [ 0.25406931 0.96709572 -0.01321564 0.2894704 ] [ 0.13547919 -0.0220563 0.99053466 -0.15415028] [ 0. 0. 0. 1. ]] SLAMing on 28.741346183999998 meters Centerline goodness : 0.883714 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95684912 -0.25659539 -0.13637655 1.09934777] [ 0.25682545 0.96632187 -0.01620901 0.28740193] [ 0.1359428 -0.01951539 0.99052446 -0.15514745] [ 0. 0. 0. 1. ]] SLAMing on 28.771346184 meters Centerline goodness : 0.887241 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.15 [[ 0.95678021 -0.25691332 -0.13626145 1.09838759] [ 0.25709186 0.96624454 -0.01659077 0.28741952] [ 0.13592427 -0.01915799 0.99053398 -0.15404322] [ 0. 0. 0. 1. ]] SLAMing on 28.801346183999996 meters Centerline goodness : 0.887892 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.15 [[ 0.95667281 -0.25737072 -0.1361523 1.09696127] [ 0.25743617 0.96613805 -0.01743243 0.28853309] [ 0.13602851 -0.0183734 0.99053453 -0.15211468] [ 0. 0. 0. 1. ]] SLAMing on 28.831346183999997 meters Centerline goodness : 0.889066 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.15 [[ 0.95656876 -0.25777554 -0.13611755 1.09570169] [ 0.25774317 0.96604262 -0.01816879 0.28939208] [ 0.13617882 -0.01770367 0.99052608 -0.15027788] [ 0. 0. 0. 1. ]] SLAMing on 28.861346184 meters Centerline goodness : 0.886510 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.15 [[ 0.95659559 -0.25764441 -0.13617721 1.09550877] [ 0.2576214 0.96607641 -0.01809916 0.28765858] [ 0.13622074 -0.01776859 0.99051915 -0.14923014] [ 0. 0. 0. 1. ]] SLAMing on 28.891346184 meters Centerline goodness : 0.887886 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.15 [[ 0.95667959 -0.25720199 -0.13642322 1.09671908] [ 0.25726895 0.96618234 -0.01744622 0.28505355] [ 0.13629691 -0.01840701 0.99049701 -0.1495865 ] [ 0. 0. 0. 1. ]] SLAMing on 28.921346183999997 meters Centerline goodness : 0.886364 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.95673743 -0.25697692 -0.13644174 1.097324 ] [ 0.2571069 0.96623388 -0.01697431 0.28292663] [ 0.13619664 -0.01884015 0.99050266 -0.14995639] [ 0. 0. 0. 1. ]] SLAMing on 28.951346184 meters Centerline goodness : 0.888316 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.95675425 -0.25685577 -0.13655192 1.09789979] [ 0.2570396 0.96625847 -0.01658953 0.28129751] [ 0.13620556 -0.01922715 0.990494 -0.15021756] [ 0. 0. 0. 1. ]] SLAMing on 28.981346184 meters Centerline goodness : 0.887649 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.9567017 -0.25698571 -0.13667556 1.09821596] [ 0.257207 0.9662181 -0.01634428 0.27995906] [ 0.13625865 -0.01951731 0.99048102 -0.15032605] [ 0. 0. 0. 1. ]] SLAMing on 29.011346183999997 meters Centerline goodness : 0.888820 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.95666515 -0.25711837 -0.13668188 1.09795582] [ 0.25731471 0.96618616 -0.0165362 0.27975922] [ 0.1363119 -0.01935065 0.99047696 -0.14972655] [ 0. 0. 0. 1. ]] SLAMing on 29.041346184 meters Centerline goodness : 0.888886 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.95665662 -0.25712222 -0.13673436 1.09778572] [ 0.25730263 0.96618726 -0.01665964 0.27917908] [ 0.13639456 -0.01924456 0.99046765 -0.14895922] [ 0. 0. 0. 1. ]] SLAMing on 29.071346184 meters Centerline goodness : 0.884345 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.95667566 -0.25709703 -0.13664845 1.09734213] [ 0.25726733 0.96619563 -0.01671908 0.27820429] [ 0.13632756 -0.01916044 0.99047851 -0.14812263] [ 0. 0. 0. 1. ]] SLAMing on 29.101346183999997 meters Centerline goodness : 0.886401 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.95663339 -0.2572482 -0.13665989 1.09701532] [ 0.25739098 0.966159 -0.01693148 0.27799092] [ 0.13639077 -0.0189778 0.99047332 -0.14745149] [ 0. 0. 0. 1. ]] SLAMing on 29.131346183999998 meters Centerline goodness : 0.886090 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.95654909 -0.25766869 -0.13645761 1.09595391] [ 0.25774338 0.96605621 -0.01742845 0.27834358] [ 0.13631649 -0.01849988 0.99049259 -0.14650794] [ 0. 0. 0. 1. ]] SLAMing on 29.161346184 meters Centerline goodness : 0.887484 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.15 [[ 0.95646938 -0.25809081 -0.13621845 1.0948009 ] [ 0.25809928 0.96595242 -0.01790786 0.27856183] [ 0.13620239 -0.01802957 0.99051696 -0.14550837] [ 0. 0. 0. 1. ]] SLAMing on 29.191346183999997 meters Centerline goodness : 0.885532 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.14 [[ 0.95646198 -0.25811179 -0.13623062 1.0945693 ] [ 0.25812661 0.96594591 -0.01786483 0.27702962] [ 0.13620253 -0.01807772 0.99051606 -0.14476502] [ 0. 0. 0. 1. ]] SLAMing on 29.221346183999998 meters Centerline goodness : 0.883924 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.95652158 -0.25783349 -0.1363391 1.09552195] [ 0.25789667 0.96601386 -0.01750778 0.2756194 ] [ 0.13621955 -0.01841483 0.99050751 -0.1452627 ] [ 0. 0. 0. 1. ]] SLAMing on 29.251346184 meters Centerline goodness : 0.882004 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.15 [[ 0.95656606 -0.25755318 -0.13655672 1.09658911] [ 0.25766481 0.96608188 -0.01716538 0.274351 ] [ 0.13634597 -0.01876604 0.99048352 -0.14570009] [ 0. 0. 0. 1. ]] SLAMing on 29.281346183999997 meters Centerline goodness : 0.883147 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.15 [[ 0.95657369 -0.25752534 -0.13655575 1.09673427] [ 0.25765541 0.96608679 -0.01702922 0.27357611] [ 0.13631016 -0.01889463 0.99048601 -0.14571627] [ 0. 0. 0. 1. ]] SLAMing on 29.311346183999998 meters Centerline goodness : 0.883031 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.15 [[ 0.95653612 -0.2576077 -0.13666355 1.09667506] [ 0.25769671 0.9660701 -0.01734835 0.2741374 ] [ 0.13649564 -0.01862342 0.9904656 -0.14509681] [ 0. 0. 0. 1. ]] SLAMing on 29.341346184 meters Centerline goodness : 0.883031 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.15 [[ 0.95653612 -0.2576077 -0.13666355 1.09667506] [ 0.25769671 0.9660701 -0.01734835 0.2741374 ] [ 0.13649564 -0.01862342 0.9904656 -0.14509681] [ 0. 0. 0. 1. ]] SLAMing on 29.371346183999997 meters Centerline goodness : 0.881382 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.14 [[ 0.95650291 -0.25762209 -0.13686871 1.09690832] [ 0.25767799 0.96607022 -0.01761747 0.27462896] [ 0.13676343 -0.01841689 0.99043252 -0.14458199] [ 0. 0. 0. 1. ]] SLAMing on 29.401346183999998 meters Centerline goodness : 0.880884 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.14 [[ 0.95648101 -0.2576318 -0.13700341 1.09712766] [ 0.25768416 0.96606776 -0.01766209 0.27435635] [ 0.13690489 -0.01841015 0.9904131 -0.14430026] [ 0. 0. 0. 1. ]] SLAMing on 29.431346184 meters Centerline goodness : 0.882275 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.14 [[ 0.95645977 -0.25783119 -0.1367764 1.09636882] [ 0.25791334 0.96601082 -0.01742981 0.27095966] [ 0.13662143 -0.01860555 0.99044859 -0.14337528] [ 0. 0. 0. 1. ]] SLAMing on 29.461346183999996 meters Centerline goodness : 0.883175 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.14 [[ 0.95642733 -0.25809744 -0.13650083 1.09535358] [ 0.25817211 0.96594105 -0.01746545 0.26887922] [ 0.13635954 -0.01853627 0.99048598 -0.14234705] [ 0. 0. 0. 1. ]] SLAMing on 29.491346183999998 meters Centerline goodness : 0.883211 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.14 [[ 0.95637762 -0.25837504 -0.1363238 1.09446403] [ 0.25842529 0.9658702 -0.01763878 0.26760896] [ 0.13622852 -0.01836018 0.99050729 -0.14130047] [ 0. 0. 0. 1. ]] SLAMing on 29.521346184 meters Centerline goodness : 0.885702 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.14 [[ 0.95634645 -0.25843176 -0.13643497 1.09401229] [ 0.25844148 0.96586009 -0.01795235 0.26792633] [ 0.13641655 -0.01809179 0.99048635 -0.14013317] [ 0. 0. 0. 1. ]] SLAMing on 29.551346183999996 meters Centerline goodness : 0.883663 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.14 [[ 0.95618111 -0.25870794 -0.13706893 1.09495484] [ 0.25885732 0.96576513 -0.01704707 0.26825513] [ 0.13678661 -0.01918121 0.99041481 -0.14002138] [ 0. 0. 0. 1. ]] SLAMing on 29.581346183999997 meters Centerline goodness : 0.882428 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.14 [[ 0.95621358 -0.2584379 -0.13735149 1.09620733] [ 0.25864872 0.9658284 -0.01662341 0.26701282] [ 0.13695409 -0.01963025 0.99038287 -0.14064602] [ 0. 0. 0. 1. ]] SLAMing on 29.611346184 meters Centerline goodness : 0.880528 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.14 [[ 0.95564215 -0.26130924 -0.13588808 1.09627719] [ 0.26103594 0.96511885 -0.02014543 0.26683445] [ 0.13641234 -0.01621985 0.99051935 -0.14210032] [ 0. 0. 0. 1. ]] SLAMing on 29.641346184 meters Centerline goodness : 0.877769 Centerline is valid? [False, False] Translation: X:1.09, Y:0.26, Z:-0.14 [[ 0.95458092 -0.2671061 -0.13202119 1.09453685] [ 0.26572684 0.96363326 -0.02828754 0.264645 ] [ 0.13477578 -0.00807882 0.99084319 -0.14416744] [ 0. 0. 0. 1. ]] SLAMing on 29.671346183999997 meters Centerline goodness : 0.881379 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.14 [[ 0.95423329 -0.26824986 -0.13221511 1.09561182] [ 0.26687996 0.96331387 -0.02831041 0.26315139] [ 0.13495891 -0.00827082 0.99081668 -0.14396703] [ 0. 0. 0. 1. ]] SLAMing on 29.701346184 meters Centerline goodness : 0.880401 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.14 [[ 0.95405141 -0.26868923 -0.13263482 1.09567891] [ 0.26750338 0.96317804 -0.02701851 0.26175706] [ 0.13501053 -0.00970321 0.99079665 -0.14283678] [ 0. 0. 0. 1. ]] SLAMing on 29.731346184 meters Centerline goodness : 0.882735 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.14 [[ 0.9538887 -0.26868248 -0.13381355 1.09668046] [ 0.26781388 0.96315167 -0.02479084 0.26084595] [ 0.13554361 -0.01218943 0.9906964 -0.14155224] [ 0. 0. 0. 1. ]] SLAMing on 29.761346183999997 meters Centerline goodness : 0.882641 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.14 [[ 0.95355544 -0.26948391 -0.13457505 1.09605936] [ 0.26881957 0.96290552 -0.02343067 0.26001567] [ 0.13589725 -0.01383396 0.99062635 -0.13891208] [ 0. 0. 0. 1. ]] SLAMing on 29.791346184 meters Centerline goodness : 0.881314 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.14 [[ 0.95327394 -0.27032353 -0.13488509 1.09757016] [ 0.26961448 0.96267301 -0.02384774 0.2599951 ] [ 0.13629684 -0.01363355 0.99057423 -0.13934476] [ 0. 0. 0. 1. ]] SLAMing on 29.821346184 meters Centerline goodness : 0.881610 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.14 [[ 0.95295004 -0.27166727 -0.13447349 1.09875161] [ 0.27067817 0.96232036 -0.02593952 0.2602342 ] [ 0.13645349 -0.01167997 0.99057762 -0.14044481] [ 0. 0. 0. 1. ]] SLAMing on 29.851346183999997 meters Centerline goodness : 0.877887 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.14 [[ 0.95193005 -0.2756714 -0.13354572 1.10123644] [ 0.27409639 0.96122142 -0.03040649 0.26140029] [ 0.13674921 -0.00765955 0.99057609 -0.14311143] [ 0. 0. 0. 1. ]] SLAMing on 29.881346183999998 meters Centerline goodness : 0.880056 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.14 [[ 0.95125021 -0.27780449 -0.13396905 1.10286162] [ 0.27602126 0.96061592 -0.032083 0.26225585] [ 0.13760561 -0.00645935 0.99046604 -0.14280073] [ 0. 0. 0. 1. ]] SLAMing on 29.911346184 meters Centerline goodness : 0.880845 Centerline is valid? [False, False] Translation: X:1.11, Y:0.26, Z:-0.14 [[ 0.95072368 -0.27870548 -0.13582248 1.10684277] [ 0.27706806 0.96034356 -0.03120141 0.26245865] [ 0.13913225 -0.00796816 0.99024175 -0.14281641] [ 0. 0. 0. 1. ]] SLAMing on 29.941346183999997 meters Centerline goodness : 0.881980 Centerline is valid? [False, False] Translation: X:1.11, Y:0.26, Z:-0.14 [[ 0.94969149 -0.28055261 -0.13919881 1.10895681] [ 0.27939267 0.95976239 -0.02821149 0.26312378] [ 0.14151259 -0.01209891 0.98986252 -0.13798123] [ 0. 0. 0. 1. ]] SLAMing on 29.971346183999998 meters Centerline goodness : 0.881307 Centerline is valid? [False, False] Translation: X:1.11, Y:0.26, Z:-0.14 [[ 0.94955553 -0.28000391 -0.14121655 1.11139114] [ 0.27915344 0.95988881 -0.02620744 0.26299095] [ 0.14289037 -0.01453567 0.98963178 -0.1365637 ] [ 0. 0. 0. 1. ]] SLAMing on 30.001346184 meters Centerline goodness : 0.879068 Centerline is valid? [False, False] Translation: X:1.11, Y:0.26, Z:-0.14 [[ 0.94969677 -0.27926243 -0.14173406 1.11306292] [ 0.27852112 0.96009283 -0.02545082 0.26248522] [ 0.14318531 -0.01530537 0.98957754 -0.137335 ] [ 0. 0. 0. 1. ]] SLAMing on 30.031346183999997 meters Centerline goodness : 0.880094 Centerline is valid? [False, False] Translation: X:1.11, Y:0.26, Z:-0.14 [[ 0.94995565 -0.27874025 -0.14102531 1.11273782] [ 0.27790948 0.96025653 -0.02595606 0.26162586] [ 0.14265547 -0.01453516 0.98966567 -0.13817523] [ 0. 0. 0. 1. ]] SLAMing on 30.061346183999998 meters Centerline goodness : 0.882522 Centerline is valid? [False, False] Translation: X:1.11, Y:0.26, Z:-0.14 [[ 0.94994056 -0.2787751 -0.14105806 1.1123998 ] [ 0.2778524 0.96025545 -0.02659929 0.26401294] [ 0.14286699 -0.01392557 0.98964393 -0.13755986] [ 0. 0. 0. 1. ]] SLAMing on 30.091346184 meters Centerline goodness : 0.879697 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.95011419 -0.27688612 -0.14358654 1.11650513] [ 0.27650486 0.96073707 -0.02300748 0.26504073] [ 0.14431937 -0.01784264 0.98937028 -0.1382448 ] [ 0. 0. 0. 1. ]] SLAMing on 30.121346183999997 meters Centerline goodness : 0.879637 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.95002853 -0.27682989 -0.14426018 1.11865802] [ 0.27645808 0.96075016 -0.023023 0.26677608] [ 0.14497144 -0.01800938 0.98927193 -0.1393491 ] [ 0. 0. 0. 1. ]] SLAMing on 30.151346183999998 meters Centerline goodness : 0.878203 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.95026677 -0.276726 -0.14288379 1.11934792] [ 0.27587629 0.96083806 -0.02612477 0.26842004] [ 0.14451759 -0.01459275 0.98939462 -0.14257417] [ 0. 0. 0. 1. ]] SLAMing on 30.181346184 meters Centerline goodness : 0.875756 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.95029768 -0.2764397 -0.14323203 1.12062928] [ 0.27558972 0.96091987 -0.02614031 0.26922181] [ 0.14486072 -0.0146322 0.98934386 -0.14339884] [ 0. 0. 0. 1. ]] SLAMing on 30.211346183999996 meters Centerline goodness : 0.875337 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.9502999 -0.27639417 -0.14330517 1.12085167] [ 0.27551128 0.96093611 -0.02636885 0.2699854 ] [ 0.14499531 -0.01442387 0.9893272 -0.1432588 ] [ 0. 0. 0. 1. ]] SLAMing on 30.241346183999998 meters Centerline goodness : 0.875472 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.95024619 -0.27668252 -0.14310471 1.11999437] [ 0.27572683 0.96086046 -0.02686785 0.27047931] [ 0.14493752 -0.01392673 0.98934279 -0.1424447 ] [ 0. 0. 0. 1. ]] SLAMing on 30.271346184 meters Centerline goodness : 0.875921 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.95023787 -0.27661897 -0.1432827 1.12039036] [ 0.27565325 0.96087931 -0.02694877 0.27081454] [ 0.14513192 -0.0138886 0.98931483 -0.14234392] [ 0. 0. 0. 1. ]] SLAMing on 30.301346183999996 meters Centerline goodness : 0.876984 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.94996255 -0.27703554 -0.14429989 1.12165718] [ 0.27621001 0.96074204 -0.0261298 0.27152599] [ 0.14587385 -0.01503474 0.98918895 -0.14167019] [ 0. 0. 0. 1. ]] SLAMing on 30.331346183999997 meters Centerline goodness : 0.874921 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.94951901 -0.27784445 -0.14565753 1.12367439] [ 0.27713355 0.96049127 -0.025564 0.27310349] [ 0.1470056 -0.01609309 0.98900474 -0.14098751] [ 0. 0. 0. 1. ]] SLAMing on 30.361346184 meters Centerline goodness : 0.874103 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.94948349 -0.27789661 -0.14578952 1.12418533] [ 0.27719261 0.96047496 -0.02553638 0.27343363] [ 0.14712366 -0.0161654 0.988986 -0.14142409] [ 0. 0. 0. 1. ]] SLAMing on 30.391346184 meters Centerline goodness : 0.871566 Centerline is valid? [False, False] Translation: X:1.13, Y:0.28, Z:-0.14 [[ 0.94853605 -0.28106829 -0.14587659 1.12612339] [ 0.28004528 0.95958036 -0.02793163 0.27531448] [ 0.14783101 -0.01435789 0.98890841 -0.1421768 ] [ 0. 0. 0. 1. ]] SLAMing on 30.421346183999997 meters Centerline goodness : 0.870857 Centerline is valid? [False, False] Translation: X:1.13, Y:0.28, Z:-0.14 [[ 0.94828278 -0.28198367 -0.14575658 1.12807308] [ 0.28079079 0.95932693 -0.02912701 0.27569512] [ 0.14804155 -0.01330646 0.98889162 -0.14389431] [ 0. 0. 0. 1. ]] SLAMing on 30.451346184 meters Centerline goodness : 0.868805 Centerline is valid? [False, False] Translation: X:1.13, Y:0.28, Z:-0.15 [[ 0.94813255 -0.28266047 -0.14542257 1.12920991] [ 0.28128817 0.95914332 -0.030349 0.27625002] [ 0.14805955 -0.01213077 0.98890405 -0.14526509] [ 0. 0. 0. 1. ]] SLAMing on 30.481346184 meters Centerline goodness : 0.867897 Centerline is valid? [False, False] Translation: X:1.13, Y:0.28, Z:-0.14 [[ 0.94809597 -0.28286215 -0.14526883 1.12868485] [ 0.28141697 0.95908991 -0.03083893 0.27754394] [ 0.14804904 -0.01164285 0.98891149 -0.14493377] [ 0. 0. 0. 1. ]] SLAMing on 30.511346183999997 meters Centerline goodness : 0.868672 Centerline is valid? [False, False] Translation: X:1.13, Y:0.28, Z:-0.14 [[ 0.94904556 -0.27946038 -0.1456517 1.1263374 ] [ 0.27850862 0.96004546 -0.02730696 0.27674604] [ 0.14746347 -0.0146497 0.988959 -0.14444544] [ 0. 0. 0. 1. ]] SLAMing on 30.541346184 meters Centerline goodness : 0.869543 Centerline is valid? [False, False] Translation: X:1.12, Y:0.28, Z:-0.14 [[ 0.95000183 -0.27594196 -0.14612513 1.12393491] [ 0.27544449 0.96101649 -0.02403423 0.27776019] [ 0.14706071 -0.0174168 0.98897412 -0.14374194] [ 0. 0. 0. 1. ]] SLAMing on 30.571346184 meters Centerline goodness : 0.871375 Centerline is valid? [False, False] Translation: X:1.12, Y:0.28, Z:-0.14 [[ 0.95092024 -0.27257839 -0.14646406 1.12101765] [ 0.2724994 0.96192682 -0.02099677 0.27994016] [ 0.14661098 -0.01994511 0.98899313 -0.1429926 ] [ 0. 0. 0. 1. ]] SLAMing on 30.601346183999997 meters Centerline goodness : 0.870511 Centerline is valid? [False, False] Translation: X:1.12, Y:0.28, Z:-0.14 [[ 0.95182531 -0.269276 -0.14669363 1.11789033] [ 0.2695202 0.9628153 -0.01858911 0.28414933] [ 0.14624447 -0.02184331 0.98900729 -0.14195537] [ 0. 0. 0. 1. ]] SLAMing on 30.631346183999998 meters Centerline goodness : 0.868385 Centerline is valid? [False, False] Translation: X:1.12, Y:0.28, Z:-0.14 [[ 0.95187903 -0.26905327 -0.14675372 1.1188274 ] [ 0.26928684 0.96287937 -0.01865263 0.2846317 ] [ 0.14632469 -0.02176379 0.98899718 -0.1425962 ] [ 0. 0. 0. 1. ]] SLAMing on 30.661346184 meters Centerline goodness : 0.870523 Centerline is valid? [False, False] Translation: X:1.12, Y:0.28, Z:-0.14 [[ 0.95191392 -0.26896965 -0.14668068 1.11959212] [ 0.26921097 0.96290194 -0.01858273 0.28408075] [ 0.1462373 -0.02179889 0.98900933 -0.14339679] [ 0. 0. 0. 1. ]] SLAMing on 30.691346183999997 meters Centerline goodness : 0.868975 Centerline is valid? [False, False] Translation: X:1.12, Y:0.29, Z:-0.14 [[ 0.95183893 -0.26954311 -0.1461135 1.11860422] [ 0.26968373 0.96275702 -0.01922509 0.28603402] [ 0.14585379 -0.02110524 0.98908101 -0.1439423 ] [ 0. 0. 0. 1. ]] SLAMing on 30.721346183999998 meters Centerline goodness : 0.868002 Centerline is valid? [False, False] Translation: X:1.12, Y:0.29, Z:-0.14 [[ 0.95163558 -0.27046671 -0.14573083 1.11669601] [ 0.27044194 0.96252089 -0.02036416 0.28859279] [ 0.1457768 -0.02003247 0.98911467 -0.14278249] [ 0. 0. 0. 1. ]] SLAMing on 30.751346184 meters Centerline goodness : 0.871316 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.14 [[ 0.95144642 -0.27141116 -0.1452091 1.11471987] [ 0.27127068 0.96227065 -0.02115211 0.29007838] [ 0.14547138 -0.01926587 0.98917486 -0.14207755] [ 0. 0. 0. 1. ]] SLAMing on 30.781346183999997 meters Centerline goodness : 0.870793 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.14 [[ 0.9511411 -0.2727363 -0.14472566 1.1125774 ] [ 0.27251919 0.96190534 -0.02171213 0.29039844] [ 0.14513407 -0.01878922 0.98923357 -0.14159327] [ 0. 0. 0. 1. ]] SLAMing on 30.811346183999998 meters Centerline goodness : 0.870917 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.14 [[ 0.95102385 -0.27327235 -0.14448482 1.11155822] [ 0.27300211 0.96175991 -0.02208453 0.29033089] [ 0.1449948 -0.01844175 0.98926054 -0.1409523 ] [ 0. 0. 0. 1. ]] SLAMing on 30.841346184 meters Centerline goodness : 0.870124 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.14 [[ 0.95090812 -0.27380577 -0.14423642 1.11030454] [ 0.27345443 0.9616183 -0.02264754 0.29059111] [ 0.1449014 -0.01790636 0.98928406 -0.13989746] [ 0. 0. 0. 1. ]] SLAMing on 30.871346183999997 meters Centerline goodness : 0.872075 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.14 [[ 0.95080858 -0.27428799 -0.14397619 1.10900257] [ 0.27382067 0.96149498 -0.02344474 0.29181078] [ 0.14486299 -0.01713219 0.98930339 -0.13867108] [ 0. 0. 0. 1. ]] SLAMing on 30.901346183999998 meters Centerline goodness : 0.871762 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.14 [[ 0.95191949 -0.27012447 -0.14450622 1.10775085] [ 0.27014907 0.96261429 -0.01982963 0.29244897] [ 0.14446022 -0.02016201 0.98930518 -0.13876655] [ 0. 0. 0. 1. ]] SLAMing on 30.931346184 meters Centerline goodness : 0.871911 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.14 [[ 0.95307307 -0.26553258 -0.14541037 1.10890529] [ 0.26614131 0.96380758 -0.01561241 0.29172755] [ 0.14429322 -0.02381994 0.98924824 -0.14036039] [ 0. 0. 0. 1. ]] SLAMing on 30.961346183999996 meters Centerline goodness : 0.870294 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.14 [[ 0.95334611 -0.26401579 -0.14637917 1.11267957] [ 0.26467163 0.96421666 -0.0153352 0.29436667] [ 0.14518997 -0.02412266 0.98910969 -0.14177955] [ 0. 0. 0. 1. ]] SLAMing on 30.991346183999998 meters Centerline goodness : 0.870557 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.15 [[ 0.95655715 -0.25483601 -0.1416228 1.10845648] [ 0.25471218 0.96682408 -0.01931075 0.29595061] [ 0.14184541 -0.01760122 0.98973233 -0.14701467] [ 0. 0. 0. 1. ]] SLAMing on 31.021346184 meters Centerline goodness : 0.868065 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.15 [[ 0.95760378 -0.25030159 -0.14263278 1.10891048] [ 0.25076527 0.96793153 -0.01501076 0.29558731] [ 0.14181598 -0.02139299 0.98966184 -0.14801071] [ 0. 0. 0. 1. ]] SLAMing on 31.051346183999996 meters Centerline goodness : 0.870034 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.15 [[ 0.95855291 -0.24621644 -0.14336593 1.10813402] [ 0.2472305 0.96889448 -0.01098054 0.29510122] [ 0.14161005 -0.024919 0.98960883 -0.14829278] [ 0. 0. 0. 1. ]] SLAMing on 31.081346183999997 meters Centerline goodness : 0.870175 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.15 [[ 0.95943904 -0.24244707 -0.14386154 1.10638427] [ 0.24398996 0.96975184 -0.00709015 0.29440635] [ 0.14122898 -0.02829821 0.98957243 -0.1481219 ] [ 0. 0. 0. 1. ]] SLAMing on 31.111346184 meters Centerline goodness : 0.872566 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.15 [[ 0.95928664 -0.24315728 -0.1436791 1.10436556] [ 0.24445445 0.96962059 -0.00882808 0.29794106] [ 0.14146083 -0.02665434 0.98958495 -0.14535341] [ 0. 0. 0. 1. ]] SLAMing on 31.141346184 meters Centerline goodness : 0.870114 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.15 [[ 0.95925976 -0.24330918 -0.14360138 1.10432325] [ 0.24455818 0.96959134 -0.00916182 0.29855628] [ 0.14146381 -0.02633032 0.9895932 -0.14529436] [ 0. 0. 0. 1. ]] SLAMing on 31.171346183999997 meters Centerline goodness : 0.870602 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.15 [[ 0.95930192 -0.24309345 -0.14368509 1.10535026] [ 0.24436378 0.96964175 -0.00901223 0.2982388 ] [ 0.14151388 -0.02646598 0.98958242 -0.14607459] [ 0. 0. 0. 1. ]] SLAMing on 31.201346184 meters Centerline goodness : 0.869998 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.15 [[ 0.95941492 -0.24259351 -0.14377553 1.10692152] [ 0.24391009 0.96975911 -0.00866827 0.29802729] [ 0.14153049 -0.02675184 0.98957236 -0.14751551] [ 0. 0. 0. 1. ]] SLAMing on 31.231346184 meters Centerline goodness : 0.869998 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.15 [[ 0.95941492 -0.24259351 -0.14377553 1.10692152] [ 0.24391009 0.96975911 -0.00866827 0.29802729] [ 0.14153049 -0.02675184 0.98957236 -0.14751551] [ 0. 0. 0. 1. ]] SLAMing on 31.261346183999997 meters Centerline goodness : 0.870244 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.15 [[ 0.95937033 -0.24278342 -0.14375252 1.10667342] [ 0.24402684 0.96972494 -0.00918958 0.29963992] [ 0.14163148 -0.02626326 0.989571 -0.14715199] [ 0. 0. 0. 1. ]] SLAMing on 31.291346184 meters Centerline goodness : 0.869175 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.15 [[ 0.95924291 -0.2434458 -0.14348236 1.10507037] [ 0.24455027 0.96958338 -0.01016073 0.30191448] [ 0.1415917 -0.02534204 0.98960071 -0.14596032] [ 0. 0. 0. 1. ]] SLAMing on 31.321346184 meters Centerline goodness : 0.873149 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95908349 -0.24431582 -0.14306863 1.10298269] [ 0.24528657 0.96938721 -0.01108789 0.30347142] [ 0.14139785 -0.0244586 0.98965066 -0.14463622] [ 0. 0. 0. 1. ]] SLAMing on 31.351346183999997 meters Centerline goodness : 0.872755 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95867013 -0.24643575 -0.1422006 1.09860579] [ 0.24724643 0.96887556 -0.01222084 0.30312934] [ 0.14078633 -0.02344284 0.98976242 -0.14244421] [ 0. 0. 0. 1. ]] SLAMing on 31.381346183999998 meters Centerline goodness : 0.871690 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95843712 -0.24766668 -0.14163158 1.09643036] [ 0.24844856 0.96856546 -0.01242004 0.30106679] [ 0.14025549 -0.02328433 0.98984152 -0.14183191] [ 0. 0. 0. 1. ]] SLAMing on 31.411346184 meters Centerline goodness : 0.872322 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95727768 -0.25274325 -0.14050014 1.09536811] [ 0.25288569 0.96734436 -0.01713825 0.30161095] [ 0.14024359 -0.01912441 0.98993232 -0.14040085] [ 0. 0. 0. 1. ]] SLAMing on 31.441346183999997 meters Centerline goodness : 0.868252 Centerline is valid? [False, False] Translation: X:1.09, Y:0.30, Z:-0.14 [[ 0.95609445 -0.25785889 -0.13925588 1.09493881] [ 0.2574879 0.96605356 -0.02098829 0.29921046] [ 0.13994065 -0.01578992 0.99003399 -0.14039967] [ 0. 0. 0. 1. ]] SLAMing on 31.471346183999998 meters Centerline goodness : 0.869123 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95613166 -0.25743022 -0.13979244 1.09656609] [ 0.2570566 0.96616736 -0.02103639 0.30052393] [ 0.14047829 -0.01582101 0.98995734 -0.14078566] [ 0. 0. 0. 1. ]] SLAMing on 31.501346184 meters Centerline goodness : 0.868695 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95616251 -0.257107 -0.1401758 1.09797563] [ 0.25673725 0.96625244 -0.02102887 0.30132851] [ 0.14085187 -0.01588133 0.98990329 -0.14127815] [ 0. 0. 0. 1. ]] SLAMing on 31.531346183999997 meters Centerline goodness : 0.869015 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95618828 -0.25689626 -0.14038621 1.09896584] [ 0.25654573 0.96630605 -0.02090232 0.3014076 ] [ 0.14102577 -0.01602893 0.98987616 -0.14178439] [ 0. 0. 0. 1. ]] SLAMing on 31.561346183999998 meters Centerline goodness : 0.868765 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95618243 -0.2569237 -0.1403758 1.0993995 ] [ 0.25660078 0.96629559 -0.0207093 0.30093516] [ 0.14096523 -0.01621867 0.98988169 -0.1424681 ] [ 0. 0. 0. 1. ]] SLAMing on 31.591346184 meters Centerline goodness : 0.869415 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95612836 -0.25708843 -0.14044253 1.09917227] [ 0.25669543 0.96625935 -0.02122093 0.30209773] [ 0.14115957 -0.01576102 0.98986139 -0.1417326 ] [ 0. 0. 0. 1. ]] SLAMing on 31.621346183999997 meters Centerline goodness : 0.869962 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95602655 -0.2575268 -0.14033239 1.09809976] [ 0.25702242 0.96615449 -0.02202217 0.30404461] [ 0.14125407 -0.01501479 0.98985951 -0.14061791] [ 0. 0. 0. 1. ]] SLAMing on 31.651346183999998 meters Centerline goodness : 0.868248 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.14 [[ 0.95593339 -0.25791218 -0.14025924 1.0972618 ] [ 0.25729953 0.96606265 -0.02280142 0.30564326] [ 0.14137998 -0.014292 0.98985223 -0.13951541] [ 0. 0. 0. 1. ]] SLAMing on 31.681346184 meters Centerline goodness : 0.869428 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.14 [[ 0.95596952 -0.25765872 -0.14047867 1.09757548] [ 0.25693349 0.9661411 -0.02359142 0.3081761 ] [ 0.14180075 -0.01354099 0.9898026 -0.1384574 ] [ 0. 0. 0. 1. ]] SLAMing on 31.711346183999996 meters Centerline goodness : 0.868599 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.14 [[ 0.95598225 -0.25761613 -0.14047017 1.0973789 ] [ 0.25678713 0.96616216 -0.02431137 0.3100425 ] [ 0.14197996 -0.0128297 0.98978639 -0.13754461] [ 0. 0. 0. 1. ]] SLAMing on 31.741346183999998 meters Centerline goodness : 0.869909 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.14 [[ 0.95598937 -0.25760535 -0.14044151 1.09701026] [ 0.2566559 0.96617564 -0.0251471 0.31215528] [ 0.1421692 -0.01200478 0.98976957 -0.13638516] [ 0. 0. 0. 1. ]] SLAMing on 31.771346184 meters Centerline goodness : 0.869780 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.14 [[ 0.956026 -0.2573426 -0.14067367 1.09753233] [ 0.2563306 0.96625058 -0.02558203 0.31369752] [ 0.14250936 -0.01160188 0.98972546 -0.13585755] [ 0. 0. 0. 1. ]] SLAMing on 31.801346183999996 meters Centerline goodness : 0.867961 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.14 [[ 0.95612442 -0.25683205 -0.14093752 1.09872592] [ 0.25581789 0.96638648 -0.02558077 0.31360747] [ 0.14277007 -0.01159594 0.98968795 -0.13581615] [ 0. 0. 0. 1. ]] SLAMing on 31.831346183999997 meters Centerline goodness : 0.872229 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.14 [[ 0.956113 -0.25696932 -0.14076472 1.09831458] [ 0.25594027 0.96635144 -0.0256801 0.31324684] [ 0.14262718 -0.01147429 0.98970997 -0.13560575] [ 0. 0. 0. 1. ]] SLAMing on 31.861346184 meters Centerline goodness : 0.869902 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.13 [[ 0.95607358 -0.25706159 -0.14086396 1.09824851] [ 0.25599148 0.96632987 -0.02597972 0.31362842] [ 0.14279944 -0.01122145 0.98968803 -0.13497882] [ 0. 0. 0. 1. ]] SLAMing on 31.891346184 meters Centerline goodness : 0.871021 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.13 [[ 0.95603575 -0.25700904 -0.14121613 1.09873233] [ 0.25592463 0.96634426 -0.02610266 0.31400521] [ 0.14317202 -0.01118561 0.98963461 -0.13443508] [ 0. 0. 0. 1. ]] SLAMing on 31.921346183999997 meters Centerline goodness : 0.870433 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.13 [[ 0.95601113 -0.25705426 -0.14130048 1.09891143] [ 0.25598709 0.96633066 -0.0259936 0.31320864] [ 0.14322475 -0.01132092 0.98962544 -0.13434284] [ 0. 0. 0. 1. ]] SLAMing on 31.951346184 meters Centerline goodness : 0.869861 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.13 [[ 0.95595061 -0.25736064 -0.14115214 1.09821706] [ 0.25629721 0.96624885 -0.02597865 0.31230777] [ 0.14307397 -0.01134259 0.989647 -0.13397879] [ 0. 0. 0. 1. ]] SLAMing on 31.981346184 meters Centerline goodness : 0.868971 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.13 [[ 0.95588788 -0.25766752 -0.14101704 1.09788087] [ 0.25667865 0.96616103 -0.02547426 0.30973794] [ 0.14280905 -0.01184552 0.98967937 -0.13429746] [ 0. 0. 0. 1. ]] SLAMing on 32.011346184 meters Centerline goodness : 0.870157 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.13 [[ 0.95590314 -0.2576299 -0.14098236 1.0981757 ] [ 0.2566942 0.9661667 -0.0250999 0.3079062 ] [ 0.14267894 -0.01219628 0.98969388 -0.1346056 ] [ 0. 0. 0. 1. ]] SLAMing on 32.041346184 meters Centerline goodness : 0.870016 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.13 [[ 0.95589834 -0.25774878 -0.14079747 1.09802822] [ 0.25684854 0.96613223 -0.02484639 0.3058689 ] [ 0.14243311 -0.012413 0.98972659 -0.1346996 ] [ 0. 0. 0. 1. ]] SLAMing on 32.071346184 meters Centerline goodness : 0.868537 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95587191 -0.25799836 -0.14051949 1.09790724] [ 0.25717547 0.96605911 -0.02430172 0.30259655] [ 0.14201994 -0.01290883 0.98977962 -0.13530407] [ 0. 0. 0. 1. ]] SLAMing on 32.101346184 meters Centerline goodness : 0.864961 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.13 [[ 0.95584385 -0.25809684 -0.14052956 1.09775786] [ 0.25727394 0.96603268 -0.02430998 0.30176703] [ 0.14203047 -0.01291805 0.98977799 -0.13487632] [ 0. 0. 0. 1. ]] SLAMing on 32.131346183999995 meters Centerline goodness : 0.870043 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.13 [[ 0.95575971 -0.25852958 -0.14030622 1.09662557] [ 0.25767542 0.96591986 -0.02453966 0.30108305] [ 0.14186879 -0.01269944 0.98980401 -0.13401818] [ 0. 0. 0. 1. ]] SLAMing on 32.161346183999996 meters Centerline goodness : 0.871686 Centerline is valid? [False, False] Translation: X:1.09, Y:0.30, Z:-0.13 [[ 0.95557082 -0.25955442 -0.13969935 1.09378231] [ 0.25865186 0.96564964 -0.0248996 0.29871096] [ 0.14136343 -0.01234016 0.98988085 -0.13209029] [ 0. 0. 0. 1. ]] SLAMing on 32.191346184 meters Centerline goodness : 0.870512 Centerline is valid? [False, False] Translation: X:1.09, Y:0.30, Z:-0.13 [[ 0.95547427 -0.26006382 -0.13941211 1.09250618] [ 0.25913747 0.9655148 -0.02507872 0.29818042] [ 0.14112653 -0.01216483 0.98991682 -0.13144289] [ 0. 0. 0. 1. ]] SLAMing on 32.221346184 meters Centerline goodness : 0.871091 Centerline is valid? [False, False] Translation: X:1.09, Y:0.30, Z:-0.13 [[ 0.95538713 -0.26049998 -0.13919479 1.09141943] [ 0.25955337 0.96539903 -0.02523427 0.29719468] [ 0.14095205 -0.01201998 0.98994345 -0.13059597] [ 0. 0. 0. 1. ]] SLAMing on 32.251346184 meters Centerline goodness : 0.872251 Centerline is valid? [False, False] Translation: X:1.09, Y:0.30, Z:-0.13 [[ 0.95439821 -0.26442515 -0.1385763 1.09303319] [ 0.26302087 0.96436356 -0.02868694 0.29554269] [ 0.14122348 -0.0090697 0.98993619 -0.13078996] [ 0. 0. 0. 1. ]] SLAMing on 32.281346184 meters Centerline goodness : 0.873051 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.13 [[ 0.95440486 -0.26448596 -0.13841437 1.09326777] [ 0.2631672 0.96434149 -0.02808037 0.29227046] [ 0.14090558 -0.00962608 0.98997624 -0.13135536] [ 0. 0. 0. 1. ]] SLAMing on 32.311346184 meters Centerline goodness : 0.871787 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.13 [[ 0.95438315 -0.26467212 -0.1382081 1.09302171] [ 0.2634042 0.96428716 -0.02772189 0.2896907 ] [ 0.14060951 -0.00994729 0.99001516 -0.13144742] [ 0. 0. 0. 1. ]] SLAMing on 32.341346183999995 meters Centerline goodness : 0.870670 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.13 [[ 0.954373 -0.26473891 -0.13815021 1.09314039] [ 0.26352971 0.96426465 -0.02730887 0.28750998] [ 0.14044309 -0.01034384 0.99003472 -0.13164254] [ 0. 0. 0. 1. ]] SLAMing on 32.371346184 meters Centerline goodness : 0.875058 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.13 [[ 0.95423784 -0.2653775 -0.13785834 1.09191564] [ 0.26418901 0.96408765 -0.02718746 0.28408171] [ 0.14012246 -0.01047735 0.99007874 -0.13070344] [ 0. 0. 0. 1. ]] SLAMing on 32.401346184 meters Centerline goodness : 0.873751 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.13 [[ 0.95421955 -0.26545464 -0.13783643 1.09168194] [ 0.26426934 0.96406616 -0.02716893 0.28325806] [ 0.14009556 -0.01050082 0.9900823 -0.13024195] [ 0. 0. 0. 1. ]] SLAMing on 32.431346184 meters Centerline goodness : 0.875476 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.13 [[ 0.95420329 -0.26539265 -0.13806821 1.09179761] [ 0.26417845 0.96408493 -0.02738583 0.2832899 ] [ 0.14037748 -0.010343 0.99004403 -0.12932143] [ 0. 0. 0. 1. ]] SLAMing on 32.461346184 meters Centerline goodness : 0.877186 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.13 [[ 0.95419671 -0.26530568 -0.1382806 1.09188949] [ 0.26405639 0.96411105 -0.02764234 0.28321707] [ 0.14065153 -0.01013764 0.99000726 -0.12831991] [ 0. 0. 0. 1. ]] SLAMing on 32.491346184 meters Centerline goodness : 0.875955 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.13 [[ 0.95643339 -0.26049548 -0.13182288 1.08709257] [ 0.25929511 0.96543461 -0.02649648 0.27642466] [ 0.13416858 -0.00883891 0.9909191 -0.13443687] [ 0. 0. 0. 1. ]] SLAMing on 32.521346183999995 meters Centerline goodness : 0.877410 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.13 [[ 0.95662008 -0.2594988 -0.13243265 1.08942598] [ 0.25837282 0.96569748 -0.02592042 0.275287 ] [ 0.13461619 -0.009421 0.99085303 -0.1349266 ] [ 0. 0. 0. 1. ]] SLAMing on 32.551346183999996 meters Centerline goodness : 0.877716 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.14 [[ 0.95771122 -0.25506488 -0.13315828 1.08924276] [ 0.25452787 0.96683019 -0.02132966 0.27222036] [ 0.13418189 -0.01346483 0.99086524 -0.13553445] [ 0. 0. 0. 1. ]] SLAMing on 32.581346184 meters Centerline goodness : 0.879170 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.13 [[ 0.9589012 -0.24993899 -0.1343093 1.08934437] [ 0.24995356 0.96810806 -0.01702924 0.27072371] [ 0.13428219 -0.01724173 0.99079313 -0.13463803] [ 0. 0. 0. 1. ]] SLAMing on 32.611346184 meters Centerline goodness : 0.878074 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.13 [[ 0.9590269 -0.24915156 -0.13487367 1.09081099] [ 0.24917987 0.96830896 -0.01694543 0.27048491] [ 0.13482137 -0.01735668 0.99071789 -0.13399959] [ 0. 0. 0. 1. ]] SLAMing on 32.641346184 meters Centerline goodness : 0.882258 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.13 [[ 0.95916056 -0.24830392 -0.13548502 1.09281689] [ 0.2484003 0.9685175 -0.01646615 0.26901918] [ 0.13530822 -0.01786084 0.99064256 -0.13391142] [ 0. 0. 0. 1. ]] SLAMing on 32.671346184 meters Centerline goodness : 0.877430 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.13 [[ 0.95929607 -0.24751448 -0.13596925 1.09469462] [ 0.24771833 0.96870504 -0.01568965 0.26632168] [ 0.13559751 -0.01863106 0.99058881 -0.13418361] [ 0. 0. 0. 1. ]] SLAMing on 32.701346183999995 meters Centerline goodness : 0.880936 Centerline is valid? [False, False] Translation: X:1.09, Y:0.26, Z:-0.14 [[ 0.95949411 -0.24842418 -0.13287768 1.09477787] [ 0.24815359 0.96853708 -0.01886034 0.26090796] [ 0.13338233 -0.01487769 0.99095298 -0.13895665] [ 0. 0. 0. 1. ]] SLAMing on 32.731346183999996 meters Centerline goodness : 0.880089 Centerline is valid? [False, False] Translation: X:1.09, Y:0.26, Z:-0.14 [[ 0.95946462 -0.24969232 -0.13069579 1.09348511] [ 0.24893531 0.96826187 -0.02236433 0.25826947] [ 0.13213195 -0.01107701 0.99117024 -0.1403058 ] [ 0. 0. 0. 1. ]] SLAMing on 32.761346184 meters Centerline goodness : 0.879600 Centerline is valid? [False, False] Translation: X:1.09, Y:0.26, Z:-0.14 [[ 0.95949941 -0.25033164 -0.12920892 1.09255669] [ 0.24923054 0.96812436 -0.02488689 0.25592941] [ 0.13132028 -0.00832385 0.99130505 -0.14087776] [ 0. 0. 0. 1. ]] SLAMing on 32.791346184 meters Centerline goodness : 0.882052 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.14 [[ 0.95961785 -0.24995098 -0.12906625 1.09298119] [ 0.24889295 0.96822041 -0.02452629 0.25354335] [ 0.13109495 -0.00858782 0.99133262 -0.14093935] [ 0. 0. 0. 1. ]] SLAMing on 32.821346184 meters Centerline goodness : 0.882878 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.14 [[ 0.96013478 -0.24881949 -0.12739727 1.09071679] [ 0.24765725 0.9685215 -0.02513931 0.24763281] [ 0.12964214 -0.00741373 0.99153313 -0.14062671] [ 0. 0. 0. 1. ]] SLAMing on 32.851346184 meters Centerline goodness : 0.887063 Centerline is valid? [False, False] Translation: X:1.09, Y:0.24, Z:-0.14 [[ 0.96044556 -0.24843689 -0.12579123 1.08894393] [ 0.24714131 0.9686291 -0.02605452 0.24340285] [ 0.12831795 -0.00606426 0.99171454 -0.14096828] [ 0. 0. 0. 1. ]] SLAMing on 32.881346183999995 meters Centerline goodness : 0.886456 Centerline is valid? [False, False] Translation: X:1.09, Y:0.24, Z:-0.14 [[ 0.96073921 -0.24838154 -0.12363973 1.08651778] [ 0.24687101 0.96865414 -0.02763797 0.23876612] [ 0.1266289 -0.00397018 0.99194222 -0.1413749 ] [ 0. 0. 0. 1. ]] SLAMing on 32.911346183999996 meters Centerline goodness : 0.891128 Centerline is valid? [False, False] Translation: X:1.08, Y:0.23, Z:-0.14 [[ 9.60777210e-01 -2.49661306e-01 -1.20732702e-01 1.08348211e+00] [ 2.47830083e-01 9.68332797e-01 -3.01967500e-02 2.29961713e-01] [ 1.24448395e-01 -9.08846242e-04 9.92225665e-01 -1.41121849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.941346184 meters Centerline goodness : 0.892262 Centerline is valid? [False, False] Translation: X:1.08, Y:0.23, Z:-0.14 [[ 9.60828499e-01 -2.50094700e-01 -1.19420419e-01 1.08330854e+00] [ 2.48186406e-01 9.68221380e-01 -3.08361337e-02 2.25335964e-01] [ 1.23337356e-01 -1.02885064e-05 9.92364800e-01 -1.42389262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.971346184 meters Centerline goodness : 0.894518 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.14 [[ 0.96083806 -0.25082863 -0.11779315 1.08155826] [ 0.24874514 0.96802994 -0.03230938 0.22072878] [ 0.12213141 0.00174361 0.99251241 -0.14225525] [ 0. 0. 0. 1. ]] SLAMing on 33.001346184 meters Centerline goodness : 0.900996 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.14 [[ 9.61126661e-01 -2.50362290e-01 -1.16422785e-01 1.07805123e+00] [ 2.48492424e-01 9.68152127e-01 -3.05446172e-02 2.11229752e-01] [ 1.20362187e-01 4.27065851e-04 9.92729954e-01 -1.39205714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.031346184 meters Centerline goodness : 0.900759 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.14 [[ 0.96116565 -0.25005933 -0.11675152 1.07753714] [ 0.24840185 0.96822958 -0.02877493 0.20824993] [ 0.12023772 -0.00134382 0.99274422 -0.13735222] [ 0. 0. 0. 1. ]] SLAMing on 33.061346184 meters Centerline goodness : 0.903446 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.14 [[ 0.96113922 -0.25021124 -0.11664363 1.07689242] [ 0.24869557 0.96818811 -0.02760964 0.20522429] [ 0.11984122 -0.00247205 0.99278999 -0.13611795] [ 0. 0. 0. 1. ]] SLAMing on 33.091346183999995 meters Centerline goodness : 0.904027 Centerline is valid? [False, False] Translation: X:1.08, Y:0.20, Z:-0.14 [[ 0.96095016 -0.25087464 -0.11677629 1.07858298] [ 0.24946648 0.96801356 -0.02676232 0.20282695] [ 0.11975502 -0.00341452 0.9927976 -0.13684221] [ 0. 0. 0. 1. ]] SLAMing on 33.121346184 meters Centerline goodness : 0.904166 Centerline is valid? [False, False] Translation: X:1.08, Y:0.20, Z:-0.14 [[ 0.95956578 -0.25757601 -0.1135258 1.0770559 ] [ 0.25554394 0.9662559 -0.0323549 0.19607741] [ 0.11802882 0.00203583 0.99300808 -0.13712306] [ 0. 0. 0. 1. ]] SLAMing on 33.151346184 meters Centerline goodness : 0.904166 Centerline is valid? [False, False] Translation: X:1.08, Y:0.20, Z:-0.14 [[ 0.95956578 -0.25757601 -0.1135258 1.0770559 ] [ 0.25554394 0.9662559 -0.0323549 0.19607741] [ 0.11802882 0.00203583 0.99300808 -0.13712306] [ 0. 0. 0. 1. ]] SLAMing on 33.181346184 meters Centerline goodness : 0.902634 Centerline is valid? [False, False] Translation: X:1.08, Y:0.19, Z:-0.14 [[ 0.95846643 -0.2617569 -0.11324942 1.08057883] [ 0.25949973 0.96512683 -0.03449761 0.19314896] [ 0.11833004 0.00367661 0.99296751 -0.13879863] [ 0. 0. 0. 1. ]] SLAMing on 33.211346184 meters Centerline goodness : 0.905024 Centerline is valid? [False, False] Translation: X:1.08, Y:0.19, Z:-0.14 [[ 0.95721914 -0.26623611 -0.1133572 1.08417131] [ 0.26376897 0.96389462 -0.03651154 0.19121259] [ 0.11898509 0.00504944 0.9928832 -0.13971892] [ 0. 0. 0. 1. ]] SLAMing on 33.241346184 meters Centerline goodness : 0.903622 Centerline is valid? [False, False] Translation: X:1.09, Y:0.19, Z:-0.14 [[ 0.95469037 -0.27437569 -0.11525747 1.09022528] [ 0.27188328 0.96161381 -0.03712646 0.1884935 ] [ 0.12101977 0.00410769 0.9926416 -0.13805964] [ 0. 0. 0. 1. ]] SLAMing on 33.271346183999995 meters Centerline goodness : 0.903297 Centerline is valid? [False, False] Translation: X:1.09, Y:0.19, Z:-0.14 [[ 0.95367942 -0.27729749 -0.11662618 1.09473954] [ 0.27495167 0.96078128 -0.03606806 0.18692782] [ 0.12205384 0.0023308 0.99252074 -0.13838592] [ 0. 0. 0. 1. ]] SLAMing on 33.301346183999996 meters Centerline goodness : 0.902785 Centerline is valid? [False, False] Translation: X:1.10, Y:0.18, Z:-0.14 [[ 0.95282186 -0.28028705 -0.11648893 1.09644439] [ 0.27782586 0.95991132 -0.03718943 0.1846257 ] [ 0.12224276 0.00307127 0.99249548 -0.13826253] [ 0. 0. 0. 1. ]] SLAMing on 33.331346184 meters Centerline goodness : 0.901535 Centerline is valid? [False, False] Translation: X:1.10, Y:0.18, Z:-0.14 [[ 0.95227253 -0.28183604 -0.11724107 1.09986165] [ 0.27954254 0.95946153 -0.03591025 0.18199145] [ 0.1226091 0.00142248 0.99245402 -0.13902724] [ 0. 0. 0. 1. ]] SLAMing on 33.361346184 meters Centerline goodness : 0.901752 Centerline is valid? [False, False] Translation: X:1.10, Y:0.18, Z:-0.14 [[ 0.95146935 -0.28470112 -0.11683902 1.10211878] [ 0.28230844 0.95861399 -0.03689388 0.17761284] [ 0.12250725 0.00211875 0.99246536 -0.1397217 ] [ 0. 0. 0. 1. ]] SLAMing on 33.391346184 meters Centerline goodness : 0.903245 Centerline is valid? [False, False] Translation: X:1.11, Y:0.18, Z:-0.14 [[ 0.95136408 -0.28473546 -0.11760997 1.10548551] [ 0.28243537 0.95860543 -0.03613717 0.17631012] [ 0.12303109 0.00116239 0.99240214 -0.14138145] [ 0. 0. 0. 1. ]] SLAMing on 33.421346184 meters Centerline goodness : 0.904003 Centerline is valid? [False, False] Translation: X:1.11, Y:0.18, Z:-0.14 [[ 9.51373918e-01 -2.84389561e-01 -1.18364885e-01 1.10780042e+00] [ 2.82244218e-01 9.58708778e-01 -3.48665993e-02 1.75263004e-01] [ 1.23393151e-01 -2.36631099e-04 9.92357836e-01 -1.42140992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.451346183999995 meters Centerline goodness : 0.902962 Centerline is valid? [False, False] Translation: X:1.11, Y:0.18, Z:-0.14 [[ 0.95137129 -0.28363778 -0.12017603 1.11140161] [ 0.2818614 0.95892498 -0.03189087 0.17535123] [ 0.12428525 -0.00353292 0.99224024 -0.14273915] [ 0. 0. 0. 1. ]] SLAMing on 33.481346183999996 meters Centerline goodness : 0.904078 Centerline is valid? [False, False] Translation: X:1.11, Y:0.18, Z:-0.14 [[ 0.9515984 -0.28266355 -0.1206723 1.1130359 ] [ 0.28100032 0.95920873 -0.0309424 0.17532358] [ 0.12449621 -0.00446421 0.99221004 -0.1439086 ] [ 0. 0. 0. 1. ]] SLAMing on 33.511346184 meters Centerline goodness : 0.902255 Centerline is valid? [False, False] Translation: X:1.12, Y:0.17, Z:-0.15 [[ 0.95166999 -0.28234428 -0.12085502 1.11565657] [ 0.28068025 0.95930268 -0.03093498 0.1749324 ] [ 0.12467085 -0.00448172 0.99218803 -0.14625166] [ 0. 0. 0. 1. ]] SLAMing on 33.541346184 meters Centerline goodness : 0.900706 Centerline is valid? [False, False] Translation: X:1.12, Y:0.17, Z:-0.15 [[ 0.95182442 -0.28173407 -0.12106272 1.11871361] [ 0.28009078 0.95948126 -0.03073872 0.17404425] [ 0.12481756 -0.00465069 0.99216881 -0.14910805] [ 0. 0. 0. 1. ]] SLAMing on 33.571346184 meters Centerline goodness : 0.901678 Centerline is valid? [False, False] Translation: X:1.12, Y:0.17, Z:-0.15 [[ 0.95204809 -0.28071674 -0.12166567 1.12069276] [ 0.27926533 0.95977063 -0.02917552 0.17226256] [ 0.12496119 -0.00620051 0.99214225 -0.15009637] [ 0. 0. 0. 1. ]] SLAMing on 33.601346184 meters Centerline goodness : 0.901517 Centerline is valid? [False, False] Translation: X:1.12, Y:0.17, Z:-0.15 [[ 0.95223466 -0.27996664 -0.12193369 1.12138068] [ 0.2786292 0.95998357 -0.02823658 0.17170366] [ 0.12495964 -0.00708644 0.99213652 -0.15045757] [ 0. 0. 0. 1. ]] SLAMing on 33.631346183999995 meters Centerline goodness : 0.902778 Centerline is valid? [False, False] Translation: X:1.12, Y:0.17, Z:-0.15 [[ 0.95238912 -0.27932897 -0.1221896 1.12260298] [ 0.27806969 0.96016458 -0.02759017 0.17091982] [ 0.12502886 -0.00770065 0.99212322 -0.15127696] [ 0. 0. 0. 1. ]] SLAMing on 33.661346183999996 meters Centerline goodness : 0.902819 Centerline is valid? [False, False] Translation: X:1.12, Y:0.17, Z:-0.15 [[ 0.95294843 -0.27744697 -0.1221166 1.12417319] [ 0.2762853 0.96070504 -0.02668809 0.1695015 ] [ 0.12472257 -0.00830665 0.99215688 -0.15371455] [ 0. 0. 0. 1. ]] SLAMing on 33.691346184 meters Centerline goodness : 0.905007 Centerline is valid? [False, False] Translation: X:1.13, Y:0.17, Z:-0.15 [[ 0.95323079 -0.27581251 -0.12360628 1.12644415] [ 0.27501567 0.961145 -0.02380471 0.16968785] [ 0.12536919 -0.01130228 0.99204578 -0.15395329] [ 0. 0. 0. 1. ]] SLAMing on 33.721346184 meters Centerline goodness : 0.902680 Centerline is valid? [False, False] Translation: X:1.13, Y:0.17, Z:-0.15 [[ 0.9535522 -0.27411943 -0.12488688 1.12825026] [ 0.27363513 0.96159649 -0.02135449 0.17047464] [ 0.12594446 -0.01381082 0.99194115 -0.15425647] [ 0. 0. 0. 1. ]] SLAMing on 33.751346184 meters Centerline goodness : 0.904667 Centerline is valid? [False, False] Translation: X:1.13, Y:0.17, Z:-0.16 [[ 0.95398012 -0.27192143 -0.12641463 1.13118749] [ 0.27185247 0.96216809 -0.01813294 0.17060277] [ 0.12656285 -0.01706767 0.99181175 -0.15538765] [ 0. 0. 0. 1. ]] SLAMing on 33.781346184 meters Centerline goodness : 0.902896 Centerline is valid? [False, False] Translation: X:1.13, Y:0.17, Z:-0.16 [[ 0.95457447 -0.26959716 -0.1269053 1.13249678] [ 0.26975233 0.96279194 -0.01629001 0.17121696] [ 0.12657514 -0.01868297 0.99178106 -0.15710051] [ 0. 0. 0. 1. ]] SLAMing on 33.811346184 meters Centerline goodness : 0.904145 Centerline is valid? [False, False] Translation: X:1.13, Y:0.17, Z:-0.16 [[ 0.95473305 -0.26871649 -0.12757839 1.1349289 ] [ 0.2689421 0.96302705 -0.01578115 0.17274756] [ 0.12710209 -0.01924441 0.99170293 -0.15899007] [ 0. 0. 0. 1. ]] SLAMing on 33.841346183999995 meters Centerline goodness : 0.903895 Centerline is valid? [False, False] Translation: X:1.14, Y:0.17, Z:-0.16 [[ 0.95480257 -0.26831321 -0.1279065 1.13758874] [ 0.26850848 0.96314377 -0.0160399 0.17428796] [ 0.12749606 -0.01902904 0.99165652 -0.16161803] [ 0. 0. 0. 1. ]] SLAMing on 33.871346184 meters Centerline goodness : 0.901058 Centerline is valid? [False, False] Translation: X:1.14, Y:0.18, Z:-0.16 [[ 0.9548205 -0.26828745 -0.12782668 1.13983292] [ 0.2683973 0.9631637 -0.0166905 0.17509159] [ 0.12759587 -0.0183719 0.99165607 -0.16428256] [ 0. 0. 0. 1. ]] SLAMing on 33.901346184 meters Centerline goodness : 0.902714 Centerline is valid? [False, False] Translation: X:1.14, Y:0.18, Z:-0.17 [[ 0.95460705 -0.26844997 -0.12907358 1.14298013] [ 0.26867528 0.96309803 -0.01599336 0.17752438] [ 0.12860392 -0.0194115 0.99150604 -0.16561916] [ 0. 0. 0. 1. ]] SLAMing on 33.931346184 meters Centerline goodness : 0.904499 Centerline is valid? [False, False] Translation: X:1.15, Y:0.18, Z:-0.17 [[ 0.95446137 -0.26771642 -0.13164882 1.14693885] [ 0.268422 0.96321782 -0.01269128 0.17980242] [ 0.13020415 -0.0232241 0.99121517 -0.16547136] [ 0. 0. 0. 1. ]] SLAMing on 33.961346184 meters Centerline goodness : 0.903683 Centerline is valid? [False, False] Translation: X:1.15, Y:0.18, Z:-0.17 [[ 0.95420523 -0.26832636 -0.13226243 1.14779579] [ 0.26901146 0.96304924 -0.01299958 0.18219714] [ 0.13086336 -0.02317584 0.99112949 -0.16532872] [ 0. 0. 0. 1. ]] SLAMing on 33.991346184 meters Centerline goodness : 0.902587 Centerline is valid? [False, False] Translation: X:1.15, Y:0.19, Z:-0.17 [[ 0.9538576 -0.26879521 -0.13380889 1.15196099] [ 0.26952739 0.96290556 -0.01295619 0.18583252] [ 0.13232789 -0.0237068 0.99092246 -0.16728483] [ 0. 0. 0. 1. ]] SLAMing on 34.021346183999995 meters Centerline goodness : 0.901424 Centerline is valid? [False, False] Translation: X:1.15, Y:0.19, Z:-0.17 [[ 0.95352775 -0.26947851 -0.1347819 1.15383324] [ 0.27026829 0.96270059 -0.01275249 0.1887181 ] [ 0.13319114 -0.02426742 0.99079322 -0.16750826] [ 0. 0. 0. 1. ]] SLAMing on 34.051346183999996 meters Centerline goodness : 0.903581 Centerline is valid? [False, False] Translation: X:1.16, Y:0.19, Z:-0.17 [[ 0.95309237 -0.2698963 -0.137007 1.15769295] [ 0.27103101 0.96251157 -0.01066168 0.19150088] [ 0.13474837 -0.02697158 0.9905127 -0.16747102] [ 0. 0. 0. 1. ]] SLAMing on 34.081346184 meters Centerline goodness : 0.901520 Centerline is valid? [False, False] Translation: X:1.16, Y:0.19, Z:-0.17 [[ 0.95268039 -0.27092155 -0.13784627 1.15934935] [ 0.272078 0.96221518 -0.01074712 0.19386115] [ 0.1355494 -0.02726636 0.99039533 -0.167502 ] [ 0. 0. 0. 1. ]] SLAMing on 34.111346184 meters Centerline goodness : 0.900509 Centerline is valid? [False, False] Translation: X:1.16, Y:0.20, Z:-0.17 [[ 0.95190374 -0.27268418 -0.13972334 1.16356133] [ 0.27393494 0.96169005 -0.01057779 0.19822083] [ 0.13725494 -0.02820607 0.99013408 -0.16830198] [ 0. 0. 0. 1. ]] SLAMing on 34.141346184 meters Centerline goodness : 0.900618 Centerline is valid? [False, False] Translation: X:1.17, Y:0.21, Z:-0.17 [[ 0.9517853 -0.27847488 -0.12867204 1.16717918] [ 0.27920938 0.96014675 -0.01266291 0.20683081] [ 0.12707035 -0.02387407 0.99160635 -0.16922869] [ 0. 0. 0. 1. ]] SLAMing on 34.171346184 meters Centerline goodness : 0.901290 Centerline is valid? [False, False] Translation: X:1.17, Y:0.21, Z:-0.17 [[ 0.95158793 -0.27796271 -0.1312141 1.17133883] [ 0.27918867 0.9601909 -0.00933357 0.20968042] [ 0.12858497 -0.02775177 0.99131012 -0.16957371] [ 0. 0. 0. 1. ]] SLAMing on 34.201346183999995 meters Centerline goodness : 0.899984 Centerline is valid? [False, False] Translation: X:1.17, Y:0.21, Z:-0.17 [[ 0.95113888 -0.27861005 -0.13308373 1.17424262] [ 0.28009302 0.95994094 -0.00782841 0.21249726] [ 0.1299336 -0.02982992 0.99107388 -0.16917289] [ 0. 0. 0. 1. ]] SLAMing on 34.231346183999996 meters Centerline goodness : 0.899404 Centerline is valid? [False, False] Translation: X:1.18, Y:0.22, Z:-0.17 [[ 0.95034343 -0.2805139 -0.13475655 1.1781865 ] [ 0.2820695 0.95936224 -0.00780328 0.21610238] [ 0.13146927 -0.03059491 0.99084801 -0.16992918] [ 0. 0. 0. 1. ]] SLAMing on 34.261346184 meters Centerline goodness : 0.897516 Centerline is valid? [False, False] Translation: X:1.18, Y:0.22, Z:-0.17 [[ 0.94990902 -0.28159906 -0.13555376 1.18116502] [ 0.28318547 0.95903314 -0.00783748 0.21763759] [ 0.13220758 -0.03094196 0.99073899 -0.17121668] [ 0. 0. 0. 1. ]] SLAMing on 34.291346184 meters Centerline goodness : 0.894889 Centerline is valid? [False, False] Translation: X:1.18, Y:0.22, Z:-0.17 [[ 0.94896564 -0.28399153 -0.1371606 1.18494399] [ 0.28564031 0.95830411 -0.00792797 0.22093817] [ 0.13369304 -0.03165522 0.9905171 -0.17166499] [ 0. 0. 0. 1. ]] SLAMing on 34.321346184 meters Centerline goodness : 0.894112 Centerline is valid? [False, False] Translation: X:1.19, Y:0.22, Z:-0.17 [[ 0.94840978 -0.28500244 -0.13889741 1.18836447] [ 0.28688163 0.95794241 -0.00672859 0.22248389] [ 0.13497339 -0.03346565 0.99028392 -0.17154121] [ 0. 0. 0. 1. ]] SLAMing on 34.351346184 meters Centerline goodness : 0.897391 Centerline is valid? [False, False] Translation: X:1.19, Y:0.22, Z:-0.17 [[ 0.94791623 -0.28609544 -0.14001507 1.18965803] [ 0.28812278 0.95757462 -0.00600984 0.22391909] [ 0.13579426 -0.03464471 0.99013113 -0.17044953] [ 0. 0. 0. 1. ]] SLAMing on 34.381346183999995 meters Centerline goodness : 0.897089 Centerline is valid? [False, False] Translation: X:1.19, Y:0.22, Z:-0.17 [[ 0.94761335 -0.28660859 -0.14101226 1.19018386] [ 0.28882433 0.95736937 -0.00493931 0.22481251] [ 0.13641647 -0.03604722 0.98999553 -0.16897027] [ 0. 0. 0. 1. ]] SLAMing on 34.411346183999996 meters Centerline goodness : 0.898096 Centerline is valid? [False, False] Translation: X:1.19, Y:0.23, Z:-0.17 [[ 9.47812138e-01 -2.84478477e-01 -1.43958835e-01 1.19420035e+00] [ 2.87412767e-01 9.57806721e-01 -4.31291558e-04 2.26214129e-01] [ 1.38007433e-01 -4.09668237e-02 9.89583583e-01 -1.68843519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.441346184 meters Centerline goodness : 0.897904 Centerline is valid? [False, False] Translation: X:1.19, Y:0.23, Z:-0.17 [[ 9.47957515e-01 -2.83879646e-01 -1.44183553e-01 1.19376495e+00] [ 2.86903321e-01 9.57959524e-01 1.86906462e-04 2.26369092e-01] [ 1.38068949e-01 -4.15439195e-02 9.89550943e-01 -1.68259812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.471346184 meters Centerline goodness : 0.900465 Centerline is valid? [False, False] Translation: X:1.19, Y:0.23, Z:-0.17 [[ 9.48303678e-01 -2.82774647e-01 -1.44078563e-01 1.19361599e+00] [ 2.85846292e-01 9.58275263e-01 6.46460270e-04 2.26134051e-01] [ 1.37884120e-01 -4.17973636e-02 9.89566041e-01 -1.68719151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501346184 meters Centerline goodness : 0.898482 Centerline is valid? [False, False] Translation: X:1.19, Y:0.23, Z:-0.17 [[ 9.48680535e-01 -2.81542798e-01 -1.44010053e-01 1.19395010e+00] [ 2.84658449e-01 9.58628400e-01 1.07636494e-03 2.25988914e-01] [ 1.37749084e-01 -4.20148049e-02 9.89575639e-01 -1.69738330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.531346184 meters Centerline goodness : 0.898419 Centerline is valid? [False, False] Translation: X:1.19, Y:0.23, Z:-0.17 [[ 9.49187387e-01 -2.79814062e-01 -1.44039561e-01 1.19420004e+00] [ 2.82887701e-01 9.59152619e-01 8.95919261e-04 2.28934845e-01] [ 1.37905231e-01 -4.15974156e-02 9.89571525e-01 -1.71472210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561346184 meters Centerline goodness : 0.897176 Centerline is valid? [False, False] Translation: X:1.20, Y:0.23, Z:-0.17 [[ 0.94940839 -0.27875234 -0.14464041 1.1953571 ] [ 0.28190656 0.95944089 0.00136929 0.23102447] [ 0.13839223 -0.04207509 0.98948334 -0.17241507] [ 0. 0. 0. 1. ]] SLAMing on 34.591346183999995 meters Centerline goodness : 0.896143 Centerline is valid? [False, False] Translation: X:1.19, Y:0.23, Z:-0.17 [[ 9.49590511e-01 -2.78052526e-01 -1.44791761e-01 1.19460626e+00] [ 2.81140506e-01 9.59666192e-01 9.03002260e-04 2.33197331e-01] [ 1.38700675e-01 -4.15643112e-02 9.89461738e-01 -1.72131102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621346184 meters Centerline goodness : 0.893913 Centerline is valid? [False, False] Translation: X:1.19, Y:0.24, Z:-0.17 [[ 9.50274730e-01 -2.75942246e-01 -1.44339230e-01 1.19333057e+00] [ 2.78855963e-01 9.60332937e-01 -4.60930165e-05 2.37206165e-01] [ 1.38626436e-01 -4.02060540e-02 9.89528264e-01 -1.73512337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.651346184 meters Centerline goodness : 0.891397 Centerline is valid? [False, False] Translation: X:1.19, Y:0.24, Z:-0.17 [[ 0.95040812 -0.27568818 -0.14394594 1.19338233] [ 0.2784159 0.96045981 -0.00124135 0.23933868] [ 0.13859652 -0.03889705 0.98958477 -0.17491017] [ 0. 0. 0. 1. ]] SLAMing on 34.681346184 meters Centerline goodness : 0.890716 Centerline is valid? [False, False] Translation: X:1.20, Y:0.24, Z:-0.18 [[ 0.95044037 -0.27995893 -0.13522613 1.20016737] [ 0.28273133 0.95919819 0.00135454 0.2447621 ] [ 0.12932944 -0.03952008 0.99081384 -0.18353384] [ 0. 0. 0. 1. ]] SLAMing on 34.711346184 meters Centerline goodness : 0.890509 Centerline is valid? [False, False] Translation: X:1.20, Y:0.25, Z:-0.18 [[ 9.50278264e-01 -2.80496324e-01 -1.35251742e-01 1.20022867e+00] [ 2.83167196e-01 9.59070413e-01 5.31653245e-04 2.46252535e-01] [ 1.29566818e-01 -3.88040752e-02 9.90811124e-01 -1.83479278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.741346184 meters Centerline goodness : 0.890853 Centerline is valid? [False, False] Translation: X:1.20, Y:0.25, Z:-0.18 [[ 0.94946422 -0.28183268 -0.13815948 1.2037855 ] [ 0.28491994 0.95854755 0.00268722 0.2496376 ] [ 0.13167509 -0.04191581 0.99040635 -0.18174447] [ 0. 0. 0. 1. ]] SLAMing on 34.771346183999995 meters Centerline goodness : 0.888519 Centerline is valid? [False, False] Translation: X:1.20, Y:0.25, Z:-0.18 [[ 0.948994 -0.2830509 -0.1388977 1.20375228] [ 0.28618381 0.95817092 0.00270392 0.25131501] [ 0.13232239 -0.04231628 0.99030304 -0.17999143] [ 0. 0. 0. 1. ]] SLAMing on 34.801346183999996 meters Centerline goodness : 0.888092 Centerline is valid? [False, False] Translation: X:1.21, Y:0.25, Z:-0.18 [[ 0.94841593 -0.28437864 -0.14012855 1.20612927] [ 0.28763909 0.95773367 0.00315786 0.25259811] [ 0.1333078 -0.04330142 0.99012828 -0.17961486] [ 0. 0. 0. 1. ]] SLAMing on 34.831346184 meters Centerline goodness : 0.888921 Centerline is valid? [False, False] Translation: X:1.21, Y:0.25, Z:-0.18 [[ 0.94759218 -0.2867524 -0.14086206 1.2073857 ] [ 0.28999785 0.95702368 0.00263279 0.2534542 ] [ 0.13405337 -0.04334451 0.99002573 -0.17840617] [ 0. 0. 0. 1. ]] SLAMing on 34.861346184 meters Centerline goodness : 0.887384 Centerline is valid? [False, False] Translation: X:1.21, Y:0.26, Z:-0.18 [[ 9.46084435e-01 -2.91480058e-01 -1.41292663e-01 1.20796513e+00] [ 2.94544208e-01 9.55637512e-01 8.09756469e-04 2.55356595e-01] [ 1.34788541e-01 -4.23830333e-02 9.89967539e-01 -1.76359581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.891346184 meters Centerline goodness : 0.886613 Centerline is valid? [False, False] Translation: X:1.21, Y:0.26, Z:-0.18 [[ 9.45616515e-01 -2.92399642e-01 -1.42519672e-01 1.21049306e+00] [ 2.95551083e-01 9.55326426e-01 9.88498832e-04 2.56699896e-01] [ 1.35863772e-01 -4.30565841e-02 9.89791476e-01 -1.76249451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.921346184 meters Centerline goodness : 0.885468 Centerline is valid? [False, False] Translation: X:1.21, Y:0.26, Z:-0.18 [[ 9.45420730e-01 -2.92902462e-01 -1.42785820e-01 1.21055595e+00] [ 2.95999004e-01 9.55188134e-01 4.66697007e-04 2.58087903e-01] [ 1.36250624e-01 -4.27056856e-02 9.89753500e-01 -1.75717353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.951346183999995 meters Centerline goodness : 0.884923 Centerline is valid? [False, False] Translation: X:1.21, Y:0.26, Z:-0.18 [[ 0.94547138 -0.29124224 -0.14581433 1.21401733] [ 0.29493876 0.95550811 0.00392169 0.2611072 ] [ 0.13818462 -0.04671414 0.9893042 -0.17517374] [ 0. 0. 0. 1. ]] SLAMing on 34.981346183999996 meters Centerline goodness : 0.885055 Centerline is valid? [False, False] Translation: X:1.22, Y:0.26, Z:-0.17 [[ 0.94532823 -0.29111998 -0.14698198 1.21519716] [ 0.2949357 0.95550706 0.00438048 0.26279097] [ 0.13916707 -0.04749122 0.98912947 -0.17437056] [ 0. 0. 0. 1. ]] SLAMing on 35.011346184 meters Centerline goodness : 0.882902 Centerline is valid? [False, False] Translation: X:1.22, Y:0.26, Z:-0.17 [[ 0.9453445 -0.29082826 -0.14745404 1.21584683] [ 0.29471451 0.95557359 0.00474 0.26322903] [ 0.13952466 -0.04793778 0.98905755 -0.17416273] [ 0. 0. 0. 1. ]] SLAMing on 35.041346184 meters Centerline goodness : 0.882902 Centerline is valid? [False, False] Translation: X:1.22, Y:0.26, Z:-0.17 [[ 0.9453445 -0.29082826 -0.14745404 1.21584683] [ 0.29471451 0.95557359 0.00474 0.26322903] [ 0.13952466 -0.04793778 0.98905755 -0.17416273] [ 0. 0. 0. 1. ]] SLAMing on 35.071346184 meters Centerline goodness : 0.885531 Centerline is valid? [False, False] Translation: X:1.22, Y:0.26, Z:-0.17 [[ 0.94513445 -0.29124014 -0.14798669 1.21589522] [ 0.29516996 0.95543255 0.00483148 0.26357438] [ 0.13998418 -0.04824762 0.98897755 -0.17284895] [ 0. 0. 0. 1. ]] SLAMing on 35.101346184 meters Centerline goodness : 0.885149 Centerline is valid? [False, False] Translation: X:1.22, Y:0.26, Z:-0.17 [[ 0.94493857 -0.29168791 -0.14835519 1.21651585] [ 0.29564585 0.95528522 0.0048668 0.26408524] [ 0.14030194 -0.04845942 0.98892217 -0.17259581] [ 0. 0. 0. 1. ]] SLAMing on 35.131346183999995 meters Centerline goodness : 0.884765 Centerline is valid? [False, False] Translation: X:1.22, Y:0.26, Z:-0.17 [[ 0.94479128 -0.29195341 -0.14877044 1.21783484] [ 0.29594978 0.95519056 0.00497156 0.26400215] [ 0.14065265 -0.04872567 0.98885926 -0.17291543] [ 0. 0. 0. 1. ]] SLAMing on 35.161346183999996 meters Centerline goodness : 0.886341 Centerline is valid? [False, False] Translation: X:1.22, Y:0.26, Z:-0.17 [[ 0.94465779 -0.29233924 -0.14886041 1.21772646] [ 0.29631657 0.95507784 0.00477644 0.26383316] [ 0.14077694 -0.04862191 0.98884668 -0.17228001] [ 0. 0. 0. 1. ]] SLAMing on 35.191346184 meters Centerline goodness : 0.885556 Centerline is valid? [False, False] Translation: X:1.22, Y:0.26, Z:-0.17 [[ 0.94448762 -0.29212584 -0.1503517 1.21890178] [ 0.29636573 0.95505503 0.00610242 0.26466656] [ 0.14181147 -0.05032275 0.98861374 -0.17072208] [ 0. 0. 0. 1. ]] SLAMing on 35.221346184 meters Centerline goodness : 0.885170 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.9443014 -0.29258331 -0.15063156 1.21901912] [ 0.29678613 0.95492691 0.00570853 0.2657103 ] [ 0.14217191 -0.05009593 0.98857349 -0.17017455] [ 0. 0. 0. 1. ]] SLAMing on 35.251346184 meters Centerline goodness : 0.884230 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.94422606 -0.29230512 -0.15164057 1.22194161] [ 0.2966602 0.95496149 0.00642412 0.26655168] [ 0.1429331 -0.05105155 0.98841483 -0.17151787] [ 0. 0. 0. 1. ]] SLAMing on 35.281346184 meters Centerline goodness : 0.883053 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.94476708 -0.29105245 -0.15067727 1.21936879] [ 0.29524825 0.95540319 0.00576325 0.26695008] [ 0.14228014 -0.04993213 0.98856621 -0.17120787] [ 0. 0. 0. 1. ]] SLAMing on 35.311346183999994 meters Centerline goodness : 0.885304 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.94525262 -0.2891362 -0.15131999 1.22061707] [ 0.29347462 0.95594357 0.00667305 0.26744522] [ 0.14272395 -0.0507163 0.98846231 -0.17206757] [ 0. 0. 0. 1. ]] SLAMing on 35.341346183999995 meters Centerline goodness : 0.880947 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.94574225 -0.28787172 -0.15067008 1.21905998] [ 0.29209629 0.95636873 0.00621418 0.2679249 ] [ 0.14230727 -0.04988718 0.98856457 -0.17221104] [ 0. 0. 0. 1. ]] SLAMing on 35.371346184 meters Centerline goodness : 0.883215 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.94652593 -0.28561512 -0.15004222 1.21773689] [ 0.28973284 0.95708958 0.00586758 0.26958253] [ 0.14192797 -0.04902597 0.98866218 -0.17341164] [ 0. 0. 0. 1. ]] SLAMing on 35.401346184 meters Centerline goodness : 0.883154 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.94663392 -0.28522138 -0.15010989 1.2168541 ] [ 0.28934151 0.95720781 0.00589139 0.27035238] [ 0.14200601 -0.04901001 0.98865177 -0.17254832] [ 0. 0. 0. 1. ]] SLAMing on 35.431346184 meters Centerline goodness : 0.880826 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.94664787 -0.28486946 -0.15068907 1.21667804] [ 0.28910491 0.95727524 0.00651721 0.27134502] [ 0.14239436 -0.04973445 0.98855973 -0.17159711] [ 0. 0. 0. 1. ]] SLAMing on 35.461346184 meters Centerline goodness : 0.880941 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.94666031 -0.28476552 -0.15080736 1.21607464] [ 0.28897644 0.95731539 0.00631344 0.27255373] [ 0.14257236 -0.04955646 0.98854301 -0.17093394] [ 0. 0. 0. 1. ]] SLAMing on 35.491346184 meters Centerline goodness : 0.879976 Centerline is valid? [False, False] Translation: X:1.21, Y:0.27, Z:-0.17 [[ 0.94677454 -0.2850185 -0.14960757 1.21476885] [ 0.28882249 0.95737481 0.00387847 0.27394681] [ 0.14212508 -0.04688207 0.98873785 -0.17170025] [ 0. 0. 0. 1. ]] SLAMing on 35.521346183999995 meters Centerline goodness : 0.880968 Centerline is valid? [False, False] Translation: X:1.21, Y:0.27, Z:-0.17 [[ 0.94697543 -0.28472057 -0.14890174 1.21351947] [ 0.28837894 0.95751128 0.00312028 0.27388932] [ 0.14168668 -0.04589495 0.98884707 -0.17177639] [ 0. 0. 0. 1. ]] SLAMing on 35.551346183999996 meters Centerline goodness : 0.880420 Centerline is valid? [False, False] Translation: X:1.21, Y:0.27, Z:-0.17 [[ 0.94750364 -0.28326676 -0.14831318 1.21260243] [ 0.2869475 0.95793961 0.00358269 0.27362839] [ 0.14106021 -0.0459527 0.98893395 -0.17256607] [ 0. 0. 0. 1. ]] SLAMing on 35.581346184 meters Centerline goodness : 0.880717 Centerline is valid? [False, False] Translation: X:1.21, Y:0.27, Z:-0.17 [[ 0.9478668 -0.28223738 -0.1479547 1.21124165] [ 0.28588734 0.95825661 0.00356378 0.2741709 ] [ 0.14077274 -0.04567636 0.98898772 -0.17226224] [ 0. 0. 0. 1. ]] SLAMing on 35.611346184 meters Centerline goodness : 0.881555 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94861266 -0.27902416 -0.14926334 1.21036746] [ 0.28319959 0.95903506 0.00705305 0.27539598] [ 0.1411808 -0.04896193 0.98877232 -0.17068707] [ 0. 0. 0. 1. ]] SLAMing on 35.641346184 meters Centerline goodness : 0.882104 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94882273 -0.27776188 -0.15027896 1.20980086] [ 0.28222261 0.95930874 0.00878252 0.27638657] [ 0.14172448 -0.05074517 0.98860462 -0.16887604] [ 0. 0. 0. 1. ]] SLAMing on 35.671346184 meters Centerline goodness : 0.882125 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94890205 -0.27725495 -0.15071363 1.20852976] [ 0.28181139 0.95942445 0.00933047 0.2777606 ] [ 0.14201142 -0.05132652 0.98853343 -0.16720022] [ 0. 0. 0. 1. ]] SLAMing on 35.701346183999995 meters Centerline goodness : 0.880385 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94913508 -0.27683032 -0.15002527 1.20788665] [ 0.28127522 0.95958646 0.00883551 0.27858853] [ 0.14151628 -0.05058449 0.98864268 -0.1682113 ] [ 0. 0. 0. 1. ]] SLAMing on 35.731346183999996 meters Centerline goodness : 0.877980 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94898856 -0.2784498 -0.14794059 1.2053367 ] [ 0.28227362 0.95932048 0.00508204 0.27868674] [ 0.14050735 -0.04658252 0.98898319 -0.16843744] [ 0. 0. 0. 1. ]] SLAMing on 35.761346184 meters Centerline goodness : 0.880920 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94866089 -0.27909591 -0.14882202 1.20826011] [ 0.28301315 0.95910087 0.00539156 0.27882221] [ 0.14123057 -0.04723335 0.9888493 -0.16941979] [ 0. 0. 0. 1. ]] SLAMing on 35.791346184 meters Centerline goodness : 0.882903 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94740099 -0.28294893 -0.14957026 1.20886234] [ 0.28673733 0.95800112 0.00394356 0.27910165] [ 0.14217265 -0.0466235 0.98874324 -0.16669777] [ 0. 0. 0. 1. ]] SLAMing on 35.821346184 meters Centerline goodness : 0.881029 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94687887 -0.2843974 -0.15012836 1.20934909] [ 0.28819785 0.95756362 0.00372911 0.279117 ] [ 0.14269691 -0.04679769 0.98865948 -0.16538057] [ 0. 0. 0. 1. ]] SLAMing on 35.851346184 meters Centerline goodness : 0.881358 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94647431 -0.28496373 -0.15159835 1.21267165] [ 0.28899533 0.95731854 0.0047863 0.2797782 ] [ 0.14376398 -0.04834132 0.98843059 -0.16587494] [ 0. 0. 0. 1. ]] SLAMing on 35.881346183999995 meters Centerline goodness : 0.882667 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.16 [[ 0.94621054 -0.28587595 -0.15152741 1.21232723] [ 0.28983138 0.95706845 0.00421474 0.27960239] [ 0.14381721 -0.04790542 0.98844407 -0.16497849] [ 0. 0. 0. 1. ]] SLAMing on 35.911346183999996 meters Centerline goodness : 0.881205 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94627498 -0.28589052 -0.15109687 1.21279875] [ 0.28975431 0.9570938 0.00372742 0.27923601] [ 0.14354824 -0.04730814 0.98851193 -0.16600148] [ 0. 0. 0. 1. ]] SLAMing on 35.941346184 meters Centerline goodness : 0.882492 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94643981 -0.28542254 -0.1509492 1.21243862] [ 0.28931927 0.95722413 0.00404064 0.27883219] [ 0.14333892 -0.04749674 0.98853326 -0.16595402] [ 0. 0. 0. 1. ]] SLAMing on 35.971346184 meters Centerline goodness : 0.883105 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94688568 -0.28421494 -0.15043064 1.21071338] [ 0.28810574 0.95758909 0.00426821 0.27885451] [ 0.14283765 -0.04738144 0.98861135 -0.165546 ] [ 0. 0. 0. 1. ]] SLAMing on 36.001346184 meters Centerline goodness : 0.882982 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.16 [[ 0.94791176 -0.28018919 -0.1515167 1.20925044] [ 0.28466641 0.95859104 0.00826171 0.27848404] [ 0.14292771 -0.05096308 0.98842017 -0.16366266] [ 0. 0. 0. 1. ]] SLAMing on 36.031346184 meters Centerline goodness : 0.881571 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.16 [[ 0.94807064 -0.2799016 -0.15105349 1.20832168] [ 0.28429927 0.95870304 0.00789971 0.27837764] [ 0.1426043 -0.05043389 0.98849402 -0.16342806] [ 0. 0. 0. 1. ]] SLAMing on 36.061346183999994 meters Centerline goodness : 0.883115 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.16 [[ 0.94811092 -0.28013984 -0.15035741 1.20820119] [ 0.28434716 0.95869722 0.0068062 0.27761239] [ 0.14224054 -0.04920673 0.98860828 -0.16405624] [ 0. 0. 0. 1. ]] SLAMing on 36.091346183999995 meters Centerline goodness : 0.881733 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94825828 -0.28016949 -0.14936963 1.2083417 ] [ 0.28422549 0.9587381 0.00609233 0.27641413] [ 0.14149947 -0.04823176 0.98876266 -0.16564181] [ 0. 0. 0. 1. ]] SLAMing on 36.121346184 meters Centerline goodness : 0.882708 Centerline is valid? [False, False] Translation: X:1.21, Y:0.27, Z:-0.16 [[ 0.94828656 -0.28050891 -0.14855086 1.20673949] [ 0.28442167 0.95868439 0.00534312 0.2745081 ] [ 0.1409146 -0.04731789 0.98889033 -0.16469525] [ 0. 0. 0. 1. ]] SLAMing on 36.151346184 meters Centerline goodness : 0.883307 Centerline is valid? [False, False] Translation: X:1.21, Y:0.27, Z:-0.17 [[ 0.94833219 -0.28067116 -0.14795184 1.2062091 ] [ 0.28449093 0.95866632 0.00487939 0.27407631] [ 0.14046694 -0.04671824 0.98898253 -0.1650469 ] [ 0. 0. 0. 1. ]] SLAMing on 36.181346184 meters Centerline goodness : 0.883107 Centerline is valid? [False, False] Translation: X:1.20, Y:0.27, Z:-0.17 [[ 0.94861269 -0.28081318 -0.14586951 1.20389549] [ 0.2841072 0.95879078 0.0018277 0.27280817] [ 0.1393451 -0.04317636 0.98930215 -0.16590499] [ 0. 0. 0. 1. ]] SLAMing on 36.211346184 meters Centerline goodness : 0.885437 Centerline is valid? [False, False] Translation: X:1.20, Y:0.27, Z:-0.17 [[ 0.94894303 -0.27994298 -0.14539275 1.20317862] [ 0.28317219 0.95906778 0.00158181 0.27267707] [ 0.13899868 -0.04267223 0.98937275 -0.1662564 ] [ 0. 0. 0. 1. ]] SLAMing on 36.241346184 meters Centerline goodness : 0.885505 Centerline is valid? [False, False] Translation: X:1.20, Y:0.27, Z:-0.17 [[ 0.94920804 -0.2791946 -0.14510158 1.20185688] [ 0.28244502 0.95928164 0.00188029 0.27329466] [ 0.13866832 -0.042768 0.98941498 -0.16586137] [ 0. 0. 0. 1. ]] SLAMing on 36.271346183999995 meters Centerline goodness : 0.885366 Centerline is valid? [False, False] Translation: X:1.20, Y:0.28, Z:-0.17 [[ 9.49729240e-01 -2.83280334e-01 -1.33291494e-01 1.20328511e+00] [ 2.85846417e-01 9.58275436e-01 1.20902070e-04 2.79662022e-01] [ 1.27695715e-01 -3.82157202e-02 9.91076870e-01 -1.66786292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301346183999996 meters Centerline goodness : 0.887548 Centerline is valid? [False, False] Translation: X:1.20, Y:0.28, Z:-0.17 [[ 0.95063263 -0.2796577 -0.134496 1.2030838 ] [ 0.2826527 0.95921657 0.00332041 0.27959344] [ 0.12808221 -0.04117215 0.99090857 -0.16585728] [ 0. 0. 0. 1. ]] SLAMing on 36.331346184 meters Centerline goodness : 0.889888 Centerline is valid? [False, False] Translation: X:1.20, Y:0.28, Z:-0.17 [[ 0.95101567 -0.27853558 -0.13411613 1.2014008 ] [ 0.28148404 0.9595607 0.00316096 0.27990261] [ 0.12781212 -0.04075768 0.99096058 -0.16518732] [ 0. 0. 0. 1. ]] SLAMing on 36.361346184 meters Centerline goodness : 0.888546 Centerline is valid? [False, False] Translation: X:1.20, Y:0.28, Z:-0.17 [[ 0.95132503 -0.27723781 -0.13461011 1.2027393 ] [ 0.28023726 0.95992443 0.00348693 0.2807542 ] [ 0.12824882 -0.04103997 0.99089251 -0.1661129 ] [ 0. 0. 0. 1. ]] SLAMing on 36.391346184 meters Centerline goodness : 0.887202 Centerline is valid? [False, False] Translation: X:1.20, Y:0.28, Z:-0.17 [[ 0.95116415 -0.27781054 -0.13456619 1.20303768] [ 0.28071003 0.95978886 0.00268905 0.28120208] [ 0.12840809 -0.0403318 0.99090096 -0.16611301] [ 0. 0. 0. 1. ]] SLAMing on 36.421346184 meters Centerline goodness : 0.888413 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.95082557 -0.27856005 -0.13540695 1.20543778] [ 0.28146163 0.95956951 0.0023868 0.28199879] [ 0.12926752 -0.04038129 0.99078719 -0.16660871] [ 0. 0. 0. 1. ]] SLAMing on 36.451346183999995 meters Centerline goodness : 0.888095 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.95046949 -0.27982142 -0.13530603 1.20589986] [ 0.28260337 0.95923581 0.00141279 0.28242684] [ 0.12939506 -0.03958075 0.99080285 -0.16664807] [ 0. 0. 0. 1. ]] SLAMing on 36.481346183999996 meters Centerline goodness : 0.888962 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 9.49513952e-01 -2.82611073e-01 -1.36213938e-01 1.20709638e+00] [ 2.85384212e-01 9.58412802e-01 8.67901582e-04 2.83699047e-01] [ 1.30303904e-01 -3.96973922e-02 9.90679065e-01 -1.65072903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.511346184 meters Centerline goodness : 0.889615 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.16 [[ 9.48893446e-01 -2.84201065e-01 -1.37226027e-01 1.20853891e+00] [ 2.87012205e-01 9.57926647e-01 7.30379622e-04 2.84756812e-01] [ 1.31244893e-01 -4.00785969e-02 9.90539491e-01 -1.63953480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.541346184 meters Centerline goodness : 0.889948 Centerline is valid? [False, False] Translation: X:1.21, Y:0.29, Z:-0.16 [[ 9.48411380e-01 -2.85613430e-01 -1.37625658e-01 1.20955954e+00] [ 2.88398181e-01 9.57510520e-01 3.07010135e-04 2.85090427e-01] [ 1.31690329e-01 -3.99821613e-02 9.90484267e-01 -1.63449903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.571346184 meters Centerline goodness : 0.890507 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.16 [[ 0.94730656 -0.28935583 -0.13741721 1.21112258] [ 0.29194608 0.95643381 -0.00136272 0.28385088] [ 0.13182478 -0.0388275 0.99051232 -0.1633447 ] [ 0. 0. 0. 1. ]] SLAMing on 36.601346184 meters Centerline goodness : 0.892868 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.16 [[ 0.94661715 -0.29136609 -0.13791943 1.21193315] [ 0.29394787 0.9558199 -0.00172145 0.28390991] [ 0.13232771 -0.03891157 0.99044196 -0.16208958] [ 0. 0. 0. 1. ]] SLAMing on 36.631346183999995 meters Centerline goodness : 0.894659 Centerline is valid? [False, False] Translation: X:1.22, Y:0.29, Z:-0.16 [[ 9.45877205e-01 -2.92809017e-01 -1.39925666e-01 1.21611286e+00] [ 2.95646283e-01 9.55297331e-01 -5.33088052e-04 2.85390867e-01] [ 1.33826708e-01 -4.08642672e-02 9.90161867e-01 -1.62211479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.661346183999996 meters Centerline goodness : 0.892883 Centerline is valid? [False, False] Translation: X:1.22, Y:0.29, Z:-0.16 [[ 0.94419545 -0.2973451 -0.14170688 1.21931599] [ 0.30017835 0.953882 -0.00144742 0.28734264] [ 0.13560202 -0.04117069 0.9899076 -0.16020522] [ 0. 0. 0. 1. ]] SLAMing on 36.691346184 meters Centerline goodness : 0.892646 Centerline is valid? [False, False] Translation: X:1.22, Y:0.29, Z:-0.16 [[ 0.94340895 -0.30008251 -0.14117376 1.22006429] [ 0.30256279 0.95312077 -0.00406893 0.28752031] [ 0.13577665 -0.03887526 0.98997647 -0.16025335] [ 0. 0. 0. 1. ]] SLAMing on 36.721346184 meters Centerline goodness : 0.892225 Centerline is valid? [False, False] Translation: X:1.22, Y:0.29, Z:-0.16 [[ 0.94260265 -0.30275039 -0.1408632 1.22098242] [ 0.30488516 0.95236557 -0.00669796 0.28793773] [ 0.13618107 -0.03663359 0.99000641 -0.15999417] [ 0. 0. 0. 1. ]] SLAMing on 36.751346184 meters Centerline goodness : 0.894787 Centerline is valid? [False, False] Translation: X:1.23, Y:0.29, Z:-0.16 [[ 0.9415382 -0.3051995 -0.14268528 1.22512227] [ 0.30748554 0.95153195 -0.00629138 0.28905548] [ 0.13768973 -0.03795009 0.98974811 -0.15978987] [ 0. 0. 0. 1. ]] SLAMing on 36.781346184 meters Centerline goodness : 0.895282 Centerline is valid? [False, False] Translation: X:1.23, Y:0.29, Z:-0.16 [[ 0.94108373 -0.30602631 -0.14390729 1.22684118] [ 0.30841347 0.95123365 -0.0059734 0.29014093] [ 0.13871748 -0.03876147 0.98957315 -0.15877562] [ 0. 0. 0. 1. ]] SLAMing on 36.811346183999994 meters Centerline goodness : 0.894418 Centerline is valid? [False, False] Translation: X:1.23, Y:0.29, Z:-0.16 [[ 0.94093935 -0.30612773 -0.14463386 1.22700662] [ 0.30859681 0.95117643 -0.00560449 0.29108121] [ 0.13928801 -0.03936007 0.98946937 -0.15750135] [ 0. 0. 0. 1. ]] SLAMing on 36.841346183999995 meters Centerline goodness : 0.894966 Centerline is valid? [False, False] Translation: X:1.23, Y:0.29, Z:-0.16 [[ 0.94115057 -0.30431927 -0.14705572 1.23027951] [ 0.30735944 0.95159107 -0.00214875 0.29171776] [ 0.14059081 -0.04317666 0.98912588 -0.15730808] [ 0. 0. 0. 1. ]] SLAMing on 36.871346184 meters Centerline goodness : 0.892253 Centerline is valid? [False, False] Translation: X:1.23, Y:0.29, Z:-0.16 [[ 0.94093306 -0.30438877 -0.14829851 1.23172404] [ 0.30759619 0.951516 -0.00137125 0.29296623] [ 0.1415258 -0.0443258 0.98894169 -0.15648078] [ 0. 0. 0. 1. ]] SLAMing on 36.901346184 meters Centerline goodness : 0.891883 Centerline is valid? [False, False] Translation: X:1.23, Y:0.29, Z:-0.16 [[ 0.94063543 -0.30492246 -0.14908818 1.23442299] [ 0.30818606 0.95132525 -0.0012725 0.29308469] [ 0.14221936 -0.04474994 0.98882309 -0.15729963] [ 0. 0. 0. 1. ]] SLAMing on 36.931346184 meters Centerline goodness : 0.896285 Centerline is valid? [False, False] Translation: X:1.24, Y:0.29, Z:-0.16 [[ 0.94035364 -0.30564967 -0.14937642 1.23538216] [ 0.30887759 0.95110034 -0.00166925 0.29282735] [ 0.14258217 -0.04456934 0.98877899 -0.15696965] [ 0. 0. 0. 1. ]] SLAMing on 36.961346184 meters Centerline goodness : 0.896285 Centerline is valid? [False, False] Translation: X:1.24, Y:0.29, Z:-0.16 [[ 0.94035364 -0.30564967 -0.14937642 1.23538216] [ 0.30887759 0.95110034 -0.00166925 0.29282735] [ 0.14258217 -0.04456934 0.98877899 -0.15696965] [ 0. 0. 0. 1. ]] SLAMing on 36.991346184 meters Centerline goodness : 0.892751 Centerline is valid? [False, False] Translation: X:1.24, Y:0.29, Z:-0.16 [[ 9.40095381e-01 -3.05857350e-01 -1.50572094e-01 1.23765359e+00] [ 3.09232234e-01 9.50985973e-01 -1.05102228e-03 2.93302614e-01] [ 1.43513412e-01 -4.55736840e-02 9.88598472e-01 -1.56790254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.021346183999995 meters Centerline goodness : 0.893093 Centerline is valid? [False, False] Translation: X:1.24, Y:0.29, Z:-0.16 [[ 0.93972947 -0.30726401 -0.14999117 1.2371299 ] [ 0.31037297 0.9506107 -0.00281237 0.29417759] [ 0.14344736 -0.04391034 0.98868334 -0.1565511 ] [ 0. 0. 0. 1. ]] SLAMing on 37.051346183999996 meters Centerline goodness : 0.892810 Centerline is valid? [False, False] Translation: X:1.24, Y:0.29, Z:-0.16 [[ 0.93973501 -0.30688417 -0.1507323 1.24038876] [ 0.31007374 0.95070933 -0.00245795 0.29439551] [ 0.14405691 -0.04442831 0.98857156 -0.15852807] [ 0. 0. 0. 1. ]] SLAMing on 37.081346184 meters Centerline goodness : 0.894905 Centerline is valid? [False, False] Translation: X:1.24, Y:0.29, Z:-0.16 [[ 0.93970416 -0.30686042 -0.15097273 1.24126341] [ 0.30999052 0.95073511 -0.00293822 0.29476302] [ 0.1444367 -0.04403906 0.98853356 -0.15868346] [ 0. 0. 0. 1. ]] SLAMing on 37.111346184 meters Centerline goodness : 0.893647 Centerline is valid? [False, False] Translation: X:1.24, Y:0.30, Z:-0.16 [[ 9.40114247e-01 -3.04345281e-01 -1.53489910e-01 1.24415165e+00] [ 3.08014291e-01 9.51381721e-01 1.30862502e-04 2.96403228e-01] [ 1.45987668e-01 -4.74001115e-02 9.88150206e-01 -1.58418201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.141346184 meters Centerline goodness : 0.893501 Centerline is valid? [False, False] Translation: X:1.24, Y:0.30, Z:-0.16 [[ 9.40254434e-01 -3.03636201e-01 -1.54034598e-01 1.24411621e+00] [ 3.07321856e-01 9.51605623e-01 1.22195244e-04 2.97788526e-01] [ 1.46543086e-01 -4.74530931e-02 9.88065447e-01 -1.57678216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.171346184 meters Centerline goodness : 0.893378 Centerline is valid? [False, False] Translation: X:1.25, Y:0.30, Z:-0.16 [[ 0.9408618 -0.30076889 -0.15593958 1.24764718] [ 0.3050114 0.95234244 0.00345389 0.29819557] [ 0.14746906 -0.05081298 0.98776056 -0.15923802] [ 0. 0. 0. 1. ]] SLAMing on 37.201346183999995 meters Centerline goodness : 0.893003 Centerline is valid? [False, False] Translation: X:1.25, Y:0.30, Z:-0.16 [[ 0.94133402 -0.29946813 -0.15559273 1.24685439] [ 0.30359098 0.95279811 0.00287837 0.2999726 ] [ 0.14738648 -0.04994605 0.9878171 -0.15976622] [ 0. 0. 0. 1. ]] SLAMing on 37.231346183999996 meters Centerline goodness : 0.894853 Centerline is valid? [False, False] Translation: X:1.25, Y:0.30, Z:-0.16 [[ 0.94150592 -0.29858577 -0.15624706 1.24834662] [ 0.30272908 0.95307235 0.00286326 0.30144866] [ 0.14805982 -0.04999631 0.98771385 -0.16045313] [ 0. 0. 0. 1. ]] SLAMing on 37.261346184 meters Centerline goodness : 0.894402 Centerline is valid? [False, False] Translation: X:1.25, Y:0.30, Z:-0.16 [[ 0.94177236 -0.2977022 -0.1563273 1.24871493] [ 0.30178916 0.95337133 0.00253279 0.3028526 ] [ 0.14828395 -0.0495632 0.98770206 -0.16119164] [ 0. 0. 0. 1. ]] SLAMing on 37.291346184 meters Centerline goodness : 0.893505 Centerline is valid? [False, False] Translation: X:1.25, Y:0.30, Z:-0.16 [[ 0.94185931 -0.29759014 -0.15601652 1.24833155] [ 0.30147013 0.95347478 0.00126749 0.3046353 ] [ 0.14838063 -0.04822812 0.98775363 -0.16146618] [ 0. 0. 0. 1. ]] SLAMing on 37.321346184 meters Centerline goodness : 0.894209 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 9.41788284e-01 -2.97921382e-01 -1.55812959e-01 1.24840979e+00] [ 3.01582541e-01 9.53440060e-01 -1.49388407e-04 3.06303077e-01] [ 1.48602823e-01 -4.68497757e-02 9.87786566e-01 -1.61823031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.351346184 meters Centerline goodness : 0.893551 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 0.94189353 -0.29809918 -0.15483366 1.24767319] [ 0.30147836 0.95347144 -0.00173441 0.30715352] [ 0.1481465 -0.04504537 0.98793903 -0.16285669] [ 0. 0. 0. 1. ]] SLAMing on 37.381346183999995 meters Centerline goodness : 0.890473 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 0.94177572 -0.2983943 -0.15498175 1.24815056] [ 0.30166683 0.95341009 -0.00251409 0.30797874] [ 0.14851136 -0.04438515 0.98791413 -0.16274362] [ 0. 0. 0. 1. ]] SLAMing on 37.411346183999996 meters Centerline goodness : 0.894878 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 9.41620513e-01 -2.97766772e-01 -1.57117022e-01 1.25104757e+00] [ 3.01517828e-01 9.53460538e-01 4.14047556e-05 3.09352188e-01] [ 1.49792551e-01 -4.74125707e-02 9.87579992e-01 -1.62367910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.441346184 meters Centerline goodness : 0.894863 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 9.41345920e-01 -2.98143829e-01 -1.58044662e-01 1.25068689e+00] [ 3.02030210e-01 9.53298165e-01 6.00722222e-04 3.10622747e-01] [ 1.50484585e-01 -4.82997500e-02 9.87431782e-01 -1.60032263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.471346184 meters Centerline goodness : 0.894514 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 0.94118984 -0.2981906 -0.15888379 1.25101096] [ 0.30224587 0.95322893 0.00142768 0.31116495] [ 0.15102691 -0.04936569 0.98729626 -0.15867946] [ 0. 0. 0. 1. ]] SLAMing on 37.501346184 meters Centerline goodness : 0.895765 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 0.94079566 -0.30008617 -0.15764456 1.24917004] [ 0.30369317 0.95276905 -0.00126616 0.31106891] [ 0.15057881 -0.04668438 0.98749511 -0.15741614] [ 0. 0. 0. 1. ]] SLAMing on 37.531346184 meters Centerline goodness : 0.897280 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 0.94055117 -0.30095317 -0.15745058 1.25015502] [ 0.30440152 0.95254099 -0.0023183 0.31110926] [ 0.15067583 -0.04574772 0.98752415 -0.15802659] [ 0. 0. 0. 1. ]] SLAMing on 37.561346183999994 meters Centerline goodness : 0.897061 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 0.94039388 -0.30143339 -0.15747146 1.25018734] [ 0.30480895 0.95240928 -0.0028417 0.31141949] [ 0.15083386 -0.04532639 0.98751945 -0.1575168 ] [ 0. 0. 0. 1. ]] SLAMing on 37.591346183999995 meters Centerline goodness : 0.898663 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 0.94055538 -0.30072382 -0.15786311 1.24997331] [ 0.30422893 0.95259673 -0.00205476 0.31186906] [ 0.1509978 -0.04609391 0.98745887 -0.15681444] [ 0. 0. 0. 1. ]] SLAMing on 37.621346184 meters Centerline goodness : 0.900401 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 0.94035582 -0.3010993 -0.15833555 1.25017122] [ 0.30460909 0.95247491 -0.0022016 0.31282221] [ 0.15147354 -0.04616016 0.98738291 -0.155888 ] [ 0. 0. 0. 1. ]] SLAMing on 37.651346184 meters Centerline goodness : 0.899638 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.15 [[ 0.94030999 -0.30096995 -0.15885279 1.25024476] [ 0.30453915 0.95249779 -0.00196415 0.31366746] [ 0.15189808 -0.04652998 0.98730033 -0.15495325] [ 0. 0. 0. 1. ]] SLAMing on 37.681346184 meters Centerline goodness : 0.898429 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.15 [[ 9.40498378e-01 -2.99431805e-01 -1.60634352e-01 1.25015954e+00] [ 3.03508334e-01 9.52828374e-01 8.83845783e-04 3.14733232e-01] [ 1.52792317e-01 -4.95851203e-02 9.87013588e-01 -1.52498863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.711346184 meters Centerline goodness : 0.903256 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.15 [[ 0.94065765 -0.29877766 -0.1609195 1.25103859] [ 0.30291817 0.95301574 0.00125826 0.31495852] [ 0.15298287 -0.04992903 0.98696673 -0.15304406] [ 0. 0. 0. 1. ]] SLAMing on 37.741346184 meters Centerline goodness : 0.903918 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.15 [[ 9.40865941e-01 -2.98568065e-01 -1.60088701e-01 1.24999909e+00] [ 3.02517143e-01 9.53143893e-01 3.10758769e-04 3.14669204e-01] [ 1.52494785e-01 -4.87219590e-02 9.87102584e-01 -1.53240104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.771346183999995 meters Centerline goodness : 0.903545 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.15 [[ 9.41025092e-01 -2.98171784e-01 -1.59891723e-01 1.24971226e+00] [ 3.02029762e-01 9.53298479e-01 -1.82146592e-04 3.14610044e-01] [ 1.52478847e-01 -4.81206545e-02 9.87134542e-01 -1.53091655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801346183999996 meters Centerline goodness : 0.904769 Centerline is valid? [False, False] Translation: X:1.25, Y:0.32, Z:-0.15 [[ 0.94198211 -0.29456313 -0.16094181 1.24925834] [ 0.29886018 0.95429332 0.00261785 0.31574856] [ 0.15281457 -0.05056507 0.98696043 -0.15244126] [ 0. 0. 0. 1. ]] SLAMing on 37.831346184 meters Centerline goodness : 0.905084 Centerline is valid? [False, False] Translation: X:1.25, Y:0.32, Z:-0.15 [[ 0.94197392 -0.29435089 -0.16137746 1.2501226 ] [ 0.29857558 0.95438385 0.00202432 0.31852251] [ 0.15342018 -0.05009022 0.98689068 -0.15226505] [ 0. 0. 0. 1. ]] SLAMing on 37.861346184 meters Centerline goodness : 0.905342 Centerline is valid? [False, False] Translation: X:1.25, Y:0.32, Z:-0.15 [[ 9.42114120e-01 -2.94119687e-01 -1.60980107e-01 1.25031766e+00] [ 2.98098032e-01 9.54535079e-01 5.88935166e-04 3.20478743e-01] [ 1.53487942e-01 -4.85426974e-02 9.86957475e-01 -1.53458422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.891346184 meters Centerline goodness : 0.899185 Centerline is valid? [False, False] Translation: X:1.25, Y:0.32, Z:-0.15 [[ 0.94191897 -0.29353121 -0.16318114 1.24584577] [ 0.29530997 0.95530175 -0.0138056 0.32177176] [ 0.1599396 -0.03518526 0.98649953 -0.15043488] [ 0. 0. 0. 1. ]] SLAMing on 37.921346184 meters Centerline goodness : 0.899470 Centerline is valid? [False, False] Translation: X:1.25, Y:0.32, Z:-0.15 [[ 0.9419741 -0.29367996 -0.16259419 1.24596836] [ 0.29523061 0.95530672 -0.01509805 0.32238585] [ 0.15976132 -0.03378081 0.98657751 -0.1514348 ] [ 0. 0. 0. 1. ]] SLAMing on 37.951346183999995 meters Centerline goodness : 0.899283 Centerline is valid? [False, False] Translation: X:1.25, Y:0.32, Z:-0.15 [[ 0.94186041 -0.29340284 -0.16374901 1.24707956] [ 0.29518602 0.95533878 -0.01389376 0.32436902] [ 0.16051225 -0.03525044 0.98640419 -0.15103933] [ 0. 0. 0. 1. ]] SLAMing on 37.981346183999996 meters Centerline goodness : 0.901754 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.94199471 -0.29175998 -0.16589778 1.2481718 ] [ 0.29416273 0.95569815 -0.01045664 0.32570237] [ 0.16159903 -0.03895084 0.98608751 -0.14936967] [ 0. 0. 0. 1. ]] SLAMing on 38.011346184 meters Centerline goodness : 0.904837 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.94231407 -0.29657978 -0.15519222 1.24978029] [ 0.2985968 0.95431942 -0.01069562 0.33323253] [ 0.15127506 -0.03626127 0.98782639 -0.14913055] [ 0. 0. 0. 1. ]] SLAMing on 38.041346184 meters Centerline goodness : 0.903881 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.94239667 -0.29629844 -0.15522808 1.25077806] [ 0.29825403 0.95442219 -0.01108177 0.33300552] [ 0.15143663 -0.03585397 0.9878165 -0.14975914] [ 0. 0. 0. 1. ]] SLAMing on 38.071346184 meters Centerline goodness : 0.902739 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.94236993 -0.29662374 -0.15476844 1.25077312] [ 0.29840458 0.95436225 -0.0121407 0.33323489] [ 0.15130637 -0.03474258 0.98787617 -0.15024972] [ 0. 0. 0. 1. ]] SLAMing on 38.101346184 meters Centerline goodness : 0.903312 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.94265787 -0.29590502 -0.15439032 1.25100338] [ 0.29758586 0.95461128 -0.01264725 0.33410101] [ 0.15112512 -0.03402235 0.98792898 -0.15140068] [ 0. 0. 0. 1. ]] SLAMing on 38.131346183999995 meters Centerline goodness : 0.902211 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.94254485 -0.29646168 -0.15401197 1.25096645] [ 0.29796234 0.95447806 -0.01378662 0.33492826] [ 0.15108825 -0.03289526 0.98797279 -0.15179266] [ 0. 0. 0. 1. ]] SLAMing on 38.161346183999996 meters Centerline goodness : 0.900459 Centerline is valid? [False, False] Translation: X:1.25, Y:0.34, Z:-0.15 [[ 0.94250775 -0.29668178 -0.15381499 1.25209192] [ 0.29808566 0.95443058 -0.01439467 0.33503226] [ 0.15107637 -0.03228296 0.98799481 -0.15298136] [ 0. 0. 0. 1. ]] SLAMing on 38.191346184 meters Centerline goodness : 0.906068 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.94239086 -0.29680731 -0.15428829 1.25135781] [ 0.29831913 0.95436637 -0.01380331 0.33464587] [ 0.15134448 -0.03301903 0.98792945 -0.15103957] [ 0. 0. 0. 1. ]] SLAMing on 38.221346184 meters Centerline goodness : 0.906845 Centerline is valid? [False, False] Translation: X:1.25, Y:0.34, Z:-0.15 [[ 0.94214664 -0.29777968 -0.15390571 1.24881279] [ 0.29909189 0.95410477 -0.01510407 0.33663882] [ 0.15133986 -0.03180171 0.98797009 -0.14876836] [ 0. 0. 0. 1. ]] SLAMing on 38.251346184 meters Centerline goodness : 0.908360 Centerline is valid? [False, False] Translation: X:1.25, Y:0.34, Z:-0.15 [[ 0.94192947 -0.29870115 -0.15344868 1.24648277] [ 0.29985613 0.95384837 -0.01611146 0.33766415] [ 0.15117928 -0.03083667 0.98802526 -0.146982 ] [ 0. 0. 0. 1. ]] SLAMing on 38.281346184 meters Centerline goodness : 0.906046 Centerline is valid? [False, False] Translation: X:1.25, Y:0.34, Z:-0.15 [[ 0.94060562 -0.30348645 -0.15217438 1.24615461] [ 0.30400892 0.95245087 -0.02039393 0.33701751] [ 0.1511279 -0.02707972 0.98814323 -0.14603624] [ 0. 0. 0. 1. ]] SLAMing on 38.311346183999994 meters Centerline goodness : 0.905064 Centerline is valid? [False, False] Translation: X:1.25, Y:0.34, Z:-0.15 [[ 0.93939965 -0.3075876 -0.15138749 1.24759194] [ 0.30753648 0.95122485 -0.02434354 0.33726779] [ 0.15149131 -0.02368887 0.98817469 -0.14599497] [ 0. 0. 0. 1. ]] SLAMing on 38.341346183999995 meters Centerline goodness : 0.901845 Centerline is valid? [False, False] Translation: X:1.25, Y:0.34, Z:-0.15 [[ 0.93827014 -0.31124253 -0.15092126 1.24832444] [ 0.31073793 0.95009694 -0.02752724 0.33739028] [ 0.15195747 -0.02106897 0.98816245 -0.14524012] [ 0. 0. 0. 1. ]] SLAMing on 38.371346184 meters Centerline goodness : 0.902751 Centerline is valid? [False, False] Translation: X:1.25, Y:0.34, Z:-0.14 [[ 0.93669894 -0.31445801 -0.15398457 1.2541322 ] [ 0.31420752 0.94898142 -0.0266063 0.33767093] [ 0.15449506 -0.02346102 0.98771497 -0.14418232] [ 0. 0. 0. 1. ]] SLAMing on 38.401346184 meters Centerline goodness : 0.901466 Centerline is valid? [False, False] Translation: X:1.25, Y:0.34, Z:-0.14 [[ 0.93665396 -0.31458354 -0.15400184 1.25431114] [ 0.31436293 0.94893492 -0.02642842 0.33682118] [ 0.15445167 -0.02365819 0.98771705 -0.14437909] [ 0. 0. 0. 1. ]] SLAMing on 38.431346184 meters Centerline goodness : 0.900962 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.14 [[ 0.9366434 -0.31450632 -0.1542236 1.25503276] [ 0.31429563 0.9489582 -0.02639301 0.33646787] [ 0.15465251 -0.02375097 0.9876834 -0.14440308] [ 0. 0. 0. 1. ]] SLAMing on 38.461346184 meters Centerline goodness : 0.899577 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.14 [[ 0.93667803 -0.31390944 -0.15522609 1.25703695] [ 0.31382367 0.94913326 -0.02570543 0.33612004] [ 0.15539943 -0.02463591 0.98754448 -0.14451831] [ 0. 0. 0. 1. ]] SLAMing on 38.491346184 meters Centerline goodness : 0.896973 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.14 [[ 0.9366729 -0.31384708 -0.15538302 1.25726576] [ 0.31372909 0.94915842 -0.02592985 0.33668305] [ 0.15562111 -0.02446039 0.98751393 -0.14415636] [ 0. 0. 0. 1. ]] SLAMing on 38.521346183999995 meters Centerline goodness : 0.897778 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.14 [[ 0.93689914 -0.31258334 -0.15656198 1.25889255] [ 0.31273156 0.94952987 -0.02433086 0.33648004] [ 0.1562657 -0.02616631 0.9873684 -0.14403197] [ 0. 0. 0. 1. ]] SLAMing on 38.551346183999996 meters Centerline goodness : 0.902125 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.14 [[ 0.93772466 -0.30894347 -0.15882817 1.26071467] [ 0.30980355 0.95059128 -0.01994946 0.33518119] [ 0.15714393 -0.03049844 0.98710467 -0.14311493] [ 0. 0. 0. 1. ]] SLAMing on 38.581346184 meters Centerline goodness : 0.900630 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.14 [[ 0.93821178 -0.3072039 -0.1593249 1.26195441] [ 0.30821457 0.95112804 -0.01895309 0.33512176] [ 0.15736085 -0.03132425 0.98704425 -0.14397026] [ 0. 0. 0. 1. ]] SLAMing on 38.611346184 meters Centerline goodness : 0.900869 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.14 [[ 0.93828458 -0.30677497 -0.15972216 1.26311025] [ 0.30778317 0.95126657 -0.01901157 0.33528869] [ 0.15777062 -0.03132153 0.98697892 -0.14374748] [ 0. 0. 0. 1. ]] SLAMing on 38.641346184 meters Centerline goodness : 0.900600 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93856331 -0.30584034 -0.15987685 1.26545843] [ 0.30680609 0.95157782 -0.01922694 0.33587501] [ 0.15801564 -0.03100549 0.9869497 -0.14608814] [ 0. 0. 0. 1. ]] SLAMing on 38.671346184 meters Centerline goodness : 0.898742 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93870729 -0.3057746 -0.15915561 1.26761762] [ 0.30623859 0.95169551 -0.02221675 0.33795979] [ 0.158261 -0.02788456 0.9870035 -0.14939228] [ 0. 0. 0. 1. ]] SLAMing on 38.701346183999995 meters Centerline goodness : 0.898728 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93888718 -0.30512015 -0.15935041 1.26826704] [ 0.30557561 0.95190786 -0.0222481 0.33970035] [ 0.15847525 -0.02780514 0.98697136 -0.1503304 ] [ 0. 0. 0. 1. ]] SLAMing on 38.731346183999996 meters Centerline goodness : 0.896916 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93913491 -0.30441116 -0.15924657 1.26699372] [ 0.30479965 0.95214866 -0.02258569 0.34158203] [ 0.15850175 -0.02732729 0.98698045 -0.14983632] [ 0. 0. 0. 1. ]] SLAMing on 38.761346184 meters Centerline goodness : 0.898080 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.94037093 -0.30004193 -0.16024152 1.26587674] [ 0.30093946 0.95344951 -0.01922169 0.34253467] [ 0.15854951 -0.03014748 0.98689066 -0.14874395] [ 0. 0. 0. 1. ]] SLAMing on 38.791346184 meters Centerline goodness : 0.901580 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.94114838 -0.29758349 -0.16026164 1.26566387] [ 0.29863077 0.95419745 -0.01808009 0.34202582] [ 0.15830159 -0.03084301 0.98690897 -0.14910518] [ 0. 0. 0. 1. ]] SLAMing on 38.821346184 meters Centerline goodness : 0.899112 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.15 [[ 0.94114353 -0.29772064 -0.16003521 1.26472636] [ 0.29870164 0.95416798 -0.0184608 0.34132567] [ 0.15819664 -0.03042852 0.98693867 -0.14780782] [ 0. 0. 0. 1. ]] SLAMing on 38.851346184 meters Centerline goodness : 0.897773 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.15 [[ 0.94131729 -0.29806955 -0.15835499 1.26347126] [ 0.29876422 0.95411809 -0.01996539 0.33911702] [ 0.15704044 -0.02851704 0.98718037 -0.1487049 ] [ 0. 0. 0. 1. ]] SLAMing on 38.881346183999995 meters Centerline goodness : 0.897773 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.15 [[ 0.94131729 -0.29806955 -0.15835499 1.26347126] [ 0.29876422 0.95411809 -0.01996539 0.33911702] [ 0.15704044 -0.02851704 0.98718037 -0.1487049 ] [ 0. 0. 0. 1. ]] SLAMing on 38.911346183999996 meters Centerline goodness : 0.898579 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.15 [[ 0.94075627 -0.29944957 -0.15908362 1.26465411] [ 0.30014232 0.95367989 -0.02023003 0.33918581] [ 0.15777272 -0.0287162 0.98705782 -0.14762727] [ 0. 0. 0. 1. ]] SLAMing on 38.941346184 meters Centerline goodness : 0.899276 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.15 [[ 0.94065375 -0.29979558 -0.15903815 1.26463207] [ 0.30047771 0.95357241 -0.02031779 0.33887412] [ 0.15774558 -0.02867541 0.98706335 -0.14770582] [ 0. 0. 0. 1. ]] SLAMing on 38.971346184 meters Centerline goodness : 0.896585 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93929126 -0.30437596 -0.15838943 1.26589793] [ 0.30446548 0.95221333 -0.02430138 0.33971832] [ 0.15821728 -0.02539804 0.98707762 -0.14789564] [ 0. 0. 0. 1. ]] SLAMing on 39.001346184 meters Centerline goodness : 0.895942 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93801232 -0.30869263 -0.15761266 1.26698763] [ 0.30813017 0.95091375 -0.02861555 0.34081224] [ 0.15870945 -0.02172348 0.98708632 -0.14733618] [ 0. 0. 0. 1. ]] SLAMing on 39.031346184 meters Centerline goodness : 0.894110 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93700322 -0.31192043 -0.15725967 1.26886213] [ 0.31099571 0.9499025 -0.03109511 0.34035371] [ 0.15908055 -0.01977086 0.98706762 -0.14778223] [ 0. 0. 0. 1. ]] SLAMing on 39.061346183999994 meters Centerline goodness : 0.894751 Centerline is valid? [False, False] Translation: X:1.24, Y:0.33, Z:-0.15 [[ 0.93674116 -0.31648969 -0.14950011 1.23807209] [ 0.31476975 0.94849775 -0.0356654 0.32870399] [ 0.15308825 -0.01364886 0.98811826 -0.15095677] [ 0. 0. 0. 1. ]] SLAMing on 39.091346183999995 meters Centerline goodness : 0.896386 Centerline is valid? [False, False] Translation: X:1.24, Y:0.33, Z:-0.15 [[ 0.93629068 -0.31674693 -0.15176019 1.2407801 ] [ 0.315461 0.94836023 -0.0331246 0.32770146] [ 0.15441545 -0.01686017 0.98786214 -0.14919765] [ 0. 0. 0. 1. ]] SLAMing on 39.121346184 meters Centerline goodness : 0.897681 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.93586567 -0.31607741 -0.15572579 1.24510625] [ 0.31562995 0.94846159 -0.02825508 0.32733814] [ 0.15663073 -0.02270876 0.98739614 -0.14664543] [ 0. 0. 0. 1. ]] SLAMing on 39.151346184 meters Centerline goodness : 0.897624 Centerline is valid? [False, False] Translation: X:1.24, Y:0.33, Z:-0.15 [[ 0.93565344 -0.31684725 -0.15543636 1.24332956] [ 0.31628389 0.94822095 -0.02900922 0.32804211] [ 0.1565795 -0.02201944 0.98741987 -0.14519349] [ 0. 0. 0. 1. ]] SLAMing on 39.181346184 meters Centerline goodness : 0.897162 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.93485302 -0.31834663 -0.15717906 1.24829412] [ 0.31779005 0.94770691 -0.02934434 0.3289538 ] [ 0.15830135 -0.02251729 0.98713406 -0.1459316 ] [ 0. 0. 0. 1. ]] SLAMing on 39.211346184 meters Centerline goodness : 0.898167 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.93482624 -0.31811362 -0.15780883 1.25178715] [ 0.31751711 0.94778847 -0.02966308 0.32834478] [ 0.15900562 -0.02237718 0.98702405 -0.14753067] [ 0. 0. 0. 1. ]] SLAMing on 39.241346184 meters Centerline goodness : 0.895753 Centerline is valid? [False, False] Translation: X:1.26, Y:0.33, Z:-0.15 [[ 0.93459696 -0.31824499 -0.15889824 1.25566041] [ 0.31761398 0.94774406 -0.03004278 0.32886689] [ 0.16015583 -0.02239041 0.98683777 -0.14871882] [ 0. 0. 0. 1. ]] SLAMing on 39.271346183999995 meters Centerline goodness : 0.896758 Centerline is valid? [False, False] Translation: X:1.26, Y:0.33, Z:-0.15 [[ 0.93459726 -0.31792204 -0.15954163 1.25729043] [ 0.31721709 0.94786045 -0.0305594 0.33106103] [ 0.16093871 -0.02204861 0.98671809 -0.14928718] [ 0. 0. 0. 1. ]] SLAMing on 39.301346183999996 meters Centerline goodness : 0.895926 Centerline is valid? [False, False] Translation: X:1.26, Y:0.33, Z:-0.15 [[ 0.93466791 -0.31702915 -0.16089877 1.25890656] [ 0.31638359 0.94814703 -0.03030888 0.33289398] [ 0.16216449 -0.02257699 0.98650543 -0.14841234] [ 0. 0. 0. 1. ]] SLAMing on 39.331346184 meters Centerline goodness : 0.897510 Centerline is valid? [False, False] Translation: X:1.26, Y:0.33, Z:-0.15 [[ 0.93510136 -0.31433739 -0.16363816 1.26354458] [ 0.31432614 0.94894094 -0.02664916 0.33437718] [ 0.16365978 -0.02651609 0.98616042 -0.14950625] [ 0. 0. 0. 1. ]] SLAMing on 39.361346184 meters Centerline goodness : 0.896541 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93552973 -0.31242346 -0.16485056 1.26653508] [ 0.31257843 0.94954472 -0.02568163 0.33589127] [ 0.16455652 -0.0275028 0.98598415 -0.15092111] [ 0. 0. 0. 1. ]] SLAMing on 39.391346184 meters Centerline goodness : 0.893013 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93678204 -0.30958426 -0.16308587 1.26582079] [ 0.30941065 0.95054179 -0.02711723 0.33602998] [ 0.163415 -0.02505757 0.98623915 -0.15415599] [ 0. 0. 0. 1. ]] SLAMing on 39.421346184 meters Centerline goodness : 0.893624 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.15 [[ 0.93733632 -0.3081336 -0.16264782 1.26487249] [ 0.30790587 0.95102655 -0.02724833 0.3357605 ] [ 0.16307852 -0.02453937 0.98630787 -0.1542524 ] [ 0. 0. 0. 1. ]] SLAMing on 39.451346183999995 meters Centerline goodness : 0.895544 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93826163 -0.3046274 -0.16391236 1.26597591] [ 0.30494279 0.95207173 -0.02386038 0.33505698] [ 0.16332485 -0.02759661 0.9861863 -0.1544124 ] [ 0. 0. 0. 1. ]] SLAMing on 39.481346183999996 meters Centerline goodness : 0.895957 Centerline is valid? [False, False] Translation: X:1.26, Y:0.33, Z:-0.15 [[ 0.93975825 -0.2992173 -0.16529806 1.26428557] [ 0.30032708 0.95365025 -0.01883751 0.33393865] [ 0.16327304 -0.03194077 0.98606374 -0.15234291] [ 0. 0. 0. 1. ]] SLAMing on 39.511346184 meters Centerline goodness : 0.895497 Centerline is valid? [False, False] Translation: X:1.26, Y:0.33, Z:-0.15 [[ 0.93978011 -0.2990881 -0.16540752 1.26454239] [ 0.30013796 0.95370237 -0.0192092 0.3349523 ] [ 0.16349479 -0.03159265 0.98603821 -0.15185005] [ 0. 0. 0. 1. ]] SLAMing on 39.541346184 meters Centerline goodness : 0.894750 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.9398118 -0.29879998 -0.16574786 1.26582793] [ 0.2998615 0.95378992 -0.01917995 0.33522624] [ 0.1638196 -0.03167586 0.98598163 -0.15221063] [ 0. 0. 0. 1. ]] SLAMing on 39.571346184 meters Centerline goodness : 0.895070 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93983018 -0.298984 -0.1653112 1.26715911] [ 0.29985598 0.95376947 -0.02025339 0.33582397] [ 0.16372422 -0.0305348 0.98603347 -0.15420061] [ 0. 0. 0. 1. ]] SLAMing on 39.601346184 meters Centerline goodness : 0.896017 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.16 [[ 0.93982644 -0.30006853 -0.1633559 1.26615585] [ 0.30030201 0.95354576 -0.02385774 0.33736988] [ 0.16292628 -0.02663397 0.98627869 -0.15602673] [ 0. 0. 0. 1. ]] SLAMing on 39.631346183999995 meters Centerline goodness : 0.893774 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.16 [[ 0.93992597 -0.29977304 -0.16332574 1.26663677] [ 0.29999206 0.9536419 -0.02391423 0.3382227 ] [ 0.16292311 -0.02651882 0.98628232 -0.15674091] [ 0. 0. 0. 1. ]] SLAMing on 39.661346183999996 meters Centerline goodness : 0.892547 Centerline is valid? [False, False] Translation: X:1.27, Y:0.35, Z:-0.16 [[ 0.93998374 -0.30585242 -0.15127743 1.26869432] [ 0.30531897 0.95185809 -0.02732223 0.34566882] [ 0.15235121 -0.02050541 0.98811368 -0.15783651] [ 0. 0. 0. 1. ]] SLAMing on 39.691346184 meters Centerline goodness : 0.893396 Centerline is valid? [False, False] Translation: X:1.27, Y:0.35, Z:-0.16 [[ 0.94001555 -0.30535096 -0.15209061 1.27127415] [ 0.30494048 0.95199992 -0.02659793 0.34592286] [ 0.15291196 -0.02137612 0.9880086 -0.15900455] [ 0. 0. 0. 1. ]] SLAMing on 39.721346184 meters Centerline goodness : 0.892676 Centerline is valid? [False, False] Translation: X:1.27, Y:0.35, Z:-0.16 [[ 0.94010881 -0.30523028 -0.15175606 1.27013987] [ 0.30479436 0.95204371 -0.02670542 0.34577646] [ 0.1526297 -0.02114839 0.98805714 -0.15820025] [ 0. 0. 0. 1. ]] SLAMing on 39.751346184 meters Centerline goodness : 0.894527 Centerline is valid? [False, False] Translation: X:1.27, Y:0.35, Z:-0.16 [[ 0.9400828 -0.30497574 -0.15242742 1.26990183] [ 0.30470394 0.95209978 -0.02571981 0.34557584] [ 0.15297003 -0.02226649 0.98797995 -0.15649171] [ 0. 0. 0. 1. ]] SLAMing on 39.781346184 meters Centerline goodness : 0.896927 Centerline is valid? [False, False] Translation: X:1.27, Y:0.35, Z:-0.16 [[ 0.94003867 -0.30359845 -0.15541971 1.27321914] [ 0.30413534 0.95239957 -0.02089861 0.34555665] [ 0.15436645 -0.02762312 0.98762744 -0.1554394 ] [ 0. 0. 0. 1. ]] SLAMing on 39.811346183999994 meters Centerline goodness : 0.895525 Centerline is valid? [False, False] Translation: X:1.27, Y:0.35, Z:-0.15 [[ 0.93974449 -0.30420289 -0.1560157 1.27386744] [ 0.30475712 0.95219972 -0.02094714 0.34542464] [ 0.15493029 -0.02786194 0.98753244 -0.15430897] [ 0. 0. 0. 1. ]] SLAMing on 39.841346183999995 meters Centerline goodness : 0.895734 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.15 [[ 0.9395671 -0.30462427 -0.1562617 1.27544897] [ 0.30519471 0.95206006 -0.02092451 0.34486621] [ 0.15514464 -0.02803026 0.98749402 -0.15486933] [ 0. 0. 0. 1. ]] SLAMing on 39.871346184 meters Centerline goodness : 0.894273 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.16 [[ 0.93940737 -0.30540861 -0.15569002 1.2758872 ] [ 0.30583065 0.95183556 -0.02183318 0.34412524] [ 0.15485934 -0.02710453 0.98756465 -0.15557098] [ 0. 0. 0. 1. ]] SLAMing on 39.901346184 meters Centerline goodness : 0.896378 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.16 [[ 0.93917984 -0.30613378 -0.1556385 1.27664039] [ 0.30648198 0.95161389 -0.02235601 0.34325985] [ 0.15495168 -0.02670409 0.98756107 -0.15555562] [ 0. 0. 0. 1. ]] SLAMing on 39.931346184 meters Centerline goodness : 0.897929 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.15 [[ 0.93920633 -0.30611354 -0.15551836 1.27574654] [ 0.306485 0.95161692 -0.02218499 0.34269972] [ 0.15478503 -0.02682776 0.98758385 -0.15442923] [ 0. 0. 0. 1. ]] SLAMing on 39.961346184 meters Centerline goodness : 0.898192 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.15 [[ 0.93912316 -0.30592636 -0.15638656 1.27760658] [ 0.30646723 0.95164408 -0.02124564 0.34263169] [ 0.15532395 -0.02797508 0.9874674 -0.15460734] [ 0. 0. 0. 1. ]] SLAMing on 39.991346184 meters Centerline goodness : 0.898097 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.15 [[ 0.93866837 -0.30697696 -0.15705682 1.27969247] [ 0.30753207 0.95129778 -0.02136729 0.34264543] [ 0.15596707 -0.02824321 0.98735839 -0.15477563] [ 0. 0. 0. 1. ]] SLAMing on 40.021346183999995 meters Centerline goodness : 0.896992 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.16 [[ 0.93750339 -0.31106993 -0.15595798 1.2809687 ] [ 0.3110417 0.95006163 -0.02521804 0.34208737] [ 0.15601427 -0.02486744 0.98744172 -0.15547583] [ 0. 0. 0. 1. ]] SLAMing on 40.051346183999996 meters Centerline goodness : 0.894561 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.16 [[ 0.93739046 -0.31122667 -0.15632363 1.28300071] [ 0.31118603 0.95001036 -0.02536879 0.34126621] [ 0.15640451 -0.02486526 0.98738004 -0.15615521] [ 0. 0. 0. 1. ]] SLAMing on 40.081346184 meters Centerline goodness : 0.896203 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.16 [[ 0.93739929 -0.31110681 -0.15650917 1.28343564] [ 0.31115765 0.95003437 -0.02481135 0.34011561] [ 0.15640807 -0.02544088 0.98736481 -0.15586186] [ 0. 0. 0. 1. ]] SLAMing on 40.111346184 meters Centerline goodness : 0.899704 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.15 [[ 0.93776937 -0.30950315 -0.15746875 1.28240013] [ 0.30992946 0.95049396 -0.02247126 0.33832447] [ 0.15662802 -0.02773134 0.98726827 -0.15309675] [ 0. 0. 0. 1. ]] SLAMing on 40.141346184 meters Centerline goodness : 0.899921 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.15 [[ 0.93813116 -0.30821277 -0.15784426 1.28294787] [ 0.30886615 0.95087369 -0.0209983 0.33721859] [ 0.1565619 -0.02905358 0.98724073 -0.1532147 ] [ 0. 0. 0. 1. ]] SLAMing on 40.171346184 meters Centerline goodness : 0.899256 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.15 [[ 0.93824348 -0.30797394 -0.1576427 1.28285102] [ 0.30855444 0.95096593 -0.02139986 0.33642891] [ 0.15650344 -0.02856307 0.98726431 -0.15307842] [ 0. 0. 0. 1. ]] SLAMing on 40.201346183999995 meters Centerline goodness : 0.898647 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.15 [[ 0.93827035 -0.30773685 -0.15794549 1.28448213] [ 0.30832426 0.95104076 -0.02139205 0.33545032] [ 0.15679572 -0.0286269 0.98721609 -0.1536172 ] [ 0. 0. 0. 1. ]] SLAMing on 40.231346183999996 meters Centerline goodness : 0.900000 Centerline is valid? [False, False] Translation: X:1.29, Y:0.34, Z:-0.15 [[ 0.93823726 -0.30795342 -0.15771979 1.28503833] [ 0.30841072 0.95099448 -0.02218849 0.33522321] [ 0.15682367 -0.02782441 0.98723459 -0.15420106] [ 0. 0. 0. 1. ]] SLAMing on 40.261346184 meters Centerline goodness : 0.900267 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93817523 -0.30815305 -0.1576989 1.28699684] [ 0.30850038 0.95094868 -0.0228938 0.33474515] [ 0.15701836 -0.02717177 0.98722182 -0.15587816] [ 0. 0. 0. 1. ]] SLAMing on 40.291346184 meters Centerline goodness : 0.900181 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.9380735 -0.30835738 -0.15790449 1.28795429] [ 0.30864011 0.95089217 -0.0233528 0.334748 ] [ 0.15735116 -0.02682902 0.98717821 -0.15603245] [ 0. 0. 0. 1. ]] SLAMing on 40.321346184 meters Centerline goodness : 0.899851 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93821296 -0.30764675 -0.15846109 1.28981054] [ 0.3080775 0.95109606 -0.0224617 0.33466515] [ 0.15762199 -0.02774444 0.9871097 -0.15709443] [ 0. 0. 0. 1. ]] SLAMing on 40.351346184 meters Centerline goodness : 0.901081 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93821587 -0.30731694 -0.15908265 1.29039698] [ 0.30793564 0.95116715 -0.02137049 0.33414093] [ 0.1578817 -0.02893709 0.98703395 -0.15646667] [ 0. 0. 0. 1. ]] SLAMing on 40.381346183999995 meters Centerline goodness : 0.903916 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93813269 -0.30779338 -0.15865151 1.28996264] [ 0.30834091 0.95102662 -0.02177738 0.33187103] [ 0.15758474 -0.02848868 0.98709445 -0.15581312] [ 0. 0. 0. 1. ]] SLAMing on 40.411346183999996 meters Centerline goodness : 0.901297 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93813079 -0.30851848 -0.15724814 1.28902086] [ 0.30873394 0.9508537 -0.02367675 0.33010649] [ 0.15682469 -0.02633595 0.98727526 -0.15628898] [ 0. 0. 0. 1. ]] SLAMing on 40.441346184 meters Centerline goodness : 0.901845 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93831453 -0.30844368 -0.15629568 1.28903206] [ 0.30856309 0.95089811 -0.02411635 0.32824233] [ 0.1560598 -0.02559835 0.98741585 -0.15756147] [ 0. 0. 0. 1. ]] SLAMing on 40.471346184 meters Centerline goodness : 0.907075 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93857711 -0.30790449 -0.15578139 1.28885224] [ 0.30794332 0.95108929 -0.02449654 0.32697319] [ 0.15570461 -0.02497995 0.98748776 -0.15799399] [ 0. 0. 0. 1. ]] SLAMing on 40.501346184 meters Centerline goodness : 0.907025 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93910375 -0.31215284 -0.14368282 1.29035865] [ 0.31168892 0.9498198 -0.02631288 0.33160162] [ 0.14468643 -0.02007382 0.98927391 -0.15893581] [ 0. 0. 0. 1. ]] SLAMing on 40.531346184 meters Centerline goodness : 0.909328 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.9396367 -0.3100574 -0.14473176 1.28990307] [ 0.30999017 0.95044693 -0.02359518 0.3299758 ] [ 0.14487572 -0.02269452 0.98918956 -0.15694178] [ 0. 0. 0. 1. ]] SLAMing on 40.561346183999994 meters Centerline goodness : 0.911152 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93960535 -0.30995446 -0.14515516 1.28953609] [ 0.30998442 0.95046358 -0.02299197 0.32976752] [ 0.14509116 -0.02339246 0.98914172 -0.15561913] [ 0. 0. 0. 1. ]] SLAMing on 40.591346183999995 meters Centerline goodness : 0.911021 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.15 [[ 0.93960381 -0.30984629 -0.14539589 1.28931527] [ 0.30992804 0.9504897 -0.02267008 0.32942698] [ 0.14522154 -0.02376137 0.9891138 -0.15469824] [ 0. 0. 0. 1. ]] SLAMing on 40.621346184 meters Centerline goodness : 0.909071 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93978833 -0.31006937 -0.14371804 1.2899603 ] [ 0.30981312 0.95047571 -0.02473348 0.32661643] [ 0.1442696 -0.0212815 0.98930955 -0.15713665] [ 0. 0. 0. 1. ]] SLAMing on 40.651346184 meters Centerline goodness : 0.911480 Centerline is valid? [False, False] Translation: X:1.29, Y:0.32, Z:-0.16 [[ 0.93980108 -0.31091323 -0.14179875 1.28882342] [ 0.31027359 0.95025897 -0.02716973 0.32403754] [ 0.14319296 -0.01846226 0.98952257 -0.15812295] [ 0. 0. 0. 1. ]] SLAMing on 40.681346184 meters Centerline goodness : 0.912524 Centerline is valid? [False, False] Translation: X:1.29, Y:0.32, Z:-0.16 [[ 0.93976306 -0.31133837 -0.1411163 1.28835835] [ 0.31046748 0.95015016 -0.02871629 0.32232679] [ 0.14302216 -0.01682551 0.98957646 -0.15787557] [ 0. 0. 0. 1. ]] SLAMing on 40.711346184 meters Centerline goodness : 0.913832 Centerline is valid? [False, False] Translation: X:1.29, Y:0.32, Z:-0.16 [[ 0.93962514 -0.31155321 -0.14155983 1.28757866] [ 0.31084596 0.95005788 -0.02765548 0.31985033] [ 0.14310619 -0.01801752 0.98954332 -0.15537895] [ 0. 0. 0. 1. ]] SLAMing on 40.741346184 meters Centerline goodness : 0.915574 Centerline is valid? [False, False] Translation: X:1.29, Y:0.32, Z:-0.15 [[ 0.93907672 -0.31277288 -0.14250626 1.28878473] [ 0.3121248 0.94964406 -0.02746388 0.31979402] [ 0.14392018 -0.01868905 0.98941281 -0.15398149] [ 0. 0. 0. 1. ]] SLAMing on 40.771346183999995 meters Centerline goodness : 0.915574 Centerline is valid? [False, False] Translation: X:1.29, Y:0.32, Z:-0.15 [[ 0.93907672 -0.31277288 -0.14250626 1.28878473] [ 0.3121248 0.94964406 -0.02746388 0.31979402] [ 0.14392018 -0.01868905 0.98941281 -0.15398149] [ 0. 0. 0. 1. ]] SLAMing on 40.801346183999996 meters Centerline goodness : 0.913392 Centerline is valid? [False, False] Translation: X:1.29, Y:0.32, Z:-0.15 [[ 0.938833 -0.31320296 -0.14316598 1.29142596] [ 0.31269638 0.94948019 -0.02661474 0.31873714] [ 0.14426907 -0.01978069 0.98934077 -0.15497053] [ 0. 0. 0. 1. ]] SLAMing on 40.831346184 meters Centerline goodness : 0.911870 Centerline is valid? [False, False] Translation: X:1.29, Y:0.32, Z:-0.16 [[ 0.9384789 -0.31418002 -0.14334667 1.29432207] [ 0.31366818 0.94915573 -0.0267519 0.31776381] [ 0.14446323 -0.0198572 0.98931091 -0.15672461] [ 0. 0. 0. 1. ]] SLAMing on 40.861346184 meters Centerline goodness : 0.912713 Centerline is valid? [False, False] Translation: X:1.29, Y:0.31, Z:-0.16 [[ 0.93761822 -0.31830226 -0.13984182 1.29189939] [ 0.31700276 0.94788208 -0.03207514 0.31312586] [ 0.14276315 -0.014256 0.98965421 -0.15712908] [ 0. 0. 0. 1. ]] SLAMing on 40.891346184 meters Centerline goodness : 0.913719 Centerline is valid? [False, False] Translation: X:1.30, Y:0.31, Z:-0.16 [[ 0.93738681 -0.3185871 -0.14074172 1.29510345] [ 0.31749146 0.9477614 -0.03078152 0.31116058] [ 0.14319616 -0.01583011 0.98956772 -0.1579723 ] [ 0. 0. 0. 1. ]] SLAMing on 40.921346184 meters Centerline goodness : 0.915389 Centerline is valid? [False, False] Translation: X:1.30, Y:0.31, Z:-0.16 [[ 0.93730367 -0.31827599 -0.14199373 1.29746643] [ 0.31752374 0.94782075 -0.02853939 0.30907103] [ 0.143668 -0.01833631 0.98945606 -0.15760874] [ 0. 0. 0. 1. ]] SLAMing on 40.951346183999995 meters Centerline goodness : 0.920936 Centerline is valid? [False, False] Translation: X:1.30, Y:0.30, Z:-0.15 [[ 0.93808315 -0.31526052 -0.14356466 1.29706512] [ 0.31527438 0.94871553 -0.02325763 0.30412255] [ 0.14353423 -0.02344467 0.98936761 -0.15467565] [ 0. 0. 0. 1. ]] SLAMing on 40.981346183999996 meters Centerline goodness : 0.921474 Centerline is valid? [False, False] Translation: X:1.30, Y:0.30, Z:-0.15 [[ 0.93839579 -0.3141178 -0.14402549 1.29562688] [ 0.3143562 0.94905708 -0.02169885 0.30258356] [ 0.1435044 -0.0249132 0.98933605 -0.1524854 ] [ 0. 0. 0. 1. ]] SLAMing on 41.011346184 meters Centerline goodness : 0.922761 Centerline is valid? [False, False] Translation: X:1.30, Y:0.30, Z:-0.15 [[ 0.93880328 -0.31257371 -0.14472757 1.29721611] [ 0.31306135 0.94952256 -0.01998769 0.30164662] [ 0.14366972 -0.0265441 0.98926964 -0.15318869] [ 0. 0. 0. 1. ]] SLAMing on 41.041346184 meters Centerline goodness : 0.921657 Centerline is valid? [False, False] Translation: X:1.30, Y:0.30, Z:-0.16 [[ 0.93870372 -0.31463567 -0.14085353 1.29588764] [ 0.31420176 0.94900293 -0.02589791 0.29914257] [ 0.14181882 -0.01994596 0.98969166 -0.15692278] [ 0. 0. 0. 1. ]] SLAMing on 41.071346184 meters Centerline goodness : 0.921058 Centerline is valid? [False, False] Translation: X:1.30, Y:0.30, Z:-0.16 [[ 0.93831053 -0.31655366 -0.13916586 1.2968078 ] [ 0.31565192 0.94842887 -0.02909557 0.2975793 ] [ 0.14119923 -0.01662729 0.98984156 -0.15937499] [ 0. 0. 0. 1. ]] SLAMing on 41.101346184 meters Centerline goodness : 0.920790 Centerline is valid? [False, False] Translation: X:1.30, Y:0.30, Z:-0.16 [[ 0.93805772 -0.31696394 -0.13993418 1.29960336] [ 0.31619957 0.94827171 -0.02825962 0.29625327] [ 0.1416529 -0.01773797 0.98975746 -0.16010867] [ 0. 0. 0. 1. ]] SLAMing on 41.131346183999995 meters Centerline goodness : 0.923712 Centerline is valid? [False, False] Translation: X:1.30, Y:0.29, Z:-0.16 [[ 0.93762142 -0.3169189 -0.14292824 1.30027918] [ 0.3169232 0.94816379 -0.02334771 0.29467278] [ 0.14291871 -0.02340597 0.98945763 -0.15503806] [ 0. 0. 0. 1. ]] SLAMing on 41.161346183999996 meters Centerline goodness : 0.924285 Centerline is valid? [False, False] Translation: X:1.30, Y:0.29, Z:-0.15 [[ 0.93718584 -0.31741042 -0.14468355 1.30354259] [ 0.31772761 0.9479375 -0.02153271 0.29472257] [ 0.14398567 -0.02578981 0.98924366 -0.15468067] [ 0. 0. 0. 1. ]] SLAMing on 41.191346184 meters Centerline goodness : 0.922325 Centerline is valid? [False, False] Translation: X:1.31, Y:0.29, Z:-0.16 [[ 0.93663042 -0.31909073 -0.14458413 1.30560475] [ 0.31927354 0.94739379 -0.02257004 0.29355694] [ 0.14418 -0.0250221 0.98923507 -0.15550899] [ 0. 0. 0. 1. ]] SLAMing on 41.221346184 meters Centerline goodness : 0.922105 Centerline is valid? [False, False] Translation: X:1.31, Y:0.29, Z:-0.16 [[ 0.93519057 -0.3240066 -0.14296266 1.30881156] [ 0.32364813 0.94580886 -0.0264099 0.28931205] [ 0.14377233 -0.02157131 0.98937566 -0.1577864 ] [ 0. 0. 0. 1. ]] SLAMing on 41.251346184 meters Centerline goodness : 0.923388 Centerline is valid? [False, False] Translation: X:1.31, Y:0.29, Z:-0.16 [[ 0.93456907 -0.32517099 -0.14437616 1.31282223] [ 0.32504192 0.94536511 -0.02515083 0.28807612] [ 0.1446665 -0.02342312 0.98920319 -0.15806354] [ 0. 0. 0. 1. ]] SLAMing on 41.281346184 meters Centerline goodness : 0.924749 Centerline is valid? [False, False] Translation: X:1.31, Y:0.29, Z:-0.16 [[ 0.93378367 -0.32738068 -0.14446432 1.31242655] [ 0.32723443 0.94460021 -0.02545742 0.28713099] [ 0.1447953 -0.02350198 0.98918248 -0.15607611] [ 0. 0. 0. 1. ]] SLAMing on 41.311346183999994 meters Centerline goodness : 0.924281 Centerline is valid? [False, False] Translation: X:1.32, Y:0.29, Z:-0.16 [[ 0.93298198 -0.32872465 -0.14657667 1.31680051] [ 0.32886063 0.94407323 -0.02400864 0.28783915] [ 0.14627134 -0.02580367 0.98890792 -0.15574195] [ 0. 0. 0. 1. ]] SLAMing on 41.341346183999995 meters Centerline goodness : 0.924590 Centerline is valid? [False, False] Translation: X:1.32, Y:0.29, Z:-0.15 [[ 0.93160743 -0.33188914 -0.14817962 1.32029098] [ 0.33211996 0.94293387 -0.02391753 0.28903711] [ 0.14766155 -0.02693166 0.98867121 -0.15480457] [ 0. 0. 0. 1. ]] SLAMing on 41.371346184 meters Centerline goodness : 0.923977 Centerline is valid? [False, False] Translation: X:1.32, Y:0.29, Z:-0.16 [[ 0.9311418 -0.33279856 -0.14906395 1.32396523] [ 0.33309334 0.94259522 -0.02372938 0.289479 ] [ 0.14840407 -0.02755679 0.98854279 -0.15617894] [ 0. 0. 0. 1. ]] SLAMing on 41.401346184 meters Centerline goodness : 0.922668 Centerline is valid? [False, False] Translation: X:1.33, Y:0.29, Z:-0.16 [[ 0.93066321 -0.33457398 -0.14807511 1.32538057] [ 0.33453033 0.94202757 -0.025952 0.28899613] [ 0.14817371 -0.02538304 0.98863555 -0.1581272 ] [ 0. 0. 0. 1. ]] SLAMing on 41.431346184 meters Centerline goodness : 0.923279 Centerline is valid? [False, False] Translation: X:1.33, Y:0.29, Z:-0.16 [[ 0.93000804 -0.33691979 -0.14686762 1.32704225] [ 0.33646647 0.94125862 -0.02867982 0.28816097] [ 0.14790322 -0.02274356 0.98874029 -0.16018896] [ 0. 0. 0. 1. ]] SLAMing on 41.461346184 meters Centerline goodness : 0.923935 Centerline is valid? [False, False] Translation: X:1.33, Y:0.29, Z:-0.16 [[ 0.92916464 -0.33872916 -0.14803927 1.33059975] [ 0.33841798 0.94057724 -0.02806631 0.28750252] [ 0.14874924 -0.02402093 0.98858316 -0.16039612] [ 0. 0. 0. 1. ]] SLAMing on 41.491346184 meters Centerline goodness : 0.925429 Centerline is valid? [False, False] Translation: X:1.33, Y:0.29, Z:-0.16 [[ 0.92919567 -0.33734121 -0.15098447 1.33465248] [ 0.33773651 0.94093959 -0.02380644 0.28836489] [ 0.15009815 -0.02887213 0.98824943 -0.15986176] [ 0. 0. 0. 1. ]] SLAMing on 41.521346183999995 meters Centerline goodness : 0.928596 Centerline is valid? [False, False] Translation: X:1.34, Y:0.29, Z:-0.16 [[ 0.92932899 -0.33563691 -0.1539334 1.3366215 ] [ 0.33685307 0.94136739 -0.01890639 0.28969899] [ 0.15125357 -0.03428268 0.98790033 -0.15786138] [ 0. 0. 0. 1. ]] SLAMing on 41.551346183999996 meters Centerline goodness : 0.928772 Centerline is valid? [False, False] Translation: X:1.34, Y:0.29, Z:-0.16 [[ 0.92937224 -0.33517974 -0.15466664 1.33830168] [ 0.33651855 0.94150021 -0.01823789 0.29052066] [ 0.15173165 -0.0350984 0.98779836 -0.15839727] [ 0. 0. 0. 1. ]] SLAMing on 41.581346184 meters Centerline goodness : 0.926771 Centerline is valid? [False, False] Translation: X:1.34, Y:0.29, Z:-0.16 [[ 0.92912996 -0.33614735 -0.15402103 1.33881626] [ 0.33727892 0.94120234 -0.01952154 0.29065289] [ 0.15152707 -0.03381 0.9878747 -0.15949484] [ 0. 0. 0. 1. ]] SLAMing on 41.611346184 meters Centerline goodness : 0.927197 Centerline is valid? [False, False] Translation: X:1.34, Y:0.29, Z:-0.16 [[ 0.92832477 -0.33920195 -0.1521682 1.33925809] [ 0.33969277 0.94024111 -0.02356869 0.29081768] [ 0.15106934 -0.02981103 0.98807356 -0.16143394] [ 0. 0. 0. 1. ]] SLAMing on 41.641346184 meters Centerline goodness : 0.927513 Centerline is valid? [False, False] Translation: X:1.34, Y:0.29, Z:-0.16 [[ 0.92700552 -0.34217361 -0.15355127 1.34424465] [ 0.34277532 0.93912649 -0.02337773 0.29105728] [ 0.1522033 -0.0309623 0.98786411 -0.16238177] [ 0. 0. 0. 1. ]] SLAMing on 41.671346184 meters Centerline goodness : 0.928386 Centerline is valid? [False, False] Translation: X:1.35, Y:0.29, Z:-0.16 [[ 0.92657064 -0.34167236 -0.15724774 1.34838598] [ 0.34309742 0.93911066 -0.01885028 0.29232468] [ 0.15411365 -0.03648518 0.98737927 -0.16020029] [ 0. 0. 0. 1. ]] SLAMing on 41.701346183999995 meters Centerline goodness : 0.927435 Centerline is valid? [False, False] Translation: X:1.35, Y:0.29, Z:-0.16 [[ 0.9260374 -0.34136322 -0.16101521 1.35314827] [ 0.34361706 0.93899768 -0.01451429 0.29480096] [ 0.15614755 -0.04188679 0.9868452 -0.15875798] [ 0. 0. 0. 1. ]] SLAMing on 41.731346183999996 meters Centerline goodness : 0.928088 Centerline is valid? [False, False] Translation: X:1.35, Y:0.30, Z:-0.16 [[ 0.92537314 -0.34263599 -0.16212688 1.35469659] [ 0.34495189 0.93850774 -0.01453993 0.29680504] [ 0.15713923 -0.04247111 0.98666279 -0.15783686] [ 0. 0. 0. 1. ]] SLAMing on 41.761346184 meters Centerline goodness : 0.926009 Centerline is valid? [False, False] Translation: X:1.36, Y:0.30, Z:-0.16 [[ 0.92476656 -0.34479742 -0.16100169 1.35743993] [ 0.3465798 0.93785186 -0.01778551 0.29764963] [ 0.15712814 -0.03935249 0.98679386 -0.16127565] [ 0. 0. 0. 1. ]] SLAMing on 41.791346184 meters Centerline goodness : 0.927193 Centerline is valid? [False, False] Translation: X:1.36, Y:0.30, Z:-0.16 [[ 0.92472678 -0.34559002 -0.15952403 1.35643829] [ 0.34692915 0.93767202 -0.02028171 0.29681728] [ 0.15659038 -0.03658849 0.98698568 -0.16182962] [ 0. 0. 0. 1. ]] SLAMing on 41.821346184 meters Centerline goodness : 0.926999 Centerline is valid? [False, False] Translation: X:1.36, Y:0.30, Z:-0.16 [[ 0.92443812 -0.34621343 -0.15984499 1.3569099 ] [ 0.34752672 0.93744431 -0.02057532 0.29715346] [ 0.15696922 -0.03652979 0.98692768 -0.16123055] [ 0. 0. 0. 1. ]] SLAMing on 41.851346184 meters Centerline goodness : 0.930587 Centerline is valid? [False, False] Translation: X:1.36, Y:0.30, Z:-0.16 [[ 0.9235895 -0.34654852 -0.1639712 1.36182321] [ 0.34868313 0.93709507 -0.01652018 0.30025676] [ 0.15938165 -0.04191612 0.98632679 -0.15926946] [ 0. 0. 0. 1. ]] SLAMing on 41.881346183999995 meters Centerline goodness : 0.929804 Centerline is valid? [False, False] Translation: X:1.37, Y:0.30, Z:-0.16 [[ 0.92261001 -0.34782912 -0.1667503 1.36694216] [ 0.35042053 0.9364788 -0.01459136 0.30310846] [ 0.16123342 -0.0449706 0.98589119 -0.15911515] [ 0. 0. 0. 1. ]] SLAMing on 41.911346183999996 meters Centerline goodness : 0.929807 Centerline is valid? [False, False] Translation: X:1.37, Y:0.30, Z:-0.16 [[ 0.92170401 -0.34965789 -0.16793179 1.37024264] [ 0.35234222 0.93575843 -0.01453016 0.30466571] [ 0.16222417 -0.04577696 0.98569153 -0.15941269] [ 0. 0. 0. 1. ]] SLAMing on 41.941346184 meters Centerline goodness : 0.926030 Centerline is valid? [False, False] Translation: X:1.37, Y:0.31, Z:-0.16 [[ 0.92077573 -0.35196687 -0.16820039 1.37196301] [ 0.35450523 0.93492211 -0.01570628 0.30546693] [ 0.16278236 -0.04516596 0.98562769 -0.15930863] [ 0. 0. 0. 1. ]] SLAMing on 41.971346184 meters Centerline goodness : 0.927346 Centerline is valid? [False, False] Translation: X:1.38, Y:0.31, Z:-0.16 [[ 0.91983759 -0.35378103 -0.16952224 1.3761533 ] [ 0.35641738 0.93419561 -0.01565919 0.3073296 ] [ 0.16390686 -0.04601676 0.98540195 -0.16052648] [ 0. 0. 0. 1. ]] SLAMing on 42.001346184 meters Centerline goodness : 0.926622 Centerline is valid? [False, False] Translation: X:1.38, Y:0.31, Z:-0.16 [[ 0.91956592 -0.35374777 -0.17105854 1.37958406] [ 0.3566084 0.93413742 -0.01475576 0.30975992] [ 0.165012 -0.04743202 0.98515037 -0.16154204] [ 0. 0. 0. 1. ]] SLAMing on 42.031346184 meters Centerline goodness : 0.924068 Centerline is valid? [False, False] Translation: X:1.38, Y:0.31, Z:-0.16 [[ 0.91948633 -0.35339693 -0.17220772 1.38223007] [ 0.3564448 0.93421229 -0.01394616 0.3118462 ] [ 0.1658071 -0.04855924 0.98496193 -0.1625388 ] [ 0. 0. 0. 1. ]] SLAMing on 42.061346183999994 meters Centerline goodness : 0.923847 Centerline is valid? [False, False] Translation: X:1.38, Y:0.31, Z:-0.16 [[ 0.91967775 -0.35294225 -0.172118 1.3821827 ] [ 0.35594022 0.93440125 -0.01417272 0.31246956] [ 0.16582943 -0.04822938 0.98497438 -0.16282308] [ 0. 0. 0. 1. ]] SLAMing on 42.091346183999995 meters Centerline goodness : 0.925829 Centerline is valid? [False, False] Translation: X:1.38, Y:0.31, Z:-0.16 [[ 0.92051949 -0.35000826 -0.17360322 1.38426865] [ 0.35350261 0.93536407 -0.0114002 0.31430116] [ 0.16637238 -0.05087508 0.98474969 -0.16440434] [ 0. 0. 0. 1. ]] SLAMing on 42.121346184 meters Centerline goodness : 0.926153 Centerline is valid? [False, False] Translation: X:1.39, Y:0.32, Z:-0.16 [[ 0.92085907 -0.34823433 -0.17536084 1.38557839] [ 0.35222016 0.93587497 -0.00888833 0.31642498] [ 0.16721104 -0.05358073 0.9844641 -0.164013 ] [ 0. 0. 0. 1. ]] SLAMing on 42.151346184 meters Centerline goodness : 0.926916 Centerline is valid? [False, False] Translation: X:1.39, Y:0.32, Z:-0.16 [[ 0.92111373 -0.34669663 -0.17706197 1.38724854] [ 0.35116418 0.93629149 -0.00647771 0.31852235] [ 0.16802742 -0.05621111 0.98417839 -0.16392872] [ 0. 0. 0. 1. ]] SLAMing on 42.181346184 meters Centerline goodness : 0.924184 Centerline is valid? [False, False] Translation: X:1.39, Y:0.32, Z:-0.16 [[ 0.92092851 -0.34654495 -0.17831788 1.38867815] [ 0.3512369 0.93626998 -0.00558306 0.32161472] [ 0.16888846 -0.05749022 0.98395709 -0.16395774] [ 0. 0. 0. 1. ]] SLAMing on 42.211346184 meters Centerline goodness : 0.924110 Centerline is valid? [False, False] Translation: X:1.39, Y:0.32, Z:-0.16 [[ 0.92067493 -0.34716526 -0.17842075 1.38894866] [ 0.35175451 0.93607124 -0.00627646 0.3228365 ] [ 0.1691935 -0.05698173 0.98393427 -0.16382521] [ 0. 0. 0. 1. ]] SLAMing on 42.241346183999994 meters Centerline goodness : 0.923849 Centerline is valid? [False, False] Translation: X:1.39, Y:0.32, Z:-0.16 [[ 0.92055161 -0.34733772 -0.17872112 1.3900137 ] [ 0.351951 0.93599752 -0.00625659 0.32400525] [ 0.16945568 -0.05714156 0.98387988 -0.16443572] [ 0. 0. 0. 1. ]] SLAMing on 42.271346183999995 meters Centerline goodness : 0.923999 Centerline is valid? [False, False] Translation: X:1.39, Y:0.33, Z:-0.16 [[ 0.92024902 -0.34683868 -0.18123097 1.39127351] [ 0.35206657 0.93596828 -0.00353735 0.32739371] [ 0.17085333 -0.06055012 0.9834342 -0.16239855] [ 0. 0. 0. 1. ]] SLAMing on 42.301346183999996 meters Centerline goodness : 0.922748 Centerline is valid? [False, False] Translation: X:1.39, Y:0.33, Z:-0.16 [[ 0.91996032 -0.34675811 -0.1828437 1.39350239] [ 0.35232633 0.93587471 -0.00216528 0.32964192] [ 0.17186962 -0.06242867 0.98313961 -0.16214742] [ 0. 0. 0. 1. ]] SLAMing on 42.331346184 meters Centerline goodness : 0.922703 Centerline is valid? [False, False] Translation: X:1.39, Y:0.33, Z:-0.16 [[ 0.91970927 -0.34744967 -0.18279381 1.39414656] [ 0.35287154 0.9356668 -0.00305203 0.3307356 ] [ 0.17209453 -0.06169575 0.98314653 -0.16256041] [ 0. 0. 0. 1. ]] SLAMing on 42.361346184 meters Centerline goodness : 0.921687 Centerline is valid? [False, False] Translation: X:1.39, Y:0.33, Z:-0.16 [[ 0.9195327 -0.34840015 -0.18187071 1.39476128] [ 0.35348662 0.93542761 -0.00473202 0.33107146] [ 0.17177552 -0.05993762 0.98331107 -0.16426888] [ 0. 0. 0. 1. ]] SLAMing on 42.391346184 meters Centerline goodness : 0.923056 Centerline is valid? [False, False] Translation: X:1.40, Y:0.33, Z:-0.17 [[ 0.91940837 -0.34906687 -0.18121965 1.3957474 ] [ 0.35390283 0.93526292 -0.00600415 0.3318559 ] [ 0.17158387 -0.05861389 0.98342432 -0.16620921] [ 0. 0. 0. 1. ]] SLAMing on 42.421346184 meters Centerline goodness : 0.920472 Centerline is valid? [False, False] Translation: X:1.40, Y:0.33, Z:-0.17 [[ 0.91941727 -0.34830404 -0.18263675 1.396528 ] [ 0.35350158 0.93542376 -0.00436067 0.33307373] [ 0.1723616 -0.06055311 0.98317079 -0.16506231] [ 0. 0. 0. 1. ]] SLAMing on 42.451346183999995 meters Centerline goodness : 0.919866 Centerline is valid? [False, False] Translation: X:1.40, Y:0.33, Z:-0.16 [[ 0.91937613 -0.34772295 -0.18394641 1.39681754] [ 0.3532782 0.9355143 -0.00274125 0.33471364] [ 0.17303769 -0.06246401 0.98293245 -0.16373841] [ 0. 0. 0. 1. ]] SLAMing on 42.481346183999996 meters Centerline goodness : 0.918231 Centerline is valid? [False, False] Translation: X:1.40, Y:0.34, Z:-0.17 [[ 0.91950749 -0.35304868 -0.17280801 1.40012719] [ 0.35770083 0.93382541 -0.00449769 0.3430728 ] [ 0.16296041 -0.05767791 0.98494526 -0.16506277] [ 0. 0. 0. 1. ]] SLAMing on 42.511346184 meters Centerline goodness : 0.919084 Centerline is valid? [False, False] Translation: X:1.40, Y:0.34, Z:-0.17 [[ 0.92009813 -0.35125077 -0.17332723 1.40141011] [ 0.3559739 0.93448696 -0.00408671 0.34386065] [ 0.1634075 -0.0579398 0.98485581 -0.16629646] [ 0. 0. 0. 1. ]] SLAMing on 42.541346184 meters Centerline goodness : 0.919646 Centerline is valid? [False, False] Translation: X:1.40, Y:0.34, Z:-0.17 [[ 0.92080064 -0.3496487 -0.17283508 1.40031809] [ 0.3543812 0.93509372 -0.00370221 0.34330487] [ 0.16291146 -0.05784051 0.98494382 -0.16671967] [ 0. 0. 0. 1. ]] SLAMing on 42.571346184 meters Centerline goodness : 0.920667 Centerline is valid? [False, False] Translation: X:1.40, Y:0.34, Z:-0.17 [[ 0.92151836 -0.34720668 -0.17392939 1.40165091] [ 0.3522461 0.93590523 -0.00201979 0.34379358] [ 0.16348271 -0.05940468 0.98475606 -0.16715006] [ 0. 0. 0. 1. ]] SLAMing on 42.601346184 meters Centerline goodness : 0.923577 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.17 [[ 9.22249417e-01 -3.44157932e-01 -1.76100340e-01 1.40183473e+00] [ 3.49761698e-01 9.36838330e-01 8.35772013e-04 3.47158979e-01] [ 1.64689911e-01 -6.23639443e-02 9.84371867e-01 -1.65810002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.631346183999995 meters Centerline goodness : 0.921366 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.17 [[ 9.22398144e-01 -3.43602826e-01 -1.76405107e-01 1.40183457e+00] [ 3.49135477e-01 9.37072195e-01 3.47281304e-04 3.48750210e-01] [ 1.65184994e-01 -6.19096130e-02 9.84317590e-01 -1.65655117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.661346183999996 meters Centerline goodness : 0.921366 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.17 [[ 9.22398144e-01 -3.43602826e-01 -1.76405107e-01 1.40183457e+00] [ 3.49135477e-01 9.37072195e-01 3.47281304e-04 3.48750210e-01] [ 1.65184994e-01 -6.19096130e-02 9.84317590e-01 -1.65655117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.691346184 meters Centerline goodness : 0.919275 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.17 [[ 9.22577799e-01 -3.43421872e-01 -1.75817017e-01 1.40241722e+00] [ 3.48641909e-01 9.37255135e-01 -1.27762403e-03 3.49891000e-01] [ 1.65224166e-01 -6.01184727e-02 9.84422036e-01 -1.67348026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.721346184 meters Centerline goodness : 0.916516 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.17 [[ 0.92299326 -0.34261441 -0.17521077 1.40431267] [ 0.34761695 0.93763387 -0.00227598 0.35000828] [ 0.16506334 -0.05880551 0.98452832 -0.17037941] [ 0. 0. 0. 1. ]] SLAMing on 42.751346184 meters Centerline goodness : 0.915143 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.17 [[ 0.92378918 -0.34115353 -0.17386149 1.40338313] [ 0.34575318 0.93831668 -0.00406643 0.35123257] [ 0.16452441 -0.05635664 0.98476172 -0.17257784] [ 0. 0. 0. 1. ]] SLAMing on 42.781346184 meters Centerline goodness : 0.916241 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.17 [[ 9.24649240e-01 -3.37939793e-01 -1.75557624e-01 1.40453611e+00] [ 3.43067795e-01 9.39309863e-01 -1.21216085e-03 3.52115917e-01] [ 1.65312645e-01 -5.91073435e-02 9.84468410e-01 -1.72375289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.811346183999994 meters Centerline goodness : 0.915443 Centerline is valid? [False, False] Translation: X:1.41, Y:0.36, Z:-0.17 [[ 0.92581115 -0.34009486 -0.16495215 1.40571335] [ 0.34456469 0.93876119 -0.00161273 0.3591581 ] [ 0.15539915 -0.05534361 0.98630025 -0.17132789] [ 0. 0. 0. 1. ]] SLAMing on 42.841346183999995 meters Centerline goodness : 0.915613 Centerline is valid? [False, False] Translation: X:1.41, Y:0.36, Z:-0.17 [[ 0.92707437 -0.33571201 -0.16682492 1.40617261] [ 0.34078339 0.94013994 0.0018899 0.35990769] [ 0.15620431 -0.05860324 0.98598472 -0.17051469] [ 0. 0. 0. 1. ]] SLAMing on 42.871346184 meters Centerline goodness : 0.914292 Centerline is valid? [False, False] Translation: X:1.40, Y:0.36, Z:-0.17 [[ 0.92897923 -0.33019147 -0.1672459 1.40427405] [ 0.33561283 0.94198961 0.00442709 0.36109757] [ 0.15608211 -0.06024254 0.98590528 -0.17068002] [ 0. 0. 0. 1. ]] SLAMing on 42.901346184 meters Centerline goodness : 0.915652 Centerline is valid? [False, False] Translation: X:1.41, Y:0.36, Z:-0.17 [[ 0.92960683 -0.32836748 -0.16734973 1.40561383] [ 0.33374467 0.94265384 0.00426925 0.36179254] [ 0.15635098 -0.0598208 0.98588835 -0.17246681] [ 0. 0. 0. 1. ]] SLAMing on 42.931346184 meters Centerline goodness : 0.913093 Centerline is valid? [False, False] Translation: X:1.40, Y:0.36, Z:-0.17 [[ 0.93083407 -0.32492841 -0.16724075 1.40494202] [ 0.33026419 0.94387849 0.00435433 0.36366188] [ 0.1564401 -0.05928679 0.98590647 -0.17392524] [ 0. 0. 0. 1. ]] SLAMing on 42.961346184 meters Centerline goodness : 0.911025 Centerline is valid? [False, False] Translation: X:1.41, Y:0.37, Z:-0.17 [[ 0.93151747 -0.32854829 -0.1559847 1.40704286] [ 0.33310287 0.94288487 0.00325625 0.37075748] [ 0.14600578 -0.0549922 0.9877541 -0.17482029] [ 0. 0. 0. 1. ]] SLAMing on 42.991346183999994 meters Centerline goodness : 0.910190 Centerline is valid? [False, False] Translation: X:1.41, Y:0.37, Z:-0.17 [[ 0.93204317 -0.32706773 -0.15595589 1.40635046] [ 0.3315465 0.94343449 0.00287692 0.37193713] [ 0.14619322 -0.05438804 0.98775983 -0.17487815] [ 0. 0. 0. 1. ]] SLAMing on 43.021346183999995 meters Centerline goodness : 0.910759 Centerline is valid? [False, False] Translation: X:1.41, Y:0.37, Z:-0.18 [[ 0.93269348 -0.32570418 -0.15491821 1.40518118] [ 0.32993593 0.94400179 0.00170256 0.37231617] [ 0.14568854 -0.05270105 0.98792583 -0.17591796] [ 0. 0. 0. 1. ]] SLAMing on 43.051346183999996 meters Centerline goodness : 0.912053 Centerline is valid? [False, False] Translation: X:1.40, Y:0.37, Z:-0.18 [[ 9.34382688e-01 -3.21543884e-01 -1.53422692e-01 1.40285694e+00] [ 3.25509915e-01 9.45538310e-01 7.74121872e-04 3.72683837e-01] [ 1.44818119e-01 -5.06639336e-02 9.88160350e-01 -1.77998451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.081346184 meters Centerline goodness : 0.912640 Centerline is valid? [False, False] Translation: X:1.40, Y:0.37, Z:-0.18 [[ 0.935273 -0.31814434 -0.15507609 1.40370659] [ 0.32257352 0.94653756 0.00360299 0.37389506] [ 0.14563907 -0.05339322 0.98789596 -0.17758061] [ 0. 0. 0. 1. ]] SLAMing on 43.111346184 meters Centerline goodness : 0.913522 Centerline is valid? [False, False] Translation: X:1.40, Y:0.37, Z:-0.18 [[ 0.93607741 -0.31500077 -0.15663203 1.40397468] [ 0.31994068 0.94741371 0.00672402 0.37481978] [ 0.14627726 -0.05640716 0.98763414 -0.17678266] [ 0. 0. 0. 1. ]] SLAMing on 43.141346184 meters Centerline goodness : 0.913610 Centerline is valid? [False, False] Translation: X:1.40, Y:0.38, Z:-0.18 [[ 0.93661807 -0.3131358 -0.15713868 1.40323368] [ 0.31819397 0.94799616 0.00747548 0.37541648] [ 0.14662602 -0.05700225 0.98754825 -0.17583261] [ 0. 0. 0. 1. ]] SLAMing on 43.171346184 meters Centerline goodness : 0.914949 Centerline is valid? [False, False] Translation: X:1.40, Y:0.38, Z:-0.18 [[ 0.93694634 -0.3120652 -0.15731134 1.40301567] [ 0.31713922 0.94834853 0.00760186 0.37531369] [ 0.1468137 -0.05701213 0.9875198 -0.17531368] [ 0. 0. 0. 1. ]] SLAMing on 43.201346183999995 meters Centerline goodness : 0.916361 Centerline is valid? [False, False] Translation: X:1.41, Y:0.38, Z:-0.18 [[ 0.9374181 -0.31531079 -0.14773766 1.40887377] [ 0.31979792 0.94745962 0.00704027 0.37958865] [ 0.1377556 -0.05384587 0.98900153 -0.17563211] [ 0. 0. 0. 1. ]] SLAMing on 43.231346183999996 meters Centerline goodness : 0.917060 Centerline is valid? [False, False] Translation: X:1.41, Y:0.38, Z:-0.18 [[ 0.93719746 -0.31584032 -0.14800616 1.4097299 ] [ 0.3203056 0.94729031 0.00673698 0.37918308] [ 0.13807699 -0.05372108 0.98896349 -0.17534781] [ 0. 0. 0. 1. ]] SLAMing on 43.261346184 meters Centerline goodness : 0.917921 Centerline is valid? [False, False] Translation: X:1.41, Y:0.38, Z:-0.18 [[ 0.9366782 -0.31739811 -0.14796079 1.41073243] [ 0.32167907 0.94683384 0.00531559 0.3790271 ] [ 0.13840712 -0.05257489 0.98897894 -0.17512576] [ 0. 0. 0. 1. ]] SLAMing on 43.291346184 meters Centerline goodness : 0.918773 Centerline is valid? [False, False] Translation: X:1.41, Y:0.38, Z:-0.17 [[ 0.93552232 -0.32110534 -0.14727302 1.41102442] [ 0.32490845 0.94574362 0.0018726 0.37910376] [ 0.13868122 -0.04960211 0.98909411 -0.1742205 ] [ 0. 0. 0. 1. ]] SLAMing on 43.321346184 meters Centerline goodness : 0.917364 Centerline is valid? [False, False] Translation: X:1.41, Y:0.38, Z:-0.17 [[ 0.93469254 -0.32284598 -0.14872906 1.41401617] [ 0.32674523 0.94511057 0.00189056 0.37998302] [ 0.13995504 -0.05036361 0.98887618 -0.1734996 ] [ 0. 0. 0. 1. ]] SLAMing on 43.351346184 meters Centerline goodness : 0.916068 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.17 [[ 9.33897257e-01 -3.24928345e-01 -1.49189425e-01 1.41534939e+00] [ 3.28775354e-01 9.44407406e-01 1.19087351e-03 3.79993860e-01] [ 1.40508650e-01 -5.01619595e-02 9.88807917e-01 -1.72707234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.381346183999995 meters Centerline goodness : 0.918470 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.17 [[ 0.93245408 -0.3292472 -0.14874702 1.41642651] [ 0.3327445 0.9430159 -0.00145467 0.37760158] [ 0.14074975 -0.04813834 0.98887421 -0.17134474] [ 0. 0. 0. 1. ]] SLAMing on 43.411346183999996 meters Centerline goodness : 0.915919 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.17 [[ 0.93178064 -0.33106211 -0.14893862 1.41818163] [ 0.33438354 0.94243262 -0.00289801 0.3769153 ] [ 0.14132403 -0.04710231 0.9888422 -0.17111318] [ 0. 0. 0. 1. ]] SLAMing on 43.441346184 meters Centerline goodness : 0.918755 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.17 [[ 0.93129303 -0.33238888 -0.14903332 1.41916928] [ 0.33563849 0.94198423 -0.00353812 0.37624549] [ 0.14156306 -0.04672629 0.98882585 -0.17076004] [ 0. 0. 0. 1. ]] SLAMing on 43.471346184 meters Centerline goodness : 0.919208 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.17 [[ 0.93109442 -0.33266985 -0.14964609 1.41987104] [ 0.33597405 0.94186516 -0.00338519 0.37591079] [ 0.14207259 -0.04712528 0.98873383 -0.16969504] [ 0. 0. 0. 1. ]] SLAMing on 43.501346184 meters Centerline goodness : 0.921473 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.17 [[ 0.93134698 -0.33007163 -0.15377097 1.42222296] [ 0.33429316 0.94246761 0.00169799 0.37675722] [ 0.1443637 -0.052986 0.98810506 -0.16608612] [ 0. 0. 0. 1. ]] SLAMing on 43.531346184 meters Centerline goodness : 0.919918 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.17 [[ 0.93116043 -0.32988744 -0.15528855 1.4249687 ] [ 0.33433793 0.94244938 0.00270492 0.3781905 ] [ 0.14545928 -0.05443757 0.98786545 -0.16627998] [ 0. 0. 0. 1. ]] SLAMing on 43.561346183999994 meters Centerline goodness : 0.919670 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.17 [[ 9.30692818e-01 -3.31740186e-01 -1.54140608e-01 1.42494193e+00] [ 3.35629076e-01 9.41993851e-01 -8.41081190e-04 3.78041034e-01] [ 1.45478525e-01 -5.09512816e-02 9.88048564e-01 -1.66694016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.591346183999995 meters Centerline goodness : 0.918759 Centerline is valid? [False, False] Translation: X:1.42, Y:0.37, Z:-0.17 [[ 0.93004408 -0.33520495 -0.15051792 1.42426456] [ 0.33812664 0.94107804 -0.00651973 0.37368547] [ 0.14383455 -0.04483048 0.98858578 -0.16900968] [ 0. 0. 0. 1. ]] SLAMing on 43.621346184 meters Centerline goodness : 0.918511 Centerline is valid? [False, False] Translation: X:1.43, Y:0.37, Z:-0.17 [[ 0.92952071 -0.33646639 -0.1509358 1.4255273 ] [ 0.339392 0.94062097 -0.00672768 0.37262062] [ 0.14423701 -0.04497289 0.98852067 -0.1682758 ] [ 0. 0. 0. 1. ]] SLAMing on 43.651346184 meters Centerline goodness : 0.921738 Centerline is valid? [False, False] Translation: X:1.43, Y:0.37, Z:-0.17 [[ 0.92901119 -0.33679242 -0.15332672 1.42784929] [ 0.34015263 0.94035915 -0.00456696 0.37267947] [ 0.1457203 -0.04791173 0.988165 -0.16580673] [ 0. 0. 0. 1. ]] SLAMing on 43.681346184 meters Centerline goodness : 0.922024 Centerline is valid? [False, False] Translation: X:1.43, Y:0.37, Z:-0.16 [[ 9.28698588e-01 -3.36073614e-01 -1.56759236e-01 1.43046065e+00] [ 3.40268906e-01 9.40328169e-01 -7.80379370e-05 3.73365081e-01] [ 1.47431352e-01 -5.32678201e-02 9.87636844e-01 -1.62804524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.711346184 meters Centerline goodness : 0.922005 Centerline is valid? [False, False] Translation: X:1.43, Y:0.37, Z:-0.16 [[ 0.92773425 -0.33743386 -0.15952288 1.43304827] [ 0.34215867 0.93963939 0.00229538 0.37474731] [ 0.14911944 -0.05671164 0.98719156 -0.16007832] [ 0. 0. 0. 1. ]] SLAMing on 43.741346183999994 meters Centerline goodness : 0.919863 Centerline is valid? [False, False] Translation: X:1.43, Y:0.37, Z:-0.16 [[ 0.92701004 -0.3403447 -0.15753688 1.43360596] [ 0.34433965 0.93884289 -0.00205592 0.37371898] [ 0.14860211 -0.05234034 0.98751096 -0.16182867] [ 0. 0. 0. 1. ]] SLAMing on 43.771346183999995 meters Centerline goodness : 0.917905 Centerline is valid? [False, False] Translation: X:1.43, Y:0.37, Z:-0.16 [[ 0.92637401 -0.3432085 -0.15504553 1.43476798] [ 0.34639531 0.93806373 -0.0068356 0.37170865] [ 0.14778862 -0.04737472 0.98788368 -0.16477241] [ 0. 0. 0. 1. ]] SLAMing on 43.801346183999996 meters Centerline goodness : 0.920648 Centerline is valid? [False, False] Translation: X:1.44, Y:0.37, Z:-0.17 [[ 0.92594281 -0.34497866 -0.15368679 1.43674333] [ 0.3477198 0.93754997 -0.00953942 0.36955575] [ 0.14737994 -0.04460698 0.98807357 -0.1670634 ] [ 0. 0. 0. 1. ]] SLAMing on 43.831346184 meters Centerline goodness : 0.924608 Centerline is valid? [False, False] Translation: X:1.44, Y:0.37, Z:-0.16 [[ 0.92522411 -0.34517865 -0.15751838 1.43878592] [ 0.34881605 0.93717875 -0.00483164 0.36930351] [ 0.14929066 -0.05047459 0.98750424 -0.1621186 ] [ 0. 0. 0. 1. ]] SLAMing on 43.861346184 meters Centerline goodness : 0.924680 Centerline is valid? [False, False] Translation: X:1.44, Y:0.37, Z:-0.16 [[ 9.24767578e-01 -3.44282106e-01 -1.62094903e-01 1.44257464e+00] [ 3.48986157e-01 9.37127697e-01 5.84756524e-04 3.70975491e-01] [ 1.51702302e-01 -5.71096411e-02 9.86775000e-01 -1.58535528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.891346184 meters Centerline goodness : 0.923721 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.16 [[ 0.92392556 -0.34508202 -0.16516645 1.44652174] [ 0.35037481 0.93660438 0.00311754 0.37272694] [ 0.15361981 -0.06075054 0.98626078 -0.1567514 ] [ 0. 0. 0. 1. ]] SLAMing on 43.921346184 meters Centerline goodness : 0.922120 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.16 [[ 0.9219529 -0.35181842 -0.16194647 1.44739692] [ 0.35587741 0.93452321 -0.00420056 0.37040983] [ 0.15282057 -0.05376037 0.9867906 -0.15840302] [ 0. 0. 0. 1. ]] SLAMing on 43.951346183999995 meters Centerline goodness : 0.920909 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.16 [[ 0.92071578 -0.35580511 -0.16026594 1.44917213] [ 0.35923964 0.93321098 -0.00800934 0.36840709] [ 0.1524117 -0.05019956 0.98704138 -0.15999778] [ 0. 0. 0. 1. ]] SLAMing on 43.981346183999996 meters Centerline goodness : 0.924029 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.16 [[ 0.91924525 -0.35995595 -0.15943612 1.45013234] [ 0.36292555 0.93175185 -0.0111144 0.36709916] [ 0.1525556 -0.04764658 0.98714568 -0.15924284] [ 0. 0. 0. 1. ]] SLAMing on 44.011346184 meters Centerline goodness : 0.927097 Centerline is valid? [False, False] Translation: X:1.46, Y:0.37, Z:-0.16 [[ 0.91692986 -0.36387866 -0.1638046 1.45607983] [ 0.36771522 0.92990934 -0.00735691 0.36611046] [ 0.15500045 -0.05348767 0.98646537 -0.15500672] [ 0. 0. 0. 1. ]] SLAMing on 44.041346184 meters Centerline goodness : 0.928161 Centerline is valid? [False, False] Translation: X:1.46, Y:0.37, Z:-0.15 [[ 0.91586334 -0.36559615 -0.16593308 1.45872783] [ 0.36979922 0.92909265 -0.00594906 0.36589663] [ 0.15634216 -0.05591339 0.98611907 -0.15237803] [ 0. 0. 0. 1. ]] SLAMing on 44.071346184 meters Centerline goodness : 0.928612 Centerline is valid? [False, False] Translation: X:1.46, Y:0.37, Z:-0.15 [[ 0.91493898 -0.36709488 -0.16771408 1.46210522] [ 0.37155775 0.92839579 -0.00510792 0.36601416] [ 0.15758014 -0.05764203 0.98582245 -0.15134973] [ 0. 0. 0. 1. ]] SLAMing on 44.101346184 meters Centerline goodness : 0.931733 Centerline is valid? [False, False] Translation: X:1.46, Y:0.37, Z:-0.15 [[ 0.9139528 -0.3697166 -0.16733177 1.46230427] [ 0.37383562 0.92746578 -0.00735899 0.36597864] [ 0.15791523 -0.05582881 0.98587318 -0.1501734 ] [ 0. 0. 0. 1. ]] SLAMing on 44.131346183999995 meters Centerline goodness : 0.928128 Centerline is valid? [False, False] Translation: X:1.47, Y:0.37, Z:-0.15 [[ 0.91252233 -0.37316948 -0.16747398 1.46685741] [ 0.37698462 0.92616954 -0.0096213 0.36684498] [ 0.15869968 -0.05435546 0.98582955 -0.1520715 ] [ 0. 0. 0. 1. ]] SLAMing on 44.161346183999996 meters Centerline goodness : 0.930747 Centerline is valid? [False, False] Translation: X:1.47, Y:0.37, Z:-0.15 [[ 0.91207351 -0.37415695 -0.1677155 1.46832257] [ 0.37789097 0.92579281 -0.01030002 0.36687103] [ 0.15912363 -0.05398379 0.98578163 -0.15212755] [ 0. 0. 0. 1. ]] SLAMing on 44.191346184 meters Centerline goodness : 0.930164 Centerline is valid? [False, False] Translation: X:1.47, Y:0.37, Z:-0.15 [[ 0.91173028 -0.37460651 -0.16857598 1.46857478] [ 0.37847228 0.92556048 -0.0098255 0.36744248] [ 0.15970797 -0.05484313 0.98563969 -0.15051317] [ 0. 0. 0. 1. ]] SLAMing on 44.221346184 meters Centerline goodness : 0.930358 Centerline is valid? [False, False] Translation: X:1.47, Y:0.37, Z:-0.15 [[ 0.91208863 -0.37211202 -0.17212488 1.46990552] [ 0.37690766 0.92623639 -0.00517358 0.3691066 ] [ 0.16135348 -0.06015642 0.98506155 -0.14732649] [ 0. 0. 0. 1. ]] SLAMing on 44.251346184 meters Centerline goodness : 0.929835 Centerline is valid? [False, False] Translation: X:1.47, Y:0.37, Z:-0.15 [[ 0.91206037 -0.37207156 -0.17236194 1.47143215] [ 0.37684185 0.92626179 -0.00541388 0.36950897] [ 0.16166663 -0.06001541 0.98501881 -0.14813464] [ 0. 0. 0. 1. ]] SLAMing on 44.281346184 meters Centerline goodness : 0.931594 Centerline is valid? [False, False] Translation: X:1.47, Y:0.37, Z:-0.15 [[ 0.9115078 -0.37410504 -0.17087698 1.47141118] [ 0.37828586 0.92564835 -0.00865656 0.36936563] [ 0.16141046 -0.05674982 0.98525434 -0.14896376] [ 0. 0. 0. 1. ]] SLAMing on 44.311346183999994 meters Centerline goodness : 0.930979 Centerline is valid? [False, False] Translation: X:1.48, Y:0.37, Z:-0.15 [[ 0.91019454 -0.37720685 -0.17105813 1.47558875] [ 0.38115056 0.92445381 -0.01045934 0.37020364] [ 0.16208067 -0.05567887 0.98520542 -0.15063785] [ 0. 0. 0. 1. ]] SLAMing on 44.341346183999995 meters Centerline goodness : 0.931276 Centerline is valid? [False, False] Translation: X:1.48, Y:0.37, Z:-0.15 [[ 0.90940546 -0.37838884 -0.17263718 1.47771614] [ 0.38250692 0.92389774 -0.01007147 0.37139591] [ 0.16331003 -0.05687586 0.98493399 -0.14916173] [ 0. 0. 0. 1. ]] SLAMing on 44.371346184 meters Centerline goodness : 0.931743 Centerline is valid? [False, False] Translation: X:1.48, Y:0.37, Z:-0.15 [[ 0.90885492 -0.37877356 -0.1746806 1.48098467] [ 0.38322925 0.9236112 -0.00881445 0.37261094] [ 0.16467564 -0.05893166 0.9845857 -0.14827177] [ 0. 0. 0. 1. ]] SLAMing on 44.401346184 meters Centerline goodness : 0.931712 Centerline is valid? [False, False] Translation: X:1.48, Y:0.37, Z:-0.15 [[ 0.90827288 -0.37927292 -0.1766138 1.48442071] [ 0.38398462 0.92330441 -0.00804885 0.37435865] [ 0.16612101 -0.06050643 0.98424732 -0.14779222] [ 0. 0. 0. 1. ]] SLAMing on 44.431346184 meters Centerline goodness : 0.931702 Centerline is valid? [False, False] Translation: X:1.49, Y:0.37, Z:-0.15 [[ 0.90740456 -0.38089264 -0.17758872 1.48808026] [ 0.38562917 0.92261542 -0.00842258 0.3747127 ] [ 0.16705419 -0.06084071 0.98406875 -0.14808779] [ 0. 0. 0. 1. ]] SLAMing on 44.461346184 meters Centerline goodness : 0.932928 Centerline is valid? [False, False] Translation: X:1.49, Y:0.37, Z:-0.15 [[ 0.90723834 -0.38101921 -0.17816554 1.49041504] [ 0.38583805 0.9225304 -0.00816506 0.37409968] [ 0.16747417 -0.06133539 0.98396665 -0.148482 ] [ 0. 0. 0. 1. ]] SLAMing on 44.491346183999994 meters Centerline goodness : 0.934857 Centerline is valid? [False, False] Translation: X:1.49, Y:0.37, Z:-0.15 [[ 0.90705898 -0.38107742 -0.17895254 1.49068239] [ 0.38605063 0.92244661 -0.00756002 0.37370213] [ 0.16795512 -0.06222736 0.98382866 -0.14676996] [ 0. 0. 0. 1. ]] SLAMing on 44.521346183999995 meters Centerline goodness : 0.936107 Centerline is valid? [False, False] Translation: X:1.49, Y:0.37, Z:-0.14 [[ 0.9070225 -0.37926466 -0.18294396 1.49395451] [ 0.38530043 0.92278707 -0.00275696 0.37474018] [ 0.16986394 -0.06798776 0.98311948 -0.14389944] [ 0. 0. 0. 1. ]] SLAMing on 44.551346183999996 meters Centerline goodness : 0.937732 Centerline is valid? [False, False] Translation: X:1.50, Y:0.38, Z:-0.14 [[ 0.90685681 -0.37922759 -0.18384005 1.49576871] [ 0.38532571 0.92277651 -0.00275823 0.37580908] [ 0.17068927 -0.06833698 0.9829523 -0.14385679] [ 0. 0. 0. 1. ]] SLAMing on 44.581346184 meters Centerline goodness : 0.937732 Centerline is valid? [False, False] Translation: X:1.50, Y:0.38, Z:-0.14 [[ 0.90685681 -0.37922759 -0.18384005 1.49576871] [ 0.38532571 0.92277651 -0.00275823 0.37580908] [ 0.17068927 -0.06833698 0.9829523 -0.14385679] [ 0. 0. 0. 1. ]] SLAMing on 44.611346184 meters Centerline goodness : 0.936058 Centerline is valid? [False, False] Translation: X:1.50, Y:0.38, Z:-0.14 [[ 0.90670706 -0.37942886 -0.1841631 1.49794103] [ 0.38538935 0.92274664 -0.00370028 0.37694337] [ 0.17133987 -0.06761943 0.98288873 -0.14499828] [ 0. 0. 0. 1. ]] SLAMing on 44.641346184 meters Centerline goodness : 0.935275 Centerline is valid? [False, False] Translation: X:1.50, Y:0.38, Z:-0.15 [[ 0.90676497 -0.37927005 -0.1842051 1.50034536] [ 0.38508782 0.92286887 -0.00451872 0.37737305] [ 0.17171096 -0.06683772 0.98287744 -0.14674599] [ 0. 0. 0. 1. ]] SLAMing on 44.671346184 meters Centerline goodness : 0.934456 Centerline is valid? [False, False] Translation: X:1.50, Y:0.38, Z:-0.15 [[ 0.9060812 -0.38049084 -0.18505021 1.50479717] [ 0.38620383 0.92239663 -0.0055738 0.37897069] [ 0.17281047 -0.06641678 0.98271326 -0.14852912] [ 0. 0. 0. 1. ]] SLAMing on 44.701346183999995 meters Centerline goodness : 0.932553 Centerline is valid? [False, False] Translation: X:1.51, Y:0.38, Z:-0.15 [[ 0.90552165 -0.38150165 -0.18570684 1.50731388] [ 0.38719299 0.9219788 -0.0060568 0.37978544] [ 0.17352845 -0.06641982 0.98258653 -0.14893008] [ 0. 0. 0. 1. ]] SLAMing on 44.731346183999996 meters Centerline goodness : 0.932032 Centerline is valid? [False, False] Translation: X:1.51, Y:0.38, Z:-0.15 [[ 0.90519804 -0.38164766 -0.18698015 1.51104187] [ 0.38757254 0.92182424 -0.00525278 0.38078283] [ 0.17436755 -0.06771357 0.98234965 -0.14998253] [ 0. 0. 0. 1. ]] SLAMing on 44.761346184 meters Centerline goodness : 0.933432 Centerline is valid? [False, False] Translation: X:1.51, Y:0.38, Z:-0.15 [[ 0.9049861 -0.38190562 -0.18747868 1.5114797 ] [ 0.38793097 0.92167534 -0.00491183 0.38064891] [ 0.17467033 -0.06828365 0.98225639 -0.14894997] [ 0. 0. 0. 1. ]] SLAMing on 44.791346184 meters Centerline goodness : 0.936156 Centerline is valid? [False, False] Translation: X:1.51, Y:0.38, Z:-0.15 [[ 9.05509273e-01 -3.78873969e-01 -1.91069289e-01 1.51396729e+00] [ 3.86136126e-01 9.22441426e-01 8.41573689e-04 3.79815982e-01] [ 1.75931377e-01 -7.45408077e-02 9.81576191e-01 -1.46316028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.821346184 meters Centerline goodness : 0.936742 Centerline is valid? [False, False] Translation: X:1.51, Y:0.38, Z:-0.15 [[ 9.05635795e-01 -3.78442955e-01 -1.91323643e-01 1.51328722e+00] [ 3.85806620e-01 9.22578696e-01 1.34263037e-03 3.79650445e-01] [ 1.76003008e-01 -7.50298621e-02 9.81526088e-01 -1.45130381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.851346184 meters Centerline goodness : 0.936712 Centerline is valid? [False, False] Translation: X:1.52, Y:0.38, Z:-0.15 [[ 0.90570494 -0.37808491 -0.19170385 1.51504497] [ 0.38556024 0.92268084 0.00183671 0.37893576] [ 0.17618704 -0.0755769 0.9814511 -0.14573347] [ 0. 0. 0. 1. ]] SLAMing on 44.881346183999995 meters Centerline goodness : 0.935304 Centerline is valid? [False, False] Translation: X:1.52, Y:0.38, Z:-0.15 [[ 9.05510628e-01 -3.78800396e-01 -1.91208686e-01 1.51681480e+00] [ 3.86027451e-01 9.22487103e-01 5.93483849e-04 3.77821248e-01] [ 1.76162735e-01 -7.43492076e-02 9.81549228e-01 -1.46877506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.911346183999996 meters Centerline goodness : 0.934473 Centerline is valid? [False, False] Translation: X:1.52, Y:0.38, Z:-0.15 [[ 0.90440963 -0.38230492 -0.18943647 1.51716219] [ 0.38878362 0.92132352 -0.00320354 0.37691018] [ 0.175757 -0.07075249 0.98188775 -0.14746757] [ 0. 0. 0. 1. ]] SLAMing on 44.941346184 meters Centerline goodness : 0.934246 Centerline is valid? [False, False] Translation: X:1.52, Y:0.38, Z:-0.15 [[ 0.90388633 -0.38274815 -0.19103235 1.52113865] [ 0.38945947 0.9210399 -0.00261329 0.37830293] [ 0.17694865 -0.07203724 0.98158026 -0.14807712] [ 0. 0. 0. 1. ]] SLAMing on 44.971346184 meters Centerline goodness : 0.934905 Centerline is valid? [False, False] Translation: X:1.52, Y:0.38, Z:-0.15 [[ 0.90337131 -0.38341793 -0.19212228 1.52403517] [ 0.39027245 0.92069643 -0.00234528 0.3789977 ] [ 0.17778552 -0.07286137 0.98136819 -0.14831161] [ 0. 0. 0. 1. ]] SLAMing on 45.001346184 meters Centerline goodness : 0.934095 Centerline is valid? [False, False] Translation: X:1.53, Y:0.38, Z:-0.15 [[ 0.90262237 -0.38459175 -0.19329262 1.52686296] [ 0.39169496 0.92009376 -0.0015926 0.37849648] [ 0.17845984 -0.07427423 0.98113986 -0.14779035] [ 0. 0. 0. 1. ]] SLAMing on 45.031346184 meters Centerline goodness : 0.932879 Centerline is valid? [False, False] Translation: X:1.53, Y:0.38, Z:-0.15 [[ 9.02510407e-01 -3.84454812e-01 -1.94086226e-01 1.52838086e+00] [ 3.91775279e-01 9.20060654e-01 -7.23799991e-04 3.77024453e-01] [ 1.78849368e-01 -7.53849482e-02 9.80984206e-01 -1.47009534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.061346183999994 meters Centerline goodness : 0.935072 Centerline is valid? [False, False] Translation: X:1.53, Y:0.37, Z:-0.15 [[ 9.02658881e-01 -3.83697749e-01 -1.94892233e-01 1.53068541e+00] [ 3.91340164e-01 9.20245772e-01 7.71930898e-04 3.74951886e-01] [ 1.79052565e-01 -7.69659488e-02 9.80824358e-01 -1.47195748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.091346183999995 meters Centerline goodness : 0.935413 Centerline is valid? [False, False] Translation: X:1.53, Y:0.37, Z:-0.15 [[ 0.90345726 -0.38210321 -0.19432475 1.53145217] [ 0.38997461 0.92082235 0.00245063 0.37000797] [ 0.17800218 -0.07799576 0.98093419 -0.1482019 ] [ 0. 0. 0. 1. ]] SLAMing on 45.121346184 meters Centerline goodness : 0.937002 Centerline is valid? [False, False] Translation: X:1.53, Y:0.37, Z:-0.15 [[ 0.9040984 -0.38049005 -0.19450813 1.53228808] [ 0.38860615 0.92139576 0.00388817 0.36759148] [ 0.17773955 -0.07910234 0.9808932 -0.14860033] [ 0. 0. 0. 1. ]] SLAMing on 45.151346184 meters Centerline goodness : 0.939321 Centerline is valid? [False, False] Translation: X:1.53, Y:0.37, Z:-0.15 [[ 0.90444492 -0.37942736 -0.19497247 1.53276503] [ 0.38776486 0.92174471 0.00500992 0.36655574] [ 0.17781394 -0.08013467 0.98079592 -0.14827975] [ 0. 0. 0. 1. ]] SLAMing on 45.181346184 meters Centerline goodness : 0.937593 Centerline is valid? [False, False] Translation: X:1.54, Y:0.37, Z:-0.15 [[ 0.90508144 -0.37667985 -0.1973319 1.53714063] [ 0.38585654 0.92251675 0.00880809 0.36625899] [ 0.17872415 -0.08411384 0.98029717 -0.14956938] [ 0. 0. 0. 1. ]] SLAMing on 45.211346184 meters Centerline goodness : 0.933188 Centerline is valid? [False, False] Translation: X:1.54, Y:0.37, Z:-0.15 [[ 0.90516601 -0.37694935 -0.19642731 1.53817302] [ 0.38573327 0.92258338 0.00705315 0.36654398] [ 0.17856189 -0.08215281 0.98049302 -0.15170075] [ 0. 0. 0. 1. ]] SLAMing on 45.241346183999994 meters Centerline goodness : 0.932966 Centerline is valid? [False, False] Translation: X:1.54, Y:0.37, Z:-0.15 [[ 0.90533577 -0.37702729 -0.19549313 1.53979311] [ 0.38551078 0.92268493 0.00582783 0.3655392 ] [ 0.17818132 -0.08064085 0.98068775 -0.15420747] [ 0. 0. 0. 1. ]] SLAMing on 45.271346183999995 meters Centerline goodness : 0.930788 Centerline is valid? [False, False] Translation: X:1.54, Y:0.36, Z:-0.16 [[ 0.9056095 -0.37674598 -0.19476627 1.54117423] [ 0.38505779 0.92287756 0.00524515 0.36408919] [ 0.17776933 -0.07974633 0.98083566 -0.15623282] [ 0. 0. 0. 1. ]] SLAMing on 45.301346183999996 meters Centerline goodness : 0.927332 Centerline is valid? [False, False] Translation: X:1.55, Y:0.36, Z:-0.16 [[ 0.90583348 -0.3756796 -0.19578188 1.54523967] [ 0.38442382 0.92312808 0.00727121 0.3615238 ] [ 0.17800011 -0.08184972 0.98062051 -0.15786155] [ 0. 0. 0. 1. ]] SLAMing on 45.331346184 meters Centerline goodness : 0.929241 Centerline is valid? [False, False] Translation: X:1.55, Y:0.36, Z:-0.16 [[ 0.90575036 -0.37576709 -0.19599842 1.54557437] [ 0.38465178 0.92302766 0.00793413 0.36013265] [ 0.17793058 -0.08257748 0.98057211 -0.15713589] [ 0. 0. 0. 1. ]] SLAMing on 45.361346184 meters Centerline goodness : 0.928785 Centerline is valid? [False, False] Translation: X:1.55, Y:0.36, Z:-0.16 [[ 0.90577131 -0.37561944 -0.19618454 1.54663136] [ 0.38465823 0.92301797 0.00871066 0.35838503] [ 0.17780996 -0.08335387 0.9805283 -0.15712729] [ 0. 0. 0. 1. ]] SLAMing on 45.391346184 meters Centerline goodness : 0.928541 Centerline is valid? [False, False] Translation: X:1.55, Y:0.36, Z:-0.16 [[ 0.90574365 -0.37529744 -0.19692706 1.54971507] [ 0.38459565 0.92303294 0.0098167 0.3566214 ] [ 0.17808598 -0.0846287 0.98036899 -0.15812862] [ 0. 0. 0. 1. ]] SLAMing on 45.421346184 meters Centerline goodness : 0.927537 Centerline is valid? [False, False] Translation: X:1.55, Y:0.35, Z:-0.16 [[ 0.90543229 -0.37576284 -0.19747065 1.55276694] [ 0.38537048 0.9226939 0.01120571 0.35307036] [ 0.17799427 -0.08624537 0.98024475 -0.15843964] [ 0. 0. 0. 1. ]] SLAMing on 45.451346183999995 meters Centerline goodness : 0.923606 Centerline is valid? [False, False] Translation: X:1.56, Y:0.35, Z:-0.16 [[ 0.90525927 -0.3753981 -0.19895203 1.55580604] [ 0.38540891 0.9226582 0.01272089 0.35342605] [ 0.17878933 -0.08819359 0.97992666 -0.15864294] [ 0. 0. 0. 1. ]] SLAMing on 45.481346183999996 meters Centerline goodness : 0.923632 Centerline is valid? [False, False] Translation: X:1.56, Y:0.35, Z:-0.16 [[ 0.90522765 -0.37501104 -0.199824 1.55738724] [ 0.38523932 0.92271778 0.01351154 0.35415175] [ 0.17931419 -0.08921108 0.97973864 -0.15884127] [ 0. 0. 0. 1. ]] SLAMing on 45.511346184 meters Centerline goodness : 0.920369 Centerline is valid? [False, False] Translation: X:1.56, Y:0.36, Z:-0.16 [[ 0.90527407 -0.37438501 -0.20078528 1.56150385] [ 0.38465021 0.92296669 0.01329264 0.35656912] [ 0.18034156 -0.08926558 0.97954509 -0.16179941] [ 0. 0. 0. 1. ]] SLAMing on 45.541346184 meters Centerline goodness : 0.919137 Centerline is valid? [False, False] Translation: X:1.56, Y:0.36, Z:-0.16 [[ 0.90534455 -0.3744316 -0.20038021 1.56224029] [ 0.38449942 0.92304169 0.01241877 0.35659894] [ 0.18030931 -0.08828934 0.9796395 -0.16299215] [ 0. 0. 0. 1. ]] SLAMing on 45.571346184 meters Centerline goodness : 0.915328 Centerline is valid? [False, False] Translation: X:1.57, Y:0.36, Z:-0.17 [[ 0.90556168 -0.37352154 -0.20109627 1.56577297] [ 0.38377375 0.92333341 0.0131573 0.35620431] [ 0.18076437 -0.08909022 0.97948312 -0.16505055] [ 0. 0. 0. 1. ]] SLAMing on 45.601346184 meters Centerline goodness : 0.913947 Centerline is valid? [False, False] Translation: X:1.57, Y:0.36, Z:-0.17 [[ 0.9054355 -0.37321028 -0.20223905 1.56874615] [ 0.38373799 0.92333432 0.01410281 0.35666106] [ 0.18147094 -0.09037599 0.97923464 -0.16584552] [ 0. 0. 0. 1. ]] SLAMing on 45.631346183999995 meters Centerline goodness : 0.913424 Centerline is valid? [False, False] Translation: X:1.57, Y:0.36, Z:-0.17 [[ 0.90515074 -0.37333008 -0.2032899 1.57000685] [ 0.38411496 0.92316441 0.01493876 0.35757281] [ 0.18209291 -0.09160852 0.97900462 -0.16518805] [ 0. 0. 0. 1. ]] SLAMing on 45.661346183999996 meters Centerline goodness : 0.911329 Centerline is valid? [False, False] Translation: X:1.57, Y:0.36, Z:-0.16 [[ 0.90529683 -0.37124811 -0.20642795 1.57423004] [ 0.3830854 0.92351441 0.01914963 0.35804849] [ 0.18352992 -0.09641563 0.9782744 -0.16472324] [ 0. 0. 0. 1. ]] SLAMing on 45.691346184 meters Centerline goodness : 0.908272 Centerline is valid? [False, False] Translation: X:1.58, Y:0.36, Z:-0.17 [[ 0.90479063 -0.37619596 -0.19957585 1.58383 ] [ 0.3885441 0.92108357 0.02526932 0.36255411] [ 0.17431982 -0.10040746 0.9795565 -0.17068442] [ 0. 0. 0. 1. ]] SLAMing on 45.721346184 meters Centerline goodness : 0.907592 Centerline is valid? [False, False] Translation: X:1.59, Y:0.36, Z:-0.17 [[ 0.90457074 -0.37628856 -0.20039637 1.58732166] [ 0.38883288 0.9209448 0.02587798 0.36203437] [ 0.1748164 -0.10132916 0.97937308 -0.1719964 ] [ 0. 0. 0. 1. ]] SLAMing on 45.751346184 meters Centerline goodness : 0.906459 Centerline is valid? [False, False] Translation: X:1.59, Y:0.36, Z:-0.17 [[ 0.90447694 -0.37606421 -0.20123908 1.59049341] [ 0.38880829 0.92093694 0.02651925 0.36178835] [ 0.17535556 -0.10222947 0.97918311 -0.17316988] [ 0. 0. 0. 1. ]] SLAMing on 45.781346184 meters Centerline goodness : 0.903458 Centerline is valid? [False, False] Translation: X:1.59, Y:0.36, Z:-0.17 [[ 0.904024 -0.37534458 -0.20458997 1.59489225] [ 0.38898485 0.92077011 0.02954967 0.36439627] [ 0.17728902 -0.10629601 0.97840164 -0.17243315] [ 0. 0. 0. 1. ]] SLAMing on 45.811346183999994 meters Centerline goodness : 0.901208 Centerline is valid? [False, False] Translation: X:1.60, Y:0.37, Z:-0.17 [[ 0.90354439 -0.37564899 -0.20614408 1.59814945] [ 0.38956468 0.92050771 0.03008183 0.3667224 ] [ 0.178457 -0.10748672 0.97805915 -0.17292559] [ 0. 0. 0. 1. ]] SLAMing on 45.841346183999995 meters Centerline goodness : 0.898852 Centerline is valid? [False, False] Translation: X:1.60, Y:0.37, Z:-0.17 [[ 0.90325736 -0.37585177 -0.20703042 1.60160995] [ 0.38989562 0.92036313 0.03021765 0.36785245] [ 0.17918581 -0.10801457 0.97786773 -0.17449312] [ 0. 0. 0. 1. ]] SLAMing on 45.871346184 meters Centerline goodness : 0.895701 Centerline is valid? [False, False] Translation: X:1.60, Y:0.37, Z:-0.18 [[ 0.90307379 -0.37614927 -0.20729077 1.60469654] [ 0.39016046 0.92026292 0.02984916 0.36768139] [ 0.17953427 -0.10783265 0.97782389 -0.17627657] [ 0. 0. 0. 1. ]] SLAMing on 45.901346184 meters Centerline goodness : 0.894861 Centerline is valid? [False, False] Translation: X:1.61, Y:0.37, Z:-0.18 [[ 0.90265466 -0.37680508 -0.20792427 1.60800552] [ 0.39099701 0.91989057 0.03037566 0.36620118] [ 0.17982187 -0.1087165 0.97767317 -0.17701439] [ 0. 0. 0. 1. ]] SLAMing on 45.931346184 meters Centerline goodness : 0.894823 Centerline is valid? [False, False] Translation: X:1.61, Y:0.37, Z:-0.17 [[ 0.90220745 -0.37679679 -0.20987114 1.60950246] [ 0.39153292 0.91960345 0.0321163 0.36715595] [ 0.1808969 -0.11114703 0.97720144 -0.17497511] [ 0. 0. 0. 1. ]] SLAMing on 45.961346184 meters Centerline goodness : 0.894768 Centerline is valid? [False, False] Translation: X:1.61, Y:0.37, Z:-0.17 [[ 0.90212164 -0.37498846 -0.21344836 1.61213831] [ 0.3909143 0.91970641 0.03641612 0.36865223] [ 0.1826542 -0.11629179 0.9762754 -0.17240044] [ 0. 0. 0. 1. ]] SLAMing on 45.991346183999994 meters Centerline goodness : 0.893977 Centerline is valid? [False, False] Translation: X:1.63, Y:0.38, Z:-0.17 [[ 0.90115333 -0.37838472 -0.21153646 1.62695783] [ 0.39523116 0.91760549 0.04233778 0.3789116 ] [ 0.17808705 -0.12175863 0.97645268 -0.17226865] [ 0. 0. 0. 1. ]] SLAMing on 46.021346183999995 meters Centerline goodness : 0.891477 Centerline is valid? [False, False] Translation: X:1.63, Y:0.38, Z:-0.17 [[ 0.90105923 -0.37854503 -0.21165047 1.62919099] [ 0.39529495 0.9176066 0.04171381 0.3795343 ] [ 0.17842131 -0.12125097 0.97645483 -0.1739027 ] [ 0. 0. 0. 1. ]] SLAMing on 46.051346183999996 meters Centerline goodness : 0.891405 Centerline is valid? [False, False] Translation: X:1.63, Y:0.38, Z:-0.18 [[ 0.90090679 -0.37889194 -0.21167866 1.63252099] [ 0.39549767 0.91755717 0.04087098 0.37962073] [ 0.17874158 -0.12053936 0.97648436 -0.17627453] [ 0. 0. 0. 1. ]] SLAMing on 46.081346184 meters Centerline goodness : 0.889008 Centerline is valid? [False, False] Translation: X:1.64, Y:0.38, Z:-0.18 [[ 0.90059487 -0.37936705 -0.21215448 1.63672877] [ 0.39592434 0.91740135 0.04023288 0.37988336] [ 0.17936778 -0.12023065 0.97640759 -0.1785143 ] [ 0. 0. 0. 1. ]] SLAMing on 46.111346184 meters Centerline goodness : 0.889874 Centerline is valid? [False, False] Translation: X:1.64, Y:0.38, Z:-0.18 [[ 0.89912753 -0.38256275 -0.21263918 1.6394003 ] [ 0.3988698 0.91621081 0.03821821 0.38309174] [ 0.18020145 -0.11917839 0.9763831 -0.17882615] [ 0. 0. 0. 1. ]] SLAMing on 46.141346184 meters Centerline goodness : 0.889170 Centerline is valid? [False, False] Translation: X:1.64, Y:0.39, Z:-0.18 [[ 0.89842084 -0.38355931 -0.2138276 1.64037137] [ 0.40002393 0.91570969 0.0381656 0.3852387 ] [ 0.18116524 -0.11982493 0.97612558 -0.17743287] [ 0. 0. 0. 1. ]] SLAMing on 46.171346184 meters Centerline goodness : 0.888381 Centerline is valid? [False, False] Translation: X:1.64, Y:0.39, Z:-0.18 [[ 0.89789816 -0.38406957 -0.21510338 1.64143816] [ 0.40078108 0.91536129 0.03857763 0.38685325] [ 0.18208081 -0.12084815 0.97582903 -0.17601509] [ 0. 0. 0. 1. ]] SLAMing on 46.201346183999995 meters Centerline goodness : 0.884509 Centerline is valid? [False, False] Translation: X:1.64, Y:0.39, Z:-0.18 [[ 0.8976039 -0.38450041 -0.2155613 1.64193447] [ 0.40128046 0.91514197 0.03858967 0.38777916] [ 0.18243145 -0.12113878 0.9757275 -0.17544808] [ 0. 0. 0. 1. ]] SLAMing on 46.231346183999996 meters Centerline goodness : 0.887072 Centerline is valid? [False, False] Translation: X:1.64, Y:0.39, Z:-0.18 [[ 0.8974968 -0.3844724 -0.21605665 1.64373995] [ 0.40139546 0.91507325 0.0390209 0.3868747 ] [ 0.1827052 -0.12174529 0.97560079 -0.17530697] [ 0. 0. 0. 1. ]] SLAMing on 46.261346184 meters Centerline goodness : 0.886258 Centerline is valid? [False, False] Translation: X:1.64, Y:0.39, Z:-0.18 [[ 0.8977012 -0.38388415 -0.21625338 1.64467052] [ 0.40084074 0.91531181 0.0391278 0.38675757] [ 0.18291873 -0.12180823 0.97555292 -0.17557348] [ 0. 0. 0. 1. ]] SLAMing on 46.291346184 meters Centerline goodness : 0.886540 Centerline is valid? [False, False] Translation: X:1.64, Y:0.39, Z:-0.17 [[ 0.89751374 -0.38416776 -0.21652765 1.64454731] [ 0.40115868 0.91517392 0.03909481 0.3875386 ] [ 0.1831415 -0.12195007 0.9754934 -0.17480126] [ 0. 0. 0. 1. ]] SLAMing on 46.321346184 meters Centerline goodness : 0.885642 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.17 [[ 0.89700227 -0.38515446 -0.21689389 1.64553263] [ 0.40215749 0.9147477 0.03880711 0.38844868] [ 0.18345646 -0.12203557 0.97542352 -0.17419846] [ 0. 0. 0. 1. ]] SLAMing on 46.351346184 meters Centerline goodness : 0.883611 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.17 [[ 0.89652201 -0.38630888 -0.21682651 1.64684636] [ 0.4031743 0.91433392 0.03799964 0.38843921] [ 0.18357223 -0.12148639 0.97547029 -0.17445636] [ 0. 0. 0. 1. ]] SLAMing on 46.381346183999995 meters Centerline goodness : 0.885089 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.17 [[ 0.8961429 -0.38728627 -0.21665008 1.64834332] [ 0.40401326 0.91399317 0.03727953 0.38793768] [ 0.18357885 -0.1209373 0.97553728 -0.17496427] [ 0. 0. 0. 1. ]] SLAMing on 46.411346183999996 meters Centerline goodness : 0.889355 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.17 [[ 0.89597476 -0.3878935 -0.21625878 1.64757559] [ 0.40456572 0.91375255 0.03718694 0.38680345] [ 0.18318244 -0.12080945 0.97562763 -0.17380222] [ 0. 0. 0. 1. ]] SLAMing on 46.441346184 meters Centerline goodness : 0.889380 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.17 [[ 0.89599279 -0.38733978 -0.21717462 1.64955574] [ 0.40432529 0.91381327 0.03829319 0.38687759] [ 0.18362457 -0.12211961 0.97538137 -0.17392254] [ 0. 0. 0. 1. ]] SLAMing on 46.471346184 meters Centerline goodness : 0.889380 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.17 [[ 0.89599279 -0.38733978 -0.21717462 1.64955574] [ 0.40432529 0.91381327 0.03829319 0.38687759] [ 0.18362457 -0.12211961 0.97538137 -0.17392254] [ 0. 0. 0. 1. ]] SLAMing on 46.501346184 meters Centerline goodness : 0.891082 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.17 [[ 0.89576529 -0.38771828 -0.21743752 1.64986041] [ 0.4047509 0.91362351 0.03832491 0.38742912] [ 0.18379677 -0.12233815 0.97532155 -0.17340093] [ 0. 0. 0. 1. ]] SLAMing on 46.531346184 meters Centerline goodness : 0.890444 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.17 [[ 0.89627681 -0.38711162 -0.21640811 1.64971174] [ 0.40394761 0.91399081 0.03804114 0.38609997] [ 0.18306886 -0.12151294 0.97556158 -0.1746177 ] [ 0. 0. 0. 1. ]] SLAMing on 46.561346183999994 meters Centerline goodness : 0.891494 Centerline is valid? [False, False] Translation: X:1.65, Y:0.38, Z:-0.18 [[ 0.89655346 -0.38678021 -0.21585404 1.65021001] [ 0.40354713 0.91416598 0.03808253 0.38478337] [ 0.18259685 -0.1212503 0.97568271 -0.1753479 ] [ 0. 0. 0. 1. ]] SLAMing on 46.591346183999995 meters Centerline goodness : 0.892493 Centerline is valid? [False, False] Translation: X:1.65, Y:0.38, Z:-0.18 [[ 0.89674934 -0.38664142 -0.21528826 1.65069923] [ 0.40330815 0.9142772 0.03794394 0.38377075] [ 0.18216245 -0.12085371 0.97581311 -0.1761009 ] [ 0. 0. 0. 1. ]] SLAMing on 46.621346184 meters Centerline goodness : 0.893086 Centerline is valid? [False, False] Translation: X:1.65, Y:0.38, Z:-0.18 [[ 0.89687891 -0.38654121 -0.21492815 1.65114412] [ 0.40316363 0.91434025 0.03796047 0.38328272] [ 0.18184417 -0.12069716 0.97589184 -0.17654449] [ 0. 0. 0. 1. ]] SLAMing on 46.651346184 meters Centerline goodness : 0.898523 Centerline is valid? [False, False] Translation: X:1.65, Y:0.38, Z:-0.18 [[ 0.89762209 -0.38353959 -0.21719106 1.65309084] [ 0.40118101 0.91502743 0.04217344 0.38432276] [ 0.1825606 -0.12498874 0.97521764 -0.17613313] [ 0. 0. 0. 1. ]] SLAMing on 46.681346184 meters Centerline goodness : 0.899371 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.18 [[ 0.89792334 -0.38268792 -0.21744799 1.65316736] [ 0.40044378 0.91532621 0.04269315 0.38611241] [ 0.18269769 -0.12541087 0.97513777 -0.17652568] [ 0. 0. 0. 1. ]] SLAMing on 46.711346184 meters Centerline goodness : 0.897106 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.18 [[ 0.89812325 -0.38259313 -0.2167882 1.65244576] [ 0.40012997 0.91549581 0.04199319 0.38745705] [ 0.18240238 -0.12445852 0.97531505 -0.17728126] [ 0. 0. 0. 1. ]] SLAMing on 46.741346183999994 meters Centerline goodness : 0.897226 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.18 [[ 0.89804422 -0.38471876 -0.21332616 1.65335466] [ 0.40095731 0.91534262 0.03716339 0.38754489] [ 0.18096907 -0.11890905 0.97627395 -0.18230353] [ 0. 0. 0. 1. ]] SLAMing on 46.771346183999995 meters Centerline goodness : 0.896988 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.19 [[ 0.8975279 -0.38722347 -0.21095414 1.65428455] [ 0.40252396 0.91480018 0.03339296 0.38756215] [ 0.18005035 -0.11488521 0.97692541 -0.18525951] [ 0. 0. 0. 1. ]] SLAMing on 46.801346183999996 meters Centerline goodness : 0.898896 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.19 [[ 0.89722846 -0.38815417 -0.21051706 1.6553693 ] [ 0.40327914 0.9144952 0.03262629 0.38760792] [ 0.17985281 -0.11417037 0.97704559 -0.18614155] [ 0. 0. 0. 1. ]] SLAMing on 46.831346184 meters Centerline goodness : 0.898024 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.18 [[ 0.89699576 -0.38827353 -0.21128719 1.65552627] [ 0.4036218 0.91431879 0.03332552 0.38896924] [ 0.18024443 -0.11517297 0.97685574 -0.18490713] [ 0. 0. 0. 1. ]] SLAMing on 46.861346184 meters Centerline goodness : 0.899630 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.18 [[ 0.89764425 -0.38417724 -0.21596911 1.65526343] [ 0.40139773 0.91499898 0.04070292 0.39204201] [ 0.18197438 -0.12322625 0.97555144 -0.17969875] [ 0. 0. 0. 1. ]] SLAMing on 46.891346184 meters Centerline goodness : 0.898795 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.18 [[ 0.89791331 -0.38313081 -0.21670825 1.65655173] [ 0.40071641 0.91522726 0.04225424 0.3934891 ] [ 0.1821484 -0.1247792 0.97532154 -0.18018966] [ 0. 0. 0. 1. ]] SLAMing on 46.921346184 meters Centerline goodness : 0.898002 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.18 [[ 0.89802158 -0.38363822 -0.21535777 1.65729334] [ 0.40081045 0.91524663 0.04092188 0.39295356] [ 0.18140627 -0.12306637 0.97567742 -0.18221883] [ 0. 0. 0. 1. ]] SLAMing on 46.951346183999995 meters Centerline goodness : 0.898877 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.19 [[ 0.89770792 -0.38559695 -0.21315602 1.6591816 ] [ 0.40194591 0.91488355 0.0377832 0.39190421] [ 0.18044385 -0.11959546 0.97628733 -0.18578176] [ 0. 0. 0. 1. ]] SLAMing on 46.981346183999996 meters Centerline goodness : 0.898527 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.19 [[ 0.89679602 -0.3899088 -0.20911248 1.66122035] [ 0.40486475 0.91380124 0.03243206 0.38971322] [ 0.1784417 -0.11374721 0.97735364 -0.19072306] [ 0. 0. 0. 1. ]] SLAMing on 47.011346184 meters Centerline goodness : 0.897985 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.19 [[ 0.89615941 -0.3910174 -0.20977058 1.66357976] [ 0.40609398 0.91325148 0.03254851 0.39007493] [ 0.17884626 -0.11435522 0.97720873 -0.19080685] [ 0. 0. 0. 1. ]] SLAMing on 47.041346184 meters Centerline goodness : 0.900429 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.19 [[ 0.89469587 -0.39277231 -0.21271864 1.66481026] [ 0.40880005 0.91192969 0.03559156 0.39303453] [ 0.18000507 -0.11880301 0.97646506 -0.18626141] [ 0. 0. 0. 1. ]] SLAMing on 47.071346184 meters Centerline goodness : 0.902049 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.19 [[ 0.8947147 -0.39191793 -0.21421005 1.66726649] [ 0.40847232 0.9119992 0.03752088 0.39406026] [ 0.18065429 -0.12106935 0.97606672 -0.18631774] [ 0. 0. 0. 1. ]] SLAMing on 47.101346184 meters Centerline goodness : 0.904866 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.19 [[ 0.89478564 -0.39201905 -0.21372815 1.66762517] [ 0.4084767 0.91200564 0.03731609 0.3934234 ] [ 0.18029266 -0.12069287 0.9761802 -0.18686023] [ 0. 0. 0. 1. ]] SLAMing on 47.131346183999995 meters Centerline goodness : 0.903515 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.19 [[ 0.89524049 -0.39208099 -0.21170016 1.66754703] [ 0.40793373 0.91232514 0.03539655 0.39162084] [ 0.17926106 -0.11804807 0.97669347 -0.18917488] [ 0. 0. 0. 1. ]] SLAMing on 47.161346183999996 meters Centerline goodness : 0.908328 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.19 [[ 0.89619207 -0.39221948 -0.20737323 1.66704943] [ 0.406989 0.9128618 0.03229989 0.38710073] [ 0.17663445 -0.11334553 0.97772852 -0.19415456] [ 0. 0. 0. 1. ]] SLAMing on 47.191346184 meters Centerline goodness : 0.907415 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.20 [[ 0.89605069 -0.39242628 -0.20759282 1.66904255] [ 0.40726289 0.91273232 0.03250616 0.38689309] [ 0.17672041 -0.11367202 0.97767508 -0.19511496] [ 0. 0. 0. 1. ]] SLAMing on 47.221346184 meters Centerline goodness : 0.909368 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.19 [[ 0.89480592 -0.39435173 -0.20930618 1.67064688] [ 0.40959081 0.91165779 0.03339822 0.38955185] [ 0.17764496 -0.11561481 0.97727963 -0.19280905] [ 0. 0. 0. 1. ]] SLAMing on 47.251346184 meters Centerline goodness : 0.910241 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.19 [[ 0.89420534 -0.39495048 -0.21073901 1.67228447] [ 0.41055438 0.91118762 0.0343834 0.39122863] [ 0.17844304 -0.11726564 0.97693749 -0.19171259] [ 0. 0. 0. 1. ]] SLAMing on 47.281346184 meters Centerline goodness : 0.908719 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.19 [[ 0.89389194 -0.39543256 -0.21116415 1.67303385] [ 0.41112155 0.91092693 0.03451377 0.39189509] [ 0.17870724 -0.11766571 0.97684108 -0.19131813] [ 0. 0. 0. 1. ]] SLAMing on 47.311346183999994 meters Centerline goodness : 0.907149 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.19 [[ 0.8933451 -0.39764608 -0.20931346 1.67194231] [ 0.41260181 0.91036691 0.03149329 0.39204849] [ 0.17802887 -0.11449749 0.97734132 -0.19193871] [ 0. 0. 0. 1. ]] SLAMing on 47.341346183999995 meters Centerline goodness : 0.910169 Centerline is valid? [False, False] Translation: X:1.68, Y:0.39, Z:-0.20 [[ 0.89281877 -0.40014549 -0.20678063 1.67544013] [ 0.41433094 0.90967594 0.02862802 0.38883764] [ 0.17664799 -0.11123525 0.97796841 -0.19598 ] [ 0. 0. 0. 1. ]] SLAMing on 47.371346184 meters Centerline goodness : 0.911740 Centerline is valid? [False, False] Translation: X:1.68, Y:0.39, Z:-0.20 [[ 0.89272599 -0.40078645 -0.20593816 1.67653888] [ 0.4148137 0.90946854 0.0282235 0.38685612] [ 0.17598268 -0.11062182 0.97815792 -0.19697777] [ 0. 0. 0. 1. ]] SLAMing on 47.401346184 meters Centerline goodness : 0.913160 Centerline is valid? [False, False] Translation: X:1.68, Y:0.39, Z:-0.20 [[ 0.89264107 -0.40050732 -0.20684729 1.67895698] [ 0.41492121 0.90936876 0.02981363 0.38633528] [ 0.17615989 -0.11243819 0.97791889 -0.19714516] [ 0. 0. 0. 1. ]] SLAMing on 47.431346184 meters Centerline goodness : 0.913875 Centerline is valid? [False, False] Translation: X:1.68, Y:0.39, Z:-0.20 [[ 0.89251587 -0.40016141 -0.20805352 1.68020048] [ 0.41501405 0.90926983 0.03149153 0.38703824] [ 0.17657509 -0.11445182 0.97761036 -0.19614481] [ 0. 0. 0. 1. ]] SLAMing on 47.461346184 meters Centerline goodness : 0.914064 Centerline is valid? [False, False] Translation: X:1.68, Y:0.39, Z:-0.19 [[ 0.89220831 -0.40029416 -0.2091146 1.67987444] [ 0.41558137 0.90895078 0.03317543 0.38959469] [ 0.17679494 -0.11650353 0.97732823 -0.19420939] [ 0. 0. 0. 1. ]] SLAMing on 47.491346183999994 meters Centerline goodness : 0.914018 Centerline is valid? [False, False] Translation: X:1.68, Y:0.39, Z:-0.20 [[ 0.89231953 -0.39999874 -0.20920532 1.68300527] [ 0.41527832 0.90909191 0.03310306 0.38995934] [ 0.17694568 -0.11641694 0.97731127 -0.19696444] [ 0. 0. 0. 1. ]] SLAMing on 47.521346183999995 meters Centerline goodness : 0.913177 Centerline is valid? [False, False] Translation: X:1.68, Y:0.39, Z:-0.20 [[ 0.89228875 -0.40077426 -0.20784795 1.68452877] [ 0.41553018 0.90905003 0.03102774 0.38976519] [ 0.17650907 -0.1140528 0.97766891 -0.1997757 ] [ 0. 0. 0. 1. ]] SLAMing on 47.551346183999996 meters Centerline goodness : 0.911325 Centerline is valid? [False, False] Translation: X:1.69, Y:0.39, Z:-0.20 [[ 0.89185439 -0.40303077 -0.20533373 1.68592068] [ 0.41692122 0.90852304 0.02761493 0.38889639] [ 0.17542076 -0.11023648 0.97830234 -0.20323521] [ 0. 0. 0. 1. ]] SLAMing on 47.581346184 meters Centerline goodness : 0.910864 Centerline is valid? [False, False] Translation: X:1.69, Y:0.39, Z:-0.20 [[ 0.89195503 -0.40268375 -0.20557731 1.68785737] [ 0.41670938 0.90860074 0.02824863 0.38816979] [ 0.17541243 -0.1108625 0.97823309 -0.20430098] [ 0. 0. 0. 1. ]] SLAMing on 47.611346184 meters Centerline goodness : 0.912351 Centerline is valid? [False, False] Translation: X:1.69, Y:0.39, Z:-0.20 [[ 0.89204714 -0.40222619 -0.20607276 1.68928923] [ 0.41646181 0.90868589 0.02914653 0.38810088] [ 0.17553191 -0.11182151 0.9781025 -0.2046306 ] [ 0. 0. 0. 1. ]] SLAMing on 47.641346184 meters Centerline goodness : 0.914949 Centerline is valid? [False, False] Translation: X:1.69, Y:0.39, Z:-0.20 [[ 0.89292889 -0.39895032 -0.20860643 1.69191957] [ 0.41434455 0.90947543 0.03424972 0.38752275] [ 0.17605848 -0.1170175 0.97739977 -0.20381921] [ 0. 0. 0. 1. ]] SLAMing on 47.671346184 meters Centerline goodness : 0.912332 Centerline is valid? [False, False] Translation: X:1.70, Y:0.39, Z:-0.20 [[ 0.89307766 -0.39786813 -0.21003154 1.69532715] [ 0.41376387 0.90966552 0.03616765 0.38755497] [ 0.17666849 -0.11920399 0.97702541 -0.20466448] [ 0. 0. 0. 1. ]] SLAMing on 47.701346183999995 meters Centerline goodness : 0.915307 Centerline is valid? [False, False] Translation: X:1.70, Y:0.39, Z:-0.21 [[ 0.89317042 -0.39781121 -0.20974472 1.69659228] [ 0.41368727 0.90969661 0.03626182 0.3866729 ] [ 0.17637871 -0.11915671 0.97708353 -0.20579438] [ 0. 0. 0. 1. ]] SLAMing on 47.731346183999996 meters Centerline goodness : 0.915343 Centerline is valid? [False, False] Translation: X:1.70, Y:0.38, Z:-0.21 [[ 0.89361004 -0.39779274 -0.20789908 1.69870876] [ 0.4132047 0.90996735 0.03494709 0.38385283] [ 0.17527968 -0.11713395 0.97752579 -0.20917311] [ 0. 0. 0. 1. ]] SLAMing on 47.761346184 meters Centerline goodness : 0.917255 Centerline is valid? [False, False] Translation: X:1.70, Y:0.38, Z:-0.21 [[ 0.89361014 -0.39758993 -0.20828626 1.70132885] [ 0.41310381 0.91000062 0.03527201 0.38371569] [ 0.17551683 -0.11756328 0.9774317 -0.21058421] [ 0. 0. 0. 1. ]] SLAMing on 47.791346184 meters Centerline goodness : 0.918229 Centerline is valid? [False, False] Translation: X:1.70, Y:0.38, Z:-0.21 [[ 0.89343304 -0.39727128 -0.20964954 1.70485114] [ 0.4131287 0.90994972 0.03627931 0.3847638 ] [ 0.17635782 -0.11902537 0.97710331 -0.21154671] [ 0. 0. 0. 1. ]] SLAMing on 47.821346184 meters Centerline goodness : 0.915849 Centerline is valid? [False, False] Translation: X:1.71, Y:0.39, Z:-0.21 [[ 0.89381399 -0.39631486 -0.20983584 1.7063325 ] [ 0.41230478 0.91029503 0.0369829 0.38615377] [ 0.17635565 -0.11957216 0.97703694 -0.21321311] [ 0. 0. 0. 1. ]] SLAMing on 47.851346184 meters Centerline goodness : 0.916872 Centerline is valid? [False, False] Translation: X:1.71, Y:0.39, Z:-0.22 [[ 0.89449639 -0.39495562 -0.2094905 1.70842667] [ 0.41090864 0.91091908 0.03715531 0.38555129] [ 0.17615419 -0.11931675 0.97710451 -0.21600532] [ 0. 0. 0. 1. ]] SLAMing on 47.881346183999995 meters Centerline goodness : 0.918801 Centerline is valid? [False, False] Translation: X:1.71, Y:0.38, Z:-0.22 [[ 0.89503324 -0.39443495 -0.20817438 1.7083832 ] [ 0.41002251 0.91136149 0.03608006 0.38439417] [ 0.17549088 -0.11764904 0.97742604 -0.21782724] [ 0. 0. 0. 1. ]] SLAMing on 47.911346183999996 meters Centerline goodness : 0.920037 Centerline is valid? [False, False] Translation: X:1.71, Y:0.38, Z:-0.22 [[ 0.89617066 -0.39204877 -0.20778815 1.70962048] [ 0.40777939 0.91231485 0.03738431 0.38199821] [ 0.17491174 -0.11823445 0.97745921 -0.21985636] [ 0. 0. 0. 1. ]] SLAMing on 47.941346184 meters Centerline goodness : 0.918717 Centerline is valid? [False, False] Translation: X:1.71, Y:0.38, Z:-0.22 [[ 0.89645682 -0.39043373 -0.20958691 1.71349207] [ 0.40681344 0.91263882 0.03991518 0.38265578] [ 0.17569292 -0.12104501 0.97697498 -0.22097899] [ 0. 0. 0. 1. ]] SLAMing on 47.971346184 meters Centerline goodness : 0.918717 Centerline is valid? [False, False] Translation: X:1.71, Y:0.38, Z:-0.22 [[ 0.89610678 -0.39067902 -0.21062418 1.71327128] [ 0.40734956 0.91236164 0.04077477 0.38407517] [ 0.17623558 -0.12233622 0.97671637 -0.21908319] [ 0. 0. 0. 1. ]] SLAMing on 48.001346184 meters Centerline goodness : 0.920363 Centerline is valid? [False, False] Translation: X:1.72, Y:0.39, Z:-0.22 [[ 0.89676367 -0.39349094 -0.20243468 1.71846648] [ 0.41043306 0.91062036 0.0481172 0.38812475] [ 0.16540746 -0.12623565 0.97811295 -0.22367303] [ 0. 0. 0. 1. ]] SLAMing on 48.031346184 meters Centerline goodness : 0.918786 Centerline is valid? [False, False] Translation: X:1.72, Y:0.39, Z:-0.23 [[ 0.89761705 -0.39110226 -0.20327975 1.71963698] [ 0.40827399 0.91154153 0.04903459 0.39035745] [ 0.1661204 -0.12700812 0.9778921 -0.22513824] [ 0. 0. 0. 1. ]] SLAMing on 48.061346183999994 meters Centerline goodness : 0.918154 Centerline is valid? [False, False] Translation: X:1.72, Y:0.39, Z:-0.23 [[ 0.89804591 -0.39125758 -0.20107474 1.72034359] [ 0.40762589 0.9119912 0.04596945 0.3904362 ] [ 0.1653925 -0.12324595 0.97849668 -0.22929226] [ 0. 0. 0. 1. ]] SLAMing on 48.091346183999995 meters Centerline goodness : 0.916545 Centerline is valid? [False, False] Translation: X:1.72, Y:0.39, Z:-0.23 [[ 0.8984177 -0.3911734 -0.19957205 1.72335634] [ 0.40695875 0.91240305 0.04364915 0.39016075] [ 0.16501576 -0.12043276 0.97891049 -0.2342541 ] [ 0. 0. 0. 1. ]] SLAMing on 48.121346184 meters Centerline goodness : 0.917671 Centerline is valid? [False, False] Translation: X:1.73, Y:0.39, Z:-0.24 [[ 0.89864284 -0.39025546 -0.20035398 1.72725832] [ 0.40626644 0.91267096 0.04448925 0.39022117] [ 0.16549508 -0.12137704 0.97871293 -0.23653017] [ 0. 0. 0. 1. ]] SLAMing on 48.151346184 meters Centerline goodness : 0.917901 Centerline is valid? [False, False] Translation: X:1.73, Y:0.39, Z:-0.24 [[ 0.89872228 -0.38835072 -0.20367124 1.73050321] [ 0.40552087 0.9127729 0.04897417 0.39191933] [ 0.16688643 -0.12660711 0.97781366 -0.23513305] [ 0. 0. 0. 1. ]] SLAMing on 48.181346184 meters Centerline goodness : 0.918362 Centerline is valid? [False, False] Translation: X:1.73, Y:0.39, Z:-0.23 [[ 0.898328 -0.38739464 -0.20720086 1.73233811] [ 0.40574331 0.91243932 0.05316807 0.39471825] [ 0.16846119 -0.13183273 0.97685258 -0.23194594] [ 0. 0. 0. 1. ]] SLAMing on 48.211346184 meters Centerline goodness : 0.916015 Centerline is valid? [False, False] Translation: X:1.74, Y:0.40, Z:-0.23 [[ 0.89721677 -0.38753626 -0.21170193 1.73833025] [ 0.40733625 0.91144277 0.05787283 0.39814198] [ 0.17052637 -0.13815835 0.9756193 -0.23010264] [ 0. 0. 0. 1. ]] SLAMing on 48.241346183999994 meters Centerline goodness : 0.916107 Centerline is valid? [False, False] Translation: X:1.74, Y:0.40, Z:-0.23 [[ 0.89629304 -0.39037175 -0.21040122 1.7420606 ] [ 0.40947201 0.91068341 0.05466622 0.39785171] [ 0.17026876 -0.13515037 0.97608551 -0.23346763] [ 0. 0. 0. 1. ]] SLAMing on 48.271346183999995 meters Centerline goodness : 0.917053 Centerline is valid? [False, False] Translation: X:1.75, Y:0.39, Z:-0.24 [[ 0.89438074 -0.39691878 -0.20624881 1.74629534] [ 0.41426794 0.90892836 0.0472368 0.39442042] [ 0.16871622 -0.12768995 0.97735874 -0.23856268] [ 0. 0. 0. 1. ]] SLAMing on 48.301346183999996 meters Centerline goodness : 0.916993 Centerline is valid? [False, False] Translation: X:1.75, Y:0.40, Z:-0.24 [[ 0.8938291 -0.39739003 -0.20772748 1.75022095] [ 0.41511401 0.90849082 0.04821603 0.39545471] [ 0.16955794 -0.12932747 0.9769977 -0.23919814] [ 0. 0. 0. 1. ]] SLAMing on 48.331346184 meters Centerline goodness : 0.920161 Centerline is valid? [False, False] Translation: X:1.75, Y:0.40, Z:-0.24 [[ 0.89376236 -0.3959699 -0.21070518 1.75351001] [ 0.41468389 0.90849614 0.05169178 0.39802422] [ 0.17095645 -0.13357621 0.976182 -0.23847729] [ 0. 0. 0. 1. ]] SLAMing on 48.361346184 meters Centerline goodness : 0.920589 Centerline is valid? [False, False] Translation: X:1.76, Y:0.40, Z:-0.24 [[ 0.89382552 -0.3940496 -0.21401134 1.75694957] [ 0.41392426 0.9085992 0.05580506 0.40081998] [ 0.17246057 -0.13846447 0.97523584 -0.23760668] [ 0. 0. 0. 1. ]] SLAMing on 48.391346184 meters Centerline goodness : 0.920589 Centerline is valid? [False, False] Translation: X:1.76, Y:0.40, Z:-0.24 [[ 0.89382552 -0.3940496 -0.21401134 1.75694957] [ 0.41392426 0.9085992 0.05580506 0.40081998] [ 0.17246057 -0.13846447 0.97523584 -0.23760668] [ 0. 0. 0. 1. ]] SLAMing on 48.421346184 meters Centerline goodness : 0.922012 Centerline is valid? [False, False] Translation: X:1.76, Y:0.40, Z:-0.23 [[ 0.8932278 -0.39357188 -0.21735978 1.75874123] [ 0.41448794 0.90814384 0.058945 0.40479083] [ 0.17419485 -0.14274432 0.97431012 -0.23478985] [ 0. 0. 0. 1. ]] SLAMing on 48.451346183999995 meters Centerline goodness : 0.919636 Centerline is valid? [False, False] Translation: X:1.76, Y:0.41, Z:-0.24 [[ 0.89258499 -0.3951927 -0.21705937 1.7602778 ] [ 0.41584404 0.90761246 0.05756182 0.40585886] [ 0.17425777 -0.14164166 0.97445978 -0.23585397] [ 0. 0. 0. 1. ]] SLAMing on 48.481346183999996 meters Centerline goodness : 0.919624 Centerline is valid? [False, False] Translation: X:1.76, Y:0.41, Z:-0.24 [[ 0.89182397 -0.39709519 -0.21671505 1.76446953] [ 0.41738526 0.90702433 0.05564533 0.40710556] [ 0.17446933 -0.14007951 0.97464772 -0.23905723] [ 0. 0. 0. 1. ]] SLAMing on 48.511346184 meters Centerline goodness : 0.918043 Centerline is valid? [False, False] Translation: X:1.77, Y:0.41, Z:-0.24 [[ 0.8911419 -0.39870655 -0.21656224 1.76905001] [ 0.41875713 0.90647467 0.05427833 0.40762185] [ 0.17466706 -0.13905668 0.97475877 -0.24219509] [ 0. 0. 0. 1. ]] SLAMing on 48.541346184 meters Centerline goodness : 0.923950 Centerline is valid? [False, False] Translation: X:1.77, Y:0.41, Z:-0.24 [[ 0.88990773 -0.40094643 -0.21749985 1.77203161] [ 0.42125287 0.90529053 0.05472732 0.40736215] [ 0.17495783 -0.1403247 0.97452488 -0.24131401] [ 0. 0. 0. 1. ]] SLAMing on 48.571346184 meters Centerline goodness : 0.923349 Centerline is valid? [False, False] Translation: X:1.77, Y:0.41, Z:-0.24 [[ 0.88936886 -0.40114802 -0.21932463 1.7732293 ] [ 0.42207233 0.90479096 0.05664152 0.40842548] [ 0.17572131 -0.14294606 0.97400639 -0.23920694] [ 0. 0. 0. 1. ]] SLAMing on 48.601346184 meters Centerline goodness : 0.925304 Centerline is valid? [False, False] Translation: X:1.77, Y:0.41, Z:-0.23 [[ 0.88852533 -0.40077558 -0.22338683 1.7744977 ] [ 0.42306289 0.90405962 0.06077831 0.41204958] [ 0.17759655 -0.14850974 0.97283314 -0.23458294] [ 0. 0. 0. 1. ]] SLAMing on 48.631346183999995 meters Centerline goodness : 0.923421 Centerline is valid? [False, False] Translation: X:1.78, Y:0.41, Z:-0.24 [[ 0.88808573 -0.40121525 -0.22434363 1.77758628] [ 0.42366924 0.90377193 0.06083314 0.41410954] [ 0.17834829 -0.14907254 0.97260951 -0.23577885] [ 0. 0. 0. 1. ]] SLAMing on 48.661346183999996 meters Centerline goodness : 0.923158 Centerline is valid? [False, False] Translation: X:1.78, Y:0.42, Z:-0.24 [[ 0.88771148 -0.40188829 -0.22461997 1.7820686 ] [ 0.4243055 0.90350693 0.06033303 0.41502677] [ 0.17869856 -0.14886582 0.97257688 -0.23877068] [ 0. 0. 0. 1. ]] SLAMing on 48.691346184 meters Centerline goodness : 0.920479 Centerline is valid? [False, False] Translation: X:1.78, Y:0.42, Z:-0.24 [[ 0.88699394 -0.40420369 -0.22329606 1.78434518] [ 0.42587422 0.90297553 0.05715195 0.41591282] [ 0.17852985 -0.14578947 0.97307375 -0.24153458] [ 0. 0. 0. 1. ]] SLAMing on 48.721346184 meters Centerline goodness : 0.920506 Centerline is valid? [False, False] Translation: X:1.79, Y:0.42, Z:-0.24 [[ 0.88657555 -0.40491048 -0.22367677 1.78859923] [ 0.4265982 0.90265217 0.05685981 0.41778794] [ 0.17887918 -0.14583063 0.97300343 -0.24436708] [ 0. 0. 0. 1. ]] SLAMing on 48.751346184 meters Centerline goodness : 0.921246 Centerline is valid? [False, False] Translation: X:1.79, Y:0.42, Z:-0.25 [[ 0.88711197 -0.40247452 -0.22593498 1.79327806] [ 0.42500657 0.90321368 0.05978677 0.41907783] [ 0.18000492 -0.14906141 0.97230598 -0.24616354] [ 0. 0. 0. 1. ]] SLAMing on 48.781346184 meters Centerline goodness : 0.921855 Centerline is valid? [False, False] Translation: X:1.79, Y:0.42, Z:-0.25 [[ 0.88736403 -0.4019359 -0.22590398 1.79309328] [ 0.42444199 0.90348318 0.0597255 0.42038935] [ 0.18009462 -0.1488814 0.97231695 -0.2467479 ] [ 0. 0. 0. 1. ]] SLAMing on 48.811346183999994 meters Centerline goodness : 0.924069 Centerline is valid? [False, False] Translation: X:1.79, Y:0.42, Z:-0.25 [[ 0.88884716 -0.39715667 -0.22851107 1.79382696] [ 0.42088045 0.90481863 0.06452046 0.42163149] [ 0.18113634 -0.15352466 0.97140095 -0.24601936] [ 0. 0. 0. 1. ]] SLAMing on 48.841346183999995 meters Centerline goodness : 0.925270 Centerline is valid? [False, False] Translation: X:1.79, Y:0.42, Z:-0.25 [[ 0.88908148 -0.39633816 -0.22902006 1.79240261] [ 0.42018929 0.90511681 0.06484227 0.42385043] [ 0.18159044 -0.15388184 0.97125964 -0.24505515] [ 0. 0. 0. 1. ]] SLAMing on 48.871346184 meters Centerline goodness : 0.925079 Centerline is valid? [False, False] Translation: X:1.79, Y:0.43, Z:-0.25 [[ 0.88931467 -0.39586021 -0.22894127 1.79187499] [ 0.41962892 0.90540008 0.06451564 0.42594878] [ 0.18174427 -0.15344509 0.97129997 -0.24572239] [ 0. 0. 0. 1. ]] SLAMing on 48.901346184 meters Centerline goodness : 0.926283 Centerline is valid? [False, False] Translation: X:1.80, Y:0.43, Z:-0.25 [[ 0.88991833 -0.39458521 -0.22879658 1.79621537] [ 0.41826552 0.90604671 0.06429081 0.42722256] [ 0.18193219 -0.15291129 0.97134897 -0.2503775 ] [ 0. 0. 0. 1. ]] SLAMing on 48.931346184 meters Centerline goodness : 0.927012 Centerline is valid? [False, False] Translation: X:1.80, Y:0.43, Z:-0.25 [[ 0.88993059 -0.39501924 -0.22799857 1.79631634] [ 0.41837217 0.90607563 0.06317973 0.42759459] [ 0.18162674 -0.15161383 0.97160948 -0.251552 ] [ 0. 0. 0. 1. ]] SLAMing on 48.961346184 meters Centerline goodness : 0.927077 Centerline is valid? [False, False] Translation: X:1.80, Y:0.43, Z:-0.25 [[ 0.88973713 -0.395286 -0.22829107 1.7975041 ] [ 0.41866631 0.90594868 0.06305167 0.42900065] [ 0.18189655 -0.15167719 0.97154911 -0.25227663] [ 0. 0. 0. 1. ]] SLAMing on 48.991346183999994 meters Centerline goodness : 0.926705 Centerline is valid? [False, False] Translation: X:1.80, Y:0.43, Z:-0.25 [[ 0.88898473 -0.39652702 -0.22906868 1.79730154] [ 0.42005619 0.90530423 0.06306384 0.43203505] [ 0.18237033 -0.15228451 0.97136527 -0.25097946] [ 0. 0. 0. 1. ]] SLAMing on 49.021346183999995 meters Centerline goodness : 0.927325 Centerline is valid? [False, False] Translation: X:1.80, Y:0.43, Z:-0.25 [[ 0.88868696 -0.39699998 -0.22940468 1.79695853] [ 0.42060667 0.90504299 0.06314436 0.43323101] [ 0.18255279 -0.15260471 0.97128074 -0.25010056] [ 0. 0. 0. 1. ]] SLAMing on 49.051346183999996 meters Centerline goodness : 0.929342 Centerline is valid? [False, False] Translation: X:1.80, Y:0.43, Z:-0.25 [[ 0.88883371 -0.39556741 -0.23130298 1.79611363] [ 0.41999677 0.90512093 0.06602139 0.43487991] [ 0.18324126 -0.15582854 0.97063902 -0.24748405] [ 0. 0. 0. 1. ]] SLAMing on 49.081346184 meters Centerline goodness : 0.930243 Centerline is valid? [False, False] Translation: X:1.80, Y:0.44, Z:-0.25 [[ 0.88872103 -0.39560513 -0.23167111 1.7966715 ] [ 0.42010845 0.90506406 0.06609037 0.43642388] [ 0.18353151 -0.1560629 0.97054653 -0.24767615] [ 0. 0. 0. 1. ]] SLAMing on 49.111346184 meters Centerline goodness : 0.930565 Centerline is valid? [False, False] Translation: X:1.80, Y:0.44, Z:-0.25 [[ 0.88853645 -0.39613476 -0.23147403 1.79681268] [ 0.42048366 0.9049405 0.06539253 0.43769262] [ 0.18356597 -0.1554347 0.97064081 -0.24817823] [ 0. 0. 0. 1. ]] SLAMing on 49.141346184 meters Centerline goodness : 0.929955 Centerline is valid? [False, False] Translation: X:1.80, Y:0.44, Z:-0.25 [[ 0.8883922 -0.39674378 -0.23098414 1.79780693] [ 0.42078837 0.90488819 0.06414442 0.43894677] [ 0.18356592 -0.15418084 0.97084078 -0.2498243 ] [ 0. 0. 0. 1. ]] SLAMing on 49.171346184 meters Centerline goodness : 0.926138 Centerline is valid? [False, False] Translation: X:1.80, Y:0.44, Z:-0.25 [[ 0.88810584 -0.39789563 -0.23010233 1.79960123] [ 0.42143522 0.90472919 0.06210838 0.44009406] [ 0.18346764 -0.15213204 0.97118251 -0.25231452] [ 0. 0. 0. 1. ]] SLAMing on 49.201346183999995 meters Centerline goodness : 0.927964 Centerline is valid? [False, False] Translation: X:1.80, Y:0.44, Z:-0.26 [[ 0.88667538 -0.40142456 -0.22948879 1.80490627] [ 0.42438192 0.90354672 0.05918879 0.44296584] [ 0.18359401 -0.14987214 0.97150995 -0.25624829] [ 0. 0. 0. 1. ]] SLAMing on 49.231346183999996 meters Centerline goodness : 0.931522 Centerline is valid? [False, False] Translation: X:1.80, Y:0.44, Z:-0.25 [[ 0.88614311 -0.40217592 -0.23022798 1.80405704] [ 0.42530198 0.90310087 0.05938893 0.44494382] [ 0.18403429 -0.15054351 0.97132283 -0.25442932] [ 0. 0. 0. 1. ]] SLAMing on 49.261346184 meters Centerline goodness : 0.933012 Centerline is valid? [False, False] Translation: X:1.80, Y:0.45, Z:-0.25 [[ 0.88644091 -0.39981695 -0.23317146 1.80412595] [ 0.42413645 0.90337502 0.06341796 0.44690249] [ 0.1852857 -0.15511279 0.97036551 -0.25142382] [ 0. 0. 0. 1. ]] SLAMing on 49.291346184 meters Centerline goodness : 0.935679 Centerline is valid? [False, False] Translation: X:1.80, Y:0.45, Z:-0.25 [[ 0.88682979 -0.39748555 -0.23566537 1.80357253] [ 0.4228515 0.90372144 0.06696399 0.44913151] [ 0.18635862 -0.15903712 0.96952445 -0.24882086] [ 0. 0. 0. 1. ]] SLAMing on 49.321346184 meters Centerline goodness : 0.934013 Centerline is valid? [False, False] Translation: X:1.80, Y:0.45, Z:-0.25 [[ 0.88705984 -0.3974503 -0.23485763 1.80246484] [ 0.4224958 0.90395875 0.06599903 0.45071947] [ 0.18607027 -0.15777145 0.96978659 -0.24968812] [ 0. 0. 0. 1. ]] SLAMing on 49.351346184 meters Centerline goodness : 0.933202 Centerline is valid? [False, False] Translation: X:1.80, Y:0.45, Z:-0.25 [[ 0.88642357 -0.40088133 -0.23140314 1.80166774] [ 0.42441163 0.90343477 0.06066616 0.45066638] [ 0.18473771 -0.1519861 0.97096457 -0.25257981] [ 0. 0. 0. 1. ]] SLAMing on 49.381346183999995 meters Centerline goodness : 0.934842 Centerline is valid? [False, False] Translation: X:1.81, Y:0.45, Z:-0.26 [[ 0.88492826 -0.4049675 -0.23000716 1.80622909] [ 0.42764713 0.90215103 0.05693381 0.45163801] [ 0.18444485 -0.14874424 0.97152213 -0.25609912] [ 0. 0. 0. 1. ]] SLAMing on 49.411346183999996 meters Centerline goodness : 0.934703 Centerline is valid? [False, False] Translation: X:1.81, Y:0.45, Z:-0.25 [[ 0.88418747 -0.40472059 -0.23326758 1.80955828] [ 0.428494 0.90155123 0.05998554 0.45385378] [ 0.1860253 -0.15299222 0.97056065 -0.25410225] [ 0. 0. 0. 1. ]] SLAMing on 49.441346184 meters Centerline goodness : 0.934733 Centerline is valid? [False, False] Translation: X:1.81, Y:0.46, Z:-0.25 [[ 0.88399899 -0.40318335 -0.23661989 1.81040096] [ 0.42817941 0.90144946 0.06364959 0.45723026] [ 0.18763842 -0.15758194 0.96951522 -0.25118223] [ 0. 0. 0. 1. ]] SLAMing on 49.471346184 meters Centerline goodness : 0.935831 Centerline is valid? [False, False] Translation: X:1.81, Y:0.46, Z:-0.25 [[ 0.88442761 -0.40077723 -0.23909289 1.81100449] [ 0.42671952 0.90192611 0.06663133 0.46035846] [ 0.1889398 -0.16095619 0.96870783 -0.2499121 ] [ 0. 0. 0. 1. ]] SLAMing on 49.501346184 meters Centerline goodness : 0.930432 Centerline is valid? [False, False] Translation: X:1.81, Y:0.46, Z:-0.25 [[ 0.88594081 -0.39854865 -0.23720848 1.81092734] [ 0.42383553 0.90339542 0.06511644 0.46128326] [ 0.18834099 -0.15822669 0.96927395 -0.25430532] [ 0. 0. 0. 1. ]] SLAMing on 49.531346184 meters Centerline goodness : 0.932607 Centerline is valid? [False, False] Translation: X:1.81, Y:0.46, Z:-0.26 [[ 0.88620594 -0.40027925 -0.23327141 1.80915718] [ 0.42403043 0.90363685 0.06032115 0.4603 ] [ 0.18664733 -0.15237114 0.97053893 -0.25780196] [ 0. 0. 0. 1. ]] SLAMing on 49.561346183999994 meters Centerline goodness : 0.934142 Centerline is valid? [False, False] Translation: X:1.81, Y:0.46, Z:-0.26 [[ 0.88649789 -0.40074308 -0.2313579 1.80901263] [ 0.42369782 0.9039638 0.0577027 0.46130177] [ 0.1860152 -0.14917916 0.97115597 -0.26073491] [ 0. 0. 0. 1. ]] SLAMing on 49.591346183999995 meters Centerline goodness : 0.932508 Centerline is valid? [False, False] Translation: X:1.81, Y:0.46, Z:-0.26 [[ 0.88623066 -0.39961596 -0.2343124 1.81118189] [ 0.42350961 0.90388494 0.06026293 0.46489521] [ 0.18770942 -0.15264041 0.97029175 -0.25937012] [ 0. 0. 0. 1. ]] SLAMing on 49.621346184 meters Centerline goodness : 0.932105 Centerline is valid? [False, False] Translation: X:1.81, Y:0.47, Z:-0.26 [[ 0.88592418 -0.39849112 -0.23736718 1.81252687] [ 0.42339559 0.90374998 0.06302493 0.46909671] [ 0.18940571 -0.15633553 0.96937334 -0.25748256] [ 0. 0. 0. 1. ]] SLAMing on 49.651346184 meters Centerline goodness : 0.930975 Centerline is valid? [False, False] Translation: X:1.81, Y:0.47, Z:-0.26 [[ 0.88523543 -0.39872769 -0.23952967 1.81256478] [ 0.42422985 0.90327445 0.0642207 0.4745446 ] [ 0.19075446 -0.15846607 0.96876274 -0.25575274] [ 0. 0. 0. 1. ]] SLAMing on 49.681346184 meters Centerline goodness : 0.930202 Centerline is valid? [False, False] Translation: X:1.81, Y:0.48, Z:-0.26 [[ 0.88478509 -0.40103809 -0.23732634 1.81118883] [ 0.42553399 0.90290395 0.0607065 0.47535451] [ 0.18993727 -0.15470263 0.96953129 -0.25699363] [ 0. 0. 0. 1. ]] SLAMing on 49.711346184 meters Centerline goodness : 0.930901 Centerline is valid? [False, False] Translation: X:1.81, Y:0.48, Z:-0.26 [[ 0.88410531 -0.40407951 -0.23468607 1.81027079] [ 0.42740803 0.90228669 0.05657834 0.47536015] [ 0.18889197 -0.15032792 0.97042328 -0.25854857] [ 0. 0. 0. 1. ]] SLAMing on 49.741346183999994 meters Centerline goodness : 0.930826 Centerline is valid? [False, False] Translation: X:1.81, Y:0.48, Z:-0.26 [[ 0.8832573 -0.40737744 -0.23216408 1.8092297 ] [ 0.42957812 0.90150573 0.05244098 0.4755142 ] [ 0.18793397 -0.14605149 0.97126195 -0.25966586] [ 0. 0. 0. 1. ]] SLAMing on 49.771346183999995 meters Centerline goodness : 0.931775 Centerline is valid? [False, False] Translation: X:1.81, Y:0.48, Z:-0.26 [[ 0.8829848 -0.40813343 -0.23187267 1.80776951] [ 0.43026345 0.90119133 0.05222596 0.47643679] [ 0.18764648 -0.14588106 0.97134315 -0.25849478] [ 0. 0. 0. 1. ]] SLAMing on 49.801346183999996 meters Centerline goodness : 0.933307 Centerline is valid? [False, False] Translation: X:1.81, Y:0.48, Z:-0.26 [[ 0.88255723 -0.40835478 -0.23310752 1.80633456] [ 0.43083034 0.90087496 0.05300489 0.47939355] [ 0.18835593 -0.14720965 0.97100534 -0.25612192] [ 0. 0. 0. 1. ]] SLAMing on 49.831346184 meters Centerline goodness : 0.930660 Centerline is valid? [False, False] Translation: X:1.81, Y:0.48, Z:-0.25 [[ 0.88203047 -0.40880405 -0.2343107 1.8055881 ] [ 0.4315229 0.90052913 0.05324723 0.48289445] [ 0.18923593 -0.14807611 0.97070244 -0.25441302] [ 0. 0. 0. 1. ]] SLAMing on 49.861346184 meters Centerline goodness : 0.928088 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.26 [[ 0.8817249 -0.409526 -0.23420005 1.80566261] [ 0.43195749 0.90040606 0.05178471 0.48675442] [ 0.18966796 -0.14682433 0.97080826 -0.25540588] [ 0. 0. 0. 1. ]] SLAMing on 49.891346184 meters Centerline goodness : 0.928430 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.26 [[ 0.88149233 -0.41022492 -0.23385206 1.80708897] [ 0.43238483 0.90026869 0.0505929 0.48759595] [ 0.18977522 -0.14571134 0.97095498 -0.25691849] [ 0. 0. 0. 1. ]] SLAMing on 49.921346184 meters Centerline goodness : 0.928974 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.26 [[ 0.88101847 -0.41152407 -0.23335466 1.80778727] [ 0.43334622 0.89988842 0.049111 0.48854662] [ 0.18978279 -0.14439106 0.97115072 -0.25767778] [ 0. 0. 0. 1. ]] SLAMing on 49.951346183999995 meters Centerline goodness : 0.929133 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.26 [[ 0.8803585 -0.41322566 -0.23283786 1.80733123] [ 0.43475575 0.89927738 0.0478291 0.4894252 ] [ 0.18962161 -0.14333436 0.97133872 -0.25716654] [ 0. 0. 0. 1. ]] SLAMing on 49.981346183999996 meters Centerline goodness : 0.930785 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.26 [[ 0.87994218 -0.41363436 -0.23368434 1.8080993 ] [ 0.43539348 0.89894357 0.04830083 0.48985861] [ 0.19009016 -0.14424658 0.97111207 -0.25605288] [ 0. 0. 0. 1. ]] SLAMing on 50.011346184 meters Centerline goodness : 0.930326 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.26 [[ 0.87942415 -0.41405979 -0.23487795 1.81015542] [ 0.43611792 0.8985626 0.04885086 0.49031502] [ 0.19082537 -0.14539511 0.97079655 -0.25537333] [ 0. 0. 0. 1. ]] SLAMing on 50.041346184 meters Centerline goodness : 0.930150 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.26 [[ 0.87857289 -0.41530151 -0.23586931 1.81270932] [ 0.43750161 0.89789997 0.04866187 0.49122337] [ 0.19157769 -0.14594621 0.97056566 -0.25515545] [ 0. 0. 0. 1. ]] SLAMing on 50.071346184 meters Centerline goodness : 0.929841 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.25 [[ 0.8773057 -0.41854896 -0.23484351 1.81244758] [ 0.44003589 0.89682797 0.04547533 0.49229058] [ 0.19158057 -0.14323534 0.97096886 -0.2546536 ] [ 0. 0. 0. 1. ]] SLAMing on 50.101346184 meters Centerline goodness : 0.928370 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.25 [[ 0.87566777 -0.42261192 -0.2336774 1.81327907] [ 0.44328561 0.89540654 0.04177312 0.4933661 ] [ 0.19158245 -0.1401652 0.97141643 -0.25474782] [ 0. 0. 0. 1. ]] SLAMing on 50.131346183999995 meters Centerline goodness : 0.929970 Centerline is valid? [False, False] Translation: X:1.82, Y:0.49, Z:-0.25 [[ 0.87515901 -0.42315413 -0.23460029 1.815369 ] [ 0.44395823 0.89507755 0.04168058 0.49412726] [ 0.19234814 -0.14062987 0.97119794 -0.25452009] [ 0. 0. 0. 1. ]] SLAMing on 50.161346183999996 meters Centerline goodness : 0.926644 Centerline is valid? [False, False] Translation: X:1.82, Y:0.50, Z:-0.25 [[ 0.87464607 -0.42373409 -0.23546482 1.81696025] [ 0.44468931 0.89471232 0.04172873 0.49522265] [ 0.19299139 -0.14120655 0.97098663 -0.25417068] [ 0. 0. 0. 1. ]] SLAMing on 50.191346184 meters Centerline goodness : 0.926079 Centerline is valid? [False, False] Translation: X:1.82, Y:0.50, Z:-0.25 [[ 0.87406504 -0.42492056 -0.23548426 1.81760879] [ 0.4457991 0.89418479 0.04119134 0.49576048] [ 0.19306339 -0.14098258 0.97100486 -0.25390881] [ 0. 0. 0. 1. ]] SLAMing on 50.221346184 meters Centerline goodness : 0.923526 Centerline is valid? [False, False] Translation: X:1.82, Y:0.50, Z:-0.25 [[ 0.87394894 -0.42480713 -0.23611893 1.81988923] [ 0.44583269 0.89415523 0.04146844 0.49527971] [ 0.19351088 -0.14151084 0.97083893 -0.2542522 ] [ 0. 0. 0. 1. ]] SLAMing on 50.251346184 meters Centerline goodness : 0.924955 Centerline is valid? [False, False] Translation: X:1.82, Y:0.50, Z:-0.25 [[ 0.87368058 -0.42534742 -0.23613942 1.82024933] [ 0.4463495 0.89390643 0.04127263 0.49509002] [ 0.19353134 -0.1414598 0.97084229 -0.25392459] [ 0. 0. 0. 1. ]] SLAMing on 50.281346184 meters Centerline goodness : 0.924955 Centerline is valid? [False, False] Translation: X:1.82, Y:0.50, Z:-0.25 [[ 0.87368058 -0.42534742 -0.23613942 1.82024933] [ 0.4463495 0.89390643 0.04127263 0.49509002] [ 0.19353134 -0.1414598 0.97084229 -0.25392459] [ 0. 0. 0. 1. ]] SLAMing on 50.311346183999994 meters Centerline goodness : 0.926063 Centerline is valid? [False, False] Translation: X:1.82, Y:0.50, Z:-0.25 [[ 0.87318153 -0.42589408 -0.2369984 1.82233077] [ 0.44711157 0.89350824 0.04164454 0.49526213] [ 0.19402386 -0.14232797 0.97061707 -0.25356582] [ 0. 0. 0. 1. ]] SLAMing on 50.341346183999995 meters Centerline goodness : 0.924592 Centerline is valid? [False, False] Translation: X:1.82, Y:0.50, Z:-0.25 [[ 0.8729193 -0.42602785 -0.23772286 1.82387818] [ 0.44742369 0.89333649 0.04197557 0.49565981] [ 0.19448375 -0.14300412 0.97042563 -0.25350295] [ 0. 0. 0. 1. ]] SLAMing on 50.371346184 meters Centerline goodness : 0.923877 Centerline is valid? [False, False] Translation: X:1.82, Y:0.50, Z:-0.25 [[ 0.87287782 -0.42625745 -0.23746348 1.82385542] [ 0.447546 0.89329241 0.04160822 0.49560894] [ 0.19438851 -0.14259472 0.97050495 -0.25363239] [ 0. 0. 0. 1. ]] SLAMing on 50.401346184 meters Centerline goodness : 0.925750 Centerline is valid? [False, False] Translation: X:1.83, Y:0.50, Z:-0.25 [[ 0.87285708 -0.42618134 -0.23767621 1.82528577] [ 0.44748094 0.89332945 0.04151264 0.49542907] [ 0.19463124 -0.14259018 0.97045697 -0.2541552 ] [ 0. 0. 0. 1. ]] SLAMing on 50.431346184 meters Centerline goodness : 0.925120 Centerline is valid? [False, False] Translation: X:1.83, Y:0.50, Z:-0.26 [[ 0.87199927 -0.42889043 -0.2359455 1.82554401] [ 0.4493189 0.89255738 0.03812932 0.49564938] [ 0.19424159 -0.13926351 0.97101796 -0.2551243 ] [ 0. 0. 0. 1. ]] SLAMing on 50.461346184 meters Centerline goodness : 0.922154 Centerline is valid? [False, False] Translation: X:1.83, Y:0.50, Z:-0.26 [[ 0.87162855 -0.42897189 -0.23716404 1.82845216] [ 0.44968536 0.89235062 0.03864527 0.49641924] [ 0.19505574 -0.14033351 0.97070066 -0.25544314] [ 0. 0. 0. 1. ]] SLAMing on 50.491346183999994 meters Centerline goodness : 0.921410 Centerline is valid? [False, False] Translation: X:1.83, Y:0.50, Z:-0.25 [[ 0.87129389 -0.42902298 -0.23829862 1.82960401] [ 0.45003195 0.89214862 0.03926934 0.49714128] [ 0.19575033 -0.14145713 0.9703977 -0.25441991] [ 0. 0. 0. 1. ]] SLAMing on 50.521346183999995 meters Centerline goodness : 0.924313 Centerline is valid? [False, False] Translation: X:1.83, Y:0.50, Z:-0.25 [[ 0.8715459 -0.42704459 -0.24091631 1.82913126] [ 0.44914373 0.89242744 0.0429322 0.4970291 ] [ 0.19666637 -0.14562343 0.96959587 -0.25078855] [ 0. 0. 0. 1. ]] SLAMing on 50.551346183999996 meters Centerline goodness : 0.924531 Centerline is valid? [False, False] Translation: X:1.83, Y:0.50, Z:-0.25 [[ 0.87168285 -0.426295 -0.24174694 1.83184874] [ 0.44866178 0.89263222 0.04370739 0.4973736 ] [ 0.19715886 -0.1465616 0.96935447 -0.25192813] [ 0. 0. 0. 1. ]] SLAMing on 50.581346184 meters Centerline goodness : 0.921352 Centerline is valid? [False, False] Translation: X:1.83, Y:0.50, Z:-0.25 [[ 0.87186787 -0.42671161 -0.24034065 1.83244798] [ 0.44854128 0.89277108 0.04207756 0.49643261] [ 0.1966142 -0.14448877 0.96977619 -0.25375922] [ 0. 0. 0. 1. ]] SLAMing on 50.611346184 meters Centerline goodness : 0.922426 Centerline is valid? [False, False] Translation: X:1.83, Y:0.49, Z:-0.26 [[ 0.871243 -0.4296366 -0.2373774 1.83412144] [ 0.4502424 0.89210274 0.03787454 0.49429413] [ 0.19549273 -0.1398753 0.97067888 -0.25696902] [ 0. 0. 0. 1. ]] SLAMing on 50.641346184 meters Centerline goodness : 0.922015 Centerline is valid? [False, False] Translation: X:1.84, Y:0.49, Z:-0.26 [[ 0.87084083 -0.42975654 -0.23863268 1.83630574] [ 0.45070446 0.89183685 0.03863314 0.49444816] [ 0.19621858 -0.14119613 0.97034114 -0.25637152] [ 0. 0. 0. 1. ]] SLAMing on 50.671346183999994 meters Centerline goodness : 0.923928 Centerline is valid? [False, False] Translation: X:1.84, Y:0.50, Z:-0.25 [[ 0.87106493 -0.42731666 -0.2421701 1.83844654] [ 0.44956989 0.89222361 0.04270778 0.49563014] [ 0.19782013 -0.14607364 0.9692934 -0.25412635] [ 0. 0. 0. 1. ]] SLAMing on 50.701346183999995 meters Centerline goodness : 0.921631 Centerline is valid? [False, False] Translation: X:1.84, Y:0.50, Z:-0.25 [[ 0.87281071 -0.42076656 -0.24729934 1.8381233 ] [ 0.44517006 0.89404943 0.04999241 0.4984852 ] [ 0.2000627 -0.15372418 0.96764859 -0.25039649] [ 0. 0. 0. 1. ]] SLAMing on 50.731346183999996 meters Centerline goodness : 0.921023 Centerline is valid? [False, False] Translation: X:1.84, Y:0.50, Z:-0.25 [[ 0.87352524 -0.41999139 -0.24609122 1.83718188] [ 0.44397081 0.89470175 0.04897646 0.49887593] [ 0.19960855 -0.15203949 0.96800848 -0.25215006] [ 0. 0. 0. 1. ]] SLAMing on 50.761346184 meters Centerline goodness : 0.922191 Centerline is valid? [False, False] Translation: X:1.84, Y:0.50, Z:-0.26 [[ 0.87429206 -0.4195963 -0.24403346 1.8388534 ] [ 0.44280569 0.89539158 0.04687267 0.49807905] [ 0.1988379 -0.1490398 0.96863338 -0.25662086] [ 0. 0. 0. 1. ]] SLAMing on 50.791346184 meters Centerline goodness : 0.923756 Centerline is valid? [False, False] Translation: X:1.84, Y:0.50, Z:-0.26 [[ 0.87438587 -0.42149603 -0.24039644 1.83878002] [ 0.44319423 0.8954409 0.04200556 0.49722741] [ 0.19755563 -0.14327138 0.96976548 -0.26070045] [ 0. 0. 0. 1. ]] SLAMing on 50.821346184 meters Centerline goodness : 0.923406 Centerline is valid? [False, False] Translation: X:1.84, Y:0.50, Z:-0.26 [[ 0.87392172 -0.42128402 -0.24244713 1.84081203] [ 0.44353767 0.8952131 0.04321862 0.50007891] [ 0.19883453 -0.14530413 0.9692015 -0.25998167] [ 0. 0. 0. 1. ]] SLAMing on 50.851346184 meters Centerline goodness : 0.920960 Centerline is valid? [False, False] Translation: X:1.84, Y:0.50, Z:-0.26 [[ 0.87381744 -0.41943598 -0.2460011 1.84264811] [ 0.44290179 0.89535684 0.04662756 0.50321984] [ 0.20070149 -0.1496983 0.96814737 -0.2577176 ] [ 0. 0. 0. 1. ]] SLAMing on 50.881346183999995 meters Centerline goodness : 0.921422 Centerline is valid? [False, False] Translation: X:1.85, Y:0.51, Z:-0.26 [[ 0.87417135 -0.42310733 -0.23833723 1.84629845] [ 0.44580269 0.89382434 0.04835295 0.51391575] [ 0.19257313 -0.14852014 0.96997802 -0.25544849] [ 0. 0. 0. 1. ]] SLAMing on 50.911346183999996 meters Centerline goodness : 0.922375 Centerline is valid? [False, False] Translation: X:1.85, Y:0.51, Z:-0.26 [[ 0.87449719 -0.42267084 -0.237916 1.84714429] [ 0.44517548 0.89416807 0.04777288 0.51355691] [ 0.19254468 -0.14769162 0.97011016 -0.25667543] [ 0. 0. 0. 1. ]] SLAMing on 50.941346184 meters Centerline goodness : 0.921382 Centerline is valid? [False, False] Translation: X:1.85, Y:0.51, Z:-0.26 [[ 0.87441832 -0.42465556 -0.23464921 1.84604188] [ 0.44587303 0.89403543 0.04356472 0.5121475 ] [ 0.19128471 -0.14271755 0.97110342 -0.25890157] [ 0. 0. 0. 1. ]] SLAMing on 50.971346184 meters Centerline goodness : 0.920865 Centerline is valid? [False, False] Translation: X:1.85, Y:0.51, Z:-0.26 [[ 0.87465285 -0.42518541 -0.23280842 1.84827182] [ 0.44565788 0.89425907 0.04110685 0.51037138] [ 0.19071301 -0.13970713 0.97165347 -0.2621242 ] [ 0. 0. 0. 1. ]] SLAMing on 51.001346184 meters Centerline goodness : 0.921704 Centerline is valid? [False, False] Translation: X:1.85, Y:0.51, Z:-0.26 [[ 0.87481133 -0.4245472 -0.23337696 1.8516239 ] [ 0.44522681 0.89444129 0.04180752 0.50928117] [ 0.19099272 -0.14047938 0.97148717 -0.2635843 ] [ 0. 0. 0. 1. ]] SLAMing on 51.031346184 meters Centerline goodness : 0.925969 Centerline is valid? [False, False] Translation: X:1.85, Y:0.51, Z:-0.26 [[ 0.87393282 -0.42323711 -0.23898068 1.85218716] [ 0.44583853 0.89385957 0.04736108 0.51328151] [ 0.1935702 -0.1479372 0.96986863 -0.25716327] [ 0. 0. 0. 1. ]] SLAMing on 51.061346183999994 meters Centerline goodness : 0.922701 Centerline is valid? [False, False] Translation: X:1.85, Y:0.52, Z:-0.25 [[ 0.87297924 -0.42315907 -0.2425771 1.85374684] [ 0.44683016 0.89322806 0.04986414 0.51799673] [ 0.19557621 -0.15192112 0.96884979 -0.25437544] [ 0. 0. 0. 1. ]] SLAMing on 51.091346183999995 meters Centerline goodness : 0.915899 Centerline is valid? [False, False] Translation: X:1.86, Y:0.52, Z:-0.26 [[ 0.87110118 -0.42700857 -0.24258279 1.85892561] [ 0.44999245 0.89184593 0.04601769 0.5232111 ] [ 0.19669653 -0.14924649 0.96903868 -0.25772931] [ 0. 0. 0. 1. ]] SLAMing on 51.121346184 meters Centerline goodness : 0.913158 Centerline is valid? [False, False] Translation: X:1.86, Y:0.52, Z:-0.26 [[ 0.87013485 -0.4309501 -0.23905512 1.86045076] [ 0.45232595 0.89094187 0.0402965 0.5222349 ] [ 0.19561844 -0.14319422 0.97016949 -0.2613242 ] [ 0. 0. 0. 1. ]] SLAMing on 51.151346184 meters Centerline goodness : 0.913528 Centerline is valid? [False, False] Translation: X:1.86, Y:0.52, Z:-0.26 [[ 0.86901154 -0.43467773 -0.23637726 1.86238386] [ 0.4548175 0.88986942 0.0356855 0.52057175] [ 0.1948332 -0.13851962 0.97100584 -0.2637218 ] [ 0. 0. 0. 1. ]] SLAMing on 51.181346184 meters Centerline goodness : 0.916751 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.26 [[ 0.86855084 -0.43546794 -0.23661597 1.86533278] [ 0.45564338 0.88945047 0.0355947 0.51903822] [ 0.19495783 -0.1387283 0.97095103 -0.26426106] [ 0. 0. 0. 1. ]] SLAMing on 51.211346184 meters Centerline goodness : 0.921743 Centerline is valid? [False, False] Translation: X:1.86, Y:0.52, Z:-0.26 [[ 0.86779599 -0.43401162 -0.24200006 1.86369645] [ 0.45624461 0.88886555 0.04193912 0.52062872] [ 0.19690345 -0.14680582 0.96936942 -0.25571708] [ 0. 0. 0. 1. ]] SLAMing on 51.241346183999994 meters Centerline goodness : 0.922831 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.8680103 -0.43097648 -0.24661182 1.86594823] [ 0.45493443 0.88927513 0.04716364 0.52268306] [ 0.19897934 -0.15313074 0.96796601 -0.25254135] [ 0. 0. 0. 1. ]] SLAMing on 51.271346183999995 meters Centerline goodness : 0.921579 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.8678045 -0.43073318 -0.2477585 1.86597464] [ 0.4549454 0.88925043 0.04752208 0.52431928] [ 0.19985002 -0.15395646 0.96765561 -0.25106418] [ 0. 0. 0. 1. ]] SLAMing on 51.301346183999996 meters Centerline goodness : 0.919283 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.86781155 -0.43145599 -0.2464728 1.86675354] [ 0.45506833 0.88929144 0.04553621 0.52440979] [ 0.19953928 -0.15167882 0.96807934 -0.25297403] [ 0. 0. 0. 1. ]] SLAMing on 51.331346184 meters Centerline goodness : 0.920138 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.8673257 -0.4309624 -0.24903322 1.86670017] [ 0.45258396 0.89106491 0.03422125 0.51970183] [ 0.20715669 -0.14238941 0.96789016 -0.25283637] [ 0. 0. 0. 1. ]] SLAMing on 51.361346184 meters Centerline goodness : 0.922892 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.86688153 -0.43184375 -0.24905299 1.86834376] [ 0.45335384 0.89069809 0.03357384 0.51993042] [ 0.20733237 -0.14201367 0.96790775 -0.25335568] [ 0. 0. 0. 1. ]] SLAMing on 51.391346184 meters Centerline goodness : 0.923209 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.86661708 -0.43131945 -0.25087522 1.87008645] [ 0.45347512 0.89056734 0.03535729 0.52153797] [ 0.20817099 -0.1444069 0.9673735 -0.25247491] [ 0. 0. 0. 1. ]] SLAMing on 51.421346183999994 meters Centerline goodness : 0.923085 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.86661108 -0.42897169 -0.25488924 1.86948269] [ 0.45268566 0.89077431 0.03996029 0.52339217] [ 0.20990695 -0.15001474 0.96614422 -0.24734859] [ 0. 0. 0. 1. ]] SLAMing on 51.451346183999995 meters Centerline goodness : 0.924385 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.86671475 -0.42842587 -0.25545414 1.87212437] [ 0.45237037 0.89090213 0.04067478 0.52347467] [ 0.21015851 -0.15081332 0.96596519 -0.24861984] [ 0. 0. 0. 1. ]] SLAMing on 51.481346183999996 meters Centerline goodness : 0.923358 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.86615123 -0.43116969 -0.25273454 1.87106354] [ 0.45391452 0.89028604 0.0367748 0.52310084] [ 0.20914985 -0.14657241 0.96683653 -0.2500156 ] [ 0. 0. 0. 1. ]] SLAMing on 51.511346184 meters Centerline goodness : 0.923596 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.86538668 -0.43346252 -0.25142818 1.87474557] [ 0.45556096 0.88953884 0.0344219 0.52292063] [ 0.20873453 -0.14432912 0.96726367 -0.25329614] [ 0. 0. 0. 1. ]] SLAMing on 51.541346184 meters Centerline goodness : 0.925973 Centerline is valid? [False, False] Translation: X:1.88, Y:0.52, Z:-0.25 [[ 0.86507572 -0.43356428 -0.25232124 1.87621529] [ 0.45585913 0.88937596 0.03468206 0.52385538] [ 0.20937154 -0.14502555 0.96702179 -0.252936 ] [ 0. 0. 0. 1. ]] SLAMing on 51.571346184 meters Centerline goodness : 0.925855 Centerline is valid? [False, False] Translation: X:1.88, Y:0.53, Z:-0.25 [[ 0.86549408 -0.43072524 -0.25572596 1.87876822] [ 0.45440577 0.8899421 0.03896743 0.52571509] [ 0.21079705 -0.14992943 0.96596365 -0.25182463] [ 0. 0. 0. 1. ]] SLAMing on 51.601346184 meters Centerline goodness : 0.926757 Centerline is valid? [False, False] Translation: X:1.88, Y:0.53, Z:-0.25 [[ 0.86585371 -0.43027587 -0.25526463 1.87768998] [ 0.4537571 0.89029557 0.03844859 0.52694936] [ 0.21071747 -0.149119 0.96610645 -0.25226412] [ 0. 0. 0. 1. ]] SLAMing on 51.631346183999995 meters Centerline goodness : 0.927684 Centerline is valid? [False, False] Translation: X:1.88, Y:0.53, Z:-0.25 [[ 0.86639429 -0.42974608 -0.25432112 1.8766274 ] [ 0.45288491 0.89077453 0.03762972 0.52772176] [ 0.21037156 -0.14778037 0.96638748 -0.25335239] [ 0. 0. 0. 1. ]] SLAMing on 51.661346183999996 meters Centerline goodness : 0.929215 Centerline is valid? [False, False] Translation: X:1.88, Y:0.53, Z:-0.26 [[ 0.86765636 -0.42811781 -0.25275994 1.87637787] [ 0.45084031 0.89183552 0.0370462 0.52742124] [ 0.20956016 -0.14609774 0.96681952 -0.25652424] [ 0. 0. 0. 1. ]] SLAMing on 51.691346184 meters Centerline goodness : 0.926814 Centerline is valid? [False, False] Translation: X:1.88, Y:0.53, Z:-0.26 [[ 0.86830592 -0.42658955 -0.253113 1.87839089] [ 0.44954693 0.89244499 0.03807217 0.52722757] [ 0.20964824 -0.14684446 0.96668729 -0.25819474] [ 0. 0. 0. 1. ]] SLAMing on 51.721346184 meters Centerline goodness : 0.928142 Centerline is valid? [False, False] Translation: X:1.88, Y:0.53, Z:-0.26 [[ 0.86857041 -0.42604013 -0.25313088 1.87760423] [ 0.44901482 0.89270697 0.03820946 0.52738305] [ 0.20969294 -0.14684712 0.96667719 -0.25768563] [ 0. 0. 0. 1. ]] SLAMing on 51.751346184 meters Centerline goodness : 0.928224 Centerline is valid? [False, False] Translation: X:1.88, Y:0.53, Z:-0.26 [[ 0.86953754 -0.42982803 -0.24321254 1.88216157] [ 0.45231368 0.89083352 0.04275482 0.53234021] [ 0.19828467 -0.14718528 0.96903028 -0.26277716] [ 0. 0. 0. 1. ]] SLAMing on 51.781346184 meters Centerline goodness : 0.928875 Centerline is valid? [False, False] Translation: X:1.88, Y:0.53, Z:-0.26 [[ 0.86969891 -0.42786642 -0.2460775 1.8828178 ] [ 0.45142884 0.89111903 0.0460313 0.53436943] [ 0.19958909 -0.15111985 0.96815649 -0.26049381] [ 0. 0. 0. 1. ]] SLAMing on 51.811346183999994 meters Centerline goodness : 0.926909 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.26 [[ 0.86951838 -0.42747088 -0.24739935 1.88561704] [ 0.4513915 0.89109872 0.04678449 0.53632557] [ 0.20045823 -0.15235394 0.96778343 -0.26133544] [ 0. 0. 0. 1. ]] SLAMing on 51.841346183999995 meters Centerline goodness : 0.927501 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.26 [[ 0.86930552 -0.42819228 -0.24689933 1.88583219] [ 0.45183003 0.8909317 0.04572012 0.53683518] [ 0.20039344 -0.15130128 0.96796198 -0.26193208] [ 0. 0. 0. 1. ]] SLAMing on 51.871346184 meters Centerline goodness : 0.924638 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.26 [[ 0.86905324 -0.42988987 -0.24482886 1.88643543] [ 0.45255515 0.89072807 0.04239512 0.5369182 ] [ 0.1998507 -0.14764218 0.96863899 -0.26431785] [ 0. 0. 0. 1. ]] SLAMing on 51.901346184 meters Centerline goodness : 0.925907 Centerline is valid? [False, False] Translation: X:1.89, Y:0.53, Z:-0.27 [[ 0.86920704 -0.43155525 -0.24132799 1.88783333] [ 0.45287745 0.89075098 0.03827159 0.53485731] [ 0.19844684 -0.14255794 0.96968865 -0.26874486] [ 0. 0. 0. 1. ]] SLAMing on 51.931346184 meters Centerline goodness : 0.927551 Centerline is valid? [False, False] Translation: X:1.89, Y:0.53, Z:-0.27 [[ 0.86956365 -0.43063908 -0.24167962 1.88933109] [ 0.45208945 0.89113053 0.0387493 0.53427659] [ 0.19868113 -0.14295579 0.9695821 -0.26941766] [ 0. 0. 0. 1. ]] SLAMing on 51.961346184 meters Centerline goodness : 0.929675 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.86973846 -0.42885408 -0.24421136 1.89125107] [ 0.45124295 0.89142885 0.04164613 0.53544308] [ 0.19983694 -0.1464199 0.96882734 -0.26819498] [ 0. 0. 0. 1. ]] SLAMing on 51.991346183999994 meters Centerline goodness : 0.925602 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.26 [[ 0.86981437 -0.42640137 -0.24820322 1.89026216] [ 0.450283 0.89169491 0.0461021 0.53998413] [ 0.20166356 -0.15186196 0.96761033 -0.26403777] [ 0. 0. 0. 1. ]] SLAMing on 52.021346183999995 meters Centerline goodness : 0.924943 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.26 [[ 0.86990053 -0.42617468 -0.24829057 1.89056672] [ 0.44997687 0.89187109 0.04568133 0.54100993] [ 0.20197495 -0.15146323 0.96760788 -0.2644014 ] [ 0. 0. 0. 1. ]] SLAMing on 52.051346183999996 meters Centerline goodness : 0.925948 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.87030073 -0.42634116 -0.24659654 1.89171676] [ 0.44948835 0.89221119 0.04381119 0.53999142] [ 0.20133768 -0.14897118 0.96812743 -0.26721513] [ 0. 0. 0. 1. ]] SLAMing on 52.081346184 meters Centerline goodness : 0.924784 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.87004387 -0.42812115 -0.2444094 1.89303222] [ 0.45031624 0.89194334 0.04064933 0.53857174] [ 0.2005965 -0.14542822 0.96881973 -0.26964834] [ 0. 0. 0. 1. ]] SLAMing on 52.111346184 meters Centerline goodness : 0.924625 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.86974811 -0.42959251 -0.2428755 1.89368671] [ 0.45130529 0.89150508 0.0392712 0.53521352] [ 0.19965413 -0.14376705 0.96926223 -0.27003775] [ 0. 0. 0. 1. ]] SLAMing on 52.141346184 meters Centerline goodness : 0.923891 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.8692185 -0.43003268 -0.24398995 1.8938197 ] [ 0.45206253 0.89109208 0.03992952 0.53613166] [ 0.20024651 -0.14500619 0.96895539 -0.26817671] [ 0. 0. 0. 1. ]] SLAMing on 52.171346183999994 meters Centerline goodness : 0.926927 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.86856009 -0.42993366 -0.24649628 1.89456474] [ 0.45277501 0.89063599 0.04198001 0.53813022] [ 0.20148985 -0.14806952 0.96823409 -0.26523499] [ 0. 0. 0. 1. ]] SLAMing on 52.201346183999995 meters Centerline goodness : 0.926927 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.86856009 -0.42993366 -0.24649628 1.89456474] [ 0.45277501 0.89063599 0.04198001 0.53813022] [ 0.20148985 -0.14806952 0.96823409 -0.26523499] [ 0. 0. 0. 1. ]] SLAMing on 52.231346183999996 meters Centerline goodness : 0.923400 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.26 [[ 0.86846658 -0.42887653 -0.24865783 1.89364911] [ 0.4525933 0.89059788 0.04466227 0.53987317] [ 0.20229954 -0.15132856 0.96756114 -0.26235084] [ 0. 0. 0. 1. ]] SLAMing on 52.261346184 meters Centerline goodness : 0.920299 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.26 [[ 0.86760687 -0.43223317 -0.24583084 1.89240085] [ 0.45466664 0.88975236 0.04023669 0.54021253] [ 0.20133694 -0.14668071 0.96847726 -0.26374254] [ 0. 0. 0. 1. ]] SLAMing on 52.291346184 meters Centerline goodness : 0.917850 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.86675804 -0.43593264 -0.24226688 1.89281956] [ 0.45688214 0.88882906 0.03523662 0.53856557] [ 0.19997305 -0.14122903 0.96956956 -0.26655694] [ 0. 0. 0. 1. ]] SLAMing on 52.321346184 meters Centerline goodness : 0.923960 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.86501889 -0.44130146 -0.23873697 1.89384941] [ 0.46074183 0.88703577 0.02974069 0.53596791] [ 0.19864362 -0.13572237 0.97062874 -0.26817164] [ 0. 0. 0. 1. ]] SLAMing on 52.351346184 meters Centerline goodness : 0.923289 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.27 [[ 0.86425282 -0.44138066 -0.24135074 1.89565746] [ 0.46165013 0.8864876 0.03192011 0.53748443] [ 0.19986551 -0.13900665 0.96991285 -0.26557776] [ 0. 0. 0. 1. ]] SLAMing on 52.381346183999995 meters Centerline goodness : 0.922428 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.26 [[ 0.8642547 -0.43907846 -0.24550748 1.8976495 ] [ 0.46086068 0.88672166 0.0364984 0.53908089] [ 0.20167114 -0.14468866 0.96870736 -0.26213943] [ 0. 0. 0. 1. ]] SLAMing on 52.411346183999996 meters Centerline goodness : 0.925470 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.26 [[ 0.86518701 -0.43544176 -0.24868033 1.89611492] [ 0.45870107 0.8876139 0.04165209 0.53912058] [ 0.20259506 -0.15010678 0.96768962 -0.25786895] [ 0. 0. 0. 1. ]] SLAMing on 52.441346184 meters Centerline goodness : 0.923674 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.26 [[ 0.86525373 -0.43654289 -0.24650819 1.89577958] [ 0.45883975 0.88768266 0.03854335 0.53875663] [ 0.20199522 -0.14645753 0.96837396 -0.25953244] [ 0. 0. 0. 1. ]] SLAMing on 52.471346184 meters Centerline goodness : 0.923062 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.26 [[ 0.86538828 -0.43706965 -0.24509846 1.8992753 ] [ 0.45867459 0.88786674 0.03619775 0.53755694] [ 0.20179383 -0.14374554 0.96882221 -0.26304684] [ 0. 0. 0. 1. ]] SLAMing on 52.501346184 meters Centerline goodness : 0.923433 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.27 [[ 0.8645795 -0.44096059 -0.2409482 1.90009342] [ 0.46072463 0.88704242 0.02980858 0.5370577 ] [ 0.20058687 -0.13678266 0.97008011 -0.26708284] [ 0. 0. 0. 1. ]] SLAMing on 52.531346184 meters Centerline goodness : 0.922047 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.27 [[ 0.86424976 -0.44110624 -0.24186286 1.90085104] [ 0.46105189 0.88686502 0.03002648 0.53865741] [ 0.20125485 -0.1374617 0.96984574 -0.26637592] [ 0. 0. 0. 1. ]] SLAMing on 52.561346183999994 meters Centerline goodness : 0.923023 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.26 [[ 0.8636492 -0.44108863 -0.24403048 1.90107272] [ 0.46169102 0.88647583 0.03165455 0.54088414] [ 0.20236466 -0.14000511 0.9692508 -0.26369649] [ 0. 0. 0. 1. ]] SLAMing on 52.591346183999995 meters Centerline goodness : 0.920463 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.26 [[ 0.86292177 -0.44229566 -0.24441883 1.90032795] [ 0.46310901 0.88571491 0.03223561 0.54013153] [ 0.20222773 -0.14100937 0.96913379 -0.26121634] [ 0. 0. 0. 1. ]] SLAMing on 52.621346184 meters Centerline goodness : 0.917755 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.26 [[ 0.86225524 -0.44490827 -0.24201763 1.90005284] [ 0.46481863 0.88492207 0.02926709 0.53823395] [ 0.20114558 -0.13773 0.96983035 -0.26214646] [ 0. 0. 0. 1. ]] SLAMing on 52.651346184 meters Centerline goodness : 0.918882 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.26 [[ 0.86158226 -0.44766393 -0.23931783 1.89960303] [ 0.46659755 0.88408545 0.02606994 0.5355978 ] [ 0.19990684 -0.13412651 0.97059123 -0.26301419] [ 0. 0. 0. 1. ]] SLAMing on 52.681346184 meters Centerline goodness : 0.917699 Centerline is valid? [False, False] Translation: X:1.90, Y:0.53, Z:-0.26 [[ 0.86153956 -0.44769937 -0.23940521 1.90228792] [ 0.46674994 0.88399002 0.02657318 0.53309858] [ 0.19973502 -0.13463622 0.97055603 -0.26377798] [ 0. 0. 0. 1. ]] SLAMing on 52.711346184 meters Centerline goodness : 0.921605 Centerline is valid? [False, False] Translation: X:1.90, Y:0.53, Z:-0.26 [[ 0.8613012 -0.44756973 -0.24050277 1.9001393 ] [ 0.46722421 0.88367105 0.02875792 0.53149126] [ 0.19965416 -0.13713795 0.97022234 -0.25941428] [ 0. 0. 0. 1. ]] SLAMing on 52.741346183999994 meters Centerline goodness : 0.922018 Centerline is valid? [False, False] Translation: X:1.90, Y:0.53, Z:-0.26 [[ 0.86116407 -0.44705151 -0.24195331 1.90091438] [ 0.46716296 0.88366171 0.03001264 0.53269984] [ 0.20038768 -0.13887743 0.96982361 -0.25816913] [ 0. 0. 0. 1. ]] SLAMing on 52.771346183999995 meters Centerline goodness : 0.920900 Centerline is valid? [False, False] Translation: X:1.90, Y:0.53, Z:-0.26 [[ 0.86062835 -0.44782249 -0.24243322 1.90217359] [ 0.46792191 0.8832768 0.02951595 0.53396554] [ 0.20091773 -0.13884208 0.969719 -0.25801456] [ 0. 0. 0. 1. ]] SLAMing on 52.801346183999996 meters Centerline goodness : 0.918441 Centerline is valid? [False, False] Translation: X:1.90, Y:0.53, Z:-0.26 [[ 0.85952013 -0.45206595 -0.23845654 1.90415083] [ 0.47047125 0.88210148 0.02353246 0.53343978] [ 0.19970465 -0.13241357 0.97086801 -0.26265491] [ 0. 0. 0. 1. ]] SLAMing on 52.831346184 meters Centerline goodness : 0.917733 Centerline is valid? [False, False] Translation: X:1.91, Y:0.53, Z:-0.27 [[ 0.85881239 -0.45423786 -0.2368739 1.9063654 ] [ 0.47191626 0.88139837 0.02078332 0.53311358] [ 0.1993397 -0.12963362 0.97131808 -0.26504152] [ 0. 0. 0. 1. ]] SLAMing on 52.861346184 meters Centerline goodness : 0.918253 Centerline is valid? [False, False] Translation: X:1.91, Y:0.53, Z:-0.27 [[ 0.85839124 -0.45480054 -0.23732034 1.90885202] [ 0.47258859 0.8810342 0.02094669 0.53233129] [ 0.19956077 -0.13013534 0.97120559 -0.26537457] [ 0. 0. 0. 1. ]] SLAMing on 52.891346184 meters Centerline goodness : 0.920289 Centerline is valid? [False, False] Translation: X:1.91, Y:0.53, Z:-0.26 [[ 0.8580076 -0.45457227 -0.23913805 1.91016069] [ 0.4731602 0.88065934 0.02363379 0.53072115] [ 0.19985589 -0.13342858 0.97069791 -0.2625779 ] [ 0. 0. 0. 1. ]] SLAMing on 52.921346183999994 meters Centerline goodness : 0.923469 Centerline is valid? [False, False] Translation: X:1.91, Y:0.53, Z:-0.26 [[ 0.85818105 -0.45351357 -0.24052178 1.91157691] [ 0.47262687 0.88089758 0.02536327 0.53037645] [ 0.20037247 -0.13544334 0.97031231 -0.26171722] [ 0. 0. 0. 1. ]] SLAMing on 52.951346183999995 meters Centerline goodness : 0.924216 Centerline is valid? [False, False] Translation: X:1.91, Y:0.53, Z:-0.26 [[ 0.85837262 -0.45238799 -0.24195361 1.91406339] [ 0.47200244 0.8811858 0.02693121 0.5299608 ] [ 0.20102273 -0.1373197 0.969914 -0.26156045] [ 0. 0. 0. 1. ]] SLAMing on 52.981346183999996 meters Centerline goodness : 0.927465 Centerline is valid? [False, False] Translation: X:1.92, Y:0.53, Z:-0.26 [[ 0.85822381 -0.45223652 -0.24276331 1.91833796] [ 0.47215779 0.88107369 0.0278599 0.52800482] [ 0.2012931 -0.13853262 0.96968541 -0.26268377] [ 0. 0. 0. 1. ]] SLAMing on 53.011346184 meters Centerline goodness : 0.925911 Centerline is valid? [False, False] Translation: X:1.92, Y:0.53, Z:-0.26 [[ 0.85826334 -0.45188599 -0.24327576 1.92193102] [ 0.47199566 0.88114173 0.02844905 0.52672253] [ 0.2015047 -0.13924188 0.96953987 -0.26419431] [ 0. 0. 0. 1. ]] SLAMing on 53.041346184 meters Centerline goodness : 0.926064 Centerline is valid? [False, False] Translation: X:1.93, Y:0.53, Z:-0.27 [[ 0.85840954 -0.45112528 -0.24417012 1.92615135] [ 0.47150893 0.88137682 0.02922714 0.52583393] [ 0.20202078 -0.14021725 0.96929187 -0.26581089] [ 0. 0. 0. 1. ]] SLAMing on 53.071346184 meters Centerline goodness : 0.926405 Centerline is valid? [False, False] Translation: X:1.93, Y:0.53, Z:-0.27 [[ 0.8578573 -0.45172414 -0.24500233 1.92865672] [ 0.47230847 0.88093894 0.02951759 0.52554859] [ 0.20249829 -0.14103856 0.96907305 -0.26572507] [ 0. 0. 0. 1. ]] SLAMing on 53.101346184 meters Centerline goodness : 0.925646 Centerline is valid? [False, False] Translation: X:1.93, Y:0.53, Z:-0.27 [[ 0.85748883 -0.45136245 -0.2469511 1.93238427] [ 0.47251392 0.88078241 0.03086968 0.52644671] [ 0.20357677 -0.14315824 0.96853612 -0.26565486] [ 0. 0. 0. 1. ]] SLAMing on 53.131346183999995 meters Centerline goodness : 0.924090 Centerline is valid? [False, False] Translation: X:1.93, Y:0.53, Z:-0.26 [[ 0.85712036 -0.45183726 -0.24736162 1.93311916] [ 0.47311411 0.8804518 0.03110752 0.52608178] [ 0.20373445 -0.14369316 0.96842374 -0.26484916] [ 0. 0. 0. 1. ]] SLAMing on 53.161346183999996 meters Centerline goodness : 0.926849 Centerline is valid? [False, False] Translation: X:1.93, Y:0.52, Z:-0.26 [[ 0.85680486 -0.45294573 -0.24642563 1.93443435] [ 0.4739926 0.87999882 0.03054657 0.52262273] [ 0.20301832 -0.14297638 0.96868019 -0.26492956] [ 0. 0. 0. 1. ]] SLAMing on 53.191346184 meters Centerline goodness : 0.927450 Centerline is valid? [False, False] Translation: X:1.94, Y:0.52, Z:-0.26 [[ 0.85675175 -0.45269529 -0.24706965 1.93634161] [ 0.47404527 0.87993479 0.03155702 0.52100019] [ 0.20311947 -0.14415873 0.96848373 -0.26469899] [ 0. 0. 0. 1. ]] SLAMing on 53.221346184 meters Centerline goodness : 0.929643 Centerline is valid? [False, False] Translation: X:1.94, Y:0.52, Z:-0.26 [[ 0.8566462 -0.45249202 -0.24780689 1.9381329 ] [ 0.47414554 0.8798468 0.0324903 0.52024658] [ 0.2033305 -0.14532922 0.96826449 -0.26457605] [ 0. 0. 0. 1. ]] SLAMing on 53.251346184 meters Centerline goodness : 0.928635 Centerline is valid? [False, False] Translation: X:1.94, Y:0.52, Z:-0.27 [[ 0.85646242 -0.45207227 -0.2492043 1.94182408] [ 0.47413798 0.879814 0.03347393 0.52032026] [ 0.2041208 -0.14682639 0.96787226 -0.26505861] [ 0. 0. 0. 1. ]] SLAMing on 53.281346184 meters Centerline goodness : 0.928776 Centerline is valid? [False, False] Translation: X:1.94, Y:0.52, Z:-0.27 [[ 0.85655415 -0.45162538 -0.24969882 1.94485545] [ 0.47393697 0.87988928 0.03433074 0.5183606 ] [ 0.20420268 -0.14774764 0.96771478 -0.2660159 ] [ 0. 0. 0. 1. ]] SLAMing on 53.311346183999994 meters Centerline goodness : 0.930434 Centerline is valid? [False, False] Translation: X:1.95, Y:0.52, Z:-0.27 [[ 0.85662261 -0.45094868 -0.25068502 1.94686718] [ 0.47360296 0.88003058 0.03530475 0.51842007] [ 0.20468985 -0.14896802 0.96742472 -0.26621869] [ 0. 0. 0. 1. ]] SLAMing on 53.341346183999995 meters Centerline goodness : 0.930102 Centerline is valid? [False, False] Translation: X:1.95, Y:0.52, Z:-0.27 [[ 0.85657669 -0.45077394 -0.25115578 1.94741807] [ 0.47356509 0.88003819 0.03562147 0.51890311] [ 0.20496945 -0.14945113 0.967291 -0.2659587 ] [ 0. 0. 0. 1. ]] SLAMing on 53.371346184 meters Centerline goodness : 0.929587 Centerline is valid? [False, False] Translation: X:1.95, Y:0.52, Z:-0.27 [[ 0.85643305 -0.45055564 -0.2520358 1.95001402] [ 0.47357 0.88001845 0.03604138 0.52031122] [ 0.20555751 -0.15022362 0.96704652 -0.26710179] [ 0. 0. 0. 1. ]] SLAMing on 53.401346184 meters Centerline goodness : 0.929877 Centerline is valid? [False, False] Translation: X:1.95, Y:0.52, Z:-0.27 [[ 0.85650229 -0.45043914 -0.25200874 1.95118601] [ 0.47339197 0.88012459 0.03578745 0.52083932] [ 0.20567902 -0.14995095 0.967063 -0.26824939] [ 0. 0. 0. 1. ]] SLAMing on 53.431346184 meters Centerline goodness : 0.928237 Centerline is valid? [False, False] Translation: X:1.95, Y:0.52, Z:-0.27 [[ 0.85674622 -0.44969465 -0.25250868 1.95393877] [ 0.4727516 0.88046012 0.03599857 0.5213124 ] [ 0.20613546 -0.15021552 0.96692475 -0.26993448] [ 0. 0. 0. 1. ]] SLAMing on 53.461346184 meters Centerline goodness : 0.927702 Centerline is valid? [False, False] Translation: X:1.95, Y:0.52, Z:-0.27 [[ 0.85739567 -0.44923093 -0.25112595 1.954866 ] [ 0.47182427 0.88100118 0.03491119 0.52061789] [ 0.20555907 -0.14842002 0.96732464 -0.27300397] [ 0. 0. 0. 1. ]] SLAMing on 53.491346183999994 meters Centerline goodness : 0.928549 Centerline is valid? [False, False] Translation: X:1.96, Y:0.52, Z:-0.27 [[ 0.85773431 -0.44797873 -0.25220411 1.95726304] [ 0.4709383 0.88143162 0.03599193 0.52133876] [ 0.20617706 -0.14964408 0.96700448 -0.27397724] [ 0. 0. 0. 1. ]] SLAMing on 53.521346183999995 meters Centerline goodness : 0.929948 Centerline is valid? [False, False] Translation: X:1.96, Y:0.52, Z:-0.27 [[ 0.85858176 -0.44487932 -0.25479353 1.95967434] [ 0.46890936 0.88236492 0.0394481 0.52221881] [ 0.20727123 -0.15334449 0.96619051 -0.27383961] [ 0. 0. 0. 1. ]] SLAMing on 53.551346183999996 meters Centerline goodness : 0.931033 Centerline is valid? [False, False] Translation: X:1.96, Y:0.52, Z:-0.27 [[ 0.85930494 -0.44181002 -0.25767989 1.96155168] [ 0.46701673 0.88319782 0.04309273 0.52390572] [ 0.20854352 -0.15737061 0.96526892 -0.2729925 ] [ 0. 0. 0. 1. ]] SLAMing on 53.581346184 meters Centerline goodness : 0.930911 Centerline is valid? [False, False] Translation: X:1.97, Y:0.53, Z:-0.28 [[ 0.86056928 -0.44520031 -0.24742111 1.96540473] [ 0.46978634 0.88148034 0.04788747 0.52944091] [ 0.19677733 -0.15744554 0.96772392 -0.27750696] [ 0. 0. 0. 1. ]] SLAMing on 53.611346184 meters Centerline goodness : 0.930001 Centerline is valid? [False, False] Translation: X:1.97, Y:0.53, Z:-0.28 [[ 0.86132026 -0.44279083 -0.24912586 1.96797977] [ 0.4680544 0.88227865 0.05009453 0.53073472] [ 0.19761703 -0.15975189 0.96717467 -0.27891424] [ 0. 0. 0. 1. ]] SLAMing on 53.641346184 meters Centerline goodness : 0.929023 Centerline is valid? [False, False] Translation: X:1.97, Y:0.53, Z:-0.28 [[ 0.8613543 -0.44260423 -0.24933966 1.97057542] [ 0.46785746 0.88239473 0.04988933 0.53101141] [ 0.19793477 -0.1596278 0.96713018 -0.28065351] [ 0. 0. 0. 1. ]] SLAMing on 53.671346183999994 meters Centerline goodness : 0.931049 Centerline is valid? [False, False] Translation: X:1.97, Y:0.53, Z:-0.28 [[ 0.86127267 -0.44252829 -0.24975608 1.97355894] [ 0.46779765 0.88244086 0.04963357 0.53179197] [ 0.19843071 -0.15958334 0.96703589 -0.28239433] [ 0. 0. 0. 1. ]] SLAMing on 53.701346183999995 meters Centerline goodness : 0.931891 Centerline is valid? [False, False] Translation: X:1.98, Y:0.53, Z:-0.28 [[ 0.86146735 -0.4407489 -0.25221896 1.97665061] [ 0.4669043 0.88277136 0.05210673 0.53411366] [ 0.19968569 -0.16265036 0.96626626 -0.2830783 ] [ 0. 0. 0. 1. ]] SLAMing on 53.731346183999996 meters Centerline goodness : 0.931465 Centerline is valid? [False, False] Translation: X:1.98, Y:0.54, Z:-0.28 [[ 0.86112956 -0.44122658 -0.25253711 1.97591729] [ 0.46735875 0.8825564 0.051672 0.5362376 ] [ 0.20007918 -0.16252172 0.96620651 -0.28239297] [ 0. 0. 0. 1. ]] SLAMing on 53.761346184 meters Centerline goodness : 0.931398 Centerline is valid? [False, False] Translation: X:1.98, Y:0.54, Z:-0.28 [[ 0.86111998 -0.44000411 -0.25469347 1.97847067] [ 0.46690643 0.88267343 0.05372152 0.53840978] [ 0.20117347 -0.1651787 0.96552847 -0.28247197] [ 0. 0. 0. 1. ]] SLAMing on 53.791346184 meters Centerline goodness : 0.936456 Centerline is valid? [False, False] Translation: X:1.98, Y:0.55, Z:-0.29 [[ 0.86207405 -0.44266711 -0.24672689 1.98342212] [ 0.46958689 0.88081548 0.06043373 0.5453364 ] [ 0.19056884 -0.16795806 0.96719885 -0.28727679] [ 0. 0. 0. 1. ]] SLAMing on 53.821346184 meters Centerline goodness : 0.935894 Centerline is valid? [False, False] Translation: X:1.98, Y:0.55, Z:-0.29 [[ 0.86227909 -0.44222464 -0.24680385 1.98188481] [ 0.46915147 0.88104643 0.06044907 0.5466686 ] [ 0.19071358 -0.16791235 0.96717825 -0.2865319 ] [ 0. 0. 0. 1. ]] SLAMing on 53.851346184 meters Centerline goodness : 0.936062 Centerline is valid? [False, False] Translation: X:1.98, Y:0.55, Z:-0.29 [[ 0.8626301 -0.44183736 -0.24627029 1.98049084] [ 0.46851226 0.88143807 0.05969256 0.54834936] [ 0.1906976 -0.16687325 0.96736123 -0.28708362] [ 0. 0. 0. 1. ]] SLAMing on 53.881346183999995 meters Centerline goodness : 0.937360 Centerline is valid? [False, False] Translation: X:1.98, Y:0.55, Z:-0.29 [[ 0.86276565 -0.44120425 -0.24692964 1.98303922] [ 0.46801166 0.88169366 0.05984454 0.54972404] [ 0.19131263 -0.16719776 0.96718374 -0.28879828] [ 0. 0. 0. 1. ]] SLAMing on 53.911346183999996 meters Centerline goodness : 0.938423 Centerline is valid? [False, False] Translation: X:1.98, Y:0.55, Z:-0.29 [[ 0.86241668 -0.44196374 -0.24679045 1.98287968] [ 0.46857637 0.88145732 0.05889976 0.55129462] [ 0.19150369 -0.1664363 0.96727726 -0.28890896] [ 0. 0. 0. 1. ]] SLAMing on 53.941346184 meters Centerline goodness : 0.938981 Centerline is valid? [False, False] Translation: X:1.98, Y:0.56, Z:-0.29 [[ 0.86142277 -0.44263649 -0.24904569 1.98491697] [ 0.46975604 0.88079777 0.05936788 0.55677204] [ 0.1930805 -0.16813156 0.96667042 -0.2886667 ] [ 0. 0. 0. 1. ]] SLAMing on 53.971346184 meters Centerline goodness : 0.937532 Centerline is valid? [False, False] Translation: X:1.99, Y:0.56, Z:-0.29 [[ 0.86038823 -0.44387744 -0.25040947 1.9853061 ] [ 0.47123102 0.88002207 0.05918179 0.56073132] [ 0.1940964 -0.16892002 0.96632945 -0.28746417] [ 0. 0. 0. 1. ]] SLAMing on 54.001346184 meters Centerline goodness : 0.936713 Centerline is valid? [False, False] Translation: X:1.99, Y:0.56, Z:-0.29 [[ 0.85955516 -0.44476996 -0.25168357 1.98587567] [ 0.47227553 0.87949412 0.0587019 0.56456978] [ 0.19524538 -0.16932151 0.96602767 -0.28656898] [ 0. 0. 0. 1. ]] SLAMing on 54.031346184 meters Centerline goodness : 0.936717 Centerline is valid? [False, False] Translation: X:1.99, Y:0.57, Z:-0.29 [[ 0.85892087 -0.44580951 -0.25200958 1.98580809] [ 0.4732386 0.87902845 0.05791552 0.56741733] [ 0.1957043 -0.16900551 0.96599015 -0.28643732] [ 0. 0. 0. 1. ]] SLAMing on 54.061346183999994 meters Centerline goodness : 0.933482 Centerline is valid? [False, False] Translation: X:1.99, Y:0.57, Z:-0.29 [[ 0.85849274 -0.4475694 -0.25034346 1.98764497] [ 0.47402155 0.87883465 0.05434362 0.56994902] [ 0.19568796 -0.1653218 0.96663071 -0.29017903] [ 0. 0. 0. 1. ]] SLAMing on 54.091346183999995 meters Centerline goodness : 0.933482 Centerline is valid? [False, False] Translation: X:1.99, Y:0.57, Z:-0.29 [[ 0.85849274 -0.4475694 -0.25034346 1.98764497] [ 0.47402155 0.87883465 0.05434362 0.56994902] [ 0.19568796 -0.1653218 0.96663071 -0.29017903] [ 0. 0. 0. 1. ]] SLAMing on 54.121346184 meters Centerline goodness : 0.934580 Centerline is valid? [False, False] Translation: X:1.99, Y:0.57, Z:-0.29 [[ 0.8583043 -0.44825515 -0.24976197 1.98802457] [ 0.47443025 0.87867221 0.05339556 0.57013354] [ 0.19552407 -0.16432427 0.96683394 -0.29099488] [ 0. 0. 0. 1. ]] SLAMing on 54.151346184 meters Centerline goodness : 0.932444 Centerline is valid? [False, False] Translation: X:1.99, Y:0.57, Z:-0.29 [[ 0.85831859 -0.44778391 -0.2505569 1.98940429] [ 0.47414971 0.87880457 0.05370821 0.57093636] [ 0.19614088 -0.16490024 0.96661092 -0.29110597] [ 0. 0. 0. 1. ]] SLAMing on 54.181346184 meters Centerline goodness : 0.935034 Centerline is valid? [False, False] Translation: X:2.00, Y:0.58, Z:-0.29 [[ 0.8578922 -0.45027316 -0.24753799 1.99578643] [ 0.47820178 0.87591425 0.06400999 0.57949685] [ 0.18800008 -0.17328678 0.96676143 -0.29288947] [ 0. 0. 0. 1. ]] SLAMing on 54.211346184 meters Centerline goodness : 0.934288 Centerline is valid? [False, False] Translation: X:2.00, Y:0.58, Z:-0.29 [[ 0.8572516 -0.45005411 -0.25014194 1.99553308] [ 0.47880093 0.87545704 0.06576197 0.58249522] [ 0.18939208 -0.17614275 0.96597328 -0.2897156 ] [ 0. 0. 0. 1. ]] SLAMing on 54.241346183999994 meters Centerline goodness : 0.933273 Centerline is valid? [False, False] Translation: X:2.00, Y:0.59, Z:-0.29 [[ 0.856759 -0.45028812 -0.2514053 1.99654293] [ 0.4792846 0.87518896 0.06580691 0.58511764] [ 0.19039508 -0.17687535 0.96564218 -0.28912097] [ 0. 0. 0. 1. ]] SLAMing on 54.271346183999995 meters Centerline goodness : 0.933731 Centerline is valid? [False, False] Translation: X:2.00, Y:0.59, Z:-0.29 [[ 0.85590031 -0.45146147 -0.2522245 1.99921805] [ 0.48045483 0.87461582 0.06488697 0.58732429] [ 0.19130557 -0.17671926 0.9654908 -0.28979106] [ 0. 0. 0. 1. ]] SLAMing on 54.301346183999996 meters Centerline goodness : 0.931011 Centerline is valid? [False, False] Translation: X:2.00, Y:0.59, Z:-0.29 [[ 0.85357895 -0.45687971 -0.25032761 2.00172702] [ 0.48457121 0.8727276 0.05947508 0.58992286] [ 0.19129485 -0.17206823 0.96633266 -0.29207564] [ 0. 0. 0. 1. ]] SLAMing on 54.331346184 meters Centerline goodness : 0.931652 Centerline is valid? [False, False] Translation: X:2.00, Y:0.59, Z:-0.29 [[ 0.85286448 -0.45768219 -0.25129504 2.00433783] [ 0.48546209 0.87226861 0.05894092 0.5916533 ] [ 0.19222057 -0.17226283 0.96611426 -0.2923664 ] [ 0. 0. 0. 1. ]] SLAMing on 54.361346184 meters Centerline goodness : 0.931489 Centerline is valid? [False, False] Translation: X:2.01, Y:0.59, Z:-0.29 [[ 0.85222179 -0.45810604 -0.25269918 2.00527153] [ 0.48618969 0.87185065 0.05912722 0.59377133] [ 0.19322941 -0.17324924 0.96573656 -0.29110874] [ 0. 0. 0. 1. ]] SLAMing on 54.391346184 meters Centerline goodness : 0.933935 Centerline is valid? [False, False] Translation: X:2.01, Y:0.60, Z:-0.29 [[ 0.8519886 -0.45602753 -0.25720481 2.0053567 ] [ 0.48566169 0.87188144 0.06289262 0.59816367] [ 0.19557133 -0.17849832 0.96430815 -0.28692156] [ 0. 0. 0. 1. ]] SLAMing on 54.421346183999994 meters Centerline goodness : 0.933169 Centerline is valid? [False, False] Translation: X:2.01, Y:0.60, Z:-0.29 [[ 0.85180637 -0.45590461 -0.25802497 2.00576668] [ 0.48565725 0.87189601 0.06272464 0.60007573] [ 0.19637449 -0.17874095 0.96409996 -0.28641983] [ 0. 0. 0. 1. ]] SLAMing on 54.451346183999995 meters Centerline goodness : 0.930633 Centerline is valid? [False, False] Translation: X:2.01, Y:0.60, Z:-0.29 [[ 0.85168223 -0.45640774 -0.25754486 2.00618977] [ 0.48583115 0.87188666 0.06149587 0.60101547] [ 0.19648274 -0.17749825 0.96430747 -0.28740006] [ 0. 0. 0. 1. ]] SLAMing on 54.481346183999996 meters Centerline goodness : 0.930485 Centerline is valid? [False, False] Translation: X:2.01, Y:0.60, Z:-0.29 [[ 0.8517205 -0.4564263 -0.25738536 2.00793745] [ 0.48567391 0.87202456 0.06077844 0.60111983] [ 0.19670548 -0.17677159 0.96439554 -0.28872089] [ 0. 0. 0. 1. ]] SLAMing on 54.511346184 meters Centerline goodness : 0.933018 Centerline is valid? [False, False] Translation: X:2.01, Y:0.60, Z:-0.29 [[ 0.85186769 -0.45589692 -0.25783608 2.00773884] [ 0.48509157 0.87239096 0.06016801 0.60364394] [ 0.19750346 -0.17632929 0.96431342 -0.28883382] [ 0. 0. 0. 1. ]] SLAMing on 54.541346184 meters Centerline goodness : 0.932935 Centerline is valid? [False, False] Translation: X:2.01, Y:0.61, Z:-0.29 [[ 0.85208851 -0.45364492 -0.26105834 2.00975025] [ 0.48394083 0.87284303 0.06281971 0.60628516] [ 0.19936511 -0.17986475 0.96327682 -0.28743313] [ 0. 0. 0. 1. ]] SLAMing on 54.571346184 meters Centerline goodness : 0.934354 Centerline is valid? [False, False] Translation: X:2.01, Y:0.61, Z:-0.29 [[ 0.85177702 -0.45312675 -0.26296777 2.01027496] [ 0.48392196 0.87280294 0.06351822 0.60962239] [ 0.20073724 -0.18135924 0.96271148 -0.28621634] [ 0. 0. 0. 1. ]] SLAMing on 54.601346184 meters Centerline goodness : 0.932109 Centerline is valid? [False, False] Translation: X:2.01, Y:0.61, Z:-0.29 [[ 0.85138409 -0.45365883 -0.2633226 2.00980576] [ 0.48427419 0.87269773 0.06226701 0.61324027] [ 0.20155306 -0.18053348 0.96269623 -0.28616011] [ 0. 0. 0. 1. ]] SLAMing on 54.631346183999995 meters Centerline goodness : 0.932225 Centerline is valid? [False, False] Translation: X:2.01, Y:0.61, Z:-0.29 [[ 0.85109229 -0.45388559 -0.26387455 2.01149105] [ 0.48448158 0.872627 0.06164183 0.61433232] [ 0.20228572 -0.18030525 0.96258532 -0.28636042] [ 0. 0. 0. 1. ]] SLAMing on 54.661346183999996 meters Centerline goodness : 0.934213 Centerline is valid? [False, False] Translation: X:2.01, Y:0.61, Z:-0.29 [[ 0.85025472 -0.45654101 -0.26198707 2.00930338] [ 0.48619842 0.87188415 0.0585587 0.61477889] [ 0.20168792 -0.17716751 0.96329313 -0.28588061] [ 0. 0. 0. 1. ]] SLAMing on 54.691346184 meters Centerline goodness : 0.932619 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.29 [[ 0.84862532 -0.45983627 -0.26150654 2.01136608] [ 0.4888827 0.87057143 0.05566944 0.61580862] [ 0.2020613 -0.17508852 0.96359496 -0.28600751] [ 0. 0. 0. 1. ]] SLAMing on 54.721346184 meters Centerline goodness : 0.933096 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.29 [[ 0.84800048 -0.46053286 -0.26230645 2.01292641] [ 0.48972187 0.87010721 0.05555111 0.61614008] [ 0.20265162 -0.17556457 0.96338435 -0.28522177] [ 0. 0. 0. 1. ]] SLAMing on 54.751346184 meters Centerline goodness : 0.933874 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.28 [[ 0.84754163 -0.46116411 -0.26268015 2.01297972] [ 0.49038964 0.86974614 0.05531416 0.61668195] [ 0.20295614 -0.17569668 0.96329616 -0.28426155] [ 0. 0. 0. 1. ]] SLAMing on 54.781346184 meters Centerline goodness : 0.934753 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.28 [[ 0.84657819 -0.46265214 -0.26316984 2.0132105 ] [ 0.4919053 0.86892084 0.05482473 0.61734051] [ 0.20330898 -0.17586806 0.96319047 -0.28277906] [ 0. 0. 0. 1. ]] SLAMing on 54.811346183999994 meters Centerline goodness : 0.937322 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.28 [[ 0.84600138 -0.46363284 -0.26329879 2.01379082] [ 0.49282669 0.86843114 0.05430661 0.6173195 ] [ 0.20347854 -0.17570414 0.96318458 -0.28212783] [ 0. 0. 0. 1. ]] SLAMing on 54.841346183999995 meters Centerline goodness : 0.936086 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.28 [[ 0.84592536 -0.4638199 -0.26321358 2.01302458] [ 0.49301853 0.86831757 0.05438134 0.61601611] [ 0.20332983 -0.17577172 0.96320366 -0.28081194] [ 0. 0. 0. 1. ]] SLAMing on 54.871346184 meters Centerline goodness : 0.936993 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.28 [[ 0.84608145 -0.46227731 -0.26541641 2.01372412] [ 0.49234407 0.86855129 0.0567095 0.61624928] [ 0.20431225 -0.17865705 0.96246463 -0.27873918] [ 0. 0. 0. 1. ]] SLAMing on 54.901346184 meters Centerline goodness : 0.939671 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.28 [[ 0.84604349 -0.46111912 -0.26754358 2.01416861] [ 0.49192586 0.8686754 0.05841231 0.61753305] [ 0.20547349 -0.18103096 0.96177359 -0.27670427] [ 0. 0. 0. 1. ]] SLAMing on 54.931346184 meters Centerline goodness : 0.938612 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.28 [[ 0.84580714 -0.46149884 -0.26763614 2.01314328] [ 0.49221462 0.86854908 0.05785558 0.61893056] [ 0.20575484 -0.18066908 0.96178149 -0.2759223 ] [ 0. 0. 0. 1. ]] SLAMing on 54.961346184 meters Centerline goodness : 0.936047 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84554644 -0.46170236 -0.26810846 2.01501895] [ 0.49240802 0.86847248 0.05735761 0.61982206] [ 0.20636267 -0.18051727 0.96167976 -0.27640581] [ 0. 0. 0. 1. ]] SLAMing on 54.991346183999994 meters Centerline goodness : 0.932852 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84494435 -0.46434343 -0.26543215 2.01654021] [ 0.49358025 0.86811178 0.05254016 0.62073875] [ 0.2060281 -0.17540558 0.96269689 -0.27982647] [ 0. 0. 0. 1. ]] SLAMing on 55.021346183999995 meters Centerline goodness : 0.931943 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84488795 -0.46414683 -0.26595502 2.01994628] [ 0.49341244 0.8682251 0.05224305 0.62169077] [ 0.20666037 -0.17536504 0.96256875 -0.2817016 ] [ 0. 0. 0. 1. ]] SLAMing on 55.051346183999996 meters Centerline goodness : 0.933685 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84458965 -0.46425104 -0.2667195 2.02100799] [ 0.4936347 0.86810662 0.05211223 0.62237603] [ 0.20734781 -0.17567545 0.96236429 -0.28103494] [ 0. 0. 0. 1. ]] SLAMing on 55.081346184 meters Centerline goodness : 0.934196 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84565813 -0.4604306 -0.26993703 2.0184465 ] [ 0.49127494 0.8691683 0.05652786 0.62410979] [ 0.20859355 -0.18041654 0.96121725 -0.27712753] [ 0. 0. 0. 1. ]] SLAMing on 55.111346184 meters Centerline goodness : 0.935480 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84644534 -0.45743987 -0.27254183 2.01863292] [ 0.48943257 0.86998476 0.0598521 0.62477401] [ 0.2097285 -0.18405238 0.96028052 -0.27518693] [ 0. 0. 0. 1. ]] SLAMing on 55.141346184 meters Centerline goodness : 0.934495 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.27 [[ 0.846557 -0.45696402 -0.27299292 2.01824898] [ 0.48904259 0.87020082 0.05989883 0.62539269] [ 0.21018705 -0.18421294 0.96014947 -0.27436501] [ 0. 0. 0. 1. ]] SLAMing on 55.171346183999994 meters Centerline goodness : 0.934611 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84588934 -0.4604324 -0.26920851 2.01718856] [ 0.49087044 0.86947577 0.05530012 0.62359394] [ 0.20860831 -0.17892428 0.96149294 -0.27627952] [ 0. 0. 0. 1. ]] SLAMing on 55.201346183999995 meters Centerline goodness : 0.933357 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84468275 -0.46333043 -0.26802233 2.01827833] [ 0.49293669 0.86850218 0.0521286 0.6240287 ] [ 0.20862521 -0.17615017 0.96200137 -0.27660168] [ 0. 0. 0. 1. ]] SLAMing on 55.231346183999996 meters Centerline goodness : 0.932150 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84374911 -0.46473233 -0.26853547 2.01905613] [ 0.49438416 0.86770407 0.05171034 0.6247704 ] [ 0.20897785 -0.17639023 0.96188084 -0.27553014] [ 0. 0. 0. 1. ]] SLAMing on 55.261346184 meters Centerline goodness : 0.931818 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.27 [[ 0.84263149 -0.46569253 -0.27037499 2.02042119] [ 0.4957313 0.86693208 0.0517615 0.62707898] [ 0.21029181 -0.17764922 0.96136263 -0.27334155] [ 0. 0. 0. 1. ]] SLAMing on 55.291346184 meters Centerline goodness : 0.929988 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.27 [[ 0.84130873 -0.4675776 -0.27123939 2.01988179] [ 0.49764066 0.86589016 0.05087236 0.63054854] [ 0.21107674 -0.17777911 0.96116658 -0.27163533] [ 0. 0. 0. 1. ]] SLAMing on 55.321346184 meters Centerline goodness : 0.926280 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.27 [[ 0.84085512 -0.46791405 -0.27206454 2.0225334 ] [ 0.49809236 0.86564423 0.05063657 0.63103855] [ 0.21181753 -0.17809129 0.9609458 -0.27168642] [ 0. 0. 0. 1. ]] SLAMing on 55.351346184 meters Centerline goodness : 0.925142 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.27 [[ 0.83994269 -0.4705446 -0.27034063 2.02156132] [ 0.49984572 0.86479554 0.04778007 0.63029614] [ 0.21130672 -0.17526113 0.96157839 -0.27108573] [ 0. 0. 0. 1. ]] SLAMing on 55.381346183999995 meters Centerline goodness : 0.927144 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.27 [[ 0.83815212 -0.47509971 -0.2679203 2.0192081 ] [ 0.50336022 0.86293169 0.04446784 0.62838797] [ 0.21007026 -0.17213124 0.96241432 -0.269087 ] [ 0. 0. 0. 1. ]] SLAMing on 55.411346183999996 meters Centerline goodness : 0.927620 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.27 [[ 0.83749991 -0.47505315 -0.27003407 2.02187983] [ 0.50396127 0.86251947 0.04564214 0.62862508] [ 0.2112272 -0.174312 0.96176837 -0.26729329] [ 0. 0. 0. 1. ]] SLAMing on 55.441346184 meters Centerline goodness : 0.928749 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.26 [[ 0.83591072 -0.47643321 -0.27251543 2.02195219] [ 0.50600754 0.86128229 0.04635934 0.63100317] [ 0.21262558 -0.17664713 0.9610339 -0.26305244] [ 0. 0. 0. 1. ]] SLAMing on 55.471346184 meters Centerline goodness : 0.926486 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.26 [[ 0.83520203 -0.47708891 -0.27353929 2.0228699 ] [ 0.50680462 0.86083113 0.04603091 0.63285839] [ 0.21351031 -0.17707608 0.96075877 -0.26198829] [ 0. 0. 0. 1. ]] SLAMing on 55.501346184 meters Centerline goodness : 0.924065 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.26 [[ 0.83468244 -0.47767733 -0.27409779 2.02449564] [ 0.50738146 0.86052368 0.0454208 0.63382023] [ 0.21417115 -0.17698407 0.96062863 -0.26185764] [ 0. 0. 0. 1. ]] SLAMing on 55.531346184 meters Centerline goodness : 0.922150 Centerline is valid? [False, False] Translation: X:2.03, Y:0.63, Z:-0.26 [[ 0.83438994 -0.47785594 -0.2746764 2.02818884] [ 0.50757798 0.86043073 0.04498393 0.6344319 ] [ 0.21484418 -0.17695383 0.9604839 -0.26331043] [ 0. 0. 0. 1. ]] SLAMing on 55.561346183999994 meters Centerline goodness : 0.924836 Centerline is valid? [False, False] Translation: X:2.03, Y:0.63, Z:-0.27 [[ 0.83371481 -0.47977545 -0.27337728 2.03046181] [ 0.50869619 0.85990992 0.0422269 0.63460955] [ 0.21482041 -0.17427118 0.96097958 -0.26520486] [ 0. 0. 0. 1. ]] SLAMing on 55.591346183999995 meters Centerline goodness : 0.922982 Centerline is valid? [False, False] Translation: X:2.03, Y:0.64, Z:-0.26 [[ 0.83329748 -0.479749 -0.27469293 2.03184117] [ 0.50891966 0.85977679 0.04224508 0.63631129] [ 0.21590757 -0.17499935 0.96060353 -0.264231 ] [ 0. 0. 0. 1. ]] SLAMing on 55.621346184 meters Centerline goodness : 0.923618 Centerline is valid? [False, False] Translation: X:2.03, Y:0.64, Z:-0.26 [[ 0.83280359 -0.47960222 -0.27644148 2.03308521] [ 0.50915077 0.85962844 0.04247872 0.63879485] [ 0.21726407 -0.17612683 0.96009149 -0.26280503] [ 0. 0. 0. 1. ]] SLAMing on 55.651346184 meters Centerline goodness : 0.924088 Centerline is valid? [False, False] Translation: X:2.03, Y:0.64, Z:-0.26 [[ 0.83208404 -0.48018295 -0.2775977 2.03384999] [ 0.50992415 0.85917981 0.04227791 0.64046496] [ 0.21820521 -0.17673255 0.95976669 -0.26140206] [ 0. 0. 0. 1. ]] SLAMing on 55.681346184 meters Centerline goodness : 0.924127 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83183682 -0.48040886 -0.27794755 2.03617113] [ 0.51015939 0.85905406 0.04199421 0.63978102] [ 0.21859758 -0.17672988 0.95967789 -0.2615506 ] [ 0. 0. 0. 1. ]] SLAMing on 55.711346184 meters Centerline goodness : 0.925922 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83193054 -0.48056521 -0.27739622 2.03710056] [ 0.51007164 0.85913698 0.04135902 0.63851944] [ 0.21844564 -0.17589978 0.95986497 -0.26209494] [ 0. 0. 0. 1. ]] SLAMing on 55.741346183999994 meters Centerline goodness : 0.925000 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83224282 -0.48016413 -0.27715394 2.0369591 ] [ 0.50958215 0.85943363 0.04122939 0.63763237] [ 0.21839854 -0.17554557 0.95994053 -0.26180713] [ 0. 0. 0. 1. ]] SLAMing on 55.771346183999995 meters Centerline goodness : 0.925983 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83208496 -0.4797103 -0.27841094 2.03717498] [ 0.5093948 0.85953554 0.04141971 0.63914338] [ 0.21943463 -0.1762858 0.95956853 -0.26023727] [ 0. 0. 0. 1. ]] SLAMing on 55.801346183999996 meters Centerline goodness : 0.925655 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83211857 -0.47905511 -0.27943674 2.03594246] [ 0.50900663 0.8597457 0.04182804 0.64063346] [ 0.2202066 -0.17704104 0.95925259 -0.25829242] [ 0. 0. 0. 1. ]] SLAMing on 55.831346184 meters Centerline goodness : 0.926524 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.8321088 -0.47857613 -0.28028525 2.03511863] [ 0.50864254 0.85996771 0.04169295 0.6425769 ] [ 0.22108302 -0.17725807 0.95901088 -0.25681828] [ 0. 0. 0. 1. ]] SLAMing on 55.861346184 meters Centerline goodness : 0.926144 Centerline is valid? [False, False] Translation: X:2.03, Y:0.64, Z:-0.26 [[ 0.83310659 -0.47817703 -0.27799306 2.03413234] [ 0.50740873 0.86077621 0.04000873 0.64211149] [ 0.22015856 -0.17438764 0.95974953 -0.25963001] [ 0. 0. 0. 1. ]] SLAMing on 55.891346184 meters Centerline goodness : 0.926778 Centerline is valid? [False, False] Translation: X:2.03, Y:0.64, Z:-0.26 [[ 0.83314582 -0.47931471 -0.27590842 2.0346291 ] [ 0.50757247 0.86080203 0.03728341 0.64103448] [ 0.21963204 -0.17110604 0.96046056 -0.26136958] [ 0. 0. 0. 1. ]] SLAMing on 55.921346183999994 meters Centerline goodness : 0.926653 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.8332339 -0.47911081 -0.27599656 2.03662965] [ 0.50735197 0.86093693 0.03716953 0.64005289] [ 0.21980731 -0.17099832 0.96043965 -0.26201193] [ 0. 0. 0. 1. ]] SLAMing on 55.951346183999995 meters Centerline goodness : 0.928041 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83303179 -0.47938978 -0.2761222 2.03602635] [ 0.50764722 0.86076591 0.03709913 0.63986801] [ 0.21989163 -0.17107742 0.96040626 -0.26080402] [ 0. 0. 0. 1. ]] SLAMing on 55.981346183999996 meters Centerline goodness : 0.930662 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83291702 -0.47702512 -0.28052855 2.03716489] [ 0.50689555 0.86103807 0.04086978 0.64201752] [ 0.22204985 -0.17623981 0.95897518 -0.25683564] [ 0. 0. 0. 1. ]] SLAMing on 56.011346184 meters Centerline goodness : 0.930662 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83291702 -0.47702512 -0.28052855 2.03716489] [ 0.50689555 0.86103807 0.04086978 0.64201752] [ 0.22204985 -0.17623981 0.95897518 -0.25683564] [ 0. 0. 0. 1. ]] SLAMing on 56.041346184 meters Centerline goodness : 0.930059 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83257532 -0.47730086 -0.28107336 2.0370537 ] [ 0.50718732 0.86088596 0.04045221 0.64369331] [ 0.22266424 -0.17623636 0.95883335 -0.25599323] [ 0. 0. 0. 1. ]] SLAMing on 56.071346184 meters Centerline goodness : 0.926839 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83252318 -0.47773054 -0.2804972 2.03777021] [ 0.50725552 0.86089904 0.03930241 0.64427894] [ 0.22270381 -0.17500392 0.95904986 -0.25708311] [ 0. 0. 0. 1. ]] SLAMing on 56.101346184 meters Centerline goodness : 0.927497 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83255705 -0.47941168 -0.27751252 2.03962336] [ 0.50757467 0.86087307 0.03557413 0.64357132] [ 0.2218484 -0.17047582 0.96006317 -0.26140321] [ 0. 0. 0. 1. ]] SLAMing on 56.131346183999995 meters Centerline goodness : 0.926662 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83232369 -0.47988956 -0.27738651 2.03985824] [ 0.5079047 0.8607034 0.03496399 0.64353806] [ 0.22196866 -0.16998727 0.96012199 -0.26115045] [ 0. 0. 0. 1. ]] SLAMing on 56.161346183999996 meters Centerline goodness : 0.929664 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83181562 -0.48024243 -0.27829835 2.04066868] [ 0.50846655 0.8603664 0.03509172 0.64445316] [ 0.22258602 -0.17069525 0.95985343 -0.26003039] [ 0. 0. 0. 1. ]] SLAMing on 56.191346184 meters Centerline goodness : 0.929061 Centerline is valid? [False, False] Translation: X:2.04, Y:0.65, Z:-0.26 [[ 0.83115737 -0.48079842 -0.27930326 2.04056018] [ 0.50922397 0.85991885 0.03507882 0.64583656] [ 0.2233123 -0.17138393 0.95956197 -0.25815569] [ 0. 0. 0. 1. ]] SLAMing on 56.221346184 meters Centerline goodness : 0.931797 Centerline is valid? [False, False] Translation: X:2.04, Y:0.65, Z:-0.26 [[ 0.83161463 -0.4801958 -0.27897867 2.03723878] [ 0.50866533 0.86022737 0.03561548 0.64521299] [ 0.22288268 -0.17152513 0.95963662 -0.25604964] [ 0. 0. 0. 1. ]] SLAMing on 56.251346184 meters Centerline goodness : 0.931813 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83208754 -0.47887133 -0.27984386 2.03893845] [ 0.50767105 0.86077571 0.03654161 0.64461475] [ 0.22338407 -0.17247444 0.95934984 -0.25613945] [ 0. 0. 0. 1. ]] SLAMing on 56.281346184 meters Centerline goodness : 0.935294 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83202226 -0.47909454 -0.27965583 2.03918108] [ 0.50777574 0.86073051 0.03614955 0.6439309 ] [ 0.22338925 -0.17207968 0.95941953 -0.25582545] [ 0. 0. 0. 1. ]] SLAMing on 56.311346183999994 meters Centerline goodness : 0.936545 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83115297 -0.48112692 -0.27875011 2.04071146] [ 0.50930893 0.8598951 0.03442132 0.64297441] [ 0.22313483 -0.1705793 0.95974661 -0.25633488] [ 0. 0. 0. 1. ]] SLAMing on 56.341346183999995 meters Centerline goodness : 0.936462 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.25 [[ 0.83050748 -0.48185545 -0.27941483 2.04100256] [ 0.51017646 0.85938217 0.03438397 0.64345936] [ 0.22355602 -0.17110701 0.95955463 -0.25490898] [ 0. 0. 0. 1. ]] SLAMing on 56.371346184 meters Centerline goodness : 0.937091 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.25 [[ 0.83001159 -0.48213856 -0.28039824 2.04151115] [ 0.51071867 0.85904847 0.03467217 0.6447553 ] [ 0.22415888 -0.17198292 0.95925735 -0.25389416] [ 0. 0. 0. 1. ]] SLAMing on 56.401346184 meters Centerline goodness : 0.936604 Centerline is valid? [False, False] Translation: X:2.04, Y:0.65, Z:-0.25 [[ 0.82926371 -0.48262899 -0.28176402 2.04269004] [ 0.51140591 0.85865229 0.03435454 0.64749938] [ 0.22535683 -0.17258476 0.9588685 -0.25310433] [ 0. 0. 0. 1. ]] SLAMing on 56.431346184 meters Centerline goodness : 0.935733 Centerline is valid? [False, False] Translation: X:2.04, Y:0.65, Z:-0.25 [[ 0.8289464 -0.48314908 -0.28180639 2.04316215] [ 0.51182441 0.8584245 0.03381042 0.64791135] [ 0.22557404 -0.17226241 0.95887539 -0.25286245] [ 0. 0. 0. 1. ]] SLAMing on 56.461346184 meters Centerline goodness : 0.934498 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.82868364 -0.48329006 -0.28233693 2.04537498] [ 0.51203982 0.85830094 0.03368565 0.64798197] [ 0.22605011 -0.17248249 0.9587237 -0.25324177] [ 0. 0. 0. 1. ]] SLAMing on 56.491346183999994 meters Centerline goodness : 0.934377 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.82694098 -0.48754002 -0.28013096 2.0466129 ] [ 0.51508893 0.85662325 0.02966481 0.64785687] [ 0.22550391 -0.1688234 0.95950333 -0.25427879] [ 0. 0. 0. 1. ]] SLAMing on 56.521346183999995 meters Centerline goodness : 0.933085 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.82611777 -0.48856009 -0.28078188 2.04899597] [ 0.51620813 0.85595756 0.02942501 0.64797424] [ 0.22596149 -0.16925041 0.95932044 -0.25407924] [ 0. 0. 0. 1. ]] SLAMing on 56.551346183999996 meters Centerline goodness : 0.932897 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.82549697 -0.48865737 -0.28243359 2.05159669] [ 0.51682468 0.85555405 0.03032365 0.64911156] [ 0.22681933 -0.17100073 0.95880746 -0.2535745 ] [ 0. 0. 0. 1. ]] SLAMing on 56.581346184 meters Centerline goodness : 0.934209 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.8248185 -0.4876182 -0.28618688 2.05095475] [ 0.51713773 0.85525747 0.03321489 0.65177279] [ 0.22856728 -0.17539429 0.95759795 -0.24894956] [ 0. 0. 0. 1. ]] SLAMing on 56.611346184 meters Centerline goodness : 0.934792 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.82517603 -0.48628802 -0.28741691 2.05106131] [ 0.51630424 0.85570937 0.03451665 0.65210267] [ 0.22916031 -0.17687688 0.95718343 -0.24783312] [ 0. 0. 0. 1. ]] SLAMing on 56.641346184 meters Centerline goodness : 0.934136 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.82556339 -0.4859497 -0.28687626 2.04970278] [ 0.51575067 0.85605978 0.0341014 0.65220451] [ 0.22901166 -0.17610949 0.95736049 -0.24773496] [ 0. 0. 0. 1. ]] SLAMing on 56.671346183999994 meters Centerline goodness : 0.933520 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.826975 -0.48423912 -0.2857006 2.05024806] [ 0.51361411 0.85736643 0.03351643 0.65167297] [ 0.22872014 -0.1744571 0.95773264 -0.25055368] [ 0. 0. 0. 1. ]] SLAMing on 56.701346183999995 meters Centerline goodness : 0.932433 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.82728092 -0.48312852 -0.28669341 2.0530393 ] [ 0.51273921 0.85787536 0.03388745 0.65286561] [ 0.22957522 -0.1750334 0.95742286 -0.25182866] [ 0. 0. 0. 1. ]] SLAMing on 56.731346183999996 meters Centerline goodness : 0.932734 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.8270053 -0.48353811 -0.28679806 2.05264451] [ 0.51301586 0.85773732 0.03318766 0.65439479] [ 0.2299499 -0.17457833 0.95741603 -0.25143658] [ 0. 0. 0. 1. ]] SLAMing on 56.761346184 meters Centerline goodness : 0.931137 Centerline is valid? [False, False] Translation: X:2.05, Y:0.66, Z:-0.25 [[ 0.82666861 -0.48346206 -0.28789487 2.05352432] [ 0.51317077 0.85764048 0.03329526 0.65642959] [ 0.2308133 -0.17526337 0.95708305 -0.25083485] [ 0. 0. 0. 1. ]] SLAMing on 56.791346184 meters Centerline goodness : 0.928402 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.8273255 -0.48088055 -0.29032122 2.05535895] [ 0.51143929 0.85859448 0.03528983 0.65965823] [ 0.232298 -0.17767786 0.95627832 -0.25137891] [ 0. 0. 0. 1. ]] SLAMing on 56.821346184 meters Centerline goodness : 0.926865 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82758236 -0.4798 -0.29137501 2.05755467] [ 0.51053678 0.8591288 0.03535389 0.66141226] [ 0.23336586 -0.17801591 0.95595539 -0.25205791] [ 0. 0. 0. 1. ]] SLAMing on 56.851346184 meters Centerline goodness : 0.927286 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82788779 -0.47951332 -0.290979 2.05759844] [ 0.51005727 0.85943124 0.03492161 0.66170118] [ 0.23333107 -0.17732713 0.95609189 -0.25286111] [ 0. 0. 0. 1. ]] SLAMing on 56.881346183999995 meters Centerline goodness : 0.926396 Centerline is valid? [False, False] Translation: X:2.05, Y:0.66, Z:-0.25 [[ 0.82811884 -0.48098029 -0.28788392 2.05443796] [ 0.51028722 0.85940744 0.03202828 0.66012117] [ 0.23200461 -0.17342671 0.95712958 -0.25330209] [ 0. 0. 0. 1. ]] SLAMing on 56.911346183999996 meters Centerline goodness : 0.929939 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82830686 -0.48002812 -0.28893035 2.05594469] [ 0.50969971 0.85972441 0.0328656 0.66008667] [ 0.23262406 -0.17449052 0.95678582 -0.25288691] [ 0. 0. 0. 1. ]] SLAMing on 56.941346184 meters Centerline goodness : 0.930606 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82856922 -0.47841961 -0.29083967 2.05840939] [ 0.50879099 0.8601987 0.03449539 0.6607789 ] [ 0.23367664 -0.17655842 0.95614976 -0.25257045] [ 0. 0. 0. 1. ]] SLAMing on 56.971346184 meters Centerline goodness : 0.930401 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.8282998 -0.47858648 -0.29133216 2.05806901] [ 0.50906177 0.86003798 0.03450773 0.66118357] [ 0.2340418 -0.17688881 0.95599937 -0.2512888 ] [ 0. 0. 0. 1. ]] SLAMing on 57.001346184 meters Centerline goodness : 0.931187 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82746058 -0.47927892 -0.29257597 2.05951646] [ 0.51007842 0.85942592 0.03474332 0.66150473] [ 0.23479563 -0.17798542 0.95561091 -0.24972269] [ 0. 0. 0. 1. ]] SLAMing on 57.031346184 meters Centerline goodness : 0.930857 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82694234 -0.47943506 -0.2937829 2.06286362] [ 0.510483 0.8591843 0.03477715 0.66204893] [ 0.23574027 -0.17872987 0.95523932 -0.249767 ] [ 0. 0. 0. 1. ]] SLAMing on 57.061346183999994 meters Centerline goodness : 0.931603 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82641199 -0.48026057 -0.29392688 2.06457727] [ 0.51126853 0.85873343 0.03437123 0.66201911] [ 0.23589769 -0.17868035 0.95520972 -0.24998103] [ 0. 0. 0. 1. ]] SLAMing on 57.091346183999995 meters Centerline goodness : 0.931611 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82475391 -0.4842311 -0.29206375 2.06415617] [ 0.51427878 0.85705161 0.03130274 0.66149442] [ 0.23515595 -0.17601925 0.95588645 -0.24946076] [ 0. 0. 0. 1. ]] SLAMing on 57.121346184 meters Centerline goodness : 0.933991 Centerline is valid? [False, False] Translation: X:2.07, Y:0.66, Z:-0.25 [[ 0.82446957 -0.48466645 -0.29214443 2.06504625] [ 0.51471446 0.85679481 0.03117195 0.66038395] [ 0.23519983 -0.17607129 0.95586607 -0.24889694] [ 0. 0. 0. 1. ]] SLAMing on 57.151346184 meters Centerline goodness : 0.936712 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82347459 -0.48748146 -0.29026097 2.06224296] [ 0.51674251 0.85565038 0.02897609 0.65832309] [ 0.2342366 -0.17385125 0.95650873 -0.2466336 ] [ 0. 0. 0. 1. ]] SLAMing on 57.181346184 meters Centerline goodness : 0.936672 Centerline is valid? [False, False] Translation: X:2.07, Y:0.66, Z:-0.25 [[ 0.82329585 -0.48633447 -0.29268197 2.06510727] [ 0.51646671 0.85575212 0.03082919 0.6594241 ] [ 0.23546992 -0.17654204 0.95571273 -0.24580023] [ 0. 0. 0. 1. ]] SLAMing on 57.211346184 meters Centerline goodness : 0.937608 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.24 [[ 0.82305786 -0.48629096 -0.29342268 2.06422296] [ 0.51661974 0.85565158 0.03105522 0.66054204] [ 0.23596571 -0.17714818 0.95547826 -0.24422217] [ 0. 0. 0. 1. ]] SLAMing on 57.241346183999994 meters Centerline goodness : 0.936539 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.24 [[ 0.82323407 -0.48558454 -0.29409746 2.06356505] [ 0.51618174 0.85589123 0.03172707 0.66157673] [ 0.23630926 -0.17792654 0.9552487 -0.24350691] [ 0. 0. 0. 1. ]] SLAMing on 57.271346183999995 meters Centerline goodness : 0.935673 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.24 [[ 0.82311287 -0.48604517 -0.2936755 2.06434269] [ 0.51635161 0.85582237 0.03080723 0.6617123 ] [ 0.23636036 -0.17699764 0.95540861 -0.24407154] [ 0. 0. 0. 1. ]] SLAMing on 57.301346183999996 meters Centerline goodness : 0.937134 Centerline is valid? [False, False] Translation: X:2.07, Y:0.66, Z:-0.25 [[ 0.82306327 -0.48686831 -0.29244845 2.06549522] [ 0.51651388 0.85578922 0.02895198 0.66122883] [ 0.23617843 -0.174883 0.95584292 -0.24551808] [ 0. 0. 0. 1. ]] SLAMing on 57.331346184 meters Centerline goodness : 0.934954 Centerline is valid? [False, False] Translation: X:2.07, Y:0.66, Z:-0.25 [[ 0.82318216 -0.48634505 -0.292984 2.06923437] [ 0.516116 0.85602318 0.02913076 0.66079781] [ 0.23663349 -0.17519365 0.95567347 -0.24716307] [ 0. 0. 0. 1. ]] SLAMing on 57.361346184 meters Centerline goodness : 0.940197 Centerline is valid? [False, False] Translation: X:2.07, Y:0.66, Z:-0.25 [[ 0.82312158 -0.48634404 -0.29315583 2.06769284] [ 0.51617351 0.85598494 0.0292349 0.66118407] [ 0.23671876 -0.17538315 0.95561759 -0.24572975] [ 0. 0. 0. 1. ]] SLAMing on 57.391346184 meters Centerline goodness : 0.940061 Centerline is valid? [False, False] Translation: X:2.07, Y:0.66, Z:-0.24 [[ 0.82265188 -0.48630853 -0.29452998 2.06733363] [ 0.51650583 0.85576977 0.02966202 0.66320105] [ 0.23762495 -0.17652797 0.95518179 -0.24381569] [ 0. 0. 0. 1. ]] SLAMing on 57.421346183999994 meters Centerline goodness : 0.940014 Centerline is valid? [False, False] Translation: X:2.07, Y:0.66, Z:-0.24 [[ 0.82247424 -0.4864429 -0.29480404 2.06663139] [ 0.51662221 0.85571005 0.02935637 0.66456397] [ 0.23798658 -0.17644718 0.95510669 -0.24306444] [ 0. 0. 0. 1. ]] SLAMing on 57.451346183999995 meters Centerline goodness : 0.939724 Centerline is valid? [False, False] Translation: X:2.07, Y:0.67, Z:-0.25 [[ 0.82439264 -0.48992222 -0.28346602 2.07071755] [ 0.51895855 0.85416244 0.03299318 0.66901345] [ 0.22596194 -0.17430645 0.95841456 -0.24972556] [ 0. 0. 0. 1. ]] SLAMing on 57.481346183999996 meters Centerline goodness : 0.938654 Centerline is valid? [False, False] Translation: X:2.07, Y:0.67, Z:-0.25 [[ 0.82498147 -0.48934263 -0.2827532 2.06993946] [ 0.51810794 0.85469755 0.03250009 0.66858231] [ 0.22576479 -0.17330865 0.95864194 -0.2502377 ] [ 0. 0. 0. 1. ]] SLAMing on 57.511346184 meters Centerline goodness : 0.939039 Centerline is valid? [False, False] Translation: X:2.07, Y:0.67, Z:-0.25 [[ 0.82570256 -0.48843464 -0.2822178 2.07012177] [ 0.51700177 0.85537765 0.03222195 0.66808289] [ 0.22566448 -0.17251285 0.95880908 -0.25125703] [ 0. 0. 0. 1. ]] SLAMing on 57.541346184 meters Centerline goodness : 0.939493 Centerline is valid? [False, False] Translation: X:2.07, Y:0.67, Z:-0.25 [[ 0.82590385 -0.4883381 -0.28179555 2.06994385] [ 0.51670449 0.85557611 0.03171739 0.66772135] [ 0.22560873 -0.17180054 0.95895009 -0.25142159] [ 0. 0. 0. 1. ]] SLAMing on 57.571346184 meters Centerline goodness : 0.940452 Centerline is valid? [False, False] Translation: X:2.07, Y:0.67, Z:-0.25 [[ 0.82627033 -0.48564715 -0.28534924 2.07398159] [ 0.51555888 0.85610436 0.03583804 0.66742813] [ 0.22688408 -0.17672624 0.95775333 -0.25076967] [ 0. 0. 0. 1. ]] SLAMing on 57.60134618399999 meters Centerline goodness : 0.939840 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.82674751 -0.49161942 -0.27349387 2.07537521] [ 0.52001101 0.85331043 0.03807703 0.67234954] [ 0.21465576 -0.17369992 0.96111979 -0.25316638] [ 0. 0. 0. 1. ]] SLAMing on 57.631346183999995 meters Centerline goodness : 0.939374 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.8259471 -0.49250555 -0.27431672 2.07528646] [ 0.52108884 0.85265081 0.03811857 0.67304461] [ 0.21512277 -0.1744273 0.96088361 -0.25120564] [ 0. 0. 0. 1. ]] SLAMing on 57.661346183999996 meters Centerline goodness : 0.940759 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.82440768 -0.49600449 -0.27263806 2.07590355] [ 0.52371469 0.85117023 0.03510206 0.67298603] [ 0.21465062 -0.17172297 0.96147612 -0.25156027] [ 0. 0. 0. 1. ]] SLAMing on 57.691346184 meters Centerline goodness : 0.940187 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.82426959 -0.49632535 -0.27247165 2.07922654] [ 0.52393086 0.85105271 0.03472376 0.6719368 ] [ 0.21465345 -0.17137805 0.96153703 -0.25329832] [ 0. 0. 0. 1. ]] SLAMing on 57.721346184 meters Centerline goodness : 0.938849 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.82419592 -0.4964232 -0.27251622 2.08173296] [ 0.52405684 0.85097208 0.03479877 0.67072491] [ 0.21462878 -0.17149499 0.96152169 -0.25422192] [ 0. 0. 0. 1. ]] SLAMing on 57.751346184 meters Centerline goodness : 0.939149 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.82355932 -0.49706881 -0.27326296 2.08168828] [ 0.52498892 0.85037381 0.03536965 0.67003121] [ 0.21479451 -0.17258903 0.9612889 -0.25208744] [ 0. 0. 0. 1. ]] SLAMing on 57.781346184 meters Centerline goodness : 0.939878 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.82310406 -0.49761393 -0.27364225 2.08085189] [ 0.52559082 0.85000775 0.03522935 0.67095548] [ 0.21506741 -0.17282128 0.96118615 -0.25063761] [ 0. 0. 0. 1. ]] SLAMing on 57.811346183999994 meters Centerline goodness : 0.938247 Centerline is valid? [False, False] Translation: X:2.09, Y:0.67, Z:-0.25 [[ 0.82372989 -0.49470739 -0.27700842 2.08513717] [ 0.52401184 0.85082925 0.03874501 0.6714151 ] [ 0.21651943 -0.17707112 0.96008602 -0.25052716] [ 0. 0. 0. 1. ]] SLAMing on 57.841346183999995 meters Centerline goodness : 0.937505 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.82401534 -0.49425073 -0.27697461 2.08435664] [ 0.52349718 0.85115336 0.0385831 0.67186252] [ 0.21667814 -0.17678849 0.96010229 -0.25015962] [ 0. 0. 0. 1. ]] SLAMing on 57.871346184 meters Centerline goodness : 0.936416 Centerline is valid? [False, False] Translation: X:2.09, Y:0.67, Z:-0.25 [[ 0.82552389 -0.49179582 -0.27685225 2.08626566] [ 0.52103766 0.85264116 0.03902326 0.67139348] [ 0.21686415 -0.17646508 0.96011979 -0.25301346] [ 0. 0. 0. 1. ]] SLAMing on 57.901346184 meters Centerline goodness : 0.936416 Centerline is valid? [False, False] Translation: X:2.09, Y:0.67, Z:-0.25 [[ 0.82552389 -0.49179582 -0.27685225 2.08626566] [ 0.52103766 0.85264116 0.03902326 0.67139348] [ 0.21686415 -0.17646508 0.96011979 -0.25301346] [ 0. 0. 0. 1. ]] SLAMing on 57.931346184 meters Centerline goodness : 0.938353 Centerline is valid? [False, False] Translation: X:2.09, Y:0.67, Z:-0.25 [[ 0.82606142 -0.4909302 -0.27678526 2.0884261 ] [ 0.52011399 0.85320833 0.03894848 0.67123087] [ 0.2170345 -0.17613372 0.96014214 -0.2549646 ] [ 0. 0. 0. 1. ]] SLAMing on 57.961346184 meters Centerline goodness : 0.936388 Centerline is valid? [False, False] Translation: X:2.09, Y:0.67, Z:-0.26 [[ 0.82645047 -0.49064897 -0.27612174 2.08795944] [ 0.51958205 0.85355567 0.03843458 0.67095895] [ 0.21682738 -0.17523218 0.96035388 -0.25550713] [ 0. 0. 0. 1. ]] SLAMing on 57.991346183999994 meters Centerline goodness : 0.939078 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.82921613 -0.48535257 -0.27718854 2.08432647] [ 0.51496516 0.85621504 0.04131215 0.67191113] [ 0.21728204 -0.17699914 0.95992699 -0.25493079] [ 0. 0. 0. 1. ]] SLAMing on 58.021346183999995 meters Centerline goodness : 0.940835 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.83138041 -0.48065644 -0.27888349 2.0823352 ] [ 0.51111854 0.85836796 0.04429755 0.67345246] [ 0.21809275 -0.17937064 0.95930273 -0.25451688] [ 0. 0. 0. 1. ]] SLAMing on 58.051346183999996 meters Centerline goodness : 0.939057 Centerline is valid? [False, False] Translation: X:2.08, Y:0.68, Z:-0.26 [[ 0.83434908 -0.48109518 -0.26908928 2.0845993 ] [ 0.51033228 0.858684 0.04714618 0.68157707] [ 0.20838086 -0.17666131 0.9619606 -0.25713773] [ 0. 0. 0. 1. ]] SLAMing on 58.081346184 meters Centerline goodness : 0.936352 Centerline is valid? [False, False] Translation: X:2.08, Y:0.68, Z:-0.26 [[ 0.83660948 -0.47662472 -0.27002492 2.08341175] [ 0.50638518 0.86089467 0.04933974 0.68250721] [ 0.20894648 -0.17801471 0.96158834 -0.25802596] [ 0. 0. 0. 1. ]] SLAMing on 58.111346184 meters Centerline goodness : 0.935158 Centerline is valid? [False, False] Translation: X:2.08, Y:0.68, Z:-0.26 [[ 0.83968682 -0.47309769 -0.26665449 2.0802761 ] [ 0.50173013 0.86371756 0.0475274 0.68210117] [ 0.20782906 -0.17369672 0.96261962 -0.2625938 ] [ 0. 0. 0. 1. ]] SLAMing on 58.141346184 meters Centerline goodness : 0.935715 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.27 [[ 0.84117707 -0.47835068 -0.25219391 2.08115945] [ 0.50453913 0.86206888 0.04772324 0.68640099] [ 0.19458007 -0.16738539 0.96649921 -0.26917222] [ 0. 0. 0. 1. ]] SLAMing on 58.171346183999994 meters Centerline goodness : 0.934569 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.27 [[ 0.84167055 -0.47781846 -0.25155557 2.07874381] [ 0.50370422 0.86260507 0.04684602 0.68848647] [ 0.19460922 -0.16613852 0.96670846 -0.26928371] [ 0. 0. 0. 1. ]] SLAMing on 58.201346183999995 meters Centerline goodness : 0.932948 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.27 [[ 0.84207374 -0.47570769 -0.25419288 2.0785814 ] [ 0.50260891 0.86307786 0.04980861 0.68976488] [ 0.19569391 -0.16970213 0.96587012 -0.26700856] [ 0. 0. 0. 1. ]] SLAMing on 58.231346183999996 meters Centerline goodness : 0.932526 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.26 [[ 0.84238418 -0.47402871 -0.25629215 2.07775197] [ 0.50180741 0.86338728 0.05245679 0.6902211 ] [ 0.19641336 -0.17279808 0.96517492 -0.26438746] [ 0. 0. 0. 1. ]] SLAMing on 58.261346184 meters Centerline goodness : 0.931424 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.26 [[ 0.84248667 -0.47373378 -0.25650051 2.078462 ] [ 0.50145744 0.86361609 0.05203539 0.69099324] [ 0.19686705 -0.17246321 0.96514238 -0.26483707] [ 0. 0. 0. 1. ]] SLAMing on 58.291346184 meters Centerline goodness : 0.931847 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.27 [[ 0.84206532 -0.47530946 -0.25496454 2.07916598] [ 0.50224324 0.86331795 0.04933402 0.69118827] [ 0.19666654 -0.16959668 0.96569107 -0.26637143] [ 0. 0. 0. 1. ]] SLAMing on 58.321346184 meters Centerline goodness : 0.930175 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.27 [[ 0.84125336 -0.47726112 -0.25399725 2.0802224 ] [ 0.50359435 0.8626613 0.04699163 0.69202069] [ 0.19668632 -0.16744345 0.96606272 -0.2673703 ] [ 0. 0. 0. 1. ]] SLAMing on 58.35134618399999 meters Centerline goodness : 0.927066 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.27 [[ 0.84035299 -0.47844805 -0.25474365 2.08096846] [ 0.50482494 0.86197347 0.04640594 0.69327651] [ 0.19737943 -0.16759832 0.96589449 -0.26620309] [ 0. 0. 0. 1. ]] SLAMing on 58.381346183999995 meters Centerline goodness : 0.929469 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.26 [[ 0.83951537 -0.47719351 -0.25980819 2.08404561] [ 0.50527012 0.86149046 0.05036169 0.69667879] [ 0.19979001 -0.17355272 0.9643461 -0.26297426] [ 0. 0. 0. 1. ]] SLAMing on 58.411346183999996 meters Centerline goodness : 0.930268 Centerline is valid? [False, False] Translation: X:2.09, Y:0.70, Z:-0.26 [[ 0.83895032 -0.47744349 -0.26117059 2.08507872] [ 0.50590114 0.86108553 0.05094847 0.69748521] [ 0.2005652 -0.17486973 0.96394719 -0.26153032] [ 0. 0. 0. 1. ]] SLAMing on 58.441346184 meters Centerline goodness : 0.927245 Centerline is valid? [False, False] Translation: X:2.09, Y:0.70, Z:-0.26 [[ 0.83850875 -0.4780491 -0.26148065 2.08606583] [ 0.50653026 0.86072985 0.05070713 0.69739919] [ 0.2008237 -0.17496623 0.96387585 -0.26105399] [ 0. 0. 0. 1. ]] SLAMing on 58.471346184 meters Centerline goodness : 0.926936 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.26 [[ 0.83816636 -0.47941267 -0.26007814 2.08492986] [ 0.50727931 0.86039731 0.04882795 0.69667742] [ 0.20036179 -0.1728582 0.96435221 -0.26080472] [ 0. 0. 0. 1. ]] SLAMing on 58.501346184 meters Centerline goodness : 0.927931 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.26 [[ 0.83769257 -0.48008018 -0.26037315 2.08464206] [ 0.50793229 0.86003553 0.04841163 0.69782657] [ 0.2006887 -0.172806 0.96429359 -0.26007438] [ 0. 0. 0. 1. ]] SLAMing on 58.531346184 meters Centerline goodness : 0.925241 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.26 [[ 0.83750338 -0.48006467 -0.26100958 2.08464629] [ 0.50794799 0.86004923 0.04800174 0.69996223] [ 0.20143715 -0.17278091 0.96414202 -0.25967723] [ 0. 0. 0. 1. ]] SLAMing on 58.561346183999994 meters Centerline goodness : 0.925645 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.26 [[ 0.83756672 -0.47988357 -0.26113932 2.08435173] [ 0.50764708 0.86026363 0.04733842 0.70171604] [ 0.20193173 -0.1722157 0.96413968 -0.25986702] [ 0. 0. 0. 1. ]] SLAMing on 58.591346183999995 meters Centerline goodness : 0.924083 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.26 [[ 0.83841902 -0.47825225 -0.2613969 2.08475033] [ 0.5059453 0.86128473 0.04698909 0.70464581] [ 0.20266452 -0.17164908 0.96408697 -0.26180844] [ 0. 0. 0. 1. ]] SLAMing on 58.621346184 meters Centerline goodness : 0.922910 Centerline is valid? [False, False] Translation: X:2.08, Y:0.71, Z:-0.26 [[ 0.83846983 -0.47825841 -0.26122259 2.08344583] [ 0.50580272 0.86139865 0.04643235 0.70607651] [ 0.20281012 -0.17105922 0.96416119 -0.26155607] [ 0. 0. 0. 1. ]] SLAMing on 58.651346184 meters Centerline goodness : 0.922618 Centerline is valid? [False, False] Translation: X:2.08, Y:0.71, Z:-0.26 [[ 0.83855773 -0.4778389 -0.26170771 2.08340559] [ 0.50541338 0.86163908 0.04621044 0.70768472] [ 0.20341645 -0.1710207 0.96404028 -0.26148899] [ 0. 0. 0. 1. ]] SLAMing on 58.681346184 meters Centerline goodness : 0.923091 Centerline is valid? [False, False] Translation: X:2.08, Y:0.71, Z:-0.26 [[ 0.83980263 -0.4748175 -0.2632107 2.08217507] [ 0.50306747 0.86288552 0.04849438 0.70942829] [ 0.20409472 -0.17313845 0.96351877 -0.26104231] [ 0. 0. 0. 1. ]] SLAMing on 58.711346184 meters Centerline goodness : 0.924302 Centerline is valid? [False, False] Translation: X:2.08, Y:0.71, Z:-0.26 [[ 0.84021391 -0.47337615 -0.26449122 2.08176213] [ 0.50212502 0.86335345 0.04991283 0.70982389] [ 0.20472186 -0.17474511 0.96309559 -0.25965418] [ 0. 0. 0. 1. ]] SLAMing on 58.741346183999994 meters Centerline goodness : 0.925832 Centerline is valid? [False, False] Translation: X:2.08, Y:0.71, Z:-0.26 [[ 0.8399269 -0.47366662 -0.2648825 2.08021164] [ 0.50248272 0.86314905 0.049848 0.71066671] [ 0.20502175 -0.17496756 0.9629914 -0.25787888] [ 0. 0. 0. 1. ]] SLAMing on 58.771346183999995 meters Centerline goodness : 0.925039 Centerline is valid? [False, False] Translation: X:2.08, Y:0.71, Z:-0.26 [[ 0.83898773 -0.47525801 -0.26500834 2.08081836] [ 0.50387731 0.86240652 0.04860704 0.71224339] [ 0.20544403 -0.1743124 0.96302022 -0.25753626] [ 0. 0. 0. 1. ]] SLAMing on 58.801346183999996 meters Centerline goodness : 0.923228 Centerline is valid? [False, False] Translation: X:2.08, Y:0.71, Z:-0.26 [[ 0.83822815 -0.4764123 -0.26533918 2.08235154] [ 0.50492072 0.86184958 0.04764851 0.71394746] [ 0.20598212 -0.17391557 0.96297702 -0.2579046 ] [ 0. 0. 0. 1. ]] SLAMing on 58.831346184 meters Centerline goodness : 0.924744 Centerline is valid? [False, False] Translation: X:2.08, Y:0.72, Z:-0.26 [[ 0.83715631 -0.47797632 -0.26590967 2.08343589] [ 0.50637744 0.86106014 0.04644701 0.7163999 ] [ 0.20676365 -0.17353406 0.96287835 -0.25755437] [ 0. 0. 0. 1. ]] SLAMing on 58.861346184 meters Centerline goodness : 0.923609 Centerline is valid? [False, False] Translation: X:2.08, Y:0.72, Z:-0.26 [[ 0.83494537 -0.48128021 -0.26689996 2.08494936] [ 0.50949933 0.85932952 0.04430804 0.72137717] [ 0.20803043 -0.17298015 0.96270515 -0.2569009 ] [ 0. 0. 0. 1. ]] SLAMing on 58.891346184 meters Centerline goodness : 0.920785 Centerline is valid? [False, False] Translation: X:2.09, Y:0.72, Z:-0.26 [[ 0.83390674 -0.48290297 -0.26721577 2.08551064] [ 0.51094487 0.85853735 0.04299948 0.72402497] [ 0.20865014 -0.17239008 0.96267688 -0.25669823] [ 0. 0. 0. 1. ]] SLAMing on 58.921346183999994 meters Centerline goodness : 0.918626 Centerline is valid? [False, False] Translation: X:2.09, Y:0.73, Z:-0.26 [[ 0.83309825 -0.48364904 -0.26838575 2.08721727] [ 0.51182813 0.85803425 0.04253459 0.72675023] [ 0.20971236 -0.17280287 0.96237202 -0.25650855] [ 0. 0. 0. 1. ]] SLAMing on 58.951346183999995 meters Centerline goodness : 0.921215 Centerline is valid? [False, False] Translation: X:2.09, Y:0.73, Z:-0.25 [[ 0.83209206 -0.48418906 -0.27052498 2.08606862] [ 0.51296269 0.85731518 0.04335846 0.72955245] [ 0.21093148 -0.17484745 0.96173608 -0.25311237] [ 0. 0. 0. 1. ]] SLAMing on 58.981346183999996 meters Centerline goodness : 0.922184 Centerline is valid? [False, False] Translation: X:2.09, Y:0.73, Z:-0.25 [[ 0.83166068 -0.48420899 -0.27181274 2.08545351] [ 0.51336968 0.85703807 0.04401499 0.73057595] [ 0.21164142 -0.17614596 0.96134308 -0.25089432] [ 0. 0. 0. 1. ]] SLAMing on 59.011346184 meters Centerline goodness : 0.921158 Centerline is valid? [False, False] Translation: X:2.09, Y:0.73, Z:-0.25 [[ 0.8312161 -0.48437954 -0.27286673 2.08504902] [ 0.51380333 0.85676454 0.04427942 0.73159752] [ 0.21233449 -0.1770056 0.9610323 -0.24903147] [ 0. 0. 0. 1. ]] SLAMing on 59.041346184 meters Centerline goodness : 0.921227 Centerline is valid? [False, False] Translation: X:2.09, Y:0.73, Z:-0.25 [[ 0.83062745 -0.48490843 -0.27371856 2.08587865] [ 0.51446308 0.85637958 0.04406525 0.73325499] [ 0.21303938 -0.1774199 0.96079988 -0.24842579] [ 0. 0. 0. 1. ]] SLAMing on 59.071346184 meters Centerline goodness : 0.919485 Centerline is valid? [False, False] Translation: X:2.09, Y:0.74, Z:-0.25 [[ 0.82823243 -0.4895051 -0.27279261 2.0877101 ] [ 0.51794292 0.85451772 0.03917389 0.73967222] [ 0.2139303 -0.17373608 0.96127499 -0.25063798] [ 0. 0. 0. 1. ]] SLAMing on 59.10134618399999 meters Centerline goodness : 0.917058 Centerline is valid? [False, False] Translation: X:2.09, Y:0.74, Z:-0.24 [[ 0.82645177 -0.48595672 -0.28429482 2.08557177] [ 0.51493596 0.85660467 0.03270176 0.73901503] [ 0.22763663 -0.17342005 0.95817903 -0.24435042] [ 0. 0. 0. 1. ]] SLAMing on 59.131346183999995 meters Centerline goodness : 0.916389 Centerline is valid? [False, False] Translation: X:2.09, Y:0.74, Z:-0.24 [[ 0.82535768 -0.48650506 -0.28652665 2.08791829] [ 0.51588814 0.85603744 0.03254741 0.74389877] [ 0.22944306 -0.17467896 0.95751926 -0.24391019] [ 0. 0. 0. 1. ]] SLAMing on 59.161346183999996 meters Centerline goodness : 0.918182 Centerline is valid? [False, False] Translation: X:2.09, Y:0.75, Z:-0.24 [[ 0.8248704 -0.48425768 -0.29169046 2.08683951] [ 0.51524826 0.85630763 0.0354468 0.75167694] [ 0.23261138 -0.17953202 0.95585574 -0.2397226 ] [ 0. 0. 0. 1. ]] SLAMing on 59.191346184 meters Centerline goodness : 0.915268 Centerline is valid? [False, False] Translation: X:2.09, Y:0.76, Z:-0.24 [[ 0.82559655 -0.48178416 -0.29372496 2.08637327] [ 0.51349053 0.85729149 0.03713185 0.75533364] [ 0.23391838 -0.18148091 0.9551685 -0.23931296] [ 0. 0. 0. 1. ]] SLAMing on 59.221346184 meters Centerline goodness : 0.913494 Centerline is valid? [False, False] Translation: X:2.09, Y:0.76, Z:-0.24 [[ 0.82652052 -0.47922381 -0.29531063 2.0864853 ] [ 0.51152852 0.85839481 0.03869006 0.75792402] [ 0.23495191 -0.18303794 0.95461757 -0.23963142] [ 0. 0. 0. 1. ]] SLAMing on 59.251346184 meters Centerline goodness : 0.911239 Centerline is valid? [False, False] Translation: X:2.08, Y:0.76, Z:-0.24 [[ 0.82676022 -0.47926125 -0.294578 2.08473925] [ 0.5110517 0.85874527 0.037185 0.76047443] [ 0.23514614 -0.18128767 0.9549037 -0.24012008] [ 0. 0. 0. 1. ]] SLAMing on 59.281346184 meters Centerline goodness : 0.910223 Centerline is valid? [False, False] Translation: X:2.08, Y:0.77, Z:-0.24 [[ 0.82648687 -0.47921022 -0.29542684 2.08384119] [ 0.5108216 0.85894135 0.03579185 0.76671956] [ 0.2366025 -0.18049191 0.95469468 -0.24027058] [ 0. 0. 0. 1. ]] SLAMing on 59.311346183999994 meters Centerline goodness : 0.909204 Centerline is valid? [False, False] Translation: X:2.08, Y:0.77, Z:-0.24 [[ 0.82655371 -0.47724692 -0.29840298 2.08449446] [ 0.50982537 0.85945498 0.03761961 0.77064622] [ 0.23851008 -0.18322803 0.95369829 -0.23871391] [ 0. 0. 0. 1. ]] SLAMing on 59.341346183999995 meters Centerline goodness : 0.908101 Centerline is valid? [False, False] Translation: X:2.08, Y:0.78, Z:-0.24 [[ 0.82635506 -0.47566967 -0.30145593 2.08431182] [ 0.50917982 0.85977005 0.03913269 0.77568444] [ 0.24056855 -0.18583278 0.95267673 -0.23674905] [ 0. 0. 0. 1. ]] SLAMing on 59.371346184 meters Centerline goodness : 0.910007 Centerline is valid? [False, False] Translation: X:2.08, Y:0.78, Z:-0.24 [[ 0.82570811 -0.47640588 -0.30206547 2.08187716] [ 0.50974027 0.85949614 0.03783175 0.78053525] [ 0.24160084 -0.18521292 0.9525362 -0.23514096] [ 0. 0. 0. 1. ]] SLAMing on 59.401346184 meters Centerline goodness : 0.905015 Centerline is valid? [False, False] Translation: X:2.08, Y:0.79, Z:-0.24 [[ 0.82492056 -0.47754073 -0.30242508 2.0813357 ] [ 0.51023494 0.85932877 0.03484766 0.78809844] [ 0.2432414 -0.18305439 0.95253594 -0.2355414 ] [ 0. 0. 0. 1. ]] SLAMing on 59.431346184 meters Centerline goodness : 0.902947 Centerline is valid? [False, False] Translation: X:2.08, Y:0.79, Z:-0.24 [[ 0.82460267 -0.47820229 -0.30224658 2.08091181] [ 0.51049063 0.85923864 0.03329087 0.79124561] [ 0.24378217 -0.18174579 0.95264827 -0.23582407] [ 0. 0. 0. 1. ]] SLAMing on 59.461346184 meters Centerline goodness : 0.903374 Centerline is valid? [False, False] Translation: X:2.03, Y:0.78, Z:-0.24 [[ 0.82431367 -0.48208809 -0.29681315 2.03075142] [ 0.51033827 0.85971848 0.02095181 0.78263272] [ 0.24507514 -0.16874597 0.9547057 -0.24300752] [ 0. 0. 0. 1. ]] SLAMing on 59.491346183999994 meters Centerline goodness : 0.903036 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.25 [[ 0.8243489 -0.48536947 -0.29131662 1.98364472] [ 0.50983294 0.86022145 0.00945703 0.77039113] [ 0.24600666 -0.1563187 0.95657994 -0.24984837] [ 0. 0. 0. 1. ]] SLAMing on 59.521346183999995 meters Centerline goodness : 0.903238 Centerline is valid? [False, False] Translation: X:1.94, Y:0.76, Z:-0.26 [[ 8.24505860e-01 -4.87944740e-01 -2.86531005e-01 1.93553373e+00] [ 5.09188913e-01 8.60654674e-01 -4.28152454e-04 7.56181466e-01] [ 2.46813163e-01 -1.45545396e-01 9.58070874e-01 -2.57969830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.551346183999996 meters Centerline goodness : 0.900936 Centerline is valid? [False, False] Translation: X:1.89, Y:0.74, Z:-0.27 [[ 0.82479672 -0.49045286 -0.28136519 1.88743248] [ 0.50834269 0.86108695 -0.01081575 0.74185472] [ 0.24758451 -0.13410914 0.95953981 -0.26536803] [ 0. 0. 0. 1. ]] SLAMing on 59.581346184 meters Centerline goodness : 0.900941 Centerline is valid? [False, False] Translation: X:1.84, Y:0.73, Z:-0.27 [[ 0.82590972 -0.49174865 -0.27578324 1.83882902] [ 0.50635541 0.86207536 -0.0207429 0.73039384] [ 0.24794623 -0.12251258 0.96099601 -0.27339267] [ 0. 0. 0. 1. ]] SLAMing on 59.611346184 meters Centerline goodness : 0.900579 Centerline is valid? [False, False] Translation: X:1.79, Y:0.72, Z:-0.28 [[ 0.82693034 -0.4936137 -0.26931716 1.79010009] [ 0.5048348 0.86265812 -0.03102904 0.71609585] [ 0.24764499 -0.11030183 0.96255154 -0.27958265] [ 0. 0. 0. 1. ]] SLAMing on 59.641346184 meters Centerline goodness : 0.902375 Centerline is valid? [False, False] Translation: X:1.74, Y:0.70, Z:-0.29 [[ 0.82800849 -0.49482383 -0.26372583 1.73762695] [ 0.50337566 0.86318061 -0.03914301 0.70013017] [ 0.24701192 -0.10034242 0.96380315 -0.28682663] [ 0. 0. 0. 1. ]] SLAMing on 59.671346183999994 meters Centerline goodness : 0.905116 Centerline is valid? [False, False] Translation: X:1.68, Y:0.69, Z:-0.29 [[ 0.8301824 -0.49414357 -0.25810719 1.68263608] [ 0.50028055 0.86462944 -0.04620935 0.68905155] [ 0.24600113 -0.09076382 0.96501056 -0.29326308] [ 0. 0. 0. 1. ]] SLAMing on 59.701346183999995 meters Centerline goodness : 0.907990 Centerline is valid? [False, False] Translation: X:1.63, Y:0.67, Z:-0.30 [[ 0.83154724 -0.49412642 -0.253709 1.63180088] [ 0.49822047 0.86545246 -0.05261568 0.67281372] [ 0.24557188 -0.08265059 0.9658485 -0.30257221] [ 0. 0. 0. 1. ]] SLAMing on 59.731346183999996 meters Centerline goodness : 0.904246 Centerline is valid? [False, False] Translation: X:1.58, Y:0.66, Z:-0.31 [[ 0.83280008 -0.49410338 -0.24961146 1.58237611] [ 0.4962325 0.866184 -0.05897957 0.65592174] [ 0.24535145 -0.07474713 0.96654826 -0.31259627] [ 0. 0. 0. 1. ]] SLAMing on 59.761346184 meters Centerline goodness : 0.903971 Centerline is valid? [False, False] Translation: X:1.53, Y:0.64, Z:-0.32 [[ 0.83396333 -0.49462221 -0.24465083 1.53308762] [ 0.49450117 0.86663229 -0.06646099 0.64306197] [ 0.24489539 -0.0655541 0.96733082 -0.32332074] [ 0. 0. 0. 1. ]] SLAMing on 59.791346184 meters Centerline goodness : 0.901959 Centerline is valid? [False, False] Translation: X:1.48, Y:0.62, Z:-0.33 [[ 0.8354146 -0.49453382 -0.23983068 1.48172251] [ 0.49285602 0.86718083 -0.07134671 0.62493172] [ 0.24325993 -0.05859791 0.96818949 -0.33449588] [ 0. 0. 0. 1. ]] SLAMing on 59.821346184 meters Centerline goodness : 0.901959 Centerline is valid? [False, False] Translation: X:1.44, Y:0.60, Z:-0.35 [[ 0.83715062 -0.4935758 -0.23571543 1.43675882] [ 0.49048347 0.86814109 -0.07587494 0.60413621] [ 0.24208429 -0.05209577 0.96885563 -0.34558398] [ 0. 0. 0. 1. ]] SLAMing on 59.85134618399999 meters Centerline goodness : 0.905956 Centerline is valid? [False, False] Translation: X:1.38, Y:0.59, Z:-0.36 [[ 0.83890686 -0.49244065 -0.23181348 1.3846508 ] [ 0.48837143 0.86907048 -0.07880253 0.58564828] [ 0.24026782 -0.0471031 0.96956314 -0.35763391] [ 0. 0. 0. 1. ]] SLAMing on 59.881346183999995 meters Centerline goodness : 0.908246 Centerline is valid? [False, False] Translation: X:1.33, Y:0.57, Z:-0.37 [[ 0.84149482 -0.4897507 -0.22810242 1.33201218] [ 0.48455224 0.87088423 -0.08227867 0.57271537] [ 0.23894684 -0.04129047 0.97015437 -0.3684287 ] [ 0. 0. 0. 1. ]] SLAMing on 59.911346183999996 meters Centerline goodness : 0.910714 Centerline is valid? [False, False] Translation: X:1.29, Y:0.56, Z:-0.38 [[ 0.84408829 -0.48695366 -0.22447961 1.28599249] [ 0.48043368 0.87273849 -0.08666604 0.55678302] [ 0.23811434 -0.03469378 0.97061728 -0.37894534] [ 0. 0. 0. 1. ]] SLAMing on 59.941346184 meters Centerline goodness : 0.908759 Centerline is valid? [False, False] Translation: X:1.24, Y:0.54, Z:-0.39 [[ 0.84899921 -0.47887901 -0.22332765 1.24049578] [ 0.47218305 0.8772848 -0.08610772 0.53945739] [ 0.23715714 -0.03234615 0.97093265 -0.39127019] [ 0. 0. 0. 1. ]] SLAMing on 59.971346184 meters Centerline goodness : 0.909571 Centerline is valid? [False, False] Translation: X:1.19, Y:0.53, Z:-0.40 [[ 0.85519253 -0.4685496 -0.221601 1.19365863] [ 0.46153719 0.88296378 -0.08578105 0.52639361] [ 0.23585834 -0.02891779 0.9713571 -0.40180001] [ 0. 0. 0. 1. ]] SLAMing on 60.001346184 meters Centerline goodness : 0.908597 Centerline is valid? [False, False] Translation: X:1.15, Y:0.51, Z:-0.41 [[ 0.85860615 -0.46354546 -0.21890886 1.1486098 ] [ 0.45566834 0.88575159 -0.08837688 0.50962189] [ 0.23486558 -0.0238689 0.97173476 -0.41254247] [ 0. 0. 0. 1. ]] SLAMing on 60.031346184 meters Centerline goodness : 0.908289 Centerline is valid? [False, False] Translation: X:1.10, Y:0.49, Z:-0.42 [[ 0.86142443 -0.45961403 -0.21610855 1.10229608] [ 0.45086262 0.88791878 -0.09123124 0.49187074] [ 0.23381799 -0.01884645 0.97209771 -0.4234029 ] [ 0. 0. 0. 1. ]] SLAMing on 60.061346183999994 meters Centerline goodness : 0.911603 Centerline is valid? [False, False] Translation: X:1.05, Y:0.47, Z:-0.44 [[ 0.86427414 -0.45544183 -0.21354848 1.05414555] [ 0.44624774 0.89013105 -0.09235622 0.47252386] [ 0.23214902 -0.01547443 0.97255713 -0.43596049] [ 0. 0. 0. 1. ]] SLAMing on 60.091346183999995 meters Centerline goodness : 0.912461 Centerline is valid? [False, False] Translation: X:1.01, Y:0.46, Z:-0.44 [[ 0.86834003 -0.4489147 -0.21085821 1.00704517] [ 0.43882378 0.89351982 -0.09516315 0.45818786] [ 0.23112613 -0.00989563 0.97287347 -0.44420242] [ 0. 0. 0. 1. ]] SLAMing on 60.121346184 meters Centerline goodness : 0.912206 Centerline is valid? [False, False] Translation: X:0.96, Y:0.44, Z:-0.46 [[ 0.8710166 -0.44463763 -0.20887186 0.96101869] [ 0.43393473 0.89569037 -0.09715665 0.43958113] [ 0.23028402 -0.0060117 0.97310489 -0.45614028] [ 0. 0. 0. 1. ]] SLAMing on 60.151346184 meters Centerline goodness : 0.912463 Centerline is valid? [False, False] Translation: X:0.92, Y:0.42, Z:-0.47 [[ 0.87413497 -0.43953688 -0.20662862 0.91755106] [ 0.42819109 0.89822288 -0.09923731 0.42196456] [ 0.22921702 -0.00172973 0.97337381 -0.46800371] [ 0. 0. 0. 1. ]] SLAMing on 60.181346184 meters Centerline goodness : 0.911084 Centerline is valid? [False, False] Translation: X:0.89, Y:0.41, Z:-0.48 [[ 0.87563711 -0.43573518 -0.2083135 0.88622987] [ 0.42577478 0.90004509 -0.09292295 0.40804145] [ 0.22798134 -0.00732785 0.97363793 -0.48108179] [ 0. 0. 0. 1. ]] SLAMing on 60.211346184 meters Centerline goodness : 0.912355 Centerline is valid? [False, False] Translation: X:0.85, Y:0.39, Z:-0.49 [[ 0.87849345 -0.42958516 -0.20905942 0.85394469] [ 0.42151553 0.90291392 -0.08408993 0.39379465] [ 0.22488644 -0.01424934 0.97428078 -0.49470902] [ 0. 0. 0. 1. ]] SLAMing on 60.241346183999994 meters Centerline goodness : 0.914774 Centerline is valid? [False, False] Translation: X:0.81, Y:0.37, Z:-0.50 [[ 0.88082719 -0.42661201 -0.20529409 0.80691445] [ 0.41755594 0.90439614 -0.08783316 0.37476189] [ 0.22313786 -0.00835593 0.97475108 -0.50438984] [ 0. 0. 0. 1. ]] SLAMing on 60.271346183999995 meters Centerline goodness : 0.913127 Centerline is valid? [False, False] Translation: X:0.77, Y:0.35, Z:-0.52 [[ 0.88519908 -0.42075452 -0.19846465 0.76644542] [ 0.41287375 0.90712286 -0.08162953 0.35399691] [ 0.21437781 -0.00968246 0.97670282 -0.52254985] [ 0. 0. 0. 1. ]] SLAMing on 60.301346183999996 meters Centerline goodness : 0.915602 Centerline is valid? [False, False] Translation: X:0.74, Y:0.34, Z:-0.53 [[ 0.88768663 -0.41620807 -0.19693475 0.735363 ] [ 0.40949862 0.90916924 -0.07564497 0.34102516] [ 0.21053106 -0.01349548 0.97749401 -0.53330943] [ 0. 0. 0. 1. ]] SLAMing on 60.331346184 meters Centerline goodness : 0.916035 Centerline is valid? [False, False] Translation: X:0.71, Y:0.33, Z:-0.54 [[ 0.8895332 -0.41234499 -0.19672897 0.70552244] [ 0.40673681 0.91085572 -0.07005018 0.32706586] [ 0.20807655 -0.01770496 0.97795229 -0.54415389] [ 0. 0. 0. 1. ]] SLAMing on 60.361346184 meters Centerline goodness : 0.921155 Centerline is valid? [False, False] Translation: X:0.68, Y:0.31, Z:-0.55 [[ 0.89118025 -0.40909248 -0.19606402 0.67782412] [ 0.40420175 0.91226876 -0.06623179 0.31382673] [ 0.20595801 -0.02022496 0.9783518 -0.55406787] [ 0. 0. 0. 1. ]] SLAMing on 60.391346184 meters Centerline goodness : 0.919803 Centerline is valid? [False, False] Translation: X:0.64, Y:0.30, Z:-0.56 [[ 0.89332973 -0.40548721 -0.19375787 0.63533102] [ 0.39949896 0.91399175 -0.0708496 0.29586834] [ 0.2058217 -0.01411402 0.97848772 -0.56338443] [ 0. 0. 0. 1. ]] SLAMing on 60.421346183999994 meters Centerline goodness : 0.916005 Centerline is valid? [False, False] Translation: X:0.61, Y:0.28, Z:-0.57 [[ 0.8941573 -0.40439148 -0.19222448 0.6078408 ] [ 0.39869351 0.91446729 -0.06923191 0.28263877] [ 0.2037798 -0.01473443 0.97890586 -0.57287667] [ 0. 0. 0. 1. ]] SLAMing on 60.451346183999995 meters Centerline goodness : 0.918649 Centerline is valid? [False, False] Translation: X:0.58, Y:0.27, Z:-0.58 [[ 0.89543184 -0.40227018 -0.19073679 0.57881605] [ 0.39719215 0.9153675 -0.06588428 0.26876273] [ 0.20109754 -0.01676427 0.97942776 -0.58313461] [ 0. 0. 0. 1. ]] SLAMing on 60.481346183999996 meters Centerline goodness : 0.918464 Centerline is valid? [False, False] Translation: X:0.53, Y:0.25, Z:-0.59 [[ 0.89707539 -0.40041055 -0.18688801 0.53068498] [ 0.39413616 0.91628427 -0.07127285 0.24987699] [ 0.19978094 -0.0097222 0.97979235 -0.58975645] [ 0. 0. 0. 1. ]] SLAMing on 60.511346184 meters Centerline goodness : 0.918791 Centerline is valid? [False, False] Translation: X:0.50, Y:0.23, Z:-0.60 [[ 0.89918627 -0.39722239 -0.18351683 0.50253685] [ 0.39171459 0.91764795 -0.06694716 0.23495329] [ 0.19499675 -0.01168825 0.98073424 -0.59892308] [ 0. 0. 0. 1. ]] SLAMing on 60.541346184 meters Centerline goodness : 0.920625 Centerline is valid? [False, False] Translation: X:0.47, Y:0.22, Z:-0.61 [[ 0.90039807 -0.3957003 -0.18084409 0.4698304 ] [ 0.39113698 0.91825562 -0.06179379 0.21860764] [ 0.19051293 -0.0150958 0.98156861 -0.60925002] [ 0. 0. 0. 1. ]] SLAMing on 60.571346184 meters Centerline goodness : 0.919259 Centerline is valid? [False, False] Translation: X:0.44, Y:0.20, Z:-0.62 [[ 0.90062665 -0.39605101 -0.17892801 0.43514749] [ 0.39223544 0.91804905 -0.05776944 0.20166369] [ 0.18714433 -0.01815321 0.98216468 -0.61898654] [ 0. 0. 0. 1. ]] SLAMing on 60.60134618399999 meters Centerline goodness : 0.917024 Centerline is valid? [False, False] Translation: X:0.41, Y:0.19, Z:-0.63 [[ 0.90161023 -0.39460571 -0.17715903 0.40818542] [ 0.39097514 0.91866728 -0.05647001 0.1888155 ] [ 0.18503359 -0.01835084 0.98256085 -0.62673574] [ 0. 0. 0. 1. ]] SLAMing on 60.631346183999995 meters Centerline goodness : 0.916186 Centerline is valid? [False, False] Translation: X:0.38, Y:0.18, Z:-0.63 [[ 0.90268553 -0.39361608 -0.17385402 0.38194075] [ 0.39002235 0.91911032 -0.05584612 0.17548741] [ 0.18177295 -0.01739547 0.98318665 -0.63395383] [ 0. 0. 0. 1. ]] SLAMing on 60.661346183999996 meters Centerline goodness : 0.912968 Centerline is valid? [False, False] Translation: X:0.33, Y:0.15, Z:-0.64 [[ 0.90318276 -0.39461272 -0.16894287 0.33496692] [ 0.38972261 0.91880067 -0.06262284 0.1548265 ] [ 0.17993659 -0.00928098 0.98363443 -0.64157098] [ 0. 0. 0. 1. ]] SLAMing on 60.691346184 meters Centerline goodness : 0.914768 Centerline is valid? [False, False] Translation: X:0.31, Y:0.14, Z:-0.65 [[ 0.90462793 -0.39273528 -0.16555151 0.30705501] [ 0.38836164 0.9195909 -0.05939537 0.14050565] [ 0.17556632 -0.01056315 0.98441093 -0.65071307] [ 0. 0. 0. 1. ]] SLAMing on 60.721346184 meters Centerline goodness : 0.915981 Centerline is valid? [False, False] Translation: X:0.28, Y:0.13, Z:-0.66 [[ 0.90628808 -0.39014606 -0.1625668 0.27718595] [ 0.38649156 0.92065967 -0.05486386 0.12597589] [ 0.17107361 -0.01310823 0.98517105 -0.65979531] [ 0. 0. 0. 1. ]] SLAMing on 60.751346184 meters Centerline goodness : 0.919348 Centerline is valid? [False, False] Translation: X:0.25, Y:0.11, Z:-0.67 [[ 0.90781419 -0.38784484 -0.15952988 0.24534667] [ 0.38478276 0.92160034 -0.05094149 0.1118501 ] [ 0.16678018 -0.01513894 0.98587787 -0.66682806] [ 0. 0. 0. 1. ]] SLAMing on 60.781346184 meters Centerline goodness : 0.917835 Centerline is valid? [False, False] Translation: X:0.21, Y:0.10, Z:-0.67 [[ 0.90842591 -0.38794764 -0.15575299 0.20938148] [ 0.38544761 0.92152172 -0.0472002 0.09578741] [ 0.16184096 -0.01715673 0.9866677 -0.67294908] [ 0. 0. 0. 1. ]] SLAMing on 60.811346183999994 meters Centerline goodness : 0.919897 Centerline is valid? [False, False] Translation: X:0.18, Y:0.08, Z:-0.68 [[ 0.90945839 -0.38715084 -0.15165641 0.18376233] [ 0.38440138 0.92190382 -0.04825894 0.08412231] [ 0.15849611 -0.01440744 0.98725448 -0.6775493 ] [ 0. 0. 0. 1. ]] SLAMing on 60.841346183999995 meters Centerline goodness : 0.919998 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.68 [[ 0.91064809 -0.38591275 -0.14761911 0.13799201] [ 0.38205286 0.9225126 -0.05482803 0.0668176 ] [ 0.15733933 -0.00646926 0.98752341 -0.68311994] [ 0. 0. 0. 1. ]] SLAMing on 60.871346184 meters Centerline goodness : 0.918927 Centerline is valid? [False, False] Translation: X:0.09, Y:0.05, Z:-0.69 [[ 9.11827884e-01 -3.84695849e-01 -1.43453875e-01 9.26802425e-02] [ 3.79905486e-01 9.23043135e-01 -6.05243179e-02 4.83060465e-02] [ 1.55697568e-01 6.88846791e-04 9.87804532e-01 -6.91255288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.901346184 meters Centerline goodness : 0.920130 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.70 [[ 9.12968135e-01 -3.82747709e-01 -1.41397932e-01 6.73619346e-02] [ 3.78164481e-01 9.23852798e-01 -5.90561804e-02 3.62951905e-02] [ 1.53234493e-01 4.44735179e-04 9.88189755e-01 -6.99446885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.931346184 meters Centerline goodness : 0.920402 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.71 [[ 0.91394857 -0.38113427 -0.13940834 0.03585809] [ 0.37721947 0.92451567 -0.05455489 0.02212027] [ 0.14967794 -0.00272718 0.98873104 -0.70886444] [ 0. 0. 0. 1. ]] SLAMing on 60.961346184 meters Centerline goodness : 0.919959 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:-0.72 [[ 9.15515233e-01 -3.78207865e-01 -1.37079058e-01 -3.83752619e-04] [ 3.75326840e-01 9.25684861e-01 -4.73001141e-02 7.58924416e-03] [ 1.44781284e-01 -8.14547458e-03 9.89430155e-01 -7.17283820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.991346183999994 meters Centerline goodness : 0.921539 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.00, Z:-0.72 [[ 0.91697735 -0.3760411 -0.13321273 -0.03067648] [ 0.37354998 0.9265569 -0.04418954 -0.00472956] [ 0.14004626 -0.00924081 0.99010184 -0.72382288] [ 0. 0. 0. 1. ]] SLAMing on 61.021346183999995 meters Centerline goodness : 0.923967 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.73 [[ 0.91826815 -0.37396579 -0.13012763 -0.05989488] [ 0.37183002 0.92738315 -0.04126644 -0.0172967 ] [ 0.13611041 -0.0104917 0.99063812 -0.73097999] [ 0. 0. 0. 1. ]] SLAMing on 61.051346183999996 meters Centerline goodness : 0.923538 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.03, Z:-0.74 [[ 0.91909779 -0.37283761 -0.12748086 -0.08699419] [ 0.37061643 0.92785302 -0.04162012 -0.02756952] [ 0.13380105 -0.00899354 0.9909674 -0.73651542] [ 0. 0. 0. 1. ]] SLAMing on 61.081346184 meters Centerline goodness : 0.921487 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.04, Z:-0.74 [[ 0.92105694 -0.36913701 -0.12406443 -0.12882883] [ 0.36602056 0.92937407 -0.04788311 -0.04203998] [ 0.1329777 -0.00130706 0.99111817 -0.74314628] [ 0. 0. 0. 1. ]] SLAMing on 61.111346184 meters Centerline goodness : 0.920364 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.05, Z:-0.75 [[ 9.21450097e-01 -3.67478986e-01 -1.26051239e-01 -1.54204403e-01] [ 3.64064252e-01 9.30031810e-01 -4.99805176e-02 -4.91518549e-02] [ 1.35598452e-01 1.63802915e-04 9.90763863e-01 -7.46694087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.141346184 meters Centerline goodness : 0.919746 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.06, Z:-0.75 [[ 0.92200887 -0.36574133 -0.12701546 -0.1798373 ] [ 0.36194469 0.93071306 -0.05262365 -0.05575699] [ 0.1374616 0.0025469 0.99050382 -0.7489087 ] [ 0. 0. 0. 1. ]] SLAMing on 61.171346183999994 meters Centerline goodness : 0.919673 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.07, Z:-0.76 [[ 0.92368491 -0.36160305 -0.12668633 -0.20969403] [ 0.35843575 0.93233127 -0.04777258 -0.06715336] [ 0.13538834 -0.0012821 0.99079178 -0.75706324] [ 0. 0. 0. 1. ]] SLAMing on 61.201346183999995 meters Centerline goodness : 0.916692 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.08, Z:-0.77 [[ 0.9248485 -0.35920529 -0.12500728 -0.23874543] [ 0.35649518 0.93325127 -0.04419552 -0.07904122] [ 0.13253847 -0.00369033 0.99117099 -0.76585781] [ 0. 0. 0. 1. ]] SLAMing on 61.231346183999996 meters Centerline goodness : 0.920400 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.09, Z:-0.77 [[ 0.92612161 -0.35658751 -0.12306144 -0.26633924] [ 0.35417979 0.93424857 -0.0416687 -0.09016216] [ 0.12982851 -0.00499559 0.99152388 -0.77318108] [ 0. 0. 0. 1. ]] SLAMing on 61.261346184 meters Centerline goodness : 0.918135 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.10, Z:-0.78 [[ 0.92789074 -0.35270103 -0.12091637 -0.30009313] [ 0.35096304 0.93569332 -0.03609641 -0.1017542 ] [ 0.12587188 -0.00894365 0.99200619 -0.78055222] [ 0. 0. 0. 1. ]] SLAMing on 61.291346184 meters Centerline goodness : 0.918710 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.79 [[ 0.93055224 -0.34755584 -0.11522791 -0.32274051] [ 0.34587672 0.93763033 -0.03490943 -0.11056396] [ 0.12017416 -0.0073696 0.99272547 -0.78508489] [ 0. 0. 0. 1. ]] SLAMing on 61.321346184 meters Centerline goodness : 0.920614 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.12, Z:-0.79 [[ 0.93235461 -0.34424426 -0.11050234 -0.34999382] [ 0.34269513 0.9388555 -0.03332264 -0.12101798] [ 0.11521685 -0.0068001 0.99331709 -0.78995446] [ 0. 0. 0. 1. ]] SLAMing on 61.35134618399999 meters Centerline goodness : 0.915876 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:-0.80 [[ 0.93391985 -0.34139804 -0.10602405 -0.38031968] [ 0.34009001 0.93989013 -0.03074619 -0.13175289] [ 0.11014764 -0.00734324 0.99388811 -0.79602207] [ 0. 0. 0. 1. ]] SLAMing on 61.381346183999995 meters Centerline goodness : 0.919154 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.14, Z:-0.80 [[ 0.93543159 -0.33805295 -0.10338252 -0.40238137] [ 0.33664653 0.94111086 -0.03129646 -0.140291 ] [ 0.10787428 -0.00552767 0.99414918 -0.80062298] [ 0. 0. 0. 1. ]] SLAMing on 61.411346183999996 meters Centerline goodness : 0.918269 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.15, Z:-0.80 [[ 0.93653373 -0.33519592 -0.10270474 -0.42478918] [ 0.3335999 0.94214198 -0.03285726 -0.14797252] [ 0.10777606 -0.00349036 0.99416907 -0.80432992] [ 0. 0. 0. 1. ]] SLAMing on 61.441346184 meters Centerline goodness : 0.916514 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.16, Z:-0.81 [[ 0.93788914 -0.33203556 -0.10058009 -0.45126058] [ 0.33043282 0.94326335 -0.03268656 -0.15587424] [ 0.10572661 -0.0025786 0.99439189 -0.80812986] [ 0. 0. 0. 1. ]] SLAMing on 61.471346184 meters Centerline goodness : 0.919735 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.17, Z:-0.82 [[ 0.93947443 -0.32842802 -0.097585 -0.47869659] [ 0.32713918 0.94451914 -0.02938623 -0.16679679] [ 0.10182216 -0.00431626 0.99479325 -0.81509454] [ 0. 0. 0. 1. ]] SLAMing on 61.501346184 meters Centerline goodness : 0.915887 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.18, Z:-0.82 [[ 0.94108081 -0.32469476 -0.09455269 -0.4999096 ] [ 0.32329074 0.9458165 -0.03023659 -0.1751958 ] [ 0.09924716 -0.00211293 0.99506057 -0.81910197] [ 0. 0. 0. 1. ]] SLAMing on 61.531346184 meters Centerline goodness : 0.919952 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.18, Z:-0.82 [[ 0.94290924 -0.32072999 -0.08974649 -0.51767319] [ 0.31914259 0.94716957 -0.03190314 -0.1828685 ] [ 0.09523744 0.00143984 0.99545354 -0.82349389] [ 0. 0. 0. 1. ]] SLAMing on 61.561346183999994 meters Centerline goodness : 0.918823 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.19, Z:-0.83 [[ 0.94397806 -0.31727785 -0.09077547 -0.54018587] [ 0.31549105 0.94832705 -0.0337816 -0.18939909] [ 0.09680299 0.00325024 0.99529826 -0.82639866] [ 0. 0. 0. 1. ]] SLAMing on 61.591346183999995 meters Centerline goodness : 0.920460 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.20, Z:-0.83 [[ 0.94490203 -0.31432874 -0.09141991 -0.56138198] [ 0.31231141 0.94929864 -0.0359676 -0.19623023] [ 0.09809045 0.00543438 0.99516267 -0.82979215] [ 0. 0. 0. 1. ]] SLAMing on 61.621346184 meters Centerline goodness : 0.913542 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.20, Z:-0.83 [[ 0.94509315 -0.31358991 -0.0919799 -0.55899305] [ 0.31162818 0.9495467 -0.03534038 -0.19616096] [ 0.0984216 0.00473642 0.99513354 -0.83140241] [ 0. 0. 0. 1. ]] SLAMing on 61.651346184 meters Centerline goodness : 0.918518 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.20, Z:-0.83 [[ 0.94509326 -0.31360443 -0.09192931 -0.55905271] [ 0.31163291 0.94954134 -0.03544261 -0.19536544] [ 0.09840564 0.00484837 0.99513458 -0.83150217] [ 0. 0. 0. 1. ]] SLAMing on 61.681346184 meters Centerline goodness : 0.916475 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.21, Z:-0.84 [[ 0.94696759 -0.30919271 -0.08747717 -0.58583246] [ 0.30759873 0.95099495 -0.03149027 -0.20603325] [ 0.09292691 0.00291239 0.99566867 -0.83773317] [ 0. 0. 0. 1. ]] SLAMing on 61.711346184 meters Centerline goodness : 0.916475 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.21, Z:-0.84 [[ 0.94696759 -0.30919271 -0.08747717 -0.58583246] [ 0.30759873 0.95099495 -0.03149027 -0.20603325] [ 0.09292691 0.00291239 0.99566867 -0.83773317] [ 0. 0. 0. 1. ]] SLAMing on 61.741346183999994 meters Centerline goodness : 0.919773 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.21, Z:-0.84 [[ 9.47956205e-01 -3.06068803e-01 -8.77548903e-02 -5.88237061e-01] [ 3.04839616e-01 9.52009088e-01 -2.74135902e-02 -2.08022491e-01] [ 9.19338978e-02 -7.64284127e-04 9.95764819e-01 -8.38132131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.771346183999995 meters Centerline goodness : 0.915427 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.21, Z:-0.84 [[ 9.48012610e-01 -3.05854523e-01 -8.78925564e-02 -5.87626271e-01] [ 3.04615789e-01 9.52078005e-01 -2.75080773e-02 -2.07480452e-01] [ 9.20940396e-02 -6.95456256e-04 9.95750071e-01 -8.38198422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801346183999996 meters Centerline goodness : 0.917207 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.21, Z:-0.84 [[ 0.94820365 -0.30512926 -0.08835138 -0.58512104] [ 0.30396319 0.95230969 -0.02669497 -0.20787603] [ 0.09228329 -0.0015433 0.9957316 -0.84035928] [ 0. 0. 0. 1. ]] SLAMing on 61.831346184 meters Centerline goodness : 0.916446 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.22, Z:-0.85 [[ 0.94925232 -0.30210809 -0.08746842 -0.60934546] [ 0.3009715 0.95327259 -0.02622051 -0.21658335] [ 0.09130268 -0.00143562 0.99582215 -0.84564603] [ 0. 0. 0. 1. ]] SLAMing on 61.861346184 meters Centerline goodness : 0.912734 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.22, Z:-0.85 [[ 0.9497594 -0.29994716 -0.08937994 -0.63160386] [ 0.29850333 0.95395498 -0.02942206 -0.22201028] [ 0.0940895 0.00126367 0.99556294 -0.84769577] [ 0. 0. 0. 1. ]] SLAMing on 61.891346184 meters Centerline goodness : 0.913658 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.22, Z:-0.85 [[ 9.49867492e-01 -2.99477776e-01 -8.98042857e-02 -6.29796028e-01] [ 2.98060325e-01 9.54102861e-01 -2.91165345e-02 -2.21862830e-01] [ 9.44022809e-02 8.89754943e-04 9.95533735e-01 -8.48734593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.921346183999994 meters Centerline goodness : 0.910403 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.22, Z:-0.85 [[ 9.49982197e-01 -2.99037119e-01 -9.00590191e-02 -6.28247740e-01] [ 2.97671689e-01 9.54241429e-01 -2.85457591e-02 -2.22483025e-01] [ 9.44742887e-02 3.09942667e-04 9.95527254e-01 -8.50108688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.951346183999995 meters Centerline goodness : 0.911889 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.23, Z:-0.85 [[ 0.95111311 -0.29639924 -0.08678334 -0.65346149] [ 0.29498707 0.95506214 -0.02896439 -0.23169429] [ 0.09146851 0.00194845 0.99580606 -0.85430946] [ 0. 0. 0. 1. ]] SLAMing on 61.981346183999996 meters Centerline goodness : 0.908842 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.23, Z:-0.85 [[ 0.95107027 -0.29654538 -0.08675355 -0.65377903] [ 0.29509997 0.955016 -0.02933334 -0.2310786 ] [ 0.09154969 0.0022971 0.99579786 -0.85364737] [ 0. 0. 0. 1. ]] SLAMing on 62.011346184 meters Centerline goodness : 0.908520 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.23, Z:-0.85 [[ 0.95106687 -0.29657507 -0.08668936 -0.65386487] [ 0.29512912 0.95500672 -0.02934222 -0.23096501] [ 0.09149109 0.00232185 0.99580319 -0.85365503] [ 0. 0. 0. 1. ]] SLAMing on 62.041346184 meters Centerline goodness : 0.908675 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.24, Z:-0.86 [[ 0.95220651 -0.29368115 -0.08398892 -0.67765513] [ 0.29225686 0.95589834 -0.02905674 -0.24084687] [ 0.08881829 0.00312167 0.99604295 -0.85820528] [ 0. 0. 0. 1. ]] SLAMing on 62.071346184 meters Centerline goodness : 0.908019 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.24, Z:-0.86 [[ 0.95223059 -0.29357239 -0.08409611 -0.6771151 ] [ 0.29217992 0.95593289 -0.02869147 -0.24132481] [ 0.08881326 0.0027497 0.9960445 -0.85893717] [ 0. 0. 0. 1. ]] SLAMing on 62.10134618399999 meters Centerline goodness : 0.906437 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.24, Z:-0.86 [[ 0.95226099 -0.29341043 -0.08431685 -0.67617827] [ 0.29204168 0.95598347 -0.02841216 -0.24189708] [ 0.08894193 0.00243175 0.99603384 -0.8595477 ] [ 0. 0. 0. 1. ]] SLAMing on 62.131346183999995 meters Centerline goodness : 0.906469 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.24, Z:-0.86 [[ 0.95232821 -0.29313996 -0.08449815 -0.67492807] [ 0.29185099 0.95606832 -0.02750233 -0.24351821] [ 0.08884804 0.00153037 0.99604402 -0.86124908] [ 0. 0. 0. 1. ]] SLAMing on 62.161346183999996 meters Centerline goodness : 0.904271 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.25, Z:-0.87 [[ 0.95212412 -0.29378488 -0.08455826 -0.69683968] [ 0.2921702 0.9558587 -0.03115642 -0.25300073] [ 0.08997904 0.00495937 0.99593131 -0.86601422] [ 0. 0. 0. 1. ]] SLAMing on 62.191346184 meters Centerline goodness : 0.904154 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.26, Z:-0.87 [[ 0.95218608 -0.2934654 -0.084969 -0.69502031] [ 0.29192638 0.95596119 -0.03028509 -0.25504486] [ 0.09011469 0.00403235 0.99592323 -0.86751382] [ 0. 0. 0. 1. ]] SLAMing on 62.221346184 meters Centerline goodness : 0.904623 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.26, Z:-0.87 [[ 0.95229693 -0.29296423 -0.08545482 -0.69291407] [ 0.29151644 0.95611891 -0.02923685 -0.25693652] [ 0.09027032 0.00293068 0.99591299 -0.86935692] [ 0. 0. 0. 1. ]] SLAMing on 62.251346184 meters Centerline goodness : 0.906734 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.26, Z:-0.87 [[ 0.95239295 -0.29238264 -0.08637164 -0.68993802] [ 0.29107444 0.95630067 -0.02765329 -0.2596791 ] [ 0.0906826 0.00119622 0.99587913 -0.87195994] [ 0. 0. 0. 1. ]] SLAMing on 62.281346184 meters Centerline goodness : 0.904053 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.26, Z:-0.87 [[ 9.52411686e-01 -2.92206941e-01 -8.67587638e-02 -6.88700431e-01] [ 2.90938733e-01 9.56354881e-01 -2.72028423e-02 -2.61207949e-01] [ 9.09210266e-02 6.66820057e-04 9.95857883e-01 -8.72431685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.311346183999994 meters Centerline goodness : 0.905301 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.27, Z:-0.88 [[ 0.9534728 -0.2892998 -0.08482478 -0.70980505] [ 0.28798427 0.95723663 -0.02762405 -0.2712018 ] [ 0.08918902 0.00191058 0.99601289 -0.87704723] [ 0. 0. 0. 1. ]] SLAMing on 62.341346183999995 meters Centerline goodness : 0.905301 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.28, Z:-0.88 [[ 9.53693573e-01 -2.88289107e-01 -8.57785437e-02 -7.05876913e-01] [ 2.87122435e-01 9.57543411e-01 -2.59099030e-02 -2.75635250e-01] [ 8.96062222e-02 8.11635845e-05 9.95977268e-01 -8.79497065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.371346184 meters Centerline goodness : 0.903485 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.28, Z:-0.88 [[ 0.95388939 -0.28743887 -0.08645189 -0.70309008] [ 0.28636287 0.95779843 -0.02486921 -0.27743034] [ 0.08995186 -0.00103413 0.99594558 -0.88121346] [ 0. 0. 0. 1. ]] SLAMing on 62.401346184 meters Centerline goodness : 0.900163 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.28, Z:-0.88 [[ 0.95402484 -0.28682313 -0.08700055 -0.70092542] [ 0.28581935 0.95798163 -0.02405197 -0.27922761] [ 0.09024359 -0.00192026 0.99591787 -0.88239969] [ 0. 0. 0. 1. ]] SLAMing on 62.431346184 meters Centerline goodness : 0.901139 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.28, Z:-0.88 [[ 0.95418474 -0.28611718 -0.08756963 -0.69863279] [ 0.28518435 0.95819059 -0.02325268 -0.28122998] [ 0.09056139 -0.00278613 0.99588698 -0.88339296] [ 0. 0. 0. 1. ]] SLAMing on 62.461346184 meters Centerline goodness : 0.901191 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.29, Z:-0.88 [[ 0.95425338 -0.28575218 -0.08801238 -0.69713878] [ 0.28491014 0.95829586 -0.02225443 -0.2852225 ] [ 0.09070116 -0.00383925 0.99587075 -0.88378193] [ 0. 0. 0. 1. ]] SLAMing on 62.491346183999994 meters Centerline goodness : 0.900084 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.29, Z:-0.88 [[ 0.95429597 -0.28548932 -0.08840275 -0.69610927] [ 0.28469376 0.95837174 -0.02175027 -0.28727039] [ 0.09093217 -0.00441152 0.99584732 -0.88377849] [ 0. 0. 0. 1. ]] SLAMing on 62.521346183999995 meters Centerline goodness : 0.898738 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.29, Z:-0.88 [[ 0.95442546 -0.2848622 -0.08902572 -0.69378302] [ 0.28415026 0.95855323 -0.02084044 -0.28983216] [ 0.09127254 -0.00540604 0.99581128 -0.88476458] [ 0. 0. 0. 1. ]] SLAMing on 62.551346183999996 meters Centerline goodness : 0.896605 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.30, Z:-0.88 [[ 0.95350728 -0.28691139 -0.09222643 -0.70612328] [ 0.28524608 0.95795147 -0.03104288 -0.29860905] [ 0.097255 0.00329238 0.99525405 -0.88416447] [ 0. 0. 0. 1. ]] SLAMing on 62.581346184 meters Centerline goodness : 0.893996 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.30, Z:-0.89 [[ 0.95256761 -0.29004654 -0.09213007 -0.70252176] [ 0.28809925 0.95699428 -0.03406999 -0.30053024] [ 0.09804983 0.00591137 0.99516395 -0.88503512] [ 0. 0. 0. 1. ]] SLAMing on 62.611346184 meters Centerline goodness : 0.892982 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.30, Z:-0.89 [[ 0.95256104 -0.28993548 -0.09254663 -0.70090739] [ 0.28808422 0.95703397 -0.03306754 -0.30465814] [ 0.09815772 0.00483763 0.99515911 -0.88594272] [ 0. 0. 0. 1. ]] SLAMing on 62.641346184 meters Centerline goodness : 0.892010 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.32, Z:-0.89 [[ 0.95283001 -0.289825 -0.0900913 -0.7310283 ] [ 0.28828825 0.95707631 -0.02991349 -0.32043686] [ 0.09489393 0.00253021 0.99548417 -0.89090217] [ 0. 0. 0. 1. ]] SLAMing on 62.671346183999994 meters Centerline goodness : 0.890284 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.33, Z:-0.89 [[ 0.95269919 -0.29022932 -0.0901731 -0.73080688] [ 0.28872964 0.9569548 -0.0295414 -0.32524522] [ 0.09486537 0.00210842 0.99548788 -0.89011379] [ 0. 0. 0. 1. ]] SLAMing on 62.701346183999995 meters Centerline goodness : 0.887993 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.34, Z:-0.89 [[ 0.95332541 -0.28965157 -0.08527972 -0.74913879] [ 0.28788486 0.95710988 -0.03260351 -0.33732625] [ 0.09106572 0.00653102 0.99582347 -0.89372006] [ 0. 0. 0. 1. ]] SLAMing on 62.731346183999996 meters Centerline goodness : 0.886991 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.36, Z:-0.90 [[ 0.95200502 -0.29454045 -0.08326084 -0.77648577] [ 0.29280821 0.95561596 -0.03258036 -0.35748102] [ 0.08916162 0.00663721 0.99599506 -0.90155798] [ 0. 0. 0. 1. ]] SLAMing on 62.761346184 meters Centerline goodness : 0.886743 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.37, Z:-0.91 [[ 0.95233806 -0.29426102 -0.08039072 -0.80051731] [ 0.2925728 0.95569769 -0.03229679 -0.37109924] [ 0.08633291 0.00723732 0.99624006 -0.90690122] [ 0. 0. 0. 1. ]] SLAMing on 62.791346184 meters Centerline goodness : 0.888371 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.38, Z:-0.91 [[ 0.95217019 -0.29471295 -0.08072301 -0.79935962] [ 0.29308304 0.95556409 -0.03161649 -0.37653259] [ 0.0864538 0.00644573 0.99623501 -0.90707125] [ 0. 0. 0. 1. ]] SLAMing on 62.821346184 meters Centerline goodness : 0.887687 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.40, Z:-0.91 [[ 0.9520476 -0.29572159 -0.07844816 -0.82526533] [ 0.29424912 0.9552586 -0.02997425 -0.39509443] [ 0.08380231 0.00545361 0.99646748 -0.91183529] [ 0. 0. 0. 1. ]] SLAMing on 62.85134618399999 meters Centerline goodness : 0.890309 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.41, Z:-0.92 [[ 0.95273252 -0.29400395 -0.07656648 -0.84738765] [ 0.29260057 0.95578887 -0.02919844 -0.4084174 ] [ 0.08176585 0.0054149 0.99663686 -0.91702643] [ 0. 0. 0. 1. ]] SLAMing on 62.881346183999995 meters Centerline goodness : 0.887015 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.41, Z:-0.92 [[ 0.95274383 -0.29382597 -0.07710707 -0.84550513] [ 0.29251225 0.95584976 -0.02806805 -0.41374214] [ 0.0819499 0.0041869 0.99662766 -0.9174777 ] [ 0. 0. 0. 1. ]] SLAMing on 62.911346183999996 meters Centerline goodness : 0.888314 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.42, Z:-0.92 [[ 0.95274953 -0.29370065 -0.07751297 -0.84410265] [ 0.29246944 0.95589244 -0.02704214 -0.4191082 ] [ 0.08203636 0.00309421 0.99662453 -0.91749901] [ 0. 0. 0. 1. ]] SLAMing on 62.941346184 meters Centerline goodness : 0.887866 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.44, Z:-0.92 [[ 0.95234216 -0.29513308 -0.07707714 -0.86884145] [ 0.29388896 0.95545038 -0.02727354 -0.43698103] [ 0.08169271 0.00332162 0.99665203 -0.92041246] [ 0. 0. 0. 1. ]] SLAMing on 62.971346184 meters Centerline goodness : 0.888480 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.44, Z:-0.92 [[ 0.95152169 -0.29766048 -0.07749006 -0.86353423] [ 0.29621844 0.95465679 -0.02974986 -0.44016451] [ 0.08283177 0.00535365 0.99654916 -0.92198589] [ 0. 0. 0. 1. ]] SLAMing on 63.001346184 meters Centerline goodness : 0.885266 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.45, Z:-0.92 [[ 0.95160385 -0.29637815 -0.08130253 -0.87551079] [ 0.2943263 0.95501028 -0.03643355 -0.44814287] [ 0.08844286 0.01074084 0.99602334 -0.92269504] [ 0. 0. 0. 1. ]] SLAMing on 63.031346184 meters Centerline goodness : 0.886185 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.46, Z:-0.91 [[ 0.95227636 -0.29116595 -0.09160855 -0.87701784] [ 0.28841281 0.95657251 -0.0422738 -0.46055249] [ 0.09993891 0.01383526 0.99489738 -0.91455363] [ 0. 0. 0. 1. ]] SLAMing on 63.061346183999994 meters Centerline goodness : 0.887942 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.47, Z:-0.91 [[ 0.95296756 -0.2835519 -0.10701008 -0.87393657] [ 0.28096258 0.95893157 -0.03886221 -0.46997007] [ 0.11363479 0.0069686 0.99349815 -0.90876475] [ 0. 0. 0. 1. ]] SLAMing on 63.091346183999995 meters Centerline goodness : 0.886220 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.48, Z:-0.90 [[ 9.53293526e-01 -2.75769588e-01 -1.23217645e-01 -8.69431362e-01] [ 2.73520393e-01 9.61223749e-01 -3.51496513e-02 -4.79495292e-01] [ 1.28132932e-01 -1.94603809e-04 9.91756983e-01 -9.02032499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.121346184 meters Centerline goodness : 0.885512 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.49, Z:-0.89 [[ 0.95332521 -0.26889161 -0.13736208 -0.86838465] [ 0.26643143 0.96316847 -0.03634278 -0.48906223] [ 0.14207509 -0.00195109 0.98985396 -0.89194151] [ 0. 0. 0. 1. ]] SLAMing on 63.151346184 meters Centerline goodness : 0.888106 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.50, Z:-0.89 [[ 0.95296364 -0.27024126 -0.13722231 -0.86469748] [ 0.26768507 0.96279166 -0.03710695 -0.49879248] [ 0.14214432 -0.00137079 0.98984499 -0.89243264] [ 0. 0. 0. 1. ]] SLAMing on 63.181346184 meters Centerline goodness : 0.889628 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.50, Z:-0.89 [[ 9.52658800e-01 -2.71509339e-01 -1.36835263e-01 -8.63604023e-01] [ 2.68862273e-01 9.62435511e-01 -3.78281022e-02 -5.04306341e-01] [ 1.41965799e-01 -7.52565339e-04 9.89871277e-01 -8.91998964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.211346184 meters Centerline goodness : 0.893568 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.51, Z:-0.89 [[ 0.95231304 -0.2722268 -0.13781305 -0.86143611] [ 0.26990144 0.96222765 -0.03565334 -0.51000943] [ 0.14231333 -0.0032428 0.98981635 -0.89055921] [ 0. 0. 0. 1. ]] SLAMing on 63.241346183999994 meters Centerline goodness : 0.895108 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.52, Z:-0.89 [[ 0.95084149 -0.27718384 -0.13809267 -0.86169035] [ 0.27490121 0.9608086 -0.0357234 -0.51814227] [ 0.14258257 -0.00399455 0.98977485 -0.88543733] [ 0. 0. 0. 1. ]] SLAMing on 63.271346183999995 meters Centerline goodness : 0.896778 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.52, Z:-0.88 [[ 0.94987244 -0.28060955 -0.13784278 -0.85999213] [ 0.27812491 0.95981779 -0.03736762 -0.52175803] [ 0.14278967 -0.00284304 0.98974897 -0.88482552] [ 0. 0. 0. 1. ]] SLAMing on 63.301346183999996 meters Centerline goodness : 0.897688 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.53, Z:-0.89 [[ 0.94892552 -0.28389879 -0.13762937 -0.85645803] [ 0.2811683 0.95885323 -0.03930477 -0.52560698] [ 0.14312495 -0.00139972 0.98970364 -0.88598012] [ 0. 0. 0. 1. ]] SLAMing on 63.331346184 meters Centerline goodness : 0.898924 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.54, Z:-0.88 [[ 9.47207282e-01 -2.85423508e-01 -1.46054053e-01 -8.62036783e-01] [ 2.82185205e-01 9.58401304e-01 -4.28771467e-02 -5.39282690e-01] [ 1.52216541e-01 -6.00747388e-04 9.88346986e-01 -8.83226953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.361346184 meters Centerline goodness : 0.899941 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.54, Z:-0.88 [[ 0.94691483 -0.28583698 -0.14713777 -0.85860169] [ 0.28288961 0.95827427 -0.04103535 -0.54281277] [ 0.15272776 -0.00276676 0.98826443 -0.88348929] [ 0. 0. 0. 1. ]] SLAMing on 63.391346184 meters Centerline goodness : 0.902488 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.55, Z:-0.88 [[ 0.94679678 -0.28596941 -0.1476393 -0.85754576] [ 0.28334047 0.95822617 -0.03899728 -0.54633411] [ 0.15262387 -0.00490968 0.98827215 -0.88268787] [ 0. 0. 0. 1. ]] SLAMing on 63.421346183999994 meters Centerline goodness : 0.905511 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.55, Z:-0.88 [[ 0.94686259 -0.28571319 -0.14771328 -0.85725316] [ 0.28332007 0.95829387 -0.03745114 -0.54968814] [ 0.15225301 -0.00638906 0.9883209 -0.88210571] [ 0. 0. 0. 1. ]] SLAMing on 63.451346183999995 meters Centerline goodness : 0.905558 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.55, Z:-0.88 [[ 0.94704969 -0.28487179 -0.14813828 -0.85530769] [ 0.28277642 0.95852972 -0.03547202 -0.55275119] [ 0.15209992 -0.00829624 0.9883303 -0.88284392] [ 0. 0. 0. 1. ]] SLAMing on 63.481346183999996 meters Centerline goodness : 0.909378 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.56, Z:-0.88 [[ 0.9477211 -0.28271385 -0.14797838 -0.85365131] [ 0.28096578 0.95914926 -0.03302905 -0.55822341] [ 0.15127112 -0.01027453 0.98843891 -0.88478994] [ 0. 0. 0. 1. ]] SLAMing on 63.511346184 meters Centerline goodness : 0.909616 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.56, Z:-0.88 [[ 0.94819185 -0.28129335 -0.14766945 -0.85408591] [ 0.27969528 0.95955829 -0.03191305 -0.56065961] [ 0.15067437 -0.01104275 0.98852177 -0.88492452] [ 0. 0. 0. 1. ]] SLAMing on 63.541346184 meters Centerline goodness : 0.914188 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.56, Z:-0.89 [[ 0.94955437 -0.27665355 -0.14767977 -0.85454956] [ 0.2755497 0.96087028 -0.02829602 -0.56490235] [ 0.1497293 -0.01382451 0.98863038 -0.88559055] [ 0. 0. 0. 1. ]] SLAMing on 63.571346184 meters Centerline goodness : 0.914543 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.57, Z:-0.89 [[ 0.95003172 -0.27517846 -0.14736538 -0.85500921] [ 0.27415918 0.96128845 -0.02759102 -0.56647284] [ 0.1492531 -0.01418922 0.98869721 -0.88594689] [ 0. 0. 0. 1. ]] SLAMing on 63.60134618399999 meters Centerline goodness : 0.914918 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.57, Z:-0.89 [[ 0.95046459 -0.27366884 -0.14738533 -0.85425826] [ 0.27280081 0.96170628 -0.02647169 -0.5678808 ] [ 0.14898588 -0.01504643 0.98872484 -0.88698776] [ 0. 0. 0. 1. ]] SLAMing on 63.631346183999995 meters Centerline goodness : 0.914918 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.57, Z:-0.89 [[ 0.95046459 -0.27366884 -0.14738533 -0.85425826] [ 0.27280081 0.96170628 -0.02647169 -0.5678808 ] [ 0.14898588 -0.01504643 0.98872484 -0.88698776] [ 0. 0. 0. 1. ]] SLAMing on 63.661346183999996 meters Centerline goodness : 0.915184 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.56, Z:-0.89 [[ 0.95117784 -0.27830368 -0.13344577 -0.85388696] [ 0.2769886 0.96044451 -0.02869947 -0.56430564] [ 0.13615442 -0.00966465 0.99064048 -0.8901897 ] [ 0. 0. 0. 1. ]] SLAMing on 63.691346184 meters Centerline goodness : 0.913954 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.57, Z:-0.89 [[ 0.95202608 -0.27611892 -0.13192679 -0.85550284] [ 0.27468766 0.9610872 -0.02929309 -0.5671407 ] [ 0.13488152 -0.00835088 0.99082654 -0.89174092] [ 0. 0. 0. 1. ]] SLAMing on 63.721346184 meters Centerline goodness : 0.912518 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.57, Z:-0.89 [[ 0.9524067 -0.2746029 -0.1323432 -0.85324849] [ 0.27330227 0.96151314 -0.02825518 -0.56785538] [ 0.13500868 -0.00925927 0.99080115 -0.89363643] [ 0. 0. 0. 1. ]] SLAMing on 63.751346184 meters Centerline goodness : 0.914846 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.57, Z:-0.90 [[ 0.95294391 -0.27255328 -0.13271254 -0.85183063] [ 0.2714483 0.96208253 -0.02670243 -0.56845755] [ 0.13495825 -0.01057867 0.99079481 -0.89509383] [ 0. 0. 0. 1. ]] SLAMing on 63.781346184 meters Centerline goodness : 0.912853 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.57, Z:-0.90 [[ 0.95369467 -0.26930465 -0.1339458 -0.84852324] [ 0.26867832 0.96295353 -0.02307488 -0.56931438] [ 0.13519775 -0.01398195 0.99071998 -0.89736997] [ 0. 0. 0. 1. ]] SLAMing on 63.811346183999994 meters Centerline goodness : 0.914301 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.57, Z:-0.90 [[ 0.95482133 -0.26602884 -0.13245714 -0.85082705] [ 0.26537025 0.9638739 -0.02292874 -0.57139707] [ 0.13377169 -0.01325733 0.9909235 -0.89888233] [ 0. 0. 0. 1. ]] SLAMing on 63.841346183999995 meters Centerline goodness : 0.913416 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.57, Z:-0.90 [[ 0.95541939 -0.26322983 -0.13373053 -0.84811143] [ 0.26301115 0.96459328 -0.01961983 -0.57171629] [ 0.1341601 -0.01642746 0.9908235 -0.9002993 ] [ 0. 0. 0. 1. ]] SLAMing on 63.871346184 meters Centerline goodness : 0.914477 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.57, Z:-0.90 [[ 0.95560512 -0.26191256 -0.13498393 -0.84520993] [ 0.26203762 0.96490509 -0.01715959 -0.57104835] [ 0.13474099 -0.01897308 0.99069919 -0.90140173] [ 0. 0. 0. 1. ]] SLAMing on 63.901346184 meters Centerline goodness : 0.914715 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.57, Z:-0.90 [[ 0.95533737 -0.26236 -0.13600642 -0.84262447] [ 0.26270456 0.96474804 -0.01573322 -0.57096424] [ 0.1353397 -0.02069898 0.99058302 -0.90174296] [ 0. 0. 0. 1. ]] SLAMing on 63.931346184 meters Centerline goodness : 0.916402 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.57, Z:-0.90 [[ 0.95511414 -0.26288809 -0.13655341 -0.83958534] [ 0.26330686 0.96459057 -0.01531464 -0.57120897] [ 0.13574417 -0.02132822 0.99051433 -0.90331296] [ 0. 0. 0. 1. ]] SLAMing on 63.961346184 meters Centerline goodness : 0.914133 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.57, Z:-0.90 [[ 0.95478094 -0.26385083 -0.13702589 -0.83691084] [ 0.26433355 0.96431475 -0.01499431 -0.57198651] [ 0.13609235 -0.02190426 0.99045397 -0.90439366] [ 0. 0. 0. 1. ]] SLAMing on 63.991346183999994 meters Centerline goodness : 0.915339 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.57, Z:-0.90 [[ 0.95412897 -0.2658958 -0.13761294 -0.83444666] [ 0.26641281 0.96374245 -0.01499053 -0.57280131] [ 0.13660936 -0.02235895 0.99037264 -0.9044304 ] [ 0. 0. 0. 1. ]] SLAMing on 64.021346184 meters Centerline goodness : 0.917880 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.57, Z:-0.90 [[ 0.95258853 -0.2701128 -0.14005061 -0.82947171] [ 0.27102562 0.96248595 -0.01288015 -0.57387213] [ 0.13827584 -0.02568782 0.99006057 -0.90243511] [ 0. 0. 0. 1. ]] SLAMing on 64.051346184 meters Centerline goodness : 0.916333 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.57, Z:-0.90 [[ 0.95149296 -0.27271956 -0.14242609 -0.82487277] [ 0.27397045 0.96167362 -0.01113734 -0.57283689] [ 0.14000478 -0.02842344 0.98974278 -0.90122031] [ 0. 0. 0. 1. ]] SLAMing on 64.081346184 meters Centerline goodness : 0.914755 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.57, Z:-0.90 [[ 0.95020495 -0.27592742 -0.14482615 -0.81950986] [ 0.27746165 0.96068568 -0.00990217 -0.5716058 ] [ 0.14186469 -0.03077461 0.98940757 -0.900461 ] [ 0. 0. 0. 1. ]] SLAMing on 64.111346184 meters Centerline goodness : 0.915461 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.57, Z:-0.90 [[ 0.94877902 -0.27996181 -0.1464232 -0.81541826] [ 0.28158163 0.95948543 -0.00997471 -0.57038101] [ 0.14328346 -0.03176628 0.98917175 -0.89970589] [ 0. 0. 0. 1. ]] SLAMing on 64.141346184 meters Centerline goodness : 0.913326 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.57, Z:-0.90 [[ 0.94667371 -0.28622528 -0.14793234 -0.81105928] [ 0.28781479 0.95762277 -0.01101279 -0.56848366] [ 0.14481552 -0.0321516 0.98893617 -0.89849737] [ 0. 0. 0. 1. ]] SLAMing on 64.171346184 meters Centerline goodness : 0.912651 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.57, Z:-0.90 [[ 0.94629804 -0.2869175 -0.14899118 -0.80757817] [ 0.28862831 0.95738384 -0.01048234 -0.56773763] [ 0.14564931 -0.03308365 0.98878296 -0.89969064] [ 0. 0. 0. 1. ]] SLAMing on 64.201346184 meters Centerline goodness : 0.911479 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.57, Z:-0.90 [[ 0.94598433 -0.28737397 -0.15009945 -0.80486233] [ 0.28926721 0.95720083 -0.0095427 -0.56689214] [ 0.14641764 -0.0343916 0.98862485 -0.90011016] [ 0. 0. 0. 1. ]] SLAMing on 64.231346184 meters Centerline goodness : 0.913105 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.56, Z:-0.90 [[ 0.94587802 -0.28615064 -0.15307705 -0.80351955] [ 0.28882545 0.95736896 -0.00495233 -0.56385138] [ 0.14796833 -0.03952825 0.98820185 -0.89699008] [ 0. 0. 0. 1. ]] SLAMing on 64.26134618399999 meters Centerline goodness : 0.912340 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.56, Z:-0.90 [[ 9.46282659e-01 -2.83252563e-01 -1.55939461e-01 -8.00369904e-01] [ 2.86723674e-01 9.58013296e-01 -2.44204541e-04 -5.61145287e-01] [ 1.49461248e-01 -4.44804485e-02 9.87766584e-01 -8.96515056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29134618399999 meters Centerline goodness : 0.912247 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.56, Z:-0.90 [[ 0.94665755 -0.28046064 -0.1586862 -0.79560848] [ 0.2845963 0.9586411 0.00349207 -0.55813067] [ 0.15114372 -0.0484673 0.98732289 -0.89797642] [ 0. 0. 0. 1. ]] SLAMing on 64.32134618399999 meters Centerline goodness : 0.907622 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.55, Z:-0.90 [[ 9.46540093e-01 -2.81206398e-01 -1.58065852e-01 -7.93899568e-01] [ 2.84869683e-01 9.58566101e-01 5.41900294e-04 -5.53920890e-01] [ 1.51364181e-01 -4.55410994e-02 9.87428424e-01 -9.01624822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.351346184 meters Centerline goodness : 0.906436 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.55, Z:-0.90 [[ 9.46382337e-01 -2.81524560e-01 -1.58443665e-01 -7.90884207e-01] [ 2.85132145e-01 9.58488215e-01 3.82044642e-05 -5.52689577e-01] [ 1.51855630e-01 -4.52135381e-02 9.87368018e-01 -9.03981021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.381346184 meters Centerline goodness : 0.903994 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.55, Z:-0.91 [[ 9.46180394e-01 -2.81772288e-01 -1.59207534e-01 -7.88309788e-01] [ 2.85484646e-01 9.58383170e-01 4.65784423e-04 -5.51548911e-01] [ 1.52450576e-01 -4.58920227e-02 9.87245027e-01 -9.05163232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.411346184 meters Centerline goodness : 0.903516 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.55, Z:-0.90 [[ 0.94553699 -0.28254112 -0.16164871 -0.78545551] [ 0.28676488 0.95799652 0.00292853 -0.54839442] [ 0.15403147 -0.04912421 0.98684402 -0.90365745] [ 0. 0. 0. 1. ]] SLAMing on 64.441346184 meters Centerline goodness : 0.901345 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.55, Z:-0.90 [[ 0.94543082 -0.2821017 -0.1630313 -0.78247749] [ 0.28660522 0.95803912 0.00429948 -0.54657776] [ 0.15497748 -0.05079048 0.98661153 -0.90454838] [ 0. 0. 0. 1. ]] SLAMing on 64.471346184 meters Centerline goodness : 0.902194 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.54, Z:-0.91 [[ 0.94522791 -0.28669056 -0.15605355 -0.77388505] [ 0.29147767 0.9565424 0.00820964 -0.5416467 ] [ 0.14691821 -0.05324611 0.98771448 -0.91166307] [ 0. 0. 0. 1. ]] SLAMing on 64.501346184 meters Centerline goodness : 0.898653 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.54, Z:-0.91 [[ 0.94512124 -0.28713756 -0.15587771 -0.77215309] [ 0.29172819 0.95647625 0.00691731 -0.53957913] [ 0.14710711 -0.05201162 0.98775214 -0.91399367] [ 0. 0. 0. 1. ]] SLAMing on 64.531346184 meters Centerline goodness : 0.899617 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.54, Z:-0.91 [[ 0.94498126 -0.28708704 -0.15681663 -0.77048789] [ 0.29182068 0.95644332 0.00754121 -0.53778339] [ 0.14782123 -0.05288864 0.98759894 -0.91431476] [ 0. 0. 0. 1. ]] SLAMing on 64.561346184 meters Centerline goodness : 0.896876 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.54, Z:-0.91 [[ 0.94487771 -0.28671205 -0.15812123 -0.76885382] [ 0.29165686 0.95648524 0.00850123 -0.53541591] [ 0.14880321 -0.05414976 0.98738311 -0.91408403] [ 0. 0. 0. 1. ]] SLAMing on 64.591346184 meters Centerline goodness : 0.896009 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.53, Z:-0.91 [[ 0.94471803 -0.28526765 -0.16164843 -0.76585245] [ 0.29104346 0.95662497 0.01274281 -0.53122057] [ 0.15100181 -0.05908508 0.98676614 -0.91216377] [ 0. 0. 0. 1. ]] SLAMing on 64.621346184 meters Centerline goodness : 0.894788 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.53, Z:-0.91 [[ 0.94496127 -0.28307785 -0.16405831 -0.76217829] [ 0.28953171 0.95702874 0.01635163 -0.5298351 ] [ 0.15237973 -0.06295174 0.98631511 -0.91265421] [ 0. 0. 0. 1. ]] SLAMing on 64.65134618399999 meters Centerline goodness : 0.892083 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.53, Z:-0.91 [[ 0.94501433 -0.28256227 -0.16464047 -0.76140415] [ 0.28914038 0.95713659 0.01695279 -0.5284972 ] [ 0.15279319 -0.06362484 0.98620795 -0.91276786] [ 0. 0. 0. 1. ]] SLAMing on 64.68134618399999 meters Centerline goodness : 0.894030 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.53, Z:-0.91 [[ 0.94496584 -0.28242017 -0.16516174 -0.76067796] [ 0.28905249 0.95716062 0.01709393 -0.52728433] [ 0.15325864 -0.06389359 0.98611835 -0.9127144 ] [ 0. 0. 0. 1. ]] SLAMing on 64.71134618399999 meters Centerline goodness : 0.891016 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.52, Z:-0.91 [[ 0.94449023 -0.28355295 -0.16593951 -0.75887012] [ 0.29020492 0.95681709 0.01679767 -0.5244722 ] [ 0.15401073 -0.0640217 0.98599286 -0.91318652] [ 0. 0. 0. 1. ]] SLAMing on 64.741346184 meters Centerline goodness : 0.892057 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.52, Z:-0.91 [[ 0.94422272 -0.2837884 -0.16705568 -0.75522852] [ 0.29052005 0.95672113 0.01681635 -0.52266656] [ 0.15505341 -0.0644114 0.98580404 -0.91481976] [ 0. 0. 0. 1. ]] SLAMing on 64.771346184 meters Centerline goodness : 0.888948 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.52, Z:-0.92 [[ 0.94372351 -0.28465951 -0.16838916 -0.75008569] [ 0.29139075 0.95646724 0.01618164 -0.51849369] [ 0.15645246 -0.06433803 0.98558777 -0.91796742] [ 0. 0. 0. 1. ]] SLAMing on 64.801346184 meters Centerline goodness : 0.887467 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.52, Z:-0.92 [[ 0.94358697 -0.28468391 -0.16911148 -0.74942002] [ 0.29140388 0.95646948 0.01580869 -0.51594838] [ 0.15724949 -0.06419662 0.98547014 -0.91766158] [ 0. 0. 0. 1. ]] SLAMing on 64.831346184 meters Centerline goodness : 0.887087 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.51, Z:-0.92 [[ 0.94402514 -0.28199375 -0.17116092 -0.74719749] [ 0.28935053 0.95703169 0.01914699 -0.51404332] [ 0.15840709 -0.06760074 0.98505702 -0.91781852] [ 0. 0. 0. 1. ]] SLAMing on 64.861346184 meters Centerline goodness : 0.888165 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.51, Z:-0.92 [[ 0.94456266 -0.27876441 -0.17346983 -0.74443194] [ 0.28683104 0.95770992 0.02279619 -0.51259179] [ 0.15977901 -0.07128896 0.98457532 -0.91791321] [ 0. 0. 0. 1. ]] SLAMing on 64.891346184 meters Centerline goodness : 0.887918 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.51, Z:-0.92 [[ 0.9447672 -0.27800363 -0.17357685 -0.74479948] [ 0.28603515 0.95795265 0.02259696 -0.51052572] [ 0.15999637 -0.07099795 0.98456105 -0.91805793] [ 0. 0. 0. 1. ]] SLAMing on 64.921346184 meters Centerline goodness : 0.887228 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.51, Z:-0.92 [[ 0.9449799 -0.27756011 -0.1731282 -0.74645685] [ 0.28540013 0.95816375 0.02165647 -0.50808589] [ 0.15987419 -0.06987574 0.98466117 -0.91774009] [ 0. 0. 0. 1. ]] SLAMing on 64.951346184 meters Centerline goodness : 0.888693 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.51, Z:-0.92 [[ 0.94485112 -0.27750685 -0.17391465 -0.7442936 ] [ 0.28545116 0.9581418 0.02195289 -0.50682572] [ 0.16054282 -0.07038635 0.98451601 -0.91862975] [ 0. 0. 0. 1. ]] SLAMing on 64.981346184 meters Centerline goodness : 0.887640 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.51, Z:-0.92 [[ 0.9444589 -0.27865984 -0.17420127 -0.7433863 ] [ 0.28647622 0.95785842 0.02094326 -0.50538313] [ 0.16102411 -0.06968458 0.98448733 -0.91865512] [ 0. 0. 0. 1. ]] SLAMing on 65.01134618399999 meters Centerline goodness : 0.887353 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.50, Z:-0.92 [[ 0.94417327 -0.27913411 -0.17498854 -0.74070212] [ 0.28702085 0.95769444 0.02098552 -0.50431905] [ 0.16172777 -0.07003932 0.9843468 -0.91970745] [ 0. 0. 0. 1. ]] SLAMing on 65.04134618399999 meters Centerline goodness : 0.886966 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.50, Z:-0.92 [[ 0.94371784 -0.27981442 -0.17635341 -0.73864596] [ 0.28792948 0.95740554 0.02170817 -0.5032483 ] [ 0.16276748 -0.07126374 0.98408751 -0.91887756] [ 0. 0. 0. 1. ]] SLAMing on 65.07134618399999 meters Centerline goodness : 0.887498 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.50, Z:-0.92 [[ 0.94372745 -0.2795218 -0.17676555 -0.73857079] [ 0.28773371 0.95745462 0.0221353 -0.50253244] [ 0.16305769 -0.0717511 0.98400405 -0.91825746] [ 0. 0. 0. 1. ]] SLAMing on 65.101346184 meters Centerline goodness : 0.890169 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.50, Z:-0.92 [[ 0.94390612 -0.27835861 -0.17764493 -0.73927408] [ 0.28685172 0.95768584 0.02353571 -0.50102187] [ 0.16357667 -0.07317325 0.98381317 -0.91654416] [ 0. 0. 0. 1. ]] SLAMing on 65.131346184 meters Centerline goodness : 0.889127 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.50, Z:-0.92 [[ 0.94370045 -0.27896182 -0.17779133 -0.74005483] [ 0.2874031 0.957531 0.02310487 -0.49987016] [ 0.16379534 -0.07290186 0.98379693 -0.91536877] [ 0. 0. 0. 1. ]] SLAMing on 65.161346184 meters Centerline goodness : 0.889269 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.50, Z:-0.92 [[ 0.94337468 -0.27988461 -0.17806969 -0.73917456] [ 0.28828168 0.95727814 0.0226328 -0.49976622] [ 0.16412765 -0.07268544 0.98375756 -0.91510728] [ 0. 0. 0. 1. ]] SLAMing on 65.191346184 meters Centerline goodness : 0.889515 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.50, Z:-0.92 [[ 0.94276563 -0.28135942 -0.17896884 -0.73598903] [ 0.28979663 0.95682752 0.02233835 -0.50021042] [ 0.16495721 -0.07292439 0.98360111 -0.91549321] [ 0. 0. 0. 1. ]] SLAMing on 65.221346184 meters Centerline goodness : 0.888604 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.50, Z:-0.92 [[ 0.94054721 -0.28961161 -0.17747132 -0.73451943] [ 0.2968719 0.95479593 0.0152253 -0.49894596] [ 0.16503947 -0.06700636 0.98400819 -0.91579443] [ 0. 0. 0. 1. ]] SLAMing on 65.251346184 meters Centerline goodness : 0.888287 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.50, Z:-0.92 [[ 0.93978944 -0.29159845 -0.1782306 -0.73157265] [ 0.29884953 0.95418736 0.01467809 -0.49905704] [ 0.16578528 -0.06705845 0.98387926 -0.91609288] [ 0. 0. 0. 1. ]] SLAMing on 65.281346184 meters Centerline goodness : 0.890458 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.50, Z:-0.92 [[ 0.93906506 -0.29331829 -0.17922385 -0.72927981] [ 0.30062836 0.95363171 0.01446213 -0.49883066] [ 0.16667154 -0.06746066 0.98370202 -0.91554425] [ 0. 0. 0. 1. ]] SLAMing on 65.311346184 meters Centerline goodness : 0.888822 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.50, Z:-0.91 [[ 0.93852005 -0.29416329 -0.18068776 -0.72675111] [ 0.30169654 0.95328455 0.01509193 -0.49854962] [ 0.16780736 -0.06867695 0.98342471 -0.91463249] [ 0. 0. 0. 1. ]] SLAMing on 65.341346184 meters Centerline goodness : 0.889896 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.50, Z:-0.91 [[ 0.93813824 -0.29429129 -0.18245351 -0.72747583] [ 0.30229693 0.95306052 0.01709422 -0.4977866 ] [ 0.16885856 -0.07119188 0.98306587 -0.91054244] [ 0. 0. 0. 1. ]] SLAMing on 65.371346184 meters Centerline goodness : 0.890390 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.93888324 -0.29062066 -0.18449362 -0.72413641] [ 0.29946692 0.95386629 0.02141662 -0.49921057] [ 0.16975813 -0.07535744 0.98260034 -0.91126742] [ 0. 0. 0. 1. ]] SLAMing on 65.40134618399999 meters Centerline goodness : 0.889860 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.93908858 -0.29036186 -0.18385493 -0.72467337] [ 0.29902254 0.95402255 0.02065153 -0.49937819] [ 0.16940533 -0.07437038 0.98273642 -0.91179302] [ 0. 0. 0. 1. ]] SLAMing on 65.43134618399999 meters Centerline goodness : 0.893083 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94005902 -0.28731275 -0.18368568 -0.72200886] [ 0.29621679 0.95485752 0.02242157 -0.50169951] [ 0.16895165 -0.07548838 0.98272928 -0.91527148] [ 0. 0. 0. 1. ]] SLAMing on 65.46134618399999 meters Centerline goodness : 0.893433 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94042363 -0.28634148 -0.18333564 -0.72312366] [ 0.2952189 0.95516433 0.02251425 -0.50134852] [ 0.1686689 -0.07529708 0.98279253 -0.91527248] [ 0. 0. 0. 1. ]] SLAMing on 65.491346184 meters Centerline goodness : 0.893819 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94052693 -0.28570077 -0.18380468 -0.72449885] [ 0.29466383 0.95532755 0.02285824 -0.49968579] [ 0.16906306 -0.07565938 0.98269697 -0.91348786] [ 0. 0. 0. 1. ]] SLAMing on 65.521346184 meters Centerline goodness : 0.893819 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94052693 -0.28570077 -0.18380468 -0.72449885] [ 0.29466383 0.95532755 0.02285824 -0.49968579] [ 0.16906306 -0.07565938 0.98269697 -0.91348786] [ 0. 0. 0. 1. ]] SLAMing on 65.551346184 meters Centerline goodness : 0.898577 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94183304 -0.27884039 -0.18761281 -0.72146198] [ 0.28942266 0.9566983 0.03103037 -0.49884193] [ 0.17083633 -0.08352483 0.98175279 -0.91278363] [ 0. 0. 0. 1. ]] SLAMing on 65.581346184 meters Centerline goodness : 0.896262 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94197475 -0.27845188 -0.1874783 -0.72126916] [ 0.28900969 0.95682439 0.03099175 -0.49850039] [ 0.17075409 -0.08337649 0.98177971 -0.91342389] [ 0. 0. 0. 1. ]] SLAMing on 65.611346184 meters Centerline goodness : 0.895142 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94212813 -0.27849443 -0.18664252 -0.72078532] [ 0.28878728 0.95692709 0.02987398 -0.49926759] [ 0.17028355 -0.0820451 0.98197358 -0.91508711] [ 0. 0. 0. 1. ]] SLAMing on 65.641346184 meters Centerline goodness : 0.896864 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94229291 -0.27836792 -0.18599831 -0.72028301] [ 0.28846075 0.95705111 0.02904433 -0.50041288] [ 0.16992488 -0.08102148 0.98212069 -0.9163021 ] [ 0. 0. 0. 1. ]] SLAMing on 65.671346184 meters Centerline goodness : 0.897824 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.942609 -0.27763314 -0.18549424 -0.7214852 ] [ 0.28765508 0.9572966 0.02894431 -0.50074382] [ 0.16953711 -0.08064153 0.98221897 -0.91609343] [ 0. 0. 0. 1. ]] SLAMing on 65.701346184 meters Centerline goodness : 0.897414 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94247998 -0.2777837 -0.1859239 -0.72179936] [ 0.28790165 0.95721231 0.02927846 -0.4999514 ] [ 0.16983556 -0.08112216 0.98212783 -0.91498592] [ 0. 0. 0. 1. ]] SLAMing on 65.731346184 meters Centerline goodness : 0.896241 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94217278 -0.27840593 -0.18654919 -0.72155108] [ 0.28860202 0.95699859 0.02936965 -0.49895772] [ 0.17035063 -0.08150975 0.98200653 -0.91390611] [ 0. 0. 0. 1. ]] SLAMing on 65.76134618399999 meters Centerline goodness : 0.893748 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94198649 -0.27916609 -0.18635381 -0.72028611] [ 0.2891821 0.95685401 0.02835705 -0.49879432] [ 0.17039706 -0.08060215 0.98207339 -0.91494826] [ 0. 0. 0. 1. ]] SLAMing on 65.79134618399999 meters Centerline goodness : 0.893190 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94177853 -0.28078352 -0.18496974 -0.72003002] [ 0.29008553 0.95668089 0.0247397 -0.49864412] [ 0.17001052 -0.07695637 0.98243277 -0.9165463 ] [ 0. 0. 0. 1. ]] SLAMing on 65.82134618399999 meters Centerline goodness : 0.893759 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94152554 -0.28293856 -0.18296292 -0.72122282] [ 0.29145227 0.95635758 0.02087485 -0.49857727] [ 0.16907168 -0.07297916 0.98289817 -0.91800847] [ 0. 0. 0. 1. ]] SLAMing on 65.851346184 meters Centerline goodness : 0.895057 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94160593 -0.28244833 -0.18330636 -0.72093051] [ 0.2911201 0.95644067 0.0216869 -0.4992345 ] [ 0.16919623 -0.07378468 0.98281659 -0.91736147] [ 0. 0. 0. 1. ]] SLAMing on 65.881346184 meters Centerline goodness : 0.893181 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94148099 -0.28189881 -0.18478802 -0.72035958] [ 0.29108725 0.9563938 0.02406455 -0.49907917] [ 0.16994635 -0.07644575 0.98248373 -0.91550027] [ 0. 0. 0. 1. ]] SLAMing on 65.911346184 meters Centerline goodness : 0.891385 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94124856 -0.28236616 -0.18525795 -0.72071215] [ 0.2916594 0.95621068 0.02441163 -0.499052 ] [ 0.17025261 -0.07700964 0.98238667 -0.91386185] [ 0. 0. 0. 1. ]] SLAMing on 65.941346184 meters Centerline goodness : 0.891761 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94069889 -0.28497718 -0.18404781 -0.72160717] [ 0.29378895 0.95561855 0.02193702 -0.50096059] [ 0.16962795 -0.07470734 0.98267246 -0.91310687] [ 0. 0. 0. 1. ]] SLAMing on 65.971346184 meters Centerline goodness : 0.892102 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94048623 -0.28550679 -0.18431365 -0.71990127] [ 0.29440121 0.95542292 0.0222477 -0.50215102] [ 0.16974562 -0.07518582 0.98261565 -0.91370245] [ 0. 0. 0. 1. ]] SLAMing on 66.001346184 meters Centerline goodness : 0.891073 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.93978959 -0.28854393 -0.18313365 -0.72092271] [ 0.29675188 0.95477522 0.01850966 -0.50144706] [ 0.16951062 -0.07174044 0.98291376 -0.91330266] [ 0. 0. 0. 1. ]] SLAMing on 66.031346184 meters Centerline goodness : 0.890571 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.93955196 -0.28943025 -0.18295419 -0.71910914] [ 0.29751703 0.95455053 0.01780176 -0.50214503] [ 0.16948665 -0.07115766 0.98296025 -0.91485259] [ 0. 0. 0. 1. ]] SLAMing on 66.061346184 meters Centerline goodness : 0.889936 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.939531 -0.28932586 -0.18322678 -0.71806061] [ 0.29742621 0.95457935 0.0177739 -0.50172276] [ 0.16976205 -0.07119557 0.98290998 -0.91527854] [ 0. 0. 0. 1. ]] SLAMing on 66.091346184 meters Centerline goodness : 0.890999 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.93972749 -0.2884834 -0.18354721 -0.71762829] [ 0.29667389 0.9548047 0.01823676 -0.50138643] [ 0.16999074 -0.07159125 0.98284172 -0.91531822] [ 0. 0. 0. 1. ]] SLAMing on 66.121346184 meters Centerline goodness : 0.890087 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.93998763 -0.28746992 -0.18380504 -0.71738042] [ 0.29573678 0.95508717 0.01866151 -0.5004522 ] [ 0.17018521 -0.0718995 0.98278556 -0.91568805] [ 0. 0. 0. 1. ]] SLAMing on 66.15134618399999 meters Centerline goodness : 0.887065 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94090947 -0.28497293 -0.18297483 -0.71931595] [ 0.29322405 0.95585179 0.01915782 -0.50055147] [ 0.16943736 -0.07167839 0.98293092 -0.91606624] [ 0. 0. 0. 1. ]] SLAMing on 66.18134618399999 meters Centerline goodness : 0.888018 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94117199 -0.28408073 -0.18301209 -0.71949637] [ 0.29242227 0.95608536 0.01974855 -0.50067836] [ 0.16936499 -0.0721036 0.98291229 -0.91607246] [ 0. 0. 0. 1. ]] SLAMing on 66.21134618399999 meters Centerline goodness : 0.887659 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94129767 -0.2835672 -0.18316206 -0.71988829] [ 0.29197503 0.95621438 0.02011546 -0.50046061] [ 0.16943811 -0.07241338 0.98287691 -0.91553102] [ 0. 0. 0. 1. ]] SLAMing on 66.241346184 meters Centerline goodness : 0.888780 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94116942 -0.28333925 -0.18417112 -0.71828163] [ 0.29201395 0.95617818 0.02123996 -0.49980635] [ 0.17008229 -0.07377093 0.98266468 -0.9153692 ] [ 0. 0. 0. 1. ]] SLAMing on 66.271346184 meters Centerline goodness : 0.887627 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94011841 -0.28600733 -0.18541085 -0.71717847] [ 0.29472161 0.95535947 0.02067515 -0.49710815] [ 0.17122077 -0.07408167 0.98244356 -0.91348014] [ 0. 0. 0. 1. ]] SLAMing on 66.301346184 meters Centerline goodness : 0.884348 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.50, Z:-0.91 [[ 0.93949566 -0.28728265 -0.18659201 -0.71373744] [ 0.29610384 0.95493256 0.02064782 -0.49599613] [ 0.17225103 -0.07464914 0.98222049 -0.91411738] [ 0. 0. 0. 1. ]] SLAMing on 66.331346184 meters Centerline goodness : 0.885467 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.49, Z:-0.91 [[ 0.93852992 -0.29131268 -0.18519859 -0.71408071] [ 0.29930352 0.95402166 0.01612702 -0.49494507] [ 0.17198546 -0.07056628 0.98256878 -0.91449672] [ 0. 0. 0. 1. ]] SLAMing on 66.361346184 meters Centerline goodness : 0.884662 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.50, Z:-0.92 [[ 0.93735038 -0.29334124 -0.18794997 -0.70375594] [ 0.30211866 0.95307633 0.01923091 -0.49915267] [ 0.17348945 -0.07480929 0.98199032 -0.92224796] [ 0. 0. 0. 1. ]] SLAMing on 66.391346184 meters Centerline goodness : 0.883675 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.50, Z:-0.92 [[ 0.9366273 -0.29655906 -0.1864994 -0.70496687] [ 0.30469111 0.95231868 0.01588893 -0.49932107] [ 0.17289486 -0.07170671 0.98232658 -0.92195165] [ 0. 0. 0. 1. ]] SLAMing on 66.421346184 meters Centerline goodness : 0.881998 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.50, Z:-0.92 [[ 0.93622747 -0.29741195 -0.18714769 -0.70556865] [ 0.30565371 0.95200567 0.01615587 -0.49897316] [ 0.17336071 -0.07232796 0.98219893 -0.91971368] [ 0. 0. 0. 1. ]] SLAMing on 66.451346184 meters Centerline goodness : 0.883569 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.50, Z:-0.92 [[ 0.93663441 -0.29378078 -0.19081101 -0.70214651] [ 0.30332474 0.95262805 0.02222397 -0.49885446] [ 0.17524295 -0.07869344 0.98137518 -0.91791999] [ 0. 0. 0. 1. ]] SLAMing on 66.481346184 meters Centerline goodness : 0.883943 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.50, Z:-0.91 [[ 0.93749623 -0.2896471 -0.19288695 -0.70490703] [ 0.30013571 0.95351654 0.0269214 -0.49635989] [ 0.1761232 -0.08313097 0.9808516 -0.91393508] [ 0. 0. 0. 1. ]] SLAMing on 66.51134618399999 meters Centerline goodness : 0.880484 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.50, Z:-0.91 [[ 0.9381449 -0.28639827 -0.19457691 -0.70225445] [ 0.29764807 0.95418409 0.03063233 -0.49639961] [ 0.17688915 -0.08665301 0.98040884 -0.91488482] [ 0. 0. 0. 1. ]] SLAMing on 66.54134618399999 meters Centerline goodness : 0.881358 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.50, Z:-0.92 [[ 0.93823142 -0.28655389 -0.19392957 -0.70277787] [ 0.29754258 0.954253 0.02948951 -0.49593523] [ 0.17660754 -0.08537029 0.98057212 -0.91551889] [ 0. 0. 0. 1. ]] SLAMing on 66.57134618399999 meters Centerline goodness : 0.881296 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.50, Z:-0.92 [[ 0.93818559 -0.28712457 -0.19330621 -0.70265683] [ 0.29783556 0.95420068 0.02819659 -0.49552155] [ 0.17635698 -0.08402709 0.98073323 -0.91655478] [ 0. 0. 0. 1. ]] SLAMing on 66.601346184 meters Centerline goodness : 0.880556 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.49, Z:-0.92 [[ 0.93780758 -0.28841142 -0.19322475 -0.70283623] [ 0.29891346 0.95389954 0.02695197 -0.49400059] [ 0.17654375 -0.08303324 0.98078427 -0.91630334] [ 0. 0. 0. 1. ]] SLAMing on 66.631346184 meters Centerline goodness : 0.880257 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.49, Z:-0.92 [[ 0.93745147 -0.28916537 -0.19382499 -0.70222964] [ 0.29966 0.9536765 0.02655225 -0.49176456] [ 0.17716835 -0.08297304 0.98067673 -0.91590345] [ 0. 0. 0. 1. ]] SLAMing on 66.661346184 meters Centerline goodness : 0.879509 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.49, Z:-0.92 [[ 0.93703078 -0.28979488 -0.19491601 -0.69943784] [ 0.30030034 0.95348936 0.0260334 -0.48779403] [ 0.178306 -0.08292744 0.98047438 -0.91732225] [ 0. 0. 0. 1. ]] SLAMing on 66.691346184 meters Centerline goodness : 0.878102 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.49, Z:-0.92 [[ 0.93689508 -0.29031656 -0.19479194 -0.69940865] [ 0.30067605 0.95339232 0.02523891 -0.48649953] [ 0.17838587 -0.08221549 0.98051981 -0.91760775] [ 0. 0. 0. 1. ]] SLAMing on 66.721346184 meters Centerline goodness : 0.877738 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.48, Z:-0.92 [[ 0.93675263 -0.29011054 -0.19578148 -0.6976052 ] [ 0.3006433 0.95338915 0.02574381 -0.48493966] [ 0.17918739 -0.08297597 0.98030958 -0.91780515] [ 0. 0. 0. 1. ]] SLAMing on 66.751346184 meters Centerline goodness : 0.880172 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.48, Z:-0.92 [[ 0.93654811 -0.29020903 -0.19661219 -0.6972944 ] [ 0.30086798 0.95331046 0.02603111 -0.4826047 ] [ 0.17987799 -0.0835337 0.98013572 -0.91708443] [ 0. 0. 0. 1. ]] SLAMing on 66.781346184 meters Centerline goodness : 0.880925 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.48, Z:-0.91 [[ 0.93665564 -0.28841799 -0.19872411 -0.69793559] [ 0.29969091 0.95360976 0.02852681 -0.4782411 ] [ 0.1812776 -0.08627561 0.97964021 -0.9145557 ] [ 0. 0. 0. 1. ]] SLAMing on 66.811346184 meters Centerline goodness : 0.879524 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.48, Z:-0.92 [[ 0.93654597 -0.28879229 -0.19869738 -0.69753084] [ 0.29987135 0.95358447 0.02745614 -0.47632297] [ 0.18154561 -0.08529758 0.97967623 -0.91516075] [ 0. 0. 0. 1. ]] SLAMing on 66.841346184 meters Centerline goodness : 0.879182 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.48, Z:-0.92 [[ 0.93633092 -0.28968987 -0.19840411 -0.69628739] [ 0.3005105 0.95342098 0.02611275 -0.47546099] [ 0.18159804 -0.0840727 0.97977239 -0.91666785] [ 0. 0. 0. 1. ]] SLAMing on 66.871346184 meters Centerline goodness : 0.879578 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.47, Z:-0.92 [[ 0.93516848 -0.29384255 -0.19777884 -0.69380106] [ 0.30382379 0.9524864 0.0214654 -0.47286946] [ 0.18207421 -0.08016368 0.98001162 -0.91841288] [ 0. 0. 0. 1. ]] SLAMing on 66.90134618399999 meters Centerline goodness : 0.880610 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.47, Z:-0.92 [[ 0.93473249 -0.2946721 -0.19860395 -0.69461066] [ 0.30475398 0.95218722 0.02155261 -0.47149015] [ 0.18275719 -0.08067127 0.97984282 -0.91597962] [ 0. 0. 0. 1. ]] SLAMing on 66.93134618399999 meters Centerline goodness : 0.880151 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.47, Z:-0.91 [[ 0.93491454 -0.29175503 -0.20202429 -0.69216225] [ 0.30301981 0.95261379 0.02656992 -0.47097999] [ 0.18469922 -0.08605796 0.97902003 -0.91342379] [ 0. 0. 0. 1. ]] SLAMing on 66.96134618399999 meters Centerline goodness : 0.880556 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.47, Z:-0.91 [[ 0.93467565 -0.29068288 -0.20465799 -0.69230737] [ 0.30275997 0.95260422 0.02969165 -0.46746743] [ 0.18632721 -0.08971431 0.97838311 -0.91012066] [ 0. 0. 0. 1. ]] SLAMing on 66.991346184 meters Centerline goodness : 0.877842 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.91 [[ 0.9360441 -0.29256427 -0.19551877 -0.71785755] [ 0.30026302 0.95380097 0.01028725 -0.46795136] [ 0.18347631 -0.06833637 0.980646 -0.91076992] [ 0. 0. 0. 1. ]] SLAMing on 67.021346184 meters Centerline goodness : 0.880267 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.47, Z:-0.91 [[ 0.93570076 -0.29338309 -0.1959348 -0.71376232] [ 0.30104913 0.95355753 0.00987188 -0.46912187] [ 0.18393886 -0.06822312 0.98056723 -0.91313437] [ 0. 0. 0. 1. ]] SLAMing on 67.051346184 meters Centerline goodness : 0.877164 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.47, Z:-0.91 [[ 0.9348192 -0.29686015 -0.19490281 -0.71247202] [ 0.30376119 0.95273044 0.00581877 -0.46832767] [ 0.18396248 -0.06464341 0.9808053 -0.91435484] [ 0. 0. 0. 1. ]] SLAMing on 67.081346184 meters Centerline goodness : 0.878341 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.47, Z:-0.91 [[ 0.93403828 -0.29786075 -0.19710776 -0.70901274] [ 0.30502555 0.95232319 0.0063206 -0.46500744] [ 0.18582764 -0.06602658 0.98036145 -0.91387861] [ 0. 0. 0. 1. ]] SLAMing on 67.111346184 meters Centerline goodness : 0.880180 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.46, Z:-0.91 [[ 0.93330085 -0.29877292 -0.19920909 -0.70820379] [ 0.30622153 0.95193491 0.0069497 -0.460969 ] [ 0.18755771 -0.06748827 0.97993236 -0.9113584 ] [ 0. 0. 0. 1. ]] SLAMing on 67.141346184 meters Centerline goodness : 0.879027 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.46, Z:-0.91 [[ 0.93364734 -0.29560809 -0.20228324 -0.704355 ] [ 0.30407031 0.95258152 0.01138817 -0.46010416] [ 0.18932484 -0.07214086 0.97926084 -0.91106419] [ 0. 0. 0. 1. ]] SLAMing on 67.171346184 meters Centerline goodness : 0.878271 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.46, Z:-0.91 [[ 0.93399598 -0.29527929 -0.20115082 -0.72195389] [ 0.30167512 0.95341003 0.00119864 -0.46019129] [ 0.19142528 -0.06180172 0.97955955 -0.90890382] [ 0. 0. 0. 1. ]] SLAMing on 67.201346184 meters Centerline goodness : 0.880851 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.46, Z:-0.91 [[ 9.33876098e-01 -2.95858624e-01 -2.00855940e-01 -7.23238686e-01] [ 3.02118392e-01 9.53270260e-01 5.37291065e-04 -4.60271315e-01] [ 1.91311032e-01 -6.11840369e-02 9.79620642e-01 -9.07764384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.231346184 meters Centerline goodness : 0.879401 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.46, Z:-0.91 [[ 9.33710407e-01 -2.96720364e-01 -2.00354440e-01 -7.25149371e-01] [ 3.02799348e-01 9.53054276e-01 -3.17983145e-04 -4.60248646e-01] [ 1.91043008e-01 -6.03702898e-02 9.79723429e-01 -9.06510027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26134618399999 meters Centerline goodness : 0.879687 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.46, Z:-0.91 [[ 0.93384524 -0.29796756 -0.19785955 -0.74866899] [ 0.30245536 0.95313112 -0.00786246 -0.46340649] [ 0.19092886 -0.05250136 0.98019885 -0.90690811] [ 0. 0. 0. 1. ]] SLAMing on 67.29134618399999 meters Centerline goodness : 0.881102 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.46, Z:-0.91 [[ 0.93381695 -0.2980045 -0.19793741 -0.74819011] [ 0.30247097 0.95312504 -0.00799766 -0.46324035] [ 0.19104244 -0.05240197 0.98018203 -0.90700226] [ 0. 0. 0. 1. ]] SLAMing on 67.32134618399999 meters Centerline goodness : 0.877619 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.46, Z:-0.91 [[ 0.93384569 -0.29768189 -0.19828696 -0.74686619] [ 0.30216929 0.95322109 -0.00795394 -0.46260751] [ 0.19137905 -0.05248848 0.98011174 -0.90743883] [ 0. 0. 0. 1. ]] SLAMing on 67.351346184 meters Centerline goodness : 0.880403 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.46, Z:-0.91 [[ 0.93386147 -0.29741569 -0.19861184 -0.74584901] [ 0.30188808 0.95330902 -0.00809328 -0.46158061] [ 0.19174553 -0.05240055 0.98004481 -0.90758347] [ 0. 0. 0. 1. ]] SLAMing on 67.381346184 meters Centerline goodness : 0.878349 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.47, Z:-0.91 [[ 0.93650478 -0.29285444 -0.19286023 -0.77520676] [ 0.29502835 0.9553187 -0.01801233 -0.46616243] [ 0.18951797 -0.0400306 0.9810609 -0.91324286] [ 0. 0. 0. 1. ]] SLAMing on 67.411346184 meters Centerline goodness : 0.879252 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.91 [[ 0.936569 -0.29245133 -0.19315985 -0.77428117] [ 0.2946041 0.95544713 -0.01814416 -0.46527666] [ 0.1898603 -0.03991243 0.98099952 -0.91319466] [ 0. 0. 0. 1. ]] SLAMing on 67.441346184 meters Centerline goodness : 0.879252 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.91 [[ 0.936569 -0.29245133 -0.19315985 -0.77428117] [ 0.2946041 0.95544713 -0.01814416 -0.46527666] [ 0.1898603 -0.03991243 0.98099952 -0.91319466] [ 0. 0. 0. 1. ]] SLAMing on 67.471346184 meters Centerline goodness : 0.878035 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.91 [[ 0.93779744 -0.28764449 -0.19441352 -0.77357846] [ 0.29056428 0.9567536 -0.01396231 -0.46579795] [ 0.19002202 -0.0433958 0.98082029 -0.91382791] [ 0. 0. 0. 1. ]] SLAMing on 67.501346184 meters Centerline goodness : 0.878467 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.91 [[ 0.9378627 -0.28709829 -0.19490545 -0.7725446 ] [ 0.28999454 0.95692382 -0.01414087 -0.46418835] [ 0.19056949 -0.04325932 0.98072009 -0.91352371] [ 0. 0. 0. 1. ]] SLAMing on 67.531346184 meters Centerline goodness : 0.876582 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.91 [[ 0.93789655 -0.28668985 -0.19534326 -0.77181755] [ 0.28951216 0.9570633 -0.01457884 -0.4619234 ] [ 0.19113548 -0.04288081 0.98062657 -0.91300032] [ 0. 0. 0. 1. ]] SLAMing on 67.561346184 meters Centerline goodness : 0.876748 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.91 [[ 0.93800438 -0.28601421 -0.19581537 -0.77065241] [ 0.28880983 0.95727282 -0.01475243 -0.45971844] [ 0.19166813 -0.04271556 0.98052981 -0.91289617] [ 0. 0. 0. 1. ]] SLAMing on 67.591346184 meters Centerline goodness : 0.879825 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.46, Z:-0.92 [[ 0.94083296 -0.28018378 -0.19060533 -0.7961956 ] [ 0.2808228 0.95945403 -0.02421818 -0.46291277] [ 0.1896626 -0.03074106 0.98136797 -0.91744104] [ 0. 0. 0. 1. ]] SLAMing on 67.621346184 meters Centerline goodness : 0.878684 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.46, Z:-0.92 [[ 0.94088704 -0.27976392 -0.19095477 -0.79519521] [ 0.28037452 0.95958104 -0.02437959 -0.46223447] [ 0.19005711 -0.03060041 0.98129604 -0.91716147] [ 0. 0. 0. 1. ]] SLAMing on 67.65134618399999 meters Centerline goodness : 0.879369 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.46, Z:-0.92 [[ 0.94090807 -0.27968937 -0.19096035 -0.79541078] [ 0.28019233 0.95962015 -0.02492841 -0.4607346 ] [ 0.19022161 -0.03005029 0.98128116 -0.91647304] [ 0. 0. 0. 1. ]] SLAMing on 67.68134618399999 meters Centerline goodness : 0.879647 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.46, Z:-0.92 [[ 0.94092195 -0.27954342 -0.19110563 -0.79545403] [ 0.27994007 0.95967916 -0.02548454 -0.45909456] [ 0.19052412 -0.02951916 0.98123859 -0.91564417] [ 0. 0. 0. 1. ]] SLAMing on 67.71134618399999 meters Centerline goodness : 0.879743 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.46, Z:-0.92 [[ 0.94202078 -0.27520322 -0.1919897 -0.79606554] [ 0.2762529 0.96083721 -0.02182161 -0.45935634] [ 0.19047622 -0.0324813 0.98115431 -0.91539744] [ 0. 0. 0. 1. ]] SLAMing on 67.741346184 meters Centerline goodness : 0.879107 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.46, Z:-0.92 [[ 0.9420777 -0.27468792 -0.19244782 -0.79440708] [ 0.27578663 0.96097624 -0.02159615 -0.45924068] [ 0.19086998 -0.03272928 0.98106954 -0.91584256] [ 0. 0. 0. 1. ]] SLAMing on 67.771346184 meters Centerline goodness : 0.878284 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.46, Z:-0.92 [[ 0.94214071 -0.27425382 -0.19275821 -0.79290777] [ 0.27542643 0.96108778 -0.02122633 -0.45968596] [ 0.19107896 -0.03309251 0.98101668 -0.91652073] [ 0. 0. 0. 1. ]] SLAMing on 67.801346184 meters Centerline goodness : 0.877039 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.46, Z:-0.92 [[ 0.94157442 -0.27579117 -0.19333092 -0.79244699] [ 0.27700639 0.96063266 -0.02126859 -0.45969665] [ 0.19158569 -0.03352794 0.98090305 -0.91522587] [ 0. 0. 0. 1. ]] SLAMing on 67.831346184 meters Centerline goodness : 0.879122 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.46, Z:-0.91 [[ 0.94116264 -0.27638049 -0.1944909 -0.79140526] [ 0.27787743 0.96040618 -0.02010208 -0.46013666] [ 0.19234609 -0.03512531 0.98069832 -0.91362626] [ 0. 0. 0. 1. ]] SLAMing on 67.861346184 meters Centerline goodness : 0.878670 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.46, Z:-0.91 [[ 0.94080949 -0.27707714 -0.19520695 -0.79083633] [ 0.2787975 0.96015851 -0.01917266 -0.46140704] [ 0.19274192 -0.03638539 0.98057466 -0.91227209] [ 0. 0. 0. 1. ]] SLAMing on 67.891346184 meters Centerline goodness : 0.879341 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.46, Z:-0.91 [[ 0.94062784 -0.27789822 -0.19491496 -0.79207679] [ 0.27956979 0.95992833 -0.01945077 -0.46403767] [ 0.19250972 -0.0361964 0.98062726 -0.91114495] [ 0. 0. 0. 1. ]] SLAMing on 67.921346184 meters Centerline goodness : 0.879710 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.47, Z:-0.91 [[ 0.93938763 -0.2828519 -0.19376708 -0.79071364] [ 0.28392014 0.95857607 -0.02283155 -0.46679617] [ 0.19219843 -0.0335667 0.98078185 -0.91171727] [ 0. 0. 0. 1. ]] SLAMing on 67.951346184 meters Centerline goodness : 0.882011 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.47, Z:-0.91 [[ 0.93887267 -0.28376537 -0.19492387 -0.78706721] [ 0.28503045 0.95826286 -0.02213435 -0.46757974] [ 0.19306927 -0.03477791 0.98056859 -0.91236165] [ 0. 0. 0. 1. ]] SLAMing on 67.981346184 meters Centerline goodness : 0.883560 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.47, Z:-0.91 [[ 0.93829905 -0.2849431 -0.1959651 -0.78648441] [ 0.28631366 0.95788524 -0.02191694 -0.46703333] [ 0.19395715 -0.03554283 0.98036592 -0.91036538] [ 0. 0. 0. 1. ]] SLAMing on 68.01134618399999 meters Centerline goodness : 0.884463 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.47, Z:-0.91 [[ 0.9383647 -0.28286467 -0.19864356 -0.78423647] [ 0.28524992 0.95830025 -0.01712024 -0.46695012] [ 0.19520288 -0.04059803 0.97992226 -0.90907304] [ 0. 0. 0. 1. ]] SLAMing on 68.04134618399999 meters Centerline goodness : 0.885770 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.47, Z:-0.91 [[ 0.93851004 -0.28238452 -0.19864008 -0.78342524] [ 0.28481531 0.95843449 -0.01683966 -0.46821238] [ 0.19513877 -0.04077155 0.97992783 -0.90946103] [ 0. 0. 0. 1. ]] SLAMing on 68.07134618399999 meters Centerline goodness : 0.886016 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.47, Z:-0.91 [[ 0.93878365 -0.28225029 -0.19753487 -0.78289609] [ 0.28441472 0.9585336 -0.0179335 -0.4702884 ] [ 0.19440554 -0.03934615 0.98013181 -0.91123728] [ 0. 0. 0. 1. ]] SLAMing on 68.101346184 meters Centerline goodness : 0.887316 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.47, Z:-0.91 [[ 0.93912451 -0.28129902 -0.19727142 -0.77992629] [ 0.28353344 0.95880403 -0.01742488 -0.47304568] [ 0.19404624 -0.03956891 0.98019404 -0.9142778 ] [ 0. 0. 0. 1. ]] SLAMing on 68.131346184 meters Centerline goodness : 0.888938 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.48, Z:-0.92 [[ 0.93961243 -0.28060944 -0.19592554 -0.77858986] [ 0.28269197 0.95904475 -0.0178441 -0.4770946 ] [ 0.19290859 -0.03862004 0.98045641 -0.91734746] [ 0. 0. 0. 1. ]] SLAMing on 68.161346184 meters Centerline goodness : 0.889479 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.48, Z:-0.92 [[ 0.94019387 -0.27729547 -0.19784516 -0.77746385] [ 0.28026759 0.95982844 -0.01339541 -0.47802012] [ 0.1936119 -0.0428553 0.98014175 -0.91611812] [ 0. 0. 0. 1. ]] SLAMing on 68.191346184 meters Centerline goodness : 0.893798 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.92 [[ 0.94131427 -0.2795125 -0.18920942 -0.77221252] [ 0.28332224 0.95899796 -0.00717006 -0.47227746] [ 0.18345557 -0.04685795 0.98191058 -0.92038015] [ 0. 0. 0. 1. ]] SLAMing on 68.221346184 meters Centerline goodness : 0.893308 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.92 [[ 9.43663214e-01 -2.70197769e-01 -1.91031161e-01 -7.73616711e-01] [ 2.75274856e-01 9.61365566e-01 4.14829947e-05 -4.70919237e-01] [ 1.83639572e-01 -5.26252214e-02 9.81583972e-01 -9.20024760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.251346184 meters Centerline goodness : 0.890761 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.93 [[ 9.45487568e-01 -2.73146225e-01 -1.77325687e-01 -7.71352661e-01] [ 2.77578315e-01 9.60702993e-01 1.94273131e-04 -4.66119027e-01] [ 1.70304253e-01 -4.94054481e-02 9.84152205e-01 -9.29541619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.281346184 meters Centerline goodness : 0.892371 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.93 [[ 0.94641136 -0.27131632 -0.17519415 -0.77231146] [ 0.27522477 0.96137769 -0.00206402 -0.46645968] [ 0.16898775 -0.04626435 0.98453174 -0.93286629] [ 0. 0. 0. 1. ]] SLAMing on 68.311346184 meters Centerline goodness : 0.891175 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.94 [[ 0.94774157 -0.26805956 -0.17300288 -0.77171977] [ 0.27157986 0.96240975 -0.00344279 -0.4663717 ] [ 0.16742253 -0.04372123 0.9849153 -0.93886344] [ 0. 0. 0. 1. ]] SLAMing on 68.341346184 meters Centerline goodness : 0.893885 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.94 [[ 0.94792052 -0.26726461 -0.17325217 -0.77231226] [ 0.27082085 0.96262436 -0.00322529 -0.46520492] [ 0.16763877 -0.04386298 0.98487222 -0.93817586] [ 0. 0. 0. 1. ]] SLAMing on 68.371346184 meters Centerline goodness : 0.892768 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.94 [[ 0.94825817 -0.27221974 -0.16341009 -0.76823399] [ 0.2751641 0.96138538 -0.00478228 -0.45726743] [ 0.1584019 -0.04042976 0.98654664 -0.93801433] [ 0. 0. 0. 1. ]] SLAMing on 68.40134618399999 meters Centerline goodness : 0.893084 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.45, Z:-0.94 [[ 0.94840285 -0.2715005 -0.16376663 -0.76769504] [ 0.2745078 0.96157471 -0.00442114 -0.45494096] [ 0.15867419 -0.04076219 0.9864892 -0.9386603 ] [ 0. 0. 0. 1. ]] SLAMing on 68.43134618399999 meters Centerline goodness : 0.893310 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.45, Z:-0.94 [[ 0.94810033 -0.27360393 -0.16200818 -0.76910286] [ 0.27597327 0.96113084 -0.00814051 -0.45473379] [ 0.15793833 -0.03699191 0.98675584 -0.93918492] [ 0. 0. 0. 1. ]] SLAMing on 68.46134618399999 meters Centerline goodness : 0.895070 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.94 [[ 0.94819201 -0.27366002 -0.16137565 -0.76847165] [ 0.27601141 0.96112017 -0.00810751 -0.45643363] [ 0.15732009 -0.03685405 0.98685975 -0.94061367] [ 0. 0. 0. 1. ]] SLAMing on 68.491346184 meters Centerline goodness : 0.898598 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.94 [[ 0.94766732 -0.27587406 -0.16068648 -0.77025651] [ 0.27798875 0.96053614 -0.00962215 -0.45841103] [ 0.15699967 -0.03555044 0.9869586 -0.93824992] [ 0. 0. 0. 1. ]] SLAMing on 68.521346184 meters Centerline goodness : 0.898427 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.94 [[ 0.94712159 -0.27710521 -0.16178191 -0.76866591] [ 0.27940035 0.9601339 -0.00885147 -0.45846874] [ 0.15778508 -0.0368185 0.98678684 -0.93698468] [ 0. 0. 0. 1. ]] SLAMing on 68.551346184 meters Centerline goodness : 0.897714 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.94 [[ 0.94638217 -0.27904081 -0.16277907 -0.7673396 ] [ 0.28140136 0.95954937 -0.00884758 -0.45841295] [ 0.15866339 -0.03743306 0.98662287 -0.93536803] [ 0. 0. 0. 1. ]] SLAMing on 68.581346184 meters Centerline goodness : 0.896476 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.93 [[ 0.94572738 -0.28075958 -0.16362696 -0.76534922] [ 0.28320947 0.9590191 -0.00864681 -0.45883748] [ 0.15934905 -0.03816318 0.98648439 -0.93470822] [ 0. 0. 0. 1. ]] SLAMing on 68.611346184 meters Centerline goodness : 0.897707 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.46, Z:-0.94 [[ 0.94452893 -0.28488507 -0.16341848 -0.76265545] [ 0.28701858 0.95786284 -0.0109135 -0.46058896] [ 0.15964158 -0.03659602 0.98649648 -0.93518325] [ 0. 0. 0. 1. ]] SLAMing on 68.641346184 meters Centerline goodness : 0.897150 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.46, Z:-0.94 [[ 0.94411387 -0.28659869 -0.16281951 -0.76178924] [ 0.28852479 0.95739459 -0.01220852 -0.46256111] [ 0.15938146 -0.03545123 0.98658034 -0.93569017] [ 0. 0. 0. 1. ]] SLAMing on 68.671346184 meters Centerline goodness : 0.895459 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.46, Z:-0.94 [[ 0.94381881 -0.2874905 -0.16295788 -0.7603939 ] [ 0.28945519 0.95711535 -0.01207872 -0.46483742] [ 0.159442 -0.03576888 0.98655909 -0.93561714] [ 0. 0. 0. 1. ]] SLAMing on 68.701346184 meters Centerline goodness : 0.898958 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.47, Z:-0.93 [[ 0.94337254 -0.28784976 -0.16489624 -0.75848458] [ 0.2904066 0.95686177 -0.00891964 -0.46743695] [ 0.16035042 -0.03947241 0.98627059 -0.93307336] [ 0. 0. 0. 1. ]] SLAMing on 68.731346184 meters Centerline goodness : 0.898977 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.47, Z:-0.93 [[ 0.94324953 -0.28748447 -0.16623175 -0.75692706] [ 0.29036652 0.95688817 -0.00723329 -0.46741291] [ 0.16114466 -0.04144534 0.98606018 -0.93212078] [ 0. 0. 0. 1. ]] SLAMing on 68.76134618399999 meters Centerline goodness : 0.898464 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.47, Z:-0.93 [[ 0.94300269 -0.28787965 -0.1669468 -0.75611872] [ 0.29086631 0.95673942 -0.00681713 -0.46759967] [ 0.16168709 -0.04213063 0.98594234 -0.93113748] [ 0. 0. 0. 1. ]] SLAMing on 68.79134618399999 meters Centerline goodness : 0.898369 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.47, Z:-0.93 [[ 0.94271948 -0.28814344 -0.16808732 -0.75260026] [ 0.29127165 0.95661974 -0.00628388 -0.46770984] [ 0.1626063 -0.04303513 0.98575208 -0.93205752] [ 0. 0. 0. 1. ]] SLAMing on 68.82134618399999 meters Centerline goodness : 0.895435 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.47, Z:-0.93 [[ 0.9412751 -0.29315146 -0.16752137 -0.74875092] [ 0.29572071 0.95522241 -0.0099707 -0.46820369] [ 0.16294309 -0.04015437 0.98581802 -0.93436331] [ 0. 0. 0. 1. ]] SLAMing on 68.851346184 meters Centerline goodness : 0.895864 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.47, Z:-0.94 [[ 0.94050242 -0.2958843 -0.16705592 -0.74642387] [ 0.29808364 0.95446 -0.01233924 -0.46868027] [ 0.16309918 -0.03819155 0.98587021 -0.93574066] [ 0. 0. 0. 1. ]] SLAMing on 68.881346184 meters Centerline goodness : 0.895731 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.47, Z:-0.94 [[ 0.94013278 -0.29668013 -0.16772376 -0.74336274] [ 0.29900139 0.95417928 -0.01183508 -0.47032142] [ 0.16354977 -0.03902309 0.98576299 -0.93652401] [ 0. 0. 0. 1. ]] SLAMing on 68.911346184 meters Centerline goodness : 0.895403 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.47, Z:-0.94 [[ 0.94020761 -0.29598221 -0.16853538 -0.74161194] [ 0.298642 0.9543135 -0.00993461 -0.47240485] [ 0.16377606 -0.04099115 0.98564554 -0.93644963] [ 0. 0. 0. 1. ]] SLAMing on 68.941346184 meters Centerline goodness : 0.896998 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.48, Z:-0.93 [[ 0.94107404 -0.29174274 -0.17107258 -0.74164856] [ 0.29561934 0.9553013 -0.00293759 -0.47528835] [ 0.16428288 -0.04780787 0.98525405 -0.93304567] [ 0. 0. 0. 1. ]] SLAMing on 68.971346184 meters Centerline goodness : 0.897169 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.48, Z:-0.93 [[ 9.41610869e-01 -2.89437088e-01 -1.72032393e-01 -7.40988747e-01] [ 2.93708249e-01 9.55894888e-01 -6.54257116e-04 -4.75962410e-01] [ 1.64634251e-01 -4.99112773e-02 9.85091076e-01 -9.32601538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001346184 meters Centerline goodness : 0.899072 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.48, Z:-0.94 [[ 9.42309241e-01 -2.87158971e-01 -1.72026218e-01 -7.38096683e-01] [ 2.91465317e-01 9.56581368e-01 -2.35197142e-04 -4.75468286e-01] [ 1.64624614e-01 -4.99180478e-02 9.85092343e-01 -9.36395103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.031346184 meters Centerline goodness : 0.897381 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.47, Z:-0.94 [[ 9.42516953e-01 -2.86522821e-01 -1.71949020e-01 -7.35905832e-01] [ 2.90740588e-01 9.56801674e-01 -6.83815225e-04 -4.74588123e-01] [ 1.64717039e-01 -4.93480518e-02 9.85105612e-01 -9.39026188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.061346184 meters Centerline goodness : 0.895961 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.47, Z:-0.94 [[ 0.94242861 -0.28682149 -0.17193531 -0.7344066 ] [ 0.29088506 0.95675662 -0.00162829 -0.47300817] [ 0.16496727 -0.04847886 0.9851069 -0.9406078 ] [ 0. 0. 0. 1. ]] SLAMing on 69.091346184 meters Centerline goodness : 0.895680 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.47, Z:-0.94 [[ 0.94233304 -0.28689761 -0.17233167 -0.73240187] [ 0.29097639 0.95672879 -0.00166273 -0.47151913] [ 0.16535171 -0.0485776 0.98503758 -0.94196731] [ 0. 0. 0. 1. ]] SLAMing on 69.121346184 meters Centerline goodness : 0.897941 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.47, Z:-0.94 [[ 9.42017340e-01 -2.86945792e-01 -1.73969662e-01 -7.29281148e-01] [ 2.91398209e-01 9.56601840e-01 5.34163323e-05 -4.69805797e-01] [ 1.66404371e-01 -5.07447671e-02 9.84751011e-01 -9.42115693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15134618399999 meters Centerline goodness : 0.898360 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.47, Z:-0.94 [[ 9.41984292e-01 -2.87045525e-01 -1.73984083e-01 -7.29760565e-01] [ 2.91549276e-01 9.56555749e-01 3.43657008e-04 -4.69861049e-01] [ 1.66326830e-01 -5.10486529e-02 9.84748405e-01 -9.41324805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18134618399999 meters Centerline goodness : 0.896965 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.47, Z:-0.94 [[ 9.42059379e-01 -2.86945030e-01 -1.73743134e-01 -7.29538858e-01] [ 2.91476027e-01 9.56577952e-01 5.89583264e-04 -4.70370421e-01] [ 1.66029673e-01 -5.11973808e-02 9.84790829e-01 -9.41783219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21134618399999 meters Centerline goodness : 0.899246 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.47, Z:-0.94 [[ 9.42300662e-01 -2.86400406e-01 -1.73332831e-01 -7.28803925e-01] [ 2.90927754e-01 9.56744734e-01 7.46165890e-04 -4.71962920e-01] [ 1.65621571e-01 -5.11304439e-02 9.84863022e-01 -9.42994432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.241346184 meters Centerline goodness : 0.902328 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.47, Z:-0.94 [[ 9.42132888e-01 -2.86614410e-01 -1.73890196e-01 -7.26887203e-01] [ 2.91198171e-01 9.56662343e-01 8.86539965e-04 -4.71234474e-01] [ 1.66100107e-01 -5.14717455e-02 9.84764649e-01 -9.43631055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.271346184 meters Centerline goodness : 0.899510 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.94 [[ 0.94195717 -0.28671877 -0.17466838 -0.72492775] [ 0.29138317 0.95660578 0.00110858 -0.46933071] [ 0.16677093 -0.05193966 0.98462669 -0.94437154] [ 0. 0. 0. 1. ]] SLAMing on 69.301346184 meters Centerline goodness : 0.898748 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.95 [[ 0.94208095 -0.2857761 -0.17554346 -0.72355457] [ 0.29065567 0.95682523 0.00218402 -0.46581283] [ 0.16734027 -0.05308022 0.98446926 -0.9451464 ] [ 0. 0. 0. 1. ]] SLAMing on 69.331346184 meters Centerline goodness : 0.898748 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.95 [[ 0.94208095 -0.2857761 -0.17554346 -0.72355457] [ 0.29065567 0.95682523 0.00218402 -0.46581283] [ 0.16734027 -0.05308022 0.98446926 -0.9451464 ] [ 0. 0. 0. 1. ]] SLAMing on 69.361346184 meters Centerline goodness : 0.899382 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.95 [[ 0.94231077 -0.2851692 -0.17529672 -0.72400905] [ 0.28997146 0.95703348 0.00186398 -0.46500812] [ 0.16723329 -0.05258749 0.98451388 -0.94542654] [ 0. 0. 0. 1. ]] SLAMing on 69.391346184 meters Centerline goodness : 0.899083 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.95 [[ 0.94265375 -0.28418938 -0.17504374 -0.72277041] [ 0.28897155 0.95733577 0.00191642 -0.4652401 ] [ 0.16703101 -0.05238918 0.98455879 -0.9472958 ] [ 0. 0. 0. 1. ]] SLAMing on 69.421346184 meters Centerline goodness : 0.900956 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.95 [[ 0.94282468 -0.28550178 -0.17196035 -0.72456995] [ 0.2895108 0.95717298 -0.00184149 -0.46711301] [ 0.16512155 -0.04804818 0.98510215 -0.94998892] [ 0. 0. 0. 1. ]] SLAMing on 69.451346184 meters Centerline goodness : 0.901954 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.95 [[ 0.94282381 -0.28539111 -0.17214873 -0.72433668] [ 0.28946573 0.95718721 -0.00149603 -0.46741252] [ 0.16520551 -0.04842067 0.98506983 -0.94951161] [ 0. 0. 0. 1. ]] SLAMing on 69.481346184 meters Centerline goodness : 0.902417 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.95 [[ 0.94301222 -0.28357219 -0.17411135 -0.72322595] [ 0.28838316 0.95751198 0.00244139 -0.4671993 ] [ 0.16602139 -0.05251304 0.98472294 -0.94781057] [ 0. 0. 0. 1. ]] SLAMing on 69.51134618399999 meters Centerline goodness : 0.900704 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.46, Z:-0.95 [[ 0.94319535 -0.28825937 -0.16519404 -0.71938611] [ 0.29255312 0.95624769 0.00173966 -0.45721938] [ 0.15746495 -0.04996887 0.98625955 -0.9461508 ] [ 0. 0. 0. 1. ]] SLAMing on 69.54134618399999 meters Centerline goodness : 0.899931 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.46, Z:-0.95 [[ 0.94327663 -0.28758416 -0.16590525 -0.71542759] [ 0.29185507 0.95646149 0.00142786 -0.45550641] [ 0.15827135 -0.04976716 0.98614066 -0.94917144] [ 0. 0. 0. 1. ]] SLAMing on 69.57134618399999 meters Centerline goodness : 0.898826 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.45, Z:-0.95 [[ 0.94335467 -0.28818466 -0.16441281 -0.71424348] [ 0.29187359 0.95645522 -0.00179675 -0.45442381] [ 0.15777129 -0.04629278 0.98638998 -0.95279282] [ 0. 0. 0. 1. ]] SLAMing on 69.601346184 meters Centerline goodness : 0.897252 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.45, Z:-0.96 [[ 0.94340034 -0.28848825 -0.16361639 -0.71266055] [ 0.29176454 0.95648107 -0.00417303 -0.4534277 ] [ 0.15769985 -0.04380063 0.98651521 -0.95546862] [ 0. 0. 0. 1. ]] SLAMing on 69.631346184 meters Centerline goodness : 0.899099 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.45, Z:-0.96 [[ 9.44473470e-01 -2.84309932e-01 -1.64735327e-01 -7.11892193e-01] [ 2.88187275e-01 9.57573992e-01 -3.79768068e-04 -4.53097578e-01] [ 1.57854236e-01 -4.71159440e-02 9.86337735e-01 -9.56289233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.661346184 meters Centerline goodness : 0.898969 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.45, Z:-0.95 [[ 0.94501513 -0.28140593 -0.16660463 -0.71217791] [ 0.28599742 0.95822311 0.00373471 -0.45218264] [ 0.15859344 -0.05117785 0.98601671 -0.9539755 ] [ 0. 0. 0. 1. ]] SLAMing on 69.691346184 meters Centerline goodness : 0.900487 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.45, Z:-0.95 [[ 0.94547924 -0.27859117 -0.16868896 -0.71165382] [ 0.28388939 0.9588265 0.00765268 -0.4507535 ] [ 0.15961148 -0.05512445 0.98563963 -0.95202346] [ 0. 0. 0. 1. ]] SLAMing on 69.721346184 meters Centerline goodness : 0.902296 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.45, Z:-0.96 [[ 0.94652655 -0.27975873 -0.16069394 -0.70472582] [ 0.28558577 0.95825222 0.01390901 -0.44545263] [ 0.15009416 -0.05905715 0.98690628 -0.95837514] [ 0. 0. 0. 1. ]] SLAMing on 69.751346184 meters Centerline goodness : 0.899563 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.44, Z:-0.96 [[ 0.94656222 -0.27993248 -0.16018045 -0.70425118] [ 0.28552598 0.95828865 0.01256072 -0.44450399] [ 0.14998295 -0.05762518 0.98700783 -0.95990691] [ 0. 0. 0. 1. ]] SLAMing on 69.781346184 meters Centerline goodness : 0.900287 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.44, Z:-0.96 [[ 0.94634907 -0.28083468 -0.1598603 -0.70313805] [ 0.2860917 0.95814584 0.01039678 -0.44275044] [ 0.1502497 -0.05557369 0.9870849 -0.96136724] [ 0. 0. 0. 1. ]] SLAMing on 69.811346184 meters Centerline goodness : 0.899358 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.44, Z:-0.96 [[ 0.945942 -0.28209396 -0.16005231 -0.70147339] [ 0.287095 0.95786401 0.00854452 -0.44038585] [ 0.15089799 -0.05403283 0.98707155 -0.96247248] [ 0. 0. 0. 1. ]] SLAMing on 69.841346184 meters Centerline goodness : 0.898393 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.43, Z:-0.96 [[ 0.9451092 -0.28307165 -0.16321469 -0.69521351] [ 0.28826543 0.95751225 0.00856381 -0.43428868] [ 0.15385589 -0.05514289 0.98655341 -0.96357711] [ 0. 0. 0. 1. ]] SLAMing on 69.87134618399999 meters Centerline goodness : 0.898423 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.96 [[ 0.94477617 -0.28380026 -0.16387618 -0.69489118] [ 0.28895089 0.9573106 0.00798723 -0.43162834] [ 0.15461363 -0.05489832 0.98644858 -0.96281567] [ 0. 0. 0. 1. ]] SLAMing on 69.90134618399999 meters Centerline goodness : 0.896281 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.96 [[ 0.94470315 -0.28331942 -0.16512437 -0.69321927] [ 0.2885249 0.95743957 0.00792833 -0.42944252] [ 0.15585036 -0.05513241 0.98624089 -0.96239161] [ 0. 0. 0. 1. ]] SLAMing on 69.93134618399999 meters Centerline goodness : 0.895421 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.96 [[ 0.94553683 -0.28062273 -0.16495756 -0.69323014] [ 0.28581687 0.95824963 0.00814608 -0.42806854] [ 0.15578455 -0.05485007 0.98626703 -0.96380965] [ 0. 0. 0. 1. ]] SLAMing on 69.96134618399999 meters Centerline goodness : 0.896875 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.96 [[ 0.94603817 -0.2792228 -0.16445793 -0.69365621] [ 0.28437423 0.95867853 0.00817211 -0.42808309] [ 0.15538045 -0.05449873 0.98635024 -0.96477536] [ 0. 0. 0. 1. ]] SLAMing on 69.991346184 meters Centerline goodness : 0.898290 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.96 [[ 0.94633345 -0.2782765 -0.16436297 -0.69445442] [ 0.28340785 0.95896477 0.00815858 -0.42776229] [ 0.15534795 -0.05430249 0.98636619 -0.96424656] [ 0. 0. 0. 1. ]] SLAMing on 70.021346184 meters Centerline goodness : 0.897820 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.43, Z:-0.96 [[ 0.94635085 -0.2777606 -0.16513365 -0.69510832] [ 0.28306732 0.95905745 0.00903893 -0.42733382] [ 0.155862 -0.05529794 0.98622978 -0.96218561] [ 0. 0. 0. 1. ]] SLAMing on 70.051346184 meters Centerline goodness : 0.901637 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.96 [[ 0.94644608 -0.28245902 -0.15638643 -0.69304855] [ 0.28752813 0.95771657 0.01032179 -0.42057706] [ 0.1468584 -0.05473451 0.98764201 -0.95776705] [ 0. 0. 0. 1. ]] SLAMing on 70.081346184 meters Centerline goodness : 0.901204 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.96 [[ 0.94616699 -0.28310878 -0.15689944 -0.69279063] [ 0.28822405 0.95750668 0.01038582 -0.42030632] [ 0.14729195 -0.05504891 0.98755997 -0.95650815] [ 0. 0. 0. 1. ]] SLAMing on 70.111346184 meters Centerline goodness : 0.900134 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.96 [[ 0.94576447 -0.28451789 -0.15677733 -0.69103832] [ 0.28938764 0.95717269 0.00867343 -0.42052602] [ 0.14759523 -0.05357244 0.98759589 -0.95727209] [ 0. 0. 0. 1. ]] SLAMing on 70.141346184 meters Centerline goodness : 0.901501 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.96 [[ 0.94512781 -0.2875926 -0.1549965 -0.6878277 ] [ 0.29167004 0.95651168 0.00374064 -0.42188396] [ 0.14718018 -0.04874322 0.98790794 -0.96169773] [ 0. 0. 0. 1. ]] SLAMing on 70.171346184 meters Centerline goodness : 0.902307 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.96 [[ 0.94508704 -0.28746505 -0.15548094 -0.68581293] [ 0.2915464 0.95654986 0.00361505 -0.42157005] [ 0.14768607 -0.04874645 0.98783228 -0.96267617] [ 0. 0. 0. 1. ]] SLAMing on 70.201346184 meters Centerline goodness : 0.901354 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.42, Z:-0.96 [[ 0.94548926 -0.28470654 -0.15808934 -0.68324922] [ 0.28945382 0.95716363 0.00736756 -0.42028399] [ 0.14921977 -0.05272551 0.98739733 -0.96172752] [ 0. 0. 0. 1. ]] SLAMing on 70.231346184 meters Centerline goodness : 0.901510 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.42, Z:-0.96 [[ 0.94735333 -0.27618936 -0.16199105 -0.68407603] [ 0.28233363 0.95918686 0.01575705 -0.41636008] [ 0.15102776 -0.06066302 0.98666641 -0.95828005] [ 0. 0. 0. 1. ]] SLAMing on 70.26134618399999 meters Centerline goodness : 0.901546 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.94833805 -0.272252 -0.16289196 -0.68378399] [ 0.27877362 0.96018499 0.01816752 -0.41488814] [ 0.15146027 -0.06263893 0.98647664 -0.95884827] [ 0. 0. 0. 1. ]] SLAMing on 70.29134618399999 meters Centerline goodness : 0.899659 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.94896611 -0.2706856 -0.16184137 -0.68416044] [ 0.27695122 0.96073254 0.0170591 -0.41400101] [ 0.15086862 -0.06101067 0.98666933 -0.96109663] [ 0. 0. 0. 1. ]] SLAMing on 70.32134618399999 meters Centerline goodness : 0.899308 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.94906227 -0.27201624 -0.15902192 -0.68456862] [ 0.27723701 0.96073641 0.01118893 -0.41350552] [ 0.14973458 -0.05470575 0.98721165 -0.96493393] [ 0. 0. 0. 1. ]] SLAMing on 70.351346184 meters Centerline goodness : 0.900107 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.97 [[ 0.94884202 -0.2727412 -0.15909448 -0.68393084] [ 0.2778435 0.96057088 0.01032305 -0.41315191] [ 0.150006 -0.05399831 0.98720939 -0.96502281] [ 0. 0. 0. 1. ]] SLAMing on 70.381346184 meters Centerline goodness : 0.900829 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.9487384 -0.27292236 -0.15940147 -0.68364999] [ 0.27808326 0.96049869 0.01058144 -0.41296257] [ 0.15021699 -0.0543659 0.98715713 -0.96451654] [ 0. 0. 0. 1. ]] SLAMing on 70.411346184 meters Centerline goodness : 0.904144 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.94937905 -0.27648154 -0.14912205 -0.68056848] [ 0.28122017 0.95957721 0.01126022 -0.40834135] [ 0.13998088 -0.05262634 0.98875468 -0.96391789] [ 0. 0. 0. 1. ]] SLAMing on 70.441346184 meters Centerline goodness : 0.905981 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.94959945 -0.27554404 -0.14945355 -0.68179675] [ 0.28043516 0.9597944 0.01228107 -0.40899461] [ 0.1400607 -0.05357413 0.98869248 -0.96188233] [ 0. 0. 0. 1. ]] SLAMing on 70.471346184 meters Centerline goodness : 0.906721 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.94985731 -0.27414632 -0.15038248 -0.68110714] [ 0.27921494 0.96013686 0.01327523 -0.40939347] [ 0.1407484 -0.05459861 0.98853876 -0.96081708] [ 0. 0. 0. 1. ]] SLAMing on 70.501346184 meters Centerline goodness : 0.907175 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.950131 -0.27336566 -0.15007429 -0.68148509] [ 0.27831235 0.960408 0.01259792 -0.40934332] [ 0.14068871 -0.0537372 0.98859446 -0.96099741] [ 0. 0. 0. 1. ]] SLAMing on 70.531346184 meters Centerline goodness : 0.906821 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.95105428 -0.27092834 -0.14863915 -0.68071073] [ 0.27560539 0.96120293 0.01142748 -0.41100298] [ 0.13977636 -0.05183391 0.98882547 -0.96473503] [ 0. 0. 0. 1. ]] SLAMing on 70.561346184 meters Centerline goodness : 0.909870 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.95132984 -0.27005383 -0.14846707 -0.68099103] [ 0.27469817 0.9614638 0.01132632 -0.41163215] [ 0.139687 -0.0515587 0.98885249 -0.96476219] [ 0. 0. 0. 1. ]] SLAMing on 70.591346184 meters Centerline goodness : 0.913620 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.95177744 -0.26846046 -0.14848799 -0.68161474] [ 0.27315633 0.96189724 0.01180336 -0.41215986] [ 0.13966145 -0.05179461 0.98884377 -0.96428755] [ 0. 0. 0. 1. ]] SLAMing on 70.62134618399999 meters Centerline goodness : 0.914057 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.95309182 -0.26349034 -0.14895914 -0.68211613] [ 0.26865594 0.96311432 0.01532272 -0.41301984] [ 0.13942729 -0.05462271 0.98872463 -0.9646756 ] [ 0. 0. 0. 1. ]] SLAMing on 70.65134618399999 meters Centerline goodness : 0.915744 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.97 [[ 0.95360709 -0.26196061 -0.14835819 -0.68289368] [ 0.26701536 0.9635773 0.01488591 -0.41348812] [ 0.13905507 -0.05380922 0.98882165 -0.96531667] [ 0. 0. 0. 1. ]] SLAMing on 70.68134618399999 meters Centerline goodness : 0.916867 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.97 [[ 0.95411671 -0.26047197 -0.14770127 -0.68317526] [ 0.26539394 0.96403392 0.01430578 -0.41446872] [ 0.13866278 -0.0528484 0.98892855 -0.96638437] [ 0. 0. 0. 1. ]] SLAMing on 70.71134618399999 meters Centerline goodness : 0.917711 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.97 [[ 0.95556239 -0.25720033 -0.1440434 -0.68730154] [ 0.26151481 0.96513051 0.01153702 -0.41773526] [ 0.13605336 -0.04869383 0.98950412 -0.96926323] [ 0. 0. 0. 1. ]] SLAMing on 70.741346184 meters Centerline goodness : 0.918230 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.97 [[ 0.95623207 -0.25504583 -0.14342893 -0.68875904] [ 0.25933837 0.96571498 0.01175555 -0.41871013] [ 0.13551326 -0.04843766 0.9895908 -0.96941836] [ 0. 0. 0. 1. ]] SLAMing on 70.771346184 meters Centerline goodness : 0.920537 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.97 [[ 0.95692113 -0.25257845 -0.14319943 -0.69071331] [ 0.25696725 0.96633639 0.01272104 -0.4198619 ] [ 0.13516576 -0.04897059 0.9896121 -0.96824546] [ 0. 0. 0. 1. ]] SLAMing on 70.801346184 meters Centerline goodness : 0.922373 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.97 [[ 0.95800664 -0.24900296 -0.14219988 -0.69378958] [ 0.25350653 0.96722958 0.01419071 -0.42222684] [ 0.1340064 -0.04964339 0.98973624 -0.96768968] [ 0. 0. 0. 1. ]] SLAMing on 70.831346184 meters Centerline goodness : 0.925331 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.97 [[ 0.95806026 -0.24878216 -0.14222512 -0.69301095] [ 0.25328789 0.96728653 0.01421291 -0.42398691] [ 0.13403652 -0.04964072 0.98973229 -0.96793532] [ 0. 0. 0. 1. ]] SLAMing on 70.861346184 meters Centerline goodness : 0.924919 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.97 [[ 0.95796121 -0.24983019 -0.14105036 -0.69398092] [ 0.2540281 0.96711874 0.0122907 -0.42654279] [ 0.13334186 -0.04760477 0.98992613 -0.96774323] [ 0. 0. 0. 1. ]] SLAMing on 70.891346184 meters Centerline goodness : 0.929648 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.43, Z:-0.97 [[ 0.95764001 -0.25266062 -0.13816012 -0.69688053] [ 0.25631966 0.96654953 0.00906891 -0.43391701] [ 0.13124724 -0.04409791 0.99036838 -0.96701307] [ 0. 0. 0. 1. ]] SLAMing on 70.921346184 meters Centerline goodness : 0.930325 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.44, Z:-0.97 [[ 0.95705459 -0.25551976 -0.13695316 -0.69815373] [ 0.25882774 0.96590087 0.00661185 -0.43705715] [ 0.13059372 -0.04177518 0.99055546 -0.965737 ] [ 0. 0. 0. 1. ]] SLAMing on 70.951346184 meters Centerline goodness : 0.933434 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.44, Z:-0.96 [[ 0.95628808 -0.25873564 -0.13626806 -0.69820713] [ 0.26177093 0.96511939 0.00453251 -0.44010199] [ 0.13034222 -0.0400054 0.99066163 -0.96457918] [ 0. 0. 0. 1. ]] SLAMing on 70.981346184 meters Centerline goodness : 0.934307 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.45, Z:-0.96 [[ 9.54284447e-01 -2.66690905e-01 -1.34970943e-01 -6.98903560e-01] [ 2.69170889e-01 9.63092423e-01 1.30420370e-04 -4.45462139e-01] [ 1.29954711e-01 -3.64547069e-02 9.90849548e-01 -9.61149111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01134618399999 meters Centerline goodness : 0.935349 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.45, Z:-0.96 [[ 9.53189071e-01 -2.70380626e-01 -1.35369542e-01 -6.97016823e-01] [ 2.72774438e-01 9.62077596e-01 -8.97759533e-04 -4.48397548e-01] [ 1.30478740e-01 -3.60696161e-02 9.90794773e-01 -9.59598793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04134618399999 meters Centerline goodness : 0.937268 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.45, Z:-0.96 [[ 0.95214061 -0.27423214 -0.13499998 -0.69583113] [ 0.27637712 0.96104471 -0.00295902 -0.45137614] [ 0.13055248 -0.0344935 0.99084118 -0.95869459] [ 0. 0. 0. 1. ]] SLAMing on 71.07134618399999 meters Centerline goodness : 0.935418 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.46, Z:-0.96 [[ 0.9511178 -0.27806993 -0.13435788 -0.69436397] [ 0.27995056 0.96000102 -0.00507191 -0.45502904] [ 0.13039404 -0.03278958 0.99091989 -0.95849789] [ 0. 0. 0. 1. ]] SLAMing on 71.101346184 meters Centerline goodness : 0.941199 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.46, Z:-0.96 [[ 0.94886437 -0.2870437 -0.13138614 -0.69366382] [ 0.28795713 0.95756292 -0.01240726 -0.46281516] [ 0.12937192 -0.02606077 0.99125362 -0.95808816] [ 0. 0. 0. 1. ]] SLAMing on 71.131346184 meters Centerline goodness : 0.943212 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.47, Z:-0.96 [[ 0.94771537 -0.2910365 -0.13089433 -0.69229729] [ 0.29164525 0.95641011 -0.01492472 -0.46634942] [ 0.1295323 -0.02403033 0.99128398 -0.9571661 ] [ 0. 0. 0. 1. ]] SLAMing on 71.161346184 meters Centerline goodness : 0.942404 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.47, Z:-0.96 [[ 0.94671132 -0.29425075 -0.13097392 -0.6895234 ] [ 0.29473487 0.95544313 -0.01611783 -0.46966877] [ 0.12988082 -0.02334365 0.99125478 -0.95711506] [ 0. 0. 0. 1. ]] SLAMing on 71.191346184 meters Centerline goodness : 0.944704 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.48, Z:-0.96 [[ 0.94564139 -0.29829995 -0.12953568 -0.68973203] [ 0.29851963 0.95423041 -0.01817542 -0.47765117] [ 0.12902861 -0.02148151 0.99140817 -0.95519652] [ 0. 0. 0. 1. ]] SLAMing on 71.221346184 meters Centerline goodness : 0.946392 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.48, Z:-0.95 [[ 0.94575826 -0.29293207 -0.14047105 -0.68452206] [ 0.29346557 0.95581176 -0.0173732 -0.48386887] [ 0.13935305 -0.02479257 0.98993235 -0.94985606] [ 0. 0. 0. 1. ]] SLAMing on 71.251346184 meters Centerline goodness : 0.946392 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.48, Z:-0.95 [[ 0.94575826 -0.29293207 -0.14047105 -0.68452206] [ 0.29346557 0.95581176 -0.0173732 -0.48386887] [ 0.13935305 -0.02479257 0.98993235 -0.94985606] [ 0. 0. 0. 1. ]] SLAMing on 71.281346184 meters Centerline goodness : 0.947416 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.49, Z:-0.95 [[ 0.94602762 -0.29165091 -0.14132053 -0.68241656] [ 0.29257387 0.95613037 -0.01467114 -0.48778249] [ 0.1393997 -0.02746739 0.98985517 -0.94986564] [ 0. 0. 0. 1. ]] SLAMing on 71.311346184 meters Centerline goodness : 0.948882 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.49, Z:-0.95 [[ 0.94638719 -0.2901296 -0.14204258 -0.68016076] [ 0.29136945 0.95652951 -0.01245549 -0.49128827] [ 0.13948163 -0.02959915 0.98978218 -0.95035261] [ 0. 0. 0. 1. ]] SLAMing on 71.341346184 meters Centerline goodness : 0.949079 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.50, Z:-0.95 [[ 0.94703649 -0.28874615 -0.14052593 -0.681988 ] [ 0.28993452 0.95696622 -0.01239443 -0.49725602] [ 0.13805741 -0.02900534 0.98999941 -0.95047305] [ 0. 0. 0. 1. ]] SLAMing on 71.37134618399999 meters Centerline goodness : 0.949211 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.50, Z:-0.95 [[ 0.94748303 -0.28717443 -0.14073649 -0.67987989] [ 0.28854676 0.95740259 -0.01100206 -0.49988925] [ 0.13790099 -0.0301848 0.98998596 -0.95211325] [ 0. 0. 0. 1. ]] SLAMing on 71.40134618399999 meters Centerline goodness : 0.948905 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.50, Z:-0.95 [[ 0.94776548 -0.28609393 -0.14103493 -0.67788034] [ 0.28762902 0.95769156 -0.00981943 -0.50235351] [ 0.13787724 -0.03125922 0.98995592 -0.95333772] [ 0. 0. 0. 1. ]] SLAMing on 71.43134618399999 meters Centerline goodness : 0.948959 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.51, Z:-0.95 [[ 0.94714708 -0.28843684 -0.14041584 -0.67696269] [ 0.28978579 0.95702607 -0.01119398 -0.50612264] [ 0.13761037 -0.03008817 0.99002934 -0.95317658] [ 0. 0. 0. 1. ]] SLAMing on 71.46134618399999 meters Centerline goodness : 0.946857 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.51, Z:-0.95 [[ 0.94665681 -0.28946942 -0.14159213 -0.67216573] [ 0.29101007 0.95666602 -0.0101622 -0.50792173] [ 0.13839803 -0.03158462 0.98987292 -0.95464816] [ 0. 0. 0. 1. ]] SLAMing on 71.491346184 meters Centerline goodness : 0.948445 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.51, Z:-0.96 [[ 0.94577426 -0.29258586 -0.14108354 -0.66910024] [ 0.29379673 0.95578432 -0.01264209 -0.51004885] [ 0.13854433 -0.02949332 0.98991697 -0.95627922] [ 0. 0. 0. 1. ]] SLAMing on 71.521346184 meters Centerline goodness : 0.947366 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.51, Z:-0.96 [[ 0.9444769 -0.29674589 -0.141086 -0.66497118] [ 0.29766837 0.95455127 -0.01501403 -0.51191954] [ 0.13912917 -0.02781644 0.98988349 -0.95752551] [ 0. 0. 0. 1. ]] SLAMing on 71.551346184 meters Centerline goodness : 0.947542 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.52, Z:-0.96 [[ 0.94201206 -0.29866429 -0.15301279 -0.66457674] [ 0.30015842 0.95378968 -0.01379014 -0.52075052] [ 0.15006065 -0.0329376 0.98812799 -0.95568085] [ 0. 0. 0. 1. ]] SLAMing on 71.581346184 meters Centerline goodness : 0.949565 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.52, Z:-0.95 [[ 0.9414071 -0.2997049 -0.15469207 -0.66089634] [ 0.30157712 0.95336899 -0.01178155 -0.52261707] [ 0.15100962 -0.03556035 0.98789248 -0.95485927] [ 0. 0. 0. 1. ]] SLAMing on 71.611346184 meters Centerline goodness : 0.948386 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.52, Z:-0.95 [[ 0.9410872 -0.29995753 -0.15614213 -0.65805996] [ 0.30222509 0.95318845 -0.00958028 -0.52487596] [ 0.15170655 -0.03817419 0.98768814 -0.95390303] [ 0. 0. 0. 1. ]] SLAMing on 71.641346184 meters Centerline goodness : 0.950687 Centerline is valid? [False, True] Translation: X:-0.66, Y:-0.53, Z:-0.95 [[ 0.9408202 -0.29977314 -0.15809307 -0.65587903] [ 0.30273847 0.95305747 -0.00555725 -0.52920053] [ 0.1523377 -0.04263249 0.98740858 -0.95103434] [ 0. 0. 0. 1. ]] SLAMing on 71.671346184 meters Centerline goodness : 0.950016 Centerline is valid? [True, True] Translation: X:-0.64, Y:-0.51, Z:-0.93 [[ 0.94098735 -0.30458645 -0.14754626 -0.63500642] [ 0.30217702 0.95245231 -0.03903399 -0.50723634] [ 0.15242 -0.0078546 0.9882846 -0.93407239] [ 0. 0. 0. 1. ]] SLAMing on 71.701346184 meters Centerline goodness : 0.950376 Centerline is valid? [True, True] Translation: X:-0.61, Y:-0.50, Z:-0.93 [[ 0.94070523 -0.30520942 -0.14805705 -0.60900953] [ 0.30278425 0.95225213 -0.03921188 -0.49999993] [ 0.15295547 -0.00794252 0.98820116 -0.92999215] [ 0. 0. 0. 1. ]] SLAMing on 71.731346184 meters Centerline goodness : 0.948393 Centerline is valid? [True, False] Translation: X:-0.61, Y:-0.50, Z:-0.93 [[ 0.94068964 -0.304854 -0.14888599 -0.60620027] [ 0.30251109 0.95235994 -0.03869869 -0.49927933] [ 0.1535905 -0.0086362 0.98809684 -0.93131207] [ 0. 0. 0. 1. ]] SLAMing on 71.76134618399999 meters Centerline goodness : 0.948828 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.50, Z:-0.93 [[ 0.94055156 -0.30480063 -0.1498644 -0.60330881] [ 0.30257984 0.95236745 -0.03796937 -0.49871357] [ 0.15429907 -0.0096338 0.98797722 -0.93228274] [ 0. 0. 0. 1. ]] SLAMing on 71.79134618399999 meters Centerline goodness : 0.949971 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.50, Z:-0.93 [[ 0.93999849 -0.3058123 -0.15126691 -0.59907933] [ 0.30372315 0.9520297 -0.03730552 -0.49854544] [ 0.15541908 -0.01087613 0.98778875 -0.93323711] [ 0. 0. 0. 1. ]] SLAMing on 71.82134618399999 meters Centerline goodness : 0.949368 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.50, Z:-0.93 [[ 0.93968942 -0.30614324 -0.15251267 -0.59561886] [ 0.30422627 0.95190658 -0.03633504 -0.49848072] [ 0.15630154 -0.01225471 0.98763336 -0.9339193 ] [ 0. 0. 0. 1. ]] SLAMing on 71.851346184 meters Centerline goodness : 0.949294 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.50, Z:-0.93 [[ 0.93916086 -0.30693944 -0.15415921 -0.59129411] [ 0.30521709 0.95162775 -0.03531509 -0.49800222] [ 0.15754177 -0.01388547 0.9874147 -0.93442089] [ 0. 0. 0. 1. ]] SLAMing on 71.881346184 meters Centerline goodness : 0.950415 Centerline is valid? [False, True] Translation: X:-0.59, Y:-0.50, Z:-0.93 [[ 0.93792517 -0.30971945 -0.1561097 -0.58592425] [ 0.30806888 0.95070964 -0.03528106 -0.49613032] [ 0.15934223 -0.01500154 0.98710942 -0.93489548] [ 0. 0. 0. 1. ]] SLAMing on 71.911346184 meters Centerline goodness : 0.950534 Centerline is valid? [True, True] Translation: X:-0.56, Y:-0.49, Z:-0.93 [[ 0.93701069 -0.31278268 -0.15549263 -0.560925 ] [ 0.31032993 0.94976823 -0.04044301 -0.48602666] [ 0.16033184 -0.01035849 0.98700882 -0.92813443] [ 0. 0. 0. 1. ]] SLAMing on 71.941346184 meters Centerline goodness : 0.950652 Centerline is valid? [True, True] Translation: X:-0.54, Y:-0.48, Z:-0.92 [[ 0.93635469 -0.31533334 -0.15428796 -0.53549073] [ 0.3129456 0.94892102 -0.04017394 -0.4785522 ] [ 0.15907527 -0.01066668 0.98720883 -0.92436374] [ 0. 0. 0. 1. ]] SLAMing on 71.971346184 meters Centerline goodness : 0.951271 Centerline is valid? [True, True] Translation: X:-0.51, Y:-0.47, Z:-0.92 [[ 0.93508445 -0.32008687 -0.15218892 -0.50899857] [ 0.31782188 0.94732092 -0.03965261 -0.47047485] [ 0.15686403 -0.01129043 0.98755567 -0.92054169] [ 0. 0. 0. 1. ]] SLAMing on 72.001346184 meters Centerline goodness : 0.951557 Centerline is valid? [True, True] Translation: X:-0.48, Y:-0.46, Z:-0.92 [[ 0.93422292 -0.32235871 -0.15268401 -0.48219952] [ 0.32010106 0.94654573 -0.03983074 -0.46231556] [ 0.15736219 -0.01166352 0.98747208 -0.91645707] [ 0. 0. 0. 1. ]] SLAMing on 72.031346184 meters Centerline goodness : 0.952029 Centerline is valid? [True, True] Translation: X:-0.46, Y:-0.45, Z:-0.91 [[ 0.93351177 -0.32441106 -0.15268673 -0.45535427] [ 0.32217262 0.94584056 -0.0398804 -0.45373265] [ 0.15735494 -0.01196267 0.98746965 -0.91391039] [ 0. 0. 0. 1. ]] SLAMing on 72.061346184 meters Centerline goodness : 0.950682 Centerline is valid? [True, True] Translation: X:-0.43, Y:-0.45, Z:-0.91 [[ 0.93245331 -0.32662556 -0.15442331 -0.42965711] [ 0.32435855 0.94507199 -0.04037907 -0.44556985] [ 0.15912998 -0.01243693 0.9871793 -0.91146241] [ 0. 0. 0. 1. ]] SLAMing on 72.091346184 meters Centerline goodness : 0.951123 Centerline is valid? [True, True] Translation: X:-0.40, Y:-0.44, Z:-0.91 [[ 0.93103828 -0.32980056 -0.15620278 -0.40336966] [ 0.32752108 0.9439596 -0.0408683 -0.43828917] [ 0.1609275 -0.01310975 0.98687916 -0.90964477] [ 0. 0. 0. 1. ]] SLAMing on 72.12134618399999 meters Centerline goodness : 0.951583 Centerline is valid? [True, True] Translation: X:-0.38, Y:-0.43, Z:-0.91 [[ 0.93035775 -0.33190599 -0.15579753 -0.37708494] [ 0.32966164 0.94321723 -0.04079776 -0.43034139] [ 0.16049193 -0.01340396 0.98694613 -0.90633438] [ 0. 0. 0. 1. ]] SLAMing on 72.15134618399999 meters Centerline goodness : 0.952369 Centerline is valid? [True, True] Translation: X:-0.35, Y:-0.42, Z:-0.90 [[ 0.92940544 -0.33463417 -0.15564543 -0.35135198] [ 0.33242403 0.94224685 -0.04080616 -0.4202018 ] [ 0.16031155 -0.01381481 0.98696979 -0.90075718] [ 0. 0. 0. 1. ]] SLAMing on 72.18134618399999 meters Centerline goodness : 0.953637 Centerline is valid? [True, True] Translation: X:-0.33, Y:-0.41, Z:-0.89 [[ 0.92787343 -0.33878409 -0.15580835 -0.32832397] [ 0.33661906 0.94075239 -0.04089679 -0.40640257] [ 0.16043226 -0.01450102 0.98694033 -0.89407622] [ 0. 0. 0. 1. ]] SLAMing on 72.21134618399999 meters Centerline goodness : 0.950439 Centerline is valid? [True, True] Translation: X:-0.30, Y:-0.40, Z:-0.89 [[ 0.92747433 -0.3399729 -0.15559495 -0.30215825] [ 0.33782426 0.94032111 -0.04087771 -0.39797547] [ 0.16020653 -0.01465072 0.98697478 -0.89174917] [ 0. 0. 0. 1. ]] SLAMing on 72.241346184 meters Centerline goodness : 0.951190 Centerline is valid? [True, True] Translation: X:-0.28, Y:-0.39, Z:-0.89 [[ 0.92738988 -0.34013091 -0.15575293 -0.27596501] [ 0.33797288 0.94026396 -0.04096367 -0.39134065] [ 0.16038188 -0.01465097 0.9869463 -0.8896741 ] [ 0. 0. 0. 1. ]] SLAMing on 72.271346184 meters Centerline goodness : 0.948955 Centerline is valid? [True, False] Translation: X:-0.27, Y:-0.39, Z:-0.89 [[ 0.9286603 -0.33597554 -0.15719567 -0.27273059] [ 0.33425375 0.94171387 -0.03807126 -0.3902803 ] [ 0.16082435 -0.01718798 0.98683337 -0.89282826] [ 0. 0. 0. 1. ]] SLAMing on 72.301346184 meters Centerline goodness : 0.950169 Centerline is valid? [False, True] Translation: X:-0.27, Y:-0.39, Z:-0.89 [[ 0.92985209 -0.33157654 -0.15947439 -0.27040771] [ 0.33049219 0.94319386 -0.03406255 -0.38830183] [ 0.16170961 -0.02103191 0.98661424 -0.89369675] [ 0. 0. 0. 1. ]] SLAMing on 72.331346184 meters Centerline goodness : 0.950259 Centerline is valid? [True, True] Translation: X:-0.25, Y:-0.37, Z:-0.89 [[ 0.93055892 -0.33055422 -0.1574611 -0.24649187] [ 0.32833524 0.94368531 -0.04066961 -0.37275191] [ 0.16203724 -0.01385456 0.98668738 -0.88642276] [ 0. 0. 0. 1. ]] SLAMing on 72.361346184 meters Centerline goodness : 0.950676 Centerline is valid? [True, True] Translation: X:-0.22, Y:-0.36, Z:-0.88 [[ 0.93185518 -0.32705126 -0.15710954 -0.22139057] [ 0.32478464 0.94491489 -0.04062994 -0.36057734] [ 0.16174321 -0.01316554 0.98674505 -0.88207541] [ 0. 0. 0. 1. ]] SLAMing on 72.391346184 meters Centerline goodness : 0.950436 Centerline is valid? [True, True] Translation: X:-0.20, Y:-0.35, Z:-0.88 [[ 0.93456318 -0.31946551 -0.1566316 -0.19699618] [ 0.31709959 0.94752483 -0.04055313 -0.34640607] [ 0.16136766 -0.01176836 0.98682419 -0.87861826] [ 0. 0. 0. 1. ]] SLAMing on 72.421346184 meters Centerline goodness : 0.949662 Centerline is valid? [True, False] Translation: X:-0.19, Y:-0.35, Z:-0.88 [[ 0.93583054 -0.31493499 -0.15823134 -0.1938274 ] [ 0.31308185 0.94899854 -0.03716893 -0.34508714] [ 0.16186711 -0.01475554 0.98670224 -0.88130339] [ 0. 0. 0. 1. ]] SLAMing on 72.451346184 meters Centerline goodness : 0.948972 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.34, Z:-0.88 [[ 0.93671865 -0.31134769 -0.16006494 -0.19072283] [ 0.3100335 0.95012571 -0.03376929 -0.34396143] [ 0.16259581 -0.01799317 0.98652869 -0.88310472] [ 0. 0. 0. 1. ]] SLAMing on 72.481346184 meters Centerline goodness : 0.949859 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.34, Z:-0.88 [[ 0.93750796 -0.30771665 -0.16244784 -0.18774027] [ 0.30686358 0.95125001 -0.03095403 -0.33911304] [ 0.16405358 -0.02082967 0.98623149 -0.88454336] [ 0. 0. 0. 1. ]] SLAMing on 72.51134618399999 meters Centerline goodness : 0.951495 Centerline is valid? [False, True] Translation: X:-0.18, Y:-0.34, Z:-0.89 [[ 0.93803691 -0.3050297 -0.1644495 -0.18375216] [ 0.30462492 0.95205174 -0.02830434 -0.33649406] [ 0.1651981 -0.0235449 0.98597932 -0.88657209] [ 0. 0. 0. 1. ]] SLAMing on 72.54134618399999 meters Centerline goodness : 0.949528 Centerline is valid? [True, False] Translation: X:-0.18, Y:-0.33, Z:-0.89 [[ 0.93858703 -0.3024278 -0.16610781 -0.17994189] [ 0.30240104 0.95282414 -0.0260723 -0.3336971 ] [ 0.16615652 -0.02576006 0.98576287 -0.88913314] [ 0. 0. 0. 1. ]] SLAMing on 72.57134618399999 meters Centerline goodness : 0.950416 Centerline is valid? [False, True] Translation: X:-0.18, Y:-0.33, Z:-0.89 [[ 0.93934407 -0.29901324 -0.16799942 -0.17559115] [ 0.29946142 0.95382466 -0.02326732 -0.3311165 ] [ 0.16719923 -0.02845332 0.98551247 -0.89202726] [ 0. 0. 0. 1. ]] SLAMing on 72.601346184 meters Centerline goodness : 0.948651 Centerline is valid? [True, False] Translation: X:-0.17, Y:-0.32, Z:-0.90 [[ 0.94054554 -0.29394456 -0.17020779 -0.17122451] [ 0.29482103 0.95532854 -0.02068664 -0.32440488] [ 0.16868508 -0.03072411 0.98519103 -0.89618553] [ 0. 0. 0. 1. ]] SLAMing on 72.631346184 meters Centerline goodness : 0.947675 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.32, Z:-0.90 [[ 0.94182438 -0.29624536 -0.15876249 -0.16716252] [ 0.29733876 0.95461388 -0.01737843 -0.31775787] [ 0.15670516 -0.03083881 0.98716385 -0.90364364] [ 0. 0. 0. 1. ]] SLAMing on 72.661346184 meters Centerline goodness : 0.946361 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.32, Z:-0.91 [[ 0.94297651 -0.2920202 -0.15974824 -0.16585244] [ 0.29351836 0.95584083 -0.01467252 -0.3158014 ] [ 0.15697856 -0.03305319 0.98704874 -0.90565647] [ 0. 0. 0. 1. ]] SLAMing on 72.691346184 meters Centerline goodness : 0.946056 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.31, Z:-0.91 [[ 0.94414121 -0.28775684 -0.16060314 -0.1650334 ] [ 0.28968453 0.95704949 -0.0117958 -0.31445444] [ 0.15709948 -0.03538734 0.98694857 -0.90729839] [ 0. 0. 0. 1. ]] SLAMing on 72.721346184 meters Centerline goodness : 0.946783 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.31, Z:-0.91 [[ 0.94573591 -0.2818874 -0.16162634 -0.16615855] [ 0.28441054 0.95867089 -0.0077957 -0.31304865] [ 0.15714398 -0.03859557 0.98682124 -0.90739591] [ 0. 0. 0. 1. ]] SLAMing on 72.751346184 meters Centerline goodness : 0.947260 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.31, Z:-0.91 [[ 0.94658462 -0.28522526 -0.1504131 -0.16368828] [ 0.28725806 0.95781548 -0.00850396 -0.30668791] [ 0.14649354 -0.03515766 0.98858666 -0.90795922] [ 0. 0. 0. 1. ]] SLAMing on 72.781346184 meters Centerline goodness : 0.948058 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.30, Z:-0.91 [[ 0.94722543 -0.28109368 -0.1541114 -0.15952175] [ 0.28416468 0.95877299 -0.00218685 -0.30447689] [ 0.14837256 -0.04172158 0.98805106 -0.9077266 ] [ 0. 0. 0. 1. ]] SLAMing on 72.811346184 meters Centerline goodness : 0.945469 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.30, Z:-0.91 [[ 0.94709249 -0.28144049 -0.15429539 -0.15802448] [ 0.28447355 0.95868058 -0.0025196 -0.30377732] [ 0.14862911 -0.04150666 0.98802155 -0.90880757] [ 0. 0. 0. 1. ]] SLAMing on 72.841346184 meters Centerline goodness : 0.944317 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.30, Z:-0.91 [[ 0.94677108 -0.2825475 -0.15424472 -0.1551643 ] [ 0.28542158 0.95839511 -0.00365168 -0.3029686 ] [ 0.14885916 -0.04056747 0.98802593 -0.91134079] [ 0. 0. 0. 1. ]] SLAMing on 72.87134618399999 meters Centerline goodness : 0.943911 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.30, Z:-0.91 [[ 0.94653298 -0.28326139 -0.15439657 -0.15189163] [ 0.28603596 0.95820873 -0.00441117 -0.30251258] [ 0.14919366 -0.03998765 0.98799911 -0.91396285] [ 0. 0. 0. 1. ]] SLAMing on 72.90134618399999 meters Centerline goodness : 0.943162 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.30, Z:-0.92 [[ 0.94633258 -0.28392369 -0.15440849 -0.15010165] [ 0.28661015 0.95803398 -0.00505166 -0.30168602] [ 0.14936287 -0.03947449 0.98799418 -0.91555698] [ 0. 0. 0. 1. ]] SLAMing on 72.93134618399999 meters Centerline goodness : 0.943956 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.30, Z:-0.92 [[ 0.94638907 -0.28372263 -0.15443184 -0.15025246] [ 0.28635739 0.95810775 -0.00538327 -0.29998 ] [ 0.1494897 -0.03912803 0.98798878 -0.91580261] [ 0. 0. 0. 1. ]] SLAMing on 72.96134618399999 meters Centerline goodness : 0.943614 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.30, Z:-0.92 [[ 0.94670196 -0.28257069 -0.15462601 -0.15035671] [ 0.28529773 0.95842727 -0.00473098 -0.29982822] [ 0.14953462 -0.03963562 0.98796175 -0.91584693] [ 0. 0. 0. 1. ]] SLAMing on 72.991346184 meters Centerline goodness : 0.941972 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.30, Z:-0.92 [[ 0.94703499 -0.28145072 -0.15462926 -0.15145424] [ 0.28426014 0.95873844 -0.00409581 -0.30015046] [ 0.14940179 -0.04007606 0.98796408 -0.91511176] [ 0. 0. 0. 1. ]] SLAMing on 73.021346184 meters Centerline goodness : 0.943638 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.30, Z:-0.92 [[ 0.94790268 -0.28370995 -0.14487641 -0.14738924] [ 0.28708409 0.95790214 0.00249462 -0.29763994] [ 0.13806967 -0.04395637 0.98944661 -0.91973397] [ 0. 0. 0. 1. ]] SLAMing on 73.051346184 meters Centerline goodness : 0.940767 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.30, Z:-0.92 [[ 0.94800173 -0.28319711 -0.14523125 -0.14694018] [ 0.28671817 0.95800869 0.00347051 -0.29826739] [ 0.13814996 -0.04493048 0.98939165 -0.91952117] [ 0. 0. 0. 1. ]] SLAMing on 73.081346184 meters Centerline goodness : 0.940918 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.30, Z:-0.92 [[ 0.94793899 -0.28314191 -0.14574745 -0.14473067] [ 0.28674223 0.95799995 0.00387111 -0.29822255] [ 0.13852998 -0.04546153 0.98931425 -0.92066017] [ 0. 0. 0. 1. ]] SLAMing on 73.111346184 meters Centerline goodness : 0.938787 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.30, Z:-0.92 [[ 9.46870121e-01 -2.87265073e-01 -1.44622793e-01 -1.43147346e-01] [ 2.90255550e-01 9.56949069e-01 -4.40713787e-04 -2.97944250e-01] [ 1.38523249e-01 -4.15602695e-02 9.89486763e-01 -9.22419504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.141346184 meters Centerline goodness : 0.938787 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.30, Z:-0.92 [[ 9.46870121e-01 -2.87265073e-01 -1.44622793e-01 -1.43147346e-01] [ 2.90255550e-01 9.56949069e-01 -4.40713787e-04 -2.97944250e-01] [ 1.38523249e-01 -4.15602695e-02 9.89486763e-01 -9.22419504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.171346184 meters Centerline goodness : 0.936542 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.30, Z:-0.92 [[ 9.46306541e-01 -2.88839628e-01 -1.45174377e-01 -1.38906976e-01] [ 2.91817482e-01 9.56473674e-01 -8.17691801e-04 -2.98276918e-01] [ 1.39091651e-01 -4.15906340e-02 9.89405747e-01 -9.24676843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.201346184 meters Centerline goodness : 0.932948 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.30, Z:-0.93 [[ 0.94562867 -0.29136164 -0.14455037 -0.13658115] [ 0.29397334 0.95580746 -0.00343138 -0.29872164] [ 0.13916209 -0.03924914 0.98949149 -0.92660154] [ 0. 0. 0. 1. ]] SLAMing on 73.231346184 meters Centerline goodness : 0.934893 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.30, Z:-0.93 [[ 0.94519416 -0.29316039 -0.14375319 -0.1358034 ] [ 0.29547174 0.95533574 -0.00548462 -0.30033113] [ 0.13894043 -0.03729098 0.98959837 -0.92740359] [ 0. 0. 0. 1. ]] SLAMing on 73.26134618399999 meters Centerline goodness : 0.936549 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.30, Z:-0.93 [[ 0.94511275 -0.2925536 -0.14551383 -0.13374146] [ 0.29545111 0.95535621 -0.00177499 -0.30349718] [ 0.13953682 -0.04131466 0.98935463 -0.92556888] [ 0. 0. 0. 1. ]] SLAMing on 73.29134618399999 meters Centerline goodness : 0.936534 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.30, Z:-0.92 [[ 0.94524519 -0.29114419 -0.14746723 -0.132209 ] [ 0.2946727 0.95559575 0.00218224 -0.30497659] [ 0.14028371 -0.04551732 0.98906453 -0.92367242] [ 0. 0. 0. 1. ]] SLAMing on 73.32134618399999 meters Centerline goodness : 0.937348 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.31, Z:-0.92 [[ 0.94520811 -0.29084805 -0.14828702 -0.13070367] [ 0.29461742 0.9556084 0.00362771 -0.30643105] [ 0.14064921 -0.04711688 0.98893771 -0.92327261] [ 0. 0. 0. 1. ]] SLAMing on 73.351346184 meters Centerline goodness : 0.938381 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.31, Z:-0.93 [[ 0.94511195 -0.29189703 -0.14683165 -0.12931095] [ 0.29536963 0.95538109 0.00193732 -0.31075835] [ 0.13971468 -0.04520059 0.9891596 -0.92563744] [ 0. 0. 0. 1. ]] SLAMing on 73.381346184 meters Centerline goodness : 0.937138 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.31, Z:-0.92 [[ 0.94486314 -0.29280971 -0.14661555 -0.12930862] [ 0.29622633 0.95511653 0.00154104 -0.31282315] [ 0.13958371 -0.04488746 0.98919235 -0.92496101] [ 0. 0. 0. 1. ]] SLAMing on 73.411346184 meters Centerline goodness : 0.935340 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.31, Z:-0.93 [[ 0.94463649 -0.2930336 -0.14762524 -0.12659884] [ 0.29665323 0.95498165 0.00262665 -0.31330998] [ 0.1402097 -0.04627474 0.98903988 -0.92534333] [ 0. 0. 0. 1. ]] SLAMing on 73.441346184 meters Centerline goodness : 0.934417 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.31, Z:-0.93 [[ 0.94399206 -0.29464048 -0.14854619 -0.1226455 ] [ 0.2982698 0.95447892 0.00226322 -0.31257048] [ 0.14111737 -0.04644331 0.98890288 -0.92693855] [ 0. 0. 0. 1. ]] SLAMing on 73.471346184 meters Centerline goodness : 0.933978 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.31, Z:-0.93 [[ 0.94389717 -0.29485382 -0.14872577 -0.11921776] [ 0.2984488 0.95442366 0.00194667 -0.3129395 ] [ 0.14137341 -0.04622448 0.98887656 -0.92975538] [ 0. 0. 0. 1. ]] SLAMing on 73.501346184 meters Centerline goodness : 0.933913 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.31, Z:-0.93 [[ 0.94388096 -0.29468672 -0.14915923 -0.1155474 ] [ 0.29835145 0.9544533 0.00230317 -0.31394215] [ 0.14168681 -0.04667579 0.98881051 -0.93227245] [ 0. 0. 0. 1. ]] SLAMing on 73.531346184 meters Centerline goodness : 0.935193 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.32, Z:-0.93 [[ 0.94365454 -0.29493121 -0.15010562 -0.1129007 ] [ 0.2988743 0.95428451 0.00390264 -0.31650733] [ 0.14209246 -0.04854545 0.98866226 -0.93222849] [ 0. 0. 0. 1. ]] SLAMing on 73.561346184 meters Centerline goodness : 0.936587 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.32, Z:-0.93 [[ 0.94347865 -0.2948429 -0.15137934 -0.11100861] [ 0.29911841 0.95419857 0.00576802 -0.31755724] [ 0.14274529 -0.05072235 0.98845891 -0.93127192] [ 0. 0. 0. 1. ]] SLAMing on 73.591346184 meters Centerline goodness : 0.938528 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.32, Z:-0.93 [[ 0.94341884 -0.29433198 -0.15274026 -0.10942057] [ 0.29899149 0.95422257 0.00796114 -0.31882824] [ 0.14340498 -0.05317873 0.9882343 -0.92997377] [ 0. 0. 0. 1. ]] SLAMing on 73.62134618399999 meters Centerline goodness : 0.938084 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.32, Z:-0.93 [[ 0.94364097 -0.29380678 -0.15237877 -0.11221278] [ 0.29863968 0.95432026 0.00933775 -0.32237574] [ 0.14267465 -0.05431783 0.98827806 -0.9270948 ] [ 0. 0. 0. 1. ]] SLAMing on 73.65134618399999 meters Centerline goodness : 0.937032 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.32, Z:-0.93 [[ 0.94370024 -0.29342075 -0.15275513 -0.1097826 ] [ 0.29832295 0.95441568 0.00970227 -0.32297848] [ 0.14294504 -0.0547264 0.98821644 -0.92864339] [ 0. 0. 0. 1. ]] SLAMing on 73.68134618399999 meters Centerline goodness : 0.935275 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.32, Z:-0.93 [[ 0.94339975 -0.29456644 -0.15240578 -0.10781057] [ 0.29925524 0.95413725 0.00827071 -0.32310114] [ 0.14297976 -0.05341081 0.9882834 -0.93057775] [ 0. 0. 0. 1. ]] SLAMing on 73.71134618399999 meters Centerline goodness : 0.932868 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.32, Z:-0.93 [[ 0.94225142 -0.29890116 -0.15106407 -0.10402948] [ 0.30285922 0.95302937 0.00336242 -0.32243861] [ 0.14296347 -0.0489194 0.98851825 -0.93489183] [ 0. 0. 0. 1. ]] SLAMing on 73.741346184 meters Centerline goodness : 0.932048 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.32, Z:-0.94 [[ 0.94182419 -0.29970232 -0.15213717 -0.100349 ] [ 0.30382274 0.95272 0.00404382 -0.32255201] [ 0.14373218 -0.0500313 0.98835112 -0.93583383] [ 0. 0. 0. 1. ]] SLAMing on 73.771346184 meters Centerline goodness : 0.931561 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.32, Z:-0.94 [[ 0.94172283 -0.29872138 -0.15467273 -0.09629857] [ 0.30354799 0.95278233 0.00802743 -0.3227268 ] [ 0.14497148 -0.05451021 0.98793315 -0.93538491] [ 0. 0. 0. 1. ]] SLAMing on 73.801346184 meters Centerline goodness : 0.932258 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.32, Z:-0.93 [[ 0.94189155 -0.29667688 -0.15755362 -0.09307141] [ 0.30239378 0.95309329 0.0130838 -0.32283042] [ 0.14628164 -0.05996675 0.98742375 -0.93389505] [ 0. 0. 0. 1. ]] SLAMing on 73.831346184 meters Centerline goodness : 0.927320 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.32, Z:-0.93 [[ 0.94221984 -0.29462498 -0.15942992 -0.09233722] [ 0.30115241 0.95340798 0.0179011 -0.32420471] [ 0.14672764 -0.06487948 0.98704694 -0.93164697] [ 0. 0. 0. 1. ]] SLAMing on 73.861346184 meters Centerline goodness : 0.929874 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:-0.93 [[ 0.94229646 -0.29419022 -0.1597795 -0.09121935] [ 0.3008458 0.95349061 0.01864014 -0.32512699] [ 0.1468645 -0.06563353 0.98697673 -0.93197357] [ 0. 0. 0. 1. ]] SLAMing on 73.891346184 meters Centerline goodness : 0.928669 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:-0.93 [[ 0.9424085 -0.29354243 -0.16030929 -0.08924522] [ 0.30033843 0.95363552 0.01939378 -0.32543736] [ 0.14718373 -0.0664239 0.98687629 -0.93299807] [ 0. 0. 0. 1. ]] SLAMing on 73.921346184 meters Centerline goodness : 0.926692 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.32, Z:-0.93 [[ 0.94228331 -0.29356459 -0.16100308 -0.08713574] [ 0.30047812 0.9535819 0.01986078 -0.32494564] [ 0.14769921 -0.06709238 0.98675405 -0.933723 ] [ 0. 0. 0. 1. ]] SLAMing on 73.951346184 meters Centerline goodness : 0.924530 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.32, Z:-0.94 [[ 0.94148553 -0.29563581 -0.16187795 -0.08300133] [ 0.30245396 0.95298133 0.01865989 -0.32234187] [ 0.14875014 -0.06652864 0.98663435 -0.93577116] [ 0. 0. 0. 1. ]] SLAMing on 73.981346184 meters Centerline goodness : 0.920628 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.32, Z:-0.94 [[ 0.94097778 -0.29659074 -0.16307896 -0.07876778] [ 0.3035034 0.95264757 0.01866276 -0.32056537] [ 0.14982158 -0.06705626 0.98643649 -0.93743558] [ 0. 0. 0. 1. ]] SLAMing on 74.01134618399999 meters Centerline goodness : 0.920663 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.32, Z:-0.94 [[ 0.94057626 -0.29756306 -0.16362311 -0.07699256] [ 0.30447233 0.95234509 0.01831484 -0.31909164] [ 0.15037585 -0.06704521 0.9863529 -0.93797362] [ 0. 0. 0. 1. ]] SLAMing on 74.04134618399999 meters Centerline goodness : 0.917651 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.32, Z:-0.94 [[ 0.93999557 -0.29888528 -0.16454764 -0.07540429] [ 0.30583648 0.95191269 0.01806312 -0.31658312] [ 0.15123619 -0.06730392 0.98620373 -0.93775095] [ 0. 0. 0. 1. ]] SLAMing on 74.07134618399999 meters Centerline goodness : 0.917578 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.32, Z:-0.94 [[ 0.93987703 -0.29879509 -0.16538642 -0.07329112] [ 0.30590005 0.95188013 0.01869154 -0.31582861] [ 0.15184311 -0.06815946 0.9860517 -0.93830846] [ 0. 0. 0. 1. ]] SLAMing on 74.101346184 meters Centerline goodness : 0.916800 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.31, Z:-0.94 [[ 0.93962807 -0.29901801 -0.16639506 -0.07126803] [ 0.30629678 0.95173963 0.0193381 -0.31445515] [ 0.15258234 -0.06913689 0.98586953 -0.93844215] [ 0. 0. 0. 1. ]] SLAMing on 74.131346184 meters Centerline goodness : 0.919241 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.31, Z:-0.94 [[ 0.93945264 -0.29895039 -0.16750342 -0.06883558] [ 0.30645008 0.9516712 0.02025549 -0.31313624] [ 0.1533528 -0.07036051 0.98566339 -0.93893659] [ 0. 0. 0. 1. ]] SLAMing on 74.161346184 meters Centerline goodness : 0.915491 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.31, Z:-0.94 [[ 0.93929316 -0.29844611 -0.16928759 -0.06553225] [ 0.30635901 0.95165939 0.02210367 -0.31075672] [ 0.15450737 -0.07262461 0.9853188 -0.93970505] [ 0. 0. 0. 1. ]] SLAMing on 74.191346184 meters Centerline goodness : 0.914356 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.31, Z:-0.94 [[ 0.93911895 -0.29847716 -0.17019691 -0.0638717 ] [ 0.30656464 0.95157728 0.02277705 -0.30908823] [ 0.15515708 -0.07356672 0.9851468 -0.93992596] [ 0. 0. 0. 1. ]] SLAMing on 74.221346184 meters Centerline goodness : 0.916714 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.30, Z:-0.94 [[ 0.93849452 -0.30415221 -0.16346092 -0.05611577] [ 0.31250035 0.94952207 0.027411 -0.30388635] [ 0.14687264 -0.07680667 0.98616893 -0.94461629] [ 0. 0. 0. 1. ]] SLAMing on 74.251346184 meters Centerline goodness : 0.914749 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.30, Z:-0.94 [[ 0.93775123 -0.30597365 -0.16432515 -0.05466077] [ 0.31439701 0.94889858 0.02731302 -0.30272596] [ 0.14757084 -0.07727616 0.98602801 -0.94369657] [ 0. 0. 0. 1. ]] SLAMing on 74.281346184 meters Centerline goodness : 0.913711 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.30, Z:-0.94 [[ 0.935701 -0.31189891 -0.16487181 -0.05049747] [ 0.31996839 0.94711919 0.02419634 -0.30103978] [ 0.14860644 -0.0753943 0.98601817 -0.94400223] [ 0. 0. 0. 1. ]] SLAMing on 74.311346184 meters Centerline goodness : 0.913462 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.30, Z:-0.94 [[ 0.93498672 -0.31354585 -0.1657976 -0.04680509] [ 0.32171063 0.94652829 0.0242172 -0.30061465] [ 0.14933892 -0.07598161 0.98586241 -0.94498277] [ 0. 0. 0. 1. ]] SLAMing on 74.341346184 meters Centerline goodness : 0.912038 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.30, Z:-0.94 [[ 0.93415892 -0.31521026 -0.16730092 -0.04332947] [ 0.32358006 0.94587961 0.02465166 -0.29918069] [ 0.15047607 -0.07716381 0.98559764 -0.94495892] [ 0. 0. 0. 1. ]] SLAMing on 74.37134618399999 meters Centerline goodness : 0.909725 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.30, Z:-0.94 [[ 0.93404248 -0.31536487 -0.16765932 -0.04367338] [ 0.32380656 0.94579499 0.02492298 -0.29827319] [ 0.15071151 -0.07756831 0.98552991 -0.94406823] [ 0. 0. 0. 1. ]] SLAMing on 74.40134618399999 meters Centerline goodness : 0.909875 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.30, Z:-0.94 [[ 0.93445301 -0.31293131 -0.16991633 -0.04046582] [ 0.32207289 0.94628638 0.02848072 -0.29706467] [ 0.151877 -0.08133934 0.98504685 -0.94453859] [ 0. 0. 0. 1. ]] SLAMing on 74.43134618399999 meters Centerline goodness : 0.910152 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.30, Z:-0.94 [[ 0.93466772 -0.31198562 -0.17047356 -0.04092127] [ 0.32130091 0.94652127 0.0293803 -0.29550379] [ 0.15219062 -0.08223413 0.98492414 -0.94396101] [ 0. 0. 0. 1. ]] SLAMing on 74.46134618399999 meters Centerline goodness : 0.909085 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.29, Z:-0.94 [[ 0.93463525 -0.31109937 -0.1722618 -0.03979531] [ 0.32083203 0.94662354 0.03115569 -0.29092807] [ 0.15337456 -0.08438631 0.98455838 -0.94358359] [ 0. 0. 0. 1. ]] SLAMing on 74.491346184 meters Centerline goodness : 0.907621 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.29, Z:-0.95 [[ 0.93416932 -0.31235063 -0.17252468 -0.03775596] [ 0.32195302 0.94627794 0.03007174 -0.28837098] [ 0.15386338 -0.08363694 0.98454605 -0.94512461] [ 0. 0. 0. 1. ]] SLAMing on 74.521346184 meters Centerline goodness : 0.905205 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.29, Z:-0.95 [[ 0.93341702 -0.31409121 -0.17343406 -0.03380398] [ 0.32371609 0.94569206 0.02957058 -0.28696557] [ 0.15472735 -0.08374508 0.98440145 -0.94665484] [ 0. 0. 0. 1. ]] SLAMing on 74.551346184 meters Centerline goodness : 0.906271 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.29, Z:-0.95 [[ 0.93247646 -0.31674505 -0.17366702 -0.03147868] [ 0.32624306 0.94485877 0.02841438 -0.28614867] [ 0.15509069 -0.0831534 0.98439443 -0.94731561] [ 0. 0. 0. 1. ]] SLAMing on 74.581346184 meters Centerline goodness : 0.902254 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.28, Z:-0.95 [[ 0.93056973 -0.32380853 -0.17084501 -0.01906815] [ 0.33391926 0.94201016 0.03338833 -0.27978089] [ 0.15012631 -0.0881186 0.98473205 -0.95241336] [ 0. 0. 0. 1. ]] SLAMing on 74.611346184 meters Centerline goodness : 0.902012 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.28, Z:-0.95 [[ 0.93018544 -0.32327387 -0.17392256 -0.01524823] [ 0.33421093 0.94177352 0.03695534 -0.27734295] [ 0.15184897 -0.09250214 0.98406567 -0.95140701] [ 0. 0. 0. 1. ]] SLAMing on 74.641346184 meters Centerline goodness : 0.897370 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.27, Z:-0.95 [[ 0.93018069 -0.32164546 -0.1769409 -0.01105601] [ 0.33341795 0.94190562 0.0405744 -0.27443757] [ 0.15361106 -0.0967368 0.98338478 -0.95154301] [ 0. 0. 0. 1. ]] SLAMing on 74.671346184 meters Centerline goodness : 0.893020 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.27, Z:-0.95 [[ 0.93071846 -0.31919312 -0.17854666 -0.00854693] [ 0.33137507 0.94254801 0.04235342 -0.27019894] [ 0.15476988 -0.09858502 0.98301947 -0.95363398] [ 0. 0. 0. 1. ]] SLAMing on 74.701346184 meters Centerline goodness : 0.890088 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.27, Z:-0.96 [[ 0.93115069 -0.31799666 -0.17842791 -0.00751031] [ 0.33005871 0.943036 0.04176532 -0.26838671] [ 0.15498271 -0.0977815 0.98306619 -0.95595052] [ 0. 0. 0. 1. ]] SLAMing on 74.731346184 meters Centerline goodness : 0.888446 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.27, Z:-0.96 [[ 0.9320597 -0.31481254 -0.17932589 -0.0053165 ] [ 0.32727122 0.94390754 0.04395565 -0.26741873] [ 0.15542927 -0.09965749 0.98280727 -0.95829691] [ 0. 0. 0. 1. ]] SLAMing on 74.76134618399999 meters Centerline goodness : 0.884612 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.26, Z:-0.96 [[ 0.93317981 -0.31068585 -0.18069242 -0.00510641] [ 0.32366396 0.94502061 0.04666568 -0.26359905] [ 0.15625969 -0.10203109 0.98243196 -0.95935041] [ 0. 0. 0. 1. ]] SLAMing on 74.79134618399999 meters Centerline goodness : 0.880116 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.26, Z:-0.96 [[ 0.93310321 -0.31064375 -0.18115976 -0.00681917] [ 0.32364944 0.9450321 0.04653359 -0.260585 ] [ 0.15674642 -0.1020529 0.98235216 -0.95779057] [ 0. 0. 0. 1. ]] SLAMing on 74.82134618399999 meters Centerline goodness : 0.879345 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.26, Z:-0.96 [[ 0.93349173 -0.30834628 -0.18307312 -0.00618187] [ 0.32204882 0.94541284 0.04979088 -0.25890246] [ 0.15772685 -0.10543785 0.98183761 -0.95657927] [ 0. 0. 0. 1. ]] SLAMing on 74.851346184 meters Centerline goodness : 0.877473 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.26, Z:-0.96 [[ 0.93398644 -0.30596484 -0.18453956 -0.00634531] [ 0.32017263 0.94592471 0.05211453 -0.2559184 ] [ 0.15861531 -0.10775878 0.98144242 -0.95589022] [ 0. 0. 0. 1. ]] SLAMing on 74.881346184 meters Centerline goodness : 0.876671 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.26, Z:-0.96 [[ 0.9339812 -0.30635121 -0.18392406 -0.00611001] [ 0.32028301 0.94595907 0.05079598 -0.25562608] [ 0.15842322 -0.10635024 0.98162707 -0.95712418] [ 0. 0. 0. 1. ]] SLAMing on 74.911346184 meters Centerline goodness : 0.876012 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.26, Z:-0.96 [[ 0.93383645 -0.30660295 -0.18423929 -0.00271064] [ 0.32049806 0.94591087 0.05033509 -0.25500312] [ 0.15884106 -0.10605308 0.9815917 -0.9597293 ] [ 0. 0. 0. 1. ]] SLAMing on 74.941346184 meters Centerline goodness : 0.876406 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.25, Z:-0.96 [[ 9.33356146e-01 -3.07773895e-01 -1.84720153e-01 -8.75741503e-04] [ 3.21589029e-01 9.45588579e-01 4.94240410e-02 -2.53016755e-01] [ 1.59457837e-01 -1.05534207e-01 9.81547619e-01 -9.60529541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.971346184 meters Centerline goodness : 0.872998 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.24, Z:-0.96 [[ 0.93171489 -0.31065083 -0.18815799 0.00161694] [ 0.32491095 0.94444316 0.04959831 -0.24411459] [ 0.16229677 -0.10734607 0.98088561 -0.95788863] [ 0. 0. 0. 1. ]] SLAMing on 75.001346184 meters Centerline goodness : 0.868957 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.24, Z:-0.96 [[ 0.93133608 -0.31093499 -0.18955878 0.00314993] [ 0.32541259 0.94425218 0.04994462 -0.23992683] [ 0.16346176 -0.10820004 0.98059829 -0.9579623 ] [ 0. 0. 0. 1. ]] SLAMing on 75.031346184 meters Centerline goodness : 0.869408 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.24, Z:-0.96 [[ 0.93129268 -0.31111995 -0.1894685 0.00278831] [ 0.3253837 0.94432675 0.04870765 -0.23739358] [ 0.16376625 -0.10701104 0.98067796 -0.95837261] [ 0. 0. 0. 1. ]] SLAMing on 75.061346184 meters Centerline goodness : 0.869408 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.24, Z:-0.96 [[ 0.93129268 -0.31111995 -0.1894685 0.00278831] [ 0.3253837 0.94432675 0.04870765 -0.23739358] [ 0.16376625 -0.10701104 0.98067796 -0.95837261] [ 0. 0. 0. 1. ]] SLAMing on 75.091346184 meters Centerline goodness : 0.866857 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.24, Z:-0.96 [[ 0.93172838 -0.31039017 -0.18852103 0.00354612] [ 0.3242312 0.94481666 0.04685742 -0.23575374] [ 0.16357373 -0.10478278 0.98095066 -0.96152251] [ 0. 0. 0. 1. ]] SLAMing on 75.12134618399999 meters Centerline goodness : 0.870211 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.23, Z:-0.96 [[ 0.93173182 -0.31009801 -0.18898424 0.00400983] [ 0.3240256 0.94487515 0.04709949 -0.23497989] [ 0.16396105 -0.10511982 0.98084994 -0.9614134 ] [ 0. 0. 0. 1. ]] SLAMing on 75.15134618399999 meters Centerline goodness : 0.869749 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.23, Z:-0.96 [[ 0.93153482 -0.31028249 -0.18965143 0.00192676] [ 0.32433169 0.9447563 0.04737598 -0.23306768] [ 0.16447445 -0.10564234 0.98070783 -0.95863826] [ 0. 0. 0. 1. ]] SLAMing on 75.18134618399999 meters Centerline goodness : 0.866116 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.23, Z:-0.95 [[ 0.93123446 -0.3090322 -0.19313588 0.00124286] [ 0.32409325 0.94464031 0.05116876 -0.22805551] [ 0.16663115 -0.11024415 0.97983687 -0.95398888] [ 0. 0. 0. 1. ]] SLAMing on 75.21134618399999 meters Centerline goodness : 0.865745 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.23, Z:-0.95 [[ 0.93074024 -0.31001585 -0.19394015 0.00280451] [ 0.3251156 0.94431028 0.0507735 -0.22648275] [ 0.16739908 -0.1103099 0.97969856 -0.95389208] [ 0. 0. 0. 1. ]] SLAMing on 75.241346184 meters Centerline goodness : 0.866265 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.22, Z:-0.95 [[ 0.92955902 -0.31426596 -0.19276135 0.00284727] [ 0.32852325 0.9433629 0.0462484 -0.22448827] [ 0.16730961 -0.1063172 0.98015516 -0.95432276] [ 0. 0. 0. 1. ]] SLAMing on 75.271346184 meters Centerline goodness : 0.866505 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.22, Z:-0.95 [[ 0.92715174 -0.31329516 -0.20551348 0.00336022] [ 0.32781697 0.9438945 0.03999004 -0.22427676] [ 0.18145436 -0.10444765 0.9778369 -0.94904316] [ 0. 0. 0. 1. ]] SLAMing on 75.301346184 meters Centerline goodness : 0.863286 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.22, Z:-0.95 [[ 0.92653313 -0.31442559 -0.20657423 0.00396967] [ 0.32891433 0.94355068 0.039083 -0.22012846] [ 0.18262456 -0.10415692 0.97765004 -0.94822532] [ 0. 0. 0. 1. ]] SLAMing on 75.331346184 meters Centerline goodness : 0.862471 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:-0.95 [[ 0.92689781 -0.31159545 -0.20920974 0.00593615] [ 0.32693081 0.94410016 0.0423218 -0.21717374] [ 0.18432767 -0.10762509 0.97695453 -0.94750385] [ 0. 0. 0. 1. ]] SLAMing on 75.361346184 meters Centerline goodness : 0.861342 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:-0.95 [[ 0.92749703 -0.30876275 -0.21074822 0.00543158] [ 0.32471429 0.94474419 0.04493385 -0.21423618] [ 0.18522926 -0.11010898 0.97650711 -0.94667565] [ 0. 0. 0. 1. ]] SLAMing on 75.391346184 meters Centerline goodness : 0.861092 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:-0.94 [[ 0.92817711 -0.30707305 -0.21022226 -0.00864008] [ 0.32040603 0.94674838 0.03174084 -0.20703827] [ 0.18928083 -0.0968176 0.97713823 -0.942018 ] [ 0. 0. 0. 1. ]] SLAMing on 75.421346184 meters Centerline goodness : 0.861907 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.21, Z:-0.94 [[ 0.93069282 -0.30545834 -0.20126122 -0.03378797] [ 0.31505326 0.94892714 0.0166952 -0.20728181] [ 0.18588255 -0.07894611 0.97939532 -0.94364734] [ 0. 0. 0. 1. ]] SLAMing on 75.451346184 meters Centerline goodness : 0.860154 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:-0.94 [[ 0.93113473 -0.30561835 -0.19896112 -0.03838128] [ 0.31497234 0.9489592 0.01639685 -0.20555191] [ 0.18379481 -0.07793493 0.9798702 -0.9440153 ] [ 0. 0. 0. 1. ]] SLAMing on 75.481346184 meters Centerline goodness : 0.859905 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.20, Z:-0.94 [[ 0.93171197 -0.30265159 -0.20078551 -0.03687178] [ 0.31270396 0.94964818 0.01961046 -0.20458919] [ 0.18474046 -0.08105772 0.97943893 -0.94383288] [ 0. 0. 0. 1. ]] SLAMing on 75.51134618399999 meters Centerline goodness : 0.859758 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:-0.94 [[ 0.93143215 -0.30342862 -0.200911 -0.05768966] [ 0.31155397 0.95018244 0.0093516 -0.20083984] [ 0.18806456 -0.071305 0.97956486 -0.94179809] [ 0. 0. 0. 1. ]] SLAMing on 75.54134618399999 meters Centerline goodness : 0.857833 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:-0.94 [[ 0.93226132 -0.30328917 -0.19724228 -0.06283184] [ 0.31110437 0.95033168 0.00915249 -0.20060504] [ 0.18466974 -0.06989545 0.98031205 -0.94396445] [ 0. 0. 0. 1. ]] SLAMing on 75.57134618399999 meters Centerline goodness : 0.858898 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.20, Z:-0.94 [[ 0.93151747 -0.30497564 -0.19815414 -0.08237953] [ 0.3108426 0.9504601 -0.00157384 -0.20000429] [ 0.18881759 -0.06012869 0.98016961 -0.94186215] [ 0. 0. 0. 1. ]] SLAMing on 75.601346184 meters Centerline goodness : 0.858873 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.20, Z:-0.94 [[ 0.93139242 -0.30560363 -0.19777408 -0.08350198] [ 0.31123569 0.95032881 -0.00273735 -0.19639263] [ 0.18878695 -0.05900481 0.98024381 -0.94181524] [ 0. 0. 0. 1. ]] SLAMing on 75.631346184 meters Centerline goodness : 0.856393 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.20, Z:-0.94 [[ 0.93100998 -0.3054551 -0.19979392 -0.10104819] [ 0.30942883 0.95084921 -0.01181423 -0.19542229] [ 0.19358261 -0.05082283 0.97976671 -0.94107478] [ 0. 0. 0. 1. ]] SLAMing on 75.661346184 meters Centerline goodness : 0.855883 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.19, Z:-0.94 [[ 0.93104912 -0.30505426 -0.20022344 -0.09949715] [ 0.30898625 0.95098957 -0.01209672 -0.1925869 ] [ 0.19410056 -0.05060365 0.97967558 -0.94190551] [ 0. 0. 0. 1. ]] SLAMing on 75.691346184 meters Centerline goodness : 0.854053 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.19, Z:-0.94 [[ 0.93113339 -0.30443829 -0.20076838 -0.09738368] [ 0.30837374 0.95118759 -0.01215749 -0.19012392] [ 0.1946696 -0.05059145 0.9795633 -0.94301024] [ 0. 0. 0. 1. ]] SLAMing on 75.721346184 meters Centerline goodness : 0.855579 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.19, Z:-0.95 [[ 0.93201687 -0.30116176 -0.20160888 -0.09503649] [ 0.30553457 0.95213024 -0.00983011 -0.18566421] [ 0.19491837 -0.05243666 0.97941678 -0.94587957] [ 0. 0. 0. 1. ]] SLAMing on 75.751346184 meters Centerline goodness : 0.857188 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.18, Z:-0.95 [[ 0.93198014 -0.30119701 -0.20172602 -0.09518409] [ 0.30540956 0.9521613 -0.01067038 -0.1818901 ] [ 0.19528959 -0.05166447 0.97938387 -0.94570515] [ 0. 0. 0. 1. ]] SLAMing on 75.781346184 meters Centerline goodness : 0.852675 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.18, Z:-0.94 [[ 0.93192561 -0.30151628 -0.20150084 -0.09637474] [ 0.30552839 0.9521117 -0.01164977 -0.17893278] [ 0.1953639 -0.05070751 0.97941906 -0.94496413] [ 0. 0. 0. 1. ]] SLAMing on 75.811346184 meters Centerline goodness : 0.853301 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.18, Z:-0.95 [[ 0.93333369 -0.30052561 -0.19639903 -0.1213277 ] [ 0.30336531 0.95273669 -0.01619515 -0.18276851] [ 0.19198362 -0.04446517 0.9803903 -0.94685434] [ 0. 0. 0. 1. ]] SLAMing on 75.841346184 meters Centerline goodness : 0.857146 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.18, Z:-0.95 [[ 0.93416197 -0.30105404 -0.19159299 -0.1313157 ] [ 0.30360077 0.95265403 -0.01663969 -0.18183354] [ 0.18753128 -0.04262362 0.9813334 -0.94715182] [ 0. 0. 0. 1. ]] SLAMing on 75.87134618399999 meters Centerline goodness : 0.854780 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.18, Z:-0.95 [[ 0.93406433 -0.30157331 -0.19125212 -0.13294514] [ 0.3039164 0.95253462 -0.01768113 -0.17896525] [ 0.18750642 -0.04160934 0.98138168 -0.94623688] [ 0. 0. 0. 1. ]] SLAMing on 75.90134618399999 meters Centerline goodness : 0.856647 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.18, Z:-0.95 [[ 0.93497259 -0.29878969 -0.1911831 -0.13748186] [ 0.30153784 0.95333219 -0.01525349 -0.17602875] [ 0.18681859 -0.04338735 0.98143586 -0.94531394] [ 0. 0. 0. 1. ]] SLAMing on 75.93134618399999 meters Centerline goodness : 0.855339 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.17, Z:-0.95 [[ 0.93492665 -0.29897301 -0.19112115 -0.13766972] [ 0.30161883 0.95329774 -0.01579527 -0.17425241] [ 0.18691772 -0.04287832 0.98143936 -0.94528307] [ 0. 0. 0. 1. ]] SLAMing on 75.96134618399999 meters Centerline goodness : 0.855531 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.17, Z:-0.95 [[ 0.9349611 -0.29875021 -0.19130096 -0.13658362] [ 0.30140043 0.95336688 -0.0157912 -0.17346002] [ 0.18709762 -0.04289403 0.98140439 -0.9460189 ] [ 0. 0. 0. 1. ]] SLAMing on 75.991346184 meters Centerline goodness : 0.852267 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.17, Z:-0.95 [[ 0.93498752 -0.29855932 -0.19146977 -0.13537648] [ 0.30120893 0.95342702 -0.01581419 -0.17248763] [ 0.18727393 -0.04288634 0.9813711 -0.94693534] [ 0. 0. 0. 1. ]] SLAMing on 76.021346184 meters Centerline goodness : 0.852493 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:-0.95 [[ 0.93502296 -0.29843835 -0.19148531 -0.13481565] [ 0.30100182 0.95348499 -0.01625649 -0.16875932] [ 0.18742993 -0.04243724 0.98136084 -0.9479857 ] [ 0. 0. 0. 1. ]] SLAMing on 76.051346184 meters Centerline goodness : 0.848908 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:-0.95 [[ 0.93496708 -0.29852254 -0.19162686 -0.13458191] [ 0.30099333 0.95347856 -0.01678255 -0.16617117] [ 0.18772207 -0.04198727 0.98132436 -0.94808645] [ 0. 0. 0. 1. ]] SLAMing on 76.081346184 meters Centerline goodness : 0.848457 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.16, Z:-0.95 [[ 0.93490184 -0.2987714 -0.19155733 -0.13468678] [ 0.30115389 0.95341944 -0.01725403 -0.16364912] [ 0.18778949 -0.04155741 0.98132976 -0.94852424] [ 0. 0. 0. 1. ]] SLAMing on 76.111346184 meters Centerline goodness : 0.847740 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.16, Z:-0.95 [[ 0.93483673 -0.29896805 -0.19156823 -0.13469403] [ 0.30127934 0.95337258 -0.01764879 -0.1621809 ] [ 0.18791232 -0.04121682 0.98132061 -0.9485805 ] [ 0. 0. 0. 1. ]] SLAMing on 76.141346184 meters Centerline goodness : 0.849991 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.16, Z:-0.95 [[ 0.93459952 -0.30018022 -0.19082865 -0.13705959] [ 0.30232374 0.95302601 -0.01848745 -0.16103879] [ 0.18741423 -0.04041367 0.98144926 -0.94817462] [ 0. 0. 0. 1. ]] SLAMing on 76.171346184 meters Centerline goodness : 0.852798 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.16, Z:-0.95 [[ 0.93442779 -0.30099179 -0.19039078 -0.13874122] [ 0.30299811 0.95279783 -0.01919456 -0.1602218 ] [ 0.18718132 -0.03975212 0.98152072 -0.94747089] [ 0. 0. 0. 1. ]] SLAMing on 76.201346184 meters Centerline goodness : 0.851587 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.16, Z:-0.95 [[ 0.93419368 -0.302141 -0.18971818 -0.14128999] [ 0.30394339 0.95247508 -0.02023935 -0.1588146 ] [ 0.18681697 -0.03875611 0.98162996 -0.94646699] [ 0. 0. 0. 1. ]] SLAMing on 76.231346184 meters Centerline goodness : 0.857262 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.16, Z:-0.94 [[ 0.9337793 -0.30436414 -0.18819856 -0.1469961 ] [ 0.30575281 0.95184897 -0.02233303 -0.1554083 ] [ 0.18593397 -0.03668812 0.98187705 -0.94434581] [ 0. 0. 0. 1. ]] SLAMing on 76.26134618399999 meters Centerline goodness : 0.856677 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:-0.94 [[ 0.93363332 -0.30507923 -0.18776444 -0.14864928] [ 0.30629076 0.9516539 -0.02325562 -0.15308264] [ 0.18578157 -0.03579829 0.98193874 -0.94380872] [ 0. 0. 0. 1. ]] SLAMing on 76.29134618399999 meters Centerline goodness : 0.856309 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:-0.94 [[ 0.93357676 -0.30531623 -0.18766044 -0.14873948] [ 0.30643244 0.95159575 -0.02376325 -0.1507194 ] [ 0.18583219 -0.03532043 0.98194647 -0.94421518] [ 0. 0. 0. 1. ]] SLAMing on 76.32134618399999 meters Centerline goodness : 0.854782 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.15, Z:-0.95 [[ 0.93306418 -0.30529676 -0.19022387 -0.16643565] [ 0.30492287 0.95184036 -0.03196848 -0.14959264] [ 0.19082263 -0.02817496 0.98122011 -0.9452522 ] [ 0. 0. 0. 1. ]] SLAMing on 76.351346184 meters Centerline goodness : 0.855776 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.15, Z:-0.95 [[ 0.93300203 -0.30564572 -0.18996817 -0.16690277] [ 0.30519907 0.95173926 -0.03234057 -0.14816278] [ 0.19068492 -0.02780429 0.98125745 -0.94557262] [ 0. 0. 0. 1. ]] SLAMing on 76.381346184 meters Centerline goodness : 0.853878 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.15, Z:-0.95 [[ 0.93437162 -0.30396701 -0.18588634 -0.19227995] [ 0.30303821 0.95236822 -0.03409727 -0.15364234] [ 0.18739668 -0.02447114 0.98197945 -0.95068306] [ 0. 0. 0. 1. ]] SLAMing on 76.411346184 meters Centerline goodness : 0.853501 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.15, Z:-0.95 [[ 0.93528204 -0.30094161 -0.18623009 -0.19427799] [ 0.30062685 0.95325028 -0.03061683 -0.15284927] [ 0.18673776 -0.0273504 0.982029 -0.95186243] [ 0. 0. 0. 1. ]] SLAMing on 76.441346184 meters Centerline goodness : 0.852904 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.15, Z:-0.95 [[ 0.93523674 -0.30107596 -0.18624046 -0.19420795] [ 0.30070035 0.95321628 -0.03095185 -0.1511152 ] [ 0.1868463 -0.02705526 0.98201653 -0.95209889] [ 0. 0. 0. 1. ]] SLAMing on 76.471346184 meters Centerline goodness : 0.849851 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.15, Z:-0.95 [[ 0.93520079 -0.30119406 -0.18623003 -0.19406618] [ 0.30076559 0.9531863 -0.03124003 -0.14985037] [ 0.18692123 -0.02679588 0.98200939 -0.9523353 ] [ 0. 0. 0. 1. ]] SLAMing on 76.501346184 meters Centerline goodness : 0.851236 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:-0.95 [[ 0.93508953 -0.30181923 -0.18577601 -0.19529605] [ 0.3012743 0.95300545 -0.03184978 -0.14826325] [ 0.18665842 -0.02618715 0.98207579 -0.95230767] [ 0. 0. 0. 1. ]] SLAMing on 76.531346184 meters Centerline goodness : 0.850590 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:-0.95 [[ 0.93495449 -0.30244146 -0.18544341 -0.19651901] [ 0.30180323 0.95282101 -0.03235644 -0.1474772 ] [ 0.18648031 -0.02571562 0.98212209 -0.95191835] [ 0. 0. 0. 1. ]] SLAMing on 76.561346184 meters Centerline goodness : 0.851804 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:-0.95 [[ 0.93481917 -0.30304959 -0.18513258 -0.19758949] [ 0.30232324 0.95263964 -0.03283864 -0.14663798] [ 0.18631637 -0.02527169 0.98216473 -0.95164303] [ 0. 0. 0. 1. ]] SLAMing on 76.591346184 meters Centerline goodness : 0.851647 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:-0.95 [[ 0.93450711 -0.30434144 -0.18458805 -0.19977674] [ 0.30342612 0.95225206 -0.03389112 -0.14417536] [ 0.18608882 -0.02433735 0.98223146 -0.95117018] [ 0. 0. 0. 1. ]] SLAMing on 76.62134618399999 meters Centerline goodness : 0.848710 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:-0.95 [[ 0.93437193 -0.30486584 -0.18440695 -0.20046987] [ 0.30384275 0.95209775 -0.0344886 -0.14236332] [ 0.18608784 -0.02380553 0.98224468 -0.95107967] [ 0. 0. 0. 1. ]] SLAMing on 76.65134618399999 meters Centerline goodness : 0.850231 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:-0.95 [[ 0.93428389 -0.30521118 -0.18428168 -0.2009984 ] [ 0.30409381 0.95199875 -0.03500462 -0.14101913] [ 0.18611973 -0.02333466 0.98224994 -0.95082936] [ 0. 0. 0. 1. ]] SLAMing on 76.68134618399999 meters Centerline goodness : 0.849018 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:-0.95 [[ 0.93429672 -0.30519499 -0.18424349 -0.2007953 ] [ 0.30403835 0.95200907 -0.03520536 -0.14042486] [ 0.18614597 -0.02312484 0.98224993 -0.95097353] [ 0. 0. 0. 1. ]] SLAMing on 76.71134618399999 meters Centerline goodness : 0.848516 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.14, Z:-0.95 [[ 0.9347283 -0.30336371 -0.18507692 -0.21922389] [ 0.30083426 0.95273809 -0.04229521 -0.14103951] [ 0.18916067 -0.01614295 0.98181345 -0.95189448] [ 0. 0. 0. 1. ]] SLAMing on 76.741346184 meters Centerline goodness : 0.849631 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.14, Z:-0.95 [[ 0.93589194 -0.2993535 -0.18572496 -0.22038764] [ 0.29752461 0.95394503 -0.03831419 -0.14095707] [ 0.18864089 -0.01939981 0.9818545 -0.9527911 ] [ 0. 0. 0. 1. ]] SLAMing on 76.771346184 meters Centerline goodness : 0.849999 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.14, Z:-0.95 [[ 0.93698711 -0.29551405 -0.18635077 -0.22213055] [ 0.29433342 0.95507552 -0.03462081 -0.14031612] [ 0.18821 -0.02241001 0.9818731 -0.95304504] [ 0. 0. 0. 1. ]] SLAMing on 76.801346184 meters Centerline goodness : 0.847981 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.14, Z:-0.95 [[ 0.93802896 -0.29179513 -0.18696865 -0.22386733] [ 0.29127253 0.95614129 -0.03088917 -0.13983916] [ 0.18778176 -0.02548389 0.98188013 -0.95347336] [ 0. 0. 0. 1. ]] SLAMing on 76.831346184 meters Centerline goodness : 0.844387 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.14, Z:-0.95 [[ 0.93806429 -0.29166018 -0.18700193 -0.22307081] [ 0.29120791 0.95617308 -0.03051239 -0.14135897] [ 0.18770546 -0.02583386 0.98188557 -0.95406927] [ 0. 0. 0. 1. ]] SLAMing on 76.861346184 meters Centerline goodness : 0.843496 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.15, Z:-0.95 [[ 0.93742089 -0.29284452 -0.1883724 -0.24238807] [ 0.29083301 0.955984 -0.0388684 -0.14505453] [ 0.1914634 -0.01834887 0.98132823 -0.95458495] [ 0. 0. 0. 1. ]] SLAMing on 76.891346184 meters Centerline goodness : 0.846168 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.15, Z:-0.95 [[ 0.93738718 -0.29296641 -0.18835062 -0.24219252] [ 0.29096839 0.9559452 -0.03880946 -0.14599244] [ 0.19142274 -0.01842459 0.98133474 -0.95467743] [ 0. 0. 0. 1. ]] SLAMing on 76.921346184 meters Centerline goodness : 0.847133 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.15, Z:-0.95 [[ 0.93831288 -0.28979477 -0.18864762 -0.24505105] [ 0.28839189 0.95685554 -0.03546244 -0.14581375] [ 0.19078535 -0.02112958 0.98140435 -0.95453997] [ 0. 0. 0. 1. ]] SLAMing on 76.951346184 meters Centerline goodness : 0.847133 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.15, Z:-0.95 [[ 0.93831288 -0.28979477 -0.18864762 -0.24505105] [ 0.28839189 0.95685554 -0.03546244 -0.14581375] [ 0.19078535 -0.02112958 0.98140435 -0.95453997] [ 0. 0. 0. 1. ]] SLAMing on 76.981346184 meters Centerline goodness : 0.844977 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:-0.95 [[ 0.93829241 -0.28977121 -0.18878559 -0.2449561 ] [ 0.28829787 0.9568699 -0.03583772 -0.1444072 ] [ 0.19102799 -0.02080022 0.98136418 -0.95417018] [ 0. 0. 0. 1. ]] SLAMing on 77.01134618399999 meters Centerline goodness : 0.841289 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.15, Z:-0.95 [[ 0.93796366 -0.28939296 -0.19098659 -0.26287052] [ 0.28629523 0.95711959 -0.04423949 -0.14575831] [ 0.1955996 -0.01318351 0.98059522 -0.95345496] [ 0. 0. 0. 1. ]] SLAMing on 77.04134618399999 meters Centerline goodness : 0.841556 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.15, Z:-0.95 [[ 0.93801038 -0.28903765 -0.19129498 -0.26160422] [ 0.28597255 0.95722429 -0.04406093 -0.1459098 ] [ 0.19584747 -0.01337551 0.98054315 -0.95386985] [ 0. 0. 0. 1. ]] SLAMing on 77.07134618399999 meters Centerline goodness : 0.845532 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.15, Z:-0.95 [[ 0.93798171 -0.28923507 -0.19113707 -0.26222659] [ 0.28607836 0.95717101 -0.04452909 -0.14519761] [ 0.19583024 -0.0129127 0.98055279 -0.95325215] [ 0. 0. 0. 1. ]] SLAMing on 77.101346184 meters Centerline goodness : 0.844346 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.15, Z:-0.95 [[ 0.93797379 -0.28931617 -0.19105318 -0.26239108] [ 0.28614152 0.95714782 -0.04462158 -0.14501816] [ 0.19577588 -0.01281437 0.98056494 -0.95325806] [ 0. 0. 0. 1. ]] SLAMing on 77.131346184 meters Centerline goodness : 0.841059 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.15, Z:-0.95 [[ 0.93798088 -0.289276 -0.19107922 -0.26197941] [ 0.28612861 0.95715814 -0.04448265 -0.14546268] [ 0.19576079 -0.01294935 0.98056618 -0.95358188] [ 0. 0. 0. 1. ]] SLAMing on 77.161346184 meters Centerline goodness : 0.842632 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.15, Z:-0.96 [[ 0.93812825 -0.28868863 -0.19124397 -0.26023855] [ 0.28571972 0.95732363 -0.04353966 -0.14684431] [ 0.19565178 -0.01379639 0.98057638 -0.95524857] [ 0. 0. 0. 1. ]] SLAMing on 77.191346184 meters Centerline goodness : 0.841661 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.15, Z:-0.96 [[ 0.93811601 -0.28872909 -0.19124296 -0.26038548] [ 0.28573851 0.95731289 -0.04365242 -0.1464126 ] [ 0.19568307 -0.01369444 0.98057157 -0.95506995] [ 0. 0. 0. 1. ]] SLAMing on 77.221346184 meters Centerline goodness : 0.842633 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.15, Z:-0.96 [[ 0.93898628 -0.28554666 -0.19174948 -0.26255196] [ 0.28323101 0.95821808 -0.03997895 -0.14794289] [ 0.19515367 -0.01676971 0.9806293 -0.95508822] [ 0. 0. 0. 1. ]] SLAMing on 77.251346184 meters Centerline goodness : 0.841472 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:-0.95 [[ 0.93878389 -0.28652776 -0.19127635 -0.26525244] [ 0.28404233 0.95793931 -0.04089289 -0.14707547] [ 0.19494808 -0.015941 0.98068401 -0.95330948] [ 0. 0. 0. 1. ]] SLAMing on 77.281346184 meters Centerline goodness : 0.842791 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:-0.95 [[ 0.93871534 -0.28692124 -0.19102279 -0.26584576] [ 0.28444361 0.95782109 -0.04087282 -0.14919352] [ 0.19469294 -0.01596727 0.98073427 -0.95300697] [ 0. 0. 0. 1. ]] SLAMing on 77.311346184 meters Centerline goodness : 0.842069 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:-0.95 [[ 0.93865608 -0.28731727 -0.1907185 -0.26624462] [ 0.28487585 0.95769976 -0.04070518 -0.15215254] [ 0.19434636 -0.01612293 0.98080046 -0.95294234] [ 0. 0. 0. 1. ]] SLAMing on 77.341346184 meters Centerline goodness : 0.843018 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:-0.96 [[ 0.94049461 -0.28549326 -0.18429185 -0.28584798] [ 0.28257011 0.95830436 -0.04250738 -0.16001192] [ 0.18874326 -0.01209741 0.98195195 -0.95983826] [ 0. 0. 0. 1. ]] SLAMing on 77.37134618399999 meters Centerline goodness : 0.841305 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.16, Z:-0.96 [[ 0.94046686 -0.28545594 -0.18449118 -0.28494955] [ 0.28256752 0.9583127 -0.04233627 -0.16035839] [ 0.18888539 -0.01231536 0.98192191 -0.96031008] [ 0. 0. 0. 1. ]] SLAMing on 77.40134618399999 meters Centerline goodness : 0.840373 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.16, Z:-0.96 [[ 0.94162559 -0.2804951 -0.18618205 -0.28246948] [ 0.27845707 0.95971402 -0.03755881 -0.15972543] [ 0.18921658 -0.01647738 0.98179712 -0.96284985] [ 0. 0. 0. 1. ]] SLAMing on 77.43134618399999 meters Centerline goodness : 0.839216 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.16, Z:-0.96 [[ 0.94170103 -0.27988925 -0.1867115 -0.28055119] [ 0.27785413 0.95988987 -0.03753029 -0.15805723] [ 0.1897268 -0.01653625 0.98169766 -0.96350086] [ 0. 0. 0. 1. ]] SLAMing on 77.46134618399999 meters Centerline goodness : 0.837754 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.16, Z:-0.96 [[ 0.94178888 -0.27943499 -0.18694863 -0.27921833] [ 0.27743769 0.96001889 -0.03731041 -0.15835139] [ 0.18990005 -0.01672806 0.98166091 -0.96402062] [ 0. 0. 0. 1. ]] SLAMing on 77.491346184 meters Centerline goodness : 0.837352 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.16, Z:-0.97 [[ 0.94213557 -0.2804747 -0.18361509 -0.28116679] [ 0.27822984 0.95974589 -0.03841847 -0.16341711] [ 0.18699924 -0.01489179 0.98224718 -0.96561233] [ 0. 0. 0. 1. ]] SLAMing on 77.521346184 meters Centerline goodness : 0.842462 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.16, Z:-0.96 [[ 0.94199527 -0.28121277 -0.18320557 -0.28310191] [ 0.27888392 0.95953665 -0.03889964 -0.16392848] [ 0.18673154 -0.01444981 0.98230471 -0.96446353] [ 0. 0. 0. 1. ]] SLAMing on 77.551346184 meters Centerline goodness : 0.840807 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:-0.96 [[ 0.94270095 -0.2788073 -0.18325229 -0.28752112] [ 0.27704515 0.96019421 -0.03567994 -0.16481951] [ 0.18590562 -0.01713364 0.98241821 -0.96355188] [ 0. 0. 0. 1. ]] SLAMing on 77.581346184 meters Centerline goodness : 0.844837 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:-0.96 [[ 0.94324832 -0.27711545 -0.18300174 -0.2946131 ] [ 0.2757664 0.96064767 -0.03330086 -0.16314851] [ 0.18502838 -0.01905475 0.98254843 -0.96111457] [ 0. 0. 0. 1. ]] SLAMing on 77.611346184 meters Centerline goodness : 0.842152 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:-0.96 [[ 0.94322684 -0.27718048 -0.18301394 -0.29483949] [ 0.27577765 0.96063423 -0.03359406 -0.16354924] [ 0.18512107 -0.01878434 0.98253618 -0.96033404] [ 0. 0. 0. 1. ]] SLAMing on 77.641346184 meters Centerline goodness : 0.841046 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.17, Z:-0.96 [[ 0.94331013 -0.27714895 -0.18263202 -0.29410661] [ 0.2757258 0.96064682 -0.03365959 -0.16628754] [ 0.18477359 -0.01860493 0.982605 -0.96058359] [ 0. 0. 0. 1. ]] SLAMing on 77.671346184 meters Centerline goodness : 0.840457 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.17, Z:-0.96 [[ 0.94339664 -0.27741364 -0.18178134 -0.29193527] [ 0.27586499 0.96058533 -0.03426845 -0.16899078] [ 0.18412302 -0.01781837 0.98274168 -0.96201834] [ 0. 0. 0. 1. ]] SLAMing on 77.701346184 meters Centerline goodness : 0.836779 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.17, Z:-0.96 [[ 0.94269544 -0.2796589 -0.18197857 -0.28603794] [ 0.27766982 0.95996955 -0.03685025 -0.1679466 ] [ 0.18499938 -0.0157914 0.98261176 -0.96464111] [ 0. 0. 0. 1. ]] SLAMing on 77.731346184 meters Centerline goodness : 0.839159 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.17, Z:-0.97 [[ 0.94267088 -0.27958136 -0.18222478 -0.285125 ] [ 0.27762924 0.95998826 -0.03666805 -0.16766172] [ 0.18518535 -0.01602503 0.98257294 -0.96522689] [ 0. 0. 0. 1. ]] SLAMing on 77.76134618399999 meters Centerline goodness : 0.837045 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:-0.97 [[ 0.94266826 -0.27937679 -0.18255182 -0.2841257 ] [ 0.27747852 0.96004235 -0.03639161 -0.16786324] [ 0.18542445 -0.016349 0.98252251 -0.96557905] [ 0. 0. 0. 1. ]] SLAMing on 77.79134618399999 meters Centerline goodness : 0.837411 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:-0.97 [[ 0.94370701 -0.27521814 -0.18349946 -0.28462605] [ 0.27407393 0.96117339 -0.03208108 -0.17083965] [ 0.18520409 -0.02001728 0.98249618 -0.9656371 ] [ 0. 0. 0. 1. ]] SLAMing on 77.82134618399999 meters Centerline goodness : 0.837597 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.17, Z:-0.97 [[ 0.94466762 -0.27138283 -0.18426734 -0.28592054] [ 0.27091641 0.9621898 -0.02819724 -0.17287217] [ 0.1849524 -0.02328403 0.98247161 -0.96528358] [ 0. 0. 0. 1. ]] SLAMing on 77.851346184 meters Centerline goodness : 0.838915 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.17, Z:-0.96 [[ 0.94560778 -0.26786165 -0.18459702 -0.28829275] [ 0.26802833 0.96309878 -0.02452671 -0.17428587] [ 0.18435492 -0.02628458 0.98250821 -0.96497063] [ 0. 0. 0. 1. ]] SLAMing on 77.881346184 meters Centerline goodness : 0.838760 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.17, Z:-0.96 [[ 0.94554329 -0.26821355 -0.18441631 -0.28952214] [ 0.26826468 0.96301686 -0.02515124 -0.17325099] [ 0.18434191 -0.0256908 0.98252636 -0.96389388] [ 0. 0. 0. 1. ]] SLAMing on 77.911346184 meters Centerline goodness : 0.840453 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.18, Z:-0.96 [[ 0.94562028 -0.26800127 -0.18433014 -0.28873783] [ 0.26810934 0.96306886 -0.02481442 -0.1751264 ] [ 0.18417291 -0.02595561 0.98255109 -0.96452144] [ 0. 0. 0. 1. ]] SLAMing on 77.941346184 meters Centerline goodness : 0.839085 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.18, Z:-0.97 [[ 0.94570309 -0.26747118 -0.18467496 -0.28665685] [ 0.26770516 0.9631984 -0.02414088 -0.17691716] [ 0.18433562 -0.02660833 0.98250312 -0.9656505 ] [ 0. 0. 0. 1. ]] SLAMing on 77.971346184 meters Centerline goodness : 0.834781 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.18, Z:-0.97 [[ 0.94568567 -0.2674399 -0.1848094 -0.28596031] [ 0.26769596 0.96320348 -0.02403994 -0.17735574] [ 0.1844383 -0.02673851 0.98248031 -0.96599374] [ 0. 0. 0. 1. ]] SLAMing on 78.001346184 meters Centerline goodness : 0.838522 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.18, Z:-0.96 [[ 0.94541192 -0.26874462 -0.18431667 -0.28898105] [ 0.26877393 0.96287081 -0.02530577 -0.17547309] [ 0.18427393 -0.02561513 0.98254108 -0.9641171 ] [ 0. 0. 0. 1. ]] SLAMing on 78.031346184 meters Centerline goodness : 0.834633 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.18, Z:-0.96 [[ 0.94525045 -0.26953927 -0.18398415 -0.29066764] [ 0.26946709 0.96266182 -0.02587871 -0.175191 ] [ 0.18408985 -0.02511581 0.98258848 -0.96318581] [ 0. 0. 0. 1. ]] SLAMing on 78.061346184 meters Centerline goodness : 0.838423 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.18, Z:-0.96 [[ 0.94519785 -0.26980458 -0.18386549 -0.29078032] [ 0.26974576 0.96258543 -0.02581697 -0.17631735] [ 0.18395177 -0.02519479 0.98261232 -0.96330713] [ 0. 0. 0. 1. ]] SLAMing on 78.091346184 meters Centerline goodness : 0.832279 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.18, Z:-0.97 [[ 0.94633928 -0.26995933 -0.17766241 -0.31022746] [ 0.26886693 0.96268914 -0.03066253 -0.18350148] [ 0.17931131 -0.01875039 0.98361368 -0.96917285] [ 0. 0. 0. 1. ]] SLAMing on 78.12134618399999 meters Centerline goodness : 0.833161 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.18, Z:-0.97 [[ 0.94627268 -0.27045455 -0.1772635 -0.31137324] [ 0.26930692 0.96255629 -0.03097055 -0.18349897] [ 0.17900223 -0.0184317 0.983676 -0.96892188] [ 0. 0. 0. 1. ]] SLAMing on 78.15134618399999 meters Centerline goodness : 0.833699 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.18, Z:-0.97 [[ 0.94709979 -0.26737712 -0.17751469 -0.31417989] [ 0.26680565 0.9633569 -0.02753584 -0.18430103] [ 0.17837245 -0.02128273 0.98373285 -0.96858843] [ 0. 0. 0. 1. ]] SLAMing on 78.18134618399999 meters Centerline goodness : 0.838391 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.18, Z:-0.97 [[ 0.94793766 -0.26421504 -0.17777687 -0.3173944 ] [ 0.26416351 0.96416926 -0.02439846 -0.18315139] [ 0.17785343 -0.02383394 0.98376832 -0.96787254] [ 0. 0. 0. 1. ]] SLAMing on 78.21134618399999 meters Centerline goodness : 0.833515 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.18, Z:-0.97 [[ 0.94792242 -0.26415057 -0.17795384 -0.31690986] [ 0.26408396 0.96418848 -0.02449978 -0.18330866] [ 0.17805267 -0.02377086 0.9837338 -0.96767887] [ 0. 0. 0. 1. ]] SLAMing on 78.241346184 meters Centerline goodness : 0.833561 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.18, Z:-0.97 [[ 0.94795338 -0.26405543 -0.1779301 -0.31638513] [ 0.26403818 0.96420822 -0.02421479 -0.18482039] [ 0.17795571 -0.02402585 0.98374515 -0.96802047] [ 0. 0. 0. 1. ]] SLAMing on 78.271346184 meters Centerline goodness : 0.833938 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.19, Z:-0.97 [[ 0.9476813 -0.26538157 -0.17740572 -0.31845733] [ 0.26528801 0.96385301 -0.02469107 -0.18683279] [ 0.17754559 -0.02366434 0.98382801 -0.96711419] [ 0. 0. 0. 1. ]] SLAMing on 78.301346184 meters Centerline goodness : 0.834223 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.19, Z:-0.97 [[ 0.94756417 -0.26590989 -0.17724015 -0.31926447] [ 0.2657623 0.9637139 -0.02501813 -0.18690917] [ 0.17746137 -0.02339746 0.98384959 -0.96665137] [ 0. 0. 0. 1. ]] SLAMing on 78.331346184 meters Centerline goodness : 0.833811 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.19, Z:-0.97 [[ 0.94755598 -0.2657949 -0.17745628 -0.318233 ] [ 0.26569423 0.96373892 -0.02477643 -0.18730258] [ 0.17760698 -0.02367205 0.98381675 -0.96727502] [ 0. 0. 0. 1. ]] SLAMing on 78.361346184 meters Centerline goodness : 0.832688 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.19, Z:-0.97 [[ 0.94763557 -0.26519262 -0.17793173 -0.31569522] [ 0.26521949 0.96388735 -0.02407888 -0.18825342] [ 0.17789168 -0.02437296 0.98374819 -0.96880543] [ 0. 0. 0. 1. ]] SLAMing on 78.391346184 meters Centerline goodness : 0.834246 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.19, Z:-0.97 [[ 0.94776727 -0.26438831 -0.17842654 -0.31236333] [ 0.26461049 0.96408121 -0.02299344 -0.19005465] [ 0.17809687 -0.02542111 0.98368454 -0.9711774 ] [ 0. 0. 0. 1. ]] SLAMing on 78.421346184 meters Centerline goodness : 0.833034 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.19, Z:-0.97 [[ 0.9477432 -0.26445704 -0.17845252 -0.31238784] [ 0.26467069 0.96406332 -0.02305086 -0.19053483] [ 0.17813549 -0.02538485 0.98367848 -0.97087262] [ 0. 0. 0. 1. ]] SLAMing on 78.451346184 meters Centerline goodness : 0.832273 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.19, Z:-0.97 [[ 0.94798482 -0.26489703 -0.17650592 -0.3167055 ] [ 0.26511624 0.96394735 -0.02277897 -0.19314673] [ 0.1761765 -0.02520047 0.98403596 -0.97047606] [ 0. 0. 0. 1. ]] SLAMing on 78.481346184 meters Centerline goodness : 0.832861 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.19, Z:-0.97 [[ 0.94797834 -0.2650244 -0.17634948 -0.31731047] [ 0.2652264 0.96391502 -0.02286438 -0.19427665] [ 0.17604553 -0.0250976 0.98406203 -0.96978146] [ 0. 0. 0. 1. ]] SLAMing on 78.51134618399999 meters Centerline goodness : 0.836335 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.19, Z:-0.97 [[ 0.94797722 -0.26498768 -0.17641066 -0.31751853] [ 0.26516956 0.96392786 -0.02298224 -0.19494995] [ 0.17613716 -0.0249921 0.98404832 -0.96897403] [ 0. 0. 0. 1. ]] SLAMing on 78.54134618399999 meters Centerline goodness : 0.837878 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.19, Z:-0.97 [[ 0.94795405 -0.26495869 -0.17657862 -0.31774321] [ 0.26508013 0.96394384 -0.02334096 -0.19460416] [ 0.17639627 -0.02468133 0.98400975 -0.96787724] [ 0. 0. 0. 1. ]] SLAMing on 78.57134618399999 meters Centerline goodness : 0.840017 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.20, Z:-0.97 [[ 0.94893096 -0.26089583 -0.17737926 -0.31856086] [ 0.26169956 0.96495696 -0.01927187 -0.19635879] [ 0.1761913 -0.0281324 0.98395386 -0.96781603] [ 0. 0. 0. 1. ]] SLAMing on 78.601346184 meters Centerline goodness : 0.839415 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.20, Z:-0.97 [[ 0.94997461 -0.25617737 -0.17866561 -0.31777705] [ 0.25769631 0.96610863 -0.0150573 -0.19669804] [ 0.17646773 -0.03173741 0.98379463 -0.96828753] [ 0. 0. 0. 1. ]] SLAMing on 78.631346184 meters Centerline goodness : 0.839389 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.20, Z:-0.97 [[ 0.95003712 -0.25560846 -0.17914742 -0.31586859] [ 0.25718002 0.96625019 -0.01479874 -0.19729209] [ 0.17688391 -0.03201379 0.98371093 -0.96869916] [ 0. 0. 0. 1. ]] SLAMing on 78.661346184 meters Centerline goodness : 0.840085 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.20, Z:-0.97 [[ 0.95014873 -0.25500963 -0.1794087 -0.3138194 ] [ 0.25667913 0.96639168 -0.01424589 -0.19981856] [ 0.17701191 -0.03251475 0.98367148 -0.96945844] [ 0. 0. 0. 1. ]] SLAMing on 78.691346184 meters Centerline goodness : 0.840902 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.20, Z:-0.97 [[ 0.95031543 -0.2553964 -0.17796985 -0.31400554] [ 0.25694563 0.96631426 -0.01468668 -0.2026445 ] [ 0.17572572 -0.03177159 0.98392634 -0.97042457] [ 0. 0. 0. 1. ]] SLAMing on 78.721346184 meters Centerline goodness : 0.842442 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.20, Z:-0.97 [[ 0.95119918 -0.25186119 -0.17828645 -0.31638263] [ 0.25398512 0.96714337 -0.01119232 -0.20286314] [ 0.17524746 -0.03463598 0.98391497 -0.96998202] [ 0. 0. 0. 1. ]] SLAMing on 78.751346184 meters Centerline goodness : 0.846553 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.20, Z:-0.97 [[ 0.9520463 -0.248383 -0.17864415 -0.31912553] [ 0.25101596 0.96794923 -0.00807928 -0.20165546] [ 0.17492522 -0.03715068 0.98388058 -0.96902379] [ 0. 0. 0. 1. ]] SLAMing on 78.781346184 meters Centerline goodness : 0.847464 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.20, Z:-0.97 [[ 0.95299646 -0.24437323 -0.17910742 -0.3208325 ] [ 0.24759838 0.96885243 -0.00447343 -0.20183722] [ 0.17462184 -0.04008355 0.98381935 -0.96861736] [ 0. 0. 0. 1. ]] SLAMing on 78.811346184 meters Centerline goodness : 0.847710 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.20, Z:-0.97 [[ 0.95307174 -0.24399403 -0.17922378 -0.31957596] [ 0.24730724 0.96892898 -0.00396907 -0.20431422] [ 0.17462354 -0.04054053 0.98380033 -0.96912498] [ 0. 0. 0. 1. ]] SLAMing on 78.841346184 meters Centerline goodness : 0.847834 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.21, Z:-0.97 [[ 0.95224184 -0.24723986 -0.17918685 -0.31605149] [ 0.25000344 0.96821701 -0.00735603 -0.20524757] [ 0.17531046 -0.03779261 0.98378756 -0.96952134] [ 0. 0. 0. 1. ]] SLAMing on 78.87134618399999 meters Centerline goodness : 0.847834 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.21, Z:-0.97 [[ 0.95224184 -0.24723986 -0.17918685 -0.31605149] [ 0.25000344 0.96821701 -0.00735603 -0.20524757] [ 0.17531046 -0.03779261 0.98378756 -0.96952134] [ 0. 0. 0. 1. ]] SLAMing on 78.90134618399999 meters Centerline goodness : 0.848011 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.21, Z:-0.97 [[ 0.95228273 -0.24698017 -0.17932762 -0.31452598] [ 0.24988825 0.96825252 -0.00655168 -0.20850854] [ 0.17525256 -0.03857281 0.98376759 -0.97051317] [ 0. 0. 0. 1. ]] SLAMing on 78.93134618399999 meters Centerline goodness : 0.845606 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.21, Z:-0.97 [[ 0.9522011 -0.24732363 -0.1792877 -0.31472358] [ 0.25025762 0.96815793 -0.0064296 -0.20977512] [ 0.175169 -0.03874584 0.98377568 -0.97040361] [ 0. 0. 0. 1. ]] SLAMing on 78.96134618399999 meters Centerline goodness : 0.847473 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.21, Z:-0.97 [[ 0.95207451 -0.24809108 -0.17889924 -0.32290876] [ 0.25119849 0.96792032 -0.00543722 -0.20938325] [ 0.17450914 -0.03976258 0.98385238 -0.9669816 ] [ 0. 0. 0. 1. ]] SLAMing on 78.991346184 meters Centerline goodness : 0.852167 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.21, Z:-0.97 [[ 0.9519535 -0.2488087 -0.17854624 -0.32458411] [ 0.25182547 0.96775447 -0.00593454 -0.20980558] [ 0.17426548 -0.03931309 0.98391363 -0.96586561] [ 0. 0. 0. 1. ]] SLAMing on 79.021346184 meters Centerline goodness : 0.850085 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.21, Z:-0.97 [[ 0.95197995 -0.24870842 -0.17854493 -0.32390774] [ 0.25178307 0.96776751 -0.00559801 -0.21315416] [ 0.17418225 -0.0396254 0.98391583 -0.96577089] [ 0. 0. 0. 1. ]] SLAMing on 79.051346184 meters Centerline goodness : 0.845573 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-0.97 [[ 0.95340839 -0.24773216 -0.17216624 -0.34716948] [ 0.2478373 0.96856897 -0.02123247 -0.22145371] [ 0.17201484 -0.022426 0.98483906 -0.97072228] [ 0. 0. 0. 1. ]] SLAMing on 79.081346184 meters Centerline goodness : 0.848354 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-0.97 [[ 0.95343709 -0.24737636 -0.17251854 -0.34575064] [ 0.24752908 0.9686534 -0.02097485 -0.22166047] [ 0.17229935 -0.02270515 0.98478293 -0.9712676 ] [ 0. 0. 0. 1. ]] SLAMing on 79.111346184 meters Centerline goodness : 0.850294 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-0.97 [[ 0.95336962 -0.24750932 -0.17270064 -0.34586972] [ 0.24758705 0.96862842 -0.02143934 -0.21967285] [ 0.17258919 -0.02231882 0.984741 -0.97073483] [ 0. 0. 0. 1. ]] SLAMing on 79.141346184 meters Centerline goodness : 0.847157 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-0.97 [[ 0.95416127 -0.24415261 -0.17310625 -0.34938368] [ 0.24469261 0.96942326 -0.01854933 -0.21790439] [ 0.1723421 -0.02465877 0.98472846 -0.96873846] [ 0. 0. 0. 1. ]] SLAMing on 79.171346184 meters Centerline goodness : 0.847818 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-0.97 [[ 0.95417229 -0.24401276 -0.17324266 -0.34910262] [ 0.24454589 0.96945939 -0.01859558 -0.21868322] [ 0.17248929 -0.02462239 0.9847036 -0.96822657] [ 0. 0. 0. 1. ]] SLAMing on 79.201346184 meters Centerline goodness : 0.848618 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-0.97 [[ 0.9543287 -0.24324081 -0.17346655 -0.34683741] [ 0.24393253 0.96963153 -0.01765265 -0.22202845] [ 0.17249248 -0.0254677 0.98468154 -0.96944651] [ 0. 0. 0. 1. ]] SLAMing on 79.231346184 meters Centerline goodness : 0.847963 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.23, Z:-0.97 [[ 0.95445761 -0.24248031 -0.17382168 -0.34418062] [ 0.24333281 0.96979874 -0.01671971 -0.22533353] [ 0.17262624 -0.02633826 0.9846352 -0.97079992] [ 0. 0. 0. 1. ]] SLAMing on 79.26134618399999 meters Centerline goodness : 0.849693 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-0.97 [[ 0.95433971 -0.24306822 -0.17364782 -0.34564721] [ 0.2437965 0.96966931 -0.01745551 -0.22408744] [ 0.17262384 -0.02567624 0.98465311 -0.96955716] [ 0. 0. 0. 1. ]] SLAMing on 79.29134618399999 meters Centerline goodness : 0.851770 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-0.97 [[ 0.9550929 -0.23984154 -0.17399306 -0.34844107] [ 0.24110261 0.97039614 -0.01417246 -0.22431395] [ 0.17224134 -0.02841417 0.98464489 -0.96848434] [ 0. 0. 0. 1. ]] SLAMing on 79.32134618399999 meters Centerline goodness : 0.853227 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-0.97 [[ 0.95502737 -0.23990789 -0.1742611 -0.34842608] [ 0.24107475 0.97039429 -0.01476102 -0.22254349] [ 0.17264327 -0.02791277 0.98458884 -0.96756955] [ 0. 0. 0. 1. ]] SLAMing on 79.351346184 meters Centerline goodness : 0.851327 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.22, Z:-0.97 [[ 0.95519671 -0.23872672 -0.1749537 -0.34489127] [ 0.24005983 0.9706597 -0.01382105 -0.22481413] [ 0.17311996 -0.02879754 0.98447965 -0.96896962] [ 0. 0. 0. 1. ]] SLAMing on 79.381346184 meters Centerline goodness : 0.851760 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.23, Z:-0.97 [[ 0.95523383 -0.2386018 -0.17492144 -0.34422321] [ 0.23995171 0.97068803 -0.01370856 -0.22591537] [ 0.17306503 -0.02887782 0.98448696 -0.96934194] [ 0. 0. 0. 1. ]] SLAMing on 79.411346184 meters Centerline goodness : 0.851589 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.95521441 -0.23892716 -0.17458305 -0.34510426] [ 0.24021205 0.97061873 -0.01405153 -0.22573568] [ 0.17281087 -0.02851473 0.98454218 -0.96904745] [ 0. 0. 0. 1. ]] SLAMing on 79.441346184 meters Centerline goodness : 0.853906 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-0.97 [[ 0.9550681 -0.23987595 -0.17408176 -0.34737365] [ 0.24097064 0.9704143 -0.0151405 -0.22402342] [ 0.17256327 -0.02748838 0.9846148 -0.96767743] [ 0. 0. 0. 1. ]] SLAMing on 79.471346184 meters Centerline goodness : 0.854353 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-0.97 [[ 0.95488214 -0.2410885 -0.17342559 -0.35051555] [ 0.24196593 0.97014633 -0.01638846 -0.22205858] [ 0.17219927 -0.02631404 0.98471061 -0.96591494] [ 0. 0. 0. 1. ]] SLAMing on 79.501346184 meters Centerline goodness : 0.856639 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-0.97 [[ 0.95487707 -0.24121048 -0.17328382 -0.3504027 ] [ 0.24209229 0.97011541 -0.01635249 -0.22270984] [ 0.1720497 -0.02633606 0.98473616 -0.96621826] [ 0. 0. 0. 1. ]] SLAMing on 79.531346184 meters Centerline goodness : 0.857308 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-0.97 [[ 0.9549169 -0.24106898 -0.17326127 -0.34945499] [ 0.24202271 0.9701399 -0.01592429 -0.2244998 ] [ 0.17192652 -0.02672679 0.98474715 -0.96703107] [ 0. 0. 0. 1. ]] SLAMing on 79.561346184 meters Centerline goodness : 0.856340 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-0.97 [[ 0.95393649 -0.245224 -0.17283047 -0.34746552] [ 0.24561067 0.96917272 -0.01948402 -0.22492961] [ 0.17228052 -0.02386249 0.98475886 -0.96760144] [ 0. 0. 0. 1. ]] SLAMing on 79.591346184 meters Centerline goodness : 0.856511 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.95385334 -0.24566261 -0.17266639 -0.34782388] [ 0.24607291 0.96905784 -0.01936569 -0.22586542] [ 0.17208114 -0.02401649 0.98478997 -0.96781259] [ 0. 0. 0. 1. ]] SLAMing on 79.62134618399999 meters Centerline goodness : 0.857272 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.95377219 -0.24608966 -0.17250651 -0.34796716] [ 0.24651726 0.96894655 -0.01928285 -0.22672462] [ 0.1718949 -0.02413439 0.98481962 -0.96818498] [ 0. 0. 0. 1. ]] SLAMing on 79.65134618399999 meters Centerline goodness : 0.854730 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.9536883 -0.24653896 -0.17232866 -0.34830537] [ 0.24698249 0.96882957 -0.01920703 -0.22808721] [ 0.17169238 -0.02424465 0.98485223 -0.96826882] [ 0. 0. 0. 1. ]] SLAMing on 79.68134618399999 meters Centerline goodness : 0.856204 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.95347774 -0.24782096 -0.17165363 -0.35020512] [ 0.24821081 0.96850904 -0.01953556 -0.23018552] [ 0.17108942 -0.02397956 0.98496365 -0.96792919] [ 0. 0. 0. 1. ]] SLAMing on 79.71134618399999 meters Centerline goodness : 0.853687 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.95344223 -0.24815429 -0.1713691 -0.35082675] [ 0.24853316 0.9684253 -0.01958865 -0.23157539] [ 0.17081917 -0.02391426 0.98501214 -0.96772956] [ 0. 0. 0. 1. ]] SLAMing on 79.741346184 meters Centerline goodness : 0.853044 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.95343908 -0.24833725 -0.17112138 -0.35086289] [ 0.24873546 0.96837599 -0.01945824 -0.2333301 ] [ 0.17054204 -0.02401171 0.98505779 -0.96798995] [ 0. 0. 0. 1. ]] SLAMing on 79.771346184 meters Centerline goodness : 0.855842 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.95339623 -0.24858312 -0.17100308 -0.35105731] [ 0.24894797 0.96831737 -0.01965638 -0.23354358] [ 0.1704715 -0.02383055 0.9850744 -0.96786685] [ 0. 0. 0. 1. ]] SLAMing on 79.801346184 meters Centerline goodness : 0.854748 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.95428055 -0.2448251 -0.17149138 -0.35254445] [ 0.24580289 0.96919033 -0.01584456 -0.23420248] [ 0.17008693 -0.02703292 0.9850582 -0.96791436] [ 0. 0. 0. 1. ]] SLAMing on 79.831346184 meters Centerline goodness : 0.855685 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.95516892 -0.24097815 -0.1719938 -0.35392083] [ 0.2425647 0.97006035 -0.01205329 -0.23475909] [ 0.16974894 -0.0302067 0.98502429 -0.96793723] [ 0. 0. 0. 1. ]] SLAMing on 79.861346184 meters Centerline goodness : 0.854755 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.95526325 -0.24035515 -0.1723413 -0.35269938] [ 0.24194574 0.97021513 -0.0120362 -0.23373211] [ 0.1701011 -0.0301995 0.98496376 -0.96805834] [ 0. 0. 0. 1. ]] SLAMing on 79.891346184 meters Centerline goodness : 0.852597 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.95527589 -0.24039212 -0.17221966 -0.35286512] [ 0.24195174 0.97021162 -0.01219699 -0.23385998] [ 0.17002157 -0.03001736 0.98498306 -0.96788233] [ 0. 0. 0. 1. ]] SLAMing on 79.921346184 meters Centerline goodness : 0.854917 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.95522957 -0.24070937 -0.17203335 -0.35382641] [ 0.24215997 0.97015158 -0.01282428 -0.23290185] [ 0.16998535 -0.02940946 0.98500765 -0.96697093] [ 0. 0. 0. 1. ]] SLAMing on 79.951346184 meters Centerline goodness : 0.854196 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.95596659 -0.23792087 -0.17181831 -0.3584397 ] [ 0.23975902 0.97077798 -0.01028254 -0.23126568] [ 0.16924386 -0.03136523 0.98507499 -0.96531133] [ 0. 0. 0. 1. ]] SLAMing on 79.981346184 meters Centerline goodness : 0.852871 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.96 [[ 0.95592307 -0.23809488 -0.17181942 -0.35864967] [ 0.23984442 0.97075111 -0.010814 -0.22976885] [ 0.16936865 -0.03087258 0.98506911 -0.96492493] [ 0. 0. 0. 1. ]] SLAMing on 80.01134618399999 meters Centerline goodness : 0.855441 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.95594746 -0.23788926 -0.17196846 -0.35760641] [ 0.23965608 0.97079864 -0.01072261 -0.22977772] [ 0.16949754 -0.03096303 0.9850441 -0.96554183] [ 0. 0. 0. 1. ]] SLAMing on 80.04134618399999 meters Centerline goodness : 0.853011 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.95615573 -0.23636635 -0.172908 -0.35240615] [ 0.23835595 0.97113169 -0.00947001 -0.2306826 ] [ 0.17015483 -0.03215885 0.98489245 -0.9686102 ] [ 0. 0. 0. 1. ]] SLAMing on 80.07134618399999 meters Centerline goodness : 0.854496 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.95616998 -0.23598419 -0.17335059 -0.35060352] [ 0.23798342 0.9712231 -0.00946461 -0.22937927] [ 0.1705956 -0.03220479 0.9848147 -0.96935006] [ 0. 0. 0. 1. ]] SLAMing on 80.101346184 meters Centerline goodness : 0.853877 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.9560932 -0.23616325 -0.17353014 -0.3503634 ] [ 0.23807819 0.9711945 -0.0100012 -0.22719204] [ 0.17089343 -0.03175167 0.98477778 -0.96919948] [ 0. 0. 0. 1. ]] SLAMing on 80.131346184 meters Centerline goodness : 0.855443 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.95594199 -0.23702358 -0.17318991 -0.35233638] [ 0.23877765 0.9710126 -0.0109435 -0.22542281] [ 0.17076345 -0.03089253 0.98482765 -0.96797337] [ 0. 0. 0. 1. ]] SLAMing on 80.161346184 meters Centerline goodness : 0.855310 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.95592278 -0.23734978 -0.17284886 -0.35308993] [ 0.23907993 0.97093703 -0.01104862 -0.22656212] [ 0.17044775 -0.03076307 0.98488639 -0.96774283] [ 0. 0. 0. 1. ]] SLAMing on 80.191346184 meters Centerline goodness : 0.856436 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.23, Z:-0.97 [[ 0.95588522 -0.23778168 -0.17246251 -0.35413043] [ 0.23947812 0.97083702 -0.01121212 -0.22783902] [ 0.17009903 -0.0305835 0.98495227 -0.96732011] [ 0. 0. 0. 1. ]] SLAMing on 80.221346184 meters Centerline goodness : 0.854582 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.95581904 -0.23828756 -0.17213077 -0.35542813] [ 0.23990602 0.97072622 -0.01164949 -0.22821987] [ 0.16986778 -0.03016041 0.98500522 -0.96644908] [ 0. 0. 0. 1. ]] SLAMing on 80.251346184 meters Centerline goodness : 0.858221 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.95568771 -0.23889833 -0.17201334 -0.35674789] [ 0.24038321 0.97059812 -0.0124583 -0.22641032] [ 0.16993209 -0.02944288 0.98501584 -0.96527552] [ 0. 0. 0. 1. ]] SLAMing on 80.281346184 meters Centerline goodness : 0.857964 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.95564634 -0.23896289 -0.17215346 -0.35638081] [ 0.24041943 0.97058663 -0.01265291 -0.22557744] [ 0.17011342 -0.02929733 0.98498888 -0.96530807] [ 0. 0. 0. 1. ]] SLAMing on 80.311346184 meters Centerline goodness : 0.859322 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.95563811 -0.23893111 -0.17224322 -0.35575776] [ 0.24040878 0.97059069 -0.01254336 -0.22566801] [ 0.17017466 -0.02942187 0.98497459 -0.96572614] [ 0. 0. 0. 1. ]] SLAMing on 80.341346184 meters Centerline goodness : 0.857168 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.95552817 -0.23958583 -0.17194345 -0.35599232] [ 0.24107469 0.97042626 -0.01248506 -0.2263505 ] [ 0.16984969 -0.02952138 0.9850277 -0.9666653 ] [ 0. 0. 0. 1. ]] SLAMing on 80.37134618399999 meters Centerline goodness : 0.853939 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.9554752 -0.24003655 -0.17160883 -0.35646996] [ 0.24151142 0.97031685 -0.01254791 -0.22729193] [ 0.1695269 -0.02945627 0.98508525 -0.96690562] [ 0. 0. 0. 1. ]] SLAMing on 80.40134618399999 meters Centerline goodness : 0.853965 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.95542474 -0.24052792 -0.17120131 -0.35701653] [ 0.24200192 0.97019492 -0.0125253 -0.22904944] [ 0.16911132 -0.02946406 0.98515645 -0.96719811] [ 0. 0. 0. 1. ]] SLAMing on 80.43134618399999 meters Centerline goodness : 0.854991 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.95538909 -0.24087258 -0.17091544 -0.35724163] [ 0.24236009 0.97010678 -0.01242686 -0.23087674] [ 0.16879952 -0.0295506 0.98520733 -0.9674795 ] [ 0. 0. 0. 1. ]] SLAMing on 80.46134618399999 meters Centerline goodness : 0.855018 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.95529774 -0.24140387 -0.17067632 -0.35785534] [ 0.24285532 0.96998013 -0.01264276 -0.23132704] [ 0.16860465 -0.02937205 0.98524604 -0.9673991 ] [ 0. 0. 0. 1. ]] SLAMing on 80.491346184 meters Centerline goodness : 0.854887 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.95523823 -0.24143697 -0.17096229 -0.35768692] [ 0.24281231 0.96998429 -0.01314015 -0.22916033] [ 0.16900326 -0.02895977 0.98518995 -0.96681734] [ 0. 0. 0. 1. ]] SLAMing on 80.521346184 meters Centerline goodness : 0.856303 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.95610328 -0.23748785 -0.17165676 -0.35845257] [ 0.23948606 0.97085545 -0.00927996 -0.22964298] [ 0.16885778 -0.0322368 0.98511311 -0.96702107] [ 0. 0. 0. 1. ]] SLAMing on 80.551346184 meters Centerline goodness : 0.856649 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.95609699 -0.23718742 -0.17210657 -0.3574527 ] [ 0.23914497 0.97093665 -0.00957644 -0.2276183 ] [ 0.16937598 -0.03200242 0.98503179 -0.96687752] [ 0. 0. 0. 1. ]] SLAMing on 80.581346184 meters Centerline goodness : 0.854129 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.95620909 -0.23658899 -0.17230737 -0.35660771] [ 0.23851465 0.97108999 -0.00974612 -0.22587121] [ 0.16963179 -0.0317785 0.98499502 -0.96686634] [ 0. 0. 0. 1. ]] SLAMing on 80.611346184 meters Centerline goodness : 0.855553 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.9562083 -0.23661709 -0.17227314 -0.35672044] [ 0.23850732 0.97108975 -0.00994789 -0.22620385] [ 0.16964652 -0.03157615 0.98499899 -0.96641423] [ 0. 0. 0. 1. ]] SLAMing on 80.641346184 meters Centerline goodness : 0.856033 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.95620921 -0.23674679 -0.1720898 -0.35716606] [ 0.23860576 0.97106393 -0.01010664 -0.22695468] [ 0.16950291 -0.03139755 0.98502942 -0.96600022] [ 0. 0. 0. 1. ]] SLAMing on 80.671346184 meters Centerline goodness : 0.854949 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.23, Z:-0.97 [[ 0.95621961 -0.23664764 -0.17216837 -0.35693341] [ 0.23845328 0.97109805 -0.01042212 -0.22595263] [ 0.16965874 -0.03108828 0.9850124 -0.96573922] [ 0. 0. 0. 1. ]] SLAMing on 80.701346184 meters Centerline goodness : 0.856068 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.97 [[ 0.95616725 -0.23668385 -0.17240923 -0.35665457] [ 0.23838715 0.97110719 -0.01106322 -0.22334036] [ 0.17004632 -0.03052185 0.98496328 -0.96532575] [ 0. 0. 0. 1. ]] SLAMing on 80.731346184 meters Centerline goodness : 0.854799 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.97 [[ 0.9570511 -0.23275198 -0.1728575 -0.35781514] [ 0.23507369 0.97195083 -0.00720796 -0.2236689 ] [ 0.16968666 -0.03373587 0.98492047 -0.96569319] [ 0. 0. 0. 1. ]] SLAMing on 80.76134618399999 meters Centerline goodness : 0.854799 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.97 [[ 0.9570511 -0.23275198 -0.1728575 -0.35781514] [ 0.23507369 0.97195083 -0.00720796 -0.2236689 ] [ 0.16968666 -0.03373587 0.98492047 -0.96569319] [ 0. 0. 0. 1. ]] SLAMing on 80.79134618399999 meters Centerline goodness : 0.858278 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.96 [[ 0.95702522 -0.23292527 -0.1727673 -0.35848155] [ 0.23511762 0.97193436 -0.00795624 -0.22177694] [ 0.16977169 -0.03300632 0.98493053 -0.96480597] [ 0. 0. 0. 1. ]] SLAMing on 80.82134618399999 meters Centerline goodness : 0.857963 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.96 [[ 0.95702419 -0.23308399 -0.17255886 -0.35867928] [ 0.23525386 0.97190054 -0.00805999 -0.22231581] [ 0.1695887 -0.03288153 0.98496623 -0.96488303] [ 0. 0. 0. 1. ]] SLAMing on 80.851346184 meters Centerline goodness : 0.858057 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.96 [[ 0.95703664 -0.2330351 -0.17255585 -0.35828589] [ 0.23519905 0.97191356 -0.00808932 -0.22281321] [ 0.16959446 -0.0328432 0.98496652 -0.96499161] [ 0. 0. 0. 1. ]] SLAMing on 80.881346184 meters Centerline goodness : 0.859039 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.97 [[ 0.95704454 -0.2329829 -0.17258251 -0.35783073] [ 0.23512556 0.9719303 -0.00821352 -0.22230879] [ 0.16965178 -0.03271785 0.98496082 -0.96524396] [ 0. 0. 0. 1. ]] SLAMing on 80.911346184 meters Centerline goodness : 0.859442 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.97 [[ 0.95757197 -0.23074717 -0.17266058 -0.35838219] [ 0.23321352 0.97240613 -0.00614635 -0.2203543 ] [ 0.16931446 -0.03438121 0.98496221 -0.96615372] [ 0. 0. 0. 1. ]] SLAMing on 80.941346184 meters Centerline goodness : 0.858838 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.97 [[ 0.95751992 -0.23089666 -0.17274936 -0.35835201] [ 0.23328001 0.97238679 -0.0066606 -0.21877254] [ 0.16951711 -0.03392131 0.9849433 -0.96580288] [ 0. 0. 0. 1. ]] SLAMing on 80.971346184 meters Centerline goodness : 0.859383 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.97 [[ 0.9575052 -0.23087853 -0.17285515 -0.35781368] [ 0.23325447 0.97239249 -0.00672341 -0.21843901] [ 0.16963534 -0.03388154 0.98492431 -0.96604366] [ 0. 0. 0. 1. ]] SLAMing on 81.001346184 meters Centerline goodness : 0.858908 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.97 [[ 0.95753038 -0.23062249 -0.17305731 -0.35669266] [ 0.23305126 0.97244316 -0.00643482 -0.21923582] [ 0.16977241 -0.03416969 0.98489074 -0.96658112] [ 0. 0. 0. 1. ]] SLAMing on 81.031346184 meters Centerline goodness : 0.860140 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.97 [[ 0.95745306 -0.23115021 -0.17278084 -0.35779476] [ 0.23348437 0.97233553 -0.0069755 -0.21857703] [ 0.16961334 -0.03366292 0.98493559 -0.96595905] [ 0. 0. 0. 1. ]] SLAMing on 81.061346184 meters Centerline goodness : 0.859903 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.97 [[ 0.95734711 -0.23176196 -0.17254825 -0.35893975] [ 0.2339847 0.97221033 -0.00763145 -0.21686244] [ 0.16952187 -0.0330677 0.9849715 -0.96548993] [ 0. 0. 0. 1. ]] SLAMing on 81.091346184 meters Centerline goodness : 0.863226 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.97 [[ 0.95722667 -0.23234369 -0.17243411 -0.35961908] [ 0.23447934 0.97208679 -0.0081675 -0.21568267] [ 0.16951858 -0.03261409 0.98498719 -0.96519327] [ 0. 0. 0. 1. ]] SLAMing on 81.12134618399999 meters Centerline goodness : 0.859948 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.97 [[ 0.95706828 -0.23347928 -0.17177815 -0.36154851] [ 0.23552071 0.97183047 -0.00869076 -0.21555477] [ 0.16896835 -0.03213967 0.98509732 -0.96511141] [ 0. 0. 0. 1. ]] SLAMing on 81.15134618399999 meters Centerline goodness : 0.861470 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.97 [[ 0.95698236 -0.234128 -0.17137339 -0.36248187] [ 0.2361267 0.97168133 -0.00892039 -0.21624389] [ 0.16860884 -0.03192918 0.98516577 -0.96515662] [ 0. 0. 0. 1. ]] SLAMing on 81.18134618399999 meters Centerline goodness : 0.863568 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.97 [[ 0.95690466 -0.23463955 -0.1711074 -0.36293399] [ 0.23659479 0.97156514 -0.00916939 -0.21684923] [ 0.16839349 -0.03170889 0.98520971 -0.96522762] [ 0. 0. 0. 1. ]] SLAMing on 81.21134618399999 meters Centerline goodness : 0.861225 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-0.97 [[ 0.95685734 -0.2349451 -0.17095271 -0.36297431] [ 0.23686673 0.97149703 -0.00936397 -0.21668362] [ 0.16828007 -0.03153303 0.98523474 -0.9655603 ] [ 0. 0. 0. 1. ]] SLAMing on 81.241346184 meters Centerline goodness : 0.861075 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.21, Z:-0.96 [[ 0.9567393 -0.23568678 -0.17059204 -0.36451997] [ 0.23741145 0.97135226 -0.01051646 -0.21339206] [ 0.16818355 -0.03043899 0.98528562 -0.96481497] [ 0. 0. 0. 1. ]] SLAMing on 81.271346184 meters Centerline goodness : 0.864173 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.21, Z:-0.96 [[ 0.95664867 -0.23616871 -0.17043374 -0.36545047] [ 0.23778009 0.9712545 -0.01119445 -0.21186781] [ 0.16817832 -0.0298166 0.98530555 -0.96413957] [ 0. 0. 0. 1. ]] SLAMing on 81.301346184 meters Centerline goodness : 0.863064 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.21, Z:-0.96 [[ 0.95660305 -0.23637582 -0.1704027 -0.36547554] [ 0.23794255 0.97121151 -0.01146901 -0.21120013] [ 0.16820806 -0.02957477 0.98530776 -0.96414292] [ 0. 0. 0. 1. ]] SLAMing on 81.331346184 meters Centerline goodness : 0.860280 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.21, Z:-0.96 [[ 0.95660114 -0.23637329 -0.1704169 -0.36502762] [ 0.23793782 0.97121249 -0.0114842 -0.21096244] [ 0.16822558 -0.02956283 0.98530513 -0.96455136] [ 0. 0. 0. 1. ]] SLAMing on 81.361346184 meters Centerline goodness : 0.866232 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.21, Z:-0.96 [[ 0.95654042 -0.23661687 -0.17041973 -0.3657218 ] [ 0.23802422 0.97117972 -0.01242649 -0.20740564] [ 0.1684485 -0.02867758 0.9852932 -0.96368365] [ 0. 0. 0. 1. ]] SLAMing on 81.391346184 meters Centerline goodness : 0.864320 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.20, Z:-0.96 [[ 0.95642306 -0.23714414 -0.17034549 -0.36672705] [ 0.23839653 0.97107591 -0.01336704 -0.2048195 ] [ 0.16858832 -0.02782523 0.98529373 -0.96272247] [ 0. 0. 0. 1. ]] SLAMing on 81.421346184 meters Centerline goodness : 0.864488 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.20, Z:-0.96 [[ 0.95641024 -0.23729504 -0.17020729 -0.36646652] [ 0.23850942 0.97104523 -0.01357971 -0.20421057] [ 0.16850137 -0.02760827 0.98531471 -0.96328994] [ 0. 0. 0. 1. ]] SLAMing on 81.451346184 meters Centerline goodness : 0.863167 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.21, Z:-0.96 [[ 0.95645823 -0.23713597 -0.17015932 -0.36576065] [ 0.2383879 0.97107843 -0.01333781 -0.20508034] [ 0.16840092 -0.02780687 0.9853263 -0.96401213] [ 0. 0. 0. 1. ]] SLAMing on 81.481346184 meters Centerline goodness : 0.862816 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.20, Z:-0.96 [[ 0.95645237 -0.23722162 -0.17007285 -0.36577312] [ 0.23843058 0.97106456 -0.01358254 -0.2045634 ] [ 0.16837379 -0.02755952 0.98533788 -0.96403382] [ 0. 0. 0. 1. ]] SLAMing on 81.51134618399999 meters Centerline goodness : 0.865931 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.20, Z:-0.96 [[ 0.95724674 -0.23382229 -0.17031096 -0.36828434] [ 0.23550572 0.9718158 -0.0105402 -0.20251342] [ 0.16797542 -0.03001964 0.98533399 -0.96362763] [ 0. 0. 0. 1. ]] SLAMing on 81.54134618399999 meters Centerline goodness : 0.863582 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.20, Z:-0.96 [[ 0.95719416 -0.23392294 -0.17046816 -0.36833158] [ 0.23551183 0.97180773 -0.01113155 -0.20015068] [ 0.1682662 -0.02949221 0.98530031 -0.9631348 ] [ 0. 0. 0. 1. ]] SLAMing on 81.57134618399999 meters Centerline goodness : 0.865950 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.20, Z:-0.96 [[ 0.95718468 -0.23392571 -0.17051759 -0.36796561] [ 0.23548524 0.97181209 -0.01131244 -0.19931319] [ 0.16835733 -0.02932628 0.98528969 -0.9633346 ] [ 0. 0. 0. 1. ]] SLAMing on 81.601346184 meters Centerline goodness : 0.863842 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.20, Z:-0.96 [[ 0.95674729 -0.23424761 -0.17251865 -0.38487938] [ 0.2343438 0.9719459 -0.02010339 -0.20114841] [ 0.17238796 -0.02119481 0.98480108 -0.96338624] [ 0. 0. 0. 1. ]] SLAMing on 81.631346184 meters Centerline goodness : 0.862482 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.20, Z:-0.96 [[ 0.95672796 -0.23445238 -0.17234759 -0.38508948] [ 0.23454454 0.97189706 -0.02012359 -0.20162219] [ 0.17222214 -0.02117038 0.98483062 -0.96353863] [ 0. 0. 0. 1. ]] SLAMing on 81.661346184 meters Centerline goodness : 0.862258 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.20, Z:-0.96 [[ 0.95666106 -0.23485826 -0.17216626 -0.38589173] [ 0.23487861 0.97180749 -0.02054868 -0.20107915] [ 0.17213849 -0.02078005 0.98485356 -0.96302646] [ 0. 0. 0. 1. ]] SLAMing on 81.691346184 meters Centerline goodness : 0.863574 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.20, Z:-0.96 [[ 0.957242 -0.23254287 -0.17208013 -0.39014006] [ 0.23301269 0.97231167 -0.01775114 -0.20125289] [ 0.17144341 -0.02310472 0.98492301 -0.96173981] [ 0. 0. 0. 1. ]] SLAMing on 81.721346184 meters Centerline goodness : 0.862190 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.20, Z:-0.96 [[ 0.95719518 -0.23281017 -0.17197911 -0.39081212] [ 0.23322055 0.97225535 -0.01810305 -0.20070858] [ 0.17142219 -0.02278091 0.98493424 -0.96117937] [ 0. 0. 0. 1. ]] SLAMing on 81.751346184 meters Centerline goodness : 0.862686 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.20, Z:-0.96 [[ 0.95718739 -0.23277311 -0.17207261 -0.39046117] [ 0.23319007 0.97226319 -0.01807449 -0.20125324] [ 0.17150712 -0.02282495 0.98491844 -0.96112307] [ 0. 0. 0. 1. ]] SLAMing on 81.781346184 meters Centerline goodness : 0.860102 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.20, Z:-0.96 [[ 0.95721551 -0.23266941 -0.17205644 -0.389871 ] [ 0.23313554 0.97228168 -0.01778052 -0.2024137 ] [ 0.17142431 -0.02309268 0.98492661 -0.96165892] [ 0. 0. 0. 1. ]] SLAMing on 81.811346184 meters Centerline goodness : 0.858632 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.20, Z:-0.96 [[ 0.95720499 -0.23271605 -0.17205186 -0.38883973] [ 0.23327704 0.9722575 -0.01723883 -0.20407787] [ 0.17129046 -0.02363465 0.98493704 -0.96303126] [ 0. 0. 0. 1. ]] SLAMing on 81.841346184 meters Centerline goodness : 0.858561 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.20, Z:-0.96 [[ 0.95718072 -0.23271495 -0.17218832 -0.388179 ] [ 0.23328649 0.97225597 -0.01719723 -0.20378822] [ 0.17141318 -0.02370836 0.98491392 -0.96346556] [ 0. 0. 0. 1. ]] SLAMing on 81.87134618399999 meters Centerline goodness : 0.858896 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.20, Z:-0.96 [[ 0.95715343 -0.23264221 -0.17243817 -0.38731538] [ 0.23322467 0.9722714 -0.01716312 -0.20364057] [ 0.17164957 -0.02378909 0.98487081 -0.96370129] [ 0. 0. 0. 1. ]] SLAMing on 81.90134618399999 meters Centerline goodness : 0.852386 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.21, Z:-0.96 [[ 0.95718693 -0.2323795 -0.17260636 -0.38560566] [ 0.23308864 0.97231658 -0.0164365 -0.20631157] [ 0.17164753 -0.02449978 0.98485374 -0.96499848] [ 0. 0. 0. 1. ]] SLAMing on 81.93134618399999 meters Centerline goodness : 0.852038 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.21, Z:-0.97 [[ 0.95721376 -0.23228922 -0.17257909 -0.38496768] [ 0.23305398 0.97233043 -0.01610513 -0.2080104 ] [ 0.17154495 -0.0248042 0.98486399 -0.96554247] [ 0. 0. 0. 1. ]] SLAMing on 81.96134618399999 meters Centerline goodness : 0.855416 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.21, Z:-0.97 [[ 0.95720184 -0.2324417 -0.17243984 -0.38511299] [ 0.2331925 0.972296 -0.01617862 -0.20827381] [ 0.17142315 -0.02472548 0.98488718 -0.96559876] [ 0. 0. 0. 1. ]] SLAMing on 81.991346184 meters Centerline goodness : 0.857106 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.21, Z:-0.97 [[ 0.95714575 -0.23258441 -0.17255869 -0.38521104] [ 0.23325699 0.97227244 -0.01665797 -0.20695442] [ 0.17164844 -0.02430642 0.98485837 -0.96500121] [ 0. 0. 0. 1. ]] SLAMing on 82.021346184 meters Centerline goodness : 0.856396 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.21, Z:-0.96 [[ 0.95789603 -0.22947443 -0.17255922 -0.38909729] [ 0.23062367 0.97294747 -0.01363625 -0.20612862] [ 0.17102022 -0.02673413 0.98490475 -0.96361908] [ 0. 0. 0. 1. ]] SLAMing on 82.051346184 meters Centerline goodness : 0.856896 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.21, Z:-0.96 [[ 0.95786715 -0.22971253 -0.17240265 -0.3899902 ] [ 0.23080063 0.97290055 -0.0139853 -0.20639613] [ 0.17094323 -0.02639458 0.98492728 -0.96270156] [ 0. 0. 0. 1. ]] SLAMing on 82.081346184 meters Centerline goodness : 0.852569 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.21, Z:-0.96 [[ 0.9579139 -0.22969118 -0.1721712 -0.39009903] [ 0.23081788 0.97290017 -0.0137243 -0.20923826] [ 0.17065774 -0.02659349 0.98497143 -0.96254665] [ 0. 0. 0. 1. ]] SLAMing on 82.111346184 meters Centerline goodness : 0.854066 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.21, Z:-0.96 [[ 0.95736286 -0.23300504 -0.17077764 -0.38843086] [ 0.23369931 0.97217206 -0.01631333 -0.21412551] [ 0.16982634 -0.02429284 0.98517454 -0.96409501] [ 0. 0. 0. 1. ]] SLAMing on 82.141346184 meters Centerline goodness : 0.854858 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.21, Z:-0.96 [[ 0.95735119 -0.23294831 -0.17092039 -0.38817567] [ 0.23364585 0.97218496 -0.01631002 -0.21364358] [ 0.16996562 -0.02432043 0.98514984 -0.96404787] [ 0. 0. 0. 1. ]] SLAMing on 82.171346184 meters Centerline goodness : 0.855376 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.21, Z:-0.96 [[ 0.9581996 -0.22913799 -0.1713164 -0.39002533] [ 0.23044255 0.97300556 -0.01250658 -0.21372932] [ 0.16955754 -0.02749479 0.98513668 -0.96391691] [ 0. 0. 0. 1. ]] SLAMing on 82.201346184 meters Centerline goodness : 0.857253 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.21, Z:-0.96 [[ 0.95904946 -0.22504166 -0.17198948 -0.39100836] [ 0.22697682 0.97386227 -0.0085911 -0.21408059] [ 0.16942742 -0.03079834 0.98506132 -0.963841 ] [ 0. 0. 0. 1. ]] SLAMing on 82.231346184 meters Centerline goodness : 0.857908 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.97 [[ 0.95950906 -0.22332908 -0.17165807 -0.38899752] [ 0.22548769 0.97422034 -0.00707366 -0.21706371] [ 0.16881254 -0.03191954 0.98513119 -0.96579176] [ 0. 0. 0. 1. ]] SLAMing on 82.26134618399999 meters Centerline goodness : 0.858949 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.97 [[ 0.95972545 -0.22294356 -0.17094803 -0.3872425 ] [ 0.225077 0.97431547 -0.00705025 -0.22064783] [ 0.16812912 -0.03171017 0.98525482 -0.96700427] [ 0. 0. 0. 1. ]] SLAMing on 82.29134618399999 meters Centerline goodness : 0.859817 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.97 [[ 0.95995897 -0.22178192 -0.17114778 -0.38590245] [ 0.22397721 0.97457188 -0.00662289 -0.22059519] [ 0.16826465 -0.0319755 0.98522311 -0.96720919] [ 0. 0. 0. 1. ]] SLAMing on 82.32134618399999 meters Centerline goodness : 0.861451 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.97 [[ 0.96081461 -0.21748737 -0.17185612 -0.38667454] [ 0.22028115 0.97543217 -0.00287934 -0.21961565] [ 0.16826021 -0.03509015 0.98511785 -0.96711465] [ 0. 0. 0. 1. ]] SLAMing on 82.351346184 meters Centerline goodness : 0.861222 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.97 [[ 0.96169386 -0.2128259 -0.1727717 -0.38643706] [ 0.21626519 0.97633403 0.0011098 -0.21877786] [ 0.1684467 -0.0384318 0.98496127 -0.96745267] [ 0. 0. 0. 1. ]] SLAMing on 82.381346184 meters Centerline goodness : 0.860744 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.22, Z:-0.97 [[ 0.96187507 -0.21112128 -0.17385093 -0.38240574] [ 0.2146813 0.97668265 0.00171468 -0.21720429] [ 0.16943518 -0.03897185 0.98477049 -0.96856317] [ 0. 0. 0. 1. ]] SLAMing on 82.411346184 meters Centerline goodness : 0.858045 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.97 [[ 0.96437159 -0.20450389 -0.16782612 -0.39179797] [ 0.20554572 0.97858193 -0.01132936 -0.22034904] [ 0.1665485 -0.02357022 0.98575151 -0.97355962] [ 0. 0. 0. 1. ]] SLAMing on 82.441346184 meters Centerline goodness : 0.854047 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.97 [[ 0.96442087 -0.20408623 -0.16805117 -0.39043202] [ 0.20518903 0.97866094 -0.01096473 -0.22102912] [ 0.16670287 -0.02390765 0.98571729 -0.97427484] [ 0. 0. 0. 1. ]] SLAMing on 82.471346184 meters Centerline goodness : 0.857812 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.97 [[ 0.96436298 -0.20442925 -0.16796644 -0.39129587] [ 0.20544082 0.97860171 -0.01152194 -0.21997435] [ 0.16672767 -0.02339583 0.98572538 -0.97334203] [ 0. 0. 0. 1. ]] SLAMing on 82.501346184 meters Centerline goodness : 0.858843 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.97 [[ 0.9642231 -0.20526562 -0.16774932 -0.39335942] [ 0.20609637 0.97845014 -0.01263372 -0.21787082] [ 0.16672761 -0.0223908 0.98574873 -0.9714783 ] [ 0. 0. 0. 1. ]] SLAMing on 82.531346184 meters Centerline goodness : 0.857751 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96410847 -0.20613478 -0.16734188 -0.39587016] [ 0.20677473 0.97829148 -0.01378393 -0.21625115] [ 0.16655048 -0.02131286 0.98580257 -0.96938794] [ 0. 0. 0. 1. ]] SLAMing on 82.561346184 meters Centerline goodness : 0.856988 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96412696 -0.20595788 -0.16745317 -0.39515168] [ 0.20661972 0.97832606 -0.01365351 -0.21723909] [ 0.16663585 -0.02143541 0.98578548 -0.96951638] [ 0. 0. 0. 1. ]] SLAMing on 82.591346184 meters Centerline goodness : 0.854409 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.97 [[ 0.9641499 -0.20584797 -0.16745624 -0.39460269] [ 0.2065154 0.97834867 -0.01361124 -0.2180983 ] [ 0.16663243 -0.02145901 0.98578555 -0.96969161] [ 0. 0. 0. 1. ]] SLAMing on 82.62134618399999 meters Centerline goodness : 0.854198 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.9640951 -0.20627249 -0.16724921 -0.39526899] [ 0.20684125 0.97827139 -0.01420538 -0.21665661] [ 0.16654529 -0.0208987 0.98581231 -0.96936658] [ 0. 0. 0. 1. ]] SLAMing on 82.65134618399999 meters Centerline goodness : 0.854998 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96403294 -0.20656946 -0.16724099 -0.39547068] [ 0.20707393 0.97821619 -0.01461062 -0.21522256] [ 0.16661596 -0.02054613 0.98580778 -0.96918011] [ 0. 0. 0. 1. ]] SLAMing on 82.68134618399999 meters Centerline goodness : 0.854998 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96403294 -0.20656946 -0.16724099 -0.39547068] [ 0.20707393 0.97821619 -0.01461062 -0.21522256] [ 0.16661596 -0.02054613 0.98580778 -0.96918011] [ 0. 0. 0. 1. ]] SLAMing on 82.71134618399999 meters Centerline goodness : 0.854669 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96397472 -0.20680126 -0.16729009 -0.3952671 ] [ 0.20727144 0.97817091 -0.01483978 -0.21428883] [ 0.16670719 -0.02036929 0.98579603 -0.96932771] [ 0. 0. 0. 1. ]] SLAMing on 82.741346184 meters Centerline goodness : 0.854160 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96393672 -0.20716095 -0.16706389 -0.39515359] [ 0.20767933 0.97808863 -0.01455757 -0.21607863] [ 0.16641905 -0.02066314 0.98583859 -0.97017613] [ 0. 0. 0. 1. ]] SLAMing on 82.771346184 meters Centerline goodness : 0.853490 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96391523 -0.20751331 -0.16675029 -0.39566797] [ 0.20804754 0.97801191 -0.01445451 -0.21770324] [ 0.16608327 -0.02075906 0.9858932 -0.97033505] [ 0. 0. 0. 1. ]] SLAMing on 82.801346184 meters Centerline goodness : 0.855891 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96386647 -0.20812967 -0.16626324 -0.39709484] [ 0.20863035 0.9778849 -0.01464583 -0.21861679] [ 0.16563455 -0.02057093 0.98597263 -0.96998956] [ 0. 0. 0. 1. ]] SLAMing on 82.831346184 meters Centerline goodness : 0.854770 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96363517 -0.20978323 -0.1655242 -0.40108298] [ 0.21007024 0.97755582 -0.01597197 -0.21664988] [ 0.1651598 -0.01938056 0.98607638 -0.96788318] [ 0. 0. 0. 1. ]] SLAMing on 82.861346184 meters Centerline goodness : 0.858126 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96357505 -0.21002218 -0.16557113 -0.40116453] [ 0.21027747 0.97750772 -0.01618747 -0.21607424] [ 0.16524679 -0.01921804 0.98606499 -0.9676864 ] [ 0. 0. 0. 1. ]] SLAMing on 82.891346184 meters Centerline goodness : 0.852958 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96361238 -0.20978332 -0.16565668 -0.39991244] [ 0.21012148 0.9775495 -0.0156826 -0.21721665] [ 0.16522755 -0.01969608 0.98605878 -0.96880313] [ 0. 0. 0. 1. ]] SLAMing on 82.921346184 meters Centerline goodness : 0.852716 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96365567 -0.20944199 -0.16583669 -0.39823275] [ 0.2098765 0.97761129 -0.01510025 -0.21906954] [ 0.16528645 -0.02025378 0.98603761 -0.96990782] [ 0. 0. 0. 1. ]] SLAMing on 82.951346184 meters Centerline goodness : 0.851885 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96359333 -0.2098291 -0.16570951 -0.39864201] [ 0.21019025 0.97753674 -0.01555576 -0.21796806] [ 0.16525118 -0.0198411 0.98605191 -0.96973287] [ 0. 0. 0. 1. ]] SLAMing on 82.981346184 meters Centerline goodness : 0.852940 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96352679 -0.21014023 -0.16570217 -0.39942007] [ 0.21034 0.9774883 -0.01654408 -0.2150941 ] [ 0.16544851 -0.01891313 0.98603706 -0.96849029] [ 0. 0. 0. 1. ]] SLAMing on 83.01134618399999 meters Centerline goodness : 0.851760 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96351225 -0.21009464 -0.16584448 -0.39926998] [ 0.21018883 0.97750976 -0.01718505 -0.21259998] [ 0.16572509 -0.01830065 0.98600217 -0.96791449] [ 0. 0. 0. 1. ]] SLAMing on 83.04134618399999 meters Centerline goodness : 0.849667 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96361082 -0.20948777 -0.16603932 -0.39788551] [ 0.20954955 0.97764414 -0.01734692 -0.21082118] [ 0.16596134 -0.01807779 0.98596655 -0.96835152] [ 0. 0. 0. 1. ]] SLAMing on 83.07134618399999 meters Centerline goodness : 0.849307 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96363693 -0.20945249 -0.16593225 -0.39764743] [ 0.20949218 0.97765436 -0.01746342 -0.21090872] [ 0.16588215 -0.01793311 0.98598251 -0.96847754] [ 0. 0. 0. 1. ]] SLAMing on 83.101346184 meters Centerline goodness : 0.850250 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96364303 -0.20959838 -0.16571252 -0.39792927] [ 0.20961142 0.97762617 -0.01761049 -0.21118144] [ 0.16569602 -0.01776501 0.98601685 -0.96841339] [ 0. 0. 0. 1. ]] SLAMing on 83.131346184 meters Centerline goodness : 0.850791 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96358349 -0.20993547 -0.165632 -0.39829009] [ 0.20987333 0.97756144 -0.01807834 -0.20924248] [ 0.16571074 -0.01734175 0.98602191 -0.96827277] [ 0. 0. 0. 1. ]] SLAMing on 83.161346184 meters Centerline goodness : 0.849593 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96349376 -0.21035743 -0.16561863 -0.3988618 ] [ 0.21020303 0.97747962 -0.01866212 -0.20717402] [ 0.16581455 -0.0168327 0.98601328 -0.96773722] [ 0. 0. 0. 1. ]] SLAMing on 83.191346184 meters Centerline goodness : 0.850378 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96341416 -0.21085461 -0.16544934 -0.39968237] [ 0.21062109 0.97738002 -0.01915842 -0.20587581] [ 0.16574652 -0.01638962 0.98603218 -0.96734094] [ 0. 0. 0. 1. ]] SLAMing on 83.221346184 meters Centerline goodness : 0.849335 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.9626131 -0.21484695 -0.1649752 -0.39808095] [ 0.21399583 0.97656069 -0.02313013 -0.20625079] [ 0.16607773 -0.01303864 0.98602646 -0.96710792] [ 0. 0. 0. 1. ]] SLAMing on 83.251346184 meters Centerline goodness : 0.848586 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96265643 -0.21477903 -0.16481071 -0.39740095] [ 0.21402244 0.97656845 -0.02254919 -0.2088658 ] [ 0.16579204 -0.01356607 0.98606742 -0.96815087] [ 0. 0. 0. 1. ]] SLAMing on 83.281346184 meters Centerline goodness : 0.851137 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96260574 -0.21505375 -0.16474854 -0.39733135] [ 0.21428339 0.9765089 -0.02264951 -0.20915479] [ 0.16574927 -0.01350033 0.98607551 -0.96830389] [ 0. 0. 0. 1. ]] SLAMing on 83.311346184 meters Centerline goodness : 0.849643 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96321984 -0.21208158 -0.16501193 -0.39980993] [ 0.21182246 0.97711614 -0.01937281 -0.20735472] [ 0.16534444 -0.01629295 0.98610129 -0.96841603] [ 0. 0. 0. 1. ]] SLAMing on 83.341346184 meters Centerline goodness : 0.849537 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96318963 -0.21213591 -0.16511839 -0.39956562] [ 0.21180821 0.97711073 -0.01979674 -0.20577234] [ 0.16553855 -0.01590541 0.98607505 -0.96816805] [ 0. 0. 0. 1. ]] SLAMing on 83.37134618399999 meters Centerline goodness : 0.847318 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.9632264 -0.21203069 -0.16503906 -0.39922617] [ 0.21170919 0.97713327 -0.01974298 -0.2062874 ] [ 0.16545128 -0.01592332 0.98608941 -0.96843712] [ 0. 0. 0. 1. ]] SLAMing on 83.40134618399999 meters Centerline goodness : 0.847062 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96331581 -0.21182399 -0.16478244 -0.39844136] [ 0.21160587 0.97716877 -0.01908283 -0.2095823 ] [ 0.16506245 -0.01648614 0.98614532 -0.96959429] [ 0. 0. 0. 1. ]] SLAMing on 83.43134618399999 meters Centerline goodness : 0.848125 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96329882 -0.21215787 -0.16445188 -0.39903852] [ 0.2119309 0.97709739 -0.01913094 -0.20981175] [ 0.16474428 -0.01642362 0.98619957 -0.9698708 ] [ 0. 0. 0. 1. ]] SLAMing on 83.46134618399999 meters Centerline goodness : 0.848026 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96320314 -0.21284316 -0.1641265 -0.40049364] [ 0.21250844 0.97695855 -0.01980268 -0.20849899] [ 0.16455965 -0.01580426 0.98624051 -0.96908875] [ 0. 0. 0. 1. ]] SLAMing on 83.491346184 meters Centerline goodness : 0.847555 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96308788 -0.21367911 -0.16371614 -0.40261673] [ 0.21319212 0.97678996 -0.02074853 -0.20673509] [ 0.16434981 -0.01492033 0.98628927 -0.96769552] [ 0. 0. 0. 1. ]] SLAMing on 83.521346184 meters Centerline goodness : 0.846816 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.21, Z:-0.97 [[ 0.96294092 -0.2149567 -0.16290611 -0.40635188] [ 0.21432258 0.97652254 -0.02166937 -0.20756876] [ 0.16373946 -0.01404814 0.98640359 -0.96544342] [ 0. 0. 0. 1. ]] SLAMing on 83.551346184 meters Centerline goodness : 0.847646 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.21, Z:-0.97 [[ 0.96297687 -0.2148658 -0.16281352 -0.40566678] [ 0.21431006 0.976536 -0.02118103 -0.21009973] [ 0.16354434 -0.01449574 0.98642948 -0.96614164] [ 0. 0. 0. 1. ]] SLAMing on 83.581346184 meters Centerline goodness : 0.846166 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96305115 -0.21455979 -0.16277771 -0.40422882] [ 0.21413752 0.9765916 -0.02034616 -0.21241641] [ 0.16333281 -0.01526242 0.98645297 -0.96780944] [ 0. 0. 0. 1. ]] SLAMing on 83.611346184 meters Centerline goodness : 0.843511 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.97 [[ 0.96305494 -0.21451083 -0.1628198 -0.40265809] [ 0.2142665 0.97658512 -0.01927083 -0.21459324] [ 0.1631412 -0.01632796 0.98646761 -0.97022982] [ 0. 0. 0. 1. ]] SLAMing on 83.641346184 meters Centerline goodness : 0.843365 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96305883 -0.21451334 -0.16279348 -0.40204221] [ 0.21434034 0.97657739 -0.01883692 -0.21589122] [ 0.16302121 -0.01675215 0.98648034 -0.97111419] [ 0. 0. 0. 1. ]] SLAMing on 83.671346184 meters Centerline goodness : 0.844325 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96306914 -0.21450005 -0.16275 -0.40173963] [ 0.2143683 0.97657614 -0.01858147 -0.21721275] [ 0.16292349 -0.0169932 0.98649236 -0.97142959] [ 0. 0. 0. 1. ]] SLAMing on 83.701346184 meters Centerline goodness : 0.845206 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96307074 -0.21455714 -0.16266522 -0.40183079] [ 0.21442406 0.97656382 -0.01858544 -0.21815858] [ 0.16284061 -0.01698025 0.98650626 -0.97121664] [ 0. 0. 0. 1. ]] SLAMing on 83.731346184 meters Centerline goodness : 0.843010 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96302904 -0.21512457 -0.16216191 -0.40444896] [ 0.21482119 0.97645641 -0.01961452 -0.21732828] [ 0.1625636 -0.01594646 0.9865692 -0.96877403] [ 0. 0. 0. 1. ]] SLAMing on 83.76134618399999 meters Centerline goodness : 0.844524 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96301048 -0.21513415 -0.16225938 -0.40469564] [ 0.21474962 0.97646193 -0.020117 -0.21620954] [ 0.16276797 -0.01547226 0.98654305 -0.96778844] [ 0. 0. 0. 1. ]] SLAMing on 83.79134618399999 meters Centerline goodness : 0.844422 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96307653 -0.21465137 -0.16250656 -0.40334082] [ 0.21431483 0.97656374 -0.01980941 -0.21648827] [ 0.16295013 -0.01574959 0.98650859 -0.96837774] [ 0. 0. 0. 1. ]] SLAMing on 83.82134618399999 meters Centerline goodness : 0.844192 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96318541 -0.21379194 -0.16299346 -0.40057821] [ 0.21359195 0.97673897 -0.01895948 -0.21818202] [ 0.16325545 -0.0165526 0.98644496 -0.96982535] [ 0. 0. 0. 1. ]] SLAMing on 83.851346184 meters Centerline goodness : 0.843628 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96330493 -0.21276705 -0.163627 -0.39727242] [ 0.21274615 0.97694429 -0.01785853 -0.21909276] [ 0.16365417 -0.01760781 0.98636062 -0.97191366] [ 0. 0. 0. 1. ]] SLAMing on 83.881346184 meters Centerline goodness : 0.842696 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96325503 -0.21293787 -0.16369852 -0.39752881] [ 0.21286004 0.97691274 -0.01822378 -0.21773026] [ 0.1637997 -0.01729073 0.98634208 -0.97140412] [ 0. 0. 0. 1. ]] SLAMing on 83.911346184 meters Centerline goodness : 0.844870 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96322796 -0.21338439 -0.16327585 -0.39898834] [ 0.21327371 0.97681893 -0.0184149 -0.21923773] [ 0.16342039 -0.0170847 0.98640858 -0.97055993] [ 0. 0. 0. 1. ]] SLAMing on 83.941346184 meters Centerline goodness : 0.844268 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96328932 -0.21326162 -0.16307412 -0.39874417] [ 0.21322913 0.97683804 -0.01791038 -0.22248157] [ 0.1631166 -0.01751927 0.98645124 -0.97089953] [ 0. 0. 0. 1. ]] SLAMing on 83.971346184 meters Centerline goodness : 0.845734 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96333042 -0.21315469 -0.16297112 -0.3984447 ] [ 0.21318118 0.97685535 -0.01753306 -0.22464723] [ 0.16293647 -0.01785225 0.98647504 -0.97121304] [ 0. 0. 0. 1. ]] SLAMing on 84.001346184 meters Centerline goodness : 0.848104 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.9633302 -0.2131588 -0.16296701 -0.39844021] [ 0.2131776 0.9768553 -0.01757957 -0.22489098] [ 0.16294243 -0.01780599 0.98647489 -0.97099358] [ 0. 0. 0. 1. ]] SLAMing on 84.031346184 meters Centerline goodness : 0.846122 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96409041 -0.20930859 -0.16346131 -0.39987106] [ 0.20989603 0.97762538 -0.01386653 -0.22443301] [ 0.16270631 -0.02094129 0.98645229 -0.9708755 ] [ 0. 0. 0. 1. ]] SLAMing on 84.061346184 meters Centerline goodness : 0.845109 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96414822 -0.2087464 -0.16383879 -0.39853137] [ 0.20934 0.9777451 -0.01383055 -0.22337893] [ 0.16307965 -0.02096331 0.98639017 -0.97107744] [ 0. 0. 0. 1. ]] SLAMing on 84.091346184 meters Centerline goodness : 0.842792 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.97 [[ 0.96424621 -0.2079062 -0.16432975 -0.39639649] [ 0.20856053 0.97791688 -0.01345637 -0.22345464] [ 0.1634985 -0.02129744 0.98631367 -0.97170416] [ 0. 0. 0. 1. ]] SLAMing on 84.12134618399999 meters Centerline goodness : 0.842892 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.97 [[ 0.96435091 -0.2070524 -0.16479265 -0.39414416] [ 0.20777713 0.97808953 -0.01302074 -0.22377919] [ 0.16387794 -0.02168358 0.98624228 -0.97252942] [ 0. 0. 0. 1. ]] SLAMing on 84.15134618399999 meters Centerline goodness : 0.841705 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.97 [[ 0.96455773 -0.20554917 -0.16546274 -0.39093455] [ 0.20636826 0.97839562 -0.01241554 -0.22305554] [ 0.16444002 -0.02217075 0.98613789 -0.97367324] [ 0. 0. 0. 1. ]] SLAMing on 84.18134618399999 meters Centerline goodness : 0.843565 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.97 [[ 0.9645467 -0.20549989 -0.1655882 -0.39064042] [ 0.20628689 0.97841016 -0.01262071 -0.22220464] [ 0.16460673 -0.02198541 0.98611423 -0.97351172] [ 0. 0. 0. 1. ]] SLAMing on 84.21134618399999 meters Centerline goodness : 0.843353 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.97 [[ 0.96450109 -0.20576801 -0.16552094 -0.39115728] [ 0.20649401 0.9783615 -0.01300017 -0.22175693] [ 0.16461433 -0.02164041 0.98612059 -0.97290572] [ 0. 0. 0. 1. ]] SLAMing on 84.241346184 meters Centerline goodness : 0.842392 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.97 [[ 0.96434069 -0.2068495 -0.16510698 -0.39322578] [ 0.20753512 0.97813742 -0.01328035 -0.22368969] [ 0.16424435 -0.02145872 0.98618625 -0.97192726] [ 0. 0. 0. 1. ]] SLAMing on 84.271346184 meters Centerline goodness : 0.843535 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.97 [[ 0.9642789 -0.2073259 -0.16487015 -0.39371891] [ 0.20804258 0.978032 -0.01310301 -0.22620493] [ 0.16396487 -0.02166506 0.98622824 -0.97194642] [ 0. 0. 0. 1. ]] SLAMing on 84.301346184 meters Centerline goodness : 0.842635 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.97 [[ 0.96422647 -0.20783302 -0.164538 -0.39420655] [ 0.20857567 0.97792055 -0.01294536 -0.22849135] [ 0.16359557 -0.02183636 0.98628579 -0.97225875] [ 0. 0. 0. 1. ]] SLAMing on 84.331346184 meters Centerline goodness : 0.842337 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.97 [[ 0.9641958 -0.20807528 -0.16441149 -0.39413237] [ 0.20886685 0.97786222 -0.01265368 -0.23025655] [ 0.16340471 -0.02213949 0.98631067 -0.97270461] [ 0. 0. 0. 1. ]] SLAMing on 84.361346184 meters Centerline goodness : 0.842453 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.96410038 -0.20886602 -0.16396782 -0.39509048] [ 0.20966142 0.97769238 -0.01263702 -0.2316722 ] [ 0.16294953 -0.02219437 0.98638474 -0.97314593] [ 0. 0. 0. 1. ]] SLAMing on 84.391346184 meters Centerline goodness : 0.844059 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.96407795 -0.20902637 -0.16389532 -0.39500908] [ 0.20982887 0.97765697 -0.01259768 -0.23232039] [ 0.16286665 -0.02224482 0.98639729 -0.97334529] [ 0. 0. 0. 1. ]] SLAMing on 84.421346184 meters Centerline goodness : 0.842987 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.97 [[ 0.96410292 -0.20892692 -0.16387528 -0.39433783] [ 0.20977702 0.97767191 -0.01229802 -0.23315125] [ 0.16278565 -0.02252071 0.9864044 -0.97409332] [ 0. 0. 0. 1. ]] SLAMing on 84.451346184 meters Centerline goodness : 0.843779 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.97 [[ 0.96412835 -0.20880828 -0.16387684 -0.39379707] [ 0.20970473 0.97769103 -0.01200726 -0.23487025] [ 0.16272814 -0.02278921 0.98640773 -0.97439378] [ 0. 0. 0. 1. ]] SLAMing on 84.48134618399999 meters Centerline goodness : 0.843667 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.97 [[ 0.96407259 -0.20915006 -0.163769 -0.39463178] [ 0.20998023 0.9776267 -0.01242298 -0.23462585] [ 0.16270322 -0.0224116 0.98642049 -0.97356494] [ 0. 0. 0. 1. ]] SLAMing on 84.51134618399999 meters Centerline goodness : 0.847793 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.96395023 -0.20983245 -0.16361632 -0.3962475 ] [ 0.21051758 0.97749906 -0.01333945 -0.23290855] [ 0.16273384 -0.02158555 0.98643386 -0.97203556] [ 0. 0. 0. 1. ]] SLAMing on 84.54134618399999 meters Centerline goodness : 0.846880 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.96381483 -0.21048678 -0.16357347 -0.39774179] [ 0.21101002 0.97737826 -0.0143704 -0.23038285] [ 0.16289793 -0.02066524 0.98642649 -0.97039618] [ 0. 0. 0. 1. ]] SLAMing on 84.57134618399999 meters Centerline goodness : 0.846880 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.96381483 -0.21048678 -0.16357347 -0.39774179] [ 0.21101002 0.97737826 -0.0143704 -0.23038285] [ 0.16289793 -0.02066524 0.98642649 -0.97039618] [ 0. 0. 0. 1. ]] SLAMing on 84.601346184 meters Centerline goodness : 0.844349 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.96378426 -0.21059887 -0.16360931 -0.39781613] [ 0.21108646 0.97735835 -0.01460038 -0.23080976] [ 0.16297975 -0.02046409 0.98641716 -0.96987054] [ 0. 0. 0. 1. ]] SLAMing on 84.631346184 meters Centerline goodness : 0.846454 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.97 [[ 0.96304619 -0.21400629 -0.16353392 -0.39459248] [ 0.21396159 0.97667442 -0.01809766 -0.2313214 ] [ 0.16359241 -0.0175611 0.9863717 -0.97058977] [ 0. 0. 0. 1. ]] SLAMing on 84.661346184 meters Centerline goodness : 0.845403 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.97 [[ 0.96231894 -0.21729432 -0.16347915 -0.39102314] [ 0.21675118 0.9759929 -0.02137244 -0.23182957] [ 0.1641986 -0.0148672 0.98631526 -0.97177426] [ 0. 0. 0. 1. ]] SLAMing on 84.691346184 meters Centerline goodness : 0.848848 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.97 [[ 0.962341 -0.21699974 -0.16374038 -0.38909179] [ 0.21659344 0.97604558 -0.02055016 -0.23285184] [ 0.16427745 -0.01568883 0.9862894 -0.97378198] [ 0. 0. 0. 1. ]] SLAMing on 84.721346184 meters Centerline goodness : 0.849427 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.97 [[ 0.96309342 -0.21332131 -0.16414957 -0.39069204] [ 0.21349672 0.97679962 -0.01678278 -0.23346534] [ 0.16392136 -0.01888202 0.98629268 -0.97368196] [ 0. 0. 0. 1. ]] SLAMing on 84.751346184 meters Centerline goodness : 0.850136 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.97 [[ 0.96382057 -0.20969501 -0.16455364 -0.39260332] [ 0.21041398 0.97752258 -0.01324974 -0.23361909] [ 0.1636333 -0.02185402 0.98627914 -0.97310449] [ 0. 0. 0. 1. ]] SLAMing on 84.781346184 meters Centerline goodness : 0.848793 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.97 [[ 0.96453696 -0.20617826 -0.1647998 -0.39493681] [ 0.20743854 0.97819979 -0.00971714 -0.2345969 ] [ 0.16321059 -0.02481329 0.98627917 -0.97230731] [ 0. 0. 0. 1. ]] SLAMing on 84.811346184 meters Centerline goodness : 0.851108 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.96454886 -0.20633281 -0.16453652 -0.39641433] [ 0.20742821 0.97819186 -0.01068722 -0.23315018] [ 0.16315341 -0.02382117 0.98631309 -0.97029973] [ 0. 0. 0. 1. ]] SLAMing on 84.841346184 meters Centerline goodness : 0.852353 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.96454784 -0.20642838 -0.16442258 -0.39662159] [ 0.20749002 0.9781766 -0.01088272 -0.23322483] [ 0.16308082 -0.02361914 0.98632996 -0.9701105 ] [ 0. 0. 0. 1. ]] SLAMing on 84.87134618399999 meters Centerline goodness : 0.850847 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.96453576 -0.20655134 -0.16433899 -0.39642663] [ 0.20760134 0.97815221 -0.01095134 -0.23345027] [ 0.16301056 -0.02355404 0.98634313 -0.97044994] [ 0. 0. 0. 1. ]] SLAMing on 84.90134618399999 meters Centerline goodness : 0.848000 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.96453299 -0.20648575 -0.16443765 -0.39546126] [ 0.20755048 0.9781639 -0.01087117 -0.23386876] [ 0.16309172 -0.02364351 0.98632757 -0.97109839] [ 0. 0. 0. 1. ]] SLAMing on 84.93134618399999 meters Centerline goodness : 0.847924 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.97 [[ 0.96459551 -0.20578029 -0.16495447 -0.39255457] [ 0.2069628 0.97829589 -0.01017629 -0.23470272] [ 0.16346836 -0.02432343 0.98624868 -0.97293237] [ 0. 0. 0. 1. ]] SLAMing on 84.96134618399999 meters Centerline goodness : 0.847385 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.97 [[ 0.96459159 -0.20563752 -0.16515529 -0.39156141] [ 0.20683623 0.97832348 -0.01009669 -0.23437855] [ 0.16365155 -0.02442092 0.98621589 -0.97347722] [ 0. 0. 0. 1. ]] SLAMing on 84.991346184 meters Centerline goodness : 0.845403 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.97 [[ 0.96451052 -0.20585061 -0.16536317 -0.39138731] [ 0.2069982 0.97828547 -0.01045413 -0.23338673] [ 0.16392437 -0.02414676 0.98617733 -0.97308677] [ 0. 0. 0. 1. ]] SLAMing on 85.021346184 meters Centerline goodness : 0.846158 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.97 [[ 0.96432982 -0.20694571 -0.16504993 -0.3939563 ] [ 0.20794579 0.97807404 -0.01138987 -0.23266815] [ 0.16378813 -0.02333784 0.98621944 -0.97111978] [ 0. 0. 0. 1. ]] SLAMing on 85.051346184 meters Centerline goodness : 0.846741 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.96424234 -0.2075765 -0.16476862 -0.39550106] [ 0.20851761 0.97794792 -0.0117589 -0.23350255] [ 0.163576 -0.02301873 0.98626215 -0.97004583] [ 0. 0. 0. 1. ]] SLAMing on 85.081346184 meters Centerline goodness : 0.848242 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.96414198 -0.20830934 -0.1644307 -0.39728511] [ 0.20915721 0.97780421 -0.01233652 -0.2340031 ] [ 0.16335085 -0.02249771 0.98631149 -0.96874922] [ 0. 0. 0. 1. ]] SLAMing on 85.111346184 meters Centerline goodness : 0.848376 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.96409088 -0.20870448 -0.16422919 -0.39796976] [ 0.20952259 0.97772362 -0.01252201 -0.23433131] [ 0.16318416 -0.02233737 0.98634273 -0.96853131] [ 0. 0. 0. 1. ]] SLAMing on 85.141346184 meters Centerline goodness : 0.847204 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.96408624 -0.20862276 -0.16436019 -0.39697637] [ 0.20947886 0.97773577 -0.01230377 -0.23496568] [ 0.16326768 -0.02256809 0.98632365 -0.96922659] [ 0. 0. 0. 1. ]] SLAMing on 85.171346184 meters Centerline goodness : 0.848297 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.97 [[ 0.96410306 -0.20843745 -0.16449656 -0.39584534] [ 0.20934914 0.97776767 -0.01197144 -0.23639566] [ 0.16333471 -0.02289551 0.98630501 -0.96991816] [ 0. 0. 0. 1. ]] SLAMing on 85.201346184 meters Centerline goodness : 0.847569 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.97 [[ 0.96417634 -0.20799969 -0.16462112 -0.39443915] [ 0.20901457 0.9778469 -0.01132871 -0.23859012] [ 0.16333063 -0.02348534 0.98629182 -0.97091028] [ 0. 0. 0. 1. ]] SLAMing on 85.23134618399999 meters Centerline goodness : 0.849430 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.97 [[ 0.96422351 -0.20747863 -0.16500194 -0.39334666] [ 0.20854924 0.97794996 -0.01100373 -0.24002431] [ 0.16364668 -0.02380098 0.98623186 -0.97067027] [ 0. 0. 0. 1. ]] SLAMing on 85.26134618399999 meters Centerline goodness : 0.849276 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.97 [[ 0.96493588 -0.20384305 -0.16536855 -0.39550461] [ 0.2054473 0.97863921 -0.00753067 -0.23988361] [ 0.16337122 -0.02670791 0.98620309 -0.96982295] [ 0. 0. 0. 1. ]] SLAMing on 85.29134618399999 meters Centerline goodness : 0.851461 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.97 [[ 0.96561985 -0.20030202 -0.16570274 -0.39801687] [ 0.20240048 0.9792934 -0.00429999 -0.23843477] [ 0.1631329 -0.02938616 0.98616637 -0.96879701] [ 0. 0. 0. 1. ]] SLAMing on 85.32134618399999 meters Centerline goodness : 0.849752 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.97 [[ 9.66390931e-01 -1.95994604e-01 -1.66357096e-01 -3.98986883e-01] [ 1.98680173e-01 9.80064248e-01 -5.08461451e-04 -2.39088655e-01] [ 1.63140298e-01 -3.25604843e-02 9.86065443e-01 -9.68050515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.351346184 meters Centerline goodness : 0.849764 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.97 [[ 9.66478679e-01 -1.95423492e-01 -1.66519136e-01 -3.97499124e-01] [ 1.98224038e-01 9.80156717e-01 2.02124140e-04 -2.42359281e-01] [ 1.63175350e-01 -3.32034441e-02 9.86038202e-01 -9.68722073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.381346184 meters Centerline goodness : 0.850020 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.97 [[ 0.96583466 -0.19864188 -0.16644763 -0.3944488 ] [ 0.20090627 0.97960493 -0.00329425 -0.24317957] [ 0.16370729 -0.03025867 0.98604479 -0.96904921] [ 0. 0. 0. 1. ]] SLAMing on 85.411346184 meters Centerline goodness : 0.850969 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.97 [[ 0.96588658 -0.1980614 -0.16683762 -0.39264185] [ 0.20042443 0.97970538 -0.00272451 -0.24418574] [ 0.16399134 -0.03080677 0.98598062 -0.96991114] [ 0. 0. 0. 1. ]] SLAMing on 85.441346184 meters Centerline goodness : 0.850651 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.97 [[ 0.96582311 -0.19812266 -0.16713209 -0.39226603] [ 0.20043043 0.97970298 -0.0031174 -0.24189781] [ 0.16435744 -0.0304875 0.98592958 -0.96968376] [ 0. 0. 0. 1. ]] SLAMing on 85.471346184 meters Centerline goodness : 0.851264 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.97 [[ 0.96575915 -0.19819796 -0.16741217 -0.39197445] [ 0.20047843 0.97969242 -0.00334001 -0.24082011] [ 0.16467442 -0.03033689 0.98588134 -0.96930371] [ 0. 0. 0. 1. ]] SLAMing on 85.501346184 meters Centerline goodness : 0.849956 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.25, Z:-0.97 [[ 0.96574509 -0.19830496 -0.16736656 -0.39166627] [ 0.20070361 0.97964847 -0.00263274 -0.24520222] [ 0.16448248 -0.03104852 0.98589122 -0.96960194] [ 0. 0. 0. 1. ]] SLAMing on 85.531346184 meters Centerline goodness : 0.847682 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.25, Z:-0.97 [[ 0.96574314 -0.19837493 -0.16729486 -0.39147416] [ 0.20082684 0.97962404 -0.00230558 -0.24841109] [ 0.16434343 -0.0313707 0.98590421 -0.96961395] [ 0. 0. 0. 1. ]] SLAMing on 85.561346184 meters Centerline goodness : 0.845577 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.25, Z:-0.97 [[ 0.96573672 -0.19837332 -0.16733385 -0.39138835] [ 0.20085079 0.97961946 -0.00215965 -0.25005423] [ 0.16435192 -0.03152348 0.98589792 -0.96932791] [ 0. 0. 0. 1. ]] SLAMing on 85.591346184 meters Centerline goodness : 0.849398 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.97 [[ 9.66269017e-01 -1.95839007e-01 -1.67246136e-01 -3.95838316e-01] [ 1.98716071e-01 9.80056986e-01 4.77118722e-04 -2.50091228e-01] [ 1.63817306e-01 -3.36955202e-02 9.85915058e-01 -9.67092849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62134618399999 meters Centerline goodness : 0.848076 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.97 [[ 9.66208341e-01 -1.96022285e-01 -1.67381917e-01 -3.96257582e-01] [ 1.98808813e-01 9.80038287e-01 -1.11191461e-04 -2.48828451e-01] [ 1.64062483e-01 -3.31695661e-02 9.85892125e-01 -9.66044501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65134618399999 meters Centerline goodness : 0.845203 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.25, Z:-0.97 [[ 9.66252373e-01 -1.95493801e-01 -1.67745416e-01 -3.94615920e-01] [ 1.98349916e-01 9.80131233e-01 2.77183685e-04 -2.49608281e-01] [ 1.64358334e-01 -3.35401185e-02 9.85830309e-01 -9.66637194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68134618399999 meters Centerline goodness : 0.843093 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.96 [[ 0.96529504 -0.19606957 -0.17251729 -0.39764116] [ 0.19669775 0.9803696 -0.01361765 -0.24990918] [ 0.17180072 -0.02078871 0.98491235 -0.96467224] [ 0. 0. 0. 1. ]] SLAMing on 85.71134618399999 meters Centerline goodness : 0.843688 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.96 [[ 0.96527064 -0.19608667 -0.17263435 -0.39719999] [ 0.19674086 0.98036279 -0.01348459 -0.25013153] [ 0.17188844 -0.02094796 0.98489367 -0.96493746] [ 0. 0. 0. 1. ]] SLAMing on 85.741346184 meters Centerline goodness : 0.844675 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.96 [[ 0.96514628 -0.19681889 -0.17249635 -0.39863512] [ 0.19735284 0.98022935 -0.01422233 -0.24834467] [ 0.17188521 -0.02031602 0.98490748 -0.96387666] [ 0. 0. 0. 1. ]] SLAMing on 85.771346184 meters Centerline goodness : 0.843632 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.96 [[ 0.9650082 -0.19758444 -0.17239365 -0.40025482] [ 0.1979796 0.98009023 -0.01507384 -0.24668733] [ 0.17193969 -0.01958405 0.98491279 -0.9623868 ] [ 0. 0. 0. 1. ]] SLAMing on 85.801346184 meters Centerline goodness : 0.843982 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.96 [[ 0.96464572 -0.20002673 -0.17160404 -0.40240744] [ 0.20008819 0.97962833 -0.01711869 -0.25008668] [ 0.17153238 -0.01782247 0.98501726 -0.96045141] [ 0. 0. 0. 1. ]] SLAMing on 85.831346184 meters Centerline goodness : 0.844114 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.96 [[ 0.96393482 -0.2037623 -0.17120333 -0.40078849] [ 0.20324471 0.97890839 -0.02073537 -0.25173268] [ 0.17181747 -0.01480862 0.98501749 -0.96025591] [ 0. 0. 0. 1. ]] SLAMing on 85.861346184 meters Centerline goodness : 0.841635 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96396224 -0.20382113 -0.17097879 -0.40089975] [ 0.20337433 0.97889029 -0.02031453 -0.2552718 ] [ 0.17151001 -0.01519026 0.98506526 -0.96037146] [ 0. 0. 0. 1. ]] SLAMing on 85.891346184 meters Centerline goodness : 0.841216 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96394933 -0.20398565 -0.17085533 -0.40132278] [ 0.20355301 0.97885476 -0.02023668 -0.25633848] [ 0.17137054 -0.01527099 0.98508829 -0.9601764 ] [ 0. 0. 0. 1. ]] SLAMing on 85.921346184 meters Centerline goodness : 0.842438 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96457024 -0.20080266 -0.17112142 -0.40469889] [ 0.20088254 0.97946728 -0.0170307 -0.25505312] [ 0.17102764 -0.017948 0.98510274 -0.9586946 ] [ 0. 0. 0. 1. ]] SLAMing on 85.951346184 meters Centerline goodness : 0.843967 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.26, Z:-0.96 [[ 0.96531199 -0.19674083 -0.1716561 -0.40572032] [ 0.1974725 0.98022256 -0.01297496 -0.25646014] [ 0.17081389 -0.02137248 0.98507149 -0.95854443] [ 0. 0. 0. 1. ]] SLAMing on 85.98134618399999 meters Centerline goodness : 0.845402 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96537095 -0.19591538 -0.17226749 -0.40369741] [ 0.19673666 0.98037714 -0.01246381 -0.25712406] [ 0.17132896 -0.02185913 0.98497135 -0.95886571] [ 0. 0. 0. 1. ]] SLAMing on 86.01134618399999 meters Centerline goodness : 0.840341 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96562741 -0.19407012 -0.17291757 -0.40006972] [ 0.19513633 0.98071468 -0.01097876 -0.26054317] [ 0.17171345 -0.0231411 0.98487511 -0.96033869] [ 0. 0. 0. 1. ]] SLAMing on 86.04134618399999 meters Centerline goodness : 0.839329 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96562815 -0.19386663 -0.17314158 -0.39971153] [ 0.19489519 0.98076005 -0.01120682 -0.25944246] [ 0.17198297 -0.02292284 0.98483318 -0.95993549] [ 0. 0. 0. 1. ]] SLAMing on 86.07134618399999 meters Centerline goodness : 0.839880 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96560399 -0.19384255 -0.17330321 -0.39981212] [ 0.19479016 0.98077528 -0.0116895 -0.25749514] [ 0.17223743 -0.02247033 0.98479914 -0.95920497] [ 0. 0. 0. 1. ]] SLAMing on 86.101346184 meters Centerline goodness : 0.841533 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96559823 -0.19362704 -0.17357602 -0.39932668] [ 0.19453677 0.98082277 -0.01192246 -0.25619426] [ 0.17255582 -0.02225461 0.9847483 -0.95884315] [ 0. 0. 0. 1. ]] SLAMing on 86.131346184 meters Centerline goodness : 0.838686 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.26, Z:-0.96 [[ 0.96582153 -0.1917612 -0.17440302 -0.39458723] [ 0.19296629 0.98115254 -0.01018325 -0.25989552] [ 0.17306872 -0.0238187 0.9846217 -0.96125261] [ 0. 0. 0. 1. ]] SLAMing on 86.161346184 meters Centerline goodness : 0.840478 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.26, Z:-0.96 [[ 0.96592196 -0.19093378 -0.17475428 -0.3923507 ] [ 0.19227217 0.98129661 -0.0094004 -0.26157125] [ 0.17328064 -0.02452034 0.9845672 -0.96246275] [ 0. 0. 0. 1. ]] SLAMing on 86.191346184 meters Centerline goodness : 0.839079 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.26, Z:-0.96 [[ 0.96593248 -0.19063622 -0.17502078 -0.39137405] [ 0.19197685 0.98135445 -0.00939907 -0.26062214] [ 0.17354923 -0.02452107 0.98451987 -0.96269834] [ 0. 0. 0. 1. ]] SLAMing on 86.221346184 meters Centerline goodness : 0.840951 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.26, Z:-0.96 [[ 0.96588474 -0.19068748 -0.17522828 -0.39146143] [ 0.19193776 0.98135671 -0.00994518 -0.25798431] [ 0.17385787 -0.02402702 0.9844776 -0.96202342] [ 0. 0. 0. 1. ]] SLAMing on 86.251346184 meters Centerline goodness : 0.841326 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.25, Z:-0.96 [[ 0.96646381 -0.18751675 -0.17545705 -0.39495255] [ 0.18918026 0.98191487 -0.00735002 -0.2548543 ] [ 0.17366214 -0.02608948 0.98445965 -0.96008353] [ 0. 0. 0. 1. ]] SLAMing on 86.281346184 meters Centerline goodness : 0.837911 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.96 [[ 0.96642347 -0.18769451 -0.17548914 -0.39537579] [ 0.18927691 0.98189253 -0.00783059 -0.25416596] [ 0.17378124 -0.02564837 0.98445022 -0.95925173] [ 0. 0. 0. 1. ]] SLAMing on 86.311346184 meters Centerline goodness : 0.837000 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96646413 -0.1877367 -0.17521988 -0.39564167] [ 0.18933653 0.9818821 -0.00769514 -0.25625918] [ 0.17348993 -0.02573845 0.98449925 -0.95930093] [ 0. 0. 0. 1. ]] SLAMing on 86.341346184 meters Centerline goodness : 0.838473 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96578041 -0.19222803 -0.17411656 -0.39573186] [ 0.19319368 0.98109267 -0.01154878 -0.25924392] [ 0.17304448 -0.02248463 0.98465733 -0.95921868] [ 0. 0. 0. 1. ]] SLAMing on 86.37134618399999 meters Centerline goodness : 0.838662 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96573731 -0.19285959 -0.17365664 -0.3971278 ] [ 0.19376053 0.98097651 -0.01191406 -0.25939058] [ 0.17265082 -0.02214195 0.98473419 -0.95886303] [ 0. 0. 0. 1. ]] SLAMing on 86.40134618399999 meters Centerline goodness : 0.837960 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.9656324 -0.19355625 -0.17346482 -0.39819853] [ 0.19434886 0.98085193 -0.01257008 -0.25778034] [ 0.17257632 -0.02157461 0.98475984 -0.9583196 ] [ 0. 0. 0. 1. ]] SLAMing on 86.43134618399999 meters Centerline goodness : 0.836375 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96552225 -0.19416577 -0.17339674 -0.39873209] [ 0.19489994 0.98073764 -0.01294981 -0.25659311] [ 0.17257112 -0.02129168 0.98476691 -0.95821513] [ 0. 0. 0. 1. ]] SLAMing on 86.46134618399999 meters Centerline goodness : 0.837550 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96463599 -0.19877047 -0.17311185 -0.39726941] [ 0.19889558 0.97987664 -0.01680243 -0.2564326 ] [ 0.17296809 -0.01822295 0.98475884 -0.9585118 ] [ 0. 0. 0. 1. ]] SLAMing on 86.491346184 meters Centerline goodness : 0.837550 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96463599 -0.19877047 -0.17311185 -0.39726941] [ 0.19889558 0.97987664 -0.01680243 -0.2564326 ] [ 0.17296809 -0.01822295 0.98475884 -0.9585118 ] [ 0. 0. 0. 1. ]] SLAMing on 86.521346184 meters Centerline goodness : 0.837752 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96383961 -0.20287086 -0.1727907 -0.39570527] [ 0.20240452 0.97908734 -0.02050338 -0.25731509] [ 0.17333673 -0.01521165 0.98474514 -0.95848375] [ 0. 0. 0. 1. ]] SLAMing on 86.551346184 meters Centerline goodness : 0.835473 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.26, Z:-0.96 [[ 0.96302502 -0.20709971 -0.17231517 -0.39460532] [ 0.20601529 0.97824567 -0.02435375 -0.25793028] [ 0.17361022 -0.01204629 0.98474077 -0.95828809] [ 0. 0. 0. 1. ]] SLAMing on 86.581346184 meters Centerline goodness : 0.840031 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96277757 -0.20909836 -0.17128114 -0.39905962] [ 0.20785194 0.9778309 -0.02538316 -0.25848241] [ 0.17279157 -0.01116278 0.98489515 -0.95656564] [ 0. 0. 0. 1. ]] SLAMing on 86.611346184 meters Centerline goodness : 0.840676 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96270882 -0.2095077 -0.17116733 -0.39980373] [ 0.20817806 0.97774832 -0.02588662 -0.25695659] [ 0.17278201 -0.010712 0.98490184 -0.95604983] [ 0. 0. 0. 1. ]] SLAMing on 86.641346184 meters Centerline goodness : 0.840559 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96271736 -0.20937392 -0.17128293 -0.39911114] [ 0.2080381 0.9777773 -0.02591719 -0.25614158] [ 0.17290295 -0.01068245 0.98488094 -0.95640194] [ 0. 0. 0. 1. ]] SLAMing on 86.671346184 meters Centerline goodness : 0.838762 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96276977 -0.20900192 -0.17144263 -0.39790542] [ 0.20770725 0.97785442 -0.02565983 -0.25623352] [ 0.17300889 -0.01090537 0.98485989 -0.95713252] [ 0. 0. 0. 1. ]] SLAMing on 86.701346184 meters Centerline goodness : 0.840329 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.26, Z:-0.96 [[ 0.96286501 -0.2083824 -0.17166174 -0.39663925] [ 0.20707006 0.977988 -0.02571901 -0.25508409] [ 0.17324251 -0.01078207 0.98482018 -0.95743157] [ 0. 0. 0. 1. ]] SLAMing on 86.73134618399999 meters Centerline goodness : 0.840757 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.96 [[ 0.96282676 -0.2084585 -0.17178385 -0.39693423] [ 0.20701157 0.97797959 -0.02649771 -0.25303073] [ 0.17352477 -0.01004854 0.98477824 -0.95630893] [ 0. 0. 0. 1. ]] SLAMing on 86.76134618399999 meters Centerline goodness : 0.841505 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.96 [[ 0.96355448 -0.20498119 -0.17188799 -0.39983483] [ 0.2040213 0.97868613 -0.02342582 -0.2521704 ] [ 0.17302625 -0.01249676 0.98483793 -0.95521617] [ 0. 0. 0. 1. ]] SLAMing on 86.79134618399999 meters Centerline goodness : 0.838789 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.95 [[ 0.9635676 -0.20493275 -0.17187216 -0.39984755] [ 0.20391349 0.97870059 -0.02375818 -0.25088694] [ 0.17308021 -0.01215443 0.98483273 -0.95498779] [ 0. 0. 0. 1. ]] SLAMing on 86.82134618399999 meters Centerline goodness : 0.840919 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.96 [[ 0.96357814 -0.20469745 -0.17209334 -0.39903942] [ 0.20364361 0.97875212 -0.02394935 -0.24963202] [ 0.17333909 -0.01196864 0.98478948 -0.95504131] [ 0. 0. 0. 1. ]] SLAMing on 86.851346184 meters Centerline goodness : 0.839566 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.96 [[ 0.96368341 -0.20392471 -0.17242098 -0.39673792] [ 0.20290455 0.97891137 -0.02371213 -0.24708428] [ 0.17362035 -0.01213401 0.9847379 -0.95666683] [ 0. 0. 0. 1. ]] SLAMing on 86.881346184 meters Centerline goodness : 0.841270 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.96 [[ 0.96367547 -0.20368291 -0.17275085 -0.39542886] [ 0.20263943 0.97896304 -0.02384584 -0.24567763] [ 0.17397369 -0.01202648 0.98467686 -0.95707952] [ 0. 0. 0. 1. ]] SLAMing on 86.911346184 meters Centerline goodness : 0.839630 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.96 [[ 0.96368184 -0.20354228 -0.17288103 -0.39483661] [ 0.20245332 0.97899533 -0.02409954 -0.24449135] [ 0.174155 -0.01177605 0.98464784 -0.95709224] [ 0. 0. 0. 1. ]] SLAMing on 86.941346184 meters Centerline goodness : 0.840070 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.96 [[ 0.96372777 -0.20333094 -0.17287372 -0.39483904] [ 0.20213957 0.97904624 -0.0246589 -0.2430893 ] [ 0.17426528 -0.01118015 0.98463527 -0.95631802] [ 0. 0. 0. 1. ]] SLAMing on 86.971346184 meters Centerline goodness : 0.840697 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.96 [[ 0.96372638 -0.20322723 -0.17300335 -0.39459138] [ 0.2019769 0.97907139 -0.02499085 -0.24195195] [ 0.17446146 -0.01085834 0.98460413 -0.95592382] [ 0. 0. 0. 1. ]] SLAMing on 87.001346184 meters Centerline goodness : 0.842142 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.96 [[ 0.96370708 -0.20308347 -0.17327943 -0.39392721] [ 0.20176775 0.97910493 -0.02536377 -0.23995788] [ 0.17480971 -0.01051895 0.98454605 -0.95573535] [ 0. 0. 0. 1. ]] SLAMing on 87.031346184 meters Centerline goodness : 0.841710 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.96 [[ 0.96446751 -0.19901996 -0.1737627 -0.39406285] [ 0.19836681 0.97989645 -0.02129694 -0.23888493] [ 0.17450797 -0.01392855 0.98455724 -0.95725993] [ 0. 0. 0. 1. ]] SLAMing on 87.061346184 meters Centerline goodness : 0.840656 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.96 [[ 0.96445579 -0.19898781 -0.17386451 -0.39315241] [ 0.19835432 0.97990126 -0.02119142 -0.23830315] [ 0.17458689 -0.01404859 0.98454155 -0.95811728] [ 0. 0. 0. 1. ]] SLAMing on 87.091346184 meters Centerline goodness : 0.841213 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.96 [[ 0.9644697 -0.19897842 -0.17379814 -0.39222341] [ 0.19841916 0.97989724 -0.02076622 -0.2394074 ] [ 0.17443635 -0.01445649 0.98456232 -0.95940219] [ 0. 0. 0. 1. ]] SLAMing on 87.12134618399999 meters Centerline goodness : 0.838564 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.96 [[ 0.96449396 -0.19897784 -0.1736641 -0.39144005] [ 0.19852208 0.97988885 -0.02017007 -0.24165003] [ 0.17418491 -0.01502225 0.98459837 -0.96068642] [ 0. 0. 0. 1. ]] SLAMing on 87.15134618399999 meters Centerline goodness : 0.837672 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.96 [[ 0.96444205 -0.19959756 -0.17324069 -0.39237238] [ 0.19911479 0.97976503 -0.02034183 -0.24288948] [ 0.17379535 -0.01487626 0.98466942 -0.96068137] [ 0. 0. 0. 1. ]] SLAMing on 87.18134618399999 meters Centerline goodness : 0.836990 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.96 [[ 0.96416857 -0.20187815 -0.17211679 -0.39753727] [ 0.20107814 0.97932235 -0.0222556 -0.23938292] [ 0.17305074 -0.01315077 0.98482511 -0.95846611] [ 0. 0. 0. 1. ]] SLAMing on 87.21134618399999 meters Centerline goodness : 0.838527 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.96 [[ 0.96401949 -0.20292513 -0.17172015 -0.39996434] [ 0.20190712 0.97912123 -0.02356104 -0.23637403] [ 0.17291598 -0.01195822 0.98486398 -0.95674919] [ 0. 0. 0. 1. ]] SLAMing on 87.241346184 meters Centerline goodness : 0.835588 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.96 [[ 0.96397266 -0.20374348 -0.17101261 -0.40178793] [ 0.20263227 0.97895788 -0.02411701 -0.2365207 ] [ 0.17232783 -0.01140453 0.98497363 -0.95652981] [ 0. 0. 0. 1. ]] SLAMing on 87.271346184 meters Centerline goodness : 0.836234 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.96 [[ 0.96403125 -0.20355723 -0.17090407 -0.40039912] [ 0.2025467 0.97899018 -0.02351718 -0.23901278] [ 0.1721005 -0.01194476 0.98500698 -0.95811938] [ 0. 0. 0. 1. ]] SLAMing on 87.301346184 meters Centerline goodness : 0.835839 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.96 [[ 0.96407398 -0.20329593 -0.17097404 -0.39883395] [ 0.20239731 0.97903668 -0.0228584 -0.24119311] [ 0.17203688 -0.0125675 0.98501034 -0.95957489] [ 0. 0. 0. 1. ]] SLAMing on 87.331346184 meters Centerline goodness : 0.835966 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.96 [[ 0.96408021 -0.20320614 -0.17104562 -0.39781832] [ 0.20235462 0.97905182 -0.02258616 -0.24145078] [ 0.17205217 -0.012837 0.98500419 -0.96057775] [ 0. 0. 0. 1. ]] SLAMing on 87.361346184 meters Centerline goodness : 0.838719 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.96 [[ 0.96466107 -0.2002703 -0.17123323 -0.40058749] [ 0.19997531 0.97961377 -0.01915016 -0.24021202] [ 0.17157764 -0.015769 0.98504439 -0.96055851] [ 0. 0. 0. 1. ]] SLAMing on 87.391346184 meters Centerline goodness : 0.838479 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.96 [[ 0.96534339 -0.19676192 -0.17145521 -0.40259185] [ 0.19703457 0.98027246 -0.01559751 -0.24031774] [ 0.17114181 -0.01872565 0.98506844 -0.96033326] [ 0. 0. 0. 1. ]] SLAMing on 87.421346184 meters Centerline goodness : 0.838212 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.96 [[ 0.96530724 -0.19673782 -0.17168621 -0.40248687] [ 0.19689374 0.98028947 -0.01629173 -0.23779992] [ 0.17150738 -0.01807742 0.98501697 -0.95944756] [ 0. 0. 0. 1. ]] SLAMing on 87.451346184 meters Centerline goodness : 0.838054 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.96 [[ 0.96529789 -0.19659616 -0.17190092 -0.40230854] [ 0.19663282 0.98033006 -0.0169858 -0.23594901] [ 0.17185898 -0.01740501 0.98496779 -0.95841313] [ 0. 0. 0. 1. ]] SLAMing on 87.48134618399999 meters Centerline goodness : 0.839258 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96793205 -0.19109069 -0.16307023 -0.41248455] [ 0.19050368 0.98149521 -0.01937804 -0.23675238] [ 0.16375561 -0.01230886 0.98642414 -0.96406121] [ 0. 0. 0. 1. ]] SLAMing on 87.51134618399999 meters Centerline goodness : 0.835725 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.9680011 -0.19060048 -0.16323399 -0.41115995] [ 0.18999442 0.98159222 -0.01946372 -0.2354995 ] [ 0.163939 -0.01217264 0.98639537 -0.96468234] [ 0. 0. 0. 1. ]] SLAMing on 87.54134618399999 meters Centerline goodness : 0.837464 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.97 [[ 0.9680372 -0.19006112 -0.16364826 -0.40917203] [ 0.18944854 0.98169723 -0.01948843 -0.23358497] [ 0.16435704 -0.0121374 0.98632624 -0.96559494] [ 0. 0. 0. 1. ]] SLAMing on 87.57134618399999 meters Centerline goodness : 0.838741 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.97 [[ 0.96880852 -0.18545635 -0.16436544 -0.40839716] [ 0.18544951 0.98253116 -0.01552381 -0.23116614] [ 0.16437316 -0.01544189 0.98627735 -0.96705632] [ 0. 0. 0. 1. ]] SLAMing on 87.601346184 meters Centerline goodness : 0.838269 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.97 [[ 0.96949663 -0.18153095 -0.16469 -0.40939689] [ 0.18211874 0.9832075 -0.01165276 -0.23140523] [ 0.16403978 -0.01869582 0.98627654 -0.9674954 ] [ 0. 0. 0. 1. ]] SLAMing on 87.631346184 meters Centerline goodness : 0.837552 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.97 [[ 0.96945746 -0.18189544 -0.16451832 -0.41022995] [ 0.18235706 0.98315389 -0.01242285 -0.22922024] [ 0.16400649 -0.01795765 0.98629579 -0.96674687] [ 0. 0. 0. 1. ]] SLAMing on 87.661346184 meters Centerline goodness : 0.837641 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.97 [[ 0.96939851 -0.18247077 -0.16422836 -0.41147595] [ 0.18282473 0.9830584 -0.01308786 -0.22825157] [ 0.16383422 -0.01733765 0.98633552 -0.96598835] [ 0. 0. 0. 1. ]] SLAMing on 87.691346184 meters Centerline goodness : 0.838906 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.97 [[ 0.96925089 -0.18383791 -0.16357365 -0.41346713] [ 0.1840782 0.98281444 -0.01381999 -0.22890647] [ 0.16330319 -0.01671531 0.98643432 -0.96571104] [ 0. 0. 0. 1. ]] SLAMing on 87.721346184 meters Centerline goodness : 0.837190 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.97 [[ 0.96924532 -0.18400902 -0.16341419 -0.41306443] [ 0.1842845 0.98277878 -0.01360513 -0.23014605] [ 0.16310346 -0.01692799 0.98646374 -0.96658386] [ 0. 0. 0. 1. ]] SLAMing on 87.751346184 meters Centerline goodness : 0.837553 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.97 [[ 0.96924124 -0.18410313 -0.16333234 -0.41213595] [ 0.18442131 0.98275667 -0.01334599 -0.23047865] [ 0.16297298 -0.01718648 0.98648083 -0.96803047] [ 0. 0. 0. 1. ]] SLAMing on 87.781346184 meters Centerline goodness : 0.837407 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.97 [[ 0.9692021 -0.18405162 -0.16362242 -0.40991481] [ 0.18442723 0.98275985 -0.01302566 -0.22947261] [ 0.16319894 -0.01755193 0.98643704 -0.97024506] [ 0. 0. 0. 1. ]] SLAMing on 87.811346184 meters Centerline goodness : 0.836735 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.97 [[ 0.96919647 -0.1840259 -0.16368466 -0.40907568] [ 0.18440874 0.98276384 -0.01298656 -0.22906799] [ 0.16325323 -0.01759835 0.98642723 -0.97098862] [ 0. 0. 0. 1. ]] SLAMing on 87.841346184 meters Centerline goodness : 0.835311 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.97 [[ 0.96917041 -0.18424073 -0.16359726 -0.40895993] [ 0.18459665 0.98272628 -0.0131579 -0.2285674 ] [ 0.16319555 -0.01744725 0.98643946 -0.97137246] [ 0. 0. 0. 1. ]] SLAMing on 87.87134618399999 meters Centerline goodness : 0.837002 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.97 [[ 0.96901895 -0.1854965 -0.16307458 -0.41192581] [ 0.18557602 0.98251721 -0.01488168 -0.22501815] [ 0.16298408 -0.0158421 0.9865015 -0.96913451] [ 0. 0. 0. 1. ]] SLAMing on 87.90134618399999 meters Centerline goodness : 0.836737 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.22, Z:-0.97 [[ 0.96890153 -0.18648922 -0.16263944 -0.41436854] [ 0.18632029 0.98235169 -0.01642887 -0.22231437] [ 0.16283294 -0.01438508 0.98654878 -0.96696579] [ 0. 0. 0. 1. ]] SLAMing on 87.93134618399999 meters Centerline goodness : 0.836020 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.97 [[ 0.9688398 -0.18705357 -0.16235889 -0.41573001] [ 0.1867433 0.98225626 -0.01730855 -0.22053154] [ 0.16271566 -0.01355022 0.98657995 -0.9659166 ] [ 0. 0. 0. 1. ]] SLAMing on 87.96134618399999 meters Centerline goodness : 0.835601 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.97 [[ 0.96881762 -0.18736126 -0.16213628 -0.41639492] [ 0.18695833 0.98220515 -0.017878 -0.2197517 ] [ 0.16260073 -0.01299221 0.98660641 -0.96535124] [ 0. 0. 0. 1. ]] SLAMing on 87.991346184 meters Centerline goodness : 0.832392 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.97 [[ 0.96885705 -0.18710803 -0.16219309 -0.41545246] [ 0.18668788 0.98225499 -0.01796576 -0.21960627] [ 0.16267651 -0.01287323 0.98659548 -0.96574887] [ 0. 0. 0. 1. ]] SLAMing on 88.021346184 meters Centerline goodness : 0.830698 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.22, Z:-0.97 [[ 0.9688626 -0.1867663 -0.16255341 -0.41390094] [ 0.18634351 0.98232008 -0.01798201 -0.21878352] [ 0.16303792 -0.01286867 0.98653588 -0.96628592] [ 0. 0. 0. 1. ]] SLAMing on 88.051346184 meters Centerline goodness : 0.831203 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.22, Z:-0.97 [[ 0.96886361 -0.18638751 -0.16298157 -0.41236073] [ 0.18593695 0.98239399 -0.0181519 -0.21702005] [ 0.1634954 -0.01271758 0.98646212 -0.96658651] [ 0. 0. 0. 1. ]] SLAMing on 88.081346184 meters Centerline goodness : 0.830477 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.22, Z:-0.97 [[ 0.96961754 -0.18186399 -0.16360722 -0.41223963] [ 0.1819805 0.98319664 -0.01440389 -0.21500212] [ 0.16347762 -0.01580706 0.9864204 -0.96725296] [ 0. 0. 0. 1. ]] SLAMing on 88.111346184 meters Centerline goodness : 0.830498 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.21, Z:-0.97 [[ 0.97033218 -0.17778506 -0.16385338 -0.41360591] [ 0.17844161 0.98389097 -0.01082355 -0.21445635] [ 0.16313813 -0.01873582 0.98642532 -0.96704318] [ 0. 0. 0. 1. ]] SLAMing on 88.141346184 meters Centerline goodness : 0.829857 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.21, Z:-0.97 [[ 0.97101709 -0.17390847 -0.16395624 -0.41568475] [ 0.17506708 0.98452817 -0.00746949 -0.2131472 ] [ 0.16271855 -0.02145034 0.98643933 -0.96654687] [ 0. 0. 0. 1. ]] SLAMing on 88.171346184 meters Centerline goodness : 0.828579 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.21, Z:-0.96 [[ 0.97169005 -0.1698688 -0.16420428 -0.41751462] [ 0.17139988 0.98518934 -0.00490471 -0.20988256] [ 0.16260546 -0.02337874 0.98641416 -0.96497493] [ 0. 0. 0. 1. ]] SLAMing on 88.201346184 meters Centerline goodness : 0.827201 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.21, Z:-0.97 [[ 0.97172257 -0.16972489 -0.16416064 -0.41705396] [ 0.17120663 0.9852215 -0.00518554 -0.20940694] [ 0.1626147 -0.02306648 0.98641999 -0.96506753] [ 0. 0. 0. 1. ]] SLAMing on 88.23134618399999 meters Centerline goodness : 0.826651 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.21, Z:-0.97 [[ 0.97175011 -0.169496 -0.16423404 -0.41610761] [ 0.17097902 0.98526111 -0.00516902 -0.20962986] [ 0.16268955 -0.02305758 0.98640786 -0.96554839] [ 0. 0. 0. 1. ]] SLAMing on 88.26134618399999 meters Centerline goodness : 0.827276 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.21, Z:-0.97 [[ 0.97175256 -0.16905524 -0.16467327 -0.41349908] [ 0.17058872 0.98533019 -0.00488974 -0.20805815] [ 0.16308418 -0.02333979 0.98633605 -0.96751262] [ 0. 0. 0. 1. ]] SLAMing on 88.29134618399999 meters Centerline goodness : 0.826487 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.21, Z:-0.97 [[ 0.9717078 -0.16906776 -0.16492433 -0.41230594] [ 0.17062979 0.98532374 -0.00475476 -0.20745207] [ 0.16330773 -0.02352077 0.98629476 -0.96848185] [ 0. 0. 0. 1. ]] SLAMing on 88.32134618399999 meters Centerline goodness : 0.829582 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.21, Z:-0.97 [[ 0.97168069 -0.16930545 -0.16484025 -0.4121241 ] [ 0.17087466 0.98528147 -0.0047192 -0.20746167] [ 0.16321303 -0.02358147 0.98630899 -0.96908379] [ 0. 0. 0. 1. ]] SLAMing on 88.351346184 meters Centerline goodness : 0.827063 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.21, Z:-0.97 [[ 0.97152887 -0.17056652 -0.16443454 -0.41401353] [ 0.17208811 0.98506859 -0.00505465 -0.20909739] [ 0.16284145 -0.02338649 0.98637505 -0.96859657] [ 0. 0. 0. 1. ]] SLAMing on 88.381346184 meters Centerline goodness : 0.827063 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.21, Z:-0.97 [[ 0.97152887 -0.17056652 -0.16443454 -0.41401353] [ 0.17208811 0.98506859 -0.00505465 -0.20909739] [ 0.16284145 -0.02338649 0.98637505 -0.96859657] [ 0. 0. 0. 1. ]] SLAMing on 88.411346184 meters Centerline goodness : 0.826871 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.21, Z:-0.97 [[ 0.97145902 -0.17126556 -0.16412031 -0.41544617] [ 0.17269922 0.98495868 -0.00560126 -0.2092033 ] [ 0.16261102 -0.02290206 0.98642443 -0.96771374] [ 0. 0. 0. 1. ]] SLAMing on 88.441346184 meters Centerline goodness : 0.828246 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.21, Z:-0.97 [[ 0.97137934 -0.17202249 -0.16379998 -0.41710464] [ 0.17331201 0.98484555 -0.00649501 -0.20796841] [ 0.16243497 -0.02207938 0.98647219 -0.96649503] [ 0. 0. 0. 1. ]] SLAMing on 88.471346184 meters Centerline goodness : 0.827585 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.21, Z:-0.97 [[ 0.9713118 -0.17255279 -0.16364268 -0.41816794] [ 0.17369844 0.98477115 -0.00739211 -0.20626426] [ 0.16242611 -0.02124443 0.98649198 -0.96540111] [ 0. 0. 0. 1. ]] SLAMing on 88.501346184 meters Centerline goodness : 0.823873 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-0.97 [[ 0.97139871 -0.17195554 -0.16375542 -0.41730236] [ 0.17302716 0.98488612 -0.00780595 -0.20427901] [ 0.16262272 -0.02075145 0.98647009 -0.96513839] [ 0. 0. 0. 1. ]] SLAMing on 88.531346184 meters Centerline goodness : 0.822682 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-0.96 [[ 0.97141802 -0.17158293 -0.16403149 -0.41632981] [ 0.17261873 0.98495601 -0.00802703 -0.20327573] [ 0.16294111 -0.0205173 0.98642244 -0.9649933 ] [ 0. 0. 0. 1. ]] SLAMing on 88.561346184 meters Centerline goodness : 0.824320 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-0.96 [[ 0.97141512 -0.17130325 -0.16434069 -0.41545513] [ 0.17228476 0.98501162 -0.00837088 -0.20218749] [ 0.16331144 -0.0201818 0.98636812 -0.96457425] [ 0. 0. 0. 1. ]] SLAMing on 88.591346184 meters Centerline goodness : 0.823211 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.20, Z:-0.97 [[ 0.97143662 -0.17103948 -0.16448827 -0.41460566] [ 0.17204343 0.98505497 -0.00823163 -0.2020859 ] [ 0.16343793 -0.02030262 0.98634469 -0.96503957] [ 0. 0. 0. 1. ]] SLAMing on 88.62134618399999 meters Centerline goodness : 0.821611 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.20, Z:-0.97 [[ 0.97143387 -0.17111601 -0.16442493 -0.41448621] [ 0.17213564 0.98503966 -0.00813546 -0.20264922] [ 0.16335718 -0.02040033 0.98635605 -0.96531556] [ 0. 0. 0. 1. ]] SLAMing on 88.65134618399999 meters Centerline goodness : 0.821000 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-0.96 [[ 0.97139262 -0.17154954 -0.16421675 -0.41532168] [ 0.17253367 0.98496814 -0.00836025 -0.2028711 ] [ 0.16318247 -0.02021184 0.98638885 -0.96496549] [ 0. 0. 0. 1. ]] SLAMing on 88.68134618399999 meters Centerline goodness : 0.823987 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-0.96 [[ 0.97130572 -0.17246397 -0.16377236 -0.4177995 ] [ 0.17333407 0.9848213 -0.00907243 -0.20304276] [ 0.16285118 -0.01957523 0.98645644 -0.96329084] [ 0. 0. 0. 1. ]] SLAMing on 88.71134618399999 meters Centerline goodness : 0.822296 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-0.96 [[ 0.97125639 -0.17288386 -0.16362213 -0.41871498] [ 0.1736816 0.98475576 -0.00952817 -0.20248723] [ 0.1627751 -0.01916385 0.98647707 -0.96261089] [ 0. 0. 0. 1. ]] SLAMing on 88.741346184 meters Centerline goodness : 0.821715 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-0.96 [[ 0.97122886 -0.17354756 -0.16308201 -0.42063544] [ 0.17422897 0.98465206 -0.01022654 -0.2014672 ] [ 0.16235383 -0.0184813 0.98655951 -0.96176083] [ 0. 0. 0. 1. ]] SLAMing on 88.771346184 meters Centerline goodness : 0.823279 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-0.96 [[ 0.9712562 -0.17356249 -0.16290319 -0.42013199] [ 0.17429993 0.98464318 -0.00986623 -0.20360843] [ 0.16211392 -0.01881138 0.98659273 -0.9626875 ] [ 0. 0. 0. 1. ]] SLAMing on 88.801346184 meters Centerline goodness : 0.823279 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-0.96 [[ 0.9712562 -0.17356249 -0.16290319 -0.42013199] [ 0.17429993 0.98464318 -0.00986623 -0.20360843] [ 0.16211392 -0.01881138 0.98659273 -0.9626875 ] [ 0. 0. 0. 1. ]] SLAMing on 88.831346184 meters Centerline goodness : 0.823787 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.21, Z:-0.96 [[ 0.97126528 -0.17364313 -0.1627631 -0.4198715 ] [ 0.17444547 0.98462138 -0.00946106 -0.20543219] [ 0.16190287 -0.01920409 0.98661982 -0.96345984] [ 0. 0. 0. 1. ]] SLAMing on 88.861346184 meters Centerline goodness : 0.821016 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.21, Z:-0.96 [[ 0.9712334 -0.17393348 -0.16264326 -0.41989506] [ 0.17477599 0.984565 -0.00922593 -0.20708256] [ 0.16173756 -0.0194656 0.98664181 -0.96392049] [ 0. 0. 0. 1. ]] SLAMing on 88.891346184 meters Centerline goodness : 0.818995 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.21, Z:-0.96 [[ 0.97114588 -0.17440288 -0.16266319 -0.42044879] [ 0.1752483 0.98448081 -0.00924998 -0.20854792] [ 0.16175201 -0.01952337 0.9866383 -0.96334602] [ 0. 0. 0. 1. ]] SLAMing on 88.921346184 meters Centerline goodness : 0.821485 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.21, Z:-0.96 [[ 0.9711289 -0.17453781 -0.16261986 -0.42076624] [ 0.1753824 0.98445683 -0.00926098 -0.209157 ] [ 0.16170863 -0.01952705 0.98664533 -0.96305289] [ 0. 0. 0. 1. ]] SLAMing on 88.951346184 meters Centerline goodness : 0.825327 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.21, Z:-0.96 [[ 0.97116421 -0.17413986 -0.16283544 -0.41948427] [ 0.17509561 0.98451408 -0.00857645 -0.21101153] [ 0.16180729 -0.02018263 0.98661596 -0.96394342] [ 0. 0. 0. 1. ]] SLAMing on 88.98134618399999 meters Centerline goodness : 0.822475 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.21, Z:-0.97 [[ 0.97119962 -0.17377628 -0.16301259 -0.41807269] [ 0.17482842 0.98456657 -0.00798107 -0.21265149] [ 0.16188367 -0.02074802 0.98659171 -0.9650051 ] [ 0. 0. 0. 1. ]] SLAMing on 89.01134618399999 meters Centerline goodness : 0.823921 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.21, Z:-0.97 [[ 0.9712191 -0.17353167 -0.16315705 -0.4170638 ] [ 0.17467089 0.9845987 -0.00744892 -0.21446055] [ 0.16193684 -0.02126425 0.98657199 -0.96572636] [ 0. 0. 0. 1. ]] SLAMing on 89.04134618399999 meters Centerline goodness : 0.824037 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.97 [[ 0.97121294 -0.17372888 -0.16298376 -0.41747466] [ 0.1748815 0.98456197 -0.00736069 -0.21578577] [ 0.16174637 -0.02135404 0.9866013 -0.96565147] [ 0. 0. 0. 1. ]] SLAMing on 89.07134618399999 meters Centerline goodness : 0.827315 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.96 [[ 0.97115931 -0.17428912 -0.16270495 -0.41931059] [ 0.17534087 0.98447539 -0.00798638 -0.21655664] [ 0.16157096 -0.02077278 0.98664245 -0.96381701] [ 0. 0. 0. 1. ]] SLAMing on 89.101346184 meters Centerline goodness : 0.826688 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.96 [[ 0.97112329 -0.17444331 -0.16275466 -0.41979187] [ 0.1754196 0.98445736 -0.00846639 -0.21602282] [ 0.16170193 -0.02032845 0.98663025 -0.96278813] [ 0. 0. 0. 1. ]] SLAMing on 89.131346184 meters Centerline goodness : 0.829086 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.96 [[ 0.97111348 -0.1744113 -0.16284747 -0.41963872] [ 0.17536109 0.9844663 -0.00863708 -0.21576651] [ 0.16182425 -0.02016953 0.98661345 -0.96249424] [ 0. 0. 0. 1. ]] SLAMing on 89.161346184 meters Centerline goodness : 0.828389 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.96 [[ 0.97111236 -0.17415687 -0.16312626 -0.41865849] [ 0.17512913 0.98450866 -0.00851419 -0.21625957] [ 0.16208202 -0.02029992 0.98656846 -0.96258133] [ 0. 0. 0. 1. ]] SLAMing on 89.191346184 meters Centerline goodness : 0.829056 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.96 [[ 0.97119472 -0.17333161 -0.16351443 -0.41611623] [ 0.17452541 0.98462673 -0.00714786 -0.22011464] [ 0.16223963 -0.02159546 0.98651505 -0.96441151] [ 0. 0. 0. 1. ]] SLAMing on 89.221346184 meters Centerline goodness : 0.829214 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.22, Z:-0.97 [[ 0.9712355 -0.17295601 -0.16366988 -0.41484974] [ 0.17426212 0.98467815 -0.00645473 -0.22246867] [ 0.16227853 -0.0222524 0.98649405 -0.96530535] [ 0. 0. 0. 1. ]] SLAMing on 89.251346184 meters Centerline goodness : 0.830052 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.96 [[ 0.97119856 -0.17346856 -0.16334629 -0.41613021] [ 0.17476484 0.98458866 -0.00651263 -0.22398866] [ 0.16195865 -0.02222213 0.9865473 -0.96472168] [ 0. 0. 0. 1. ]] SLAMing on 89.281346184 meters Centerline goodness : 0.830080 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.96 [[ 0.97111156 -0.17423636 -0.16304612 -0.41816144] [ 0.17540895 0.98446867 -0.00728985 -0.22356855] [ 0.16178396 -0.0215205 0.98659152 -0.96308137] [ 0. 0. 0. 1. ]] SLAMing on 89.311346184 meters Centerline goodness : 0.830772 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.96 [[ 0.97103925 -0.17498718 -0.16267224 -0.42038572] [ 0.17602461 0.98435221 -0.00812806 -0.22325613] [ 0.16154909 -0.02074165 0.98664668 -0.9612712 ] [ 0. 0. 0. 1. ]] SLAMing on 89.341346184 meters Centerline goodness : 0.831119 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.96 [[ 0.97103081 -0.17514383 -0.16255402 -0.4211334 ] [ 0.17613753 0.98432979 -0.00839299 -0.22373568] [ 0.16147675 -0.02048201 0.98666395 -0.96041327] [ 0. 0. 0. 1. ]] SLAMing on 89.37134618399999 meters Centerline goodness : 0.832662 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.96 [[ 0.97102873 -0.17511169 -0.16260107 -0.42119778] [ 0.17608996 0.98433746 -0.00849067 -0.22438225] [ 0.16154114 -0.02038773 0.98665536 -0.959883 ] [ 0. 0. 0. 1. ]] SLAMing on 89.40134618399999 meters Centerline goodness : 0.830770 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.23, Z:-0.96 [[ 0.97105888 -0.17468115 -0.16288386 -0.41998 ] [ 0.17572781 0.98440568 -0.00807365 -0.22588581] [ 0.16175411 -0.02078324 0.98661222 -0.96021812] [ 0. 0. 0. 1. ]] SLAMing on 89.43134618399999 meters Centerline goodness : 0.828322 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.23, Z:-0.96 [[ 0.97106864 -0.17452957 -0.16298814 -0.41957456] [ 0.17560283 0.9844293 -0.00791238 -0.22707428] [ 0.16183124 -0.02093772 0.9865963 -0.96011713] [ 0. 0. 0. 1. ]] SLAMing on 89.46134618399999 meters Centerline goodness : 0.830140 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.23, Z:-0.96 [[ 0.97109452 -0.174224 -0.16316078 -0.4189085 ] [ 0.1753439 0.98447772 -0.00762523 -0.22832099] [ 0.16195665 -0.02120443 0.98657003 -0.96012341] [ 0. 0. 0. 1. ]] SLAMing on 89.491346184 meters Centerline goodness : 0.828803 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.23, Z:-0.96 [[ 0.97106937 -0.17402539 -0.16352197 -0.41791102] [ 0.17515131 0.98451204 -0.00761988 -0.22775135] [ 0.1623154 -0.02124166 0.98651026 -0.96021142] [ 0. 0. 0. 1. ]] SLAMing on 89.521346184 meters Centerline goodness : 0.830709 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.23, Z:-0.96 [[ 0.97107329 -0.17358935 -0.16396158 -0.41632512] [ 0.17477565 0.9845814 -0.00727539 -0.227785 ] [ 0.16269645 -0.02159156 0.9864399 -0.96077882] [ 0. 0. 0. 1. ]] SLAMing on 89.551346184 meters Centerline goodness : 0.829042 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.96 [[ 0.9703892 -0.17755882 -0.16376099 -0.41458804] [ 0.17821448 0.98393241 -0.01079912 -0.22843367] [ 0.16304722 -0.01870523 0.98644093 -0.96112344] [ 0. 0. 0. 1. ]] SLAMing on 89.581346184 meters Centerline goodness : 0.829154 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.96 [[ 0.96965497 -0.18178827 -0.16346945 -0.4133384 ] [ 0.1818513 0.98321606 -0.0147069 -0.22902665] [ 0.16339933 -0.01546651 0.98643877 -0.96087195] [ 0. 0. 0. 1. ]] SLAMing on 89.611346184 meters Centerline goodness : 0.831129 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.96 [[ 0.96889081 -0.18604702 -0.1632088 -0.41202591] [ 0.18551711 0.98246462 -0.01861904 -0.22962153] [ 0.16381089 -0.01223821 0.98641585 -0.96061437] [ 0. 0. 0. 1. ]] SLAMing on 89.641346184 meters Centerline goodness : 0.829745 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.96 [[ 0.96884602 -0.18627746 -0.1632118 -0.41178433] [ 0.18582919 0.98241447 -0.01814694 -0.23289024] [ 0.163722 -0.01274793 0.98642415 -0.96093278] [ 0. 0. 0. 1. ]] SLAMing on 89.671346184 meters Centerline goodness : 0.830831 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96874745 -0.18711388 -0.16283972 -0.4131094 ] [ 0.18670041 0.98225239 -0.01797786 -0.23539435] [ 0.16331361 -0.01298623 0.98648873 -0.96092192] [ 0. 0. 0. 1. ]] SLAMing on 89.701346184 meters Centerline goodness : 0.831153 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.96 [[ 0.96868689 -0.18735819 -0.16291903 -0.41350219] [ 0.18689855 0.98220906 -0.01828351 -0.23483016] [ 0.16344611 -0.01273834 0.98647002 -0.96022513] [ 0. 0. 0. 1. ]] SLAMing on 89.73134618399999 meters Centerline goodness : 0.832447 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.96 [[ 0.96869157 -0.18704327 -0.16325275 -0.41288491] [ 0.18657031 0.98226997 -0.01836354 -0.23436642] [ 0.16379305 -0.01266951 0.98641336 -0.95968188] [ 0. 0. 0. 1. ]] SLAMing on 89.76134618399999 meters Centerline goodness : 0.831592 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96875664 -0.18632011 -0.16369299 -0.41102637] [ 0.18591682 0.98240209 -0.01791839 -0.23535546] [ 0.16415089 -0.01307472 0.98634859 -0.96018534] [ 0. 0. 0. 1. ]] SLAMing on 89.79134618399999 meters Centerline goodness : 0.832094 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.9688002 -0.18584789 -0.16397175 -0.40980116] [ 0.18548335 0.98248855 -0.01766843 -0.23595457] [ 0.16438401 -0.01329685 0.98630679 -0.9605218 ] [ 0. 0. 0. 1. ]] SLAMing on 89.82134618399999 meters Centerline goodness : 0.831945 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96879842 -0.18567974 -0.16417267 -0.40928481] [ 0.18530191 0.98252131 -0.01775024 -0.23554014] [ 0.164599 -0.01322511 0.9862719 -0.96036326] [ 0. 0. 0. 1. ]] SLAMing on 89.851346184 meters Centerline goodness : 0.832183 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96943188 -0.18225636 -0.16426946 -0.41200815] [ 0.18242455 0.98311743 -0.01419153 -0.23625036] [ 0.16408267 -0.01620906 0.98631341 -0.95959268] [ 0. 0. 0. 1. ]] SLAMing on 89.881346184 meters Centerline goodness : 0.830830 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96940688 -0.18231647 -0.16435023 -0.41200581] [ 0.18245409 0.98310909 -0.01438832 -0.23601231] [ 0.16419743 -0.01603823 0.98629711 -0.95922268] [ 0. 0. 0. 1. ]] SLAMing on 89.911346184 meters Centerline goodness : 0.832959 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96940485 -0.18218704 -0.16450569 -0.41154915] [ 0.18234265 0.98313127 -0.01428478 -0.23664445] [ 0.16433319 -0.01614867 0.98627269 -0.95916789] [ 0. 0. 0. 1. ]] SLAMing on 89.941346184 meters Centerline goodness : 0.829640 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96940977 -0.1820201 -0.16466144 -0.41089894] [ 0.18219457 0.98316035 -0.01417301 -0.23742974] [ 0.16446837 -0.01626097 0.98624831 -0.95923834] [ 0. 0. 0. 1. ]] SLAMing on 89.971346184 meters Centerline goodness : 0.831222 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.9694038 -0.18217102 -0.1645296 -0.41163011] [ 0.18234364 0.98313255 -0.01418371 -0.23884825] [ 0.16433826 -0.01625118 0.98627016 -0.95858958] [ 0. 0. 0. 1. ]] SLAMing on 90.001346184 meters Centerline goodness : 0.830798 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96936375 -0.18253818 -0.16435853 -0.41246258] [ 0.18268724 0.98306651 -0.01433927 -0.23949014] [ 0.16419283 -0.01612624 0.98629644 -0.95809937] [ 0. 0. 0. 1. ]] SLAMing on 90.031346184 meters Centerline goodness : 0.830636 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96931222 -0.18287496 -0.16428806 -0.4129529 ] [ 0.18299927 0.98300597 -0.01450954 -0.23978328] [ 0.16414958 -0.01600032 0.98630569 -0.95772388] [ 0. 0. 0. 1. ]] SLAMing on 90.061346184 meters Centerline goodness : 0.831061 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96925661 -0.18327976 -0.16416504 -0.41344723] [ 0.18340864 0.98292975 -0.01450426 -0.23998884] [ 0.16402104 -0.01605093 0.98632625 -0.95782991] [ 0. 0. 0. 1. ]] SLAMing on 90.091346184 meters Centerline goodness : 0.828963 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96926103 -0.1832702 -0.16414959 -0.41329847] [ 0.18343283 0.98292825 -0.0142989 -0.24135203] [ 0.16396783 -0.01625105 0.98633182 -0.95792417] [ 0. 0. 0. 1. ]] SLAMing on 90.12134618399999 meters Centerline goodness : 0.829007 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96929766 -0.18311226 -0.16410953 -0.41278813] [ 0.18334761 0.98295066 -0.01384386 -0.24346646] [ 0.16384655 -0.01667027 0.98634497 -0.95842906] [ 0. 0. 0. 1. ]] SLAMing on 90.15134618399999 meters Centerline goodness : 0.827328 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96861345 -0.1868519 -0.16393401 -0.41068715] [ 0.18654349 0.98229237 -0.01741348 -0.24406933] [ 0.16428486 -0.01371389 0.9863176 -0.95868717] [ 0. 0. 0. 1. ]] SLAMing on 90.18134618399999 meters Centerline goodness : 0.827825 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.25, Z:-0.96 [[ 0.96857716 -0.18717988 -0.16377417 -0.41130146] [ 0.18688214 0.98222888 -0.01736361 -0.24525079] [ 0.16411383 -0.01378847 0.98634503 -0.95849967] [ 0. 0. 0. 1. ]] SLAMing on 90.21134618399999 meters Centerline goodness : 0.826078 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.25, Z:-0.96 [[ 0.96853476 -0.18752172 -0.16363382 -0.41170503] [ 0.18724716 0.98216152 -0.01724113 -0.24622585] [ 0.16394793 -0.01394133 0.98637048 -0.95861734] [ 0. 0. 0. 1. ]] SLAMing on 90.241346184 meters Centerline goodness : 0.826964 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.25, Z:-0.96 [[ 0.96839896 -0.18823254 -0.16362142 -0.41197845] [ 0.18801028 0.98202018 -0.01698551 -0.24796337] [ 0.16387676 -0.01431376 0.98637697 -0.95898533] [ 0. 0. 0. 1. ]] SLAMing on 90.271346184 meters Centerline goodness : 0.826202 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.25, Z:-0.96 [[ 0.96834675 -0.18865109 -0.16344829 -0.41254943] [ 0.18841586 0.98194074 -0.01708369 -0.24831575] [ 0.16371939 -0.01425331 0.98640398 -0.95895193] [ 0. 0. 0. 1. ]] SLAMing on 90.301346184 meters Centerline goodness : 0.826202 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.25, Z:-0.96 [[ 0.96834675 -0.18865109 -0.16344829 -0.41254943] [ 0.18841586 0.98194074 -0.01708369 -0.24831575] [ 0.16371939 -0.01425331 0.98640398 -0.95895193] [ 0. 0. 0. 1. ]] SLAMing on 90.331346184 meters Centerline goodness : 0.826037 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.25, Z:-0.96 [[ 0.96829722 -0.18891449 -0.16343746 -0.41265332] [ 0.18863568 0.98189355 -0.01736761 -0.24826152] [ 0.16375918 -0.01401312 0.98640081 -0.95873603] [ 0. 0. 0. 1. ]] SLAMing on 90.361346184 meters Centerline goodness : 0.824515 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.25, Z:-0.96 [[ 0.96833331 -0.18863951 -0.16354125 -0.41181805] [ 0.18838068 0.98194488 -0.01723306 -0.24884462] [ 0.16383933 -0.01412066 0.98638597 -0.95911921] [ 0. 0. 0. 1. ]] SLAMing on 90.391346184 meters Centerline goodness : 0.824415 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.25, Z:-0.96 [[ 0.96838026 -0.1881985 -0.16377114 -0.41030824] [ 0.187981 0.9820261 -0.01696729 -0.24921852] [ 0.16402076 -0.01435507 0.98635243 -0.96000298] [ 0. 0. 0. 1. ]] SLAMing on 90.421346184 meters Centerline goodness : 0.822941 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.25, Z:-0.96 [[ 0.96840727 -0.18780313 -0.16406508 -0.4089883 ] [ 0.18758696 0.98210171 -0.01695181 -0.24847893] [ 0.1643122 -0.01436021 0.98630385 -0.96049506] [ 0. 0. 0. 1. ]] SLAMing on 90.451346184 meters Centerline goodness : 0.822427 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.25, Z:-0.96 [[ 0.96907729 -0.18397068 -0.16445059 -0.41069212] [ 0.18422339 0.98278684 -0.0138477 -0.24557048] [ 0.16416745 -0.01687615 0.98628811 -0.95991711] [ 0. 0. 0. 1. ]] SLAMing on 90.48134618399999 meters Centerline goodness : 0.820673 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.25, Z:-0.96 [[ 0.96969895 -0.18052002 -0.16461007 -0.41319714] [ 0.18128736 0.98337436 -0.01047683 -0.24519513] [ 0.1637646 -0.01968236 0.98630308 -0.95914737] [ 0. 0. 0. 1. ]] SLAMing on 90.51134618399999 meters Centerline goodness : 0.822203 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96959318 -0.18099508 -0.16471141 -0.41416797] [ 0.18159227 0.98330604 -0.01155314 -0.24274468] [ 0.16405279 -0.01870847 0.98627414 -0.95744788] [ 0. 0. 0. 1. ]] SLAMing on 90.54134618399999 meters Centerline goodness : 0.820093 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.96 [[ 0.96953654 -0.18147607 -0.16451548 -0.4153392 ] [ 0.18196025 0.98322956 -0.0122513 -0.24175096] [ 0.1639798 -0.0180572 0.98629841 -0.95644462] [ 0. 0. 0. 1. ]] SLAMing on 90.57134618399999 meters Centerline goodness : 0.822827 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96882699 -0.18562308 -0.16406806 -0.41448731] [ 0.18544585 0.98251539 -0.01653329 -0.24110238] [ 0.16426835 -0.01440785 0.98631046 -0.95578192] [ 0. 0. 0. 1. ]] SLAMing on 90.601346184 meters Centerline goodness : 0.822493 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.9688239 -0.18593311 -0.16373495 -0.41478172] [ 0.18578884 0.98245396 -0.01633163 -0.24221913] [ 0.16389864 -0.01459765 0.98636917 -0.95652991] [ 0. 0. 0. 1. ]] SLAMing on 90.631346184 meters Centerline goodness : 0.821868 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.96 [[ 0.96878504 -0.18634941 -0.16349144 -0.41516413] [ 0.18622642 0.98237302 -0.01621649 -0.24331173] [ 0.16363152 -0.01473614 0.98641146 -0.95697034] [ 0. 0. 0. 1. ]] SLAMing on 90.661346184 meters Centerline goodness : 0.823917 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96792748 -0.19117392 -0.16299978 -0.41433955] [ 0.19040357 0.98149218 -0.02048381 -0.2415117 ] [ 0.16389897 -0.0112089 0.98641345 -0.95732916] [ 0. 0. 0. 1. ]] SLAMing on 90.691346184 meters Centerline goodness : 0.823066 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.96 [[ 0.96786317 -0.19164464 -0.16282881 -0.4150717 ] [ 0.19084002 0.98140249 -0.02071809 -0.2413653 ] [ 0.16377111 -0.01102198 0.98643679 -0.95711223] [ 0. 0. 0. 1. ]] SLAMing on 90.721346184 meters Centerline goodness : 0.821809 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.96 [[ 0.96781758 -0.19196841 -0.16271837 -0.4156582 ] [ 0.19111175 0.98134252 -0.02105142 -0.24088839] [ 0.16372366 -0.01072346 0.98644796 -0.95669856] [ 0. 0. 0. 1. ]] SLAMing on 90.751346184 meters Centerline goodness : 0.821658 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.96 [[ 0.96777725 -0.19223346 -0.16264526 -0.41609576] [ 0.19130338 0.98129521 -0.02151134 -0.24024433] [ 0.16373822 -0.0102964 0.98645009 -0.95615354] [ 0. 0. 0. 1. ]] SLAMing on 90.781346184 meters Centerline goodness : 0.822403 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.96 [[ 0.96779139 -0.19203542 -0.16279505 -0.41561472] [ 0.19099787 0.98134049 -0.02215082 -0.23761639] [ 0.16401111 -0.00965613 0.98641123 -0.95574382] [ 0. 0. 0. 1. ]] SLAMing on 90.811346184 meters Centerline goodness : 0.822889 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96783852 -0.19147013 -0.16318025 -0.41412704] [ 0.19043384 0.98145082 -0.02211855 -0.23646183] [ 0.16438843 -0.00966786 0.9863483 -0.95610809] [ 0. 0. 0. 1. ]] SLAMing on 90.841346184 meters Centerline goodness : 0.824601 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96790646 -0.19058064 -0.1638173 -0.41149357] [ 0.18959528 0.9816208 -0.02177681 -0.23605585] [ 0.16495671 -0.00998107 0.9862503 -0.95695009] [ 0. 0. 0. 1. ]] SLAMing on 90.87134618399999 meters Centerline goodness : 0.822252 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96798966 -0.18971076 -0.16433454 -0.40901014] [ 0.18880295 0.98178456 -0.02127244 -0.23577317] [ 0.16537673 -0.01043534 0.98617526 -0.95814761] [ 0. 0. 0. 1. ]] SLAMing on 90.90134618399999 meters Centerline goodness : 0.823969 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.96 [[ 0.9687184 -0.18531602 -0.16505341 -0.40907432] [ 0.18503175 0.98258143 -0.01723328 -0.23434766] [ 0.16537202 -0.01384592 0.98613406 -0.95890902] [ 0. 0. 0. 1. ]] SLAMing on 90.93134618399999 meters Centerline goodness : 0.822716 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.96 [[ 0.96934631 -0.18170751 -0.16537868 -0.41102295] [ 0.18196688 0.98320906 -0.01371123 -0.23400781] [ 0.16509325 -0.01680251 0.98613483 -0.95840002] [ 0. 0. 0. 1. ]] SLAMing on 90.96134618399999 meters Centerline goodness : 0.822012 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.96 [[ 0.96995105 -0.17854436 -0.16527815 -0.41468752] [ 0.17926955 0.98374243 -0.01064252 -0.23363469] [ 0.16449129 -0.01930662 0.98618957 -0.95693824] [ 0. 0. 0. 1. ]] SLAMing on 90.991346184 meters Centerline goodness : 0.820393 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.23, Z:-0.96 [[ 0.96995222 -0.17871119 -0.16509087 -0.41504739] [ 0.17939156 0.98371733 -0.01090339 -0.23397268] [ 0.16435131 -0.01904014 0.98621809 -0.95672159] [ 0. 0. 0. 1. ]] SLAMing on 91.021346184 meters Centerline goodness : 0.821002 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.97000827 -0.17843927 -0.1650557 -0.41422331] [ 0.17915014 0.98376363 -0.01069304 -0.2350424 ] [ 0.16428386 -0.01919741 0.98622628 -0.95735895] [ 0. 0. 0. 1. ]] SLAMing on 91.051346184 meters Centerline goodness : 0.821086 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.97005108 -0.17822307 -0.16503769 -0.41330632] [ 0.17894456 0.98380196 -0.01060871 -0.23532332] [ 0.16425512 -0.01924161 0.9862302 -0.95815225] [ 0. 0. 0. 1. ]] SLAMing on 91.081346184 meters Centerline goodness : 0.820259 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.96 [[ 0.97010766 -0.17775995 -0.16520452 -0.41181797] [ 0.17843711 0.98389144 -0.01085499 -0.23263383] [ 0.1644729 -0.01894811 0.98619959 -0.95908717] [ 0. 0. 0. 1. ]] SLAMing on 91.111346184 meters Centerline goodness : 0.819283 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.96 [[ 0.97003935 -0.17800807 -0.1653384 -0.41216248] [ 0.178557 0.98386048 -0.01165966 -0.2297259 ] [ 0.16474543 -0.018212 0.98616797 -0.95818937] [ 0. 0. 0. 1. ]] SLAMing on 91.141346184 meters Centerline goodness : 0.819410 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.96 [[ 0.97065666 -0.17455299 -0.16539922 -0.41479577] [ 0.17565177 0.98441924 -0.00807598 -0.23007764] [ 0.16423186 -0.02121367 0.98619363 -0.95759367] [ 0. 0. 0. 1. ]] SLAMing on 91.171346184 meters Centerline goodness : 0.820734 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.23, Z:-0.96 [[ 0.97059375 -0.17486382 -0.16544005 -0.41541865] [ 0.17587575 0.98437455 -0.00862908 -0.22878963] [ 0.16436389 -0.02072156 0.9861821 -0.95666466] [ 0. 0. 0. 1. ]] SLAMing on 91.201346184 meters Centerline goodness : 0.819440 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.96 [[ 0.9698657 -0.17911626 -0.16516022 -0.41453038] [ 0.17952978 0.98367255 -0.01254521 -0.22984758] [ 0.16471063 -0.01748401 0.98618696 -0.95592705] [ 0. 0. 0. 1. ]] SLAMing on 91.23134618399999 meters Centerline goodness : 0.821744 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.23, Z:-0.96 [[ 0.96983306 -0.17978721 -0.164622 -0.41606763] [ 0.1802105 0.98354882 -0.01248559 -0.23226347] [ 0.16415852 -0.01755767 0.9862777 -0.95574572] [ 0. 0. 0. 1. ]] SLAMing on 91.26134618399999 meters Centerline goodness : 0.824635 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.23, Z:-0.96 [[ 0.96963064 -0.18153005 -0.16390013 -0.41913714] [ 0.18186432 0.98323648 -0.01309181 -0.23303993] [ 0.16352914 -0.01711337 0.98639006 -0.95502171] [ 0. 0. 0. 1. ]] SLAMing on 91.29134618399999 meters Centerline goodness : 0.823390 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.23, Z:-0.96 [[ 0.96960049 -0.18177802 -0.16380369 -0.41922753] [ 0.18213252 0.98318831 -0.01298042 -0.23393136] [ 0.16340942 -0.01724815 0.98640755 -0.95530723] [ 0. 0. 0. 1. ]] SLAMing on 91.32134618399999 meters Centerline goodness : 0.824121 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.96 [[ 0.96964111 -0.18145838 -0.1639176 -0.41788308] [ 0.18190462 0.98323784 -0.01241201 -0.23597528] [ 0.16342225 -0.01778218 0.98639595 -0.95634074] [ 0. 0. 0. 1. ]] SLAMing on 91.351346184 meters Centerline goodness : 0.821360 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.9692854 -0.18302653 -0.16427749 -0.41146228] [ 0.18317484 0.98297522 -0.0143772 -0.23895172] [ 0.16411211 -0.0161559 0.98630939 -0.95908938] [ 0. 0. 0. 1. ]] SLAMing on 91.381346184 meters Centerline goodness : 0.823066 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.96933729 -0.18246811 -0.16459224 -0.41016482] [ 0.18265565 0.98307547 -0.01412574 -0.23914543] [ 0.16438409 -0.0163711 0.98626054 -0.9593833 ] [ 0. 0. 0. 1. ]] SLAMing on 91.411346184 meters Centerline goodness : 0.823573 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.97004194 -0.17845071 -0.16484531 -0.41201418] [ 0.1792266 0.98375413 -0.01027815 -0.23985127] [ 0.1640014 -0.01957443 0.98626588 -0.9588475 ] [ 0. 0. 0. 1. ]] SLAMing on 91.441346184 meters Centerline goodness : 0.823349 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.96 [[ 0.97066806 -0.17477716 -0.16509532 -0.41457648] [ 0.17602821 0.98435924 -0.00713858 -0.2379849 ] [ 0.16376076 -0.02213224 0.98625178 -0.95753355] [ 0. 0. 0. 1. ]] SLAMing on 91.471346184 meters Centerline goodness : 0.823811 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.23, Z:-0.96 [[ 0.97128971 -0.17056238 -0.16584563 -0.41623042] [ 0.17224603 0.98504464 -0.00428565 -0.23441966] [ 0.16409632 -0.02440365 0.98614241 -0.95535116] [ 0. 0. 0. 1. ]] SLAMing on 91.501346184 meters Centerline goodness : 0.823045 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.23, Z:-0.96 [[ 0.97130743 -0.17027754 -0.16603444 -0.41554556] [ 0.17196904 0.98509322 -0.00424275 -0.23497351] [ 0.16428184 -0.02443177 0.98611083 -0.95524415] [ 0. 0. 0. 1. ]] SLAMing on 91.531346184 meters Centerline goodness : 0.823726 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.96 [[ 0.97134778 -0.1701657 -0.16591298 -0.41551038] [ 0.17188266 0.98510906 -0.00406196 -0.23703232] [ 0.16413358 -0.02457199 0.98613203 -0.95518203] [ 0. 0. 0. 1. ]] SLAMing on 91.561346184 meters Centerline goodness : 0.824123 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.95 [[ 0.97136421 -0.17066676 -0.16530104 -0.41732382] [ 0.17230909 0.98503283 -0.00446139 -0.23863798] [ 0.16358836 -0.02414923 0.98623307 -0.9543129 ] [ 0. 0. 0. 1. ]] SLAMing on 91.591346184 meters Centerline goodness : 0.823980 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.95 [[ 0.97130553 -0.17111514 -0.16518223 -0.41813467] [ 0.17264507 0.98497059 -0.00515955 -0.23714766] [ 0.16358252 -0.0235064 0.98624957 -0.95358131] [ 0. 0. 0. 1. ]] SLAMing on 91.62134618399999 meters Centerline goodness : 0.824545 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.95 [[ 0.9712489 -0.17143294 -0.16518572 -0.41842335] [ 0.17287654 0.98492697 -0.00570741 -0.23537863] [ 0.16367431 -0.02301342 0.98624596 -0.95325421] [ 0. 0. 0. 1. ]] SLAMing on 91.65134618399999 meters Centerline goodness : 0.825399 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.95 [[ 0.97127137 -0.17135493 -0.16513454 -0.41780855] [ 0.17285218 0.98493314 -0.00536999 -0.23646066] [ 0.16356666 -0.02332815 0.98625643 -0.954127 ] [ 0. 0. 0. 1. ]] SLAMing on 91.68134618399999 meters Centerline goodness : 0.824914 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.95 [[ 0.97130297 -0.17128312 -0.16502311 -0.41751605] [ 0.17286648 0.98493343 -0.00482812 -0.2395676 ] [ 0.16336376 -0.0238374 0.98627788 -0.95461591] [ 0. 0. 0. 1. ]] SLAMing on 91.71134618399999 meters Centerline goodness : 0.822050 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.95 [[ 0.97131519 -0.17142914 -0.16479945 -0.41771302] [ 0.17307093 0.98489929 -0.00445403 -0.24272922] [ 0.16307441 -0.02419573 0.98631704 -0.9548163 ] [ 0. 0. 0. 1. ]] SLAMing on 91.741346184 meters Centerline goodness : 0.824990 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.95 [[ 0.9713006 -0.17172839 -0.16457373 -0.41849064] [ 0.17338169 0.98484499 -0.00437558 -0.24442706] [ 0.16283102 -0.02428407 0.98635508 -0.95448655] [ 0. 0. 0. 1. ]] SLAMing on 91.771346184 meters Centerline goodness : 0.824319 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.95 [[ 0.9711279 -0.1731947 -0.16405547 -0.4221843 ] [ 0.17465538 0.98461375 -0.00559059 -0.24256711] [ 0.16249953 -0.02322399 0.98643527 -0.95205376] [ 0. 0. 0. 1. ]] SLAMing on 91.801346184 meters Centerline goodness : 0.825250 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.95 [[ 0.97105089 -0.17373749 -0.16393734 -0.42342195] [ 0.17512123 0.98452806 -0.00608651 -0.24192441] [ 0.16245837 -0.02279859 0.98645198 -0.95102144] [ 0. 0. 0. 1. ]] SLAMing on 91.831346184 meters Centerline goodness : 0.825632 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-0.95 [[ 0.97103207 -0.17392115 -0.16385408 -0.42377702] [ 0.17531092 0.98449451 -0.00605354 -0.2427957 ] [ 0.16236628 -0.02284723 0.98646601 -0.95082154] [ 0. 0. 0. 1. ]] SLAMing on 91.861346184 meters Centerline goodness : 0.823345 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.25, Z:-0.95 [[ 0.97039135 -0.17742854 -0.16388945 -0.42091164] [ 0.17834714 0.98392451 -0.00921211 -0.24516145] [ 0.16288933 -0.02028987 0.9864357 -0.95137628] [ 0. 0. 0. 1. ]] SLAMing on 91.891346184 meters Centerline goodness : 0.821725 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.25, Z:-0.95 [[ 0.97041862 -0.17718582 -0.16399053 -0.419603 ] [ 0.1782251 0.98395326 -0.00847371 -0.24852955] [ 0.16286043 -0.02100418 0.98642552 -0.9524033 ] [ 0. 0. 0. 1. ]] SLAMing on 91.921346184 meters Centerline goodness : 0.821601 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.25, Z:-0.95 [[ 0.97043525 -0.17702102 -0.16407004 -0.41839079] [ 0.1781723 0.98396845 -0.00779191 -0.25095735] [ 0.16281907 -0.02167119 0.98641792 -0.95360964] [ 0. 0. 0. 1. ]] SLAMing on 91.951346184 meters Centerline goodness : 0.820605 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.25, Z:-0.95 [[ 0.97037274 -0.17749417 -0.16392851 -0.41885792] [ 0.17864164 0.983883 -0.00783583 -0.25130955] [ 0.16267729 -0.02168078 0.9864411 -0.95372284] [ 0. 0. 0. 1. ]] SLAMing on 91.98134618399999 meters Centerline goodness : 0.821197 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.25, Z:-0.95 [[ 0.97035788 -0.17760793 -0.16389325 -0.41901917] [ 0.17872693 0.98386608 -0.00801339 -0.25100976] [ 0.16267226 -0.02151628 0.98644553 -0.95355422] [ 0. 0. 0. 1. ]] SLAMing on 92.01134618399999 meters Centerline goodness : 0.818395 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.25, Z:-0.95 [[ 0.9703649 -0.17750854 -0.16395937 -0.41861166] [ 0.17864688 0.98388157 -0.00789658 -0.25181767] [ 0.16271831 -0.02162826 0.98643549 -0.95368699] [ 0. 0. 0. 1. ]] SLAMing on 92.04134618399999 meters Centerline goodness : 0.820322 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.25, Z:-0.95 [[ 0.9704241 -0.17712249 -0.16402651 -0.41778806] [ 0.17834421 0.98394058 -0.00736759 -0.25406714] [ 0.1626973 -0.02210349 0.98642842 -0.95418481] [ 0. 0. 0. 1. ]] SLAMing on 92.07134618399999 meters Centerline goodness : 0.819084 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.26, Z:-0.95 [[ 0.97047113 -0.1767812 -0.16411639 -0.41722209] [ 0.1780719 0.98399305 -0.00693314 -0.25658663] [ 0.16271503 -0.02249611 0.98641662 -0.95420963] [ 0. 0. 0. 1. ]] SLAMing on 92.101346184 meters Centerline goodness : 0.823462 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.26, Z:-0.95 [[ 0.97048474 -0.17675547 -0.16406365 -0.41762557] [ 0.17807864 0.98399327 -0.0067266 -0.25802693] [ 0.16262649 -0.02268817 0.98642682 -0.95377974] [ 0. 0. 0. 1. ]] SLAMing on 92.131346184 meters Centerline goodness : 0.823426 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.26, Z:-0.95 [[ 0.97041845 -0.17716721 -0.16401161 -0.41839735] [ 0.17844257 0.98392511 -0.00704406 -0.25747063] [ 0.16262312 -0.02243097 0.98643326 -0.95315553] [ 0. 0. 0. 1. ]] SLAMing on 92.161346184 meters Centerline goodness : 0.825534 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.26, Z:-0.95 [[ 0.97033069 -0.17768499 -0.16397069 -0.41929633] [ 0.1788975 0.98383941 -0.00746329 -0.2566112 ] [ 0.16264694 -0.02209209 0.98643698 -0.95240312] [ 0. 0. 0. 1. ]] SLAMing on 92.191346184 meters Centerline goodness : 0.825534 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.26, Z:-0.95 [[ 0.97033069 -0.17768499 -0.16397069 -0.41929633] [ 0.1788975 0.98383941 -0.00746329 -0.2566112 ] [ 0.16264694 -0.02209209 0.98643698 -0.95240312] [ 0. 0. 0. 1. ]] SLAMing on 92.221346184 meters Centerline goodness : 0.825952 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.26, Z:-0.95 [[ 0.97023973 -0.1784483 -0.1636798 -0.42146919] [ 0.1795892 0.98370979 -0.00792253 -0.25741024] [ 0.16242718 -0.02170837 0.98648171 -0.95070191] [ 0. 0. 0. 1. ]] SLAMing on 92.251346184 meters Centerline goodness : 0.827782 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.26, Z:-0.95 [[ 0.97025208 -0.17843263 -0.16362363 -0.42153438] [ 0.17961427 0.98370725 -0.0076661 -0.25967581] [ 0.16232563 -0.02195109 0.98649305 -0.9505167 ] [ 0. 0. 0. 1. ]] SLAMing on 92.281346184 meters Centerline goodness : 0.825032 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.26, Z:-0.95 [[ 0.97032105 -0.1781286 -0.16354589 -0.42098919] [ 0.17940873 0.9837495 -0.00703078 -0.26292142] [ 0.16214057 -0.02251945 0.98651067 -0.951035 ] [ 0. 0. 0. 1. ]] SLAMing on 92.311346184 meters Centerline goodness : 0.826454 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.26, Z:-0.95 [[ 0.96979751 -0.18121037 -0.16326543 -0.41812048] [ 0.1819997 0.98324529 -0.01023726 -0.26418294] [ 0.16238506 -0.01978619 0.98652907 -0.95205498] [ 0. 0. 0. 1. ]] SLAMing on 92.341346184 meters Centerline goodness : 0.827568 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.26, Z:-0.95 [[ 0.96977417 -0.18125341 -0.16335622 -0.41805552] [ 0.18199477 0.98324297 -0.01054333 -0.26309308] [ 0.16252987 -0.01950532 0.98651081 -0.95179038] [ 0. 0. 0. 1. ]] SLAMing on 92.37134618399999 meters Centerline goodness : 0.828051 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.26, Z:-0.95 [[ 0.96975078 -0.1811894 -0.16356594 -0.41773297] [ 0.18186708 0.98326216 -0.01094937 -0.2609203 ] [ 0.16281211 -0.0191291 0.98647164 -0.95150804] [ 0. 0. 0. 1. ]] SLAMing on 92.40134618399999 meters Centerline goodness : 0.828049 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.26, Z:-0.95 [[ 0.96973859 -0.18089798 -0.16396032 -0.41667999] [ 0.18155416 0.98331828 -0.01110156 -0.25946361] [ 0.16323343 -0.01900207 0.98640447 -0.95152932] [ 0. 0. 0. 1. ]] SLAMing on 92.43134618399999 meters Centerline goodness : 0.827231 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.26, Z:-0.95 [[ 0.9698305 -0.17980445 -0.16461824 -0.41367101] [ 0.18061134 0.98350187 -0.01017885 -0.26082224] [ 0.16373255 -0.01986017 0.98630483 -0.95291884] [ 0. 0. 0. 1. ]] SLAMing on 92.46134618399999 meters Centerline goodness : 0.828425 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.26, Z:-0.95 [[ 0.96986445 -0.17957723 -0.16466624 -0.41300598] [ 0.18047328 0.98353276 -0.00962837 -0.26326303] [ 0.16368368 -0.02037964 0.98630235 -0.95338547] [ 0. 0. 0. 1. ]] SLAMing on 92.491346184 meters Centerline goodness : 0.830399 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.27, Z:-0.95 [[ 0.96986346 -0.17972406 -0.1645118 -0.41336395] [ 0.18065692 0.98350126 -0.0093993 -0.26538477] [ 0.16348684 -0.02060416 0.98633033 -0.95327643] [ 0. 0. 0. 1. ]] SLAMing on 92.521346184 meters Centerline goodness : 0.830934 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.26, Z:-0.96 [[ 0.97056426 -0.18750433 -0.15115275 -0.41454822] [ 0.18841458 0.98205359 -0.00840768 -0.26344346] [ 0.15001657 -0.02031919 0.98847466 -0.95707372] [ 0. 0. 0. 1. ]] SLAMing on 92.551346184 meters Centerline goodness : 0.833091 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.26, Z:-0.96 [[ 0.97045068 -0.18823166 -0.1509779 -0.41629037] [ 0.18902034 0.98192968 -0.00924201 -0.26239724] [ 0.14998932 -0.01956898 0.98849393 -0.95543789] [ 0. 0. 0. 1. ]] SLAMing on 92.581346184 meters Centerline goodness : 0.832975 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.26, Z:-0.95 [[ 0.97036174 -0.18876207 -0.15088731 -0.41742354] [ 0.18945051 0.98184004 -0.00993214 -0.26115797] [ 0.15002201 -0.01894791 0.98850107 -0.9543183 ] [ 0. 0. 0. 1. ]] SLAMing on 92.611346184 meters Centerline goodness : 0.834014 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.26, Z:-0.95 [[ 0.97042236 -0.18848697 -0.15084135 -0.41671494] [ 0.18921147 0.98188878 -0.00966715 -0.26225752] [ 0.14993156 -0.01915969 0.98851072 -0.9549805 ] [ 0. 0. 0. 1. ]] SLAMing on 92.641346184 meters Centerline goodness : 0.832019 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.26, Z:-0.96 [[ 0.97048068 -0.18809761 -0.15095209 -0.41546803] [ 0.18888751 0.98195545 -0.0092201 -0.26340961] [ 0.14996251 -0.01956504 0.98849808 -0.95595275] [ 0. 0. 0. 1. ]] SLAMing on 92.671346184 meters Centerline goodness : 0.834494 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.26, Z:-0.97 [[ 0.97054536 -0.1942933 -0.14244935 -0.40814348] [ 0.19502769 0.98075713 -0.00892475 -0.25840561] [ 0.14144223 -0.01911969 0.98976186 -0.96552121] [ 0. 0. 0. 1. ]] SLAMing on 92.701346184 meters Centerline goodness : 0.831890 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.97 [[ 0.97043526 -0.20346538 -0.12983544 -0.40397196] [ 0.20270908 0.97905163 -0.01915562 -0.25032847] [ 0.13101311 -0.00772954 0.9913505 -0.96933972] [ 0. 0. 0. 1. ]] SLAMing on 92.73134618399999 meters Centerline goodness : 0.831759 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.97 [[ 0.97032983 -0.20324108 -0.13096982 -0.40153043] [ 0.20263647 0.97908731 -0.01806948 -0.24984836] [ 0.13190335 -0.00900591 0.99122167 -0.96965406] [ 0. 0. 0. 1. ]] SLAMing on 92.76134618399999 meters Centerline goodness : 0.832578 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.25, Z:-0.97 [[ 0.9701991 -0.20351987 -0.13150424 -0.40189811] [ 0.20296418 0.9790251 -0.01775906 -0.2485271 ] [ 0.13236028 -0.00946082 0.99115652 -0.96809308] [ 0. 0. 0. 1. ]] SLAMing on 92.79134618399999 meters Centerline goodness : 0.830554 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.98 [[ 0.97011989 -0.20932567 -0.1226791 -0.39558292] [ 0.20908983 0.97778232 -0.01493924 -0.24243772] [ 0.12308062 -0.0111581 0.99233395 -0.97574896] [ 0. 0. 0. 1. ]] SLAMing on 92.82134618399999 meters Centerline goodness : 0.833444 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.98 [[ 0.97007665 -0.20940313 -0.12288865 -0.39532305] [ 0.20920611 0.97776181 -0.01465081 -0.24272429] [ 0.12322375 -0.01149665 0.99231232 -0.97543228] [ 0. 0. 0. 1. ]] SLAMing on 92.851346184 meters Centerline goodness : 0.833170 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.98 [[ 0.97015374 -0.20871159 -0.1234552 -0.39385803] [ 0.20865259 0.97789592 -0.01355241 -0.2429661 ] [ 0.12355488 -0.01261132 0.9922576 -0.9760277 ] [ 0. 0. 0. 1. ]] SLAMing on 92.881346184 meters Centerline goodness : 0.833629 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.98 [[ 0.97029213 -0.20816689 -0.12328718 -0.39340496] [ 0.20812233 0.97801123 -0.01338417 -0.2428634 ] [ 0.12336239 -0.01267226 0.99228077 -0.97716717] [ 0. 0. 0. 1. ]] SLAMing on 92.911346184 meters Centerline goodness : 0.833477 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.98 [[ 0.97062241 -0.20734031 -0.12207426 -0.39454372] [ 0.20708408 0.97820932 -0.01492354 -0.24165883] [ 0.12250843 -0.01079451 0.99240877 -0.97897449] [ 0. 0. 0. 1. ]] SLAMing on 92.941346184 meters Centerline goodness : 0.834092 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.98 [[ 0.97083933 -0.20645115 -0.12185617 -0.39464328] [ 0.2061695 0.97840048 -0.01505421 -0.24077584] [ 0.1223321 -0.0105078 0.9924336 -0.97975781] [ 0. 0. 0. 1. ]] SLAMing on 92.971346184 meters Centerline goodness : 0.833444 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.98 [[ 0.97111438 -0.20527011 -0.12165956 -0.39489003] [ 0.20498883 0.97864998 -0.01495963 -0.23976001] [ 0.12213289 -0.01041134 0.99245915 -0.98047916] [ 0. 0. 0. 1. ]] SLAMing on 93.001346184 meters Centerline goodness : 0.833710 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.98 [[ 0.97141072 -0.20434632 -0.12084618 -0.39648708] [ 0.2039009 0.97885793 -0.01617338 -0.2380933 ] [ 0.12159621 -0.00892965 0.99253948 -0.98082011] [ 0. 0. 0. 1. ]] SLAMing on 93.031346184 meters Centerline goodness : 0.836424 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.98 [[ 0.97170849 -0.20182964 -0.12266788 -0.3929522 ] [ 0.20186644 0.97933634 -0.01225888 -0.23830146] [ 0.12260732 -0.01285047 0.99237206 -0.98196293] [ 0. 0. 0. 1. ]] SLAMing on 93.061346184 meters Centerline goodness : 0.835595 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.98 [[ 0.97172865 -0.20150938 -0.12303416 -0.39377978] [ 0.20159919 0.97939643 -0.01184918 -0.23744812] [ 0.12288694 -0.0132894 0.9923317 -0.98032727] [ 0. 0. 0. 1. ]] SLAMing on 93.091346184 meters Centerline goodness : 0.835043 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.98 [[ 0.97179096 -0.20086491 -0.12359457 -0.39325735] [ 0.20111022 0.97951107 -0.01061787 -0.23679667] [ 0.12319501 -0.01453778 0.99227599 -0.98003847] [ 0. 0. 0. 1. ]] SLAMing on 93.12134618399999 meters Centerline goodness : 0.837137 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.98 [[ 0.97178841 -0.20086412 -0.12361592 -0.39464444] [ 0.20122481 0.97949715 -0.00969045 -0.23699373] [ 0.1230279 -0.01545752 0.99228282 -0.97843116] [ 0. 0. 0. 1. ]] SLAMing on 93.15134618399999 meters Centerline goodness : 0.836271 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.98 [[ 0.97166976 -0.20168146 -0.12321712 -0.39641342] [ 0.20195525 0.97933959 -0.01039482 -0.23629255] [ 0.12276785 -0.01478401 0.99232529 -0.97742613] [ 0. 0. 0. 1. ]] SLAMing on 93.18134618399999 meters Centerline goodness : 0.836945 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.98 [[ 0.97154472 -0.20252428 -0.12282005 -0.39806368] [ 0.20270585 0.97917622 -0.01114767 -0.23521519] [ 0.12252015 -0.01406588 0.99236635 -0.97655374] [ 0. 0. 0. 1. ]] SLAMing on 93.21134618399999 meters Centerline goodness : 0.837734 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.98 [[ 0.97132154 -0.20407836 -0.12201024 -0.40063898] [ 0.2041524 0.97886522 -0.01202835 -0.23464873] [ 0.1218863 -0.01322529 0.99245595 -0.97617765] [ 0. 0. 0. 1. ]] SLAMing on 93.241346184 meters Centerline goodness : 0.836317 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.98 [[ 0.97130547 -0.20432456 -0.12172575 -0.40044779] [ 0.2044352 0.97881001 -0.01171402 -0.2366052 ] [ 0.12153984 -0.01350713 0.99249465 -0.97724854] [ 0. 0. 0. 1. ]] SLAMing on 93.271346184 meters Centerline goodness : 0.835992 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.98 [[ 0.97049854 -0.20836474 -0.12131249 -0.3988243 ] [ 0.2079819 0.9780026 -0.01595155 -0.23540072] [ 0.12196767 -0.00974985 0.99248618 -0.97747921] [ 0. 0. 0. 1. ]] SLAMing on 93.301346184 meters Centerline goodness : 0.836080 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.98 [[ 0.97041636 -0.20907189 -0.12075193 -0.39959426] [ 0.20868007 0.97785268 -0.0160242 -0.23620538] [ 0.12142781 -0.00964838 0.99255337 -0.97839936] [ 0. 0. 0. 1. ]] SLAMing on 93.331346184 meters Centerline goodness : 0.834148 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.98 [[ 0.97031664 -0.20955621 -0.12071381 -0.40032601] [ 0.20909341 0.97775423 -0.0166315 -0.23459739] [ 0.12151367 -0.00910264 0.99254802 -0.97767993] [ 0. 0. 0. 1. ]] SLAMing on 93.361346184 meters Centerline goodness : 0.835567 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.98 [[ 0.97010977 -0.2107634 -0.12027395 -0.40323229] [ 0.21010731 0.97750787 -0.01825604 -0.23085048] [ 0.12141643 -0.00756007 0.99257287 -0.97529051] [ 0. 0. 0. 1. ]] SLAMing on 93.391346184 meters Centerline goodness : 0.835100 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.9700414 -0.21109761 -0.12023929 -0.40392946] [ 0.21037454 0.97743965 -0.01882218 -0.22973072] [ 0.12149997 -0.00703699 0.99256649 -0.97438331] [ 0. 0. 0. 1. ]] SLAMing on 93.421346184 meters Centerline goodness : 0.835461 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.97000656 -0.21122708 -0.12029298 -0.40382797] [ 0.21048019 0.97741293 -0.01902788 -0.22910449] [ 0.12159512 -0.00686212 0.99255606 -0.97435203] [ 0. 0. 0. 1. ]] SLAMing on 93.451346184 meters Centerline goodness : 0.834348 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.97000241 -0.21124645 -0.1202924 -0.40351666] [ 0.21051592 0.9774078 -0.01889543 -0.22962502] [ 0.12156632 -0.00699486 0.99255866 -0.97474587] [ 0. 0. 0. 1. ]] SLAMing on 93.48134618399999 meters Centerline goodness : 0.833433 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.98 [[ 0.96920366 -0.21526462 -0.11960526 -0.40203192] [ 0.21412879 0.97654805 -0.02242236 -0.23133448] [ 0.12162702 -0.00387909 0.99256829 -0.97565869] [ 0. 0. 0. 1. ]] SLAMing on 93.51134618399999 meters Centerline goodness : 0.836724 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.98 [[ 0.96915117 -0.2156468 -0.11934181 -0.40270385] [ 0.21451071 0.97646383 -0.02243969 -0.23270807] [ 0.12137201 -0.00385264 0.99259961 -0.97551315] [ 0. 0. 0. 1. ]] SLAMing on 93.54134618399999 meters Centerline goodness : 0.836447 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.97 [[ 0.96903857 -0.21625418 -0.11915693 -0.40400278] [ 0.21501329 0.97633245 -0.02332887 -0.23085916] [ 0.12138175 -0.00301375 0.99260132 -0.97428483] [ 0. 0. 0. 1. ]] SLAMing on 93.57134618399999 meters Centerline goodness : 0.836682 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.97 [[ 0.97040785 -0.20984539 -0.11947182 -0.40999372] [ 0.20933821 0.97769686 -0.01692232 -0.22837071] [ 0.1203583 -0.00858846 0.99269337 -0.97225711] [ 0. 0. 0. 1. ]] SLAMing on 93.601346184 meters Centerline goodness : 0.837127 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.97 [[ 0.97123453 -0.20573589 -0.11990094 -0.41092834] [ 0.20568392 0.97853287 -0.01294402 -0.22959336] [ 0.11999006 -0.01209001 0.99270147 -0.9722641 ] [ 0. 0. 0. 1. ]] SLAMing on 93.631346184 meters Centerline goodness : 0.836509 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.97 [[ 0.97135475 -0.20495531 -0.12026334 -0.40901511] [ 0.20494992 0.97869203 -0.01254781 -0.23051072] [ 0.12027251 -0.01245959 0.99266272 -0.97302053] [ 0. 0. 0. 1. ]] SLAMing on 93.661346184 meters Centerline goodness : 0.839137 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.98 [[ 0.97307914 -0.20131716 -0.112198 -0.4143877 ] [ 0.20068325 0.97950809 -0.01703326 -0.23666985] [ 0.11332794 -0.00594155 0.99353987 -0.98103734] [ 0. 0. 0. 1. ]] SLAMing on 93.691346184 meters Centerline goodness : 0.836745 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.98 [[ 0.97323933 -0.20058033 -0.11212823 -0.41283993] [ 0.19998846 0.97965732 -0.01661808 -0.23765067] [ 0.1131805 -0.00625098 0.99355478 -0.98304833] [ 0. 0. 0. 1. ]] SLAMing on 93.721346184 meters Centerline goodness : 0.838838 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.98 [[ 0.97323744 -0.20008814 -0.11302049 -0.41183328] [ 0.19969211 0.97974493 -0.01493094 -0.23767061] [ 0.11371875 -0.00803795 0.99348047 -0.98237609] [ 0. 0. 0. 1. ]] SLAMing on 93.751346184 meters Centerline goodness : 0.842197 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.98 [[ 0.97330465 -0.19816956 -0.11578813 -0.40899121] [ 0.19840879 0.98007261 -0.00957233 -0.23746967] [ 0.11537772 -0.01365659 0.99322781 -0.98048034] [ 0. 0. 0. 1. ]] SLAMing on 93.781346184 meters Centerline goodness : 0.842422 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.98 [[ 0.97398895 -0.19450105 -0.11625341 -0.41067033] [ 0.19513845 0.98075745 -0.00598398 -0.23699547] [ 0.11518029 -0.01685718 0.99320156 -0.97974513] [ 0. 0. 0. 1. ]] SLAMing on 93.811346184 meters Centerline goodness : 0.844943 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.98 [[ 0.97405456 -0.19396071 -0.11660597 -0.40961388] [ 0.19461121 0.98086277 -0.00589083 -0.23693724] [ 0.11551705 -0.01695483 0.99316079 -0.97965991] [ 0. 0. 0. 1. ]] SLAMing on 93.841346184 meters Centerline goodness : 0.844511 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.98 [[ 0.97409418 -0.19481384 -0.11483945 -0.40876645] [ 0.19501001 0.98075394 -0.00963365 -0.23797162] [ 0.11450601 -0.01301076 0.99333735 -0.98379761] [ 0. 0. 0. 1. ]] SLAMing on 93.87134618399999 meters Centerline goodness : 0.845546 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.99 [[ 0.97408993 -0.19597334 -0.11288605 -0.40891955] [ 0.19571353 0.98056834 -0.0134886 -0.23971102] [ 0.11333589 -0.00895422 0.99351638 -0.98695709] [ 0. 0. 0. 1. ]] SLAMing on 93.90134618399999 meters Centerline goodness : 0.848624 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.99 [[ 0.97395835 -0.19651152 -0.11308559 -0.40887919] [ 0.1964034 0.98044719 -0.01220701 -0.24192602] [ 0.11327327 -0.01032128 0.99351026 -0.98607543] [ 0. 0. 0. 1. ]] SLAMing on 93.93134618399999 meters Centerline goodness : 0.850429 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.98 [[ 0.97382226 -0.19569714 -0.11564094 -0.40783178] [ 0.19620409 0.98053741 -0.00709488 -0.24125453] [ 0.11477872 -0.01578007 0.99326574 -0.98228992] [ 0. 0. 0. 1. ]] SLAMing on 93.96134618399999 meters Centerline goodness : 0.847767 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.98 [[ 0.97362116 -0.19470611 -0.11895956 -0.40456115] [ 0.19590063 0.98062231 -0.00168259 -0.23918624] [ 0.11698201 -0.02166604 0.99289767 -0.97969135] [ 0. 0. 0. 1. ]] SLAMing on 93.991346184 meters Centerline goodness : 0.849475 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.98 [[ 0.97309989 -0.19767029 -0.11833448 -0.40458067] [ 0.19839818 0.98010484 -0.00571567 -0.23579987] [ 0.11711002 -0.01791543 0.99295734 -0.98025455] [ 0. 0. 0. 1. ]] SLAMing on 94.021346184 meters Centerline goodness : 0.851442 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.98 [[ 0.97282063 -0.1994115 -0.1177076 -0.40136759] [ 0.19968592 0.97981314 -0.00957819 -0.23565981] [ 0.11724145 -0.01418669 0.9930021 -0.98422733] [ 0. 0. 0. 1. ]] SLAMing on 94.051346184 meters Centerline goodness : 0.849929 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.99 [[ 0.97252975 -0.20186622 -0.11591335 -0.40199112] [ 0.20156905 0.9793684 -0.014403 -0.23571472] [ 0.11642935 -0.0093572 0.9931549 -0.9861913 ] [ 0. 0. 0. 1. ]] SLAMing on 94.081346184 meters Centerline goodness : 0.849702 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.99 [[ 0.97235799 -0.20255625 -0.11615038 -0.40042838] [ 0.20225813 0.97922531 -0.0144718 -0.23547224] [ 0.11666875 -0.00942059 0.9931262 -0.98716137] [ 0. 0. 0. 1. ]] SLAMing on 94.111346184 meters Centerline goodness : 0.849702 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.24, Z:-0.99 [[ 0.97235799 -0.20255625 -0.11615038 -0.40042838] [ 0.20225813 0.97922531 -0.0144718 -0.23547224] [ 0.11666875 -0.00942059 0.9931262 -0.98716137] [ 0. 0. 0. 1. ]] SLAMing on 94.141346184 meters Centerline goodness : 0.851324 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.98 [[ 0.9720527 -0.20185505 -0.11986696 -0.39707225] [ 0.20231807 0.97928365 -0.00842198 -0.23314299] [ 0.11908377 -0.01606464 0.99275424 -0.98387702] [ 0. 0. 0. 1. ]] SLAMing on 94.171346184 meters Centerline goodness : 0.851912 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.98 [[ 0.97196786 -0.20158909 -0.12099717 -0.3972298 ] [ 0.20232178 0.97929865 -0.00632786 -0.23173946] [ 0.11976799 -0.01832988 0.99263268 -0.9816538 ] [ 0. 0. 0. 1. ]] SLAMing on 94.201346184 meters Centerline goodness : 0.850527 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.98 [[ 0.97199219 -0.2014832 -0.12097814 -0.39844275] [ 0.20220235 0.97932265 -0.00643058 -0.23032354] [ 0.11977228 -0.01821159 0.99263434 -0.98039078] [ 0. 0. 0. 1. ]] SLAMing on 94.23134618399999 meters Centerline goodness : 0.848880 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.99 [[ 0.97215447 -0.20121596 -0.12011589 -0.39605955] [ 0.20164839 0.9794196 -0.00867052 -0.22938752] [ 0.11938851 -0.01579209 0.99272201 -0.9850556 ] [ 0. 0. 0. 1. ]] SLAMing on 94.26134618399999 meters Centerline goodness : 0.850157 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.99 [[ 0.97206787 -0.20251463 -0.11862494 -0.39664059] [ 0.20248428 0.97920655 -0.01243573 -0.22877866] [ 0.11867673 -0.01193131 0.99286126 -0.98686287] [ 0. 0. 0. 1. ]] SLAMing on 94.29134618399999 meters Centerline goodness : 0.850423 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.99 [[ 0.97193608 -0.20273136 -0.11933253 -0.39420221] [ 0.20278193 0.97915225 -0.01184753 -0.22850753] [ 0.11924658 -0.01268344 0.99278365 -0.98801695] [ 0. 0. 0. 1. ]] SLAMing on 94.32134618399999 meters Centerline goodness : 0.850212 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.98 [[ 0.97137215 -0.20424863 -0.12132039 -0.39376007] [ 0.20465894 0.97879008 -0.00920326 -0.22639497] [ 0.12062695 -0.01588951 0.99257073 -0.98422225] [ 0. 0. 0. 1. ]] SLAMing on 94.351346184 meters Centerline goodness : 0.852691 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.98 [[ 0.97127727 -0.20471072 -0.12130124 -0.39448526] [ 0.20503055 0.97870475 -0.00997388 -0.22427444] [ 0.12075986 -0.01518306 0.99256563 -0.98332745] [ 0. 0. 0. 1. ]] SLAMing on 94.381346184 meters Centerline goodness : 0.851577 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.98 [[ 0.97112196 -0.20556623 -0.12109776 -0.39624676] [ 0.2057567 0.97854061 -0.0110659 -0.22198056] [ 0.12077385 -0.01417033 0.9925789 -0.98176512] [ 0. 0. 0. 1. ]] SLAMing on 94.411346184 meters Centerline goodness : 0.851223 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.98 [[ 0.97105738 -0.20594854 -0.12096597 -0.39701848] [ 0.20609217 0.97846548 -0.01145953 -0.22216953] [ 0.1207211 -0.01380227 0.99259051 -0.98090142] [ 0. 0. 0. 1. ]] SLAMing on 94.441346184 meters Centerline goodness : 0.852486 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.98 [[ 0.97104279 -0.20608292 -0.12085414 -0.39612831] [ 0.20626364 0.97843293 -0.01114976 -0.2230354 ] [ 0.12054545 -0.01410092 0.99260766 -0.98203398] [ 0. 0. 0. 1. ]] SLAMing on 94.471346184 meters Centerline goodness : 0.851014 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.98 [[ 0.97100532 -0.20636762 -0.12066931 -0.39659516] [ 0.20653978 0.97837391 -0.01121634 -0.22410097] [ 0.12037439 -0.01403189 0.99262939 -0.98179122] [ 0. 0. 0. 1. ]] SLAMing on 94.501346184 meters Centerline goodness : 0.850716 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.98 [[ 0.9709459 -0.20680739 -0.1203942 -0.39702012] [ 0.20697936 0.97828105 -0.01121305 -0.22575472] [ 0.12009831 -0.01403185 0.99266283 -0.98197191] [ 0. 0. 0. 1. ]] SLAMing on 94.531346184 meters Centerline goodness : 0.852823 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.98 [[ 0.97092472 -0.20702353 -0.12019333 -0.39742255] [ 0.20718949 0.97823611 -0.01125266 -0.22629466] [ 0.11990703 -0.01397731 0.99268673 -0.98200262] [ 0. 0. 0. 1. ]] SLAMing on 94.561346184 meters Centerline goodness : 0.854376 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.98 [[ 0.97092996 -0.20637996 -0.12125316 -0.39565431] [ 0.20674402 0.9783469 -0.00970889 -0.22685604] [ 0.12063137 -0.01564171 0.99257413 -0.98165606] [ 0. 0. 0. 1. ]] SLAMing on 94.591346184 meters Centerline goodness : 0.854185 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.98 [[ 0.97083545 -0.20621571 -0.12228494 -0.39621565] [ 0.20680492 0.97834954 -0.00799357 -0.22533205] [ 0.12128582 -0.01752869 0.99246284 -0.97907779] [ 0. 0. 0. 1. ]] SLAMing on 94.62134618399999 meters Centerline goodness : 0.854391 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.98 [[ 0.97079921 -0.20638165 -0.12229269 -0.39658811] [ 0.20692696 0.97832064 -0.00836431 -0.22433069] [ 0.1213677 -0.01718559 0.99245883 -0.97850369] [ 0. 0. 0. 1. ]] SLAMing on 94.65134618399999 meters Centerline goodness : 0.854746 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.98 [[ 0.97077989 -0.20647489 -0.12228873 -0.39685565] [ 0.2070134 0.97830183 -0.00842532 -0.22505694] [ 0.1213749 -0.01713628 0.99245881 -0.977945 ] [ 0. 0. 0. 1. ]] SLAMing on 94.68134618399999 meters Centerline goodness : 0.855902 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.98 [[ 0.9707825 -0.20644931 -0.12231114 -0.39668411] [ 0.20702282 0.97830224 -0.00814061 -0.22731625] [ 0.12133789 -0.01741844 0.99245842 -0.97775948] [ 0. 0. 0. 1. ]] SLAMing on 94.71134618399999 meters Centerline goodness : 0.855757 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-0.98 [[ 0.97025653 -0.21015129 -0.12016111 -0.39725911] [ 0.21020296 0.97757926 -0.01238963 -0.23011594] [ 0.12007071 -0.01323711 0.99267709 -0.97971172] [ 0. 0. 0. 1. ]] SLAMing on 94.741346184 meters Centerline goodness : 0.857051 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.98 [[ 0.97012326 -0.21053299 -0.1205683 -0.39449293] [ 0.21066652 0.97748696 -0.01178385 -0.23203985] [ 0.12033483 -0.01396792 0.99263509 -0.98141558] [ 0. 0. 0. 1. ]] SLAMing on 94.771346184 meters Centerline goodness : 0.857238 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.98 [[ 0.96992936 -0.21129849 -0.12078901 -0.39420384] [ 0.21149689 0.97731308 -0.01132336 -0.23349215] [ 0.12044129 -0.01456364 0.99261362 -0.98060002] [ 0. 0. 0. 1. ]] SLAMing on 94.801346184 meters Centerline goodness : 0.857898 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.98 [[ 0.96992785 -0.21106143 -0.12121485 -0.39476831] [ 0.21146492 0.97733772 -0.00967357 -0.23389629] [ 0.12050956 -0.01625003 0.99257916 -0.97913265] [ 0. 0. 0. 1. ]] SLAMing on 94.831346184 meters Centerline goodness : 0.857685 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.98 [[ 0.97002201 -0.210229 -0.12190601 -0.39343616] [ 0.21078297 0.97749609 -0.00848114 -0.23211833] [ 0.12094563 -0.01746882 0.99250541 -0.9798404 ] [ 0. 0. 0. 1. ]] SLAMing on 94.861346184 meters Centerline goodness : 0.854509 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.98 [[ 0.97059833 -0.20843363 -0.12039228 -0.39267415] [ 0.20861988 0.97793271 -0.01119637 -0.23008293] [ 0.12006925 -0.01424904 0.99266326 -0.98467701] [ 0. 0. 0. 1. ]] SLAMing on 94.891346184 meters Centerline goodness : 0.853371 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.99 [[ 0.97087736 -0.20752636 -0.11970783 -0.3906916 ] [ 0.20757519 0.97814299 -0.01219977 -0.22982655] [ 0.11962315 -0.01300389 0.9927342 -0.98878266] [ 0. 0. 0. 1. ]] SLAMing on 94.921346184 meters Centerline goodness : 0.855376 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.99 [[ 0.97118861 -0.20652392 -0.11891405 -0.39168679] [ 0.20643518 0.97837125 -0.01319917 -0.22969556] [ 0.11906804 -0.01172916 0.99281682 -0.98961882] [ 0. 0. 0. 1. ]] SLAMing on 94.951346184 meters Centerline goodness : 0.855124 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.99 [[ 0.97140087 -0.2052827 -0.11932881 -0.39213011] [ 0.20536721 0.97861479 -0.01172224 -0.22903607] [ 0.11918331 -0.01311923 0.99278559 -0.98880653] [ 0. 0. 0. 1. ]] SLAMing on 94.98134618399999 meters Centerline goodness : 0.853424 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.99 [[ 0.97180035 -0.20955427 -0.10812535 -0.39104762] [ 0.21006677 0.97766369 -0.00675735 -0.22220648] [ 0.10712626 -0.01614675 0.9941143 -0.9941395 ] [ 0. 0. 0. 1. ]] SLAMing on 95.01134618399999 meters Centerline goodness : 0.852404 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-0.99 [[ 0.97173639 -0.20969624 -0.1084245 -0.39091423] [ 0.2101828 0.97763668 -0.00705058 -0.22136627] [ 0.10747824 -0.01593766 0.99407968 -0.99349478] [ 0. 0. 0. 1. ]] SLAMing on 95.04134618399999 meters Centerline goodness : 0.852760 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-1.00 [[ 0.97178882 -0.20972768 -0.10789245 -0.38899186] [ 0.21005659 0.97765283 -0.00843635 -0.22218533] [ 0.1072507 -0.01446517 0.99412678 -0.99645774] [ 0. 0. 0. 1. ]] SLAMing on 95.07134618399999 meters Centerline goodness : 0.852311 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.22, Z:-1.00 [[ 0.97186525 -0.20946057 -0.10772283 -0.38787479] [ 0.20974348 0.97771662 -0.00882523 -0.22284851] [ 0.10717094 -0.01401723 0.99414179 -0.9978113 ] [ 0. 0. 0. 1. ]] SLAMing on 95.101346184 meters Centerline goodness : 0.852608 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.22, Z:-1.00 [[ 0.97177072 -0.20939718 -0.10869445 -0.38475654] [ 0.20973925 0.97772123 -0.00840533 -0.22219196] [ 0.10803292 -0.01462944 0.99403967 -0.99920374] [ 0. 0. 0. 1. ]] SLAMing on 95.131346184 meters Centerline goodness : 0.852144 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.22, Z:-1.00 [[ 0.97185054 -0.20911929 -0.10851566 -0.38480273] [ 0.20943868 0.97778419 -0.00857423 -0.22225575] [ 0.10789794 -0.0143945 0.99405776 -0.99947082] [ 0. 0. 0. 1. ]] SLAMing on 95.161346184 meters Centerline goodness : 0.852620 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.22, Z:-1.00 [[ 0.97189754 -0.20872975 -0.10884419 -0.38472161] [ 0.2090602 0.97786588 -0.00849478 -0.22204965] [ 0.10820813 -0.01449894 0.99402253 -0.99865216] [ 0. 0. 0. 1. ]] SLAMing on 95.191346184 meters Centerline goodness : 0.853269 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.22, Z:-1.00 [[ 0.97216342 -0.20628469 -0.11110768 -0.38208253] [ 0.20718764 0.97829502 -0.00348354 -0.22240818] [ 0.10941469 -0.01963356 0.99380227 -0.99779413] [ 0. 0. 0. 1. ]] SLAMing on 95.221346184 meters Centerline goodness : 0.851525 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.22, Z:-1.00 [[ 0.9722354 -0.20591464 -0.11116425 -0.38199036] [ 0.2068782 0.97836234 -0.00292197 -0.22269438] [ 0.1093606 -0.02015661 0.99379775 -0.99777974] [ 0. 0. 0. 1. ]] SLAMing on 95.251346184 meters Centerline goodness : 0.852734 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.22, Z:-1.00 [[ 0.9722727 -0.20583307 -0.11098897 -0.38227482] [ 0.20678584 0.97838168 -0.00298305 -0.22307179] [ 0.10920359 -0.02005061 0.99381716 -0.99768827] [ 0. 0. 0. 1. ]] SLAMing on 95.281346184 meters Centerline goodness : 0.853102 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.22, Z:-1.00 [[ 0.97232819 -0.2051558 -0.11175416 -0.38074941] [ 0.20629601 0.97848864 -0.00138872 -0.22288934] [ 0.10963508 -0.02170415 0.99373491 -0.99808676] [ 0. 0. 0. 1. ]] SLAMing on 95.311346184 meters Centerline goodness : 0.851945 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.22, Z:-1.00 [[ 0.97210339 -0.20596941 -0.11221227 -0.38054314] [ 0.20709818 0.97831881 -0.00163001 -0.22208506] [ 0.1101151 -0.02165442 0.99368292 -0.99687097] [ 0. 0. 0. 1. ]] SLAMing on 95.341346184 meters Centerline goodness : 0.853021 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.22, Z:-1.00 [[ 0.97178089 -0.20731739 -0.1125229 -0.37901631] [ 0.20839895 0.97804144 -0.00219404 -0.22132366] [ 0.11050692 -0.02131753 0.99364671 -0.9975297 ] [ 0. 0. 0. 1. ]] SLAMing on 95.37134618399999 meters Centerline goodness : 0.853070 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.22, Z:-1.00 [[ 0.97089573 -0.21276463 -0.1099668 -0.37937609] [ 0.21296258 0.97700837 -0.01007908 -0.2206499 ] [ 0.10958295 -0.01363307 0.99388416 -1.00001923] [ 0. 0. 0. 1. ]] SLAMing on 95.40134618399999 meters Centerline goodness : 0.851815 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.22, Z:-1.00 [[ 0.97036513 -0.21542831 -0.10946309 -0.37708208] [ 0.21527447 0.97646215 -0.0133629 -0.2201887 ] [ 0.10976531 -0.01059771 0.99390103 -1.00242137] [ 0. 0. 0. 1. ]] SLAMing on 95.43134618399999 meters Centerline goodness : 0.851993 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.22, Z:-1.00 [[ 0.96958984 -0.21904579 -0.10915351 -0.37614545] [ 0.21850536 0.97568703 -0.01703615 -0.2190314 ] [ 0.11023136 -0.00733255 0.99387891 -1.00263581] [ 0. 0. 0. 1. ]] SLAMing on 95.46134618399999 meters Centerline goodness : 0.851815 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.22, Z:-1.00 [[ 0.96903043 -0.22076182 -0.11065368 -0.37213947] [ 0.22028633 0.975293 -0.01665831 -0.21839047] [ 0.11159728 -0.00823309 0.99371941 -1.00329332] [ 0. 0. 0. 1. ]] SLAMing on 95.491346184 meters Centerline goodness : 0.853579 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.22, Z:-1.00 [[ 0.96822906 -0.22283214 -0.1134827 -0.36986656] [ 0.22269048 0.97478742 -0.01408646 -0.21630354] [ 0.11376042 -0.0116326 0.99344011 -0.99939902] [ 0. 0. 0. 1. ]] SLAMing on 95.521346184 meters Centerline goodness : 0.852152 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.22, Z:-1.00 [[ 0.96822949 -0.22166672 -0.11573901 -0.36595793] [ 0.22198261 0.97499604 -0.01031683 -0.21641772] [ 0.11513198 -0.01570299 0.99322608 -0.99955272] [ 0. 0. 0. 1. ]] SLAMing on 95.551346184 meters Centerline goodness : 0.851862 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.22, Z:-1.00 [[ 0.96786952 -0.22366918 -0.11489421 -0.36662236] [ 0.22372565 0.97457109 -0.01257054 -0.21764226] [ 0.11478422 -0.01353814 0.99329819 -0.99925196] [ 0. 0. 0. 1. ]] SLAMing on 95.581346184 meters Centerline goodness : 0.853516 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-1.00 [[ 0.96772986 -0.2240505 -0.11532691 -0.36435317] [ 0.22416341 0.97447573 -0.01215806 -0.21889531] [ 0.1151073 -0.01408635 0.99325318 -1.00039855] [ 0. 0. 0. 1. ]] SLAMing on 95.611346184 meters Centerline goodness : 0.852944 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-1.00 [[ 0.96744293 -0.22494443 -0.1159922 -0.36337944] [ 0.22513403 0.97425832 -0.01163577 -0.21927335] [ 0.11562376 -0.01485685 0.99318197 -0.99947558] [ 0. 0. 0. 1. ]] SLAMing on 95.641346184 meters Centerline goodness : 0.855550 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-1.00 [[ 0.96715781 -0.2257163 -0.1168671 -0.36307771] [ 0.22601978 0.97406257 -0.01082427 -0.21893316] [ 0.11627908 -0.0159455 0.99308857 -0.99758044] [ 0. 0. 0. 1. ]] SLAMing on 95.671346184 meters Centerline goodness : 0.852478 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-1.00 [[ 0.96650332 -0.22707796 -0.11961163 -0.358998 ] [ 0.22769324 0.97369423 -0.00867997 -0.21721781] [ 0.11843618 -0.01884554 0.99278281 -0.99630438] [ 0. 0. 0. 1. ]] SLAMing on 95.701346184 meters Centerline goodness : 0.853947 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-1.00 [[ 0.96642112 -0.22759664 -0.11928947 -0.35842256] [ 0.22811446 0.97358818 -0.00947921 -0.21792907] [ 0.11829626 -0.01805074 0.99281427 -0.99707816] [ 0. 0. 0. 1. ]] SLAMing on 95.73134618399999 meters Centerline goodness : 0.852399 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-1.00 [[ 0.96663281 -0.22693704 -0.11883006 -0.35620277] [ 0.22736328 0.97375723 -0.01013864 -0.21878649] [ 0.11801247 -0.01721725 0.99286284 -1.00055008] [ 0. 0. 0. 1. ]] SLAMing on 95.76134618399999 meters Centerline goodness : 0.851543 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-1.01 [[ 0.96708645 -0.22578713 -0.11731991 -0.35435372] [ 0.2259012 0.97407002 -0.01249988 -0.21847579] [ 0.11710012 -0.01441424 0.9930155 -1.0063236 ] [ 0. 0. 0. 1. ]] SLAMing on 95.79134618399999 meters Centerline goodness : 0.853235 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-1.01 [[ 0.96770735 -0.22275863 -0.11798763 -0.35311954] [ 0.2230997 0.97473931 -0.01047884 -0.21828319] [ 0.11734143 -0.01618256 0.99295977 -1.00736555] [ 0. 0. 0. 1. ]] SLAMing on 95.82134618399999 meters Centerline goodness : 0.850857 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-1.01 [[ 0.96824324 -0.21970266 -0.11931375 -0.35209467] [ 0.22048979 0.97536608 -0.00672828 -0.21798219] [ 0.11785281 -0.01979285 0.9928338 -1.00708512] [ 0. 0. 0. 1. ]] SLAMing on 95.851346184 meters Centerline goodness : 0.854728 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-1.00 [[ 0.96885661 -0.21606754 -0.12096147 -0.35273823] [ 0.21741494 0.976077 -0.0021053 -0.21730242] [ 0.1185226 -0.02425909 0.99265497 -1.0043082 ] [ 0. 0. 0. 1. ]] SLAMing on 95.881346184 meters Centerline goodness : 0.854300 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-1.00 [[ 0.96883934 -0.21589628 -0.12140482 -0.35247591] [ 0.21736903 0.97608883 -0.00113898 -0.2169643 ] [ 0.11874779 -0.02528616 0.99260242 -1.0038556 ] [ 0. 0. 0. 1. ]] SLAMing on 95.911346184 meters Centerline goodness : 0.853424 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-1.00 [[ 0.96865115 -0.21671501 -0.12144773 -0.35168356] [ 0.21814782 0.97591453 -0.00153306 -0.21712543] [ 0.11885484 -0.02500856 0.99259664 -1.004166 ] [ 0. 0. 0. 1. ]] SLAMing on 95.941346184 meters Centerline goodness : 0.853066 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-1.01 [[ 0.96803751 -0.22044864 -0.1196068 -0.3518221 ] [ 0.22132415 0.97518134 -0.00608092 -0.21907302] [ 0.11797885 -0.02058531 0.99280272 -1.00578014] [ 0. 0. 0. 1. ]] SLAMing on 95.971346184 meters Centerline goodness : 0.852543 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-1.01 [[ 0.96777609 -0.22112411 -0.1204723 -0.34931745] [ 0.22215319 0.974999 -0.00499073 -0.22082271] [ 0.11856394 -0.0219334 0.99270414 -1.00615202] [ 0. 0. 0. 1. ]] SLAMing on 96.001346184 meters Centerline goodness : 0.852543 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-1.01 [[ 0.96777609 -0.22112411 -0.1204723 -0.34931745] [ 0.22215319 0.974999 -0.00499073 -0.22082271] [ 0.11856394 -0.0219334 0.99270414 -1.00615202] [ 0. 0. 0. 1. ]] SLAMing on 96.031346184 meters Centerline goodness : 0.853522 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-1.01 [[ 0.96740267 -0.22251612 -0.12090763 -0.3484724 ] [ 0.22358812 0.9746719 -0.00480094 -0.22233347] [ 0.11891356 -0.02238907 0.99265215 -1.00513467] [ 0. 0. 0. 1. ]] SLAMing on 96.061346184 meters Centerline goodness : 0.854409 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-1.00 [[ 0.96671977 -0.22538953 -0.12104728 -0.3482869 ] [ 0.22628296 0.97403996 -0.00649494 -0.22290904] [ 0.11936878 -0.02111215 0.99262549 -1.00342743] [ 0. 0. 0. 1. ]] SLAMing on 96.091346184 meters Centerline goodness : 0.853656 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-1.00 [[ 0.9655191 -0.23001521 -0.12192564 -0.34598475] [ 0.23077038 0.97297465 -0.00808491 -0.22475726] [ 0.12049021 -0.02033069 0.99250631 -1.00170784] [ 0. 0. 0. 1. ]] SLAMing on 96.12134618399999 meters Centerline goodness : 0.854460 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.23, Z:-1.00 [[ 0.96503429 -0.23142055 -0.12309897 -0.34255334] [ 0.23230704 0.97261509 -0.00730197 -0.22638242] [ 0.12141774 -0.02155011 0.99236754 -1.00207416] [ 0. 0. 0. 1. ]] SLAMing on 96.15134618399999 meters Centerline goodness : 0.856376 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.23, Z:-1.00 [[ 0.96461374 -0.23252141 -0.12431467 -0.33786979] [ 0.23356967 0.97231979 -0.00627964 -0.2283474 ] [ 0.12233376 -0.02297871 0.99222297 -1.00386245] [ 0. 0. 0. 1. ]] SLAMing on 96.18134618399999 meters Centerline goodness : 0.857426 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.23, Z:-1.00 [[ 0.96375734 -0.23680121 -0.12286975 -0.33833041] [ 0.23740767 0.97135971 -0.00989479 -0.23175343] [ 0.12169382 -0.01963405 0.99237348 -1.00361455] [ 0. 0. 0. 1. ]] SLAMing on 96.21134618399999 meters Centerline goodness : 0.857846 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.23, Z:-1.00 [[ 0.96341223 -0.237462 -0.12429266 -0.33580038] [ 0.23827063 0.97116128 -0.00853674 -0.23315808] [ 0.12273537 -0.02139089 0.99220888 -1.00254192] [ 0. 0. 0. 1. ]] SLAMing on 96.241346184 meters Centerline goodness : 0.861423 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.23, Z:-1.00 [[ 0.96298757 -0.23860155 -0.12539631 -0.33524208] [ 0.23967401 0.97083039 -0.00668711 -0.23449492] [ 0.1233341 -0.02361464 0.99208419 -1.00016478] [ 0. 0. 0. 1. ]] SLAMing on 96.271346184 meters Centerline goodness : 0.861759 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.24, Z:-1.00 [[ 0.96309283 -0.23784594 -0.12602189 -0.33254159] [ 0.23906675 0.97098716 -0.00556954 -0.23644354] [ 0.12369033 -0.02476366 0.99201183 -1.00165743] [ 0. 0. 0. 1. ]] SLAMing on 96.301346184 meters Centerline goodness : 0.861879 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.24, Z:-1.00 [[ 0.96326414 -0.23780078 -0.12479175 -0.33381777] [ 0.23881288 0.97104033 -0.00700576 -0.2384554 ] [ 0.1228438 -0.02305348 0.99215822 -1.00216071] [ 0. 0. 0. 1. ]] SLAMing on 96.331346184 meters Centerline goodness : 0.861732 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.24, Z:-1.00 [[ 0.9634035 -0.23721454 -0.12483175 -0.33151785] [ 0.23826199 0.97117788 -0.00668962 -0.23978196] [ 0.12282071 -0.02329785 0.99215537 -1.00465685] [ 0. 0. 0. 1. ]] SLAMing on 96.361346184 meters Centerline goodness : 0.860651 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.24, Z:-1.01 [[ 0.96360841 -0.23761282 -0.12247029 -0.33306198] [ 0.23811892 0.97117704 -0.01070237 -0.2403408 ] [ 0.12148336 -0.0188496 0.99241447 -1.0073439 ] [ 0. 0. 0. 1. ]] SLAMing on 96.391346184 meters Centerline goodness : 0.859900 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.24, Z:-1.01 [[ 0.96383709 -0.2365932 -0.12264472 -0.33173602] [ 0.23717083 0.97141566 -0.01008035 -0.24105884] [ 0.12152395 -0.01937194 0.99239944 -1.00868133] [ 0. 0. 0. 1. ]] SLAMing on 96.421346184 meters Centerline goodness : 0.862868 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.24, Z:-1.01 [[ 0.96453674 -0.23325536 -0.12353464 -0.33031969] [ 0.23422875 0.9721578 -0.00678982 -0.24136405] [ 0.12167892 -0.02238634 0.99231703 -1.00994999] [ 0. 0. 0. 1. ]] SLAMing on 96.451346184 meters Centerline goodness : 0.862995 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.24, Z:-1.01 [[ 0.96478808 -0.23216868 -0.12361907 -0.33075387] [ 0.23317454 0.97241337 -0.00647082 -0.24088142] [ 0.12171115 -0.02258184 0.99230865 -1.00981598] [ 0. 0. 0. 1. ]] SLAMing on 96.48134618399999 meters Centerline goodness : 0.864481 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.24, Z:-1.01 [[ 0.96516285 -0.23075184 -0.12334607 -0.33189322] [ 0.23178896 0.97274714 -0.00607318 -0.24085923] [ 0.12138593 -0.02272865 0.99234513 -1.0095478 ] [ 0. 0. 0. 1. ]] SLAMing on 96.51134618399999 meters Centerline goodness : 0.864317 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.24, Z:-1.01 [[ 0.96561188 -0.22884512 -0.12338401 -0.33165043] [ 0.22998661 0.97318041 -0.00510423 -0.24121748] [ 0.12124298 -0.02344797 0.99234587 -1.01042618] [ 0. 0. 0. 1. ]] SLAMing on 96.54134618399999 meters Centerline goodness : 0.866315 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.24, Z:-1.01 [[ 0.96652737 -0.22498616 -0.12331287 -0.33350836] [ 0.22639921 0.97403109 -0.0026152 -0.2424182 ] [ 0.12069895 -0.02539027 0.9923644 -1.0097367 ] [ 0. 0. 0. 1. ]] SLAMing on 96.57134618399999 meters Centerline goodness : 0.866971 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.24, Z:-1.01 [[ 0.96687756 -0.22355415 -0.12317196 -0.33337724] [ 0.22498997 0.97435835 -0.00230652 -0.24259778] [ 0.12052926 -0.02548233 0.99238266 -1.01064295] [ 0. 0. 0. 1. ]] SLAMing on 96.601346184 meters Centerline goodness : 0.867100 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.24, Z:-1.02 [[ 0.96762466 -0.227486 -0.10932811 -0.33344161] [ 0.22859405 0.97351873 -0.00245722 -0.23831313] [ 0.10699195 -0.02261409 0.99400268 -1.0165809 ] [ 0. 0. 0. 1. ]] SLAMing on 96.631346184 meters Centerline goodness : 0.868325 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.24, Z:-1.02 [[ 0.96755016 -0.22714148 -0.11069527 -0.33219372] [ 0.22843375 0.97355891 -0.00103435 -0.23724675] [ 0.10800331 -0.02428575 0.99385386 -1.01527876] [ 0. 0. 0. 1. ]] SLAMing on 96.661346184 meters Centerline goodness : 0.867731 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.24, Z:-1.02 [[ 9.67543893e-01 -2.26514991e-01 -1.12025777e-01 -3.30049271e-01] [ 2.28010206e-01 9.73658587e-01 5.50020976e-04 -2.35842035e-01] [ 1.08950272e-01 -2.60751899e-02 9.93705149e-01 -1.01523454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.691346184 meters Centerline goodness : 0.866652 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.23, Z:-1.02 [[ 9.67423746e-01 -2.26463531e-01 -1.13161671e-01 -3.26603173e-01] [ 2.27998615e-01 9.73661246e-01 6.40763534e-04 -2.32840383e-01] [ 1.10036024e-01 -2.64205941e-02 9.93576381e-01 -1.01734115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.721346184 meters Centerline goodness : 0.865522 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.23, Z:-1.02 [[ 0.96724943 -0.22761144 -0.11234578 -0.32543399] [ 0.22878026 0.97347475 -0.00254943 -0.23210493] [ 0.10994606 -0.02323656 0.9936659 -1.01973502] [ 0. 0. 0. 1. ]] SLAMing on 96.751346184 meters Centerline goodness : 0.863834 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.23, Z:-1.02 [[ 0.96720228 -0.22813489 -0.11168808 -0.32317806] [ 0.2290947 0.97339448 -0.00433644 -0.23241039] [ 0.10970586 -0.02139293 0.99373385 -1.02345723] [ 0. 0. 0. 1. ]] SLAMing on 96.781346184 meters Centerline goodness : 0.864445 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.23, Z:-1.02 [[ 0.96698614 -0.22896653 -0.11185764 -0.32216214] [ 0.22987576 0.97320777 -0.00487525 -0.23205843] [ 0.10997699 -0.02099906 0.99371228 -1.0239544 ] [ 0. 0. 0. 1. ]] SLAMing on 96.811346184 meters Centerline goodness : 0.864590 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.23, Z:-1.02 [[ 9.66905759e-01 -2.27722505e-01 -1.15046573e-01 -3.17347672e-01] [ 2.29217948e-01 9.73375095e-01 -2.36956905e-04 -2.31096518e-01] [ 1.12037429e-01 -2.61416243e-02 9.93360071e-01 -1.02329995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.841346184 meters Centerline goodness : 0.864271 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.23, Z:-1.02 [[ 0.96656207 -0.22775899 -0.11782875 -0.31602663] [ 0.22978551 0.97323416 0.00372683 -0.2279931 ] [ 0.11382615 -0.03067755 0.99302694 -1.01953202] [ 0. 0. 0. 1. ]] SLAMing on 96.87134618399999 meters Centerline goodness : 0.865438 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.23, Z:-1.02 [[ 0.96648024 -0.2277367 -0.1185409 -0.31437109] [ 0.22984746 0.97321732 0.00426624 -0.22760583] [ 0.11439447 -0.03136956 0.99294001 -1.01978011] [ 0. 0. 0. 1. ]] SLAMing on 96.90134618399999 meters Centerline goodness : 0.864399 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.23, Z:-1.02 [[ 0.96666988 -0.22685858 -0.11867825 -0.31437682] [ 0.22904106 0.97340441 0.00490361 -0.22761832] [ 0.11440951 -0.03192237 0.99292065 -1.0196977 ] [ 0. 0. 0. 1. ]] SLAMing on 96.93134618399999 meters Centerline goodness : 0.865704 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.23, Z:-1.02 [[ 0.96699564 -0.22533663 -0.11892363 -0.3145614 ] [ 0.22763953 0.97372717 0.00597052 -0.22774371] [ 0.11445379 -0.03284519 0.99288545 -1.01949373] [ 0. 0. 0. 1. ]] SLAMing on 96.96134618399999 meters Centerline goodness : 0.864987 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.23, Z:-1.02 [[ 0.96754936 -0.22320347 -0.11844171 -0.31554381] [ 0.22547978 0.97422933 0.00600677 -0.22801756] [ 0.11404866 -0.03251806 0.99294284 -1.01996033] [ 0. 0. 0. 1. ]] SLAMing on 96.991346184 meters Centerline goodness : 0.865416 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.23, Z:-1.02 [[ 0.96792256 -0.22069159 -0.12008803 -0.31245122] [ 0.22345362 0.97466457 0.00987213 -0.22834049] [ 0.11486685 -0.03638956 0.99271416 -1.02099543] [ 0. 0. 0. 1. ]] SLAMing on 97.021346184 meters Centerline goodness : 0.865632 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.23, Z:-1.02 [[ 0.96813749 -0.21894374 -0.12154602 -0.31185054] [ 0.22211504 0.97493355 0.01301813 -0.22675135] [ 0.11564905 -0.03960054 0.99250042 -1.01963763] [ 0. 0. 0. 1. ]] SLAMing on 97.051346184 meters Centerline goodness : 0.865883 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.22, Z:-1.02 [[ 0.96812253 -0.21863524 -0.12221869 -0.31252273] [ 0.22188322 0.97498034 0.0134601 -0.22397894] [ 0.11621796 -0.0401493 0.99241192 -1.01794701] [ 0. 0. 0. 1. ]] SLAMing on 97.081346184 meters Centerline goodness : 0.861611 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.22, Z:-1.02 [[ 0.96848157 -0.21777199 -0.12090829 -0.3099546 ] [ 0.22062281 0.97530214 0.01055047 -0.22327645] [ 0.11562452 -0.03689306 0.99260761 -1.02409982] [ 0. 0. 0. 1. ]] SLAMing on 97.111346184 meters Centerline goodness : 0.860680 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.22, Z:-1.03 [[ 0.96829411 -0.21969935 -0.11890629 -0.30949353] [ 0.22197048 0.97503468 0.00604028 -0.22370327] [ 0.11461071 -0.03224245 0.99288711 -1.02794956] [ 0. 0. 0. 1. ]] SLAMing on 97.141346184 meters Centerline goodness : 0.862248 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.22, Z:-1.03 [[ 0.96784577 -0.22111525 -0.1199275 -0.30821433] [ 0.22342144 0.97470367 0.00596734 -0.22205876] [ 0.11557431 -0.03256984 0.99276472 -1.02677963] [ 0. 0. 0. 1. ]] SLAMing on 97.171346184 meters Centerline goodness : 0.862692 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.22, Z:-1.02 [[ 0.96772035 -0.21995054 -0.12304097 -0.30624081] [ 0.22298506 0.9747565 0.01128862 -0.22029113] [ 0.11745205 -0.03836053 0.99233739 -1.02319367] [ 0. 0. 0. 1. ]] SLAMing on 97.201346184 meters Centerline goodness : 0.859678 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:-1.02 [[ 0.96761125 -0.22520725 -0.11406208 -0.30130728] [ 0.2278742 0.97363137 0.01073807 -0.2124198 ] [ 0.10863612 -0.03638209 0.99341559 -1.02135249] [ 0. 0. 0. 1. ]] SLAMing on 97.23134618399999 meters Centerline goodness : 0.861459 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:-1.02 [[ 0.96751977 -0.22539624 -0.11446407 -0.30168788] [ 0.2281002 0.97357632 0.01092933 -0.21199927] [ 0.10897608 -0.03668362 0.99336727 -1.01982822] [ 0. 0. 0. 1. ]] SLAMing on 97.26134618399999 meters Centerline goodness : 0.860593 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:-1.02 [[ 0.9674455 -0.22712025 -0.11164945 -0.30389981] [ 0.22920182 0.9733604 0.00600466 -0.21374497] [ 0.10731137 -0.03139944 0.99372951 -1.02180306] [ 0. 0. 0. 1. ]] SLAMing on 97.29134618399999 meters Centerline goodness : 0.861225 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.21, Z:-1.02 [[ 0.96730117 -0.22855743 -0.10995427 -0.3050251 ] [ 0.23019137 0.97314282 0.00223149 -0.21472798] [ 0.10649118 -0.02746904 0.99393414 -1.02298076] [ 0. 0. 0. 1. ]] SLAMing on 97.32134618399999 meters Centerline goodness : 0.863728 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.22, Z:-1.02 [[ 0.96729667 -0.22841452 -0.11029036 -0.30254899] [ 0.23007127 0.97317091 0.00236466 -0.21579719] [ 0.10679125 -0.02766197 0.9938966 -1.02489951] [ 0. 0. 0. 1. ]] SLAMing on 97.351346184 meters Centerline goodness : 0.864089 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.22, Z:-1.02 [[ 0.96703575 -0.22882747 -0.11171325 -0.30237811] [ 0.23068518 0.97302094 0.00382142 -0.21542577] [ 0.10782488 -0.02946604 0.99373314 -1.02171268] [ 0. 0. 0. 1. ]] SLAMing on 97.381346184 meters Centerline goodness : 0.866023 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:-1.02 [[ 0.96689951 -0.22822748 -0.1140945 -0.30005492] [ 0.23052238 0.97304065 0.00716387 -0.21441495] [ 0.10938359 -0.03322808 0.99344407 -1.01979787] [ 0. 0. 0. 1. ]] SLAMing on 97.411346184 meters Centerline goodness : 0.863144 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:-1.02 [[ 0.9667158 -0.22830771 -0.11548223 -0.29723492] [ 0.23076666 0.97297448 0.00821086 -0.21296746] [ 0.11048666 -0.03458702 0.99327561 -1.02023246] [ 0. 0. 0. 1. ]] SLAMing on 97.441346184 meters Centerline goodness : 0.861133 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:-1.02 [[ 0.96641455 -0.23045975 -0.11371552 -0.29527126] [ 0.23226104 0.97264982 0.00267171 -0.21302609] [ 0.10998966 -0.02899367 0.99350976 -1.02498143] [ 0. 0. 0. 1. ]] SLAMing on 97.471346184 meters Centerline goodness : 0.860793 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:-1.03 [[ 9.66249596e-01 -2.31615479e-01 -1.12765194e-01 -2.93555817e-01] [ 2.33031722e-01 9.72468924e-01 -6.38918973e-04 -2.14095851e-01] [ 1.09808630e-01 -2.56605121e-02 9.93621459e-01 -1.02781100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501346184 meters Centerline goodness : 0.862699 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.22, Z:-1.03 [[ 0.96617952 -0.23218757 -0.11218767 -0.29293536] [ 0.23339608 0.97237873 -0.0024222 -0.21574395] [ 0.10965131 -0.02384388 0.99368408 -1.02892624] [ 0. 0. 0. 1. ]] SLAMing on 97.531346184 meters Centerline goodness : 0.863029 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.22, Z:-1.03 [[ 0.96605588 -0.23255538 -0.11249015 -0.29258177] [ 0.23382103 0.97227761 -0.00199316 -0.21661841] [ 0.10983517 -0.02437706 0.99365084 -1.02820387] [ 0. 0. 0. 1. ]] SLAMing on 97.561346184 meters Centerline goodness : 0.865694 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.22, Z:-1.02 [[ 0.96597747 -0.23072757 -0.11684316 -0.28977093] [ 0.23302438 0.9724511 0.00620509 -0.21802522] [ 0.11219257 -0.03322128 0.993131 -1.02265029] [ 0. 0. 0. 1. ]] SLAMing on 97.591346184 meters Centerline goodness : 0.865201 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.22, Z:-1.02 [[ 0.96571777 -0.23114955 -0.11814853 -0.28996926] [ 0.23370671 0.9722736 0.00807559 -0.21817702] [ 0.11300603 -0.03541084 0.9929631 -1.0191344 ] [ 0. 0. 0. 1. ]] SLAMing on 97.62134618399999 meters Centerline goodness : 0.865169 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.22, Z:-1.02 [[ 0.96545892 -0.23209907 -0.11840226 -0.28914475] [ 0.23472171 0.97202533 0.00851334 -0.21900908] [ 0.11311406 -0.03601086 0.99292922 -1.01895072] [ 0. 0. 0. 1. ]] SLAMing on 97.65134618399999 meters Centerline goodness : 0.862946 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.22, Z:-1.03 [[ 9.64593409e-01 -2.37192531e-01 -1.15322413e-01 -2.86680613e-01] [ 2.38744021e-01 9.71082466e-01 -3.69391628e-04 -2.20217858e-01] [ 1.12075190e-01 -2.71762239e-02 9.93328045e-01 -1.02535085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68134618399999 meters Centerline goodness : 0.862331 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:-1.03 [[ 0.96419242 -0.23941602 -0.11407433 -0.28481382] [ 0.24045858 0.97064784 -0.00473641 -0.22060954] [ 0.11185998 -0.02286334 0.99346093 -1.02868311] [ 0. 0. 0. 1. ]] SLAMing on 97.71134618399999 meters Centerline goodness : 0.863110 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:-1.03 [[ 0.9641564 -0.23930669 -0.11460691 -0.28120038] [ 0.2403962 0.97066477 -0.00442422 -0.22116927] [ 0.11230364 -0.02328543 0.99340107 -1.03145403] [ 0. 0. 0. 1. ]] SLAMing on 97.741346184 meters Centerline goodness : 0.865243 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:-1.03 [[ 0.96412711 -0.2381996 -0.11713186 -0.28014653] [ 0.23972405 0.97084044 -0.0011043 -0.21774481] [ 0.11397939 -0.02701464 0.99311576 -1.02848562] [ 0. 0. 0. 1. ]] SLAMing on 97.771346184 meters Centerline goodness : 0.864655 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:-1.03 [[ 0.96436368 -0.23566041 -0.12027825 -0.27571361] [ 0.23781355 0.97130391 0.00366543 -0.21572437] [ 0.11596294 -0.03213861 0.99273345 -1.02822103] [ 0. 0. 0. 1. ]] SLAMing on 97.801346184 meters Centerline goodness : 0.864973 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:-1.03 [[ 0.96482507 -0.23382956 -0.12015121 -0.27718278] [ 0.23592467 0.97176569 0.00331661 -0.21297741] [ 0.1159833 -0.03154658 0.99275006 -1.02793126] [ 0. 0. 0. 1. ]] SLAMing on 97.831346184 meters Centerline goodness : 0.865769 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:-1.03 [[ 0.96521935 -0.23269425 -0.11918467 -0.27754752] [ 0.23462598 0.97208313 0.00224341 -0.21339375] [ 0.11533538 -0.03012921 0.99286957 -1.02981058] [ 0. 0. 0. 1. ]] SLAMing on 97.861346184 meters Centerline goodness : 0.864774 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:-1.03 [[ 0.96562567 -0.23135109 -0.11850625 -0.27705252] [ 0.23323423 0.97241835 0.00208357 -0.21424706] [ 0.11475561 -0.02965166 0.99295112 -1.0321757 ] [ 0. 0. 0. 1. ]] SLAMing on 97.891346184 meters Centerline goodness : 0.865417 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:-1.03 [[ 0.96585702 -0.23024238 -0.1187799 -0.27595929] [ 0.23223415 0.97265523 0.00301841 -0.21471544] [ 0.11483693 -0.0305001 0.99291602 -1.03313406] [ 0. 0. 0. 1. ]] SLAMing on 97.921346184 meters Centerline goodness : 0.865417 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:-1.03 [[ 0.96585702 -0.23024238 -0.1187799 -0.27595929] [ 0.23223415 0.97265523 0.00301841 -0.21471544] [ 0.11483693 -0.0305001 0.99291602 -1.03313406] [ 0. 0. 0. 1. ]] SLAMing on 97.951346184 meters Centerline goodness : 0.863942 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:-1.03 [[ 0.96577367 -0.23047265 -0.11901082 -0.27654847] [ 0.23249593 0.97259206 0.00321468 -0.21471505] [ 0.11500808 -0.03077419 0.99288775 -1.03171648] [ 0. 0. 0. 1. ]] SLAMing on 97.98134618399999 meters Centerline goodness : 0.865707 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:-1.03 [[ 0.96553361 -0.2307346 -0.12044248 -0.27500997] [ 0.23303047 0.97245583 0.00514391 -0.21448589] [ 0.11593811 -0.03303339 0.99270698 -1.03012315] [ 0. 0. 0. 1. ]] SLAMing on 98.01134618399999 meters Centerline goodness : 0.864153 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.21, Z:-1.03 [[ 0.96505453 -0.23204801 -0.12175172 -0.27481544] [ 0.23449302 0.97209958 0.00595292 -0.21321219] [ 0.11697343 -0.03429482 0.99254274 -1.02701158] [ 0. 0. 0. 1. ]] SLAMing on 98.04134618399999 meters Centerline goodness : 0.865514 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.21, Z:-1.03 [[ 0.964493 -0.23357553 -0.12327096 -0.27219122] [ 0.23621287 0.97167594 0.00702468 -0.21197568] [ 0.11813863 -0.03589344 0.99234819 -1.02622973] [ 0. 0. 0. 1. ]] SLAMing on 98.07134618399999 meters Centerline goodness : 0.862371 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.21, Z:-1.03 [[ 0.96337392 -0.23886038 -0.12188686 -0.27102464] [ 0.24085462 0.97055975 0.00168021 -0.21198426] [ 0.11789714 -0.03097568 0.99254258 -1.02792618] [ 0. 0. 0. 1. ]] SLAMing on 98.101346184 meters Centerline goodness : 0.861233 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.21, Z:-1.03 [[ 0.96309087 -0.23962446 -0.12262173 -0.26774336] [ 0.24166556 0.97035787 0.00183016 -0.21271948] [ 0.11854841 -0.03139606 0.99245179 -1.02932098] [ 0. 0. 0. 1. ]] SLAMing on 98.131346184 meters Centerline goodness : 0.861199 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.21, Z:-1.03 [[ 9.62776203e-01 -2.40831514e-01 -1.22728011e-01 -2.67835545e-01] [ 2.42750049e-01 9.70088615e-01 7.01233640e-04 -2.11001918e-01] [ 1.18888167e-01 -3.04673618e-02 9.92440096e-01 -1.02867321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.161346184 meters Centerline goodness : 0.862142 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.21, Z:-1.03 [[ 0.96258912 -0.24086607 -0.12411978 -0.26443141] [ 0.24296414 0.97003355 0.00182463 -0.21007194] [ 0.11996086 -0.03191303 0.99226556 -1.0295658 ] [ 0. 0. 0. 1. ]] SLAMing on 98.191346184 meters Centerline goodness : 0.861588 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.21, Z:-1.03 [[ 0.96241712 -0.24113131 -0.12493591 -0.26234497] [ 0.24326606 0.96995776 0.00189085 -0.2091917 ] [ 0.12072661 -0.03221245 0.99216301 -1.02989061] [ 0. 0. 0. 1. ]] SLAMing on 98.221346184 meters Centerline goodness : 0.861447 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.21, Z:-1.03 [[ 0.96236878 -0.24120738 -0.12516121 -0.26256219] [ 0.2433236 0.96994372 0.00167351 -0.20861457] [ 0.12099566 -0.03206521 0.99213501 -1.02902273] [ 0. 0. 0. 1. ]] SLAMing on 98.251346184 meters Centerline goodness : 0.862722 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.21, Z:-1.03 [[ 0.96241184 -0.24070954 -0.12578701 -0.26206203] [ 0.24302058 0.97001608 0.00313039 -0.2083297 ] [ 0.12126191 -0.03358156 0.99205233 -1.02861056] [ 0. 0. 0. 1. ]] SLAMing on 98.281346184 meters Centerline goodness : 0.861629 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.21, Z:-1.03 [[ 0.96236918 -0.24051886 -0.12647624 -0.2597722 ] [ 0.24290094 0.97004468 0.003529 -0.20820326] [ 0.12183882 -0.0341174 0.99196336 -1.02956512] [ 0. 0. 0. 1. ]] SLAMing on 98.311346184 meters Centerline goodness : 0.860180 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.21, Z:-1.03 [[ 0.9622707 -0.24090187 -0.12649659 -0.25875316] [ 0.24324553 0.96995952 0.00318578 -0.20851212] [ 0.12192911 -0.03383531 0.99196193 -1.03022899] [ 0. 0. 0. 1. ]] SLAMing on 98.341346184 meters Centerline goodness : 0.858566 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.21, Z:-1.03 [[ 0.96206441 -0.24178746 -0.12637597 -0.25807714] [ 0.24400962 0.96977038 0.00217329 -0.20864774] [ 0.1220302 -0.0329278 0.99198004 -1.03060617] [ 0. 0. 0. 1. ]] SLAMing on 98.37134618399999 meters Centerline goodness : 0.860464 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.21, Z:-1.03 [[ 0.96159236 -0.24296011 -0.12771267 -0.25529037] [ 0.24541325 0.96941189 0.00359469 -0.20962671] [ 0.12293281 -0.03479901 0.99180469 -1.03013557] [ 0. 0. 0. 1. ]] SLAMing on 98.40134618399999 meters Centerline goodness : 0.860929 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.21, Z:-1.03 [[ 0.96127933 -0.24370506 -0.12864638 -0.25367247] [ 0.24632299 0.96917688 0.00460089 -0.20998974] [ 0.12355984 -0.0361113 0.99167986 -1.02936701] [ 0. 0. 0. 1. ]] SLAMing on 98.43134618399999 meters Centerline goodness : 0.862171 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.21, Z:-1.03 [[ 0.96101472 -0.24442267 -0.12926048 -0.25292242] [ 0.24710506 0.96897637 0.00488785 -0.21037547] [ 0.12405565 -0.03663821 0.99159863 -1.02827935] [ 0. 0. 0. 1. ]] SLAMing on 98.46134618399999 meters Centerline goodness : 0.859365 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.21, Z:-1.03 [[ 0.96092135 -0.24519455 -0.12849041 -0.25150467] [ 0.24766916 0.96883871 0.00339796 -0.21260801] [ 0.12365332 -0.03508829 0.99170493 -1.03043797] [ 0. 0. 0. 1. ]] SLAMing on 98.491346184 meters Centerline goodness : 0.858701 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.21, Z:-1.03 [[ 0.96098175 -0.24556751 -0.12732115 -0.25232249] [ 0.24781943 0.96880436 0.00190919 -0.21460026] [ 0.12288045 -0.03338735 0.99185971 -1.03105488] [ 0. 0. 0. 1. ]] SLAMing on 98.521346184 meters Centerline goodness : 0.859519 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.22, Z:-1.03 [[ 0.96090196 -0.24589635 -0.12728866 -0.2519803 ] [ 0.248166 0.96871537 0.00203966 -0.21580687] [ 0.12280494 -0.03354863 0.99186362 -1.03098184] [ 0. 0. 0. 1. ]] SLAMing on 98.551346184 meters Centerline goodness : 0.858372 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.22, Z:-1.03 [[ 0.96083523 -0.24592185 -0.12774236 -0.25089768] [ 0.24827333 0.96868661 0.00257207 -0.21684127] [ 0.12310978 -0.03418635 0.99180405 -1.03080843] [ 0. 0. 0. 1. ]] SLAMing on 98.581346184 meters Centerline goodness : 0.861700 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.22, Z:-1.03 [[ 0.9606749 -0.24615918 -0.12848887 -0.24811286] [ 0.24866985 0.96858153 0.00362407 -0.21742161] [ 0.12355985 -0.03543286 0.99170433 -1.03222009] [ 0. 0. 0. 1. ]] SLAMing on 98.611346184 meters Centerline goodness : 0.860577 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.22, Z:-1.03 [[ 0.96045088 -0.24684366 -0.12884996 -0.24775181] [ 0.24936311 0.96840357 0.00354471 -0.21677987] [ 0.12390377 -0.03553495 0.99165776 -1.03153197] [ 0. 0. 0. 1. ]] SLAMing on 98.641346184 meters Centerline goodness : 0.862036 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.22, Z:-1.03 [[ 0.96026725 -0.24735318 -0.12924092 -0.24619208] [ 0.24987622 0.96827172 0.00342662 -0.21625708] [ 0.12429275 -0.0355847 0.9916073 -1.03213909] [ 0. 0. 0. 1. ]] SLAMing on 98.671346184 meters Centerline goodness : 0.862477 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.22, Z:-1.03 [[ 0.95981669 -0.24929573 -0.1288548 -0.24528603] [ 0.25156385 0.96783973 0.00137257 -0.21551133] [ 0.12436862 -0.03373263 0.99166252 -1.03301542] [ 0. 0. 0. 1. ]] SLAMing on 98.701346184 meters Centerline goodness : 0.861901 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:-1.03 [[ 0.95893581 -0.25335761 -0.12748348 -0.24477198] [ 0.25510527 0.96690951 -0.00270077 -0.21672539] [ 0.12394925 -0.02993184 0.99183702 -1.03410528] [ 0. 0. 0. 1. ]] SLAMing on 98.73134618399999 meters Centerline goodness : 0.859273 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:-1.03 [[ 0.95857012 -0.25481694 -0.12732496 -0.2442316 ] [ 0.25644769 0.96655105 -0.00369516 -0.21768711] [ 0.12400766 -0.02911012 0.99185417 -1.03399243] [ 0. 0. 0. 1. ]] SLAMing on 98.76134618399999 meters Centerline goodness : 0.859587 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:-1.04 [[ 0.95847778 -0.25517379 -0.12730547 -0.24272954] [ 0.25685938 0.96644324 -0.00327538 -0.21944041] [ 0.1238693 -0.02956022 0.99185815 -1.03513398] [ 0. 0. 0. 1. ]] SLAMing on 98.79134618399999 meters Centerline goodness : 0.861237 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:-1.04 [[ 0.95858893 -0.25504494 -0.12672547 -0.24317663] [ 0.25677543 0.96646714 -0.00276557 -0.22238833] [ 0.12318135 -0.02988894 0.99193397 -1.03525554] [ 0. 0. 0. 1. ]] SLAMing on 98.82134618399999 meters Centerline goodness : 0.863511 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:-1.04 [[ 9.58823832e-01 -2.53759578e-01 -1.27526220e-01 -2.41787365e-01] [ 2.55748658e-01 9.66742975e-01 -8.02827051e-04 -2.22988179e-01] [ 1.23488802e-01 -3.18448899e-02 9.91834875e-01 -1.03547103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.851346184 meters Centerline goodness : 0.864598 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:-1.03 [[ 0.95969203 -0.24961156 -0.12917149 -0.24255192] [ 0.25224273 0.96765505 0.00416079 -0.22211856] [ 0.12395486 -0.03657565 0.99161354 -1.03321372] [ 0. 0. 0. 1. ]] SLAMing on 98.881346184 meters Centerline goodness : 0.863246 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:-1.03 [[ 0.96003675 -0.24832526 -0.12908914 -0.24298711] [ 0.25098666 0.96798003 0.00451264 -0.2216325 ] [ 0.12383511 -0.03673195 0.99162273 -1.03351862] [ 0. 0. 0. 1. ]] SLAMing on 98.911346184 meters Centerline goodness : 0.862475 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:-1.04 [[ 0.96035895 -0.24748768 -0.12829859 -0.24308492] [ 0.25000302 0.96823826 0.00362903 -0.22209239] [ 0.12332547 -0.0355602 0.99172895 -1.03527835] [ 0. 0. 0. 1. ]] SLAMing on 98.941346184 meters Centerline goodness : 0.863574 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:-1.04 [[ 0.9606637 -0.24656799 -0.12778686 -0.24187964] [ 0.24900815 0.968496 0.00323176 -0.22281571] [ 0.12296422 -0.03492461 0.99179639 -1.03794986] [ 0. 0. 0. 1. ]] SLAMing on 98.971346184 meters Centerline goodness : 0.863831 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:-1.04 [[ 0.96103782 -0.24564126 -0.12675441 -0.2425223 ] [ 0.24793265 0.96877435 0.00238028 -0.2240739 ] [ 0.12221172 -0.03371409 0.99193128 -1.03946029] [ 0. 0. 0. 1. ]] SLAMing on 99.001346184 meters Centerline goodness : 0.864043 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:-1.04 [[ 0.96093494 -0.24602948 -0.12678145 -0.24190695] [ 0.24832769 0.96867311 0.00240267 -0.22438939] [ 0.12221866 -0.03379215 0.99192776 -1.03975268] [ 0. 0. 0. 1. ]] SLAMing on 99.031346184 meters Centerline goodness : 0.862648 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:-1.04 [[ 0.96064335 -0.24692418 -0.12725097 -0.24132292] [ 0.24923305 0.96844081 0.00229955 -0.22419222] [ 0.12266722 -0.0339242 0.99186789 -1.03888252] [ 0. 0. 0. 1. ]] SLAMing on 99.061346184 meters Centerline goodness : 0.861737 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:-1.04 [[ 0.9600846 -0.24797718 -0.12940196 -0.23763137] [ 0.25065787 0.96806483 0.00459629 -0.2232274 ] [ 0.12412971 -0.03684845 0.99158157 -1.0382208 ] [ 0. 0. 0. 1. ]] SLAMing on 99.091346184 meters Centerline goodness : 0.861947 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:-1.04 [[ 0.95986755 -0.24875182 -0.12952533 -0.23662849] [ 0.25144669 0.96786012 0.00462112 -0.22347476] [ 0.12421289 -0.03700437 0.99156535 -1.03861468] [ 0. 0. 0. 1. ]] SLAMing on 99.12134618399999 meters Centerline goodness : 0.861312 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.22, Z:-1.04 [[ 0.95975171 -0.24915777 -0.12960346 -0.23384418] [ 0.25184644 0.96775665 0.00452123 -0.22408502] [ 0.12429811 -0.03697943 0.9915556 -1.04122353] [ 0. 0. 0. 1. ]] SLAMing on 99.15134618399999 meters Centerline goodness : 0.862137 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:-1.04 [[ 9.59354893e-01 -2.51853292e-01 -1.27311072e-01 -2.35647985e-01] [ 2.53895403e-01 9.67231661e-01 -1.93862698e-04 -2.24523011e-01] [ 1.23188125e-01 -3.21377128e-02 9.91862820e-01 -1.04261076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18134618399999 meters Centerline goodness : 0.862753 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.22, Z:-1.04 [[ 9.59269355e-01 -2.51716617e-01 -1.28222660e-01 -2.33250365e-01] [ 2.53912767e-01 9.67226785e-01 8.08613207e-04 -2.24018563e-01] [ 1.23816850e-01 -3.33330482e-02 9.91745076e-01 -1.04340962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21134618399999 meters Centerline goodness : 0.862895 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.22, Z:-1.04 [[ 0.95917135 -0.25161113 -0.12915944 -0.23204377] [ 0.25397636 0.96720854 0.00190783 -0.22261484] [ 0.12444408 -0.03463339 0.991622 -1.04301506] [ 0. 0. 0. 1. ]] SLAMing on 99.241346184 meters Centerline goodness : 0.864326 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.22, Z:-1.04 [[ 0.95924944 -0.25004727 -0.13159361 -0.2308262 ] [ 0.25300209 0.96744736 0.00596183 -0.22061586] [ 0.12581916 -0.03901234 0.99128582 -1.0404185 ] [ 0. 0. 0. 1. ]] SLAMing on 99.271346184 meters Centerline goodness : 0.864457 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.22, Z:-1.04 [[ 0.95934603 -0.24922168 -0.13245281 -0.22947893] [ 0.2523746 0.96760206 0.00730192 -0.21943772] [ 0.12634181 -0.04043279 0.99116242 -1.04065371] [ 0. 0. 0. 1. ]] SLAMing on 99.301346184 meters Centerline goodness : 0.862990 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.22, Z:-1.04 [[ 0.95937754 -0.24923838 -0.13219294 -0.23017706] [ 0.25232249 0.96761899 0.00684412 -0.21890017] [ 0.12620658 -0.03992134 0.99120038 -1.04044502] [ 0. 0. 0. 1. ]] SLAMing on 99.331346184 meters Centerline goodness : 0.863586 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.22, Z:-1.04 [[ 0.95949605 -0.24935579 -0.13110688 -0.23080595] [ 0.25212543 0.96768316 0.00469816 -0.21839862] [ 0.12569841 -0.03756325 0.99135711 -1.04198367] [ 0. 0. 0. 1. ]] SLAMing on 99.361346184 meters Centerline goodness : 0.862384 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.22, Z:-1.04 [[ 0.95967345 -0.24851841 -0.13139816 -0.22902102] [ 0.25130972 0.96789464 0.0048374 -0.21768863] [ 0.12597739 -0.03766396 0.99131787 -1.04387125] [ 0. 0. 0. 1. ]] SLAMing on 99.391346184 meters Centerline goodness : 0.863667 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.22, Z:-1.04 [[ 0.95980222 -0.24815751 -0.13113939 -0.22997449] [ 0.25086862 0.96801156 0.00430777 -0.21666653] [ 0.12587544 -0.03703337 0.99135458 -1.04359838] [ 0. 0. 0. 1. ]] SLAMing on 99.421346184 meters Centerline goodness : 0.863797 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.22, Z:-1.04 [[ 0.96043745 -0.24441784 -0.13349092 -0.22660966] [ 0.2477942 0.96877057 0.00903453 -0.21560345] [ 0.12711388 -0.04175537 0.99100886 -1.04454501] [ 0. 0. 0. 1. ]] SLAMing on 99.451346184 meters Centerline goodness : 0.863925 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.21, Z:-1.05 [[ 0.96081946 -0.24859429 -0.12258402 -0.22324158] [ 0.25129244 0.96788722 0.00681514 -0.2082761 ] [ 0.1169533 -0.03735256 0.99243474 -1.04517935] [ 0. 0. 0. 1. ]] SLAMing on 99.48134618399999 meters Centerline goodness : 0.862718 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.21, Z:-1.04 [[ 0.96101154 -0.24705434 -0.12418119 -0.22217774] [ 0.25010538 0.96817335 0.00936319 -0.20653321] [ 0.1179157 -0.04005652 0.99221538 -1.04412939] [ 0. 0. 0. 1. ]] SLAMing on 99.51134618399999 meters Centerline goodness : 0.862575 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.20, Z:-1.05 [[ 0.96144021 -0.24533799 -0.12426584 -0.2219248 ] [ 0.24837201 0.96862009 0.00929887 -0.20425728] [ 0.11808502 -0.03980446 0.99220539 -1.04531474] [ 0. 0. 0. 1. ]] SLAMing on 99.54134618399999 meters Centerline goodness : 0.862124 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.20, Z:-1.05 [[ 0.96172335 -0.24418754 -0.12434082 -0.21944806] [ 0.24721433 0.96891634 0.00928492 -0.20415192] [ 0.11820859 -0.03966836 0.99219613 -1.04840459] [ 0. 0. 0. 1. ]] SLAMing on 99.57134618399999 meters Centerline goodness : 0.861586 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.20, Z:-1.05 [[ 0.96197968 -0.24361702 -0.12347408 -0.22082133] [ 0.24647502 0.96911455 0.00818923 -0.20387146] [ 0.11766549 -0.03831115 0.99231401 -1.0489072 ] [ 0. 0. 0. 1. ]] SLAMing on 99.601346184 meters Centerline goodness : 0.860860 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.20, Z:-1.05 [[ 0.9627483 -0.24012668 -0.12431769 -0.22170314] [ 0.24331835 0.96988487 0.01093242 -0.2016586 ] [ 0.11794868 -0.04077395 0.99218224 -1.04809142] [ 0. 0. 0. 1. ]] SLAMing on 99.631346184 meters Centerline goodness : 0.862000 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.20, Z:-1.05 [[ 0.96281358 -0.23927868 -0.12544213 -0.22111719] [ 0.24275096 0.97000235 0.0129385 -0.19993819] [ 0.11858326 -0.04290856 0.99201657 -1.04706358] [ 0. 0. 0. 1. ]] SLAMing on 99.661346184 meters Centerline goodness : 0.861661 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.20, Z:-1.05 [[ 0.96287974 -0.23874978 -0.12594104 -0.22134532] [ 0.24235644 0.97008755 0.01391058 -0.19884178] [ 0.11885269 -0.04391684 0.99194019 -1.04616144] [ 0. 0. 0. 1. ]] SLAMing on 99.691346184 meters Centerline goodness : 0.861782 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.20, Z:-1.05 [[ 0.9629903 -0.23838068 -0.12579479 -0.2226305 ] [ 0.24196121 0.97018821 0.01376983 -0.19808696] [ 0.11876216 -0.04369768 0.99196072 -1.045279 ] [ 0. 0. 0. 1. ]] SLAMing on 99.721346184 meters Centerline goodness : 0.861451 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.20, Z:-1.05 [[ 0.96316512 -0.23762788 -0.12588069 -0.22239364] [ 0.24121575 0.97037273 0.01384629 -0.19796888] [ 0.11886093 -0.04370067 0.99194875 -1.04559773] [ 0. 0. 0. 1. ]] SLAMing on 99.751346184 meters Centerline goodness : 0.858697 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.20, Z:-1.05 [[ 0.96286593 -0.23965074 -0.12432509 -0.22272356] [ 0.24272027 0.97004546 0.00993339 -0.1974195 ] [ 0.11822045 -0.03974074 0.99219182 -1.04759429] [ 0. 0. 0. 1. ]] SLAMing on 99.781346184 meters Centerline goodness : 0.860688 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.20, Z:-1.05 [[ 0.96260409 -0.24034379 -0.12501295 -0.22103631] [ 0.24345116 0.96986188 0.00997341 -0.19755975] [ 0.11884825 -0.040035 0.99210498 -1.0474813 ] [ 0. 0. 0. 1. ]] SLAMing on 99.811346184 meters Centerline goodness : 0.860688 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.20, Z:-1.05 [[ 0.96260409 -0.24034379 -0.12501295 -0.22103631] [ 0.24345116 0.96986188 0.00997341 -0.19755975] [ 0.11884825 -0.040035 0.99210498 -1.0474813 ] [ 0. 0. 0. 1. ]] SLAMing on 99.841346184 meters Centerline goodness : 0.857294 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.20, Z:-1.04 [[ 0.9617867 -0.24211903 -0.12784644 -0.21842824] [ 0.24569739 0.96926257 0.01276194 -0.19589138] [ 0.12082687 -0.0436858 0.99171186 -1.04401391] [ 0. 0. 0. 1. ]] SLAMing on 99.87134618399999 meters Centerline goodness : 0.858992 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.19, Z:-1.04 [[ 0.96125412 -0.24375785 -0.12873469 -0.21751845] [ 0.24736912 0.96883935 0.01260264 -0.19449816] [ 0.12165124 -0.04395932 0.99159899 -1.04264377] [ 0. 0. 0. 1. ]] SLAMing on 99.90134618399999 meters Centerline goodness : 0.857969 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:-1.04 [[ 0.96071197 -0.24533842 -0.12977511 -0.2148113 ] [ 0.24897811 0.96843033 0.01235278 -0.19343566] [ 0.12264754 -0.04417863 0.9914665 -1.0428121 ] [ 0. 0. 0. 1. ]] SLAMing on 99.93134618399999 meters Centerline goodness : 0.856809 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:-1.04 [[ 0.9603194 -0.24684287 -0.12982778 -0.21402332] [ 0.25036895 0.96808434 0.01131837 -0.19311865] [ 0.12289038 -0.04337409 0.99147196 -1.04286231] [ 0. 0. 0. 1. ]] SLAMing on 99.96134618399999 meters Centerline goodness : 0.856582 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:-1.04 [[ 0.96020069 -0.24716421 -0.13009415 -0.21219366] [ 0.25069754 0.96799997 0.01126108 -0.19343976] [ 0.1231478 -0.04342718 0.99143769 -1.04411233] [ 0. 0. 0. 1. ]] SLAMing on 99.991346184 meters Centerline goodness : 0.855929 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:-1.04 [[ 0.96015041 -0.24712747 -0.13053427 -0.21091569] [ 0.25071375 0.96799257 0.01153221 -0.19324905] [ 0.12350628 -0.04379939 0.99137673 -1.0445764 ] [ 0. 0. 0. 1. ]] SLAMing on 100.021346184 meters Centerline goodness : 0.856539 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:-1.04 [[ 0.96080606 -0.24423626 -0.13115014 -0.21047673] [ 0.24802282 0.96866556 0.01310384 -0.19249725] [ 0.12384019 -0.04511848 0.99127591 -1.04497032] [ 0. 0. 0. 1. ]] SLAMing on 100.051346184 meters Centerline goodness : 0.854629 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:-1.05 [[ 0.96126577 -0.24141317 -0.13299548 -0.20659442] [ 0.24567216 0.96921501 0.01635376 -0.19259753] [ 0.1249532 -0.04839359 0.99098171 -1.04652186] [ 0. 0. 0. 1. ]] SLAMing on 100.081346184 meters Centerline goodness : 0.854805 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:-1.05 [[ 0.96156803 -0.24063673 -0.13221532 -0.20812454] [ 0.24473069 0.96946887 0.01539448 -0.19171935] [ 0.12447416 -0.04715999 0.99110147 -1.04690772] [ 0. 0. 0. 1. ]] SLAMing on 100.111346184 meters Centerline goodness : 0.855157 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:-1.05 [[ 0.96181171 -0.2398798 -0.13181772 -0.20958918] [ 0.24388393 0.96969028 0.01487901 -0.19047126] [ 0.12425318 -0.04645903 0.9911623 -1.0464707 ] [ 0. 0. 0. 1. ]] SLAMing on 100.141346184 meters Centerline goodness : 0.856021 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:-1.05 [[ 0.96222148 -0.23739299 -0.13332067 -0.20813925] [ 0.24180511 0.97016335 0.01770233 -0.18950413] [ 0.12514041 -0.04927118 0.99091484 -1.04616885] [ 0. 0. 0. 1. ]] SLAMing on 100.171346184 meters Centerline goodness : 0.854045 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:-1.05 [[ 0.96278805 -0.23438345 -0.13454951 -0.20824197] [ 0.23920595 0.97074947 0.02063941 -0.18685519] [ 0.12577633 -0.05205643 0.9906919 -1.04542254] [ 0. 0. 0. 1. ]] SLAMing on 100.201346184 meters Centerline goodness : 0.854180 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:-1.05 [[ 0.963083 -0.23358674 -0.13382218 -0.20954586] [ 0.23830967 0.97097898 0.02020722 -0.18705194] [ 0.12521839 -0.05135235 0.99079932 -1.04565406] [ 0. 0. 0. 1. ]] SLAMing on 100.23134618399999 meters Centerline goodness : 0.855927 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:-1.05 [[ 0.96333934 -0.23297152 -0.13304729 -0.21136167] [ 0.23762629 0.97115019 0.0200261 -0.18766046] [ 0.12454339 -0.05090747 0.99090735 -1.04535424] [ 0. 0. 0. 1. ]] SLAMing on 100.26134618399999 meters Centerline goodness : 0.856515 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:-1.04 [[ 0.96386721 -0.23007378 -0.13426118 -0.21180041] [ 0.23532012 0.97161178 0.0243924 -0.18769259] [ 0.12483769 -0.05510539 0.99064572 -1.04365989] [ 0. 0. 0. 1. ]] SLAMing on 100.29134618399999 meters Centerline goodness : 0.859443 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:-1.04 [[ 0.96379144 -0.23011835 -0.13472787 -0.21313964] [ 0.2354439 0.97157125 0.0248089 -0.18591543] [ 0.12518874 -0.05563146 0.99057202 -1.04152133] [ 0. 0. 0. 1. ]] SLAMing on 100.32134618399999 meters Centerline goodness : 0.857356 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:-1.04 [[ 0.96403599 -0.23514949 -0.12385208 -0.20877772] [ 0.23964115 0.97060083 0.02249783 -0.17859458] [ 0.11492058 -0.05136877 0.99204562 -1.04327796] [ 0. 0. 0. 1. ]] SLAMing on 100.351346184 meters Centerline goodness : 0.857877 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:-1.05 [[ 0.96403481 -0.23524353 -0.12368254 -0.20757929] [ 0.23964369 0.97061662 0.02177813 -0.17802546] [ 0.11492516 -0.05063462 0.99208283 -1.04501957] [ 0. 0. 0. 1. ]] SLAMing on 100.381346184 meters Centerline goodness : 0.857129 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:-1.05 [[ 0.96372695 -0.23752386 -0.1217078 -0.20990395] [ 0.24132865 0.97028884 0.01732163 -0.17781536] [ 0.11397742 -0.0460649 0.99241482 -1.04518059] [ 0. 0. 0. 1. ]] SLAMing on 100.411346184 meters Centerline goodness : 0.856812 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:-1.05 [[ 0.96353508 -0.23818521 -0.12193418 -0.20823439] [ 0.24190254 0.97016143 0.01643079 -0.17839834] [ 0.11438227 -0.04532783 0.99240218 -1.04573414] [ 0. 0. 0. 1. ]] SLAMing on 100.441346184 meters Centerline goodness : 0.857599 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:-1.04 [[ 0.96301267 -0.23953245 -0.12341312 -0.20728768] [ 0.24337647 0.96978553 0.01685005 -0.17655234] [ 0.11564813 -0.04626266 0.99221231 -1.0433972 ] [ 0. 0. 0. 1. ]] SLAMing on 100.471346184 meters Centerline goodness : 0.856756 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:-1.04 [[ 0.9627267 -0.24026938 -0.12420918 -0.20757693] [ 0.24417318 0.9695827 0.01699559 -0.17503931] [ 0.11634755 -0.04669066 0.99211049 -1.0411722 ] [ 0. 0. 0. 1. ]] SLAMing on 100.501346184 meters Centerline goodness : 0.856371 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:-1.04 [[ 0.96247034 -0.2407908 -0.12518243 -0.20558018] [ 0.24476376 0.96943093 0.01715743 -0.17448558] [ 0.11722437 -0.04715364 0.99198537 -1.04101111] [ 0. 0. 0. 1. ]] SLAMing on 100.531346184 meters Centerline goodness : 0.855532 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:-1.04 [[ 0.96212844 -0.24293704 -0.1236546 -0.20531257] [ 0.2464361 0.96906361 0.0136003 -0.1765416 ] [ 0.11652515 -0.04355819 0.99223212 -1.04257315] [ 0. 0. 0. 1. ]] SLAMing on 100.561346184 meters Centerline goodness : 0.856074 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:-1.04 [[ 0.96198426 -0.24332595 -0.12401116 -0.20509408] [ 0.2468686 0.96895052 0.01381247 -0.17738533] [ 0.11679975 -0.04390184 0.99218468 -1.04152581] [ 0. 0. 0. 1. ]] SLAMing on 100.59134618399999 meters Centerline goodness : 0.856694 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:-1.04 [[ 0.96179388 -0.24330181 -0.12552598 -0.20260074] [ 0.24704652 0.96888842 0.01494131 -0.17727097] [ 0.11798542 -0.04538122 0.99197782 -1.04079056] [ 0. 0. 0. 1. ]] SLAMing on 100.62134618399999 meters Centerline goodness : 0.856115 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:-1.04 [[ 0.96140169 -0.24435582 -0.12647937 -0.20144954] [ 0.24816714 0.9686001 0.01506357 -0.17671671] [ 0.11882706 -0.04587016 0.99185486 -1.03943424] [ 0. 0. 0. 1. ]] SLAMing on 100.65134618399999 meters Centerline goodness : 0.856824 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:-1.04 [[ 0.96042322 -0.24824791 -0.12633371 -0.20078852] [ 0.25171403 0.96772729 0.01199778 -0.17646147] [ 0.11927816 -0.04332291 0.99191524 -1.03835188] [ 0. 0. 0. 1. ]] SLAMing on 100.68134618399999 meters Centerline goodness : 0.856004 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:-1.04 [[ 0.9597756 -0.2511908 -0.12543515 -0.2015877 ] [ 0.25423439 0.96710429 0.00861215 -0.1767094 ] [ 0.11914558 -0.04015566 0.99206444 -1.03751208] [ 0. 0. 0. 1. ]] SLAMing on 100.71134618399999 meters Centerline goodness : 0.855347 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:-1.04 [[ 0.95938525 -0.25216748 -0.12645748 -0.197539 ] [ 0.25524425 0.96683944 0.00847792 -0.17765172] [ 0.12012622 -0.04041114 0.9919358 -1.0388062 ] [ 0. 0. 0. 1. ]] SLAMing on 100.741346184 meters Centerline goodness : 0.853917 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:-1.04 [[ 0.95872202 -0.25519859 -0.12540244 -0.19790038] [ 0.2577638 0.96619795 0.00439764 -0.1773144 ] [ 0.12004131 -0.03654033 0.99209621 -1.03855463] [ 0. 0. 0. 1. ]] SLAMing on 100.771346184 meters Centerline goodness : 0.856395 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:-1.04 [[ 0.95873473 -0.25473135 -0.12625237 -0.19626431] [ 0.25737549 0.96629947 0.00481614 -0.17770041] [ 0.12077077 -0.03711166 0.99198646 -1.03823994] [ 0. 0. 0. 1. ]] SLAMing on 100.801346184 meters Centerline goodness : 0.854855 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.18, Z:-1.04 [[ 0.95955081 -0.25071412 -0.12808069 -0.19365285] [ 0.25395752 0.96716984 0.0093848 -0.17875557] [ 0.12152288 -0.04153225 0.99171935 -1.03901001] [ 0. 0. 0. 1. ]] SLAMing on 100.831346184 meters Centerline goodness : 0.855857 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.18, Z:-1.04 [[ 0.95995774 -0.24915039 -0.12808285 -0.19384502] [ 0.2524135 0.96757138 0.00964615 -0.17834875] [ 0.12152595 -0.04158974 0.99171656 -1.03923069] [ 0. 0. 0. 1. ]] SLAMing on 100.861346184 meters Centerline goodness : 0.854860 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:-1.04 [[ 0.96034759 -0.24794245 -0.12750316 -0.1950104 ] [ 0.25113185 0.96790801 0.00932041 -0.17787872] [ 0.12110041 -0.04097094 0.99179437 -1.03958594] [ 0. 0. 0. 1. ]] SLAMing on 100.891346184 meters Centerline goodness : 0.856611 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.18, Z:-1.04 [[ 0.96112888 -0.24498846 -0.12732606 -0.19308048] [ 0.24818888 0.96866348 0.0096613 -0.17773537] [ 0.1209692 -0.04088667 0.99181386 -1.04324697] [ 0. 0. 0. 1. ]] SLAMing on 100.921346184 meters Centerline goodness : 0.859264 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.18, Z:-1.04 [[ 0.96142928 -0.24435817 -0.1262649 -0.19407124] [ 0.24734894 0.96889063 0.00833303 -0.17836168] [ 0.12030064 -0.03924311 0.99196156 -1.04429249] [ 0. 0. 0. 1. ]] SLAMing on 100.951346184 meters Centerline goodness : 0.856687 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.18, Z:-1.04 [[ 0.96165071 -0.24357818 -0.12608559 -0.19393552] [ 0.24656379 0.96909017 0.00839922 -0.17914324] [ 0.12014244 -0.03916526 0.99198381 -1.04485869] [ 0. 0. 0. 1. ]] SLAMing on 100.98134618399999 meters Centerline goodness : 0.858855 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:-1.04 [[ 0.961861 -0.24281649 -0.12595064 -0.19520335] [ 0.24587875 0.96925763 0.00912622 -0.17969837] [ 0.11986262 -0.03974675 0.99199453 -1.0437553 ] [ 0. 0. 0. 1. ]] SLAMing on 101.01134618399999 meters Centerline goodness : 0.859814 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:-1.04 [[ 0.96195107 -0.2410731 -0.12858423 -0.19530404] [ 0.24489318 0.96944109 0.01453594 -0.18018542] [ 0.12115061 -0.04547227 0.99159205 -1.03861292] [ 0. 0. 0. 1. ]] SLAMing on 101.04134618399999 meters Centerline goodness : 0.861772 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.18, Z:-1.04 [[ 0.96180877 -0.24114928 -0.1295026 -0.19476126] [ 0.24509614 0.96937937 0.01521579 -0.1799162 ] [ 0.12186787 -0.04637527 0.99146233 -1.03687024] [ 0. 0. 0. 1. ]] SLAMing on 101.07134618399999 meters Centerline goodness : 0.859849 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.18, Z:-1.04 [[ 0.96154589 -0.24218853 -0.12951535 -0.19422521] [ 0.2460641 0.96914412 0.01456455 -0.17993296] [ 0.12199167 -0.04587356 0.99147045 -1.03682388] [ 0. 0. 0. 1. ]] SLAMing on 101.101346184 meters Centerline goodness : 0.858093 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.18, Z:-1.04 [[ 0.96105701 -0.24465971 -0.12849533 -0.19489647] [ 0.24804979 0.96868677 0.01082816 -0.17975341] [ 0.12182251 -0.04227971 0.991651 -1.03661791] [ 0. 0. 0. 1. ]] SLAMing on 101.131346184 meters Centerline goodness : 0.858234 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.18, Z:-1.04 [[ 0.96002204 -0.2492827 -0.12734134 -0.19393618] [ 0.25213921 0.9676687 0.00656609 -0.17953718] [ 0.12158742 -0.03841133 0.99183722 -1.03801213] [ 0. 0. 0. 1. ]] SLAMing on 101.161346184 meters Centerline goodness : 0.858636 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.18, Z:-1.04 [[ 0.9594173 -0.2511894 -0.12814962 -0.19198067] [ 0.25407267 0.96716394 0.00640182 -0.1793177 ] [ 0.12233362 -0.03870133 0.99173418 -1.03747982] [ 0. 0. 0. 1. ]] SLAMing on 101.191346184 meters Centerline goodness : 0.859992 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.18, Z:-1.03 [[ 0.95822917 -0.25502949 -0.12944815 -0.19247065] [ 0.2580734 0.96609976 0.00702619 -0.17877285] [ 0.12326794 -0.04013982 0.9915613 -1.03261955] [ 0. 0. 0. 1. ]] SLAMing on 101.221346184 meters Centerline goodness : 0.862055 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.18, Z:-1.03 [[ 0.95789289 -0.25540342 -0.13118806 -0.18938035] [ 0.25876578 0.96589849 0.00896518 -0.17914115] [ 0.12442462 -0.04253467 0.99131696 -1.03211218] [ 0. 0. 0. 1. ]] SLAMing on 101.251346184 meters Centerline goodness : 0.860026 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.18, Z:-1.03 [[ 0.95747152 -0.2565334 -0.13205644 -0.18679479] [ 0.25990893 0.96559398 0.00869551 -0.17935789] [ 0.12528222 -0.04264835 0.99120406 -1.03222866] [ 0. 0. 0. 1. ]] SLAMing on 101.281346184 meters Centerline goodness : 0.862312 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.18, Z:-1.03 [[ 0.95703106 -0.25878547 -0.13084967 -0.18677087] [ 0.26171309 0.96513065 0.00539369 -0.17936812] [ 0.12489121 -0.039407 0.99138755 -1.03337752] [ 0. 0. 0. 1. ]] SLAMing on 101.311346184 meters Centerline goodness : 0.860159 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.18, Z:-1.03 [[ 9.56406968e-01 -2.62245124e-01 -1.28503718e-01 -1.88723537e-01] [ 2.64472525e-01 9.64393180e-01 2.79807258e-04 -1.79686195e-01] [ 1.23854731e-01 -3.42533124e-02 9.91708988e-01 -1.03388825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34134618399999 meters Centerline goodness : 0.862145 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.18, Z:-1.03 [[ 0.95633166 -0.26203829 -0.12948241 -0.18667717] [ 0.26444693 0.96439913 0.00146331 -0.17992613] [ 0.12448928 -0.03564064 0.99158064 -1.03395919] [ 0. 0. 0. 1. ]] SLAMing on 101.37134618399999 meters Centerline goodness : 0.861439 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.18, Z:-1.03 [[ 0.95617743 -0.26109605 -0.13248993 -0.18192389] [ 0.26403371 0.96450152 0.00479689 -0.17929795] [ 0.12653429 -0.03956849 0.99117274 -1.03331658] [ 0. 0. 0. 1. ]] SLAMing on 101.40134618399999 meters Centerline goodness : 0.861225 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.18, Z:-1.03 [[ 0.95628751 -0.26070579 -0.13246389 -0.18371344] [ 0.26364859 0.96460649 0.00487194 -0.17856979] [ 0.12650538 -0.0395829 0.99117586 -1.0314565 ] [ 0. 0. 0. 1. ]] SLAMing on 101.43134618399999 meters Centerline goodness : 0.862104 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.18, Z:-1.03 [[ 0.95637662 -0.25989742 -0.13340576 -0.18125602] [ 0.26301685 0.96477254 0.00600624 -0.17909209] [ 0.12714521 -0.04083219 0.9910433 -1.03226213] [ 0. 0. 0. 1. ]] SLAMing on 101.46134618399999 meters Centerline goodness : 0.861708 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.18, Z:-1.03 [[ 0.9565551 -0.25885068 -0.13415908 -0.17868531] [ 0.2621256 0.96500808 0.00704081 -0.17976845] [ 0.12764208 -0.04190145 0.9909348 -1.03354373] [ 0. 0. 0. 1. ]] SLAMing on 101.491346184 meters Centerline goodness : 0.862474 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.18, Z:-1.03 [[ 0.95663641 -0.2587726 -0.13372927 -0.17885964] [ 0.26197876 0.96505071 0.00665329 -0.18056826] [ 0.12733384 -0.041399 0.99099557 -1.03383089] [ 0. 0. 0. 1. ]] SLAMing on 101.521346184 meters Centerline goodness : 0.864134 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.18, Z:-1.04 [[ 0.95667677 -0.25885546 -0.13327948 -0.17667885] [ 0.26184501 0.96509643 0.0051063 -0.18336144] [ 0.12730576 -0.03978365 0.99106534 -1.03588655] [ 0. 0. 0. 1. ]] SLAMing on 101.551346184 meters Centerline goodness : 0.863789 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.18, Z:-1.04 [[ 0.95618321 -0.26138784 -0.13187137 -0.17837171] [ 0.2639127 0.96454501 0.00173312 -0.1839833 ] [ 0.12674285 -0.03645971 0.99126532 -1.03509771] [ 0. 0. 0. 1. ]] SLAMing on 101.581346184 meters Centerline goodness : 0.867732 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.19, Z:-1.03 [[ 0.95615505 -0.26066608 -0.13349426 -0.17600296] [ 0.26365465 0.96460466 0.00490667 -0.18694184] [ 0.12749018 -0.03988792 0.99103744 -1.03400842] [ 0. 0. 0. 1. ]] SLAMing on 101.611346184 meters Centerline goodness : 0.870536 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.19, Z:-1.03 [[ 0.95626244 -0.25983888 -0.13433503 -0.17586786] [ 0.26309239 0.96474704 0.00674862 -0.18716963] [ 0.12784577 -0.04179597 0.99091299 -1.03244123] [ 0. 0. 0. 1. ]] SLAMing on 101.641346184 meters Centerline goodness : 0.870044 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.19, Z:-1.03 [[ 0.95639775 -0.2591261 -0.13474793 -0.17625162] [ 0.26249725 0.96490303 0.00757139 -0.18754309] [ 0.12805674 -0.04261222 0.99085098 -1.03113084] [ 0. 0. 0. 1. ]] SLAMing on 101.671346184 meters Centerline goodness : 0.872489 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.19, Z:-1.03 [[ 0.95710451 -0.25736535 -0.13309409 -0.17640677] [ 0.2605641 0.96543189 0.00690006 -0.19054391] [ 0.12671745 -0.04128362 0.99107939 -1.03448281] [ 0. 0. 0. 1. ]] SLAMing on 101.701346184 meters Centerline goodness : 0.872062 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.19, Z:-1.04 [[ 0.95706909 -0.25851909 -0.13109782 -0.17854345] [ 0.26113175 0.96529898 0.00284457 -0.19117367] [ 0.12581322 -0.03695625 0.99136536 -1.03507243] [ 0. 0. 0. 1. ]] SLAMing on 101.73134618399999 meters Centerline goodness : 0.872062 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.19, Z:-1.04 [[ 0.95706909 -0.25851909 -0.13109782 -0.17854345] [ 0.26113175 0.96529898 0.00284457 -0.19117367] [ 0.12581322 -0.03695625 0.99136536 -1.03507243] [ 0. 0. 0. 1. ]] SLAMing on 101.76134618399999 meters Centerline goodness : 0.871796 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.19, Z:-1.04 [[ 0.9572026 -0.25810571 -0.13093751 -0.17665757] [ 0.26073593 0.96540531 0.0030586 -0.192606 ] [ 0.12561833 -0.03706782 0.9913859 -1.03728256] [ 0. 0. 0. 1. ]] SLAMing on 101.79134618399999 meters Centerline goodness : 0.873175 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.19, Z:-1.04 [[ 0.95709788 -0.2582375 -0.13144218 -0.17605375] [ 0.26093418 0.96535053 0.00342238 -0.19341397] [ 0.12600399 -0.03757331 0.99131793 -1.03639246] [ 0. 0. 0. 1. ]] SLAMing on 101.82134618399999 meters Centerline goodness : 0.875656 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.19, Z:-1.03 [[ 0.95748076 -0.255458 -0.13405894 -0.17493616] [ 0.25904851 0.96581497 0.0097629 -0.19445482] [ 0.12698212 -0.04407555 0.99092527 -1.03320476] [ 0. 0. 0. 1. ]] SLAMing on 101.851346184 meters Centerline goodness : 0.875786 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.19, Z:-1.03 [[ 0.9575354 -0.25495598 -0.13462318 -0.17589902] [ 0.25866697 0.9659091 0.01053666 -0.19386319] [ 0.12734737 -0.04491179 0.99084084 -1.03108895] [ 0. 0. 0. 1. ]] SLAMing on 101.881346184 meters Centerline goodness : 0.876239 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.19, Z:-1.03 [[ 0.95761122 -0.25461785 -0.13472377 -0.17524788] [ 0.2583585 0.96598925 0.01075456 -0.19403777] [ 0.12740341 -0.04510572 0.99082483 -1.03163873] [ 0. 0. 0. 1. ]] SLAMing on 101.911346184 meters Centerline goodness : 0.875064 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.20, Z:-1.04 [[ 0.95780952 -0.25555416 -0.1315028 -0.17665055] [ 0.25854555 0.965981 0.00590803 -0.19638349] [ 0.12551939 -0.03965824 0.99129819 -1.0355499 ] [ 0. 0. 0. 1. ]] SLAMing on 101.941346184 meters Centerline goodness : 0.874869 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.20, Z:-1.04 [[ 0.9577534 -0.2568826 -0.1293049 -0.17811276] [ 0.25929962 0.96579501 0.00192691 -0.19771087] [ 0.12438704 -0.03537421 0.99160301 -1.03717411] [ 0. 0. 0. 1. ]] SLAMing on 101.971346184 meters Centerline goodness : 0.875201 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.20, Z:-1.04 [[ 0.95780046 -0.25681708 -0.12908626 -0.17678026] [ 0.25920797 0.96581988 0.00178539 -0.19888128] [ 0.12421556 -0.03517023 0.99163176 -1.03881752] [ 0. 0. 0. 1. ]] SLAMing on 102.001346184 meters Centerline goodness : 0.876806 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.20, Z:-1.03 [[ 0.95763104 -0.25589571 -0.13213701 -0.17589819] [ 0.25904983 0.96583886 0.00696353 -0.19866877] [ 0.12584112 -0.04089856 0.991207 -1.03370973] [ 0. 0. 0. 1. ]] SLAMing on 102.031346184 meters Centerline goodness : 0.878524 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.19, Z:-1.03 [[ 0.95755665 -0.26035767 -0.12368974 -0.16912205] [ 0.26331792 0.96467652 0.00793023 -0.19201372] [ 0.11725589 -0.04016336 0.99228925 -1.03296238] [ 0. 0. 0. 1. ]] SLAMing on 102.061346184 meters Centerline goodness : 0.879464 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.19, Z:-1.03 [[ 0.95721436 -0.26065911 -0.12568806 -0.16569175] [ 0.26391638 0.96449675 0.00970407 -0.19086435] [ 0.11869628 -0.04246001 0.99202235 -1.03245941] [ 0. 0. 0. 1. ]] SLAMing on 102.09134618399999 meters Centerline goodness : 0.879466 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.19, Z:-1.03 [[ 0.95705152 -0.26092433 -0.12637593 -0.16306393] [ 0.26429462 0.96438613 0.01037978 -0.19199855] [ 0.11916686 -0.04333447 0.99192811 -1.03330445] [ 0. 0. 0. 1. ]] SLAMing on 102.12134618399999 meters Centerline goodness : 0.877968 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.19, Z:-1.04 [[ 0.95598954 -0.26634339 -0.1230658 -0.16431234] [ 0.26873231 0.96321045 0.00292968 -0.19474123] [ 0.11775796 -0.0358725 0.99239419 -1.03501509] [ 0. 0. 0. 1. ]] SLAMing on 102.15134618399999 meters Centerline goodness : 0.878697 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.20, Z:-1.04 [[ 9.55296213e-01 -2.68816225e-01 -1.23073081e-01 -1.61026327e-01] [ 2.70974977e-01 9.62586031e-01 8.33861136e-04 -1.96011104e-01] [ 1.18244273e-01 -3.41463096e-02 9.92397260e-01 -1.03667974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18134618399999 meters Centerline goodness : 0.878899 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.20, Z:-1.04 [[ 9.54735819e-01 -2.70405420e-01 -1.23937182e-01 -1.57709232e-01] [ 2.72604107e-01 9.62125948e-01 8.13594009e-04 -1.97415162e-01] [ 1.19023179e-01 -3.45625522e-02 9.92289732e-01 -1.03715237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21134618399999 meters Centerline goodness : 0.881066 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.20, Z:-1.03 [[ 0.95392382 -0.27224637 -0.12613984 -0.15473624] [ 0.27474889 0.96151264 0.00254628 -0.19746651] [ 0.12059184 -0.03708574 0.9920092 -1.03474634] [ 0. 0. 0. 1. ]] SLAMing on 102.241346184 meters Centerline goodness : 0.880807 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.20, Z:-1.03 [[ 0.95365812 -0.27200306 -0.12864887 -0.15116508] [ 0.27496887 0.96143718 0.00553787 -0.19658412] [ 0.12218149 -0.04065567 0.99167475 -1.03368315] [ 0. 0. 0. 1. ]] SLAMing on 102.271346184 meters Centerline goodness : 0.881607 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.20, Z:-1.03 [[ 0.95382091 -0.27064361 -0.13029853 -0.14794623] [ 0.27395039 0.96171207 0.0078158 -0.19657446] [ 0.12319437 -0.0431502 0.991444 -1.03435514] [ 0. 0. 0. 1. ]] SLAMing on 102.301346184 meters Centerline goodness : 0.881921 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.20, Z:-1.04 [[ 0.95381916 -0.27089884 -0.12977993 -0.14759054] [ 0.27401644 0.96170334 0.0064556 -0.19678529] [ 0.12306098 -0.04171931 0.99152181 -1.03536704] [ 0. 0. 0. 1. ]] SLAMing on 102.331346184 meters Centerline goodness : 0.881912 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.20, Z:-1.04 [[ 0.95389269 -0.2704662 -0.13014135 -0.14526325] [ 0.27358572 0.96182649 0.00637663 -0.19683803] [ 0.12344874 -0.04168743 0.99147495 -1.0371694 ] [ 0. 0. 0. 1. ]] SLAMing on 102.361346184 meters Centerline goodness : 0.881554 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.20, Z:-1.04 [[ 0.95368992 -0.27076415 -0.13100502 -0.14266764] [ 0.27392981 0.96172818 0.00643167 -0.19576365] [ 0.12424975 -0.04202 0.99136084 -1.03818271] [ 0. 0. 0. 1. ]] SLAMing on 102.391346184 meters Centerline goodness : 0.882624 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.19, Z:-1.04 [[ 0.95358532 -0.2707781 -0.13173556 -0.1405823 ] [ 0.27401243 0.96170262 0.00672726 -0.19483202] [ 0.12486884 -0.0425122 0.99126207 -1.03893562] [ 0. 0. 0. 1. ]] SLAMing on 102.421346184 meters Centerline goodness : 0.883230 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.19, Z:-1.04 [[ 0.95342906 -0.27074733 -0.13292445 -0.13732691] [ 0.27409663 0.96167499 0.00722785 -0.1936163 ] [ 0.1258732 -0.04332539 0.99109982 -1.04012431] [ 0. 0. 0. 1. ]] SLAMing on 102.451346184 meters Centerline goodness : 0.883650 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.19, Z:-1.04 [[ 0.95336244 -0.2708999 -0.13309134 -0.13638889] [ 0.27417896 0.96165599 0.00660759 -0.19288286] [ 0.12619809 -0.04279028 0.99108175 -1.04071959] [ 0. 0. 0. 1. ]] SLAMing on 102.48134618399999 meters Centerline goodness : 0.881781 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.19, Z:-1.04 [[ 0.95380581 -0.2693284 -0.13310407 -0.13350958] [ 0.27254981 0.96212132 0.00625823 -0.19248858] [ 0.12637674 -0.04224662 0.99108231 -1.04469378] [ 0. 0. 0. 1. ]] SLAMing on 102.51134618399999 meters Centerline goodness : 0.882238 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.19, Z:-1.04 [[ 0.95394029 -0.26871392 -0.13338194 -0.13377519] [ 0.27193281 0.96229635 0.00618702 -0.19159658] [ 0.12669042 -0.04217297 0.9910454 -1.04413515] [ 0. 0. 0. 1. ]] SLAMing on 102.54134618399999 meters Centerline goodness : 0.883854 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.19, Z:-1.04 [[ 0.95426326 -0.26654429 -0.13540963 -0.13162364] [ 0.27031095 0.96272224 0.00989366 -0.19060712] [ 0.12772476 -0.04604386 0.9907403 -1.04356759] [ 0. 0. 0. 1. ]] SLAMing on 102.57134618399999 meters Centerline goodness : 0.884635 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.19, Z:-1.04 [[ 0.95448428 -0.26458123 -0.13768269 -0.13040067] [ 0.26894482 0.96305706 0.0137765 -0.18923824] [ 0.12895129 -0.0501785 0.99038058 -1.04131101] [ 0. 0. 0. 1. ]] SLAMing on 102.601346184 meters Centerline goodness : 0.885078 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.19, Z:-1.04 [[ 0.95484044 -0.26213693 -0.13987122 -0.13027311] [ 0.26710735 0.96350433 0.0176936 -0.18697266] [ 0.13012838 -0.0542552 0.9900116 -1.0386134 ] [ 0. 0. 0. 1. ]] SLAMing on 102.631346184 meters Centerline goodness : 0.884240 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.19, Z:-1.04 [[ 0.95496252 -0.2615892 -0.14006315 -0.12916997] [ 0.26657629 0.96364985 0.0177775 -0.18633012] [ 0.13032143 -0.05431436 0.98998297 -1.03973039] [ 0. 0. 0. 1. ]] SLAMing on 102.661346184 meters Centerline goodness : 0.883433 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.18, Z:-1.04 [[ 0.9551439 -0.26739541 -0.12727851 -0.12638734] [ 0.27107475 0.96248102 0.01219677 -0.18026895] [ 0.11924179 -0.04615166 0.99179202 -1.04236046] [ 0. 0. 0. 1. ]] SLAMing on 102.691346184 meters Centerline goodness : 0.886499 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.18, Z:-1.05 [[ 0.95513233 -0.2677715 -0.12657269 -0.12459725] [ 0.27118507 0.96247286 0.0102299 -0.18100458] [ 0.11908351 -0.04409553 0.99190458 -1.04525298] [ 0. 0. 0. 1. ]] SLAMing on 102.721346184 meters Centerline goodness : 0.886813 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.18, Z:-1.05 [[ 0.9549288 -0.2681311 -0.12734479 -0.12264895] [ 0.27157099 0.96236502 0.01013756 -0.18113336] [ 0.11983398 -0.0442638 0.9918067 -1.04522164] [ 0. 0. 0. 1. ]] SLAMing on 102.751346184 meters Centerline goodness : 0.884704 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.18, Z:-1.05 [[ 0.95470048 -0.268402 -0.128481 -0.12030912] [ 0.27194444 0.96225522 0.01054059 -0.1805308 ] [ 0.1208024 -0.0450028 0.99165595 -1.04511673] [ 0. 0. 0. 1. ]] SLAMing on 102.781346184 meters Centerline goodness : 0.886301 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.18, Z:-1.04 [[ 0.95449556 -0.26889921 -0.12896296 -0.12011712] [ 0.27239106 0.96213555 0.00991426 -0.17872582] [ 0.12141391 -0.04459148 0.99159985 -1.04430942] [ 0. 0. 0. 1. ]] SLAMing on 102.811346184 meters Centerline goodness : 0.887791 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:-1.05 [[ 0.95481352 -0.26677701 -0.13100064 -0.11713397] [ 0.27058459 0.96262329 0.01184775 -0.17435913] [ 0.12294356 -0.04675915 0.99131149 -1.04545737] [ 0. 0. 0. 1. ]] SLAMing on 102.84134618399999 meters Centerline goodness : 0.885801 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:-1.05 [[ 0.9550584 -0.26585282 -0.13109433 -0.11753253] [ 0.26959198 0.96290808 0.01132203 -0.17238723] [ 0.1232218 -0.04615518 0.99130524 -1.04552624] [ 0. 0. 0. 1. ]] SLAMing on 102.87134618399999 meters Centerline goodness : 0.884444 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.17, Z:-1.05 [[ 0.95540582 -0.26409336 -0.13211517 -0.11384688] [ 0.2679453 0.96335994 0.01195579 -0.17077912] [ 0.12411702 -0.04682227 0.99116227 -1.04838924] [ 0. 0. 0. 1. ]] SLAMing on 102.90134618399999 meters Centerline goodness : 0.884755 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:-1.05 [[ 0.95610173 -0.2622793 -0.13068684 -0.11578146] [ 0.26585923 0.96395545 0.01042883 -0.16961376] [ 0.12324103 -0.04471532 0.99136885 -1.05024137] [ 0. 0. 0. 1. ]] SLAMing on 102.93134618399999 meters Centerline goodness : 0.883214 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:-1.05 [[ 0.956223 -0.26184846 -0.13066352 -0.116484 ] [ 0.26538208 0.96409049 0.01009337 -0.16840804] [ 0.12332853 -0.04432727 0.99137539 -1.04978204] [ 0. 0. 0. 1. ]] SLAMing on 102.96134618399999 meters Centerline goodness : 0.885498 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:-1.05 [[ 0.95628011 -0.26124721 -0.13144672 -0.11698766] [ 0.26493294 0.96420333 0.01106663 -0.1661904 ] [ 0.12385024 -0.04540736 0.99126146 -1.04813319] [ 0. 0. 0. 1. ]] SLAMing on 102.991346184 meters Centerline goodness : 0.886045 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.16, Z:-1.05 [[ 0.95604713 -0.26153441 -0.13256563 -0.11621235] [ 0.26543664 0.96404913 0.01235548 -0.16461247] [ 0.1245684 -0.0470002 0.99109722 -1.04689865] [ 0. 0. 0. 1. ]] SLAMing on 103.021346184 meters Centerline goodness : 0.884736 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.16, Z:-1.04 [[ 0.9556743 -0.26209893 -0.13412972 -0.11537821] [ 0.26613425 0.96385134 0.01277311 -0.16249504] [ 0.12593329 -0.04790345 0.99088146 -1.04438189] [ 0. 0. 0. 1. ]] SLAMing on 103.051346184 meters Centerline goodness : 0.882571 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-1.04 [[ 0.95482235 -0.26478301 -0.1349231 -0.1142352 ] [ 0.26867265 0.96316701 0.01114994 -0.15886857] [ 0.12700117 -0.04689636 0.99079334 -1.04324721] [ 0. 0. 0. 1. ]] SLAMing on 103.081346184 meters Centerline goodness : 0.882063 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-1.05 [[ 0.95444852 -0.26603148 -0.13511205 -0.11158371] [ 0.26972657 0.96289028 0.00948103 -0.15764289] [ 0.12757583 -0.04549246 0.99078496 -1.04519498] [ 0. 0. 0. 1. ]] SLAMing on 103.111346184 meters Centerline goodness : 0.880283 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-1.05 [[ 0.95383981 -0.26880223 -0.13392153 -0.11119254] [ 0.27191413 0.96230764 0.00516779 -0.15568384] [ 0.1274846 -0.0413444 0.99097846 -1.04693103] [ 0. 0. 0. 1. ]] SLAMing on 103.141346184 meters Centerline goodness : 0.875139 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-1.05 [[ 0.95360373 -0.26973369 -0.13372984 -0.10928117] [ 0.27261323 0.96211784 0.00336049 -0.15514439] [ 0.12775742 -0.0396611 0.99101213 -1.04881442] [ 0. 0. 0. 1. ]] SLAMing on 103.171346184 meters Centerline goodness : 0.877144 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:-1.05 [[ 0.95348045 -0.26964295 -0.13478762 -0.10905885] [ 0.27275197 0.96207239 0.00480483 -0.15388058] [ 0.12837986 -0.0413449 0.99086286 -1.04718939] [ 0. 0. 0. 1. ]] SLAMing on 103.201346184 meters Centerline goodness : 0.881077 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:-1.04 [[ 0.95362292 -0.26773747 -0.13754991 -0.10818061] [ 0.27156711 0.96237242 0.00951985 -0.152761 ] [ 0.12982542 -0.04643237 0.99044909 -1.04355754] [ 0. 0. 0. 1. ]] SLAMing on 103.23134618399999 meters Centerline goodness : 0.882907 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.14, Z:-1.04 [[ 0.95375616 -0.27190732 -0.12812335 -0.1053242 ] [ 0.27542698 0.96126724 0.01026028 -0.14479527] [ 0.12037093 -0.04507443 0.99170517 -1.04100074] [ 0. 0. 0. 1. ]] SLAMing on 103.26134618399999 meters Centerline goodness : 0.881887 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:-1.04 [[ 0.95384043 -0.27012475 -0.13122904 -0.10275483] [ 0.27425039 0.96155483 0.01410779 -0.14301947] [ 0.12237305 -0.04944619 0.99125169 -1.03840742] [ 0. 0. 0. 1. ]] SLAMing on 103.29134618399999 meters Centerline goodness : 0.882504 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:-1.04 [[ 0.95375615 -0.27069535 -0.13066458 -0.1020939 ] [ 0.27455999 0.96149282 0.01218113 -0.14276715] [ 0.12233568 -0.04749309 0.9913518 -1.03972512] [ 0. 0. 0. 1. ]] SLAMing on 103.32134618399999 meters Centerline goodness : 0.879782 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:-1.04 [[ 0.95343793 -0.27252072 -0.12918425 -0.10298035] [ 0.27582359 0.96117451 0.00805598 -0.14253589] [ 0.12197319 -0.04331294 0.99158788 -1.04024524] [ 0. 0. 0. 1. ]] SLAMing on 103.351346184 meters Centerline goodness : 0.880260 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:-1.04 [[ 0.95322421 -0.27330604 -0.12910234 -0.10176633] [ 0.27642759 0.96101235 0.00656064 -0.14251082] [ 0.12227588 -0.04194121 0.99160957 -1.04104475] [ 0. 0. 0. 1. ]] SLAMing on 103.381346184 meters Centerline goodness : 0.879831 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:-1.04 [[ 0.95282271 -0.27475982 -0.12898033 -0.1015699 ] [ 0.27768484 0.96065966 0.0049135 -0.14046797] [ 0.12255617 -0.04049758 0.99163498 -1.04098706] [ 0. 0. 0. 1. ]] SLAMing on 103.411346184 meters Centerline goodness : 0.877802 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:-1.04 [[ 0.95237149 -0.27523991 -0.13126896 -0.09895462] [ 0.27837286 0.9604557 0.00577926 -0.13808358] [ 0.12448734 -0.04204572 0.99132994 -1.03893313] [ 0. 0. 0. 1. ]] SLAMing on 103.441346184 meters Centerline goodness : 0.878836 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:-1.04 [[ 0.95211418 -0.27485953 -0.13390607 -0.09526167] [ 0.27843384 0.96041896 0.00836783 -0.13567541] [ 0.12630595 -0.04525112 0.9909587 -1.03810454] [ 0. 0. 0. 1. ]] SLAMing on 103.471346184 meters Centerline goodness : 0.875546 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:-1.04 [[ 0.95172442 -0.27647699 -0.13334579 -0.09443634] [ 0.2795916 0.96010677 0.00484997 -0.13359348] [ 0.12668529 -0.0418982 0.99105771 -1.03894176] [ 0. 0. 0. 1. ]] SLAMing on 103.501346184 meters Centerline goodness : 0.875146 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:-1.04 [[ 0.95154927 -0.27772889 -0.13198735 -0.09414902] [ 0.28034051 0.9598998 0.00125697 -0.13495361] [ 0.12634553 -0.03819747 0.9912506 -1.04033596] [ 0. 0. 0. 1. ]] SLAMing on 103.531346184 meters Centerline goodness : 0.876912 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.14, Z:-1.04 [[ 9.51470620e-01 -2.77931295e-01 -1.32128172e-01 -9.33832194e-02] [ 2.80505850e-01 9.59851885e-01 9.09702339e-04 -1.35946818e-01] [ 1.26570640e-01 -3.79282802e-02 9.91232222e-01 -1.04001001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561346184 meters Centerline goodness : 0.877722 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.14, Z:-1.03 [[ 0.95131447 -0.27657012 -0.13605053 -0.09237077] [ 0.28008549 0.95994934 0.00702732 -0.13513197] [ 0.12865807 -0.04479097 0.99067698 -1.03391855] [ 0. 0. 0. 1. ]] SLAMing on 103.59134618399999 meters Centerline goodness : 0.878375 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:-1.03 [[ 0.9509048 -0.27677436 -0.13847746 -0.09078145] [ 0.28073601 0.95973751 0.00955016 -0.13420926] [ 0.13025877 -0.04795691 0.99031954 -1.03046268] [ 0. 0. 0. 1. ]] SLAMing on 103.62134618399999 meters Centerline goodness : 0.878375 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:-1.03 [[ 0.9509048 -0.27677436 -0.13847746 -0.09078145] [ 0.28073601 0.95973751 0.00955016 -0.13420926] [ 0.13025877 -0.04795691 0.99031954 -1.03046268] [ 0. 0. 0. 1. ]] SLAMing on 103.65134618399999 meters Centerline goodness : 0.876939 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:-1.03 [[ 0.95074287 -0.27668414 -0.13976364 -0.08829819] [ 0.28084446 0.959695 0.0105784 -0.13428077] [ 0.13120359 -0.04930919 0.99012839 -1.03008872] [ 0. 0. 0. 1. ]] SLAMing on 103.68134618399999 meters Centerline goodness : 0.877118 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.14, Z:-1.03 [[ 0.95058916 -0.27732654 -0.13953578 -0.0880149 ] [ 0.28135075 0.95955707 0.0095913 -0.13509792] [ 0.13123262 -0.04837588 0.99017058 -1.02996251] [ 0. 0. 0. 1. ]] SLAMing on 103.71134618399999 meters Centerline goodness : 0.874926 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.14, Z:-1.03 [[ 0.94985002 -0.28178033 -0.13559052 -0.08923444] [ 0.28459459 0.95864689 0.00143327 -0.13663419] [ 0.12957956 -0.03994972 0.99076393 -1.03328111] [ 0. 0. 0. 1. ]] SLAMing on 103.741346184 meters Centerline goodness : 0.873725 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.14, Z:-1.03 [[ 0.94924467 -0.28411406 -0.13495834 -0.08728473] [ 0.28650053 0.95807837 -0.00181124 -0.137008 ] [ 0.12981526 -0.03694633 0.99084962 -1.03485048] [ 0. 0. 0. 1. ]] SLAMing on 103.771346184 meters Centerline goodness : 0.875720 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:-1.04 [[ 0.94896465 -0.28474262 -0.13560135 -0.08498585] [ 0.28714186 0.9578861 -0.00194339 -0.13718157] [ 0.13044402 -0.03709261 0.99076157 -1.0353999 ] [ 0. 0. 0. 1. ]] SLAMing on 103.801346184 meters Centerline goodness : 0.874156 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:-1.03 [[ 0.94868288 -0.28509839 -0.13681998 -0.08482609] [ 0.28765469 0.95773352 -0.00113436 -0.13593108] [ 0.13136049 -0.03828076 0.99059528 -1.03292519] [ 0. 0. 0. 1. ]] SLAMing on 103.831346184 meters Centerline goodness : 0.873157 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:-1.03 [[ 0.94862579 -0.28334623 -0.14079782 -0.08251822] [ 0.2867584 0.957994 0.00413658 -0.13295814] [ 0.13371139 -0.04429902 0.99002973 -1.02900093] [ 0. 0. 0. 1. ]] SLAMing on 103.861346184 meters Centerline goodness : 0.874055 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:-1.03 [[ 0.9486419 -0.28244172 -0.14249637 -0.07889969] [ 0.28607026 0.95819441 0.00522226 -0.1319776 ] [ 0.13506424 -0.04571803 0.98978155 -1.02969152] [ 0. 0. 0. 1. ]] SLAMing on 103.891346184 meters Centerline goodness : 0.872591 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:-1.03 [[ 0.94880617 -0.28217932 -0.14192137 -0.07910638] [ 0.28566121 0.95832075 0.00436033 -0.1323221 ] [ 0.1347758 -0.04467854 0.98986833 -1.03042745] [ 0. 0. 0. 1. ]] SLAMing on 103.921346184 meters Centerline goodness : 0.872461 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:-1.04 [[ 9.48994119e-01 -2.82732482e-01 -1.39543920e-01 -7.76425779e-02] [ 2.85595035e-01 9.58350257e-01 5.10676043e-04 -1.33752618e-01] [ 1.33587567e-01 -4.03376793e-02 9.90215751e-01 -1.03593588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.951346184 meters Centerline goodness : 0.874603 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:-1.04 [[ 9.48843178e-01 -2.83275659e-01 -1.39468720e-01 -7.66254418e-02] [ 2.86045733e-01 9.58215947e-01 -1.91525849e-04 -1.33805048e-01] [ 1.33695406e-01 -3.97127041e-02 9.90226459e-01 -1.03678966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98134618399999 meters Centerline goodness : 0.875585 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:-1.04 [[ 9.48730672e-01 -2.83290097e-01 -1.40202825e-01 -7.61833765e-02] [ 2.86167339e-01 9.58179582e-01 3.77629545e-04 -1.33101915e-01] [ 1.34232505e-01 -4.04797380e-02 9.90122732e-01 -1.03575646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01134618399999 meters Centerline goodness : 0.873992 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:-1.03 [[ 0.94858931 -0.28319914 -0.14133852 -0.07632589] [ 0.28624388 0.95815596 0.00126604 -0.13147455] [ 0.1350658 -0.04165824 0.98996051 -1.03341233] [ 0. 0. 0. 1. ]] SLAMing on 104.04134618399999 meters Centerline goodness : 0.874070 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:-1.03 [[ 0.94846513 -0.2821797 -0.14418224 -0.07424053] [ 0.28583064 0.95826797 0.00483159 -0.12884631] [ 0.13680184 -0.04579429 0.98953936 -1.03116348] [ 0. 0. 0. 1. ]] SLAMing on 104.07134618399999 meters Centerline goodness : 0.872080 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:-1.03 [[ 0.94845857 -0.28683935 -0.13472021 -0.06756169] [ 0.28975567 0.95709826 0.00213633 -0.12203618] [ 0.12832769 -0.04106217 0.99088138 -1.03228954] [ 0. 0. 0. 1. ]] SLAMing on 104.101346184 meters Centerline goodness : 0.870294 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:-1.03 [[ 9.48390588e-01 -2.87167769e-01 -1.34498940e-01 -6.72163162e-02] [ 2.89915706e-01 9.57051776e-01 8.84043592e-04 -1.21659816e-01] [ 1.28468580e-01 -3.98317736e-02 9.90913343e-01 -1.03269194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.131346184 meters Centerline goodness : 0.867672 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:-1.03 [[ 0.94853537 -0.28689437 -0.13406068 -0.06539379] [ 0.28934399 0.95722435 -0.00126263 -0.12235185] [ 0.12868839 -0.03759201 0.99097232 -1.03468856] [ 0. 0. 0. 1. ]] SLAMing on 104.161346184 meters Centerline goodness : 0.870259 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:-1.04 [[ 9.48914484e-01 -2.85829494e-01 -1.33651794e-01 -6.45884830e-02] [ 2.88285455e-01 9.57543973e-01 -1.01806276e-03 -1.24239496e-01] [ 1.28268463e-01 -3.75638139e-02 9.91027831e-01 -1.03638465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.191346184 meters Centerline goodness : 0.870997 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:-1.03 [[ 0.94902642 -0.28483618 -0.13497116 -0.06462005] [ 0.28761132 0.95774657 0.00111037 -0.1238479 ] [ 0.12895189 -0.039873 0.99084891 -1.03407056] [ 0. 0. 0. 1. ]] SLAMing on 104.221346184 meters Centerline goodness : 0.870022 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:-1.03 [[ 0.94970863 -0.2814746 -0.13720631 -0.06370776] [ 0.28483133 0.95856426 0.00506736 -0.12257862] [ 0.13009473 -0.04389317 0.99052953 -1.03224377] [ 0. 0. 0. 1. ]] SLAMing on 104.251346184 meters Centerline goodness : 0.871178 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:-1.03 [[ 0.9498689 -0.28097855 -0.13711357 -0.06355576] [ 0.28429815 0.95872364 0.00485134 -0.12254257] [ 0.1300909 -0.04358927 0.99054345 -1.03248749] [ 0. 0. 0. 1. ]] SLAMing on 104.281346184 meters Centerline goodness : 0.868113 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:-1.03 [[ 0.94983808 -0.28053307 -0.13823467 -0.06090251] [ 0.28396492 0.95881973 0.00535358 -0.1225761 ] [ 0.13104027 -0.04433883 0.99038503 -1.03276836] [ 0. 0. 0. 1. ]] SLAMing on 104.311346184 meters Centerline goodness : 0.869365 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:-1.03 [[ 0.94960381 -0.28115927 -0.13857152 -0.06076306] [ 0.28456601 0.95864338 0.00500459 -0.12220777] [ 0.13143359 -0.04418512 0.99033978 -1.03179445] [ 0. 0. 0. 1. ]] SLAMing on 104.34134618399999 meters Centerline goodness : 0.869055 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:-1.03 [[ 0.94919102 -0.28184828 -0.13999269 -0.05882637] [ 0.28547264 0.95836745 0.00609928 -0.12135359] [ 0.13244536 -0.04575346 0.99013375 -1.03081363] [ 0. 0. 0. 1. ]] SLAMing on 104.37134618399999 meters Centerline goodness : 0.868942 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:-1.03 [[ 0.94884659 -0.2826329 -0.14074374 -0.05789766] [ 0.28630819 0.95811778 0.00615975 -0.12112487] [ 0.13310813 -0.04614074 0.9900269 -1.02963583] [ 0. 0. 0. 1. ]] SLAMing on 104.40134618399999 meters Centerline goodness : 0.867461 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:-1.03 [[ 0.94846435 -0.28376386 -0.14104413 -0.05741875] [ 0.28741815 0.95778754 0.00581651 -0.12096519] [ 0.1334398 -0.04605539 0.98998622 -1.02882994] [ 0. 0. 0. 1. ]] SLAMing on 104.43134618399999 meters Centerline goodness : 0.868156 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:-1.03 [[ 0.94822021 -0.28439952 -0.14140492 -0.05629249] [ 0.28801094 0.9576123 0.00532739 -0.12089018] [ 0.13389598 -0.0457777 0.98993751 -1.02866909] [ 0. 0. 0. 1. ]] SLAMing on 104.46134618399999 meters Centerline goodness : 0.867255 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:-1.03 [[ 0.94814621 -0.28482671 -0.14104084 -0.05598025] [ 0.28821602 0.95755796 0.0037779 -0.12031125] [ 0.13397873 -0.04423223 0.98999657 -1.02930474] [ 0. 0. 0. 1. ]] SLAMing on 104.491346184 meters Centerline goodness : 0.866219 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-1.03 [[ 0.94814316 -0.2842287 -0.14226243 -0.05287948] [ 0.28778982 0.95768218 0.00467576 -0.11869568] [ 0.13491321 -0.04537497 0.98981793 -1.03067841] [ 0. 0. 0. 1. ]] SLAMing on 104.521346184 meters Centerline goodness : 0.865900 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-1.03 [[ 0.94815409 -0.28413003 -0.14238662 -0.05287261] [ 0.28761253 0.95773823 0.00406503 -0.11705541] [ 0.13521411 -0.04480645 0.98980277 -1.03059044] [ 0. 0. 0. 1. ]] SLAMing on 104.551346184 meters Centerline goodness : 0.864719 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-1.03 [[ 0.94828887 -0.28375692 -0.14223304 -0.0526281 ] [ 0.28716856 0.95787321 0.00362505 -0.11586295] [ 0.13521258 -0.04428245 0.98982656 -1.03147601] [ 0. 0. 0. 1. ]] SLAMing on 104.581346184 meters Centerline goodness : 0.866286 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-1.03 [[ 0.94875166 -0.28270803 -0.1412319 -0.0536525 ] [ 0.28586703 0.95826683 0.00217443 -0.11533155] [ 0.13472312 -0.04243654 0.98997415 -1.03261807] [ 0. 0. 0. 1. ]] SLAMing on 104.611346184 meters Centerline goodness : 0.864939 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-1.03 [[ 0.94891998 -0.28197612 -0.14156392 -0.05382366] [ 0.28519699 0.95846546 0.0025766 -0.1148389 ] [ 0.13495759 -0.04281859 0.98992576 -1.03195275] [ 0. 0. 0. 1. ]] SLAMing on 104.641346184 meters Centerline goodness : 0.866451 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-1.03 [[ 0.94887997 -0.28147008 -0.14283349 -0.05400369] [ 0.28489462 0.95855174 0.00369078 -0.11337074] [ 0.13587445 -0.0441946 0.98973985 -1.02944495] [ 0. 0. 0. 1. ]] SLAMing on 104.671346184 meters Centerline goodness : 0.865818 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-1.03 [[ 0.94866674 -0.28137095 -0.14443614 -0.05214492] [ 0.28505158 0.95849903 0.0050207 -0.11083264] [ 0.13702922 -0.04593472 0.98950139 -1.02895049] [ 0. 0. 0. 1. ]] SLAMing on 104.701346184 meters Centerline goodness : 0.865213 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-1.03 [[ 0.94823402 -0.28342732 -0.14325218 -0.05278792] [ 0.28658344 0.95805417 0.00146202 -0.11046204] [ 0.13682897 -0.04244004 0.98968514 -1.02914135] [ 0. 0. 0. 1. ]] SLAMing on 104.73134618399999 meters Centerline goodness : 0.867338 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-1.03 [[ 9.48010823e-01 -2.84200595e-01 -1.43197423e-01 -5.18387538e-02] [ 2.87247557e-01 9.57856169e-01 6.31995024e-04 -1.10981153e-01] [ 1.36982922e-01 -4.17322482e-02 9.89693942e-01 -1.02949149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76134618399999 meters Centerline goodness : 0.869065 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-1.03 [[ 9.47855942e-01 -2.84637278e-01 -1.43355271e-01 -5.19215029e-02] [ 2.87674151e-01 9.57728226e-01 4.77825394e-04 -1.11492376e-01] [ 1.37159382e-01 -4.16925155e-02 9.89671177e-01 -1.02843286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79134618399999 meters Centerline goodness : 0.867806 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-1.03 [[ 9.47481634e-01 -2.85516378e-01 -1.44079667e-01 -5.16096911e-02] [ 2.88617237e-01 9.57444343e-01 6.48878914e-04 -1.11641116e-01] [ 1.37762997e-01 -4.21986763e-02 9.89565879e-01 -1.02648360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82134618399999 meters Centerline goodness : 0.868105 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-1.03 [[ 9.47100671e-01 -2.86513819e-01 -1.44603422e-01 -5.08332115e-02] [ 2.89560043e-01 9.57159851e-01 2.06526088e-05 -1.11348145e-01] [ 1.38402673e-01 -4.18909332e-02 9.89489692e-01 -1.02545255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.851346184 meters Centerline goodness : 0.868100 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-1.03 [[ 9.46922505e-01 -2.87179600e-01 -1.44449460e-01 -5.08835823e-02] [ 2.90106743e-01 9.56993930e-01 -8.34409478e-04 -1.10539375e-01] [ 1.38476882e-01 -4.11156414e-02 9.89511828e-01 -1.02533034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.881346184 meters Centerline goodness : 0.866304 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-1.03 [[ 0.9470822 -0.28652484 -0.14470256 -0.0485425 ] [ 0.2893638 0.95721804 -0.00148887 -0.10843881] [ 0.1389385 -0.0404616 0.98947408 -1.02810257] [ 0. 0. 0. 1. ]] SLAMing on 104.911346184 meters Centerline goodness : 0.865480 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-1.03 [[ 0.94739624 -0.28583174 -0.14401592 -0.04952316] [ 0.2884976 0.95747743 -0.00247131 -0.10811154] [ 0.13859837 -0.03920693 0.98957228 -1.02844507] [ 0. 0. 0. 1. ]] SLAMing on 104.941346184 meters Centerline goodness : 0.866025 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-1.03 [[ 0.94793591 -0.28368208 -0.14471348 -0.04786644] [ 0.28652051 0.95807325 -0.0012793 -0.10762733] [ 0.13900903 -0.04025068 0.98947278 -1.02973427] [ 0. 0. 0. 1. ]] SLAMing on 104.971346184 meters Centerline goodness : 0.866898 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-1.03 [[ 0.94849386 -0.28096576 -0.14634767 -0.04673136] [ 0.28423953 0.95875209 0.00152339 -0.10670238] [ 0.13988312 -0.04304272 0.98923204 -1.02903219] [ 0. 0. 0. 1. ]] SLAMing on 105.001346184 meters Centerline goodness : 0.868348 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.10, Z:-1.03 [[ 0.94992744 -0.28135375 -0.13593356 -0.04504329] [ 0.28440266 0.95869975 0.00314951 -0.09890952] [ 0.12943335 -0.04165167 0.99071295 -1.02952382] [ 0. 0. 0. 1. ]] SLAMing on 105.031346184 meters Centerline goodness : 0.868450 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:-1.03 [[ 0.95041 -0.27953933 -0.13630332 -0.04425497] [ 0.28268642 0.95920442 0.00390779 -0.09895102] [ 0.12965037 -0.0422451 0.99065944 -1.03023369] [ 0. 0. 0. 1. ]] SLAMing on 105.061346184 meters Centerline goodness : 0.867939 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.10, Z:-1.03 [[ 0.95071554 -0.27881206 -0.13566057 -0.04504226] [ 0.28181745 0.95946309 0.00308374 -0.0995791 ] [ 0.12930153 -0.04116327 0.99075057 -1.03048116] [ 0. 0. 0. 1. ]] SLAMing on 105.09134618399999 meters Centerline goodness : 0.868836 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:-1.03 [[ 0.9509882 -0.27806279 -0.13528681 -0.04413162] [ 0.28097667 0.9597112 0.00255402 -0.10100838] [ 0.12912609 -0.04044129 0.99080319 -1.03192452] [ 0. 0. 0. 1. ]] SLAMing on 105.12134618399999 meters Centerline goodness : 0.870233 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:-1.03 [[ 0.9509105 -0.27793564 -0.13609187 -0.04339374] [ 0.2810108 0.95969807 0.0035404 -0.10064934] [ 0.1296231 -0.04160989 0.99068989 -1.03111262] [ 0. 0. 0. 1. ]] SLAMing on 105.15134618399999 meters Centerline goodness : 0.872144 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:-1.03 [[ 0.95049659 -0.27870056 -0.13741262 -0.04284637] [ 0.28192487 0.95942734 0.0041895 -0.09955846] [ 0.13066981 -0.04272215 0.99050503 -1.02866999] [ 0. 0. 0. 1. ]] SLAMing on 105.18134618399999 meters Centerline goodness : 0.869714 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:-1.03 [[ 0.94969241 -0.28123933 -0.13779969 -0.0421029 ] [ 0.28431922 0.95872561 0.00278996 -0.09840396] [ 0.13132744 -0.0418287 0.99045619 -1.02762994] [ 0. 0. 0. 1. ]] SLAMing on 105.21134618399999 meters Centerline goodness : 0.872598 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:-1.03 [[ 9.49203643e-01 -2.83441664e-01 -1.36650161e-01 -4.29162285e-02] [ 2.86059141e-01 9.58211832e-01 -5.03305789e-04 -9.85761324e-02] [ 1.31082459e-01 -3.86122880e-02 9.90619241e-01 -1.02745479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.241346184 meters Centerline goodness : 0.873112 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:-1.03 [[ 0.94865205 -0.2857145 -0.13574431 -0.04269637] [ 0.28798016 0.95763147 -0.0030662 -0.09965606] [ 0.13086908 -0.03618291 0.99073916 -1.02779334] [ 0. 0. 0. 1. ]] SLAMing on 105.271346184 meters Centerline goodness : 0.874130 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:-1.03 [[ 0.94748685 -0.28994371 -0.13491224 -0.04311719] [ 0.29186022 0.95644346 -0.00578927 -0.10138794] [ 0.13071449 -0.03389026 0.99084064 -1.02616995] [ 0. 0. 0. 1. ]] SLAMing on 105.301346184 meters Centerline goodness : 0.874372 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:-1.02 [[ 0.94674203 -0.29183603 -0.13605611 -0.04197494] [ 0.2938733 0.9558296 -0.00531629 -0.10104425] [ 0.13159795 -0.0349501 0.99068687 -1.02408258] [ 0. 0. 0. 1. ]] SLAMing on 105.331346184 meters Centerline goodness : 0.875948 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:-1.02 [[ 0.94588043 -0.29352215 -0.13840141 -0.03864947] [ 0.29585525 0.95522493 -0.00387267 -0.09980087] [ 0.13334119 -0.0372837 0.99036864 -1.02223174] [ 0. 0. 0. 1. ]] SLAMing on 105.361346184 meters Centerline goodness : 0.876437 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:-1.02 [[ 0.94500914 -0.29585577 -0.13938111 -0.03723389] [ 0.29816085 0.9545049 -0.00452755 -0.09861143] [ 0.13437946 -0.03727942 0.99022846 -1.02060425] [ 0. 0. 0. 1. ]] SLAMing on 105.391346184 meters Centerline goodness : 0.874299 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:-1.02 [[ 0.94323886 -0.3024217 -0.1372646 -0.03653074] [ 0.30365652 0.95270136 -0.0123625 -0.09722682] [ 0.13451086 -0.0300205 0.99045727 -1.02166151] [ 0. 0. 0. 1. ]] SLAMing on 105.421346184 meters Centerline goodness : 0.872992 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.10, Z:-1.02 [[ 0.94261236 -0.30447575 -0.13702718 -0.0339036 ] [ 0.30541876 0.95210608 -0.01460819 -0.09685473] [ 0.13491225 -0.02808081 0.99045957 -1.0236468 ] [ 0. 0. 0. 1. ]] SLAMing on 105.451346184 meters Centerline goodness : 0.872701 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.10, Z:-1.02 [[ 0.9418516 -0.30632519 -0.13813194 -0.03130361] [ 0.30717961 0.95152332 -0.01562241 -0.0952521 ] [ 0.1362213 -0.02771732 0.99029062 -1.02326584] [ 0. 0. 0. 1. ]] SLAMing on 105.48134618399999 meters Centerline goodness : 0.875984 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-1.02 [[ 0.94211822 -0.30425519 -0.14086175 -0.02720829] [ 0.30575266 0.95204248 -0.01142054 -0.09472814] [ 0.13758113 -0.03230936 0.9899634 -1.0235898 ] [ 0. 0. 0. 1. ]] SLAMing on 105.51134618399999 meters Centerline goodness : 0.878570 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-1.02 [[ 0.94232346 -0.30319726 -0.14176716 -0.02812069] [ 0.30491337 0.9523277 -0.00998908 -0.0943141 ] [ 0.13803746 -0.03381376 0.98984963 -1.02110068] [ 0. 0. 0. 1. ]] SLAMing on 105.54134618399999 meters Centerline goodness : 0.878570 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-1.02 [[ 0.94232346 -0.30319726 -0.14176716 -0.02812069] [ 0.30491337 0.9523277 -0.00998908 -0.0943141 ] [ 0.13803746 -0.03381376 0.98984963 -1.02110068] [ 0. 0. 0. 1. ]] SLAMing on 105.57134618399999 meters Centerline goodness : 0.878093 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-1.02 [[ 0.94285223 -0.30066738 -0.1436273 -0.02651771] [ 0.3029071 0.95299768 -0.00653556 -0.0943788 ] [ 0.13884151 -0.03734366 0.98961027 -1.02036405] [ 0. 0. 0. 1. ]] SLAMing on 105.601346184 meters Centerline goodness : 0.881135 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-1.02 [[ 0.94367047 -0.29812355 -0.14355626 -0.02746476] [ 0.30037644 0.9538004 -0.00622737 -0.09389134] [ 0.13878054 -0.03724433 0.98962256 -1.0203976 ] [ 0. 0. 0. 1. ]] SLAMing on 105.631346184 meters Centerline goodness : 0.879179 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-1.02 [[ 0.94387993 -0.2972356 -0.14401973 -0.02624866] [ 0.29954955 0.9540628 -0.00585075 -0.09295828] [ 0.13914292 -0.03761864 0.98955752 -1.02130796] [ 0. 0. 0. 1. ]] SLAMing on 105.661346184 meters Centerline goodness : 0.881860 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-1.02 [[ 0.94394588 -0.29681236 -0.14445967 -0.02598208] [ 0.29907319 0.95420928 -0.00631458 -0.0919026 ] [ 0.139719 -0.03724339 0.98949054 -1.02076384] [ 0. 0. 0. 1. ]] SLAMing on 105.691346184 meters Centerline goodness : 0.881134 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:-1.02 [[ 0.94415493 -0.29566293 -0.14544723 -0.02418143] [ 0.298116 0.95451582 -0.00513757 -0.09055524] [ 0.14035067 -0.03850948 0.98935267 -1.02142886] [ 0. 0. 0. 1. ]] SLAMing on 105.721346184 meters Centerline goodness : 0.880445 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-1.02 [[ 0.94478279 -0.29363604 -0.14547634 -0.02573021] [ 0.29616255 0.95512709 -0.00447117 -0.08968989] [ 0.14026129 -0.03886036 0.98935163 -1.0206396 ] [ 0. 0. 0. 1. ]] SLAMing on 105.751346184 meters Centerline goodness : 0.879558 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-1.02 [[ 0.9451789 -0.2925152 -0.14516097 -0.02655483] [ 0.29493807 0.95550314 -0.00502855 -0.08899473] [ 0.14017269 -0.03806062 0.98939527 -1.02074912] [ 0. 0. 0. 1. ]] SLAMing on 105.781346184 meters Centerline goodness : 0.878930 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-1.02 [[ 0.94640275 -0.28862358 -0.14497674 -0.02850265] [ 0.29121084 0.95665244 -0.00351581 -0.08855271] [ 0.1397071 -0.03889143 0.98942882 -1.02078089] [ 0. 0. 0. 1. ]] SLAMing on 105.811346184 meters Centerline goodness : 0.880089 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-1.02 [[ 0.94675447 -0.2873796 -0.14515145 -0.02987637] [ 0.28998202 0.95702619 -0.00336222 -0.08752824] [ 0.13987997 -0.03890811 0.98940374 -1.01931897] [ 0. 0. 0. 1. ]] SLAMing on 105.84134618399999 meters Centerline goodness : 0.877925 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-1.02 [[ 0.94698093 -0.28668635 -0.145045 -0.03104966] [ 0.28924099 0.95724948 -0.00361721 -0.08646734] [ 0.13988125 -0.03852752 0.98941845 -1.0186107 ] [ 0. 0. 0. 1. ]] SLAMing on 105.87134618399999 meters Centerline goodness : 0.879297 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-1.02 [[ 0.94775329 -0.28490498 -0.1435021 -0.03068591] [ 0.28713828 0.95787423 -0.00534412 -0.08660175] [ 0.13897953 -0.03614004 0.98963558 -1.02260854] [ 0. 0. 0. 1. ]] SLAMing on 105.90134618399999 meters Centerline goodness : 0.878736 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-1.02 [[ 0.94796474 -0.28435878 -0.14318845 -0.0307325 ] [ 0.28652155 0.9580567 -0.00572329 -0.08606632] [ 0.13881012 -0.0356011 0.98967889 -1.02351455] [ 0. 0. 0. 1. ]] SLAMing on 105.93134618399999 meters Centerline goodness : 0.878875 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-1.02 [[ 0.9481663 -0.28352477 -0.14350742 -0.03135764] [ 0.28569145 0.95830462 -0.00571461 -0.08504984] [ 0.13914406 -0.03558044 0.98963274 -1.02251705] [ 0. 0. 0. 1. ]] SLAMing on 105.96134618399999 meters Centerline goodness : 0.878660 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.08, Z:-1.02 [[ 0.9487024 -0.28729951 -0.13199525 -0.02907775] [ 0.28891044 0.95732907 -0.00719829 -0.07822203] [ 0.12843095 -0.03130577 0.99122421 -1.02391646] [ 0. 0. 0. 1. ]] SLAMing on 105.991346184 meters Centerline goodness : 0.879467 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.08, Z:-1.03 [[ 0.94957682 -0.2841062 -0.13261799 -0.02835415] [ 0.28594329 0.9582314 -0.00538659 -0.07730189] [ 0.12860908 -0.03280624 0.99115259 -1.02506912] [ 0. 0. 0. 1. ]] SLAMing on 106.021346184 meters Centerline goodness : 0.877492 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.08, Z:-1.02 [[ 0.9498634 -0.28318364 -0.13253887 -0.02897918] [ 0.28497346 0.95851866 -0.00566586 -0.07709685] [ 0.12864546 -0.03238827 0.99116161 -1.02471148] [ 0. 0. 0. 1. ]] SLAMing on 106.051346184 meters Centerline goodness : 0.879588 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.08, Z:-1.02 [[ 0.95013872 -0.28229192 -0.13246765 -0.02909157] [ 0.28404935 0.95879191 -0.00583483 -0.07753167] [ 0.12865604 -0.03208345 0.99117016 -1.02472278] [ 0. 0. 0. 1. ]] SLAMing on 106.081346184 meters Centerline goodness : 0.880264 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.08, Z:-1.03 [[ 0.95022607 -0.28220426 -0.13202718 -0.02847678] [ 0.2838089 0.95885606 -0.00689741 -0.07867143] [ 0.12854154 -0.03091639 0.9912221 -1.02557203] [ 0. 0. 0. 1. ]] SLAMing on 106.111346184 meters Centerline goodness : 0.879504 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.08, Z:-1.03 [[ 0.95019053 -0.28232842 -0.1320175 -0.02849541] [ 0.2839052 0.95882593 -0.00711859 -0.07894235] [ 0.12859158 -0.03071643 0.99122182 -1.02526862] [ 0. 0. 0. 1. ]] SLAMing on 106.141346184 meters Centerline goodness : 0.879906 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.08, Z:-1.03 [[ 0.95011347 -0.28214212 -0.13296699 -0.02612307] [ 0.28384803 0.95884829 -0.00634485 -0.07907022] [ 0.12928532 -0.03171409 0.99110016 -1.02569057] [ 0. 0. 0. 1. ]] SLAMing on 106.171346184 meters Centerline goodness : 0.876864 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.08, Z:-1.03 [[ 0.94936393 -0.28538189 -0.13139748 -0.02776487] [ 0.28652619 0.95801464 -0.01052074 -0.07870578] [ 0.12888314 -0.02766081 0.99127394 -1.02502939] [ 0. 0. 0. 1. ]] SLAMing on 106.201346184 meters Centerline goodness : 0.878092 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.08, Z:-1.03 [[ 0.94898668 -0.28629866 -0.13212633 -0.02567553] [ 0.28748496 0.95772845 -0.01042168 -0.07850882] [ 0.12952486 -0.0280943 0.9911781 -1.02523872] [ 0. 0. 0. 1. ]] SLAMing on 106.23134618399999 meters Centerline goodness : 0.876900 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:-1.02 [[ 0.94849033 -0.28742944 -0.13323069 -0.02361796] [ 0.28866223 0.95737462 -0.01039044 -0.07754043] [ 0.1305382 -0.02860344 0.99103059 -1.02471039] [ 0. 0. 0. 1. ]] SLAMing on 106.26134618399999 meters Centerline goodness : 0.875117 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:-1.02 [[ 0.94812875 -0.28814261 -0.13425985 -0.02143582] [ 0.28940833 0.95714901 -0.01042047 -0.07654082] [ 0.13150927 -0.02897597 0.99089137 -1.02449483] [ 0. 0. 0. 1. ]] SLAMing on 106.29134618399999 meters Centerline goodness : 0.871969 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:-1.03 [[ 0.9471288 -0.29130891 -0.13448481 -0.01933275] [ 0.29235667 0.9562298 -0.01233475 -0.07473956] [ 0.13219161 -0.02763494 0.99083888 -1.02507858] [ 0. 0. 0. 1. ]] SLAMing on 106.32134618399999 meters Centerline goodness : 0.871545 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:-1.03 [[ 0.94656047 -0.29308379 -0.13462977 -0.01756809] [ 0.29397437 0.95571556 -0.01366873 -0.07457713] [ 0.13267385 -0.02663942 0.99080169 -1.02545631] [ 0. 0. 0. 1. ]] SLAMing on 106.351346184 meters Centerline goodness : 0.870174 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:-1.03 [[ 0.94614176 -0.29442925 -0.13463725 -0.01576907] [ 0.29520207 0.95532258 -0.01464605 -0.07539392] [ 0.13293423 -0.02588796 0.99078671 -1.02607173] [ 0. 0. 0. 1. ]] SLAMing on 106.381346184 meters Centerline goodness : 0.868954 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.08, Z:-1.03 [[ 0.94539204 -0.29628552 -0.13582628 -0.01208161] [ 0.29714716 0.95472373 -0.01435848 -0.07562729] [ 0.13393078 -0.026786 0.99062862 -1.0267309 ] [ 0. 0. 0. 1. ]] SLAMing on 106.411346184 meters Centerline goodness : 0.868366 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:-1.03 [[ 0.94511204 -0.29633411 -0.13765652 -0.00964705] [ 0.29743468 0.95465387 -0.01298456 -0.07478753] [ 0.1352621 -0.02867196 0.99039491 -1.02557086] [ 0. 0. 0. 1. ]] SLAMing on 106.441346184 meters Centerline goodness : 0.869331 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:-1.02 [[ 0.94507603 -0.29583802 -0.13896461 -0.00853303] [ 0.29715036 0.95475915 -0.01168906 -0.07402575] [ 0.13613581 -0.03024633 0.99022836 -1.02435547] [ 0. 0. 0. 1. ]] SLAMing on 106.471346184 meters Centerline goodness : 0.868474 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:-1.02 [[ 0.9452191 -0.29456871 -0.14067741 -0.00538522] [ 0.29617869 0.95508192 -0.00983453 -0.07307462] [ 0.1372554 -0.03236986 0.99000664 -1.02493342] [ 0. 0. 0. 1. ]] SLAMing on 106.501346184 meters Centerline goodness : 0.867744 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:-1.03 [[ 0.94578662 -0.29354638 -0.13898991 -0.00568256] [ 0.29487047 0.95546877 -0.0114386 -0.07424872] [ 0.13615828 -0.03016554 0.99022773 -1.02776559] [ 0. 0. 0. 1. ]] SLAMing on 106.531346184 meters Centerline goodness : 0.866679 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.07, Z:-1.03 [[ 0.94589359 -0.29294155 -0.13953696 -0.00262413] [ 0.29429187 0.95564848 -0.01132572 -0.0749605 ] [ 0.13666606 -0.03035167 0.99015209 -1.02975608] [ 0. 0. 0. 1. ]] SLAMing on 106.561346184 meters Centerline goodness : 0.867938 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.08, Z:-1.03 [[ 0.94594694 -0.29289618 -0.1392703 -0.00263791] [ 0.29421187 0.95567087 -0.0115138 -0.07573548] [ 0.13646892 -0.03008353 0.99018746 -1.02989388] [ 0. 0. 0. 1. ]] SLAMing on 106.59134618399999 meters Centerline goodness : 0.868386 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:-1.03 [[ 9.45892732e-01 -2.92451614e-01 -1.40566685e-01 6.17838258e-05] [ 2.93989100e-01 9.55754645e-01 -1.01719378e-02 -7.59421895e-02] [ 1.37322062e-01 -3.17035111e-02 9.90018959e-01 -1.03009016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62134618399999 meters Centerline goodness : 0.867794 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:-1.03 [[ 9.45398820e-01 -2.93758668e-01 -1.41162728e-01 9.29256413e-04] [ 2.95427371e-01 9.55318298e-01 -9.46668519e-03 -7.61076815e-02] [ 1.37636258e-01 -3.27535405e-02 9.89941143e-01 -1.02912439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65134618399999 meters Centerline goodness : 0.866751 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:-1.03 [[ 0.94512369 -0.2945485 -0.14135911 0.00202501] [ 0.29613781 0.95509136 -0.01014343 -0.07628267] [ 0.1379986 -0.03227498 0.98990642 -1.02914434] [ 0. 0. 0. 1. ]] SLAMing on 106.68134618399999 meters Centerline goodness : 0.868309 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:-1.03 [[ 0.94500428 -0.29477933 -0.1416759 0.00316607] [ 0.2963877 0.95501431 -0.01009934 -0.07715531] [ 0.13827959 -0.03244707 0.98986158 -1.0290794 ] [ 0. 0. 0. 1. ]] SLAMing on 106.71134618399999 meters Centerline goodness : 0.868990 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:-1.03 [[ 0.94475529 -0.29500705 -0.14285758 0.00391907] [ 0.29694579 0.95486044 -0.0080462 -0.07807549] [ 0.13878274 -0.03481927 0.98971055 -1.0273243 ] [ 0. 0. 0. 1. ]] SLAMing on 106.741346184 meters Centerline goodness : 0.869836 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:-1.03 [[ 0.94455921 -0.29551889 -0.14309606 0.00342684] [ 0.29746634 0.95469808 -0.00808369 -0.07791428] [ 0.13900242 -0.03493073 0.98967579 -1.02588794] [ 0. 0. 0. 1. ]] SLAMing on 106.771346184 meters Centerline goodness : 0.870478 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-1.03 [[ 0.94448089 -0.29537796 -0.14390173 0.00606389] [ 0.29736908 0.95472936 -0.00796793 -0.07792566] [ 0.13974075 -0.03526637 0.9895599 -1.02670779] [ 0. 0. 0. 1. ]] SLAMing on 106.801346184 meters Centerline goodness : 0.867591 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-1.03 [[ 0.94395119 -0.29838625 -0.14114456 0.00625693] [ 0.29961191 0.95397274 -0.01298905 -0.07915967] [ 0.13852382 -0.03002756 0.98990378 -1.03021565] [ 0. 0. 0. 1. ]] SLAMing on 106.831346184 meters Centerline goodness : 0.868640 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-1.03 [[ 0.94332695 -0.30091426 -0.13994599 0.00697214] [ 0.30160599 0.95328551 -0.01675035 -0.0790936 ] [ 0.1384489 -0.02640749 0.99001745 -1.03159979] [ 0. 0. 0. 1. ]] SLAMing on 106.861346184 meters Centerline goodness : 0.865871 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-1.03 [[ 0.94295642 -0.30150352 -0.14116944 0.01145325] [ 0.30223932 0.95308546 -0.0167183 -0.07867383] [ 0.13958717 -0.02690233 0.98984427 -1.03328056] [ 0. 0. 0. 1. ]] SLAMing on 106.891346184 meters Centerline goodness : 0.868767 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-1.03 [[ 0.94273732 -0.30156535 -0.14249449 0.01491494] [ 0.30246265 0.95302952 -0.01584521 -0.07751672] [ 0.14057982 -0.02816139 0.98966876 -1.03429454] [ 0. 0. 0. 1. ]] SLAMing on 106.921346184 meters Centerline goodness : 0.868998 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-1.03 [[ 0.94275539 -0.30101965 -0.14352509 0.01455734] [ 0.30218871 0.95314371 -0.01410865 -0.07657287] [ 0.14104702 -0.03007066 0.98954611 -1.03238431] [ 0. 0. 0. 1. ]] SLAMing on 106.951346184 meters Centerline goodness : 0.868926 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-1.03 [[ 0.94267647 -0.30066091 -0.14478981 0.01670628] [ 0.30206679 0.95320211 -0.01270365 -0.07612336] [ 0.14183345 -0.03176076 0.98938088 -1.03219283] [ 0. 0. 0. 1. ]] SLAMing on 106.98134618399999 meters Centerline goodness : 0.866242 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-1.03 [[ 0.94252625 -0.30093866 -0.14519021 0.01748535] [ 0.3023328 0.95311517 -0.01289759 -0.07613356] [ 0.14226438 -0.03173945 0.98931969 -1.03164106] [ 0. 0. 0. 1. ]] SLAMing on 107.01134618399999 meters Centerline goodness : 0.864517 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-1.03 [[ 0.94231602 -0.30284501 -0.14256725 0.01557082] [ 0.30369804 0.95262941 -0.01626977 -0.07826477] [ 0.14074097 -0.02796613 0.98965139 -1.0330442 ] [ 0. 0. 0. 1. ]] SLAMing on 107.04134618399999 meters Centerline goodness : 0.868341 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-1.03 [[ 0.94212582 -0.30320244 -0.14306371 0.01790724] [ 0.30416763 0.95249061 -0.01561055 -0.0793139 ] [ 0.141 -0.02880825 0.98959036 -1.03394097] [ 0. 0. 0. 1. ]] SLAMing on 107.07134618399999 meters Centerline goodness : 0.868578 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-1.03 [[ 0.94164729 -0.30409268 -0.14431915 0.01930346] [ 0.3052672 0.95215663 -0.01448064 -0.0791188 ] [ 0.1418179 -0.03042025 0.98942523 -1.03231497] [ 0. 0. 0. 1. ]] SLAMing on 107.101346184 meters Centerline goodness : 0.869469 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-1.03 [[ 0.94116946 -0.30441465 -0.14673708 0.02238017] [ 0.30608753 0.95193271 -0.01159911 -0.07883899] [ 0.14321477 -0.03399766 0.98910752 -1.03052145] [ 0. 0. 0. 1. ]] SLAMing on 107.131346184 meters Centerline goodness : 0.870199 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-1.03 [[ 0.94036457 -0.30722321 -0.14604236 0.0236964 ] [ 0.3086618 0.95107919 -0.01327679 -0.079739 ] [ 0.14297679 -0.03259267 0.98918924 -1.03142055] [ 0. 0. 0. 1. ]] SLAMing on 107.161346184 meters Centerline goodness : 0.869491 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:-1.03 [[ 0.93972944 -0.30980248 -0.1446755 0.02538213] [ 0.31067484 0.95036238 -0.01710263 -0.08024105] [ 0.14279259 -0.02887519 0.98933134 -1.03382123] [ 0. 0. 0. 1. ]] SLAMing on 107.191346184 meters Centerline goodness : 0.869493 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:-1.04 [[ 0.93913207 -0.31204013 -0.14374251 0.0283498 ] [ 0.31245622 0.94971614 -0.02025766 -0.080494 ] [ 0.14283578 -0.02588862 0.98940776 -1.03700614] [ 0. 0. 0. 1. ]] SLAMing on 107.221346184 meters Centerline goodness : 0.870491 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:-1.04 [[ 0.9382043 -0.31490116 -0.14356168 0.03139598] [ 0.31507395 0.94880903 -0.0221321 -0.0799079 ] [ 0.14318204 -0.02446812 0.98939386 -1.0389215 ] [ 0. 0. 0. 1. ]] SLAMing on 107.251346184 meters Centerline goodness : 0.871286 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-1.04 [[ 0.93802408 -0.31419154 -0.14626862 0.035064 ] [ 0.31493235 0.94893035 -0.01867633 -0.07875152] [ 0.14466668 -0.02854588 0.9890686 -1.03803815] [ 0. 0. 0. 1. ]] SLAMing on 107.281346184 meters Centerline goodness : 0.867954 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-1.04 [[ 0.93842879 -0.31134561 -0.14971749 0.03913517] [ 0.31290798 0.94968583 -0.01361665 -0.07528546] [ 0.14642407 -0.03406954 0.98863505 -1.03777094] [ 0. 0. 0. 1. ]] SLAMing on 107.311346184 meters Centerline goodness : 0.867522 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-1.04 [[ 0.93884509 -0.31039677 -0.14907633 0.03894299] [ 0.31178631 0.95004069 -0.01455975 -0.0747724 ] [ 0.14614788 -0.03281061 0.98871849 -1.03901526] [ 0. 0. 0. 1. ]] SLAMing on 107.34134618399999 meters Centerline goodness : 0.867320 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-1.04 [[ 0.93926207 -0.30947992 -0.14835409 0.03938248] [ 0.31072875 0.95037584 -0.01527773 -0.0750821 ] [ 0.1457203 -0.03174809 0.98881629 -1.04096832] [ 0. 0. 0. 1. ]] SLAMing on 107.37134618399999 meters Centerline goodness : 0.868658 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-1.04 [[ 0.93967688 -0.3081719 -0.14845012 0.04142538] [ 0.30945644 0.95079607 -0.01495165 -0.07495618] [ 0.14575347 -0.03188913 0.98880686 -1.04334505] [ 0. 0. 0. 1. ]] SLAMing on 107.40134618399999 meters Centerline goodness : 0.867625 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-1.04 [[ 0.94022035 -0.31173209 -0.13714516 0.04448643] [ 0.31256567 0.94976184 -0.01597315 -0.06698276] [ 0.13523458 -0.02784858 0.99042216 -1.04487473] [ 0. 0. 0. 1. ]] SLAMing on 107.43134618399999 meters Centerline goodness : 0.867625 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-1.04 [[ 0.94022035 -0.31173209 -0.13714516 0.04448643] [ 0.31256567 0.94976184 -0.01597315 -0.06698276] [ 0.13523458 -0.02784858 0.99042216 -1.04487473] [ 0. 0. 0. 1. ]] SLAMing on 107.46134618399999 meters Centerline goodness : 0.866977 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.07, Z:-1.05 [[ 0.94056404 -0.3096237 -0.13954374 0.04895803] [ 0.31092265 0.95034697 -0.01295136 -0.06545544] [ 0.13662502 -0.03120573 0.99013121 -1.04597178] [ 0. 0. 0. 1. ]] SLAMing on 107.491346184 meters Centerline goodness : 0.866294 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:-1.05 [[ 0.94090648 -0.30850302 -0.13971712 0.04982111] [ 0.30986677 0.95069863 -0.01243761 -0.06456185] [ 0.13666592 -0.03159106 0.99011334 -1.04712342] [ 0. 0. 0. 1. ]] SLAMing on 107.521346184 meters Centerline goodness : 0.865593 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:-1.05 [[ 0.94156176 -0.30616919 -0.14043458 0.05209339] [ 0.30769552 0.9514183 -0.01125534 -0.06193425] [ 0.13705807 -0.03261349 0.99002598 -1.04963533] [ 0. 0. 0. 1. ]] SLAMing on 107.551346184 meters Centerline goodness : 0.866419 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:-1.05 [[ 0.94164957 -0.30574915 -0.1407606 0.05249204] [ 0.30723997 0.95156189 -0.01155752 -0.05993438] [ 0.13747612 -0.03236415 0.9899762 -1.049732 ] [ 0. 0. 0. 1. ]] SLAMing on 107.581346184 meters Centerline goodness : 0.863409 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:-1.05 [[ 0.94174741 -0.30527854 -0.14112699 0.0544113 ] [ 0.30676658 0.95171374 -0.01162887 -0.05792254] [ 0.13786254 -0.03234158 0.9899232 -1.05152788] [ 0. 0. 0. 1. ]] SLAMing on 107.611346184 meters Centerline goodness : 0.866703 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.06, Z:-1.05 [[ 0.94157653 -0.30549467 -0.14179791 0.05625741] [ 0.3070976 0.95161465 -0.01098264 -0.05503565] [ 0.13829211 -0.0332048 0.9898347 -1.05262197] [ 0. 0. 0. 1. ]] SLAMing on 107.641346184 meters Centerline goodness : 0.865162 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.05, Z:-1.05 [[ 0.94132963 -0.30575895 -0.14286355 0.05637866] [ 0.30753017 0.9514851 -0.01006427 -0.05340862] [ 0.13900978 -0.03446106 0.98969122 -1.05063565] [ 0. 0. 0. 1. ]] SLAMing on 107.671346184 meters Centerline goodness : 0.864222 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.05, Z:-1.05 [[ 0.94095448 -0.30610844 -0.14457624 0.0588726 ] [ 0.30811832 0.95130699 -0.00883818 -0.05120127] [ 0.14024183 -0.03623026 0.98945419 -1.05005137] [ 0. 0. 0. 1. ]] SLAMing on 107.701346184 meters Centerline goodness : 0.863070 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.05, Z:-1.05 [[ 0.94063368 -0.30709828 -0.14456458 0.05939655] [ 0.30897037 0.95102031 -0.00988327 -0.05036236] [ 0.14051899 -0.03536964 0.98944601 -1.04996261] [ 0. 0. 0. 1. ]] SLAMing on 107.73134618399999 meters Centerline goodness : 0.866156 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.05, Z:-1.05 [[ 0.94024671 -0.3083265 -0.14446763 0.06033938] [ 0.31014243 0.95063377 -0.01034958 -0.04969547] [ 0.14052686 -0.03507439 0.9894554 -1.05026532] [ 0. 0. 0. 1. ]] SLAMing on 107.76134618399999 meters Centerline goodness : 0.866427 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.05, Z:-1.05 [[ 0.93996043 -0.30826745 -0.14644304 0.06273912] [ 0.31048432 0.95054441 -0.00805042 -0.04817261] [ 0.1416823 -0.03790119 0.98918635 -1.04923773] [ 0. 0. 0. 1. ]] SLAMing on 107.79134618399999 meters Centerline goodness : 0.865085 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.05, Z:-1.05 [[ 0.93962323 -0.3087891 -0.14750417 0.06302644] [ 0.31114027 0.95033483 -0.00744663 -0.04615058] [ 0.14247779 -0.03889746 0.9890334 -1.04745936] [ 0. 0. 0. 1. ]] SLAMing on 107.82134618399999 meters Centerline goodness : 0.863226 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.04, Z:-1.05 [[ 0.93932759 -0.30956567 -0.14775916 0.06525644] [ 0.31165688 0.95014845 -0.00937625 -0.0427043 ] [ 0.14329571 -0.03724279 0.98897893 -1.04916158] [ 0. 0. 0. 1. ]] SLAMing on 107.851346184 meters Centerline goodness : 0.863141 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.04, Z:-1.05 [[ 0.93946057 -0.31003821 -0.14591146 0.06509178] [ 0.31157664 0.95013513 -0.0127764 -0.04182305] [ 0.14259677 -0.03345968 0.98921515 -1.05189234] [ 0. 0. 0. 1. ]] SLAMing on 107.881346184 meters Centerline goodness : 0.862536 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.04, Z:-1.06 [[ 0.9395551 -0.30980456 -0.14579903 0.06816628] [ 0.31119824 0.95024576 -0.01373518 -0.04116547] [ 0.14280013 -0.03246744 0.98921888 -1.05508285] [ 0. 0. 0. 1. ]] SLAMing on 107.911346184 meters Centerline goodness : 0.862867 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.04, Z:-1.06 [[ 0.93955857 -0.30980015 -0.14578597 0.06854335] [ 0.31109102 0.95027036 -0.01444356 -0.0400045 ] [ 0.14301071 -0.03178214 0.98921071 -1.05551438] [ 0. 0. 0. 1. ]] SLAMing on 107.941346184 meters Centerline goodness : 0.864276 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.04, Z:-1.05 [[ 0.94014537 -0.30596533 -0.15003967 0.0722077 ] [ 0.30841533 0.95122424 -0.00724071 -0.03602584] [ 0.14493677 -0.03946721 0.98865346 -1.054266 ] [ 0. 0. 0. 1. ]] SLAMing on 107.971346184 meters Centerline goodness : 0.865746 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:-1.05 [[ 0.94060056 -0.30359834 -0.15198237 0.07323692] [ 0.30654386 0.95184711 -0.00423654 -0.03415046] [ 0.14595018 -0.04260437 0.98837413 -1.05306079] [ 0. 0. 0. 1. ]] SLAMing on 108.001346184 meters Centerline goodness : 0.866555 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:-1.06 [[ 0.94147773 -0.30700937 -0.13915792 0.07407789] [ 0.30980061 0.95080006 -0.00168266 -0.02934673] [ 0.13282795 -0.04152702 0.99026877 -1.05952218] [ 0. 0. 0. 1. ]] SLAMing on 108.031346184 meters Centerline goodness : 0.864763 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-1.06 [[ 9.42367432e-01 -3.04306418e-01 -1.39072740e-01 7.57537203e-02] [ 3.07221240e-01 9.51637969e-01 -5.33896990e-04 -3.02603222e-02] [ 1.32509368e-01 -4.22229725e-02 9.90282024e-01 -1.06212627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061346184 meters Centerline goodness : 0.865375 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-1.06 [[ 0.9425518 -0.30393714 -0.13863015 0.0751447 ] [ 0.30675773 0.95178703 -0.00107033 -0.03017242] [ 0.13227169 -0.04151703 0.99034365 -1.06212792] [ 0. 0. 0. 1. ]] SLAMing on 108.09134618399999 meters Centerline goodness : 0.865781 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-1.06 [[ 9.42646835e-01 -3.03394198e-01 -1.39172215e-01 7.52890077e-02] [ 3.06310487e-01 9.51931535e-01 -4.87839657e-04 -2.93617504e-02] [ 1.32630428e-01 -4.21700485e-02 9.90268073e-01 -1.06134204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12134618399999 meters Centerline goodness : 0.866361 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-1.06 [[ 0.94273872 -0.30200692 -0.14154691 0.07754931] [ 0.30546976 0.95219742 0.00288218 -0.02803137] [ 0.13391016 -0.04595545 0.98992735 -1.06006756] [ 0. 0. 0. 1. ]] SLAMing on 108.15134618399999 meters Centerline goodness : 0.863112 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-1.06 [[ 0.94256558 -0.3004292 -0.14598774 0.08161764] [ 0.30470102 0.95242006 0.00730131 -0.02200833] [ 0.13684812 -0.05136457 0.98925946 -1.05800576] [ 0. 0. 0. 1. ]] SLAMing on 108.18134618399999 meters Centerline goodness : 0.864588 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-1.06 [[ 0.94238171 -0.3010907 -0.14581188 0.08208035] [ 0.30509436 0.95230693 0.0053808 -0.01893294] [ 0.13723755 -0.04955715 0.9892977 -1.05884057] [ 0. 0. 0. 1. ]] SLAMing on 108.21134618399999 meters Centerline goodness : 0.861932 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-1.06 [[ 9.42188532e-01 -3.02622041e-01 -1.43877277e-01 8.20735383e-02] [ 3.05927805e-01 9.52054291e-01 8.96995742e-04 -1.64438768e-02] [ 1.36707528e-01 -4.48611987e-02 9.89595132e-01 -1.06180399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.241346184 meters Centerline goodness : 0.861889 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-1.07 [[ 0.94187249 -0.3050675 -0.14074812 0.08152464] [ 0.30738763 0.95156855 -0.00548983 -0.01353731] [ 0.13560625 -0.03809351 0.99003022 -1.06598939] [ 0. 0. 0. 1. ]] SLAMing on 108.271346184 meters Centerline goodness : 0.862266 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-1.07 [[ 0.94178885 -0.30417543 -0.14321686 0.08550951] [ 0.30697049 0.9517152 -0.00270215 -0.01157211] [ 0.13712359 -0.0414185 0.98968764 -1.06625844] [ 0. 0. 0. 1. ]] SLAMing on 108.301346184 meters Centerline goodness : 0.862145 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-1.06 [[ 9.41530302e-01 -3.03762028e-01 -1.45771468e-01 8.66803451e-02] [ 3.07100609e-01 9.51676962e-01 4.19870975e-04 -8.47069252e-03] [ 1.38599807e-01 -4.51618279e-02 9.89318201e-01 -1.06354951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.331346184 meters Centerline goodness : 0.862740 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.00, Z:-1.06 [[ 0.94182347 -0.30051604 -0.15052796 0.09097645] [ 0.30505475 0.95230551 0.00747132 -0.00410691] [ 0.14110336 -0.05295593 0.98857752 -1.06177652] [ 0. 0. 0. 1. ]] SLAMing on 108.361346184 meters Centerline goodness : 0.862003 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.00, Z:-1.06 [[ 0.94168829 -0.30094405 -0.15051859 0.09079121] [ 0.30536365 0.95221288 0.00660769 -0.00215349] [ 0.14133719 -0.05218529 0.9885851 -1.06147633] [ 0. 0. 0. 1. ]] SLAMing on 108.391346184 meters Centerline goodness : 0.860382 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.00, Z:-1.06 [[ 9.41593691e-01 -3.01245189e-01 -1.50507999e-01 9.28958370e-02] [ 3.05558307e-01 9.52155434e-01 5.84374316e-03 -6.45221593e-04] [ 1.41546609e-01 -5.14914010e-02 9.88591520e-01 -1.06367982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421346184 meters Centerline goodness : 0.858877 Centerline is valid? [False, False] Translation: X:0.09, Y:0.00, Z:-1.07 [[ 9.41496546e-01 -3.02526492e-01 -1.48532742e-01 9.36384463e-02] [ 3.06257445e-01 9.51945785e-01 2.36653787e-03 9.43046661e-04] [ 1.40679177e-01 -4.77173454e-02 9.88904659e-01 -1.06757751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.451346184 meters Centerline goodness : 0.861410 Centerline is valid? [False, False] Translation: X:0.09, Y:0.00, Z:-1.07 [[ 0.94140538 -0.30282647 -0.14849928 0.09362636] [ 0.30648006 0.95187536 0.0018109 0.00179044] [ 0.14080442 -0.04721686 0.98891086 -1.06730905] [ 0. 0. 0. 1. ]] SLAMing on 108.48134618399999 meters Centerline goodness : 0.861205 Centerline is valid? [False, False] Translation: X:0.09, Y:0.00, Z:-1.06 [[ 0.9415254 -0.30086368 -0.15169365 0.09351439] [ 0.30536077 0.95221306 0.00671482 0.00487099] [ 0.14242443 -0.05264347 0.98840475 -1.06304274] [ 0. 0. 0. 1. ]] SLAMing on 108.51134618399999 meters Centerline goodness : 0.861833 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-1.06 [[ 0.94179416 -0.29839348 -0.15487117 0.0975044 ] [ 0.30372113 0.95269277 0.01139966 0.00656483] [ 0.14414307 -0.05777378 0.9878689 -1.06301676] [ 0. 0. 0. 1. ]] SLAMing on 108.54134618399999 meters Centerline goodness : 0.861540 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-1.06 [[ 0.94185081 -0.29807091 -0.15514761 0.09711338] [ 0.30338941 0.95280023 0.01125076 0.00792615] [ 0.14447116 -0.05766668 0.98782723 -1.06221595] [ 0. 0. 0. 1. ]] SLAMing on 108.57134618399999 meters Centerline goodness : 0.860882 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-1.07 [[ 0.94334435 -0.29725781 -0.14744227 0.08933883] [ 0.30173851 0.95335293 0.00848953 0.00621207] [ 0.13804094 -0.05249756 0.98903423 -1.06597266] [ 0. 0. 0. 1. ]] SLAMing on 108.601346184 meters Centerline goodness : 0.859743 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-1.07 [[ 0.94347338 -0.29717463 -0.14678292 0.08989659] [ 0.30137449 0.95348209 0.0067319 0.00664164] [ 0.13795434 -0.05058799 0.98914582 -1.06733784] [ 0. 0. 0. 1. ]] SLAMing on 108.631346184 meters Centerline goodness : 0.862363 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-1.07 [[ 0.94389974 -0.29712993 -0.1441079 0.08685265] [ 0.30112667 0.95356365 0.00625282 0.00790182] [ 0.13555816 -0.04929677 0.98954222 -1.06869145] [ 0. 0. 0. 1. ]] SLAMing on 108.661346184 meters Centerline goodness : 0.859134 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-1.07 [[ 0.94386194 -0.29722396 -0.14416158 0.0867936 ] [ 0.30112901 0.95356722 0.00555755 0.01044023] [ 0.13581592 -0.04865679 0.98953856 -1.06835532] [ 0. 0. 0. 1. ]] SLAMing on 108.691346184 meters Centerline goodness : 0.859153 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-1.07 [[ 0.94416227 -0.29737885 -0.14185705 0.08212728] [ 0.30108868 0.95358334 0.00494195 0.01181987] [ 0.13380289 -0.04737756 0.98987482 -1.0673516 ] [ 0. 0. 0. 1. ]] SLAMing on 108.721346184 meters Centerline goodness : 0.859515 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-1.07 [[ 0.94411267 -0.29755213 -0.14182384 0.0818061 ] [ 0.30117751 0.95355832 0.00431658 0.01258113] [ 0.1339529 -0.04678949 0.9898825 -1.06629031] [ 0. 0. 0. 1. ]] SLAMing on 108.751346184 meters Centerline goodness : 0.860019 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-1.07 [[ 0.94406834 -0.29766796 -0.14187582 0.08156337] [ 0.30122626 0.95354514 0.00379446 0.01331584] [ 0.13415551 -0.04631895 0.98987719 -1.06534352] [ 0. 0. 0. 1. ]] SLAMing on 108.781346184 meters Centerline goodness : 0.863324 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-1.06 [[ 0.94416456 -0.29808561 -0.14035049 0.07889449] [ 0.30150832 0.95345788 0.00328745 0.01246889] [ 0.13283834 -0.04542073 0.99009643 -1.06437768] [ 0. 0. 0. 1. ]] SLAMing on 108.811346184 meters Centerline goodness : 0.861422 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-1.06 [[ 0.9441541 -0.29811199 -0.1403648 0.07929903] [ 0.30153374 0.95344989 0.00327341 0.01167599] [ 0.13285496 -0.04541532 0.99009444 -1.06428796] [ 0. 0. 0. 1. ]] SLAMing on 108.84134618399999 meters Centerline goodness : 0.863863 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-1.06 [[ 0.94409252 -0.29829819 -0.14038344 0.07930132] [ 0.30168107 0.9534043 0.00296373 0.01186694] [ 0.13295809 -0.04514906 0.99009278 -1.06389096] [ 0. 0. 0. 1. ]] SLAMing on 108.87134618399999 meters Centerline goodness : 0.862519 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-1.06 [[ 0.94387746 -0.2992614 -0.13977821 0.07654576] [ 0.30242932 0.95317064 0.00149546 0.0148499 ] [ 0.13278496 -0.04368457 0.99018171 -1.06155106] [ 0. 0. 0. 1. ]] SLAMing on 108.90134618399999 meters Centerline goodness : 0.864403 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-1.06 [[ 0.94381932 -0.29950922 -0.13963996 0.07610301] [ 0.30262357 0.9531095 0.00112357 0.01498602] [ 0.13275565 -0.04331879 0.99020171 -1.06087991] [ 0. 0. 0. 1. ]] SLAMing on 108.93134618399999 meters Centerline goodness : 0.861465 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-1.06 [[ 9.43690924e-01 -3.00320383e-01 -1.38762777e-01 7.50336515e-02] [ 3.03296907e-01 9.52896051e-01 3.20197592e-04 1.34256354e-02] [ 1.32130341e-01 -4.23884887e-02 9.90325598e-01 -1.06014198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96134618399999 meters Centerline goodness : 0.862221 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-1.06 [[ 9.43647149e-01 -3.00538228e-01 -1.38588714e-01 7.52632574e-02] [ 3.03497676e-01 9.52832150e-01 2.32565032e-04 1.17367298e-02] [ 1.31981888e-01 -4.22808120e-02 9.90349996e-01 -1.05998070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.991346184 meters Centerline goodness : 0.862063 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-1.06 [[ 0.94489144 -0.29884359 -0.1336887 0.05346319] [ 0.3007429 0.95368489 -0.00623257 0.0076823 ] [ 0.12935946 -0.03431683 0.99100378 -1.05875915] [ 0. 0. 0. 1. ]] SLAMing on 109.021346184 meters Centerline goodness : 0.865169 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-1.06 [[ 0.94480663 -0.29919119 -0.13351057 0.05260497] [ 0.30098445 0.95360319 -0.0070224 0.00892903] [ 0.12941714 -0.0335498 0.99102251 -1.05758438] [ 0. 0. 0. 1. ]] SLAMing on 109.051346184 meters Centerline goodness : 0.865382 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-1.06 [[ 0.94479949 -0.29917353 -0.1336006 0.05297147] [ 0.30092995 0.9536181 -0.0073266 0.0098189 ] [ 0.12959587 -0.03328225 0.99100817 -1.05745939] [ 0. 0. 0. 1. ]] SLAMing on 109.081346184 meters Centerline goodness : 0.863314 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-1.06 [[ 0.94487368 -0.29883402 -0.13383556 0.05412236] [ 0.30057093 0.95372988 -0.00751201 0.01111035] [ 0.12988782 -0.03312918 0.99097508 -1.05775674] [ 0. 0. 0. 1. ]] SLAMing on 109.111346184 meters Centerline goodness : 0.863055 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-1.06 [[ 0.94489342 -0.29866631 -0.13407038 0.05509158] [ 0.30038866 0.95378604 -0.00767125 0.01204772] [ 0.1301656 -0.03302471 0.99094212 -1.05810311] [ 0. 0. 0. 1. ]] SLAMing on 109.141346184 meters Centerline goodness : 0.864237 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-1.06 [[ 0.9448411 -0.2984912 -0.13482694 0.05708831] [ 0.30021184 0.95384013 -0.00786491 0.01335387] [ 0.13095095 -0.03304555 0.99083795 -1.05852203] [ 0. 0. 0. 1. ]] SLAMing on 109.171346184 meters Centerline goodness : 0.867370 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-1.06 [[ 0.94472521 -0.29904677 -0.13440725 0.05563845] [ 0.30063923 0.95369762 -0.00876986 0.01463988] [ 0.13080647 -0.03212298 0.99088737 -1.05727027] [ 0. 0. 0. 1. ]] SLAMing on 109.201346184 meters Centerline goodness : 0.865849 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-1.06 [[ 0.9446624 -0.2993525 -0.13416791 0.0548632 ] [ 0.30087109 0.95361954 -0.00929279 0.01455214] [ 0.13072696 -0.0315887 0.99091504 -1.0561801 ] [ 0. 0. 0. 1. ]] SLAMing on 109.23134618399999 meters Centerline goodness : 0.866105 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-1.06 [[ 0.94459915 -0.29963732 -0.13397732 0.0542095 ] [ 0.30109316 0.95354496 -0.00974284 0.01415353] [ 0.13067271 -0.03113657 0.9909365 -1.05511594] [ 0. 0. 0. 1. ]] SLAMing on 109.26134618399999 meters Centerline goodness : 0.866944 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-1.05 [[ 0.94451018 -0.29998244 -0.13383217 0.05344251] [ 0.30136465 0.95345343 -0.01029124 0.01441722] [ 0.13068993 -0.03061211 0.99095057 -1.05396726] [ 0. 0. 0. 1. ]] SLAMing on 109.29134618399999 meters Centerline goodness : 0.866282 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-1.05 [[ 0.94586575 -0.29807313 -0.1284149 0.02826478] [ 0.29882241 0.95420829 -0.01384554 0.00815565] [ 0.12666155 -0.02527723 0.99162388 -1.05388514] [ 0. 0. 0. 1. ]] SLAMing on 109.32134618399999 meters Centerline goodness : 0.864207 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-1.05 [[ 0.94585847 -0.29803975 -0.12854591 0.02883444] [ 0.29878439 0.95421932 -0.01390589 0.00755785] [ 0.1268055 -0.02525451 0.99160606 -1.05370549] [ 0. 0. 0. 1. ]] SLAMing on 109.351346184 meters Centerline goodness : 0.864207 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-1.05 [[ 0.94585847 -0.29803975 -0.12854591 0.02883444] [ 0.29878439 0.95421932 -0.01390589 0.00755785] [ 0.1268055 -0.02525451 0.99160606 -1.05370549] [ 0. 0. 0. 1. ]] SLAMing on 109.381346184 meters Centerline goodness : 0.863495 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-1.05 [[ 0.9459155 -0.29780521 -0.12866985 0.03008244] [ 0.29859159 0.95428424 -0.01358831 0.00600507] [ 0.12683428 -0.02556634 0.99159439 -1.05427941] [ 0. 0. 0. 1. ]] SLAMing on 109.411346184 meters Centerline goodness : 0.865878 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-1.06 [[ 0.94815136 -0.29337846 -0.12222146 0.00252597] [ 0.29270969 0.95590512 -0.02380008 -0.00455563] [ 0.12381455 -0.01320932 0.99221745 -1.05825529] [ 0. 0. 0. 1. ]] SLAMing on 109.441346184 meters Centerline goodness : 0.866033 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-1.06 [[ 0.94823709 -0.29298301 -0.12250462 0.0039641 ] [ 0.29236641 0.95602036 -0.02338726 -0.00589338] [ 0.12396898 -0.01363957 0.99219235 -1.05879175] [ 0. 0. 0. 1. ]] SLAMing on 109.471346184 meters Centerline goodness : 0.865347 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-1.06 [[ 0.94811476 -0.29271458 -0.12408292 0.00709829] [ 0.29228371 0.95607684 -0.02207502 -0.00580234] [ 0.12509449 -0.01533776 0.99202627 -1.05881337] [ 0. 0. 0. 1. ]] SLAMing on 109.501346184 meters Centerline goodness : 0.865035 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-1.06 [[ 0.94898702 -0.28958107 -0.12476551 0.00482381] [ 0.28959468 0.95697193 -0.01842948 -0.00867599] [ 0.12473391 -0.01864209 0.99201508 -1.05724263] [ 0. 0. 0. 1. ]] SLAMing on 109.531346184 meters Centerline goodness : 0.866700 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-1.06 [[ 0.94900385 -0.28947887 -0.12487464 0.00520438] [ 0.28950529 0.95700075 -0.01833733 -0.01008192] [ 0.1248134 -0.01874967 0.99200306 -1.05672433] [ 0. 0. 0. 1. ]] SLAMing on 109.561346184 meters Centerline goodness : 0.864510 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-1.06 [[ 0.94908447 -0.28914032 -0.12504618 0.00654613] [ 0.28923182 0.95709314 -0.01782377 -0.01285249] [ 0.12483441 -0.01925107 0.99199081 -1.05707141] [ 0. 0. 0. 1. ]] SLAMing on 109.59134618399999 meters Centerline goodness : 0.867073 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-1.06 [[ 0.94902979 -0.28960244 -0.12439007 0.00721225] [ 0.2895525 0.95697589 -0.01888096 -0.01559674] [ 0.12450628 -0.01809886 0.99205374 -1.05758954] [ 0. 0. 0. 1. ]] SLAMing on 109.62134618399999 meters Centerline goodness : 0.866966 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-1.06 [[ 0.9489262 -0.28942112 -0.1255965 0.00987206] [ 0.28954179 0.95700175 -0.01769737 -0.01597741] [ 0.12531807 -0.01957194 0.99192355 -1.05776353] [ 0. 0. 0. 1. ]] SLAMing on 109.65134618399999 meters Centerline goodness : 0.867031 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-1.06 [[ 0.94872459 -0.28986495 -0.12609507 0.01126809] [ 0.28997495 0.95686701 -0.01789002 -0.01610293] [ 0.1258419 -0.01959171 0.99185683 -1.05760716] [ 0. 0. 0. 1. ]] SLAMing on 109.68134618399999 meters Centerline goodness : 0.867323 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-1.06 [[ 0.94826577 -0.29141696 -0.12596895 0.01313868] [ 0.29140121 0.95641289 -0.01896617 -0.01739429] [ 0.12600539 -0.01872253 0.99185287 -1.05818427] [ 0. 0. 0. 1. ]] SLAMing on 109.71134618399999 meters Centerline goodness : 0.868670 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-1.06 [[ 0.94785143 -0.29296773 -0.12548932 0.01329671] [ 0.29267608 0.9559772 -0.02117332 -0.0177898 ] [ 0.12616803 -0.01665855 0.991869 -1.0577877 ] [ 0. 0. 0. 1. ]] SLAMing on 109.741346184 meters Centerline goodness : 0.869530 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-1.06 [[ 0.94723551 -0.29463402 -0.12623662 0.0166442 ] [ 0.29420065 0.95547899 -0.02249198 -0.01730254] [ 0.12724334 -0.0158337 0.99174514 -1.05861496] [ 0. 0. 0. 1. ]] SLAMing on 109.771346184 meters Centerline goodness : 0.867766 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-1.06 [[ 0.94654785 -0.29657763 -0.12684192 0.01988052] [ 0.29599243 0.95489182 -0.02387661 -0.0172587 ] [ 0.12820158 -0.0149439 0.99163554 -1.0593073 ] [ 0. 0. 0. 1. ]] SLAMing on 109.801346184 meters Centerline goodness : 0.869910 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-1.06 [[ 0.94567174 -0.29881072 -0.12812927 0.02112325] [ 0.29836739 0.95417165 -0.02309469 -0.01796453] [ 0.12915825 -0.0163896 0.99148854 -1.05651505] [ 0. 0. 0. 1. ]] SLAMing on 109.831346184 meters Centerline goodness : 0.872393 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-1.06 [[ 0.94531579 -0.29904386 -0.13019536 0.02374736] [ 0.29888136 0.95405366 -0.02124975 -0.01721076] [ 0.13056796 -0.01882524 0.99126062 -1.05507191] [ 0. 0. 0. 1. ]] SLAMing on 109.861346184 meters Centerline goodness : 0.871803 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-1.06 [[ 0.94499769 -0.3002145 -0.12980991 0.02457414] [ 0.2998766 0.95371005 -0.02260911 -0.01675037] [ 0.1305886 -0.0175614 0.9912811 -1.05581334] [ 0. 0. 0. 1. ]] SLAMing on 109.891346184 meters Centerline goodness : 0.873832 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-1.06 [[ 0.94498957 -0.30042931 -0.12937135 0.02536131] [ 0.29993582 0.95366374 -0.02374811 -0.01724066] [ 0.13051139 -0.01636139 0.9913118 -1.05667678] [ 0. 0. 0. 1. ]] SLAMing on 109.921346184 meters Centerline goodness : 0.873469 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-1.06 [[ 0.9449329 -0.30050953 -0.12959876 0.02716571] [ 0.29995146 0.95364564 -0.02427182 -0.01703781] [ 0.1308852 -0.0159381 0.99126941 -1.05773964] [ 0. 0. 0. 1. ]] SLAMing on 109.951346184 meters Centerline goodness : 0.871315 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-1.06 [[ 0.94435467 -0.3025415 -0.12908482 0.0272188 ] [ 0.30169148 0.95303547 -0.02656409 -0.01607754] [ 0.13105915 -0.01385787 0.99127769 -1.05742744] [ 0. 0. 0. 1. ]] SLAMing on 109.98134618399999 meters Centerline goodness : 0.870800 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-1.06 [[ 0.94399005 -0.30286149 -0.13098739 0.0313372 ] [ 0.30216581 0.95291052 -0.02563897 -0.01503709] [ 0.13258432 -0.01537698 0.99105244 -1.05786195] [ 0. 0. 0. 1. ]] SLAMing on 110.01134618399999 meters Centerline goodness : 0.871285 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-1.06 [[ 0.9436119 -0.30344177 -0.13236188 0.03353168] [ 0.30280363 0.95271401 -0.02541609 -0.01406313] [ 0.13381532 -0.01609673 0.99087555 -1.05695628] [ 0. 0. 0. 1. ]] SLAMing on 110.04134618399999 meters Centerline goodness : 0.872557 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-1.06 [[ 0.94307443 -0.30414993 -0.13454899 0.03821265] [ 0.30362658 0.95246576 -0.02489747 -0.01170866] [ 0.13572587 -0.01737248 0.99059411 -1.0577048 ] [ 0. 0. 0. 1. ]] SLAMing on 110.07134618399999 meters Centerline goodness : 0.871750 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-1.06 [[ 0.94286936 -0.30453124 -0.13512249 0.04054112] [ 0.30401573 0.95234044 -0.02494252 -0.01136571] [ 0.13627839 -0.01756183 0.99051491 -1.05862749] [ 0. 0. 0. 1. ]] SLAMing on 110.101346184 meters Centerline goodness : 0.872768 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-1.06 [[ 0.94273854 -0.30468696 -0.13568312 0.04255043] [ 0.30418988 0.95228611 -0.02489357 -0.01155223] [ 0.1367939 -0.01780531 0.9904395 -1.05919165] [ 0. 0. 0. 1. ]] SLAMing on 110.131346184 meters Centerline goodness : 0.873537 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-1.06 [[ 0.94260092 -0.30473472 -0.13652936 0.04554383] [ 0.30429213 0.95226065 -0.02461626 -0.011694 ] [ 0.13751296 -0.0183415 0.99033013 -1.06021255] [ 0. 0. 0. 1. ]] SLAMing on 110.161346184 meters Centerline goodness : 0.874591 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-1.06 [[ 0.94220761 -0.30641813 -0.1354723 0.04415946] [ 0.30575953 0.95174925 -0.02616232 -0.01432302] [ 0.13695227 -0.01677161 0.99043566 -1.05880341] [ 0. 0. 0. 1. ]] SLAMing on 110.191346184 meters Centerline goodness : 0.874028 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-1.06 [[ 0.94181926 -0.3074289 -0.13588216 0.0451662 ] [ 0.3067837 0.95141884 -0.02619071 -0.01489035] [ 0.13733263 -0.01701951 0.99037876 -1.05815207] [ 0. 0. 0. 1. ]] SLAMing on 110.221346184 meters Centerline goodness : 0.877409 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-1.06 [[ 0.94171421 -0.30740295 -0.13666666 0.04709051] [ 0.30682286 0.95141634 -0.02582005 -0.01542565] [ 0.13796406 -0.01761735 0.99028054 -1.05813978] [ 0. 0. 0. 1. ]] SLAMing on 110.251346184 meters Centerline goodness : 0.878701 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-1.06 [[ 0.94189864 -0.30711393 -0.13604408 0.04908092] [ 0.30632733 0.95153741 -0.02720511 -0.01677276] [ 0.1378061 -0.01604956 0.99032918 -1.06075409] [ 0. 0. 0. 1. ]] SLAMing on 110.281346184 meters Centerline goodness : 0.878947 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-1.06 [[ 0.94192474 -0.30684688 -0.1364653 0.05039452] [ 0.30607818 0.95162039 -0.0271068 -0.01648722] [ 0.1381808 -0.01623648 0.99027392 -1.06124508] [ 0. 0. 0. 1. ]] SLAMing on 110.311346184 meters Centerline goodness : 0.878473 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-1.06 [[ 0.94195786 -0.30608149 -0.1379475 0.05327406] [ 0.30554635 0.95183388 -0.02556728 -0.01529628] [ 0.13912878 -0.01806606 0.99010949 -1.0618834 ] [ 0. 0. 0. 1. ]] SLAMing on 110.34134618399999 meters Centerline goodness : 0.878336 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-1.06 [[ 0.94213359 -0.30592429 -0.13709352 0.05231318] [ 0.30524088 0.95190626 -0.02650426 -0.01456968] [ 0.13860847 -0.01687599 0.99020346 -1.06231596] [ 0. 0. 0. 1. ]] SLAMing on 110.37134618399999 meters Centerline goodness : 0.877583 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-1.06 [[ 0.94231126 -0.30574052 -0.13627997 0.0523636 ] [ 0.30489121 0.95198772 -0.02758144 -0.01489552] [ 0.13816962 -0.01556026 0.99028634 -1.0635793 ] [ 0. 0. 0. 1. ]] SLAMing on 110.40134618399999 meters Centerline goodness : 0.878873 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-1.07 [[ 0.94233346 -0.30510292 -0.13754945 0.05619913] [ 0.30436841 0.95217553 -0.02686301 -0.01406039] [ 0.1391672 -0.0165518 0.99013056 -1.06529876] [ 0. 0. 0. 1. ]] SLAMing on 110.43134618399999 meters Centerline goodness : 0.879961 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-1.07 [[ 0.94234644 -0.30486432 -0.13798886 0.05751343] [ 0.30411768 0.95225222 -0.02698419 -0.0132682 ] [ 0.13962672 -0.0165364 0.99006612 -1.06570968] [ 0. 0. 0. 1. ]] SLAMing on 110.46134618399999 meters Centerline goodness : 0.879725 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-1.07 [[ 0.94229414 -0.30476968 -0.13855394 0.06012271] [ 0.30393783 0.95229065 -0.0276461 -0.01070203] [ 0.14036932 -0.01606103 0.98996894 -1.06749495] [ 0. 0. 0. 1. ]] SLAMing on 110.491346184 meters Centerline goodness : 0.879356 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-1.07 [[ 0.94228716 -0.30476731 -0.13860665 0.06055296] [ 0.30387759 0.95229778 -0.02805984 -0.00962736] [ 0.14054652 -0.01567903 0.98994992 -1.06785261] [ 0. 0. 0. 1. ]] SLAMing on 110.521346184 meters Centerline goodness : 0.880253 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-1.07 [[ 0.94218752 -0.30470741 -0.13941328 0.06142352] [ 0.30386851 0.95230857 -0.02779052 -0.00810233] [ 0.14123244 -0.01617942 0.98984424 -1.06721949] [ 0. 0. 0. 1. ]] SLAMing on 110.551346184 meters Centerline goodness : 0.883591 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-1.07 [[ 0.94209843 -0.30379245 -0.14198835 0.06644722] [ 0.30336468 0.95254172 -0.02518224 -0.00577912] [ 0.1429 -0.0193501 0.98954796 -1.06825087] [ 0. 0. 0. 1. ]] SLAMing on 110.581346184 meters Centerline goodness : 0.881617 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.00, Z:-1.07 [[ 0.94184553 -0.30457722 -0.14198491 0.06613523] [ 0.30397369 0.95231297 -0.02645758 -0.00265222] [ 0.14327245 -0.01824072 0.98951518 -1.06805813] [ 0. 0. 0. 1. ]] SLAMing on 110.611346184 meters Centerline goodness : 0.878568 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.00, Z:-1.07 [[ 0.94197754 -0.30461973 -0.14101466 0.06689472] [ 0.30376932 0.95233262 -0.02804978 -0.00249733] [ 0.14283738 -0.01641367 0.98961006 -1.07033733] [ 0. 0. 0. 1. ]] SLAMing on 110.641346184 meters Centerline goodness : 0.877337 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.00, Z:-1.07 [[ 0.94207631 -0.30464981 -0.14028798 0.0686837 ] [ 0.30358146 0.95234923 -0.02948302 -0.00274744] [ 0.14258514 -0.01481357 0.98967168 -1.07300465] [ 0. 0. 0. 1. ]] SLAMing on 110.671346184 meters Centerline goodness : 0.880236 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.00, Z:-1.07 [[ 0.94144743 -0.30586979 -0.14184641 0.07053133] [ 0.3050808 0.95192006 -0.0278192 -0.00181155] [ 0.14353549 -0.0170843 0.9894977 -1.07141679] [ 0. 0. 0. 1. ]] SLAMing on 110.701346184 meters Centerline goodness : 0.880385 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.00, Z:-1.07 [[ 9.40878231e-01 -3.06234240e-01 -1.44805885e-01 7.30589088e-02] [ 3.06030185e-01 9.51713178e-01 -2.42395028e-02 -1.22190750e-04] [ 1.45236634e-01 -2.15085511e-02 9.89163132e-01 -1.06850070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73134618399999 meters Centerline goodness : 0.880503 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:-1.07 [[ 0.94022805 -0.30701988 -0.14734315 0.07532175] [ 0.30709498 0.95140545 -0.02281119 0.00188149] [ 0.14718656 -0.02380062 0.98882235 -1.06564827] [ 0. 0. 0. 1. ]] SLAMing on 110.76134618399999 meters Centerline goodness : 0.879928 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-1.07 [[ 0.93955973 -0.31038131 -0.14453706 0.07368689] [ 0.30974285 0.95042321 -0.02747875 0.00116895] [ 0.14590027 -0.0189514 0.98911777 -1.06690916] [ 0. 0. 0. 1. ]] SLAMing on 110.79134618399999 meters Centerline goodness : 0.881398 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:-1.07 [[ 9.39461479e-01 -3.10836236e-01 -1.44197654e-01 7.62542889e-02] [ 3.10111071e-01 9.50286189e-01 -2.80585504e-02 3.55094206e-04] [ 1.45750653e-01 -1.83573615e-02 9.89151027e-01 -1.06944617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82134618399999 meters Centerline goodness : 0.879556 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:-1.07 [[ 9.39124741e-01 -3.11954908e-01 -1.43975192e-01 7.70686059e-02] [ 3.11065164e-01 9.49938834e-01 -2.92348289e-02 2.28198067e-04] [ 1.45887575e-01 -1.73305156e-02 9.89149366e-01 -1.06969028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.851346184 meters Centerline goodness : 0.880336 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:-1.07 [[ 0.93857276 -0.3130846 -0.14511792 0.08007475] [ 0.31226582 0.94955252 -0.02898393 0.00124681] [ 0.14687151 -0.01811184 0.98898975 -1.06991882] [ 0. 0. 0. 1. ]] SLAMing on 110.881346184 meters Centerline goodness : 0.879161 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:-1.07 [[ 0.93781635 -0.31436736 -0.14721978 0.0837678 ] [ 0.31383865 0.9490803 -0.02742062 0.00389084] [ 0.14834354 -0.02048775 0.98872365 -1.06949294] [ 0. 0. 0. 1. ]] SLAMing on 110.911346184 meters Centerline goodness : 0.879423 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-1.07 [[ 0.93768445 -0.31435467 -0.14808448 0.08565042] [ 0.31390996 0.94906924 -0.02698363 0.00524001] [ 0.14902485 -0.02118306 0.98860653 -1.06983203] [ 0. 0. 0. 1. ]] SLAMing on 110.941346184 meters Centerline goodness : 0.876784 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-1.07 [[ 0.93764403 -0.31416378 -0.14874404 0.08919904] [ 0.31372816 0.9491288 -0.02700312 0.00640292] [ 0.14966065 -0.02134588 0.98850698 -1.0721558 ] [ 0. 0. 0. 1. ]] SLAMing on 110.971346184 meters Centerline goodness : 0.876075 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-1.08 [[ 0.93793231 -0.31384679 -0.14759123 0.09048069] [ 0.31314301 0.94927545 -0.02859326 0.00615729] [ 0.14907863 -0.01939862 0.98863505 -1.07525287] [ 0. 0. 0. 1. ]] SLAMing on 111.001346184 meters Centerline goodness : 0.877107 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-1.08 [[ 0.93894088 -0.31149677 -0.14614985 0.08892519] [ 0.31071385 0.95006868 -0.02874713 0.00542676] [ 0.14780704 -0.01841892 0.98884469 -1.0770231 ] [ 0. 0. 0. 1. ]] SLAMing on 111.031346184 meters Centerline goodness : 0.875604 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-1.08 [[ 0.9393275 -0.31016877 -0.14648954 0.08810901] [ 0.30956468 0.95048096 -0.02748924 0.00624281] [ 0.14776182 -0.01952659 0.9888302 -1.07611043] [ 0. 0. 0. 1. ]] SLAMing on 111.061346184 meters Centerline goodness : 0.877168 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-1.08 [[ 0.93950012 -0.30901408 -0.14781686 0.08978161] [ 0.30872207 0.9508104 -0.02550031 0.00722921] [ 0.14842576 -0.02167679 0.98868595 -1.07597344] [ 0. 0. 0. 1. ]] SLAMing on 111.09134618399999 meters Centerline goodness : 0.875931 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-1.08 [[ 0.93966331 -0.30853638 -0.14777745 0.08999233] [ 0.30829293 0.95095942 -0.02513256 0.00789205] [ 0.14828466 -0.02194259 0.98870126 -1.07635531] [ 0. 0. 0. 1. ]] SLAMing on 111.12134618399999 meters Centerline goodness : 0.874094 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-1.08 [[ 0.94012619 -0.31378537 -0.13304697 0.08987564] [ 0.31318479 0.94933713 -0.02596736 0.01200796] [ 0.13445461 -0.0172557 0.9907695 -1.0833107 ] [ 0. 0. 0. 1. ]] SLAMing on 111.15134618399999 meters Centerline goodness : 0.874924 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-1.08 [[ 0.94019543 -0.31403508 -0.13196406 0.089774 ] [ 0.31314479 0.94929278 -0.027992 0.01167524] [ 0.134063 -0.0150059 0.99085919 -1.08441676] [ 0. 0. 0. 1. ]] SLAMing on 111.18134618399999 meters Centerline goodness : 0.877629 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-1.08 [[ 0.94042923 -0.31244976 -0.13404485 0.09269196] [ 0.3119839 0.94975807 -0.02501325 0.01219162] [ 0.13512556 -0.01829664 0.99065954 -1.08422771] [ 0. 0. 0. 1. ]] SLAMing on 111.21134618399999 meters Centerline goodness : 0.876410 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-1.08 [[ 0.94035446 -0.31182257 -0.13601537 0.09564212] [ 0.31169108 0.94990955 -0.02281465 0.01385087] [ 0.13631642 -0.02094092 0.990444 -1.08405808] [ 0. 0. 0. 1. ]] SLAMing on 111.241346184 meters Centerline goodness : 0.876410 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-1.08 [[ 0.94035446 -0.31182257 -0.13601537 0.09564212] [ 0.31169108 0.94990955 -0.02281465 0.01385087] [ 0.13631642 -0.02094092 0.990444 -1.08405808] [ 0. 0. 0. 1. ]] SLAMing on 111.271346184 meters Centerline goodness : 0.876153 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-1.08 [[ 0.94036195 -0.31154489 -0.13659866 0.09703435] [ 0.31147939 0.94998869 -0.02240694 0.0144171 ] [ 0.13674795 -0.02147704 0.99037303 -1.0843206 ] [ 0. 0. 0. 1. ]] SLAMing on 111.301346184 meters Centerline goodness : 0.877328 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-1.08 [[ 0.9399945 -0.31247978 -0.13699167 0.098544 ] [ 0.31238366 0.94968334 -0.02275994 0.01476852] [ 0.13721073 -0.02139974 0.99031069 -1.0842596 ] [ 0. 0. 0. 1. ]] SLAMing on 111.331346184 meters Centerline goodness : 0.877809 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-1.08 [[ 0.9394309 -0.31360437 -0.13828186 0.10111208] [ 0.31357314 0.94929546 -0.02258363 0.01619098] [ 0.13835266 -0.02214572 0.9901354 -1.0839511 ] [ 0. 0. 0. 1. ]] SLAMing on 111.361346184 meters Centerline goodness : 0.876420 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-1.09 [[ 0.93887311 -0.31466052 -0.13966405 0.10495981] [ 0.31465474 0.94893455 -0.02270712 0.01849178] [ 0.13967707 -0.02262685 0.98993855 -1.08500769] [ 0. 0. 0. 1. ]] SLAMing on 111.391346184 meters Centerline goodness : 0.873080 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-1.09 [[ 0.93787175 -0.31826096 -0.1382264 0.10518576] [ 0.31763209 0.94782434 -0.02718237 0.01961949] [ 0.13966543 -0.01841156 0.99002757 -1.08566206] [ 0. 0. 0. 1. ]] SLAMing on 111.421346184 meters Centerline goodness : 0.873810 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-1.09 [[ 0.93731439 -0.3194577 -0.13924265 0.10909278] [ 0.3188588 0.94741192 -0.02719775 0.0207932 ] [ 0.14060868 -0.0189059 0.98988472 -1.08718114] [ 0. 0. 0. 1. ]] SLAMing on 111.451346184 meters Centerline goodness : 0.875652 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-1.09 [[ 0.93676517 -0.32083403 -0.13977321 0.11081971] [ 0.32022604 0.94694372 -0.02743848 0.02146778] [ 0.14116056 -0.01905561 0.9898033 -1.08711322] [ 0. 0. 0. 1. ]] SLAMing on 111.48134618399999 meters Centerline goodness : 0.875187 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-1.09 [[ 0.93619653 -0.32172886 -0.14151536 0.1138549 ] [ 0.32132157 0.94660336 -0.02635391 0.02243359] [ 0.14243773 -0.0207995 0.9895852 -1.08654303] [ 0. 0. 0. 1. ]] SLAMing on 111.51134618399999 meters Centerline goodness : 0.875525 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:-1.09 [[ 0.9349731 -0.32372473 -0.14500896 0.11928434] [ 0.32377013 0.94583258 -0.02395044 0.02595983] [ 0.14490755 -0.02455655 0.98914042 -1.08547949] [ 0. 0. 0. 1. ]] SLAMing on 111.54134618399999 meters Centerline goodness : 0.873904 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:-1.09 [[ 0.93460803 -0.32476435 -0.14503774 0.12050259] [ 0.32468911 0.94549402 -0.02486044 0.02710549] [ 0.1452061 -0.02385741 0.98911375 -1.0860434 ] [ 0. 0. 0. 1. ]] SLAMing on 111.57134618399999 meters Centerline goodness : 0.873526 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:-1.09 [[ 0.93391566 -0.32705028 -0.14435944 0.1245485 ] [ 0.32648437 0.94477963 -0.02827372 0.02902033] [ 0.14563479 -0.02072583 0.9891213 -1.09017317] [ 0. 0. 0. 1. ]] SLAMing on 111.601346184 meters Centerline goodness : 0.874287 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-1.09 [[ 0.93368304 -0.32747116 -0.14490899 0.12669791] [ 0.32687825 0.94463455 -0.02856893 0.0300229 ] [ 0.14624154 -0.02069328 0.98903246 -1.09103042] [ 0. 0. 0. 1. ]] SLAMing on 111.631346184 meters Centerline goodness : 0.873638 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-1.09 [[ 0.93367282 -0.32677482 -0.14653763 0.13008213] [ 0.32635889 0.94484403 -0.0275616 0.0320689 ] [ 0.14746164 -0.02209035 0.98882106 -1.09189045] [ 0. 0. 0. 1. ]] SLAMing on 111.661346184 meters Centerline goodness : 0.872789 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-1.09 [[ 0.93387674 -0.32561948 -0.14780453 0.13163019] [ 0.32537594 0.94521297 -0.026513 0.03435732] [ 0.14833991 -0.02333217 0.98866116 -1.09193358] [ 0. 0. 0. 1. ]] SLAMing on 111.691346184 meters Centerline goodness : 0.870163 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-1.09 [[ 0.93523676 -0.32091042 -0.14949483 0.13261493] [ 0.3211939 0.94673625 -0.0229117 0.03722055] [ 0.14888478 -0.02658897 0.98849702 -1.09262272] [ 0. 0. 0. 1. ]] SLAMing on 111.721346184 meters Centerline goodness : 0.870412 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-1.09 [[ 0.93587253 -0.31881868 -0.14999085 0.13372208] [ 0.31923549 0.94742125 -0.02194716 0.03907002] [ 0.14910168 -0.02734266 0.98844376 -1.09421813] [ 0. 0. 0. 1. ]] SLAMing on 111.751346184 meters Centerline goodness : 0.867431 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-1.09 [[ 0.9362013 -0.31776145 -0.15018249 0.13425295] [ 0.31810389 0.94779148 -0.02238823 0.04087887] [ 0.1494558 -0.02681374 0.98840477 -1.09491097] [ 0. 0. 0. 1. ]] SLAMing on 111.781346184 meters Centerline goodness : 0.871935 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-1.10 [[ 0.93633453 -0.3177371 -0.14940144 0.13354835] [ 0.31782224 0.94784773 -0.02395196 0.04223789] [ 0.14922024 -0.02505605 0.98848648 -1.09567705] [ 0. 0. 0. 1. ]] SLAMing on 111.811346184 meters Centerline goodness : 0.866696 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-1.10 [[ 0.93614029 -0.31773908 -0.15060951 0.13807472] [ 0.31792583 0.94782457 -0.02348945 0.0450016 ] [ 0.15021491 -0.02589323 0.98831423 -1.098548 ] [ 0. 0. 0. 1. ]] SLAMing on 111.84134618399999 meters Centerline goodness : 0.867176 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-1.10 [[ 0.9358409 -0.31816401 -0.15157002 0.13929697] [ 0.31851891 0.94764726 -0.02259173 0.04673349] [ 0.15082279 -0.02713566 0.98818831 -1.09809184] [ 0. 0. 0. 1. ]] SLAMing on 111.87134618399999 meters Centerline goodness : 0.868156 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-1.10 [[ 0.935351 -0.31837521 -0.15412892 0.14298045] [ 0.31912422 0.94749049 -0.0205304 0.04948837] [ 0.15257206 -0.02998315 0.98783743 -1.09754295] [ 0. 0. 0. 1. ]] SLAMing on 111.90134618399999 meters Centerline goodness : 0.867083 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-1.10 [[ 0.93447398 -0.3202032 -0.15565441 0.1444597 ] [ 0.32086964 0.9468789 -0.0215177 0.05387168] [ 0.15427591 -0.02983705 0.98757718 -1.09592261] [ 0. 0. 0. 1. ]] SLAMing on 111.93134618399999 meters Centerline goodness : 0.866009 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-1.10 [[ 0.93410163 -0.32129376 -0.15564207 0.14669114] [ 0.32173573 0.94654907 -0.02304291 0.05588291] [ 0.1547264 -0.02855119 0.98754472 -1.09781437] [ 0. 0. 0. 1. ]] SLAMing on 111.96134618399999 meters Centerline goodness : 0.863099 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-1.10 [[ 0.93363772 -0.32256717 -0.15579164 0.14928825] [ 0.32274992 0.94615855 -0.02482923 0.05774917] [ 0.15541268 -0.02710023 0.98747784 -1.09949873] [ 0. 0. 0. 1. ]] SLAMing on 111.991346184 meters Centerline goodness : 0.862589 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-1.10 [[ 0.93327876 -0.32381201 -0.15535937 0.14951813] [ 0.32374551 0.94577458 -0.02644421 0.05950788] [ 0.1554979 -0.02561708 0.98750401 -1.09989375] [ 0. 0. 0. 1. ]] SLAMing on 112.021346184 meters Centerline goodness : 0.862357 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:-1.10 [[ 0.9332366 -0.32781661 -0.14698881 0.15635111] [ 0.32766291 0.94443805 -0.0259575 0.07010257] [ 0.14733113 -0.02393829 0.9887975 -1.10117513] [ 0. 0. 0. 1. ]] SLAMing on 112.051346184 meters Centerline goodness : 0.862122 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:-1.10 [[ 0.93322575 -0.32662073 -0.14969499 0.15956245] [ 0.326882 0.94477138 -0.02356268 0.07259217] [ 0.14912361 -0.0269433 0.98845142 -1.10041929] [ 0. 0. 0. 1. ]] SLAMing on 112.081346184 meters Centerline goodness : 0.861386 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:-1.10 [[ 0.93303105 -0.32597589 -0.15229176 0.16345815] [ 0.32656368 0.94492256 -0.02185222 0.07584062] [ 0.15102721 -0.02934416 0.98809397 -1.10030265] [ 0. 0. 0. 1. ]] SLAMing on 112.111346184 meters Centerline goodness : 0.860538 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:-1.10 [[ 0.93284815 -0.32594979 -0.15346354 0.1648578 ] [ 0.32656708 0.94492054 -0.02188891 0.07962454] [ 0.15214554 -0.02969711 0.98791185 -1.09977048] [ 0. 0. 0. 1. ]] SLAMing on 112.141346184 meters Centerline goodness : 0.859197 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:-1.10 [[ 0.93275121 -0.32624837 -0.1534183 0.16458659] [ 0.32678108 0.94483329 -0.0224541 0.08094652] [ 0.15228033 -0.02919011 0.98790619 -1.09935822] [ 0. 0. 0. 1. ]] SLAMing on 112.171346184 meters Centerline goodness : 0.861590 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:-1.10 [[ 0.9325543 -0.32696472 -0.15309 0.1631054 ] [ 0.32732343 0.94461809 -0.02358037 0.08365567] [ 0.15232153 -0.02811997 0.98793088 -1.0982826 ] [ 0. 0. 0. 1. ]] SLAMing on 112.201346184 meters Centerline goodness : 0.859057 Centerline is valid? [False, False] Translation: X:0.16, Y:0.09, Z:-1.10 [[ 0.93338613 -0.32446932 -0.15332967 0.1592079 ] [ 0.32518309 0.94541541 -0.02111072 0.08653584] [ 0.15181001 -0.03015576 0.98794957 -1.09760039] [ 0. 0. 0. 1. ]] SLAMing on 112.23134618399999 meters Centerline goodness : 0.858575 Centerline is valid? [False, False] Translation: X:0.16, Y:0.09, Z:-1.10 [[ 0.93326947 -0.32489514 -0.15313802 0.15862152] [ 0.32548446 0.94529332 -0.0219181 0.08894072] [ 0.15188144 -0.02938855 0.98796171 -1.09731557] [ 0. 0. 0. 1. ]] SLAMing on 112.26134618399999 meters Centerline goodness : 0.857297 Centerline is valid? [False, False] Translation: X:0.16, Y:0.09, Z:-1.10 [[ 0.93318778 -0.32514319 -0.15310933 0.15864134] [ 0.32564209 0.94522485 -0.02252116 0.09050663] [ 0.15204535 -0.02884237 0.9879526 -1.09725205] [ 0. 0. 0. 1. ]] SLAMing on 112.29134618399999 meters Centerline goodness : 0.857912 Centerline is valid? [False, False] Translation: X:0.16, Y:0.09, Z:-1.10 [[ 0.93314862 -0.32531134 -0.15299078 0.15905832] [ 0.32571426 0.94518513 -0.02313623 0.09235092] [ 0.15213109 -0.02824174 0.98795675 -1.09775319] [ 0. 0. 0. 1. ]] SLAMing on 112.32134618399999 meters Centerline goodness : 0.856516 Centerline is valid? [False, False] Translation: X:0.16, Y:0.09, Z:-1.10 [[ 0.93307096 -0.32552789 -0.15300385 0.15902547] [ 0.32582571 0.94512926 -0.02383881 0.09455969] [ 0.15236861 -0.02760929 0.98793802 -1.09753251] [ 0. 0. 0. 1. ]] SLAMing on 112.351346184 meters Centerline goodness : 0.855294 Centerline is valid? [False, False] Translation: X:0.16, Y:0.10, Z:-1.10 [[ 0.932976 -0.32587152 -0.15285133 0.15845774] [ 0.32606103 0.9450301 -0.02454206 0.09727896] [ 0.15244666 -0.0269417 0.98794441 -1.09745331] [ 0. 0. 0. 1. ]] SLAMing on 112.381346184 meters Centerline goodness : 0.857269 Centerline is valid? [False, False] Translation: X:0.15, Y:0.10, Z:-1.10 [[ 0.93388471 -0.32318854 -0.15299844 0.15427618] [ 0.32373954 0.9458905 -0.02199737 0.09973031] [ 0.15182907 -0.02898864 0.98798158 -1.0963435 ] [ 0. 0. 0. 1. ]] SLAMing on 112.411346184 meters Centerline goodness : 0.857961 Centerline is valid? [False, False] Translation: X:0.15, Y:0.10, Z:-1.09 [[ 0.93376046 -0.32359814 -0.15289099 0.15322207] [ 0.32398507 0.94578067 -0.02307798 0.10224859] [ 0.15206933 -0.0279851 0.98797356 -1.09489694] [ 0. 0. 0. 1. ]] SLAMing on 112.441346184 meters Centerline goodness : 0.857900 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-1.09 [[ 0.93388611 -0.32281641 -0.15377356 0.13415375] [ 0.32182822 0.94625804 -0.03197374 0.10061841] [ 0.15583111 -0.01962884 0.98758867 -1.09218556] [ 0. 0. 0. 1. ]] SLAMing on 112.471346184 meters Centerline goodness : 0.854538 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-1.09 [[ 0.93396748 -0.32263188 -0.15366655 0.13463172] [ 0.321639 0.94632235 -0.03197434 0.10087105] [ 0.15573403 -0.01956216 0.9876053 -1.09269616] [ 0. 0. 0. 1. ]] SLAMing on 112.501346184 meters Centerline goodness : 0.854173 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:-1.09 [[ 0.93397106 -0.32254699 -0.15382296 0.13503169] [ 0.32149351 0.94635831 -0.03237094 0.10194542] [ 0.15601278 -0.01921956 0.98756803 -1.09228909] [ 0. 0. 0. 1. ]] SLAMing on 112.531346184 meters Centerline goodness : 0.856100 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:-1.09 [[ 0.93394794 -0.32253688 -0.15398444 0.13520706] [ 0.32139148 0.94637224 -0.03297109 0.10395824] [ 0.15636099 -0.018696 0.98752301 -1.09170545] [ 0. 0. 0. 1. ]] SLAMing on 112.561346184 meters Centerline goodness : 0.855991 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93389121 -0.32260824 -0.15417888 0.13528148] [ 0.32136953 0.94635797 -0.03358892 0.10634689] [ 0.15674448 -0.01817999 0.98747185 -1.09122096] [ 0. 0. 0. 1. ]] SLAMing on 112.59134618399999 meters Centerline goodness : 0.850978 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.9351196 -0.31824362 -0.15579579 0.13648224] [ 0.31764702 0.94775351 -0.02938815 0.10620457] [ 0.1570086 -0.02200663 0.98735202 -1.09255315] [ 0. 0. 0. 1. ]] SLAMing on 112.62134618399999 meters Centerline goodness : 0.850865 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93530642 -0.3173732 -0.15644856 0.13944098] [ 0.31687077 0.94803086 -0.02881666 0.10601596] [ 0.1574637 -0.02262157 0.98726564 -1.09402623] [ 0. 0. 0. 1. ]] SLAMing on 112.65134618399999 meters Centerline goodness : 0.851678 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.10 [[ 0.93544309 -0.31665114 -0.15709321 0.14228753] [ 0.3162417 0.94825741 -0.02826779 0.1051385 ] [ 0.15791583 -0.02323651 0.98717914 -1.09526568] [ 0. 0. 0. 1. ]] SLAMing on 112.68134618399999 meters Centerline goodness : 0.853634 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.10 [[ 0.93551876 -0.31635322 -0.15724276 0.14314757] [ 0.31593012 0.94835882 -0.0283499 0.10521174] [ 0.15809114 -0.02315586 0.98715298 -1.09522741] [ 0. 0. 0. 1. ]] SLAMing on 112.71134618399999 meters Centerline goodness : 0.853385 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93666953 -0.31251865 -0.15805782 0.14088609] [ 0.31251558 0.94956964 -0.02552487 0.10766659] [ 0.15806391 -0.02548716 0.9870999 -1.09364062] [ 0. 0. 0. 1. ]] SLAMing on 112.741346184 meters Centerline goodness : 0.852245 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93779127 -0.30864454 -0.15901601 0.13949619] [ 0.30918023 0.95074916 -0.02199159 0.10813667] [ 0.15797192 -0.02854108 0.98703104 -1.0931554 ] [ 0. 0. 0. 1. ]] SLAMing on 112.771346184 meters Centerline goodness : 0.850239 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93890925 -0.3047282 -0.1599692 0.13825929] [ 0.30575464 0.9519253 -0.01877001 0.10918404] [ 0.15799849 -0.03128799 0.98694353 -1.09235483] [ 0. 0. 0. 1. ]] SLAMing on 112.801346184 meters Centerline goodness : 0.851696 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93898979 -0.30443463 -0.16005538 0.13936804] [ 0.30548892 0.95201418 -0.018588 0.10831327] [ 0.15803382 -0.0314412 0.98693301 -1.09277872] [ 0. 0. 0. 1. ]] SLAMing on 112.831346184 meters Centerline goodness : 0.849139 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93909168 -0.30400695 -0.16027036 0.14110116] [ 0.3051345 0.95213653 -0.01813715 0.10673567] [ 0.15811308 -0.03187157 0.98690651 -1.09364009] [ 0. 0. 0. 1. ]] SLAMing on 112.861346184 meters Centerline goodness : 0.850685 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93911244 -0.30394282 -0.16027034 0.14187556] [ 0.30508335 0.95215457 -0.01805058 0.10601834] [ 0.15808848 -0.03194429 0.9869081 -1.094003 ] [ 0. 0. 0. 1. ]] SLAMing on 112.891346184 meters Centerline goodness : 0.848581 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93899486 -0.3044217 -0.16005025 0.14100135] [ 0.30546684 0.95202019 -0.018643 0.10719284] [ 0.1580464 -0.03138437 0.9869328 -1.09345844] [ 0. 0. 0. 1. ]] SLAMing on 112.921346184 meters Centerline goodness : 0.850132 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93868167 -0.30569897 -0.15945175 0.13805917] [ 0.3064911 0.95165882 -0.02021641 0.11089 ] [ 0.1579238 -0.02989377 0.9869987 -1.09163695] [ 0. 0. 0. 1. ]] SLAMing on 112.951346184 meters Centerline goodness : 0.851080 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93856819 -0.30605514 -0.15943652 0.13759658] [ 0.30678525 0.95155512 -0.02063178 0.11104055] [ 0.1580271 -0.02954844 0.98699257 -1.09085622] [ 0. 0. 0. 1. ]] SLAMing on 112.98134618399999 meters Centerline goodness : 0.848217 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93852274 -0.30619775 -0.15943027 0.13776896] [ 0.30692313 0.95150977 -0.02067248 0.11015666] [ 0.15802933 -0.02953125 0.98699272 -1.09066615] [ 0. 0. 0. 1. ]] SLAMing on 113.01134618399999 meters Centerline goodness : 0.847820 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93746186 -0.30977507 -0.15875975 0.14006621] [ 0.30992032 0.95044733 -0.0244798 0.11135661] [ 0.15847602 -0.02625399 0.98701372 -1.09097452] [ 0. 0. 0. 1. ]] SLAMing on 113.04134618399999 meters Centerline goodness : 0.847645 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93735662 -0.31016998 -0.15861004 0.13958761] [ 0.31029361 0.95032182 -0.02462345 0.11089467] [ 0.15836803 -0.02613473 0.98703422 -1.09073959] [ 0. 0. 0. 1. ]] SLAMing on 113.07134618399999 meters Centerline goodness : 0.850276 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93718235 -0.31088048 -0.15824844 0.13797043] [ 0.31089609 0.95010716 -0.02529843 0.11146644] [ 0.15821777 -0.02548958 0.98707518 -1.08959222] [ 0. 0. 0. 1. ]] SLAMing on 113.101346184 meters Centerline goodness : 0.849037 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93701027 -0.31149504 -0.15805884 0.13645426] [ 0.31137359 0.94992701 -0.0261757 0.11319898] [ 0.15829796 -0.02468845 0.98708269 -1.0881418 ] [ 0. 0. 0. 1. ]] SLAMing on 113.131346184 meters Centerline goodness : 0.849466 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93704748 -0.31124223 -0.15833605 0.13752234] [ 0.31112678 0.95000829 -0.02616039 0.11359129] [ 0.15856278 -0.02474906 0.98703867 -1.08841582] [ 0. 0. 0. 1. ]] SLAMing on 113.161346184 meters Centerline goodness : 0.849466 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-1.09 [[ 0.93704748 -0.31124223 -0.15833605 0.13752234] [ 0.31112678 0.95000829 -0.02616039 0.11359129] [ 0.15856278 -0.02474906 0.98703867 -1.08841582] [ 0. 0. 0. 1. ]] SLAMing on 113.191346184 meters Centerline goodness : 0.849723 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:-1.09 [[ 0.93703121 -0.31026692 -0.16033386 0.12024906] [ 0.30871991 0.95050462 -0.03511393 0.11115529] [ 0.16329276 -0.01659541 0.98643807 -1.08570499] [ 0. 0. 0. 1. ]] SLAMing on 113.221346184 meters Centerline goodness : 0.851455 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:-1.09 [[ 0.93704188 -0.31020276 -0.16039564 0.12059894] [ 0.30861281 0.95052976 -0.03537397 0.11178095] [ 0.16343393 -0.01635326 0.98641873 -1.08549404] [ 0. 0. 0. 1. ]] SLAMing on 113.251346184 meters Centerline goodness : 0.850899 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:-1.08 [[ 0.9370692 -0.31024942 -0.16014561 0.1197885 ] [ 0.3085078 0.95053013 -0.0362687 0.11419934] [ 0.16347557 -0.01541989 0.98642687 -1.08417615] [ 0. 0. 0. 1. ]] SLAMing on 113.281346184 meters Centerline goodness : 0.849828 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:-1.08 [[ 0.93703709 -0.3103443 -0.16014964 0.11953408] [ 0.30851501 0.95050713 -0.03680594 0.11536177] [ 0.16364589 -0.01492004 0.98640631 -1.08334923] [ 0. 0. 0. 1. ]] SLAMing on 113.311346184 meters Centerline goodness : 0.849704 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:-1.08 [[ 0.93707064 -0.31013295 -0.16036261 0.12040296] [ 0.30828629 0.95057723 -0.03691188 0.11574642] [ 0.16388464 -0.01484856 0.98636775 -1.08336312] [ 0. 0. 0. 1. ]] SLAMing on 113.34134618399999 meters Centerline goodness : 0.851073 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:-1.08 [[ 0.93713507 -0.3097566 -0.16071314 0.12183259] [ 0.30794119 0.95069637 -0.03672377 0.11532827] [ 0.16416483 -0.01507506 0.98631772 -1.08373319] [ 0. 0. 0. 1. ]] SLAMing on 113.37134618399999 meters Centerline goodness : 0.850626 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:-1.08 [[ 0.93725215 -0.30925606 -0.16099408 0.12343551] [ 0.30749859 0.95085365 -0.03635869 0.1145875 ] [ 0.16432595 -0.01542819 0.98628543 -1.08442892] [ 0. 0. 0. 1. ]] SLAMing on 113.40134618399999 meters Centerline goodness : 0.851205 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:-1.08 [[ 0.93723641 -0.30928701 -0.16102629 0.12340525] [ 0.30748561 0.95084751 -0.03662801 0.11482778] [ 0.16444002 -0.01518416 0.98627021 -1.083805 ] [ 0. 0. 0. 1. ]] SLAMing on 113.43134618399999 meters Centerline goodness : 0.849498 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:-1.08 [[ 0.93719255 -0.30942041 -0.16102528 0.12313493] [ 0.30755928 0.95080937 -0.03699771 0.11527412] [ 0.16455219 -0.01485084 0.98625657 -1.08295807] [ 0. 0. 0. 1. ]] SLAMing on 113.46134618399999 meters Centerline goodness : 0.850158 Centerline is valid? [False, False] Translation: X:0.10, Y:0.11, Z:-1.08 [[ 0.93852339 -0.3067172 -0.15842479 0.09840363] [ 0.30456408 0.95172123 -0.03830684 0.10602543] [ 0.1625256 -0.01229863 0.98662768 -1.08499444] [ 0. 0. 0. 1. ]] SLAMing on 113.491346184 meters Centerline goodness : 0.852668 Centerline is valid? [False, False] Translation: X:0.10, Y:0.10, Z:-1.08 [[ 0.93846338 -0.30689805 -0.15843004 0.09825967] [ 0.30473715 0.95166329 -0.03836997 0.10494877] [ 0.16254773 -0.01227071 0.98662438 -1.08437118] [ 0. 0. 0. 1. ]] SLAMing on 113.521346184 meters Centerline goodness : 0.849562 Centerline is valid? [False, False] Translation: X:0.10, Y:0.10, Z:-1.08 [[ 0.93840539 -0.30714745 -0.15829012 0.09783934] [ 0.30498712 0.95158292 -0.03837707 0.10377031] [ 0.16241359 -0.0122632 0.98664656 -1.08395071] [ 0. 0. 0. 1. ]] SLAMing on 113.551346184 meters Centerline goodness : 0.851293 Centerline is valid? [False, False] Translation: X:0.10, Y:0.10, Z:-1.08 [[ 0.93838707 -0.30711064 -0.15847006 0.09863522] [ 0.30498302 0.95159179 -0.0381892 0.10240625] [ 0.16252712 -0.01249442 0.98662497 -1.08392934] [ 0. 0. 0. 1. ]] SLAMing on 113.581346184 meters Centerline goodness : 0.848588 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-1.08 [[ 0.93732172 -0.30925851 -0.16058383 0.08463716] [ 0.30537904 0.95097272 -0.04893391 0.09679436] [ 0.16784407 -0.00317213 0.98580845 -1.0835666 ] [ 0. 0. 0. 1. ]] SLAMing on 113.611346184 meters Centerline goodness : 0.850981 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:-1.08 [[ 0.93741506 -0.30891089 -0.16070804 0.08624815] [ 0.30517417 0.95108264 -0.04806804 0.09367996] [ 0.16769537 -0.00398424 0.98583081 -1.08478478] [ 0. 0. 0. 1. ]] SLAMing on 113.641346184 meters Centerline goodness : 0.852779 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:-1.08 [[ 0.93735675 -0.30914229 -0.16060311 0.08609649] [ 0.30542984 0.9510069 -0.04794263 0.0922988 ] [ 0.16755576 -0.00411364 0.98585402 -1.08473271] [ 0. 0. 0. 1. ]] SLAMing on 113.671346184 meters Centerline goodness : 0.852137 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:-1.08 [[ 0.93728693 -0.30935625 -0.16059863 0.08569181] [ 0.30560985 0.95093806 -0.04816048 0.09201589] [ 0.16761809 -0.00394033 0.98584413 -1.08394266] [ 0. 0. 0. 1. ]] SLAMing on 113.701346184 meters Centerline goodness : 0.849196 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-1.08 [[ 0.93728648 -0.30934716 -0.16061877 0.08294675] [ 0.30566244 0.95093948 -0.04779734 0.0900488 ] [ 0.1675247 -0.00429532 0.98585852 -1.08140332] [ 0. 0. 0. 1. ]] SLAMing on 113.73134618399999 meters Centerline goodness : 0.851233 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-1.08 [[ 0.93722712 -0.30952008 -0.160632 0.0825683 ] [ 0.30583549 0.95088311 -0.04781173 0.08842112] [ 0.16754095 -0.00431652 0.98585567 -1.08041068] [ 0. 0. 0. 1. ]] SLAMing on 113.76134618399999 meters Centerline goodness : 0.849986 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-1.08 [[ 0.93712206 -0.31004274 -0.16023655 0.08151222] [ 0.30637318 0.95071272 -0.04775764 0.08627346] [ 0.16714584 -0.00433744 0.98592264 -1.07999538] [ 0. 0. 0. 1. ]] SLAMing on 113.79134618399999 meters Centerline goodness : 0.852956 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-1.08 [[ 0.93579715 -0.31463048 -0.15903255 0.08143846] [ 0.3103871 0.94921353 -0.05151238 0.08398545] [ 0.16716321 -0.00115651 0.98592856 -1.07910646] [ 0. 0. 0. 1. ]] SLAMing on 113.82134618399999 meters Centerline goodness : 0.850986 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-1.08 [[ 0.93571897 -0.31502093 -0.15871934 0.08111393] [ 0.31083252 0.94908368 -0.05121834 0.08132714] [ 0.16677279 -0.00140916 0.98599435 -1.07929845] [ 0. 0. 0. 1. ]] SLAMing on 113.851346184 meters Centerline goodness : 0.853809 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-1.08 [[ 0.93560861 -0.31533074 -0.15875473 0.08213718] [ 0.31124517 0.94897965 -0.05063654 0.07673431] [ 0.16662227 -0.00203566 0.9860187 -1.079925 ] [ 0. 0. 0. 1. ]] SLAMing on 113.881346184 meters Centerline goodness : 0.853330 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-1.08 [[ 9.35302039e-01 -3.16585922e-01 -1.58061539e-01 8.30556239e-02] [ 3.12255783e-01 9.48563680e-01 -5.21849703e-02 7.60851033e-02] [ 1.66452462e-01 -5.46920672e-04 9.86049329e-01 -1.08084730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.911346184 meters Centerline goodness : 0.854845 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-1.08 [[ 0.93536136 -0.31627211 -0.15833846 0.08437788] [ 0.31203513 0.94866784 -0.05160827 0.07455171] [ 0.16653286 -0.00113478 0.98603525 -1.08153676] [ 0. 0. 0. 1. ]] SLAMing on 113.941346184 meters Centerline goodness : 0.852997 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-1.08 [[ 0.93624235 -0.31315459 -0.15932502 0.08314152] [ 0.3095795 0.94968948 -0.04743872 0.07126009] [ 0.16616494 -0.00490962 0.98608575 -1.08186035] [ 0. 0. 0. 1. ]] SLAMing on 113.971346184 meters Centerline goodness : 0.856666 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-1.08 [[ 0.93617931 -0.31334079 -0.15932935 0.08290917] [ 0.30974649 0.94962852 -0.04756872 0.07151825] [ 0.16620892 -0.00481886 0.98607879 -1.08154083] [ 0. 0. 0. 1. ]] SLAMing on 114.001346184 meters Centerline goodness : 0.854957 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-1.08 [[ 0.93616013 -0.31330795 -0.15950654 0.08364203] [ 0.30974077 0.94963831 -0.04741038 0.07052674] [ 0.16632756 -0.00502197 0.98605777 -1.08166847] [ 0. 0. 0. 1. ]] SLAMing on 114.031346184 meters Centerline goodness : 0.853316 Centerline is valid? [False, False] Translation: X:0.09, Y:0.07, Z:-1.08 [[ 0.93518674 -0.31659846 -0.15871727 0.08644413] [ 0.31256265 0.94855654 -0.05044877 0.0680273 ] [ 0.16652431 -0.00243007 0.98603435 -1.08245894] [ 0. 0. 0. 1. ]] SLAMing on 114.061346184 meters Centerline goodness : 0.854251 Centerline is valid? [False, False] Translation: X:0.09, Y:0.07, Z:-1.08 [[ 0.93523477 -0.31650467 -0.1586213 0.08706323] [ 0.31254794 0.94858669 -0.04997072 0.06522637] [ 0.16628202 -0.0028424 0.98607414 -1.08288186] [ 0. 0. 0. 1. ]] SLAMing on 114.09134618399999 meters Centerline goodness : 0.853124 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-1.08 [[ 0.93524171 -0.31649454 -0.15860059 0.08724171] [ 0.31256451 0.94858963 -0.04981113 0.06405209] [ 0.16621182 -0.00298746 0.98608555 -1.08280522] [ 0. 0. 0. 1. ]] SLAMing on 114.12134618399999 meters Centerline goodness : 0.855450 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-1.08 [[ 0.93619255 -0.31326179 -0.15940691 0.08562671] [ 0.30989211 0.9496471 -0.04623054 0.06181178] [ 0.16586257 -0.00611826 0.9861299 -1.08218405] [ 0. 0. 0. 1. ]] SLAMing on 114.15134618399999 meters Centerline goodness : 0.856927 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:-1.08 [[ 0.93728573 -0.30948071 -0.16036565 0.08386723] [ 0.3067066 0.95085889 -0.04240787 0.06046202] [ 0.16560952 -0.00943691 0.98614625 -1.08117712] [ 0. 0. 0. 1. ]] SLAMing on 114.18134618399999 meters Centerline goodness : 0.856326 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-1.08 [[ 0.93738021 -0.3090224 -0.16069691 0.08504328] [ 0.30626755 0.9510064 -0.04227298 0.05993496] [ 0.16588709 -0.0095904 0.98609812 -1.08096702] [ 0. 0. 0. 1. ]] SLAMing on 114.21134618399999 meters Centerline goodness : 0.854489 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:-1.08 [[ 0.93777073 -0.30835647 -0.15969452 0.08462181] [ 0.30553548 0.95122936 -0.04255311 0.05894541] [ 0.16502764 -0.00888729 0.9862489 -1.08221732] [ 0. 0. 0. 1. ]] SLAMing on 114.241346184 meters Centerline goodness : 0.854976 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-1.08 [[ 0.93789911 -0.30776797 -0.16007542 0.08625442] [ 0.3050077 0.95141617 -0.04216121 0.05798385] [ 0.16527421 -0.00928127 0.98620398 -1.08260544] [ 0. 0. 0. 1. ]] SLAMing on 114.271346184 meters Centerline goodness : 0.857433 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-1.08 [[ 0.93800656 -0.30736807 -0.16021411 0.087205 ] [ 0.30464992 0.95154306 -0.04188351 0.05707666] [ 0.16532427 -0.00952221 0.98619329 -1.08281126] [ 0. 0. 0. 1. ]] SLAMing on 114.301346184 meters Centerline goodness : 0.855932 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-1.08 [[ 0.93796413 -0.30734286 -0.16051062 0.08767819] [ 0.30473613 0.95154379 -0.04123482 0.05709937] [ 0.16540611 -0.0102366 0.98617241 -1.08251146] [ 0. 0. 0. 1. ]] SLAMing on 114.331346184 meters Centerline goodness : 0.855928 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-1.08 [[ 0.9378886 -0.30772474 -0.16022002 0.086777 ] [ 0.30505176 0.95142478 -0.04164507 0.0576039 ] [ 0.16525252 -0.00981696 0.98620243 -1.08195663] [ 0. 0. 0. 1. ]] SLAMing on 114.361346184 meters Centerline goodness : 0.856799 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-1.08 [[ 0.9374708 -0.30977838 -0.15870054 0.08516287] [ 0.30670124 0.95078095 -0.04415814 0.05807941] [ 0.16456869 -0.00727669 0.98633878 -1.0816331 ] [ 0. 0. 0. 1. ]] SLAMing on 114.391346184 meters Centerline goodness : 0.857275 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-1.08 [[ 0.93721738 -0.31096034 -0.15788363 0.08642573] [ 0.30764286 0.95040536 -0.04566743 0.05770926] [ 0.16425421 -0.00577146 0.98640116 -1.08328285] [ 0. 0. 0. 1. ]] SLAMing on 114.421346184 meters Centerline goodness : 0.857710 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-1.08 [[ 0.93680298 -0.31240297 -0.15749466 0.08793841] [ 0.30894636 0.94993656 -0.04661199 0.05773851] [ 0.16417166 -0.00499115 0.98641916 -1.08462063] [ 0. 0. 0. 1. ]] SLAMing on 114.451346184 meters Centerline goodness : 0.858127 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-1.08 [[ 0.93578348 -0.31440642 -0.15955526 0.08983963] [ 0.311357 0.94925388 -0.04442842 0.05873439] [ 0.16542703 -0.00810327 0.98618874 -1.08201083] [ 0. 0. 0. 1. ]] SLAMing on 114.48134618399999 meters Centerline goodness : 0.857406 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-1.08 [[ 0.93515803 -0.31521854 -0.1616067 0.09222925] [ 0.31250591 0.94895936 -0.04261687 0.06042367] [ 0.16679182 -0.01064954 0.98593462 -1.08053936] [ 0. 0. 0. 1. ]] SLAMing on 114.51134618399999 meters Centerline goodness : 0.858046 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-1.08 [[ 0.93467751 -0.31626129 -0.1623476 0.09441536] [ 0.31357034 0.94860761 -0.04262909 0.06159362] [ 0.1674861 -0.01106294 0.98581236 -1.08073842] [ 0. 0. 0. 1. ]] SLAMing on 114.54134618399999 meters Centerline goodness : 0.857278 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-1.08 [[ 0.93430307 -0.31754343 -0.16199983 0.09564806] [ 0.31461299 0.94819373 -0.04412849 0.0618498 ] [ 0.16761993 -0.00973787 0.9858036 -1.08159297] [ 0. 0. 0. 1. ]] SLAMing on 114.57134618399999 meters Centerline goodness : 0.856244 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-1.08 [[ 0.93424379 -0.31783725 -0.16176531 0.09776463] [ 0.31483514 0.9480997 -0.04456228 0.0616816 ] [ 0.16753319 -0.00929737 0.98582259 -1.08383175] [ 0. 0. 0. 1. ]] SLAMing on 114.601346184 meters Centerline goodness : 0.858932 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-1.08 [[ 0.93436762 -0.31750686 -0.16169892 0.09664358] [ 0.31451355 0.94821039 -0.04447786 0.06383898] [ 0.16744662 -0.00929783 0.9858373 -1.08306358] [ 0. 0. 0. 1. ]] SLAMing on 114.631346184 meters Centerline goodness : 0.857175 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:-1.08 [[ 0.93449003 -0.3166123 -0.16274226 0.09917083] [ 0.31383591 0.9484945 -0.04318794 0.06634745] [ 0.16803397 -0.01071566 0.98572296 -1.08443459] [ 0. 0. 0. 1. ]] SLAMing on 114.661346184 meters Centerline goodness : 0.858082 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:-1.09 [[ 0.93489164 -0.3160398 -0.16154402 0.0995367 ] [ 0.31299391 0.94870495 -0.04465119 0.06968768] [ 0.16736916 -0.00881827 0.98585486 -1.08779777] [ 0. 0. 0. 1. ]] SLAMing on 114.691346184 meters Centerline goodness : 0.858614 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:-1.09 [[ 0.93525378 -0.31488896 -0.16169513 0.10115231] [ 0.31185159 0.94908774 -0.04450892 0.07157194] [ 0.16747823 -0.00879775 0.98583652 -1.08967542] [ 0. 0. 0. 1. ]] SLAMing on 114.721346184 meters Centerline goodness : 0.856848 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:-1.09 [[ 0.93528289 -0.31456914 -0.1621486 0.10132129] [ 0.3114614 0.94919658 -0.04491825 0.07389473] [ 0.1680408 -0.00849176 0.98574347 -1.08914294] [ 0. 0. 0. 1. ]] SLAMing on 114.751346184 meters Centerline goodness : 0.858239 Centerline is valid? [False, False] Translation: X:0.11, Y:0.08, Z:-1.10 [[ 0.93537819 -0.31848002 -0.15374694 0.10760318] [ 0.31604979 0.9478708 -0.04066311 0.0813267 ] [ 0.15868262 -0.0105563 0.98727321 -1.09668924] [ 0. 0. 0. 1. ]] SLAMing on 114.781346184 meters Centerline goodness : 0.856469 Centerline is valid? [False, False] Translation: X:0.11, Y:0.08, Z:-1.10 [[ 0.93632223 -0.31528809 -0.15457718 0.10839263] [ 0.31313026 0.94891877 -0.03876358 0.08423198] [ 0.15890288 -0.01210759 0.98721998 -1.09797663] [ 0. 0. 0. 1. ]] SLAMing on 114.811346184 meters Centerline goodness : 0.856122 Centerline is valid? [False, False] Translation: X:0.11, Y:0.09, Z:-1.10 [[ 0.93674943 -0.31320681 -0.15621137 0.11051456] [ 0.31149936 0.94956655 -0.03593759 0.08616754] [ 0.15958899 -0.01499523 0.98706965 -1.09855373] [ 0. 0. 0. 1. ]] SLAMing on 114.84134618399999 meters Centerline goodness : 0.856236 Centerline is valid? [False, False] Translation: X:0.11, Y:0.09, Z:-1.10 [[ 0.93675783 -0.31272148 -0.15713063 0.11142249] [ 0.31110986 0.94971463 -0.03539455 0.0886692 ] [ 0.1602979 -0.01572876 0.98694336 -1.09834121] [ 0. 0. 0. 1. ]] SLAMing on 114.87134618399999 meters Centerline goodness : 0.854325 Centerline is valid? [False, False] Translation: X:0.11, Y:0.09, Z:-1.10 [[ 0.93687693 -0.31230076 -0.15725726 0.11248884] [ 0.31065444 0.94985659 -0.03558475 0.09039481] [ 0.16048499 -0.01551413 0.98691635 -1.09934804] [ 0. 0. 0. 1. ]] SLAMing on 114.90134618399999 meters Centerline goodness : 0.855424 Centerline is valid? [False, False] Translation: X:0.12, Y:0.09, Z:-1.10 [[ 0.93787097 -0.30869053 -0.15845568 0.11633104] [ 0.30740337 0.95100012 -0.0331956 0.0934398 ] [ 0.16093854 -0.01757662 0.98680791 -1.10342188] [ 0. 0. 0. 1. ]] SLAMing on 114.93134618399999 meters Centerline goodness : 0.852617 Centerline is valid? [False, False] Translation: X:0.12, Y:0.10, Z:-1.11 [[ 0.9386135 -0.31212632 -0.14690768 0.11824764] [ 0.3105579 0.94994291 -0.03409182 0.10130195] [ 0.15019486 -0.0136243 0.98856253 -1.10524204] [ 0. 0. 0. 1. ]] SLAMing on 114.96134618399999 meters Centerline goodness : 0.856064 Centerline is valid? [False, False] Translation: X:0.12, Y:0.10, Z:-1.11 [[ 0.9394748 -0.30893465 -0.14814345 0.12059213] [ 0.30768796 0.95095426 -0.03184507 0.10314785] [ 0.15071569 -0.01566431 0.98845304 -1.10688765] [ 0. 0. 0. 1. ]] SLAMing on 114.991346184 meters Centerline goodness : 0.851525 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:-1.11 [[ 0.94051774 -0.30599297 -0.14763022 0.11970843] [ 0.30464786 0.95192048 -0.03220382 0.10724769] [ 0.15038637 -0.01468697 0.9885182 -1.10853256] [ 0. 0. 0. 1. ]] SLAMing on 115.021346184 meters Centerline goodness : 0.853447 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:-1.11 [[ 0.94097667 -0.30444264 -0.14791071 0.12170282] [ 0.30314095 0.95241423 -0.03182286 0.1099545 ] [ 0.1505605 -0.01489323 0.98848861 -1.111089 ] [ 0. 0. 0. 1. ]] SLAMing on 115.051346184 meters Centerline goodness : 0.853447 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:-1.11 [[ 0.94097667 -0.30444264 -0.14791071 0.12170282] [ 0.30314095 0.95241423 -0.03182286 0.1099545 ] [ 0.1505605 -0.01489323 0.98848861 -1.111089 ] [ 0. 0. 0. 1. ]] SLAMing on 115.081346184 meters Centerline goodness : 0.849747 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:-1.11 [[ 0.94115256 -0.30382112 -0.14806952 0.12249923] [ 0.30243612 0.95262103 -0.03233522 0.11215664] [ 0.15087826 -0.01434919 0.9884482 -1.11186787] [ 0. 0. 0. 1. ]] SLAMing on 115.111346184 meters Centerline goodness : 0.851729 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:-1.11 [[ 0.94099255 -0.30404438 -0.1486272 0.12334868] [ 0.30264886 0.95254869 -0.03247559 0.11359581] [ 0.15144866 -0.01442256 0.9883599 -1.11153792] [ 0. 0. 0. 1. ]] SLAMing on 115.141346184 meters Centerline goodness : 0.849901 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:-1.11 [[ 0.94036385 -0.30533098 -0.14996275 0.12432904] [ 0.30409133 0.95211532 -0.03169998 0.11541549] [ 0.15246081 -0.01579286 0.98818333 -1.10979935] [ 0. 0. 0. 1. ]] SLAMing on 115.171346184 meters Centerline goodness : 0.850143 Centerline is valid? [False, False] Translation: X:0.13, Y:0.12, Z:-1.11 [[ 0.94035103 -0.31072435 -0.13852912 0.12607431] [ 0.30915777 0.95042965 -0.03324073 0.12126502] [ 0.14199088 -0.0115694 0.98980035 -1.11005683] [ 0. 0. 0. 1. ]] SLAMing on 115.20134618399999 meters Centerline goodness : 0.850341 Centerline is valid? [False, False] Translation: X:0.13, Y:0.12, Z:-1.11 [[ 0.94000612 -0.31154856 -0.13901797 0.12576251] [ 0.31004093 0.95015263 -0.03293322 0.12179632] [ 0.14234859 -0.01214383 0.98974209 -1.10830861] [ 0. 0. 0. 1. ]] SLAMing on 115.23134618399999 meters Centerline goodness : 0.850375 Centerline is valid? [False, False] Translation: X:0.13, Y:0.12, Z:-1.11 [[ 0.93992832 -0.31182442 -0.13892549 0.12566014] [ 0.31027456 0.95006569 -0.03323972 0.1222531 ] [ 0.1423533 -0.01186209 0.98974483 -1.10820267] [ 0. 0. 0. 1. ]] SLAMing on 115.26134618399999 meters Centerline goodness : 0.851260 Centerline is valid? [False, False] Translation: X:0.13, Y:0.12, Z:-1.11 [[ 0.93985351 -0.31207519 -0.13886847 0.12579175] [ 0.31048294 0.94998676 -0.03354839 0.12263257] [ 0.14239283 -0.01158572 0.98974242 -1.10801959] [ 0. 0. 0. 1. ]] SLAMing on 115.29134618399999 meters Centerline goodness : 0.847232 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:-1.11 [[ 0.9390455 -0.3149648 -0.13780684 0.12674766] [ 0.31279511 0.9490721 -0.03770108 0.12555683] [ 0.14266314 -0.00770228 0.98974133 -1.10944395] [ 0. 0. 0. 1. ]] SLAMing on 115.32134618399999 meters Centerline goodness : 0.849012 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:-1.11 [[ 0.93872104 -0.31608889 -0.13744317 0.12893857] [ 0.3135728 0.94871425 -0.04016678 0.12746395] [ 0.14309056 -0.00539304 0.98969491 -1.11143291] [ 0. 0. 0. 1. ]] SLAMing on 115.351346184 meters Centerline goodness : 0.849233 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:-1.11 [[ 0.93841702 -0.31648977 -0.13859191 0.13233154] [ 0.31382882 0.94858378 -0.04123442 0.12934857] [ 0.14451631 -0.00479905 0.98949078 -1.1120958 ] [ 0. 0. 0. 1. ]] SLAMing on 115.381346184 meters Centerline goodness : 0.849247 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:-1.11 [[ 0.93835096 -0.31555458 -0.14114809 0.13377038] [ 0.31340251 0.94886708 -0.03781707 0.13144276] [ 0.14586413 -0.00875048 0.98926593 -1.10992976] [ 0. 0. 0. 1. ]] SLAMing on 115.411346184 meters Centerline goodness : 0.848863 Centerline is valid? [False, False] Translation: X:0.14, Y:0.13, Z:-1.11 [[ 0.93832998 -0.31522531 -0.14202064 0.1352513 ] [ 0.31319893 0.94896662 -0.03699712 0.13268977] [ 0.14643527 -0.00976521 0.98917205 -1.10986888] [ 0. 0. 0. 1. ]] SLAMing on 115.441346184 meters Centerline goodness : 0.849741 Centerline is valid? [False, False] Translation: X:0.14, Y:0.13, Z:-1.11 [[ 0.9383027 -0.31536235 -0.14189656 0.13505205] [ 0.31327796 0.94892508 -0.03739123 0.13320392] [ 0.14644099 -0.00936878 0.98917504 -1.10932294] [ 0. 0. 0. 1. ]] SLAMing on 115.471346184 meters Centerline goodness : 0.849500 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:-1.11 [[ 0.93823916 -0.31566468 -0.14164426 0.13435305] [ 0.31351442 0.94882906 -0.03784349 0.13342812] [ 0.14634204 -0.00890128 0.989194 -1.10856601] [ 0. 0. 0. 1. ]] SLAMing on 115.501346184 meters Centerline goodness : 0.849079 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:-1.11 [[ 0.93805529 -0.31648521 -0.14102973 0.1323524 ] [ 0.3141938 0.94856463 -0.03882534 0.13291639] [ 0.14606345 -0.00789035 0.98924376 -1.1065053 ] [ 0. 0. 0. 1. ]] SLAMing on 115.531346184 meters Centerline goodness : 0.849026 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:-1.11 [[ 0.93799742 -0.31673006 -0.14086484 0.13209101] [ 0.31438111 0.94848613 -0.03922485 0.13341692] [ 0.14603203 -0.00749243 0.98925149 -1.10613546] [ 0. 0. 0. 1. ]] SLAMing on 115.561346184 meters Centerline goodness : 0.849138 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:-1.11 [[ 0.93799853 -0.31670232 -0.14091982 0.13227334] [ 0.31429613 0.94849816 -0.039613 0.13450253] [ 0.14620772 -0.00713362 0.98922819 -1.10563885] [ 0. 0. 0. 1. ]] SLAMing on 115.59134618399999 meters Centerline goodness : 0.850425 Centerline is valid? [False, False] Translation: X:0.13, Y:0.14, Z:-1.11 [[ 0.93810524 -0.31622103 -0.14128988 0.13388234] [ 0.31380941 0.94865853 -0.03963145 0.1352491 ] [ 0.14656815 -0.00715962 0.98917467 -1.10591179] [ 0. 0. 0. 1. ]] SLAMing on 115.62134618399999 meters Centerline goodness : 0.851207 Centerline is valid? [False, False] Translation: X:0.14, Y:0.13, Z:-1.11 [[ 0.93818137 -0.31588319 -0.14153984 0.13539706] [ 0.31350904 0.9487689 -0.03936565 0.13462414] [ 0.14672354 -0.0074419 0.98914954 -1.10656962] [ 0. 0. 0. 1. ]] SLAMing on 115.65134618399999 meters Centerline goodness : 0.850031 Centerline is valid? [False, False] Translation: X:0.14, Y:0.13, Z:-1.11 [[ 0.93817587 -0.3159226 -0.14148835 0.13559505] [ 0.31353362 0.94875661 -0.03946594 0.13446922] [ 0.14670619 -0.00733536 0.98915291 -1.10646079] [ 0. 0. 0. 1. ]] SLAMing on 115.68134618399999 meters Centerline goodness : 0.853471 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:-1.10 [[ 0.93865886 -0.31437934 -0.14172215 0.13223537] [ 0.31224673 0.94925544 -0.03763097 0.13289854] [ 0.14636092 -0.00892963 0.98919095 -1.10415093] [ 0. 0. 0. 1. ]] SLAMing on 115.71134618399999 meters Centerline goodness : 0.854186 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:-1.10 [[ 0.93859686 -0.31462652 -0.14158417 0.13176445] [ 0.31245161 0.94917623 -0.0379274 0.13278272] [ 0.14632129 -0.00863967 0.98919939 -1.10345532] [ 0. 0. 0. 1. ]] SLAMing on 115.741346184 meters Centerline goodness : 0.852387 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:-1.10 [[ 0.93858812 -0.31470198 -0.1414744 0.13196177] [ 0.31253134 0.94915116 -0.03789768 0.13184132] [ 0.14620707 -0.00864487 0.98921623 -1.1033609 ] [ 0. 0. 0. 1. ]] SLAMing on 115.771346184 meters Centerline goodness : 0.852992 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:-1.10 [[ 0.93860787 -0.31466538 -0.14142477 0.13244217] [ 0.31251884 0.94916201 -0.03772874 0.13040285] [ 0.14610695 -0.00878542 0.98922979 -1.1034418 ] [ 0. 0. 0. 1. ]] SLAMing on 115.801346184 meters Centerline goodness : 0.852731 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:-1.10 [[ 0.93867832 -0.31440984 -0.14152546 0.13342801] [ 0.31230885 0.94924385 -0.03740713 0.12894357] [ 0.14610335 -0.00908639 0.9892276 -1.10375036] [ 0. 0. 0. 1. ]] SLAMing on 115.831346184 meters Centerline goodness : 0.852354 Centerline is valid? [False, False] Translation: X:0.14, Y:0.13, Z:-1.10 [[ 0.93876709 -0.3140351 -0.1417685 0.1350526 ] [ 0.31198939 0.94936407 -0.03702002 0.12696572] [ 0.14621551 -0.00947709 0.98920736 -1.10413181] [ 0. 0. 0. 1. ]] SLAMing on 115.861346184 meters Centerline goodness : 0.851915 Centerline is valid? [False, False] Translation: X:0.14, Y:0.13, Z:-1.10 [[ 0.93883399 -0.31372935 -0.14200223 0.13625974] [ 0.31170484 0.94946342 -0.03686875 0.12673642] [ 0.14639273 -0.00964915 0.98917949 -1.10448096] [ 0. 0. 0. 1. ]] SLAMing on 115.891346184 meters Centerline goodness : 0.851890 Centerline is valid? [False, False] Translation: X:0.14, Y:0.13, Z:-1.10 [[ 0.93891387 -0.31339334 -0.14221587 0.13739073] [ 0.31139374 0.94957245 -0.03668911 0.12683499] [ 0.1465424 -0.00983722 0.98915548 -1.10499746] [ 0. 0. 0. 1. ]] SLAMing on 115.921346184 meters Centerline goodness : 0.853461 Centerline is valid? [False, False] Translation: X:0.14, Y:0.13, Z:-1.11 [[ 0.93903545 -0.31285917 -0.14258881 0.13929519] [ 0.31093578 0.9497428 -0.03616008 0.12512354] [ 0.14673571 -0.01038036 0.98912127 -1.10553086] [ 0. 0. 0. 1. ]] SLAMing on 115.95134618399999 meters Centerline goodness : 0.855064 Centerline is valid? [False, False] Translation: X:0.14, Y:0.12, Z:-1.11 [[ 0.93912542 -0.31243272 -0.14293087 0.1408339 ] [ 0.31057277 0.94987804 -0.03572493 0.12338063] [ 0.14692853 -0.01084024 0.98908771 -1.105772 ] [ 0. 0. 0. 1. ]] SLAMing on 115.98134618399999 meters Centerline goodness : 0.854610 Centerline is valid? [False, False] Translation: X:0.14, Y:0.12, Z:-1.11 [[ 0.93919026 -0.31216648 -0.14308647 0.14173429] [ 0.31033312 0.9499634 -0.03553718 0.12240319] [ 0.14702043 -0.0110283 0.98907197 -1.10577106] [ 0. 0. 0. 1. ]] SLAMing on 116.01134618399999 meters Centerline goodness : 0.855303 Centerline is valid? [False, False] Translation: X:0.14, Y:0.12, Z:-1.10 [[ 0.94028287 -0.30845054 -0.14396661 0.14050387] [ 0.30713759 0.95113295 -0.03182165 0.1199986 ] [ 0.14674679 -0.01429621 0.98907078 -1.10477423] [ 0. 0. 0. 1. ]] SLAMing on 116.04134618399999 meters Centerline goodness : 0.857198 Centerline is valid? [False, False] Translation: X:0.14, Y:0.12, Z:-1.10 [[ 0.94141584 -0.30456761 -0.14482675 0.13996127] [ 0.30380361 0.9523258 -0.02790966 0.11835652] [ 0.14642263 -0.01772429 0.98906333 -1.1048535 ] [ 0. 0. 0. 1. ]] SLAMing on 116.07134618399999 meters Centerline goodness : 0.855905 Centerline is valid? [False, False] Translation: X:0.14, Y:0.12, Z:-1.10 [[ 0.94148065 -0.30425302 -0.14506649 0.1407123 ] [ 0.30344353 0.95243142 -0.02822102 0.11940122] [ 0.14675221 -0.01744994 0.98901936 -1.10439871] [ 0. 0. 0. 1. ]] SLAMing on 116.101346184 meters Centerline goodness : 0.855663 Centerline is valid? [False, False] Translation: X:0.14, Y:0.12, Z:-1.11 [[ 0.94173372 -0.30323328 -0.14555817 0.14429432] [ 0.30252079 0.9527446 -0.02754801 0.1169945 ] [ 0.14703323 -0.01809148 0.98896609 -1.10552368] [ 0. 0. 0. 1. ]] SLAMing on 116.131346184 meters Centerline goodness : 0.856789 Centerline is valid? [False, False] Translation: X:0.15, Y:0.12, Z:-1.11 [[ 0.94092983 -0.30597975 -0.1450084 0.14794864] [ 0.30471396 0.95192566 -0.0314156 0.11865559] [ 0.14764976 -0.01462621 0.98893156 -1.10559452] [ 0. 0. 0. 1. ]] SLAMing on 116.161346184 meters Centerline goodness : 0.856877 Centerline is valid? [False, False] Translation: X:0.15, Y:0.12, Z:-1.11 [[ 0.94100753 -0.30557982 -0.14534715 0.14988473] [ 0.30437658 0.95204721 -0.03099999 0.11785739] [ 0.14785032 -0.01506905 0.98889494 -1.10662287] [ 0. 0. 0. 1. ]] SLAMing on 116.191346184 meters Centerline goodness : 0.859426 Centerline is valid? [False, False] Translation: X:0.15, Y:0.12, Z:-1.10 [[ 0.94083194 -0.3063296 -0.14490493 0.1488945 ] [ 0.30495592 0.95182348 -0.03215518 0.11820925] [ 0.14777399 -0.013937 0.98892295 -1.10438016] [ 0. 0. 0. 1. ]] SLAMing on 116.221346184 meters Centerline goodness : 0.860581 Centerline is valid? [False, False] Translation: X:0.15, Y:0.12, Z:-1.10 [[ 0.94070117 -0.30683669 -0.14468085 0.14802511] [ 0.30536479 0.9516693 -0.03283116 0.11865562] [ 0.14776212 -0.01329613 0.98893355 -1.10295733] [ 0. 0. 0. 1. ]] SLAMing on 116.251346184 meters Centerline goodness : 0.862315 Centerline is valid? [False, False] Translation: X:0.15, Y:0.12, Z:-1.10 [[ 0.94059284 -0.30725156 -0.14450462 0.14756669] [ 0.30569849 0.95154268 -0.03339106 0.11866674] [ 0.14776177 -0.01276745 0.98894057 -1.10175925] [ 0. 0. 0. 1. ]] SLAMing on 116.281346184 meters Centerline goodness : 0.860212 Centerline is valid? [False, False] Translation: X:0.15, Y:0.12, Z:-1.10 [[ 0.94029281 -0.30848101 -0.14383635 0.14942854] [ 0.30654304 0.95117545 -0.03600862 0.11838094] [ 0.14792159 -0.01023339 0.98894615 -1.10344359] [ 0. 0. 0. 1. ]] SLAMing on 116.311346184 meters Centerline goodness : 0.859051 Centerline is valid? [False, False] Translation: X:0.15, Y:0.12, Z:-1.11 [[ 0.9400146 -0.30990614 -0.14258586 0.15056766] [ 0.30752406 0.95074009 -0.0390157 0.11805714] [ 0.14765329 -0.00717325 0.98901317 -1.10536688] [ 0. 0. 0. 1. ]] SLAMing on 116.34134618399999 meters Centerline goodness : 0.861615 Centerline is valid? [False, False] Translation: X:0.15, Y:0.12, Z:-1.11 [[ 0.93970331 -0.31127229 -0.1416589 0.15130212] [ 0.30861926 0.95030606 -0.04089686 0.11785631] [ 0.14734937 -0.00528775 0.98907037 -1.10663522] [ 0. 0. 0. 1. ]] SLAMing on 116.37134618399999 meters Centerline goodness : 0.860972 Centerline is valid? [False, False] Translation: X:0.15, Y:0.12, Z:-1.10 [[ 0.93913768 -0.31257016 -0.14254932 0.15175471] [ 0.31001488 0.94987396 -0.04037618 0.11810344] [ 0.14802428 -0.00627362 0.98896383 -1.10460072] [ 0. 0. 0. 1. ]] SLAMing on 116.40134618399999 meters Centerline goodness : 0.859925 Centerline is valid? [False, False] Translation: X:0.15, Y:0.12, Z:-1.10 [[ 0.9388806 -0.31303827 -0.14321405 0.15277206] [ 0.31051753 0.94971676 -0.04021118 0.1193217 ] [ 0.14860042 -0.00671698 0.98887451 -1.10407639] [ 0. 0. 0. 1. ]] SLAMing on 116.43134618399999 meters Centerline goodness : 0.861203 Centerline is valid? [False, False] Translation: X:0.15, Y:0.12, Z:-1.10 [[ 0.93870818 -0.3133331 -0.14369873 0.15374606] [ 0.31081266 0.94961839 -0.04025425 0.12053209] [ 0.14907195 -0.00687639 0.98880244 -1.10384537] [ 0. 0. 0. 1. ]] SLAMing on 116.46134618399999 meters Centerline goodness : 0.859351 Centerline is valid? [False, False] Translation: X:0.15, Y:0.12, Z:-1.10 [[ 0.93872245 -0.31307795 -0.14416089 0.15490189] [ 0.31063076 0.94969824 -0.03977155 0.12162241] [ 0.14936094 -0.00744636 0.9887547 -1.10424356] [ 0. 0. 0. 1. ]] SLAMing on 116.491346184 meters Centerline goodness : 0.861077 Centerline is valid? [False, False] Translation: X:0.16, Y:0.12, Z:-1.11 [[ 0.93915897 -0.31208578 -0.14346741 0.15578342] [ 0.30960721 0.95002832 -0.03986929 0.12210652] [ 0.14874075 -0.00697494 0.98885163 -1.10662186] [ 0. 0. 0. 1. ]] SLAMing on 116.521346184 meters Centerline goodness : 0.862690 Centerline is valid? [False, False] Translation: X:0.16, Y:0.12, Z:-1.11 [[ 0.9390736 -0.31252912 -0.14306055 0.15564763] [ 0.30992253 0.9498887 -0.04073667 0.12231922] [ 0.148623 -0.00608296 0.98887522 -1.10658098] [ 0. 0. 0. 1. ]] SLAMing on 116.551346184 meters Centerline goodness : 0.861899 Centerline is valid? [False, False] Translation: X:0.16, Y:0.12, Z:-1.11 [[ 0.93885878 -0.31323559 -0.14292534 0.15627373] [ 0.31052887 0.94965973 -0.04145147 0.12295319] [ 0.14871452 -0.00546537 0.98886507 -1.10677926] [ 0. 0. 0. 1. ]] SLAMing on 116.581346184 meters Centerline goodness : 0.862719 Centerline is valid? [False, False] Translation: X:0.16, Y:0.12, Z:-1.11 [[ 0.93858726 -0.31401136 -0.14300635 0.15668798] [ 0.31127201 0.94940417 -0.04173066 0.12413793] [ 0.14887473 -0.00534601 0.98884161 -1.10665785] [ 0. 0. 0. 1. ]] SLAMing on 116.611346184 meters Centerline goodness : 0.862157 Centerline is valid? [False, False] Translation: X:0.16, Y:0.13, Z:-1.11 [[ 0.93831655 -0.31395525 -0.1448936 0.1583666 ] [ 0.31145906 0.94940888 -0.04019994 0.12692824] [ 0.15018425 -0.00740815 0.98863027 -1.10505775] [ 0. 0. 0. 1. ]] SLAMing on 116.641346184 meters Centerline goodness : 0.862309 Centerline is valid? [False, False] Translation: X:0.16, Y:0.13, Z:-1.10 [[ 0.93826955 -0.3141506 -0.14477451 0.15827195] [ 0.31157675 0.94934808 -0.04072054 0.12766025] [ 0.15023378 -0.00690153 0.98862641 -1.1045508 ] [ 0. 0. 0. 1. ]] SLAMing on 116.671346184 meters Centerline goodness : 0.862184 Centerline is valid? [False, False] Translation: X:0.16, Y:0.13, Z:-1.11 [[ 0.93827525 -0.31444927 -0.14408753 0.15887309] [ 0.3116665 0.94925884 -0.042091 0.12802694] [ 0.15001184 -0.00541431 0.98866937 -1.10573284] [ 0. 0. 0. 1. ]] SLAMing on 116.70134618399999 meters Centerline goodness : 0.863382 Centerline is valid? [False, False] Translation: X:0.16, Y:0.13, Z:-1.11 [[ 0.93824735 -0.31570142 -0.14150806 0.15850686] [ 0.31237459 0.9488577 -0.04572952 0.12719199] [ 0.14870789 -0.00129792 0.98888032 -1.10847567] [ 0. 0. 0. 1. ]] SLAMing on 116.73134618399999 meters Centerline goodness : 0.863291 Centerline is valid? [False, False] Translation: X:0.16, Y:0.13, Z:-1.11 [[ 9.37854330e-01 -3.16830740e-01 -1.41589327e-01 1.59462026e-01] [ 3.13391027e-01 9.48481834e-01 -4.65647347e-02 1.27751683e-01] [ 1.49048044e-01 -7.01886425e-04 9.88829706e-01 -1.10843750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76134618399999 meters Centerline goodness : 0.868108 Centerline is valid? [False, False] Translation: X:0.16, Y:0.13, Z:-1.11 [[ 0.93733855 -0.31774901 -0.1429406 0.16204437] [ 0.31452863 0.94817132 -0.04519838 0.12899817] [ 0.14989392 -0.00259273 0.98869869 -1.1083991 ] [ 0. 0. 0. 1. ]] SLAMing on 116.79134618399999 meters Centerline goodness : 0.866925 Centerline is valid? [False, False] Translation: X:0.16, Y:0.13, Z:-1.11 [[ 0.93697511 -0.3181602 -0.1444013 0.16412275] [ 0.31511866 0.94802769 -0.04408781 0.13038505] [ 0.15092341 -0.00419437 0.98853656 -1.10768115] [ 0. 0. 0. 1. ]] SLAMing on 116.82134618399999 meters Centerline goodness : 0.866126 Centerline is valid? [False, False] Translation: X:0.17, Y:0.13, Z:-1.11 [[ 0.93665475 -0.31869747 -0.14529212 0.16506035] [ 0.31581645 0.94784049 -0.04310897 0.13211192] [ 0.15145248 -0.00550742 0.9884492 -1.10692789] [ 0. 0. 0. 1. ]] SLAMing on 116.851346184 meters Centerline goodness : 0.866397 Centerline is valid? [False, False] Translation: X:0.17, Y:0.13, Z:-1.11 [[ 0.93649909 -0.31914428 -0.14531477 0.16572532] [ 0.31619183 0.94769238 -0.04361044 0.13260597] [ 0.15163172 -0.0051062 0.98842387 -1.10686223] [ 0. 0. 0. 1. ]] SLAMing on 116.881346184 meters Centerline goodness : 0.868964 Centerline is valid? [False, False] Translation: X:0.17, Y:0.13, Z:-1.11 [[ 0.93631977 -0.31994768 -0.14470238 0.16585933] [ 0.31676768 0.94742848 -0.04513889 0.13229238] [ 0.15153723 -0.0035726 0.98844509 -1.10700203] [ 0. 0. 0. 1. ]] SLAMing on 116.911346184 meters Centerline goodness : 0.868146 Centerline is valid? [False, False] Translation: X:0.17, Y:0.13, Z:-1.11 [[ 0.93610801 -0.32084096 -0.14409328 0.16618139] [ 0.31743761 0.94713083 -0.04665357 0.13309115] [ 0.15144357 -0.00206784 0.98846374 -1.10758793] [ 0. 0. 0. 1. ]] SLAMing on 116.941346184 meters Centerline goodness : 0.868765 Centerline is valid? [False, False] Translation: X:0.17, Y:0.13, Z:-1.11 [[ 0.93610484 -0.32084545 -0.14410386 0.16771103] [ 0.31742019 0.94712959 -0.04679711 0.13360093] [ 0.15149967 -0.00193448 0.98845542 -1.10900066] [ 0. 0. 0. 1. ]] SLAMing on 116.971346184 meters Centerline goodness : 0.868765 Centerline is valid? [False, False] Translation: X:0.17, Y:0.13, Z:-1.11 [[ 0.93610484 -0.32084545 -0.14410386 0.16771103] [ 0.31742019 0.94712959 -0.04679711 0.13360093] [ 0.15149967 -0.00193448 0.98845542 -1.10900066] [ 0. 0. 0. 1. ]] SLAMing on 117.001346184 meters Centerline goodness : 0.868656 Centerline is valid? [False, False] Translation: X:0.17, Y:0.13, Z:-1.11 [[ 0.93593973 -0.32115081 -0.14449561 0.16828201] [ 0.31767235 0.94702644 -0.04717193 0.1349263 ] [ 0.15199046 -0.00175218 0.98838041 -1.10868062] [ 0. 0. 0. 1. ]] SLAMing on 117.031346184 meters Centerline goodness : 0.868340 Centerline is valid? [False, False] Translation: X:0.17, Y:0.14, Z:-1.11 [[ 0.93582863 -0.32134403 -0.1447853 0.16915909] [ 0.31787776 0.94696054 -0.04711118 0.13597994] [ 0.15224486 -0.00193604 0.98834091 -1.10905835] [ 0. 0. 0. 1. ]] SLAMing on 117.061346184 meters Centerline goodness : 0.867100 Centerline is valid? [False, False] Translation: X:0.17, Y:0.14, Z:-1.11 [[ 0.93580185 -0.321138 -0.14541416 0.17148054] [ 0.31767984 0.94702993 -0.04705128 0.13734273] [ 0.15282151 -0.00216447 0.98825144 -1.11025938] [ 0. 0. 0. 1. ]] SLAMing on 117.09134618399999 meters Centerline goodness : 0.866789 Centerline is valid? [False, False] Translation: X:0.17, Y:0.14, Z:-1.11 [[ 9.36272710e-01 -3.20315441e-01 -1.44192340e-01 1.71726246e-01] [ 3.16703709e-01 9.47310643e-01 -4.79719420e-02 1.37987182e-01] [ 1.51961092e-01 -7.51428585e-04 9.88386191e-01 -1.11286371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12134618399999 meters Centerline goodness : 0.868378 Centerline is valid? [False, False] Translation: X:0.17, Y:0.14, Z:-1.11 [[ 9.36579188e-01 -3.19566326e-01 -1.43863784e-01 1.71334922e-01] [ 3.15959677e-01 9.47563712e-01 -4.78799926e-02 1.37804547e-01] [ 1.51620934e-01 -6.11749918e-04 9.88438525e-01 -1.11300733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15134618399999 meters Centerline goodness : 0.868589 Centerline is valid? [False, False] Translation: X:0.17, Y:0.14, Z:-1.11 [[ 0.93683299 -0.31846493 -0.14465141 0.17303596] [ 0.31511948 0.94793162 -0.04610155 0.13792557] [ 0.15180137 -0.00239302 0.98840812 -1.11378585] [ 0. 0. 0. 1. ]] SLAMing on 117.18134618399999 meters Centerline goodness : 0.870528 Centerline is valid? [False, False] Translation: X:0.17, Y:0.14, Z:-1.11 [[ 0.93669504 -0.31873661 -0.14494611 0.17269579] [ 0.31553829 0.94783714 -0.04517021 0.13786903] [ 0.15178271 -0.00342533 0.98840795 -1.11266218] [ 0. 0. 0. 1. ]] SLAMing on 117.21134618399999 meters Centerline goodness : 0.870360 Centerline is valid? [False, False] Translation: X:0.17, Y:0.14, Z:-1.11 [[ 0.93564473 -0.32159153 -0.14542295 0.17364694] [ 0.31848788 0.94686823 -0.04478865 0.1377198 ] [ 0.15210002 -0.00440918 0.98835527 -1.11115824] [ 0. 0. 0. 1. ]] SLAMing on 117.241346184 meters Centerline goodness : 0.868208 Centerline is valid? [False, False] Translation: X:0.17, Y:0.14, Z:-1.11 [[ 0.93465604 -0.32429187 -0.14578363 0.17486004] [ 0.32106351 0.94594869 -0.04581805 0.1381237 ] [ 0.15276225 -0.00398168 0.98825495 -1.11020185] [ 0. 0. 0. 1. ]] SLAMing on 117.271346184 meters Centerline goodness : 0.869643 Centerline is valid? [False, False] Translation: X:0.18, Y:0.14, Z:-1.11 [[ 0.9336649 -0.32705801 -0.14595514 0.17654334] [ 0.32370182 0.94499782 -0.04686428 0.13849341] [ 0.15325463 -0.00349042 0.98818057 -1.11002976] [ 0. 0. 0. 1. ]] SLAMing on 117.301346184 meters Centerline goodness : 0.869959 Centerline is valid? [False, False] Translation: X:0.18, Y:0.14, Z:-1.11 [[ 0.93203216 -0.3313353 -0.14674116 0.18033566] [ 0.32782692 0.94350769 -0.04819492 0.13860361] [ 0.15442009 -0.00318648 0.98800014 -1.11017256] [ 0. 0. 0. 1. ]] SLAMing on 117.331346184 meters Centerline goodness : 0.868652 Centerline is valid? [False, False] Translation: X:0.18, Y:0.14, Z:-1.11 [[ 0.93129343 -0.33333579 -0.14690066 0.18245339] [ 0.32962872 0.94280559 -0.04962396 0.13890415] [ 0.15504021 -0.0022082 0.98790569 -1.11051932] [ 0. 0. 0. 1. ]] SLAMing on 117.361346184 meters Centerline goodness : 0.869479 Centerline is valid? [False, False] Translation: X:0.18, Y:0.14, Z:-1.11 [[ 0.93067089 -0.33510296 -0.14682539 0.18415966] [ 0.33123448 0.94218053 -0.05078952 0.13864122] [ 0.15535574 -0.0013653 0.98785765 -1.11093986] [ 0. 0. 0. 1. ]] SLAMing on 117.391346184 meters Centerline goodness : 0.871161 Centerline is valid? [False, False] Translation: X:0.19, Y:0.14, Z:-1.11 [[ 9.29494620e-01 -3.38333998e-01 -1.46866804e-01 1.86545568e-01] [ 3.34250210e-01 9.41026017e-01 -5.24102263e-02 1.36626903e-01] [ 1.55937645e-01 -3.75236822e-04 9.87766830e-01 -1.11054230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421346184 meters Centerline goodness : 0.871554 Centerline is valid? [False, False] Translation: X:0.19, Y:0.14, Z:-1.11 [[ 0.92887172 -0.33961148 -0.14785594 0.18817125] [ 0.33561513 0.94056483 -0.0519642 0.13560255] [ 0.15671574 -0.00135461 0.98764282 -1.10917711] [ 0. 0. 0. 1. ]] SLAMing on 117.45134618399999 meters Centerline goodness : 0.872247 Centerline is valid? [False, False] Translation: X:0.19, Y:0.14, Z:-1.11 [[ 0.92808924 -0.34074743 -0.15013841 0.19123798] [ 0.33699957 0.94014761 -0.05053478 0.13551036] [ 0.15837186 -0.0036958 0.98737262 -1.10711055] [ 0. 0. 0. 1. ]] SLAMing on 117.48134618399999 meters Centerline goodness : 0.871919 Centerline is valid? [False, False] Translation: X:0.19, Y:0.14, Z:-1.11 [[ 0.92740444 -0.34161736 -0.15237649 0.19442192] [ 0.33812022 0.93982018 -0.04911976 0.13608583] [ 0.15998666 -0.00596769 0.98710114 -1.10566302] [ 0. 0. 0. 1. ]] SLAMing on 117.51134618399999 meters Centerline goodness : 0.874241 Centerline is valid? [False, False] Translation: X:0.20, Y:0.14, Z:-1.10 [[ 0.92663378 -0.34287178 -0.15423609 0.19686771] [ 0.33955241 0.93935069 -0.04821251 0.13640064] [ 0.16141248 -0.0076959 0.98685702 -1.10388009] [ 0. 0. 0. 1. ]] SLAMing on 117.54134618399999 meters Centerline goodness : 0.874224 Centerline is valid? [False, False] Translation: X:0.20, Y:0.13, Z:-1.10 [[ 0.92570623 -0.34509204 -0.15485303 0.19985646] [ 0.34170264 0.93853737 -0.04885608 0.13468784] [ 0.1621952 -0.00768731 0.98672875 -1.10376452] [ 0. 0. 0. 1. ]] SLAMing on 117.57134618399999 meters Centerline goodness : 0.876555 Centerline is valid? [False, False] Translation: X:0.20, Y:0.13, Z:-1.11 [[ 0.92519648 -0.34699961 -0.15363188 0.2018689 ] [ 0.34318004 0.93785197 -0.05158633 0.13409749] [ 0.1619844 -0.0049959 0.98678067 -1.10609436] [ 0. 0. 0. 1. ]] SLAMing on 117.601346184 meters Centerline goodness : 0.873762 Centerline is valid? [False, False] Translation: X:0.20, Y:0.13, Z:-1.11 [[ 9.24711734e-01 -3.49053558e-01 -1.51887534e-01 2.03407319e-01] [ 3.44626658e-01 9.37102141e-01 -5.54260235e-02 1.33636609e-01] [ 1.61680784e-01 -1.09139883e-03 9.86842507e-01 -1.10865450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.631346184 meters Centerline goodness : 0.877192 Centerline is valid? [False, False] Translation: X:0.20, Y:0.13, Z:-1.11 [[ 0.92398368 -0.35166991 -0.15027453 0.20314941] [ 0.34672165 0.93612136 -0.05882946 0.13341919] [ 0.16136375 0.00225403 0.98689243 -1.1091648 ] [ 0. 0. 0. 1. ]] SLAMing on 117.661346184 meters Centerline goodness : 0.876857 Centerline is valid? [False, False] Translation: X:0.20, Y:0.13, Z:-1.11 [[ 9.23982873e-01 -3.51224724e-01 -1.51317029e-01 2.04613386e-01] [ 3.46469346e-01 9.36290849e-01 -5.76058923e-02 1.33619270e-01] [ 1.61909363e-01 8.00145871e-04 9.86805309e-01 -1.10871934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.691346184 meters Centerline goodness : 0.876353 Centerline is valid? [False, False] Translation: X:0.21, Y:0.13, Z:-1.11 [[ 9.24171067e-01 -3.50411894e-01 -1.52050466e-01 2.05497724e-01] [ 3.45800042e-01 9.36595676e-01 -5.66645501e-02 1.33691174e-01] [ 1.62265741e-01 -2.11319834e-04 9.86747072e-01 -1.10849471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.721346184 meters Centerline goodness : 0.880464 Centerline is valid? [False, False] Translation: X:0.20, Y:0.13, Z:-1.11 [[ 0.92529634 -0.34735507 -0.15222069 0.20450822] [ 0.34298091 0.93773271 -0.05496774 0.13243695] [ 0.16183565 -0.00134734 0.98681681 -1.1080714 ] [ 0. 0. 0. 1. ]] SLAMing on 117.751346184 meters Centerline goodness : 0.880424 Centerline is valid? [False, False] Translation: X:0.21, Y:0.13, Z:-1.11 [[ 0.92592649 -0.34546427 -0.15269112 0.20538873] [ 0.34122367 0.93842956 -0.0540035 0.13179433] [ 0.16194614 -0.00209856 0.98679737 -1.10833226] [ 0. 0. 0. 1. ]] SLAMing on 117.781346184 meters Centerline goodness : 0.880879 Centerline is valid? [False, False] Translation: X:0.20, Y:0.13, Z:-1.11 [[ 0.92642741 -0.34436787 -0.15212834 0.20486652] [ 0.34005901 0.93883374 -0.05432378 0.13087721] [ 0.16153058 -0.00140558 0.98686671 -1.10867884] [ 0. 0. 0. 1. ]] SLAMing on 117.811346184 meters Centerline goodness : 0.881552 Centerline is valid? [False, False] Translation: X:0.20, Y:0.13, Z:-1.11 [[ 9.26835151e-01 -3.43497675e-01 -1.51611182e-01 2.04664528e-01] [ 3.39158303e-01 9.39153029e-01 -5.44355963e-02 1.30237697e-01] [ 1.61084602e-01 -9.67367052e-04 9.86940128e-01 -1.10924063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84134618399999 meters Centerline goodness : 0.883800 Centerline is valid? [False, False] Translation: X:0.20, Y:0.13, Z:-1.11 [[ 0.92758508 -0.34126655 -0.15206266 0.20472372] [ 0.33719578 0.93996331 -0.05261159 0.13045484] [ 0.1608879 -0.00247316 0.98696959 -1.10939856] [ 0. 0. 0. 1. ]] SLAMing on 117.87134618399999 meters Centerline goodness : 0.883136 Centerline is valid? [False, False] Translation: X:0.20, Y:0.13, Z:-1.11 [[ 0.92777206 -0.34066844 -0.15226299 0.20475179] [ 0.33655897 0.94018079 -0.05280278 0.13151157] [ 0.16114298 -0.00225653 0.98692849 -1.10927903] [ 0. 0. 0. 1. ]] SLAMing on 117.90134618399999 meters Centerline goodness : 0.883997 Centerline is valid? [False, False] Translation: X:0.21, Y:0.13, Z:-1.11 [[ 0.92788509 -0.34022067 -0.1525751 0.20731931] [ 0.33601863 0.94034394 -0.0533362 0.13377664] [ 0.16161914 -0.00177821 0.98685161 -1.11151008] [ 0. 0. 0. 1. ]] SLAMing on 117.93134618399999 meters Centerline goodness : 0.881199 Centerline is valid? [False, False] Translation: X:0.21, Y:0.13, Z:-1.12 [[ 0.92877227 -0.33913775 -0.1495582 0.20636515] [ 0.33429367 0.94073152 -0.05720102 0.13495197] [ 0.16009314 0.00313037 0.98709695 -1.11594229] [ 0. 0. 0. 1. ]] SLAMing on 117.96134618399999 meters Centerline goodness : 0.881671 Centerline is valid? [False, False] Translation: X:0.21, Y:0.14, Z:-1.12 [[ 0.92931078 -0.3381841 -0.14836776 0.20609316] [ 0.33308192 0.94106572 -0.05875162 0.13592466] [ 0.15949267 0.0051799 0.98718552 -1.11804952] [ 0. 0. 0. 1. ]] SLAMing on 117.991346184 meters Centerline goodness : 0.882036 Centerline is valid? [False, False] Translation: X:0.21, Y:0.14, Z:-1.12 [[ 0.92991228 -0.33649858 -0.14843136 0.20721106] [ 0.33137316 0.94166816 -0.05876136 0.13724289] [ 0.1595462 0.00545674 0.98717538 -1.11966787] [ 0. 0. 0. 1. ]] SLAMing on 118.021346184 meters Centerline goodness : 0.884002 Centerline is valid? [False, False] Translation: X:0.21, Y:0.14, Z:-1.12 [[ 0.93050484 -0.33474535 -0.14868183 0.20658196] [ 0.3296789 0.94229436 -0.05825086 0.13835522] [ 0.15960126 0.00518545 0.98716794 -1.11928076] [ 0. 0. 0. 1. ]] SLAMing on 118.051346184 meters Centerline goodness : 0.883972 Centerline is valid? [False, False] Translation: X:0.21, Y:0.14, Z:-1.12 [[ 0.93241696 -0.33344902 -0.13932108 0.20812742] [ 0.32926685 0.94276232 -0.05274994 0.14404222] [ 0.14893609 0.00331113 0.98884128 -1.1193636 ] [ 0. 0. 0. 1. ]] SLAMing on 118.081346184 meters Centerline goodness : 0.883635 Centerline is valid? [False, False] Translation: X:0.21, Y:0.15, Z:-1.12 [[ 9.32929410e-01 -3.30974970e-01 -1.41768420e-01 2.12153112e-01] [ 3.27344285e-01 9.43639202e-01 -4.88955560e-02 1.45105422e-01] [ 1.49961444e-01 -7.90979930e-04 9.88691529e-01 -1.12043423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.111346184 meters Centerline goodness : 0.883629 Centerline is valid? [False, False] Translation: X:0.21, Y:0.14, Z:-1.12 [[ 9.33052444e-01 -3.30619764e-01 -1.41787550e-01 2.11764092e-01] [ 3.26987618e-01 9.43763741e-01 -4.88784041e-02 1.44960896e-01] [ 1.49974115e-01 -7.56658936e-04 9.88689634e-01 -1.11972956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141346184 meters Centerline goodness : 0.882043 Centerline is valid? [False, False] Translation: X:0.21, Y:0.15, Z:-1.12 [[ 0.93259818 -0.33231077 -0.1408197 0.21334474] [ 0.32825147 0.94316759 -0.0518253 0.14548217] [ 0.15003868 0.00210791 0.98867788 -1.12156971] [ 0. 0. 0. 1. ]] SLAMing on 118.171346184 meters Centerline goodness : 0.881988 Centerline is valid? [False, False] Translation: X:0.22, Y:0.15, Z:-1.12 [[ 0.93206622 -0.33344796 -0.14165103 0.2171888 ] [ 0.32934741 0.94276644 -0.05217013 0.14659292] [ 0.15093987 0.00197362 0.98854098 -1.12317319] [ 0. 0. 0. 1. ]] SLAMing on 118.20134618399999 meters Centerline goodness : 0.881584 Centerline is valid? [False, False] Translation: X:0.22, Y:0.15, Z:-1.12 [[ 0.93153381 -0.33467294 -0.1422631 0.21924629] [ 0.33058154 0.942333 -0.05219538 0.14760629] [ 0.15152759 0.00159221 0.98845175 -1.12356338] [ 0. 0. 0. 1. ]] SLAMing on 118.23134618399999 meters Centerline goodness : 0.882830 Centerline is valid? [False, False] Translation: X:0.22, Y:0.15, Z:-1.12 [[ 9.31199736e-01 -3.35105071e-01 -1.43428180e-01 2.22013292e-01] [ 3.31066824e-01 9.42180407e-01 -5.18732995e-02 1.49211675e-01] [ 1.52518227e-01 8.20090719e-04 9.88300318e-01 -1.12407022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26134618399999 meters Centerline goodness : 0.882770 Centerline is valid? [False, False] Translation: X:0.22, Y:0.15, Z:-1.13 [[ 0.93106201 -0.33601942 -0.14217768 0.22383537] [ 0.33146689 0.94184498 -0.05529685 0.15096265] [ 0.15249015 0.0043576 0.98829538 -1.12740596] [ 0. 0. 0. 1. ]] SLAMing on 118.29134618399999 meters Centerline goodness : 0.879938 Centerline is valid? [False, False] Translation: X:0.23, Y:0.15, Z:-1.13 [[ 0.93097248 -0.33631597 -0.14206271 0.22615682] [ 0.33151363 0.94173064 -0.05693954 0.15197633] [ 0.15293449 0.00591342 0.98821864 -1.12946984] [ 0. 0. 0. 1. ]] SLAMing on 118.32134618399999 meters Centerline goodness : 0.882480 Centerline is valid? [False, False] Translation: X:0.23, Y:0.15, Z:-1.13 [[ 0.93112403 -0.33598117 -0.14186156 0.22654777] [ 0.33116384 0.94184887 -0.05701949 0.15185698] [ 0.15276963 0.0061128 0.98824292 -1.13007375] [ 0. 0. 0. 1. ]] SLAMing on 118.351346184 meters Centerline goodness : 0.881587 Centerline is valid? [False, False] Translation: X:0.23, Y:0.15, Z:-1.13 [[ 0.93116568 -0.33539848 -0.14296273 0.22743527] [ 0.33069969 0.94206295 -0.0561704 0.15244737] [ 0.15351935 0.00502621 0.98813286 -1.12893885] [ 0. 0. 0. 1. ]] SLAMing on 118.381346184 meters Centerline goodness : 0.881026 Centerline is valid? [False, False] Translation: X:0.23, Y:0.15, Z:-1.13 [[ 0.93133274 -0.33312387 -0.14713194 0.23214302] [ 0.32924829 0.94288225 -0.05068158 0.15249091] [ 0.15561134 -0.00124152 0.98781758 -1.12717385] [ 0. 0. 0. 1. ]] SLAMing on 118.411346184 meters Centerline goodness : 0.882103 Centerline is valid? [False, False] Translation: X:0.24, Y:0.15, Z:-1.13 [[ 0.93125787 -0.33262426 -0.14872754 0.23529536] [ 0.32903573 0.94305314 -0.04884936 0.15214074] [ 0.15650646 -0.00344532 0.98767093 -1.1273871 ] [ 0. 0. 0. 1. ]] SLAMing on 118.441346184 meters Centerline goodness : 0.883510 Centerline is valid? [False, False] Translation: X:0.24, Y:0.15, Z:-1.13 [[ 0.93052835 -0.33458777 -0.14888928 0.23547441] [ 0.33103355 0.94235659 -0.04879386 0.14998207] [ 0.15663262 -0.00388327 0.9876493 -1.12538262] [ 0. 0. 0. 1. ]] SLAMing on 118.471346184 meters Centerline goodness : 0.883455 Centerline is valid? [False, False] Translation: X:0.24, Y:0.15, Z:-1.13 [[ 0.92995236 -0.33586059 -0.14962041 0.23847564] [ 0.33236124 0.94190067 -0.04857087 0.14989714] [ 0.15724061 -0.00455943 0.9875498 -1.12620089] [ 0. 0. 0. 1. ]] SLAMing on 118.501346184 meters Centerline goodness : 0.882242 Centerline is valid? [False, False] Translation: X:0.24, Y:0.15, Z:-1.13 [[ 0.92915925 -0.33774774 -0.15029818 0.24112927] [ 0.33417019 0.94122601 -0.04923301 0.14987494] [ 0.15809289 -0.00447987 0.98741408 -1.12620689] [ 0. 0. 0. 1. ]] SLAMing on 118.531346184 meters Centerline goodness : 0.883963 Centerline is valid? [False, False] Translation: X:0.24, Y:0.15, Z:-1.13 [[ 0.92763436 -0.34211764 -0.14983329 0.24411937] [ 0.33821761 0.93965289 -0.05158772 0.14966907] [ 0.15844036 -0.00282172 0.98736452 -1.12737213] [ 0. 0. 0. 1. ]] SLAMing on 118.561346184 meters Centerline goodness : 0.881836 Centerline is valid? [False, False] Translation: X:0.25, Y:0.15, Z:-1.13 [[ 0.92703252 -0.34378307 -0.14974616 0.24631877] [ 0.33972273 0.93904696 -0.0527188 0.14980129] [ 0.15874251 -0.00200013 0.98731799 -1.12856887] [ 0. 0. 0. 1. ]] SLAMing on 118.59134618399999 meters Centerline goodness : 0.882822 Centerline is valid? [False, False] Translation: X:0.25, Y:0.15, Z:-1.13 [[ 9.26495595e-01 -3.45386436e-01 -1.49379120e-01 2.47705688e-01] [ 3.41087492e-01 9.38460350e-01 -5.43276531e-02 1.49497793e-01] [ 1.58950416e-01 -6.17018325e-04 9.87286374e-01 -1.12916727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62134618399999 meters Centerline goodness : 0.883138 Centerline is valid? [False, False] Translation: X:0.25, Y:0.15, Z:-1.13 [[ 9.25958402e-01 -3.46536244e-01 -1.50045558e-01 2.50289580e-01] [ 3.42122182e-01 9.38036541e-01 -5.51349266e-02 1.49802533e-01] [ 1.59854467e-01 -2.81265267e-04 9.87140552e-01 -1.12938495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65134618399999 meters Centerline goodness : 0.883886 Centerline is valid? [False, False] Translation: X:0.25, Y:0.15, Z:-1.13 [[ 0.9252855 -0.34799136 -0.15082692 0.25158084] [ 0.34366455 0.93749697 -0.05471849 0.14956182] [ 0.16044134 -0.00120364 0.98704464 -1.1283696 ] [ 0. 0. 0. 1. ]] SLAMing on 118.68134618399999 meters Centerline goodness : 0.883881 Centerline is valid? [False, False] Translation: X:0.25, Y:0.15, Z:-1.13 [[ 0.92483456 -0.34891337 -0.15146121 0.25257913] [ 0.34465564 0.93715303 -0.05437546 0.1494333 ] [ 0.16091465 -0.00191366 0.98696647 -1.12749944] [ 0. 0. 0. 1. ]] SLAMing on 118.71134618399999 meters Centerline goodness : 0.884388 Centerline is valid? [False, False] Translation: X:0.26, Y:0.15, Z:-1.13 [[ 0.92335483 -0.35248947 -0.15220718 0.25653434] [ 0.34811124 0.93581401 -0.05541383 0.14926401] [ 0.16197041 -0.00181841 0.98679394 -1.12783334] [ 0. 0. 0. 1. ]] SLAMing on 118.741346184 meters Centerline goodness : 0.882933 Centerline is valid? [False, False] Translation: X:0.26, Y:0.15, Z:-1.13 [[ 0.92265166 -0.35397847 -0.15301356 0.26064678] [ 0.34965638 0.93525005 -0.05520646 0.14906967] [ 0.16264784 -0.00256584 0.98668085 -1.1293642 ] [ 0. 0. 0. 1. ]] SLAMing on 118.771346184 meters Centerline goodness : 0.884401 Centerline is valid? [False, False] Translation: X:0.26, Y:0.15, Z:-1.13 [[ 0.92190396 -0.35579074 -0.15331676 0.26240323] [ 0.35146764 0.93456133 -0.05536813 0.14823161] [ 0.16298338 -0.00284178 0.98662472 -1.12914298] [ 0. 0. 0. 1. ]] SLAMing on 118.801346184 meters Centerline goodness : 0.884322 Centerline is valid? [False, False] Translation: X:0.26, Y:0.15, Z:-1.13 [[ 0.92145443 -0.35665546 -0.15400849 0.264194 ] [ 0.352509 0.93422666 -0.05438702 0.14700646] [ 0.16327626 -0.00417422 0.98657156 -1.12870685] [ 0. 0. 0. 1. ]] SLAMing on 118.831346184 meters Centerline goodness : 0.883612 Centerline is valid? [False, False] Translation: X:0.27, Y:0.15, Z:-1.13 [[ 0.92078305 -0.3578099 -0.15534043 0.26535381] [ 0.35399998 0.93377077 -0.05249919 0.14584098] [ 0.16383708 -0.00665015 0.98646499 -1.12654475] [ 0. 0. 0. 1. ]] SLAMing on 118.861346184 meters Centerline goodness : 0.883612 Centerline is valid? [False, False] Translation: X:0.27, Y:0.15, Z:-1.13 [[ 0.92078305 -0.3578099 -0.15534043 0.26535381] [ 0.35399998 0.93377077 -0.05249919 0.14584098] [ 0.16383708 -0.00665015 0.98646499 -1.12654475] [ 0. 0. 0. 1. ]] SLAMing on 118.891346184 meters Centerline goodness : 0.881816 Centerline is valid? [False, False] Translation: X:0.27, Y:0.15, Z:-1.13 [[ 0.92056313 -0.35804285 -0.15610522 0.26783481] [ 0.35434301 0.93367466 -0.05189084 0.14638608] [ 0.16433063 -0.007546 0.98637645 -1.1274882 ] [ 0. 0. 0. 1. ]] SLAMing on 118.921346184 meters Centerline goodness : 0.883649 Centerline is valid? [False, False] Translation: X:0.27, Y:0.15, Z:-1.13 [[ 0.92048907 -0.35811352 -0.1563796 0.2705978 ] [ 0.35433266 0.93365044 -0.05239493 0.14704356] [ 0.16476721 -0.00718144 0.98630634 -1.1294165 ] [ 0. 0. 0. 1. ]] SLAMing on 118.95134618399999 meters Centerline goodness : 0.883042 Centerline is valid? [False, False] Translation: X:0.27, Y:0.15, Z:-1.13 [[ 0.92051124 -0.35842518 -0.15553281 0.27030655] [ 0.35445099 0.9335402 -0.05354619 0.14700187] [ 0.16438843 -0.00583889 0.9863784 -1.13011276] [ 0. 0. 0. 1. ]] SLAMing on 118.98134618399999 meters Centerline goodness : 0.884860 Centerline is valid? [False, False] Translation: X:0.27, Y:0.15, Z:-1.13 [[ 0.92080353 -0.3575507 -0.15581516 0.27062386] [ 0.35363925 0.93387314 -0.05310604 0.14741817] [ 0.16449969 -0.00620213 0.98635764 -1.13025185] [ 0. 0. 0. 1. ]] SLAMing on 119.01134618399999 meters Centerline goodness : 0.882309 Centerline is valid? [False, False] Translation: X:0.27, Y:0.15, Z:-1.13 [[ 0.92121403 -0.35585714 -0.15725905 0.27391779] [ 0.35231572 0.93450083 -0.05081176 0.14828932] [ 0.16504044 -0.00859633 0.98624934 -1.13192492] [ 0. 0. 0. 1. ]] SLAMing on 119.04134618399999 meters Centerline goodness : 0.881642 Centerline is valid? [False, False] Translation: X:0.27, Y:0.15, Z:-1.13 [[ 0.92144606 -0.35523322 -0.15731029 0.27451572] [ 0.35171212 0.93473753 -0.05063926 0.14840278] [ 0.16503258 -0.00866659 0.98625004 -1.13245591] [ 0. 0. 0. 1. ]] SLAMing on 119.07134618399999 meters Centerline goodness : 0.883113 Centerline is valid? [False, False] Translation: X:0.27, Y:0.15, Z:-1.13 [[ 0.922158 -0.35365594 -0.15669111 0.27447365] [ 0.35015793 0.93533739 -0.0503327 0.14854227] [ 0.16435951 -0.00845193 0.98636429 -1.13397147] [ 0. 0. 0. 1. ]] SLAMing on 119.101346184 meters Centerline goodness : 0.881658 Centerline is valid? [False, False] Translation: X:0.27, Y:0.15, Z:-1.14 [[ 0.92243687 -0.35299404 -0.15654212 0.27491179] [ 0.34951321 0.93558751 -0.05016503 0.1493847 ] [ 0.16416681 -0.00843947 0.98639649 -1.13513442] [ 0. 0. 0. 1. ]] SLAMing on 119.131346184 meters Centerline goodness : 0.882843 Centerline is valid? [False, False] Translation: X:0.28, Y:0.15, Z:-1.14 [[ 0.92271768 -0.35213456 -0.15682261 0.27635316] [ 0.3487505 0.93590617 -0.04952512 0.15054179] [ 0.16421075 -0.00899426 0.98638427 -1.13659698] [ 0. 0. 0. 1. ]] SLAMing on 119.161346184 meters Centerline goodness : 0.883490 Centerline is valid? [False, False] Translation: X:0.28, Y:0.15, Z:-1.14 [[ 0.92295441 -0.35146087 -0.15694078 0.27672332] [ 0.34815417 0.93615531 -0.04900916 0.15121279] [ 0.16414575 -0.00940637 0.98639125 -1.13704639] [ 0. 0. 0. 1. ]] SLAMing on 119.191346184 meters Centerline goodness : 0.881273 Centerline is valid? [False, False] Translation: X:0.28, Y:0.15, Z:-1.14 [[ 0.92364399 -0.35017378 -0.15575656 0.27514672] [ 0.34677212 0.93664728 -0.04940617 0.15170866] [ 0.1631897 -0.00837832 0.98655913 -1.13819401] [ 0. 0. 0. 1. ]] SLAMing on 119.221346184 meters Centerline goodness : 0.881927 Centerline is valid? [False, False] Translation: X:0.28, Y:0.15, Z:-1.14 [[ 0.92400865 -0.34933037 -0.1554873 0.27618264] [ 0.34587972 0.93696604 -0.04961719 0.15243107] [ 0.16301911 -0.00793319 0.98659102 -1.14014488] [ 0. 0. 0. 1. ]] SLAMing on 119.251346184 meters Centerline goodness : 0.883534 Centerline is valid? [False, False] Translation: X:0.28, Y:0.15, Z:-1.14 [[ 0.92433099 -0.3482525 -0.15598854 0.27890727] [ 0.34490542 0.93736151 -0.04892493 0.15396019] [ 0.16325588 -0.00857846 0.98654646 -1.1425558 ] [ 0. 0. 0. 1. ]] SLAMing on 119.281346184 meters Centerline goodness : 0.883239 Centerline is valid? [False, False] Translation: X:0.28, Y:0.16, Z:-1.14 [[ 0.92505043 -0.34620446 -0.15628237 0.2788128 ] [ 0.34302708 0.93811153 -0.04774079 0.15506999] [ 0.16313836 -0.00944645 0.98655798 -1.14311149] [ 0. 0. 0. 1. ]] SLAMing on 119.311346184 meters Centerline goodness : 0.885544 Centerline is valid? [False, False] Translation: X:0.28, Y:0.16, Z:-1.14 [[ 0.92530746 -0.34506974 -0.15726721 0.27833577] [ 0.34219563 0.9385082 -0.04587486 0.15576455] [ 0.16342659 -0.0113678 0.98649 -1.14149456] [ 0. 0. 0. 1. ]] SLAMing on 119.34134618399999 meters Centerline goodness : 0.887550 Centerline is valid? [False, False] Translation: X:0.28, Y:0.16, Z:-1.14 [[ 0.92580566 -0.34279342 -0.15930018 0.27994106] [ 0.34055933 0.93928495 -0.04198953 0.15688362] [ 0.164022 -0.01537702 0.98633682 -1.14103392] [ 0. 0. 0. 1. ]] SLAMing on 119.37134618399999 meters Centerline goodness : 0.887414 Centerline is valid? [False, False] Translation: X:0.28, Y:0.16, Z:-1.14 [[ 0.92655218 -0.34730178 -0.14450788 0.27845374] [ 0.34453683 0.93771485 -0.04455595 0.16259136] [ 0.15098155 -0.00850488 0.98849999 -1.14455033] [ 0. 0. 0. 1. ]] SLAMing on 119.40134618399999 meters Centerline goodness : 0.884663 Centerline is valid? [False, False] Translation: X:0.28, Y:0.16, Z:-1.15 [[ 0.92603984 -0.34958171 -0.14227736 0.27865057] [ 0.3461857 0.93689699 -0.04878013 0.16213737] [ 0.15035187 -0.00408205 0.98862412 -1.14670707] [ 0. 0. 0. 1. ]] SLAMing on 119.43134618399999 meters Centerline goodness : 0.883778 Centerline is valid? [False, False] Translation: X:0.28, Y:0.16, Z:-1.15 [[ 0.92518101 -0.35226288 -0.14124785 0.28196835] [ 0.3484248 0.9359003 -0.0518728 0.16338938] [ 0.15046677 -0.00122252 0.98861431 -1.15018029] [ 0. 0. 0. 1. ]] SLAMing on 119.46134618399999 meters Centerline goodness : 0.884228 Centerline is valid? [False, False] Translation: X:0.29, Y:0.17, Z:-1.15 [[ 0.92411114 -0.35469258 -0.14216813 0.28669803] [ 0.35083324 0.93498155 -0.05220661 0.16503837] [ 0.15144188 -0.00163259 0.98846482 -1.15224984] [ 0. 0. 0. 1. ]] SLAMing on 119.491346184 meters Centerline goodness : 0.883135 Centerline is valid? [False, False] Translation: X:0.29, Y:0.17, Z:-1.15 [[ 0.92121787 -0.36071079 -0.14575787 0.29426361] [ 0.35711498 0.9326642 -0.0510527 0.16845694] [ 0.15435841 -0.00502166 0.98800216 -1.15121089] [ 0. 0. 0. 1. ]] SLAMing on 119.521346184 meters Centerline goodness : 0.882209 Centerline is valid? [False, False] Translation: X:0.30, Y:0.17, Z:-1.15 [[ 0.92000601 -0.36301637 -0.14767552 0.29837899] [ 0.35968479 0.93175294 -0.04963177 0.16950798] [ 0.15561425 -0.00745511 0.98778977 -1.15095818] [ 0. 0. 0. 1. ]] SLAMing on 119.551346184 meters Centerline goodness : 0.884411 Centerline is valid? [False, False] Translation: X:0.30, Y:0.17, Z:-1.15 [[ 0.91873153 -0.36556669 -0.14930964 0.3013673 ] [ 0.36244206 0.93073721 -0.0486209 0.16967021] [ 0.15674222 -0.00944654 0.98759437 -1.14955531] [ 0. 0. 0. 1. ]] SLAMing on 119.581346184 meters Centerline goodness : 0.884534 Centerline is valid? [False, False] Translation: X:0.31, Y:0.17, Z:-1.15 [[ 0.9164837 -0.37020114 -0.15168634 0.30669239] [ 0.36734041 0.92887189 -0.04751874 0.17026505] [ 0.15848867 -0.01217037 0.98728579 -1.14831421] [ 0. 0. 0. 1. ]] SLAMing on 119.611346184 meters Centerline goodness : 0.885555 Centerline is valid? [False, False] Translation: X:0.31, Y:0.17, Z:-1.15 [[ 0.91563024 -0.37198578 -0.15247245 0.30923036] [ 0.36910266 0.92815498 -0.04787022 0.17048531] [ 0.1593251 -0.01244657 0.98714771 -1.14805959] [ 0. 0. 0. 1. ]] SLAMing on 119.641346184 meters Centerline goodness : 0.886848 Centerline is valid? [False, False] Translation: X:0.31, Y:0.17, Z:-1.15 [[ 0.91446133 -0.37401019 -0.15452137 0.31250694] [ 0.37150692 0.92729589 -0.04587973 0.17059057] [ 0.16044651 -0.01545051 0.9869236 -1.14656918] [ 0. 0. 0. 1. ]] SLAMing on 119.671346184 meters Centerline goodness : 0.888574 Centerline is valid? [False, False] Translation: X:0.32, Y:0.17, Z:-1.15 [[ 0.91362513 -0.37502153 -0.15699671 0.31620658] [ 0.37288004 0.92683494 -0.04401669 0.17279019] [ 0.16201725 -0.01832619 0.98661774 -1.14583013] [ 0. 0. 0. 1. ]] SLAMing on 119.70134618399999 meters Centerline goodness : 0.886688 Centerline is valid? [False, False] Translation: X:0.32, Y:0.17, Z:-1.14 [[ 0.91287949 -0.37618827 -0.15853524 0.31861731] [ 0.37414153 0.92634017 -0.0437264 0.17445328] [ 0.16330692 -0.01939769 0.9863846 -1.1448964 ] [ 0. 0. 0. 1. ]] SLAMing on 119.73134618399999 meters Centerline goodness : 0.887044 Centerline is valid? [False, False] Translation: X:0.32, Y:0.18, Z:-1.15 [[ 0.91235664 -0.37711546 -0.15934018 0.32225888] [ 0.37506518 0.92595704 -0.04392812 0.17662849] [ 0.16410813 -0.01968484 0.98624593 -1.14682536] [ 0. 0. 0. 1. ]] SLAMing on 119.76134618399999 meters Centerline goodness : 0.883290 Centerline is valid? [False, False] Translation: X:0.32, Y:0.18, Z:-1.15 [[ 0.91232802 -0.37776621 -0.15795659 0.32479037] [ 0.37518002 0.92575694 -0.04705371 0.17863059] [ 0.16400471 -0.01633374 0.98632432 -1.15116209] [ 0. 0. 0. 1. ]] SLAMing on 119.79134618399999 meters Centerline goodness : 0.886477 Centerline is valid? [False, False] Translation: X:0.33, Y:0.18, Z:-1.15 [[ 0.91250678 -0.37704506 -0.15864553 0.32708747] [ 0.37447222 0.92604723 -0.04697956 0.17981309] [ 0.16462666 -0.01653917 0.98621728 -1.15243635] [ 0. 0. 0. 1. ]] SLAMing on 119.82134618399999 meters Centerline goodness : 0.886288 Centerline is valid? [False, False] Translation: X:0.33, Y:0.18, Z:-1.15 [[ 0.91296295 -0.37495808 -0.16095057 0.33034566] [ 0.37300159 0.92681644 -0.04337163 0.18020679] [ 0.16543418 -0.02043813 0.98600903 -1.15280421] [ 0. 0. 0. 1. ]] SLAMing on 119.851346184 meters Centerline goodness : 0.888332 Centerline is valid? [False, False] Translation: X:0.33, Y:0.18, Z:-1.15 [[ 0.91356353 -0.3722557 -0.16379062 0.33048496] [ 0.37113307 0.92777838 -0.03856846 0.18073385] [ 0.16631873 -0.02555338 0.98574089 -1.14966654] [ 0. 0. 0. 1. ]] SLAMing on 119.881346184 meters Centerline goodness : 0.889329 Centerline is valid? [False, False] Translation: X:0.33, Y:0.18, Z:-1.15 [[ 0.91376157 -0.37085033 -0.16586085 0.33314027] [ 0.37021656 0.92825188 -0.03589061 0.18196675] [ 0.16727069 -0.02860897 0.98549584 -1.14963404] [ 0. 0. 0. 1. ]] SLAMing on 119.911346184 meters Centerline goodness : 0.889099 Centerline is valid? [False, False] Translation: X:0.33, Y:0.18, Z:-1.15 [[ 0.9138483 -0.37062172 -0.165894 0.33239454] [ 0.37001435 0.92833911 -0.0357195 0.18229254] [ 0.16724431 -0.02874096 0.98549647 -1.14886728] [ 0. 0. 0. 1. ]] SLAMing on 119.941346184 meters Centerline goodness : 0.888400 Centerline is valid? [False, False] Translation: X:0.33, Y:0.18, Z:-1.15 [[ 0.91387307 -0.37034948 -0.16636485 0.33433118] [ 0.36980057 0.92843528 -0.03543262 0.18297729] [ 0.16758145 -0.0291409 0.98542745 -1.14989787] [ 0. 0. 0. 1. ]] SLAMing on 119.971346184 meters Centerline goodness : 0.887528 Centerline is valid? [False, False] Translation: X:0.34, Y:0.18, Z:-1.15 [[ 0.91377216 -0.37102468 -0.16541201 0.33544067] [ 0.37012605 0.92822876 -0.03739086 0.18367705] [ 0.16741312 -0.02705657 0.98551549 -1.15187755] [ 0. 0. 0. 1. ]] SLAMing on 120.001346184 meters Centerline goodness : 0.885370 Centerline is valid? [False, False] Translation: X:0.34, Y:0.19, Z:-1.15 [[ 0.91356575 -0.37116234 -0.16624117 0.3396052 ] [ 0.37026074 0.92816832 -0.03755746 0.18596378] [ 0.16823971 -0.02724137 0.98536963 -1.15463379] [ 0. 0. 0. 1. ]] SLAMing on 120.031346184 meters Centerline goodness : 0.885003 Centerline is valid? [False, False] Translation: X:0.34, Y:0.19, Z:-1.16 [[ 0.91354943 -0.37148493 -0.16560914 0.34031071] [ 0.37031533 0.92808467 -0.03905646 0.18700833] [ 0.16820819 -0.02564759 0.98541778 -1.15608523] [ 0. 0. 0. 1. ]] SLAMing on 120.061346184 meters Centerline goodness : 0.883878 Centerline is valid? [False, False] Translation: X:0.34, Y:0.19, Z:-1.16 [[ 0.91373941 -0.37140812 -0.16473097 0.34137599] [ 0.36997401 0.92816029 -0.0404686 0.18922706] [ 0.16792711 -0.02396842 0.98550799 -1.15896486] [ 0. 0. 0. 1. ]] SLAMing on 120.09134618399999 meters Centerline goodness : 0.883125 Centerline is valid? [False, False] Translation: X:0.34, Y:0.19, Z:-1.16 [[ 0.91392217 -0.37087195 -0.16492503 0.34170146] [ 0.36935293 0.92838675 -0.04094449 0.19069177] [ 0.16829937 -0.02349547 0.98545588 -1.15921206] [ 0. 0. 0. 1. ]] SLAMing on 120.12134618399999 meters Centerline goodness : 0.884421 Centerline is valid? [False, False] Translation: X:0.34, Y:0.19, Z:-1.16 [[ 0.91449452 -0.3688733 -0.16622953 0.34440359] [ 0.36766045 0.9291352 -0.03916093 0.19255933] [ 0.16889513 -0.02530356 0.98530917 -1.16101844] [ 0. 0. 0. 1. ]] SLAMing on 120.15134618399999 meters Centerline goodness : 0.883025 Centerline is valid? [False, False] Translation: X:0.34, Y:0.19, Z:-1.16 [[ 0.91551613 -0.36592785 -0.16711384 0.34427298] [ 0.36506071 0.93024785 -0.03700844 0.1938168 ] [ 0.16899971 -0.02712487 0.98524278 -1.16104674] [ 0. 0. 0. 1. ]] SLAMing on 120.18134618399999 meters Centerline goodness : 0.883684 Centerline is valid? [False, False] Translation: X:0.34, Y:0.19, Z:-1.16 [[ 0.91586856 -0.36481854 -0.16760731 0.34406902] [ 0.36408405 0.93066182 -0.03621291 0.19427604] [ 0.16919687 -0.02785688 0.98518852 -1.16031967] [ 0. 0. 0. 1. ]] SLAMing on 120.21134618399999 meters Centerline goodness : 0.882654 Centerline is valid? [False, False] Translation: X:0.35, Y:0.20, Z:-1.16 [[ 0.91605667 -0.36367512 -0.16905795 0.34550014] [ 0.3632954 0.93104259 -0.03429503 0.19562586] [ 0.1698724 -0.03000178 0.98500927 -1.15995125] [ 0. 0. 0. 1. ]] SLAMing on 120.241346184 meters Centerline goodness : 0.884515 Centerline is valid? [False, False] Translation: X:0.35, Y:0.20, Z:-1.16 [[ 0.91618421 -0.36316702 -0.1694586 0.34541134] [ 0.36288976 0.93122157 -0.03372556 0.1979008 ] [ 0.17005151 -0.03059596 0.98496009 -1.15983063] [ 0. 0. 0. 1. ]] SLAMing on 120.271346184 meters Centerline goodness : 0.884185 Centerline is valid? [False, False] Translation: X:0.35, Y:0.20, Z:-1.16 [[ 0.91606103 -0.3637876 -0.16879213 0.34658585] [ 0.36333262 0.93101325 -0.0346949 0.19886395] [ 0.16976928 -0.02954504 0.98504085 -1.16187636] [ 0. 0. 0. 1. ]] SLAMing on 120.301346184 meters Centerline goodness : 0.882757 Centerline is valid? [False, False] Translation: X:0.35, Y:0.20, Z:-1.16 [[ 0.91507051 -0.3664248 -0.16846017 0.34730609] [ 0.36555715 0.93004209 -0.03727833 0.20252238] [ 0.17033475 -0.02746952 0.9850033 -1.16232745] [ 0. 0. 0. 1. ]] SLAMing on 120.331346184 meters Centerline goodness : 0.881533 Centerline is valid? [False, False] Translation: X:0.35, Y:0.21, Z:-1.16 [[ 0.91456678 -0.36687734 -0.17020169 0.3513041 ] [ 0.36613363 0.92983047 -0.03689786 0.20577192] [ 0.17179571 -0.02857101 0.9847182 -1.16333578] [ 0. 0. 0. 1. ]] SLAMing on 120.361346184 meters Centerline goodness : 0.881295 Centerline is valid? [False, False] Translation: X:0.35, Y:0.21, Z:-1.16 [[ 0.91389409 -0.36850581 -0.17029699 0.35174803] [ 0.36756983 0.92921229 -0.03816999 0.2076466 ] [ 0.17230792 -0.0277127 0.98465323 -1.16289004] [ 0. 0. 0. 1. ]] SLAMing on 120.391346184 meters Centerline goodness : 0.881768 Centerline is valid? [False, False] Translation: X:0.35, Y:0.21, Z:-1.16 [[ 0.91340889 -0.36963436 -0.17045422 0.35268697] [ 0.36860847 0.92877395 -0.03881694 0.20826261] [ 0.17266151 -0.02737513 0.98460073 -1.16262899] [ 0. 0. 0. 1. ]] SLAMing on 120.421346184 meters Centerline goodness : 0.881319 Centerline is valid? [False, False] Translation: X:0.35, Y:0.21, Z:-1.16 [[ 0.91322259 -0.36993962 -0.17078986 0.35403305] [ 0.36904336 0.92862837 -0.03816203 0.20816071] [ 0.17271796 -0.02817844 0.98456817 -1.16298319] [ 0. 0. 0. 1. ]] SLAMing on 120.45134618399999 meters Centerline goodness : 0.882557 Centerline is valid? [False, False] Translation: X:0.36, Y:0.21, Z:-1.16 [[ 0.91279211 -0.37032047 -0.17225942 0.35571161] [ 0.369647 0.928428 -0.03718248 0.20853106] [ 0.1736999 -0.02973531 0.98434961 -1.16157591] [ 0. 0. 0. 1. ]] SLAMing on 120.48134618399999 meters Centerline goodness : 0.884562 Centerline is valid? [False, False] Translation: X:0.36, Y:0.21, Z:-1.16 [[ 0.91214861 -0.37098715 -0.1742224 0.35733958] [ 0.37062954 0.92808989 -0.03581743 0.20949879] [ 0.17498185 -0.03190115 0.98405471 -1.15936258] [ 0. 0. 0. 1. ]] SLAMing on 120.51134618399999 meters Centerline goodness : 0.884087 Centerline is valid? [False, False] Translation: X:0.36, Y:0.21, Z:-1.16 [[ 0.91142816 -0.37097655 -0.17797502 0.36145 ] [ 0.3713749 0.92791977 -0.03233558 0.21106164] [ 0.17714228 -0.03662389 0.98350359 -1.15710252] [ 0. 0. 0. 1. ]] SLAMing on 120.54134618399999 meters Centerline goodness : 0.884319 Centerline is valid? [False, False] Translation: X:0.36, Y:0.21, Z:-1.15 [[ 0.9100414 -0.37328992 -0.18022011 0.3637412 ] [ 0.37400158 0.92689895 -0.03132343 0.21236675] [ 0.17873855 -0.03889699 0.98312744 -1.15428205] [ 0. 0. 0. 1. ]] SLAMing on 120.57134618399999 meters Centerline goodness : 0.884188 Centerline is valid? [False, False] Translation: X:0.37, Y:0.21, Z:-1.16 [[ 0.90930337 -0.3754586 -0.17943865 0.36613197] [ 0.3756889 0.92612112 -0.03402251 0.21278602] [ 0.17895596 -0.03647633 0.98318068 -1.15604955] [ 0. 0. 0. 1. ]] SLAMing on 120.601346184 meters Centerline goodness : 0.883537 Centerline is valid? [False, False] Translation: X:0.37, Y:0.21, Z:-1.16 [[ 0.90887544 -0.37711877 -0.17812035 0.36807198] [ 0.37687611 0.92554317 -0.03652734 0.21258493] [ 0.17863322 -0.0339305 0.98333051 -1.15865008] [ 0. 0. 0. 1. ]] SLAMing on 120.631346184 meters Centerline goodness : 0.884950 Centerline is valid? [False, False] Translation: X:0.37, Y:0.21, Z:-1.16 [[ 0.90851981 -0.37790528 -0.17826766 0.36926318] [ 0.37746461 0.92525534 -0.03772309 0.21400635] [ 0.17919885 -0.03301756 0.98325867 -1.15887152] [ 0. 0. 0. 1. ]] SLAMing on 120.661346184 meters Centerline goodness : 0.885605 Centerline is valid? [False, False] Translation: X:0.37, Y:0.22, Z:-1.16 [[ 0.90863723 -0.37620373 -0.18124332 0.37394037] [ 0.37643697 0.92580121 -0.03445767 0.21668861] [ 0.18075839 -0.03691717 0.98283443 -1.15981396] [ 0. 0. 0. 1. ]] SLAMing on 120.691346184 meters Centerline goodness : 0.881878 Centerline is valid? [False, False] Translation: X:0.38, Y:0.22, Z:-1.16 [[ 0.90858707 -0.37545588 -0.18303665 0.37622964] [ 0.37597948 0.92603347 -0.03318796 0.21906717] [ 0.18195868 -0.03866387 0.98254575 -1.15969512] [ 0. 0. 0. 1. ]] SLAMing on 120.721346184 meters Centerline goodness : 0.883162 Centerline is valid? [False, False] Translation: X:0.38, Y:0.22, Z:-1.16 [[ 0.90869087 -0.37463044 -0.18420894 0.37850356] [ 0.37529515 0.92633197 -0.03259815 0.22063003] [ 0.18285089 -0.03951108 0.98234639 -1.16007555] [ 0. 0. 0. 1. ]] SLAMing on 120.751346184 meters Centerline goodness : 0.883030 Centerline is valid? [False, False] Translation: X:0.38, Y:0.22, Z:-1.16 [[ 0.9091364 -0.37375571 -0.18378704 0.37843351] [ 0.37430241 0.92671757 -0.03304933 0.22109928] [ 0.18267105 -0.03874558 0.98241033 -1.16080696] [ 0. 0. 0. 1. ]] SLAMing on 120.781346184 meters Centerline goodness : 0.883030 Centerline is valid? [False, False] Translation: X:0.38, Y:0.22, Z:-1.16 [[ 0.9091364 -0.37375571 -0.18378704 0.37843351] [ 0.37430241 0.92671757 -0.03304933 0.22109928] [ 0.18267105 -0.03874558 0.98241033 -1.16080696] [ 0. 0. 0. 1. ]] SLAMing on 120.811346184 meters Centerline goodness : 0.881266 Centerline is valid? [False, False] Translation: X:0.38, Y:0.22, Z:-1.16 [[ 0.90898711 -0.37410106 -0.18382283 0.38029932] [ 0.37449297 0.92660895 -0.03392455 0.22171381] [ 0.18302309 -0.03800338 0.9823738 -1.16195999] [ 0. 0. 0. 1. ]] SLAMing on 120.84134618399999 meters Centerline goodness : 0.879948 Centerline is valid? [False, False] Translation: X:0.38, Y:0.22, Z:-1.16 [[ 0.90895218 -0.37413171 -0.18393313 0.38253488] [ 0.3744799 0.92660464 -0.03418551 0.2220513 ] [ 0.18322317 -0.03780627 0.98234411 -1.16361485] [ 0. 0. 0. 1. ]] SLAMing on 120.87134618399999 meters Centerline goodness : 0.881596 Centerline is valid? [False, False] Translation: X:0.38, Y:0.22, Z:-1.16 [[ 0.90907279 -0.37281889 -0.18599123 0.38411602] [ 0.37376774 0.92699452 -0.03128637 0.2238345 ] [ 0.184077 -0.04107593 0.98205317 -1.16274905] [ 0. 0. 0. 1. ]] SLAMing on 120.90134618399999 meters Centerline goodness : 0.882385 Centerline is valid? [False, False] Translation: X:0.38, Y:0.23, Z:-1.16 [[ 0.90905475 -0.37210036 -0.18751209 0.38415793] [ 0.3733083 0.92721619 -0.03018365 0.22596075] [ 0.18509559 -0.04256123 0.98179843 -1.16077663] [ 0. 0. 0. 1. ]] SLAMing on 120.93134618399999 meters Centerline goodness : 0.881299 Centerline is valid? [False, False] Translation: X:0.39, Y:0.23, Z:-1.16 [[ 0.9092534 -0.3711759 -0.18837915 0.38553386] [ 0.37256965 0.92754136 -0.02930673 0.22812392] [ 0.18560741 -0.04353711 0.98165901 -1.16142043] [ 0. 0. 0. 1. ]] SLAMing on 120.96134618399999 meters Centerline goodness : 0.878713 Centerline is valid? [False, False] Translation: X:0.38, Y:0.23, Z:-1.16 [[ 0.90990394 -0.37083049 -0.18590202 0.38430211] [ 0.3715168 0.92785874 -0.03245645 0.22960755] [ 0.18452666 -0.03953347 0.98203209 -1.16451522] [ 0. 0. 0. 1. ]] SLAMing on 120.991346184 meters Centerline goodness : 0.878128 Centerline is valid? [False, False] Translation: X:0.39, Y:0.23, Z:-1.17 [[ 0.91032898 -0.37033939 -0.18479686 0.3856602 ] [ 0.37078143 0.92811685 -0.03347002 0.23019321] [ 0.18390835 -0.03805052 0.98220664 -1.16784143] [ 0. 0. 0. 1. ]] SLAMing on 121.021346184 meters Centerline goodness : 0.879431 Centerline is valid? [False, False] Translation: X:0.39, Y:0.23, Z:-1.17 [[ 0.9106278 -0.37010231 -0.18379689 0.38519102] [ 0.3702652 0.92827658 -0.03473139 0.23073456] [ 0.18346852 -0.03642623 0.98235046 -1.16899312] [ 0. 0. 0. 1. ]] SLAMing on 121.051346184 meters Centerline goodness : 0.879028 Centerline is valid? [False, False] Translation: X:0.39, Y:0.24, Z:-1.17 [[ 0.91075499 -0.37315955 -0.17685389 0.39098204] [ 0.37381844 0.9269884 -0.03085921 0.2407551 ] [ 0.17545691 -0.03800607 0.98375323 -1.16818083] [ 0. 0. 0. 1. ]] SLAMing on 121.081346184 meters Centerline goodness : 0.878197 Centerline is valid? [False, False] Translation: X:0.39, Y:0.24, Z:-1.17 [[ 0.91045019 -0.37276042 -0.17924877 0.39223695] [ 0.37391179 0.92702272 -0.02861568 0.24285822] [ 0.17683448 -0.04097008 0.98338752 -1.1659716 ] [ 0. 0. 0. 1. ]] SLAMing on 121.111346184 meters Centerline goodness : 0.877632 Centerline is valid? [False, False] Translation: X:0.39, Y:0.24, Z:-1.17 [[ 0.91035939 -0.3727073 -0.17981949 0.39216764] [ 0.37398942 0.92700961 -0.02801957 0.24389233] [ 0.17713749 -0.04174271 0.98330049 -1.16502964] [ 0. 0. 0. 1. ]] SLAMing on 121.141346184 meters Centerline goodness : 0.874870 Centerline is valid? [False, False] Translation: X:0.39, Y:0.24, Z:-1.17 [[ 0.91024477 -0.37349287 -0.1787667 0.39229749] [ 0.37458599 0.92674165 -0.02890057 0.24363618] [ 0.1764647 -0.04065691 0.98346694 -1.16611779] [ 0. 0. 0. 1. ]] SLAMing on 121.171346184 meters Centerline goodness : 0.877091 Centerline is valid? [False, False] Translation: X:0.39, Y:0.24, Z:-1.17 [[ 0.90984741 -0.37456114 -0.17855434 0.3929083 ] [ 0.37545434 0.92635288 -0.0300728 0.24395156] [ 0.17666843 -0.03967734 0.98347037 -1.16595923] [ 0. 0. 0. 1. ]] SLAMing on 121.20134618399999 meters Centerline goodness : 0.874941 Centerline is valid? [False, False] Translation: X:0.39, Y:0.24, Z:-1.17 [[ 0.90947656 -0.37533211 -0.17882446 0.39377042] [ 0.37620802 0.92603937 -0.03030868 0.24419756] [ 0.17697431 -0.03971016 0.98341405 -1.16550002] [ 0. 0. 0. 1. ]] SLAMing on 121.23134618399999 meters Centerline goodness : 0.878052 Centerline is valid? [False, False] Translation: X:0.40, Y:0.25, Z:-1.16 [[ 0.90886732 -0.37608395 -0.18033594 0.39574414] [ 0.37713829 0.92567913 -0.02974668 0.24539144] [ 0.17812046 -0.0409758 0.98315517 -1.16407713] [ 0. 0. 0. 1. ]] SLAMing on 121.26134618399999 meters Centerline goodness : 0.878184 Centerline is valid? [False, False] Translation: X:0.40, Y:0.25, Z:-1.16 [[ 0.90846752 -0.37697882 -0.18048193 0.39652818] [ 0.3778422 0.92535342 -0.03092427 0.24702175] [ 0.17866737 -0.04009999 0.98309204 -1.16385673] [ 0. 0. 0. 1. ]] SLAMing on 121.29134618399999 meters Centerline goodness : 0.875176 Centerline is valid? [False, False] Translation: X:0.40, Y:0.25, Z:-1.16 [[ 0.90810009 -0.37768651 -0.18085112 0.3981341 ] [ 0.3784017 0.92509184 -0.03189411 0.24824788] [ 0.17934987 -0.03947133 0.9829932 -1.16410442] [ 0. 0. 0. 1. ]] SLAMing on 121.32134618399999 meters Centerline goodness : 0.875009 Centerline is valid? [False, False] Translation: X:0.40, Y:0.25, Z:-1.16 [[ 0.9077389 -0.37863597 -0.180679 0.39931954] [ 0.3791831 0.92473752 -0.03287397 0.24912096] [ 0.17952792 -0.03866944 0.98299257 -1.16487535] [ 0. 0. 0. 1. ]] SLAMing on 121.351346184 meters Centerline goodness : 0.874858 Centerline is valid? [False, False] Translation: X:0.40, Y:0.25, Z:-1.17 [[ 0.90663793 -0.38116504 -0.18088914 0.40171049] [ 0.38147088 0.92373691 -0.03449766 0.2506836 ] [ 0.18024327 -0.03772706 0.98289828 -1.16514531] [ 0. 0. 0. 1. ]] SLAMing on 121.381346184 meters Centerline goodness : 0.874135 Centerline is valid? [False, False] Translation: X:0.40, Y:0.25, Z:-1.16 [[ 0.90611192 -0.38152346 -0.1827595 0.40469823] [ 0.38210667 0.92351319 -0.03343487 0.25143821] [ 0.181537 -0.03953789 0.98258897 -1.1643429 ] [ 0. 0. 0. 1. ]] SLAMing on 121.411346184 meters Centerline goodness : 0.875587 Centerline is valid? [False, False] Translation: X:0.41, Y:0.25, Z:-1.16 [[ 0.90568825 -0.38217923 -0.18348797 0.40507043] [ 0.38289306 0.92320448 -0.03296036 0.25163681] [ 0.18199368 -0.04040446 0.98246923 -1.16293377] [ 0. 0. 0. 1. ]] SLAMing on 121.441346184 meters Centerline goodness : 0.875985 Centerline is valid? [False, False] Translation: X:0.41, Y:0.25, Z:-1.16 [[ 0.90548378 -0.38238857 -0.18406007 0.40585022] [ 0.3831466 0.92310237 -0.03287387 0.25153178] [ 0.18247688 -0.04075524 0.98236511 -1.16198273] [ 0. 0. 0. 1. ]] SLAMing on 121.471346184 meters Centerline goodness : 0.876344 Centerline is valid? [False, False] Translation: X:0.41, Y:0.25, Z:-1.16 [[ 0.90549679 -0.3821119 -0.18456994 0.40797366] [ 0.38297744 0.9231899 -0.03238342 0.25107426] [ 0.18276719 -0.04136304 0.98228573 -1.16258207] [ 0. 0. 0. 1. ]] SLAMing on 121.501346184 meters Centerline goodness : 0.876875 Centerline is valid? [False, False] Translation: X:0.41, Y:0.25, Z:-1.16 [[ 0.90561248 -0.38155967 -0.18514387 0.40999186] [ 0.38245669 0.92340906 -0.03228896 0.25192464] [ 0.18328369 -0.04156822 0.98218082 -1.16345599] [ 0. 0. 0. 1. ]] SLAMing on 121.531346184 meters Centerline goodness : 0.875913 Centerline is valid? [False, False] Translation: X:0.41, Y:0.25, Z:-1.16 [[ 0.90565982 -0.38142145 -0.18519711 0.40925968] [ 0.38221526 0.92348962 -0.03283931 0.25346782] [ 0.18355323 -0.04104392 0.98215254 -1.16267423] [ 0. 0. 0. 1. ]] SLAMing on 121.561346184 meters Centerline goodness : 0.878550 Centerline is valid? [False, False] Translation: X:0.41, Y:0.25, Z:-1.16 [[ 0.90573575 -0.3808332 -0.18603446 0.40967689] [ 0.38174549 0.92370164 -0.03233651 0.25475962] [ 0.18415516 -0.04172948 0.98201096 -1.16197544] [ 0. 0. 0. 1. ]] SLAMing on 121.59134618399999 meters Centerline goodness : 0.878306 Centerline is valid? [False, False] Translation: X:0.41, Y:0.26, Z:-1.16 [[ 0.90602938 -0.37955675 -0.1872096 0.41121471] [ 0.3806407 0.92418423 -0.03156197 0.25710592] [ 0.18499572 -0.04266352 0.98181282 -1.16230509] [ 0. 0. 0. 1. ]] SLAMing on 121.62134618399999 meters Centerline goodness : 0.878098 Centerline is valid? [False, False] Translation: X:0.41, Y:0.26, Z:-1.16 [[ 0.90642044 -0.37878112 -0.18688729 0.41091385] [ 0.37974416 0.92453632 -0.03204624 0.25827892] [ 0.1849226 -0.04192199 0.98185853 -1.16277546] [ 0. 0. 0. 1. ]] SLAMing on 121.65134618399999 meters Centerline goodness : 0.875500 Centerline is valid? [False, False] Translation: X:0.41, Y:0.26, Z:-1.17 [[ 0.90763126 -0.37748172 -0.18361114 0.41123131] [ 0.37769563 0.92526098 -0.03518711 0.25859073] [ 0.18317072 -0.03741221 0.98236898 -1.16857778] [ 0. 0. 0. 1. ]] SLAMing on 121.68134618399999 meters Centerline goodness : 0.876491 Centerline is valid? [False, False] Translation: X:0.41, Y:0.26, Z:-1.17 [[ 0.90805896 -0.37691222 -0.18266391 0.41151026] [ 0.37688566 0.92555113 -0.03622573 0.25829647] [ 0.18271871 -0.03594831 0.98250781 -1.17015395] [ 0. 0. 0. 1. ]] SLAMing on 121.71134618399999 meters Centerline goodness : 0.875924 Centerline is valid? [False, False] Translation: X:0.41, Y:0.26, Z:-1.17 [[ 0.90834435 -0.37589418 -0.18334152 0.41220037] [ 0.37603682 0.92593023 -0.03534856 0.25861568] [ 0.18304878 -0.0368345 0.98241354 -1.16975674] [ 0. 0. 0. 1. ]] SLAMing on 121.741346184 meters Centerline goodness : 0.877354 Centerline is valid? [False, False] Translation: X:0.41, Y:0.26, Z:-1.17 [[ 0.90865028 -0.37473543 -0.18419564 0.41124714] [ 0.37517326 0.92633741 -0.03382358 0.25892728] [ 0.18330221 -0.03837148 0.98230745 -1.16796241] [ 0. 0. 0. 1. ]] SLAMing on 121.771346184 meters Centerline goodness : 0.878447 Centerline is valid? [False, False] Translation: X:0.41, Y:0.27, Z:-1.17 [[ 0.90926464 -0.3782011 -0.17378651 0.41336745] [ 0.37852743 0.92501675 -0.03257295 0.26547136] [ 0.17307455 -0.03616553 0.98424451 -1.16812106] [ 0. 0. 0. 1. ]] SLAMing on 121.801346184 meters Centerline goodness : 0.877391 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:-1.17 [[ 0.90996435 -0.37545987 -0.1760533 0.41672946] [ 0.37628397 0.92601921 -0.02997988 0.26751124] [ 0.17428498 -0.03896541 0.983924 -1.16907397] [ 0. 0. 0. 1. ]] SLAMing on 121.831346184 meters Centerline goodness : 0.876510 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:-1.17 [[ 0.91015368 -0.37476244 -0.17655989 0.41838539] [ 0.37550823 0.92631819 -0.03046597 0.26896276] [ 0.17496814 -0.03857098 0.98381829 -1.16981308] [ 0. 0. 0. 1. ]] SLAMing on 121.861346184 meters Centerline goodness : 0.877639 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:-1.17 [[ 0.91013437 -0.37553346 -0.17501444 0.4177314 ] [ 0.37578189 0.92612006 -0.03300905 0.27032591] [ 0.17448039 -0.03572458 0.98401237 -1.17117924] [ 0. 0. 0. 1. ]] SLAMing on 121.891346184 meters Centerline goodness : 0.876709 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:-1.17 [[ 0.90994333 -0.37611309 -0.17476291 0.41932651] [ 0.37616761 0.92592364 -0.0341079 0.27139789] [ 0.17464554 -0.03470389 0.9840196 -1.17268958] [ 0. 0. 0. 1. ]] SLAMing on 121.921346184 meters Centerline goodness : 0.878358 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:-1.17 [[ 0.90951214 -0.37760952 -0.17377776 0.41945623] [ 0.37725295 0.92539544 -0.03637973 0.27222102] [ 0.17455048 -0.03247037 0.9841127 -1.17344243] [ 0. 0. 0. 1. ]] SLAMing on 121.95134618399999 meters Centerline goodness : 0.877108 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:-1.17 [[ 0.90894561 -0.37907516 -0.17355089 0.42071253] [ 0.37851994 0.92482908 -0.03760105 0.27266835] [ 0.17475853 -0.03151516 0.98410683 -1.17386501] [ 0. 0. 0. 1. ]] SLAMing on 121.98134618399999 meters Centerline goodness : 0.877167 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:-1.17 [[ 0.90815739 -0.38097512 -0.17351688 0.42116037] [ 0.380337 0.92405672 -0.03824848 0.27280635] [ 0.17491116 -0.03125925 0.98408787 -1.17301904] [ 0. 0. 0. 1. ]] SLAMing on 122.01134618399999 meters Centerline goodness : 0.876273 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:-1.17 [[ 0.90758904 -0.38197871 -0.17428252 0.42189116] [ 0.38140816 0.92362089 -0.0381085 0.27361903] [ 0.17552761 -0.03188592 0.983958 -1.1717926 ] [ 0. 0. 0. 1. ]] SLAMing on 122.04134618399999 meters Centerline goodness : 0.878740 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:-1.17 [[ 0.90720298 -0.38263387 -0.17485445 0.42288451] [ 0.38204329 0.92334665 -0.03839131 0.2742486 ] [ 0.17614108 -0.03197326 0.98384553 -1.17105739] [ 0. 0. 0. 1. ]] SLAMing on 122.07134618399999 meters Centerline goodness : 0.878460 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:-1.17 [[ 0.90676751 -0.3835584 -0.17508751 0.42628012] [ 0.38285522 0.92297825 -0.03915403 0.27394378] [ 0.17661982 -0.03152957 0.98377402 -1.17270863] [ 0. 0. 0. 1. ]] SLAMing on 122.101346184 meters Centerline goodness : 0.877272 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:-1.17 [[ 0.90643313 -0.3842522 -0.17529753 0.42753608] [ 0.38352179 0.92269045 -0.03941287 0.27363337] [ 0.17688983 -0.03150529 0.98372628 -1.17263885] [ 0. 0. 0. 1. ]] SLAMing on 122.131346184 meters Centerline goodness : 0.878343 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:-1.17 [[ 0.90572405 -0.38552469 -0.17616657 0.42796124] [ 0.38482598 0.92214257 -0.03952274 0.27428878] [ 0.17768769 -0.03199678 0.98356662 -1.17067263] [ 0. 0. 0. 1. ]] SLAMing on 122.161346184 meters Centerline goodness : 0.877767 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:-1.17 [[ 0.90474848 -0.38664174 -0.17871307 0.43173779] [ 0.38635365 0.92157342 -0.03785888 0.27478061] [ 0.17933504 -0.03479368 0.98317259 -1.16922815] [ 0. 0. 0. 1. ]] SLAMing on 122.191346184 meters Centerline goodness : 0.878781 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:-1.17 [[ 0.90393022 -0.38802493 -0.17985217 0.43495435] [ 0.38771264 0.92098186 -0.0383579 0.27541835] [ 0.18052441 -0.0350581 0.98294551 -1.16903439] [ 0. 0. 0. 1. ]] SLAMing on 122.221346184 meters Centerline goodness : 0.876506 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:-1.17 [[ 0.90289914 -0.39079526 -0.1790313 0.43581086] [ 0.38999861 0.91989682 -0.04112076 0.27552607] [ 0.18076013 -0.03269406 0.98298366 -1.16887474] [ 0. 0. 0. 1. ]] SLAMing on 122.251346184 meters Centerline goodness : 0.876522 Centerline is valid? [False, False] Translation: X:0.44, Y:0.27, Z:-1.17 [[ 0.90169436 -0.39398406 -0.17811188 0.43766361] [ 0.39274064 0.91860985 -0.04371192 0.2743176 ] [ 0.18083713 -0.03053698 0.98303887 -1.16945591] [ 0. 0. 0. 1. ]] SLAMing on 122.281346184 meters Centerline goodness : 0.877593 Centerline is valid? [False, False] Translation: X:0.44, Y:0.27, Z:-1.17 [[ 0.90120229 -0.39475695 -0.17888929 0.44033674] [ 0.39348528 0.91827364 -0.04407792 0.27444867] [ 0.18166939 -0.03066718 0.98288135 -1.16956295] [ 0. 0. 0. 1. ]] SLAMing on 122.311346184 meters Centerline goodness : 0.878157 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:-1.17 [[ 0.9006297 -0.39554439 -0.18002993 0.44280046] [ 0.39427537 0.91792198 -0.04434145 0.27554249] [ 0.18279244 -0.03104614 0.98266121 -1.16920993] [ 0. 0. 0. 1. ]] SLAMing on 122.34134618399999 meters Centerline goodness : 0.876969 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:-1.17 [[ 0.90025309 -0.39563124 -0.18171488 0.44445189] [ 0.39457658 0.91783282 -0.04349971 0.27809385] [ 0.18399373 -0.03253968 0.98238866 -1.1683353 ] [ 0. 0. 0. 1. ]] SLAMing on 122.37134618399999 meters Centerline goodness : 0.875187 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:-1.17 [[ 0.90025214 -0.39524962 -0.18254813 0.44650081] [ 0.39420044 0.91799058 -0.04358103 0.27910207] [ 0.18480285 -0.03272664 0.98223056 -1.16875028] [ 0. 0. 0. 1. ]] SLAMing on 122.40134618399999 meters Centerline goodness : 0.876512 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:-1.17 [[ 0.90045936 -0.39433072 -0.18351084 0.44996025] [ 0.39341374 0.91835732 -0.04295885 0.27999105] [ 0.18546852 -0.03351298 0.98207857 -1.17072586] [ 0. 0. 0. 1. ]] SLAMing on 122.43134618399999 meters Centerline goodness : 0.873730 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:-1.17 [[ 0.901012 -0.39351939 -0.18253728 0.44858269] [ 0.39250523 0.91873412 -0.0432118 0.27976516] [ 0.18470791 -0.03271248 0.98224889 -1.17122238] [ 0. 0. 0. 1. ]] SLAMing on 122.46134618399999 meters Centerline goodness : 0.875486 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:-1.17 [[ 0.9010305 -0.39312421 -0.1832959 0.44845399] [ 0.39216664 0.91888828 -0.04300764 0.28097304] [ 0.1853358 -0.03313134 0.98211657 -1.16995497] [ 0. 0. 0. 1. ]] SLAMing on 122.491346184 meters Centerline goodness : 0.874828 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:-1.17 [[ 0.90125752 -0.39207608 -0.18442132 0.44978533] [ 0.39134078 0.91929008 -0.04193025 0.28250227] [ 0.18597654 -0.03438163 0.98195246 -1.17005276] [ 0. 0. 0. 1. ]] SLAMing on 122.521346184 meters Centerline goodness : 0.874705 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:-1.17 [[ 0.90149629 -0.3917449 -0.18395754 0.44887637] [ 0.39090349 0.91945598 -0.04236923 0.28278983] [ 0.18573879 -0.03371394 0.98202061 -1.1698587 ] [ 0. 0. 0. 1. ]] SLAMing on 122.551346184 meters Centerline goodness : 0.874960 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:-1.17 [[ 0.90184126 -0.39113406 -0.18356603 0.45062244] [ 0.39022259 0.91973434 -0.04260368 0.28303098] [ 0.18549573 -0.03320986 0.98208372 -1.17233264] [ 0. 0. 0. 1. ]] SLAMing on 122.581346184 meters Centerline goodness : 0.873458 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:-1.18 [[ 0.90166729 -0.39301485 -0.18037581 0.45035761] [ 0.39121293 0.91909974 -0.04699049 0.28160754] [ 0.18425132 -0.02819556 0.98247466 -1.17514178] [ 0. 0. 0. 1. ]] SLAMing on 122.611346184 meters Centerline goodness : 0.875134 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:-1.18 [[ 0.90148962 -0.39357084 -0.18005126 0.45049733] [ 0.39163002 0.91888354 -0.04773848 0.28157843] [ 0.18423461 -0.02747774 0.98249813 -1.17518744] [ 0. 0. 0. 1. ]] SLAMing on 122.641346184 meters Centerline goodness : 0.873757 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:-1.17 [[ 0.90102714 -0.39385142 -0.18174475 0.45261442] [ 0.392228 0.91869976 -0.04634596 0.28177718] [ 0.18522228 -0.02952642 0.98225297 -1.17403754] [ 0. 0. 0. 1. ]] SLAMing on 122.671346184 meters Centerline goodness : 0.873757 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:-1.17 [[ 0.90102714 -0.39385142 -0.18174475 0.45261442] [ 0.392228 0.91869976 -0.04634596 0.28177718] [ 0.18522228 -0.02952642 0.98225297 -1.17403754] [ 0. 0. 0. 1. ]] SLAMing on 122.70134618399999 meters Centerline goodness : 0.872950 Centerline is valid? [False, False] Translation: X:0.46, Y:0.28, Z:-1.17 [[ 0.90056685 -0.39353703 -0.1846834 0.4570888 ] [ 0.39256867 0.91869997 -0.04336137 0.28315297] [ 0.18673294 -0.0334511 0.98184104 -1.17391726] [ 0. 0. 0. 1. ]] SLAMing on 122.73134618399999 meters Centerline goodness : 0.876260 Centerline is valid? [False, False] Translation: X:0.46, Y:0.28, Z:-1.17 [[ 0.90001318 -0.39408812 -0.18620104 0.45787206] [ 0.39331908 0.91841191 -0.04265748 0.2840728 ] [ 0.18782006 -0.03484413 0.9815852 -1.17170019] [ 0. 0. 0. 1. ]] SLAMing on 122.76134618399999 meters Centerline goodness : 0.875796 Centerline is valid? [False, False] Translation: X:0.46, Y:0.28, Z:-1.17 [[ 0.89966249 -0.39452034 -0.18697887 0.45943802] [ 0.39380983 0.91820674 -0.04254652 0.28455131] [ 0.18847072 -0.03535661 0.98144215 -1.17131848] [ 0. 0. 0. 1. ]] SLAMing on 122.79134618399999 meters Centerline goodness : 0.874927 Centerline is valid? [False, False] Translation: X:0.46, Y:0.28, Z:-1.18 [[ 0.89935291 -0.39694086 -0.1833093 0.4598501 ] [ 0.39532089 0.91734459 -0.04690735 0.28294934] [ 0.18677724 -0.03027974 0.98193554 -1.17555871] [ 0. 0. 0. 1. ]] SLAMing on 122.82134618399999 meters Centerline goodness : 0.873466 Centerline is valid? [False, False] Translation: X:0.46, Y:0.28, Z:-1.18 [[ 0.89918403 -0.3969907 -0.18402845 0.46409976] [ 0.39541986 0.91730872 -0.04677436 0.2830631 ] [ 0.18737988 -0.03070975 0.98180736 -1.1778886 ] [ 0. 0. 0. 1. ]] SLAMing on 122.851346184 meters Centerline goodness : 0.872398 Centerline is valid? [False, False] Translation: X:0.46, Y:0.28, Z:-1.18 [[ 0.89918239 -0.39700663 -0.18400206 0.46405102] [ 0.39543547 0.91730205 -0.04677331 0.28233459] [ 0.18735478 -0.03070321 0.98181236 -1.17740878] [ 0. 0. 0. 1. ]] SLAMing on 122.881346184 meters Centerline goodness : 0.874447 Centerline is valid? [False, False] Translation: X:0.47, Y:0.28, Z:-1.18 [[ 0.89935798 -0.39546664 -0.18644402 0.46578322] [ 0.39458872 0.91783143 -0.04341892 0.28309712] [ 0.18829492 -0.03451956 0.98150569 -1.1763878 ] [ 0. 0. 0. 1. ]] SLAMing on 122.911346184 meters Centerline goodness : 0.874480 Centerline is valid? [False, False] Translation: X:0.47, Y:0.28, Z:-1.18 [[ 0.89925615 -0.39532515 -0.18723354 0.46626673] [ 0.39456974 0.91786328 -0.04291526 0.28418671] [ 0.18882027 -0.03528487 0.98137754 -1.17568603] [ 0. 0. 0. 1. ]] SLAMing on 122.941346184 meters Centerline goodness : 0.874624 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:-1.18 [[ 0.89915656 -0.39550769 -0.18732629 0.46658577] [ 0.3946904 0.91779456 -0.0432739 0.28525356] [ 0.18904221 -0.03502587 0.98134409 -1.17587321] [ 0. 0. 0. 1. ]] SLAMing on 122.971346184 meters Centerline goodness : 0.873318 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:-1.18 [[ 0.89909811 -0.39522481 -0.18820188 0.47036788] [ 0.39445749 0.91790048 -0.04315078 0.2865885 ] [ 0.18980485 -0.03544086 0.98118197 -1.17814025] [ 0. 0. 0. 1. ]] SLAMing on 123.001346184 meters Centerline goodness : 0.871593 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:-1.18 [[ 0.8988043 -0.39739668 -0.18500462 0.4693824 ] [ 0.39573223 0.91713834 -0.04746857 0.28556921] [ 0.18853868 -0.03054733 0.98159056 -1.1804147 ] [ 0. 0. 0. 1. ]] SLAMing on 123.031346184 meters Centerline goodness : 0.872068 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:-1.18 [[ 0.89890821 -0.3973065 -0.18469319 0.46983942] [ 0.39563265 0.91718192 -0.04745656 0.28505936] [ 0.18825206 -0.03041156 0.98164978 -1.18126414] [ 0. 0. 0. 1. ]] SLAMing on 123.061346184 meters Centerline goodness : 0.873017 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:-1.19 [[ 0.89925501 -0.40149134 -0.17362355 0.47166202] [ 0.40051907 0.91531714 -0.04217818 0.28925434] [ 0.17585479 -0.0316106 0.98390846 -1.18719123] [ 0. 0. 0. 1. ]] SLAMing on 123.09134618399999 meters Centerline goodness : 0.874789 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:-1.18 [[ 0.89958773 -0.39879158 -0.17806512 0.47346038] [ 0.39899267 0.91623649 -0.03627032 0.28981225] [ 0.17761406 -0.03841834 0.98335003 -1.18327207] [ 0. 0. 0. 1. ]] SLAMing on 123.12134618399999 meters Centerline goodness : 0.874324 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:-1.18 [[ 0.89939525 -0.3988814 -0.17883458 0.47416977] [ 0.39914021 0.91617774 -0.03613091 0.29004972] [ 0.17825621 -0.0388841 0.98321552 -1.18221573] [ 0. 0. 0. 1. ]] SLAMing on 123.15134618399999 meters Centerline goodness : 0.871905 Centerline is valid? [False, False] Translation: X:0.48, Y:0.29, Z:-1.18 [[ 0.89932777 -0.39910272 -0.17868013 0.47694463] [ 0.3992003 0.91611653 -0.0370085 0.29015659] [ 0.17846201 -0.03804639 0.98321096 -1.1846354 ] [ 0. 0. 0. 1. ]] SLAMing on 123.18134618399999 meters Centerline goodness : 0.873244 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:-1.19 [[ 0.89935525 -0.40129863 -0.17354983 0.47493863] [ 0.40006519 0.91544878 -0.04360485 0.2886898 ] [ 0.17637454 -0.030215 0.98385928 -1.18868239] [ 0. 0. 0. 1. ]] SLAMing on 123.21134618399999 meters Centerline goodness : 0.873449 Centerline is valid? [False, False] Translation: X:0.48, Y:0.29, Z:-1.19 [[ 0.89935814 -0.40104718 -0.17411516 0.47684928] [ 0.39979604 0.91555815 -0.04377671 0.28988697] [ 0.17696908 -0.03023961 0.98375175 -1.18965769] [ 0. 0. 0. 1. ]] SLAMing on 123.241346184 meters Centerline goodness : 0.872141 Centerline is valid? [False, False] Translation: X:0.48, Y:0.29, Z:-1.19 [[ 0.89951731 -0.3994873 -0.17685732 0.48021129] [ 0.39881328 0.91611842 -0.04092693 0.29188053] [ 0.17837204 -0.03371856 0.98338521 -1.18971777] [ 0. 0. 0. 1. ]] SLAMing on 123.271346184 meters Centerline goodness : 0.871664 Centerline is valid? [False, False] Translation: X:0.48, Y:0.29, Z:-1.19 [[ 0.89973068 -0.39797135 -0.17917455 0.48101572] [ 0.39787425 0.91664985 -0.0380674 0.2939004 ] [ 0.17939005 -0.03703853 0.98308054 -1.18819803] [ 0. 0. 0. 1. ]] SLAMing on 123.301346184 meters Centerline goodness : 0.872366 Centerline is valid? [False, False] Translation: X:0.48, Y:0.30, Z:-1.19 [[ 0.90122799 -0.39330129 -0.18194013 0.48297673] [ 0.39398936 0.9184894 -0.03390583 0.29615062] [ 0.18044528 -0.04112559 0.98272488 -1.18865988] [ 0. 0. 0. 1. ]] SLAMing on 123.331346184 meters Centerline goodness : 0.873117 Centerline is valid? [False, False] Translation: X:0.48, Y:0.30, Z:-1.19 [[ 0.90198139 -0.39201074 -0.18098938 0.48314424] [ 0.39256553 0.91908496 -0.0342803 0.29590253] [ 0.17978286 -0.04013 0.98288743 -1.19090563] [ 0. 0. 0. 1. ]] SLAMing on 123.361346184 meters Centerline goodness : 0.873386 Centerline is valid? [False, False] Translation: X:0.48, Y:0.30, Z:-1.19 [[ 0.90244852 -0.391407 -0.17996453 0.48382149] [ 0.39169751 0.91941141 -0.03543605 0.2952326 ] [ 0.17933136 -0.03851245 0.98303461 -1.19293253] [ 0. 0. 0. 1. ]] SLAMing on 123.391346184 meters Centerline goodness : 0.874765 Centerline is valid? [False, False] Translation: X:0.48, Y:0.29, Z:-1.19 [[ 0.90252676 -0.39137124 -0.17964965 0.48286651] [ 0.39156029 0.91945107 -0.03592031 0.29384304] [ 0.17923724 -0.03792463 0.98307463 -1.19178689] [ 0. 0. 0. 1. ]] SLAMing on 123.421346184 meters Centerline goodness : 0.876384 Centerline is valid? [False, False] Translation: X:0.48, Y:0.29, Z:-1.19 [[ 0.90215447 -0.3917123 -0.18077274 0.48258955] [ 0.3920205 0.91926943 -0.03554792 0.29497644] [ 0.18010341 -0.0387969 0.98288227 -1.18945431] [ 0. 0. 0. 1. ]] SLAMing on 123.45134618399999 meters Centerline goodness : 0.877180 Centerline is valid? [False, False] Translation: X:0.48, Y:0.30, Z:-1.19 [[ 0.90176454 -0.3915853 -0.18297996 0.48490665] [ 0.39238626 0.91919553 -0.03335581 0.29673124] [ 0.181256 -0.04171973 0.98255062 -1.18861642] [ 0. 0. 0. 1. ]] SLAMing on 123.48134618399999 meters Centerline goodness : 0.873754 Centerline is valid? [False, False] Translation: X:0.49, Y:0.30, Z:-1.19 [[ 0.90140749 -0.39234597 -0.18310973 0.48607955] [ 0.39306809 0.91888451 -0.03389286 0.29821046] [ 0.18155443 -0.04142331 0.98250807 -1.18954495] [ 0. 0. 0. 1. ]] SLAMing on 123.51134618399999 meters Centerline goodness : 0.873759 Centerline is valid? [False, False] Translation: X:0.49, Y:0.30, Z:-1.19 [[ 0.90126424 -0.39883429 -0.16927485 0.48677655] [ 0.39821641 0.91645826 -0.03908893 0.30372333] [ 0.17072334 -0.03217857 0.98479342 -1.19034863] [ 0. 0. 0. 1. ]] SLAMing on 123.54134618399999 meters Centerline goodness : 0.872968 Centerline is valid? [False, False] Translation: X:0.49, Y:0.30, Z:-1.19 [[ 0.90134433 -0.39890618 -0.16867797 0.48977156] [ 0.39803062 0.916479 -0.04047056 0.30357362] [ 0.17073378 -0.03066109 0.98484003 -1.19347722] [ 0. 0. 0. 1. ]] SLAMing on 123.57134618399999 meters Centerline goodness : 0.873912 Centerline is valid? [False, False] Translation: X:0.49, Y:0.30, Z:-1.19 [[ 0.90140706 -0.39871765 -0.16878848 0.49020435] [ 0.39785088 0.91655919 -0.04042181 0.30165419] [ 0.17082153 -0.03071614 0.98482309 -1.19294637] [ 0. 0. 0. 1. ]] SLAMing on 123.601346184 meters Centerline goodness : 0.876531 Centerline is valid? [False, False] Translation: X:0.49, Y:0.30, Z:-1.19 [[ 0.9012407 -0.39792666 -0.17152135 0.49183828] [ 0.39765498 0.91677019 -0.03745566 0.30168178] [ 0.17215026 -0.03444975 0.98446813 -1.1903762 ] [ 0. 0. 0. 1. ]] SLAMing on 123.631346184 meters Centerline goodness : 0.876637 Centerline is valid? [False, False] Translation: X:0.49, Y:0.30, Z:-1.19 [[ 0.90089606 -0.39746478 -0.17437901 0.49483009] [ 0.39775651 0.91683034 -0.03481209 0.30239574] [ 0.17371255 -0.03799831 0.98406305 -1.18869576] [ 0. 0. 0. 1. ]] SLAMing on 123.661346184 meters Centerline goodness : 0.877057 Centerline is valid? [False, False] Translation: X:0.50, Y:0.30, Z:-1.19 [[ 0.90077868 -0.39747719 -0.17495613 0.49550609] [ 0.39784626 0.91680301 -0.03450495 0.30184992] [ 0.17411523 -0.03852432 0.98397142 -1.18786566] [ 0. 0. 0. 1. ]] SLAMing on 123.691346184 meters Centerline goodness : 0.875814 Centerline is valid? [False, False] Translation: X:0.50, Y:0.30, Z:-1.19 [[ 0.90102488 -0.39716381 -0.17439917 0.4957946 ] [ 0.39740816 0.91697215 -0.03505471 0.29964259] [ 0.17384164 -0.03772248 0.98405086 -1.1881679 ] [ 0. 0. 0. 1. ]] SLAMing on 123.721346184 meters Centerline goodness : 0.878058 Centerline is valid? [False, False] Translation: X:0.50, Y:0.30, Z:-1.19 [[ 0.90139952 -0.39595028 -0.17522066 0.4983779 ] [ 0.39636201 0.91745821 -0.03417008 0.30009026] [ 0.17428728 -0.03864992 0.98393604 -1.18971628] [ 0. 0. 0. 1. ]] SLAMing on 123.751346184 meters Centerline goodness : 0.876247 Centerline is valid? [False, False] Translation: X:0.50, Y:0.30, Z:-1.19 [[ 0.90194383 -0.39479937 -0.17501651 0.49933971] [ 0.39514834 0.91797438 -0.03436304 0.30016197] [ 0.17422718 -0.03816395 0.98396565 -1.19124565] [ 0. 0. 0. 1. ]] SLAMing on 123.781346184 meters Centerline goodness : 0.875695 Centerline is valid? [False, False] Translation: X:0.50, Y:0.30, Z:-1.19 [[ 0.90232459 -0.394277 -0.17422969 0.49952808] [ 0.39441647 0.91825267 -0.03532251 0.29932376] [ 0.17391373 -0.03684669 0.98407131 -1.19237134] [ 0. 0. 0. 1. ]] SLAMing on 123.811346184 meters Centerline goodness : 0.878413 Centerline is valid? [False, False] Translation: X:0.50, Y:0.30, Z:-1.19 [[ 0.90303271 -0.39332497 -0.1727061 0.49839997] [ 0.39320388 0.9187311 -0.03638505 0.29694743] [ 0.17298162 -0.03505182 0.98430114 -1.19317762] [ 0. 0. 0. 1. ]] SLAMing on 123.84134618399999 meters Centerline goodness : 0.878856 Centerline is valid? [False, False] Translation: X:0.50, Y:0.30, Z:-1.19 [[ 0.90299243 -0.39304666 -0.17354823 0.49956941] [ 0.39307608 0.91881351 -0.03567805 0.29671077] [ 0.1734816 -0.03600065 0.98417889 -1.19257808] [ 0. 0. 0. 1. ]] SLAMing on 123.87134618399999 meters Centerline goodness : 0.879085 Centerline is valid? [False, False] Translation: X:0.50, Y:0.30, Z:-1.19 [[ 0.90286396 -0.39316968 -0.17393752 0.50056309] [ 0.39325438 0.91874568 -0.03545952 0.29644265] [ 0.17374596 -0.03638656 0.98411806 -1.19250336] [ 0. 0. 0. 1. ]] SLAMing on 123.90134618399999 meters Centerline goodness : 0.879657 Centerline is valid? [False, False] Translation: X:0.50, Y:0.29, Z:-1.19 [[ 0.90238107 -0.39458251 -0.17324274 0.50060106] [ 0.39446618 0.91818154 -0.03659355 0.29416484] [ 0.17350747 -0.03531707 0.9841991 -1.19185691] [ 0. 0. 0. 1. ]] SLAMing on 123.93134618399999 meters Centerline goodness : 0.879852 Centerline is valid? [False, False] Translation: X:0.50, Y:0.29, Z:-1.19 [[ 0.9021762 -0.39469093 -0.17406084 0.50276278] [ 0.3947628 0.91808884 -0.03571014 0.29262405] [ 0.17389778 -0.03649591 0.9840872 -1.19169359] [ 0. 0. 0. 1. ]] SLAMing on 123.96134618399999 meters Centerline goodness : 0.881898 Centerline is valid? [False, False] Translation: X:0.50, Y:0.29, Z:-1.19 [[ 0.9017092 -0.39584327 -0.17386379 0.50262317] [ 0.39583755 0.91760589 -0.03622239 0.29052503] [ 0.17387683 -0.03615976 0.98410331 -1.19030356] [ 0. 0. 0. 1. ]] SLAMing on 123.991346184 meters Centerline goodness : 0.883133 Centerline is valid? [False, False] Translation: X:0.50, Y:0.29, Z:-1.19 [[ 0.90120795 -0.39685289 -0.17416086 0.50449093] [ 0.39696529 0.91713835 -0.03571833 0.28852053] [ 0.17390453 -0.03694617 0.9840692 -1.19026504] [ 0. 0. 0. 1. ]] SLAMing on 124.021346184 meters Centerline goodness : 0.883509 Centerline is valid? [False, False] Translation: X:0.51, Y:0.28, Z:-1.19 [[ 0.89958633 -0.40110646 -0.1727948 0.50598695] [ 0.40090086 0.91534722 -0.03765593 0.28373182] [ 0.17327127 -0.03539883 0.98423777 -1.1900638 ] [ 0. 0. 0. 1. ]] SLAMing on 124.051346184 meters Centerline goodness : 0.884160 Centerline is valid? [False, False] Translation: X:0.51, Y:0.28, Z:-1.19 [[ 0.89847268 -0.40360581 -0.17276921 0.50860001] [ 0.40325367 0.91426822 -0.03873119 0.28216792] [ 0.17358953 -0.03487091 0.98420054 -1.19015547] [ 0. 0. 0. 1. ]] SLAMing on 124.081346184 meters Centerline goodness : 0.886378 Centerline is valid? [False, False] Translation: X:0.51, Y:0.28, Z:-1.19 [[ 0.89744986 -0.40567147 -0.17324669 0.51098115] [ 0.40534415 0.91333635 -0.03889509 0.28030308] [ 0.17401112 -0.03531814 0.98411013 -1.18954358] [ 0. 0. 0. 1. ]] SLAMing on 124.111346184 meters Centerline goodness : 0.886729 Centerline is valid? [False, False] Translation: X:0.51, Y:0.28, Z:-1.19 [[ 0.89624337 -0.40772583 -0.17466386 0.51338932] [ 0.40779558 0.91231667 -0.03716272 0.27670537] [ 0.17450095 -0.03792031 0.98392656 -1.18728272] [ 0. 0. 0. 1. ]] SLAMing on 124.141346184 meters Centerline goodness : 0.889213 Centerline is valid? [False, False] Translation: X:0.52, Y:0.28, Z:-1.19 [[ 0.89629975 -0.40694248 -0.17619473 0.51537557] [ 0.40740434 0.91256831 -0.0352247 0.27590173] [ 0.17512416 -0.04021061 0.98372488 -1.186551 ] [ 0. 0. 0. 1. ]] SLAMing on 124.171346184 meters Centerline goodness : 0.889210 Centerline is valid? [False, False] Translation: X:0.52, Y:0.28, Z:-1.19 [[ 0.89658694 -0.40613378 -0.17659902 0.5160918 ] [ 0.40676303 0.91288965 -0.03429747 0.2751387 ] [ 0.17514478 -0.04108329 0.98368515 -1.18658229] [ 0. 0. 0. 1. ]] SLAMing on 124.20134618399999 meters Centerline goodness : 0.891178 Centerline is valid? [False, False] Translation: X:0.52, Y:0.27, Z:-1.19 [[ 0.89726054 -0.40594665 -0.17358239 0.51579477] [ 0.40598486 0.91313358 -0.03692378 0.27254466] [ 0.17349299 -0.03734157 0.98412692 -1.19032294] [ 0. 0. 0. 1. ]] SLAMing on 124.23134618399999 meters Centerline goodness : 0.890987 Centerline is valid? [False, False] Translation: X:0.52, Y:0.27, Z:-1.19 [[ 0.89746925 -0.40576245 -0.17293287 0.51725713] [ 0.40559762 0.91326492 -0.03791772 0.27114305] [ 0.17331911 -0.03611117 0.98420347 -1.19193717] [ 0. 0. 0. 1. ]] SLAMing on 124.26134618399999 meters Centerline goodness : 0.892211 Centerline is valid? [False, False] Translation: X:0.52, Y:0.27, Z:-1.19 [[ 0.89774227 -0.4051202 -0.17302152 0.51822548] [ 0.4050484 0.91353228 -0.03734398 0.26967837] [ 0.17318954 -0.03655682 0.98420983 -1.19239867] [ 0. 0. 0. 1. ]] SLAMing on 124.29134618399999 meters Centerline goodness : 0.891770 Centerline is valid? [False, False] Translation: X:0.52, Y:0.27, Z:-1.19 [[ 0.89786183 -0.40392495 -0.17518208 0.5215359 ] [ 0.40439547 0.91392824 -0.03463344 0.26949379] [ 0.17409316 -0.03974679 0.98392671 -1.19229969] [ 0. 0. 0. 1. ]] SLAMing on 124.32134618399999 meters Centerline goodness : 0.893961 Centerline is valid? [False, False] Translation: X:0.52, Y:0.27, Z:-1.19 [[ 0.89807185 -0.40219321 -0.1780662 0.52287321] [ 0.40352727 0.91446577 -0.03030022 0.26774634] [ 0.17502199 -0.0446428 0.98355189 -1.18920815] [ 0. 0. 0. 1. ]] SLAMing on 124.351346184 meters Centerline goodness : 0.893229 Centerline is valid? [False, False] Translation: X:0.52, Y:0.27, Z:-1.19 [[ 0.89803519 -0.40195384 -0.17879014 0.52499946] [ 0.40346822 0.91451949 -0.02945331 0.26755626] [ 0.17534594 -0.04568604 0.98344628 -1.18981182] [ 0. 0. 0. 1. ]] SLAMing on 124.381346184 meters Centerline goodness : 0.891097 Centerline is valid? [False, False] Translation: X:0.53, Y:0.27, Z:-1.19 [[ 0.89780649 -0.40253613 -0.17862859 0.52662772] [ 0.40396011 0.91428528 -0.02997758 0.26671168] [ 0.17538455 -0.04524476 0.9834598 -1.19060123] [ 0. 0. 0. 1. ]] SLAMing on 124.411346184 meters Centerline goodness : 0.895663 Centerline is valid? [False, False] Translation: X:0.53, Y:0.26, Z:-1.19 [[ 0.89623858 -0.40668522 -0.17709755 0.53019522] [ 0.40754934 0.91258108 -0.03315575 0.26405808] [ 0.17509983 -0.04246052 0.98363466 -1.19289515] [ 0. 0. 0. 1. ]] SLAMing on 124.441346184 meters Centerline goodness : 0.896308 Centerline is valid? [False, False] Translation: X:0.53, Y:0.26, Z:-1.19 [[ 0.89506005 -0.40924042 -0.17717165 0.53271113] [ 0.41002402 0.91144496 -0.03388803 0.2634048 ] [ 0.17535056 -0.04231282 0.98359636 -1.19313688] [ 0. 0. 0. 1. ]] SLAMing on 124.471346184 meters Centerline goodness : 0.896168 Centerline is valid? [False, False] Translation: X:0.54, Y:0.26, Z:-1.19 [[ 0.89399178 -0.41067732 -0.17922842 0.53762644] [ 0.41181087 0.91068608 -0.03259853 0.26401777] [ 0.17660831 -0.0446654 0.98326726 -1.19316167] [ 0. 0. 0. 1. ]] SLAMing on 124.501346184 meters Centerline goodness : 0.895641 Centerline is valid? [False, False] Translation: X:0.54, Y:0.26, Z:-1.19 [[ 0.89313994 -0.41198816 -0.18046275 0.53988664] [ 0.41334996 0.91001714 -0.03179015 0.26412862] [ 0.17732136 -0.04620122 0.98306794 -1.19216891] [ 0. 0. 0. 1. ]] SLAMing on 124.531346184 meters Centerline goodness : 0.896608 Centerline is valid? [False, False] Translation: X:0.54, Y:0.26, Z:-1.19 [[ 0.89261171 -0.41282877 -0.18115391 0.54166867] [ 0.41446902 0.90955146 -0.03052164 0.26312172] [ 0.17736901 -0.04783871 0.98298102 -1.19181204] [ 0. 0. 0. 1. ]] SLAMing on 124.561346184 meters Centerline goodness : 0.899365 Centerline is valid? [False, False] Translation: X:0.54, Y:0.26, Z:-1.19 [[ 0.8925023 -0.41307783 -0.18112525 0.54264561] [ 0.41470852 0.90943989 -0.03059293 0.26225519] [ 0.17735979 -0.04780993 0.98298409 -1.19210506] [ 0. 0. 0. 1. ]] SLAMing on 124.59134618399999 meters Centerline goodness : 0.899365 Centerline is valid? [False, False] Translation: X:0.54, Y:0.26, Z:-1.19 [[ 0.8925023 -0.41307783 -0.18112525 0.54264561] [ 0.41470852 0.90943989 -0.03059293 0.26225519] [ 0.17735979 -0.04780993 0.98298409 -1.19210506] [ 0. 0. 0. 1. ]] SLAMing on 124.62134618399999 meters Centerline goodness : 0.897750 Centerline is valid? [False, False] Translation: X:0.55, Y:0.26, Z:-1.19 [[ 0.8925052 -0.41281231 -0.18171532 0.54609326] [ 0.41454627 0.90952845 -0.03015617 0.26230349] [ 0.17772409 -0.04841487 0.98288868 -1.19410166] [ 0. 0. 0. 1. ]] SLAMing on 124.65134618399999 meters Centerline goodness : 0.898040 Centerline is valid? [False, False] Translation: X:0.55, Y:0.26, Z:-1.20 [[ 0.89240584 -0.41316116 -0.18141024 0.54772059] [ 0.41481848 0.90939177 -0.03053256 0.2617635 ] [ 0.17758785 -0.04800488 0.98293341 -1.19556278] [ 0. 0. 0. 1. ]] SLAMing on 124.68134618399999 meters Centerline goodness : 0.900315 Centerline is valid? [False, False] Translation: X:0.55, Y:0.26, Z:-1.20 [[ 0.89200321 -0.41355706 -0.18248517 0.55059042] [ 0.41540029 0.90914893 -0.02984663 0.26267789] [ 0.17824948 -0.04918111 0.98275548 -1.19616305] [ 0. 0. 0. 1. ]] SLAMing on 124.71134618399999 meters Centerline goodness : 0.900169 Centerline is valid? [False, False] Translation: X:0.56, Y:0.26, Z:-1.20 [[ 0.89134576 -0.41415978 -0.18432148 0.55520795] [ 0.41631172 0.90876762 -0.02873952 0.26449804] [ 0.17940814 -0.05111834 0.98244574 -1.19712373] [ 0. 0. 0. 1. ]] SLAMing on 124.741346184 meters Centerline goodness : 0.899223 Centerline is valid? [False, False] Translation: X:0.56, Y:0.27, Z:-1.20 [[ 0.89035349 -0.41570104 -0.18564295 0.55890869] [ 0.41810046 0.90797095 -0.02794214 0.2659331 ] [ 0.18017398 -0.05273903 0.9822199 -1.19766611] [ 0. 0. 0. 1. ]] SLAMing on 124.771346184 meters Centerline goodness : 0.898301 Centerline is valid? [False, False] Translation: X:0.56, Y:0.27, Z:-1.20 [[ 0.8899708 -0.41604008 -0.18671535 0.56236324] [ 0.41860478 0.90775501 -0.02740236 0.2668959 ] [ 0.18089228 -0.05377264 0.98203182 -1.19878815] [ 0. 0. 0. 1. ]] SLAMing on 124.801346184 meters Centerline goodness : 0.898827 Centerline is valid? [False, False] Translation: X:0.57, Y:0.27, Z:-1.20 [[ 0.88960605 -0.41642621 -0.18759078 0.56615998] [ 0.41911709 0.90752982 -0.02702747 0.26762611] [ 0.18149917 -0.0545787 0.98187536 -1.20049446] [ 0. 0. 0. 1. ]] SLAMing on 124.831346184 meters Centerline goodness : 0.900494 Centerline is valid? [False, False] Translation: X:0.57, Y:0.27, Z:-1.20 [[ 0.88877718 -0.41767929 -0.18873031 0.57018199] [ 0.42057165 0.90687427 -0.02642986 0.26828069] [ 0.18219387 -0.05588436 0.98167323 -1.2014714 ] [ 0. 0. 0. 1. ]] SLAMing on 124.861346184 meters Centerline goodness : 0.900683 Centerline is valid? [False, False] Translation: X:0.57, Y:0.27, Z:-1.20 [[ 0.88813037 -0.41797081 -0.19111476 0.57417905] [ 0.42138966 0.90655139 -0.02439928 0.27028955] [ 0.18345354 -0.05886404 0.9812644 -1.20134163] [ 0. 0. 0. 1. ]] SLAMing on 124.891346184 meters Centerline goodness : 0.901938 Centerline is valid? [False, False] Translation: X:0.58, Y:0.27, Z:-1.20 [[ 0.88727599 -0.41890713 -0.19302367 0.57805792] [ 0.42270737 0.90597164 -0.02310538 0.27229433] [ 0.18455298 -0.06109168 0.98092202 -1.20144577] [ 0. 0. 0. 1. ]] SLAMing on 124.921346184 meters Centerline goodness : 0.903522 Centerline is valid? [False, False] Translation: X:0.58, Y:0.28, Z:-1.20 [[ 0.8849558 -0.42292166 -0.19491155 0.58283266] [ 0.42692348 0.90399177 -0.02313504 0.27505557] [ 0.18598275 -0.06273883 0.98054794 -1.20083397] [ 0. 0. 0. 1. ]] SLAMing on 124.95134618399999 meters Centerline goodness : 0.904078 Centerline is valid? [False, False] Translation: X:0.59, Y:0.28, Z:-1.20 [[ 0.8838839 -0.42462075 -0.19607772 0.58579135] [ 0.42880197 0.90311102 -0.02278956 0.27690214] [ 0.18675687 -0.06393519 0.9803235 -1.20088759] [ 0. 0. 0. 1. ]] SLAMing on 124.98134618399999 meters Centerline goodness : 0.902351 Centerline is valid? [False, False] Translation: X:0.59, Y:0.28, Z:-1.20 [[ 0.88298779 -0.42586317 -0.19741612 0.58845047] [ 0.43025431 0.90243212 -0.02230464 0.27847656] [ 0.18765338 -0.06524441 0.98006601 -1.20048391] [ 0. 0. 0. 1. ]] SLAMing on 125.01134618399999 meters Centerline goodness : 0.903724 Centerline is valid? [False, False] Translation: X:0.59, Y:0.28, Z:-1.20 [[ 0.88229187 -0.42697976 -0.19811448 0.59090466] [ 0.43144562 0.90186347 -0.02229259 0.27995003] [ 0.1881907 -0.06580706 0.97992535 -1.20105103] [ 0. 0. 0. 1. ]] SLAMing on 125.04134618399999 meters Centerline goodness : 0.902908 Centerline is valid? [False, False] Translation: X:0.60, Y:0.28, Z:-1.20 [[ 0.88108013 -0.42904002 -0.19905391 0.59517146] [ 0.4335861 0.90083241 -0.02245146 0.28203628] [ 0.18894679 -0.06652547 0.97973133 -1.20238071] [ 0. 0. 0. 1. ]] SLAMing on 125.07134618399999 meters Centerline goodness : 0.901665 Centerline is valid? [False, False] Translation: X:0.60, Y:0.28, Z:-1.20 [[ 0.88069537 -0.42925513 -0.20028902 0.59858687] [ 0.43400493 0.900645 -0.02187018 0.28395309] [ 0.18977719 -0.06766546 0.97949273 -1.2035242 ] [ 0. 0. 0. 1. ]] SLAMing on 125.101346184 meters Centerline goodness : 0.901791 Centerline is valid? [False, False] Translation: X:0.60, Y:0.29, Z:-1.20 [[ 0.88038065 -0.4296121 -0.20090635 0.60024411] [ 0.43449416 0.90041905 -0.02145611 0.28533147] [ 0.19011771 -0.06840309 0.97937545 -1.20401069] [ 0. 0. 0. 1. ]] SLAMing on 125.131346184 meters Centerline goodness : 0.901733 Centerline is valid? [False, False] Translation: X:0.61, Y:0.29, Z:-1.21 [[ 0.88024234 -0.43091471 -0.1987107 0.60776558] [ 0.43712848 0.89929339 -0.01378767 0.29210973] [ 0.18464053 -0.07472562 0.9799612 -1.20984242] [ 0. 0. 0. 1. ]] SLAMing on 125.161346184 meters Centerline goodness : 0.898476 Centerline is valid? [False, False] Translation: X:0.61, Y:0.29, Z:-1.21 [[ 0.88056116 -0.42932655 -0.20072555 0.61075854] [ 0.43610219 0.89982396 -0.01147671 0.29491845] [ 0.18554492 -0.0774309 0.97958029 -1.21103759] [ 0. 0. 0. 1. ]] SLAMing on 125.191346184 meters Centerline goodness : 0.899165 Centerline is valid? [False, False] Translation: X:0.61, Y:0.30, Z:-1.21 [[ 0.88074079 -0.42873153 -0.20120868 0.61282025] [ 0.43558836 0.90007647 -0.01118605 0.2973001 ] [ 0.18589901 -0.07779214 0.97948453 -1.21303428] [ 0. 0. 0. 1. ]] SLAMing on 125.221346184 meters Centerline goodness : 0.897908 Centerline is valid? [False, False] Translation: X:0.61, Y:0.30, Z:-1.22 [[ 0.88080856 -0.42858496 -0.20122429 0.61482323] [ 0.43536552 0.90017933 -0.01157739 0.29891544] [ 0.18609984 -0.07740865 0.97947677 -1.21520257] [ 0. 0. 0. 1. ]] SLAMing on 125.251346184 meters Centerline goodness : 0.897360 Centerline is valid? [False, False] Translation: X:0.61, Y:0.30, Z:-1.22 [[ 0.88113657 -0.42824813 -0.20050408 0.61385011] [ 0.4348106 0.90043678 -0.01238299 0.3005581 ] [ 0.18584424 -0.0762702 0.97961461 -1.21600397] [ 0. 0. 0. 1. ]] SLAMing on 125.281346184 meters Centerline goodness : 0.898662 Centerline is valid? [False, False] Translation: X:0.62, Y:0.30, Z:-1.22 [[ 0.88168233 -0.42574402 -0.20341658 0.61761191] [ 0.43317686 0.90126625 -0.00877183 0.30300962] [ 0.18706705 -0.08038139 0.97905299 -1.21679362] [ 0. 0. 0. 1. ]] SLAMing on 125.311346184 meters Centerline goodness : 0.896858 Centerline is valid? [False, False] Translation: X:0.62, Y:0.31, Z:-1.22 [[ 0.8819464 -0.42399832 -0.20590282 0.61935626] [ 0.43218846 0.9017651 -0.00573006 0.30566461] [ 0.18810551 -0.08393522 0.97855567 -1.21621392] [ 0. 0. 0. 1. ]] SLAMing on 125.34134618399999 meters Centerline goodness : 0.896283 Centerline is valid? [False, False] Translation: X:0.62, Y:0.31, Z:-1.22 [[ 0.88227892 -0.42240303 -0.20774886 0.61932131] [ 0.43114809 0.90227433 -0.00351645 0.30941899] [ 0.18893182 -0.08646803 0.97817588 -1.21529708] [ 0. 0. 0. 1. ]] SLAMing on 125.37134618399999 meters Centerline goodness : 0.893418 Centerline is valid? [False, False] Translation: X:0.62, Y:0.31, Z:-1.22 [[ 0.88222903 -0.42248104 -0.20780209 0.62063249] [ 0.43117542 0.90226006 -0.00381275 0.31139752] [ 0.18910234 -0.08623543 0.97816346 -1.21685669] [ 0. 0. 0. 1. ]] SLAMing on 125.40134618399999 meters Centerline goodness : 0.893442 Centerline is valid? [False, False] Translation: X:0.62, Y:0.32, Z:-1.22 [[ 0.88272605 -0.42737358 -0.19531138 0.62373166] [ 0.43473819 0.9005389 -0.00569249 0.31821035] [ 0.17831831 -0.07988441 0.98072476 -1.21993071] [ 0. 0. 0. 1. ]] SLAMing on 125.43134618399999 meters Centerline goodness : 0.892607 Centerline is valid? [False, False] Translation: X:0.62, Y:0.32, Z:-1.22 [[ 0.8830131 -0.42703881 -0.19474526 0.62413211] [ 0.43414536 0.90081703 -0.00681809 0.31926097] [ 0.17834144 -0.07852729 0.98083016 -1.22141376] [ 0. 0. 0. 1. ]] SLAMing on 125.46134618399999 meters Centerline goodness : 0.891230 Centerline is valid? [False, False] Translation: X:0.63, Y:0.32, Z:-1.22 [[ 0.88432577 -0.42359153 -0.19631136 0.62746691] [ 0.43116219 0.90226272 -0.00459991 0.32254445] [ 0.17907291 -0.08057422 0.98053082 -1.22481626] [ 0. 0. 0. 1. ]] SLAMing on 125.491346184 meters Centerline goodness : 0.890645 Centerline is valid? [False, False] Translation: X:0.63, Y:0.33, Z:-1.23 [[ 0.88458365 -0.4220339 -0.1984922 0.63060807] [ 0.43011151 0.90277181 -0.00267367 0.32539397] [ 0.18032154 -0.08300869 0.98009882 -1.22573941] [ 0. 0. 0. 1. ]] SLAMing on 125.521346184 meters Centerline goodness : 0.888745 Centerline is valid? [False, False] Translation: X:0.63, Y:0.33, Z:-1.23 [[ 0.8848404 -0.42121617 -0.19908392 0.63064807] [ 0.42936878 0.90312592 -0.00245326 0.32812728] [ 0.1808312 -0.08330968 0.97997937 -1.22612639] [ 0. 0. 0. 1. ]] SLAMing on 125.551346184 meters Centerline goodness : 0.887473 Centerline is valid? [False, False] Translation: X:0.63, Y:0.33, Z:-1.23 [[ 8.86705608e-01 -4.16546339e-01 -2.00604866e-01 6.31226441e-01] [ 4.25049893e-01 9.05169609e-01 -7.52536146e-04 3.32978851e-01] [ 1.81894894e-01 -8.45997987e-02 9.79671946e-01 -1.22820402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.581346184 meters Centerline goodness : 0.887618 Centerline is valid? [False, False] Translation: X:0.63, Y:0.33, Z:-1.23 [[ 8.87808413e-01 -4.14498239e-01 -1.99968575e-01 6.29617655e-01] [ 4.22841973e-01 9.06202787e-01 -1.08416041e-03 3.34326424e-01] [ 1.81661462e-01 -8.35925799e-02 9.79801711e-01 -1.22912699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.611346184 meters Centerline goodness : 0.888340 Centerline is valid? [False, False] Translation: X:0.63, Y:0.34, Z:-1.23 [[ 8.88760618e-01 -4.12534573e-01 -1.99799374e-01 6.28791945e-01] [ 4.20873021e-01 9.07119197e-01 -8.14134411e-04 3.35392261e-01] [ 1.81577707e-01 -8.33665957e-02 9.79836490e-01 -1.22992579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641346184 meters Centerline goodness : 0.885085 Centerline is valid? [False, False] Translation: X:0.63, Y:0.34, Z:-1.23 [[ 0.89058372 -0.40840249 -0.20017005 0.63001276] [ 0.41713583 0.90884275 0.00160229 0.33666215] [ 0.18126872 -0.08492507 0.97975986 -1.23305848] [ 0. 0. 0. 1. ]] SLAMing on 125.671346184 meters Centerline goodness : 0.884729 Centerline is valid? [False, False] Translation: X:0.63, Y:0.34, Z:-1.23 [[ 8.91002763e-01 -4.07762967e-01 -1.99608216e-01 6.29408643e-01] [ 4.16297172e-01 9.09228200e-01 8.63403191e-04 3.37501178e-01] [ 1.81137355e-01 -8.38656303e-02 9.79875408e-01 -1.23381565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70134618399999 meters Centerline goodness : 0.884923 Centerline is valid? [False, False] Translation: X:0.63, Y:0.34, Z:-1.24 [[ 8.91690258e-01 -4.11700631e-01 -1.88125154e-01 6.32602965e-01] [ 4.19190135e-01 9.07898469e-01 2.86335012e-05 3.43629032e-01] [ 1.70786751e-01 -7.88857407e-02 9.82145063e-01 -1.23536938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73134618399999 meters Centerline goodness : 0.883037 Centerline is valid? [False, False] Translation: X:0.63, Y:0.35, Z:-1.24 [[ 8.91079785e-01 -4.12582364e-01 -1.89083606e-01 6.34484086e-01] [ 4.20166630e-01 9.07446969e-01 2.84229310e-05 3.46121974e-01] [ 1.71571618e-01 -7.94719487e-02 9.81960992e-01 -1.23553673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76134618399999 meters Centerline goodness : 0.883896 Centerline is valid? [False, False] Translation: X:0.64, Y:0.35, Z:-1.23 [[ 8.90197672e-01 -4.13916195e-01 -1.90319435e-01 6.35697264e-01] [ 4.21605934e-01 9.06779150e-01 -9.43390725e-05 3.48219996e-01] [ 1.72616744e-01 -8.01558227e-02 9.81722213e-01 -1.23419531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79134618399999 meters Centerline goodness : 0.885066 Centerline is valid? [False, False] Translation: X:0.64, Y:0.35, Z:-1.23 [[ 8.89188542e-01 -4.15587142e-01 -1.91392434e-01 6.37531825e-01] [ 4.23293720e-01 9.05992251e-01 -6.83435624e-04 3.50410952e-01] [ 1.73684089e-01 -8.04075123e-02 9.81513357e-01 -1.23343410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82134618399999 meters Centerline goodness : 0.882267 Centerline is valid? [False, False] Translation: X:0.64, Y:0.35, Z:-1.24 [[ 0.88793591 -0.41874424 -0.19032365 0.63977223] [ 0.42589843 0.90476363 -0.00364669 0.35133845] [ 0.17372494 -0.07782052 0.98171463 -1.23510829] [ 0. 0. 0. 1. ]] SLAMing on 125.851346184 meters Centerline goodness : 0.882899 Centerline is valid? [False, False] Translation: X:0.64, Y:0.35, Z:-1.24 [[ 0.88724905 -0.42069334 -0.18922537 0.64044135] [ 0.42731271 0.90408135 -0.00638503 0.35162826] [ 0.17376126 -0.0751933 0.98191292 -1.23579151] [ 0. 0. 0. 1. ]] SLAMing on 125.881346184 meters Centerline goodness : 0.884115 Centerline is valid? [False, False] Translation: X:0.64, Y:0.35, Z:-1.24 [[ 0.8867738 -0.42220668 -0.18807911 0.64034604] [ 0.42839616 0.90355123 -0.00847976 0.35097514] [ 0.17351932 -0.07305274 0.98211728 -1.23598323] [ 0. 0. 0. 1. ]] SLAMing on 125.911346184 meters Centerline goodness : 0.884936 Centerline is valid? [False, False] Translation: X:0.64, Y:0.35, Z:-1.24 [[ 0.88612712 -0.42307431 -0.18917413 0.64246784] [ 0.42944152 0.90305886 -0.00804139 0.35103141] [ 0.17423748 -0.07411353 0.98191063 -1.23515579] [ 0. 0. 0. 1. ]] SLAMing on 125.941346184 meters Centerline goodness : 0.884595 Centerline is valid? [False, False] Translation: X:0.64, Y:0.35, Z:-1.23 [[ 0.88561955 -0.42329732 -0.19104288 0.64348318] [ 0.4300562 0.90277737 -0.00668469 0.35247172] [ 0.1752988 -0.07623908 0.98155893 -1.23307172] [ 0. 0. 0. 1. ]] SLAMing on 125.971346184 meters Centerline goodness : 0.884145 Centerline is valid? [False, False] Translation: X:0.65, Y:0.36, Z:-1.23 [[ 0.88510173 -0.42277363 -0.19456973 0.64749862] [ 0.43031178 0.90267196 -0.0038865 0.35565915] [ 0.17727575 -0.0802857 0.98088099 -1.23211335] [ 0. 0. 0. 1. ]] SLAMing on 126.001346184 meters Centerline goodness : 0.884062 Centerline is valid? [False, False] Translation: X:0.65, Y:0.36, Z:-1.23 [[ 0.88460099 -0.42351625 -0.19523083 0.64861572] [ 0.43104324 0.90232086 -0.00433471 0.35769357] [ 0.17799667 -0.08031844 0.98074774 -1.2319502 ] [ 0. 0. 0. 1. ]] SLAMing on 126.031346184 meters Centerline goodness : 0.881916 Centerline is valid? [False, False] Translation: X:0.65, Y:0.36, Z:-1.24 [[ 0.88351328 -0.42738409 -0.19169537 0.64918098] [ 0.43358468 0.90105138 -0.01052293 0.35782976] [ 0.17722471 -0.07381902 0.98139806 -1.23513798] [ 0. 0. 0. 1. ]] SLAMing on 126.061346184 meters Centerline goodness : 0.882742 Centerline is valid? [False, False] Translation: X:0.65, Y:0.36, Z:-1.24 [[ 0.88317428 -0.42855858 -0.19063249 0.65009699] [ 0.43432322 0.90066865 -0.01262208 0.35760725] [ 0.177106 -0.07164862 0.98158033 -1.23627479] [ 0. 0. 0. 1. ]] SLAMing on 126.09134618399999 meters Centerline goodness : 0.885787 Centerline is valid? [False, False] Translation: X:0.65, Y:0.36, Z:-1.23 [[ 0.88288331 -0.42788621 -0.19346952 0.65232076] [ 0.43444492 0.90064974 -0.00936292 0.35851076] [ 0.17825454 -0.07578548 0.98106161 -1.23423348] [ 0. 0. 0. 1. ]] SLAMing on 126.12134618399999 meters Centerline goodness : 0.885563 Centerline is valid? [False, False] Translation: X:0.65, Y:0.36, Z:-1.23 [[ 0.88257722 -0.42785059 -0.19493925 0.65211695] [ 0.43474564 0.90051636 -0.00815567 0.35953258] [ 0.1790354 -0.07755098 0.98078141 -1.23181271] [ 0. 0. 0. 1. ]] SLAMing on 126.15134618399999 meters Centerline goodness : 0.883783 Centerline is valid? [False, False] Translation: X:0.66, Y:0.36, Z:-1.23 [[ 0.88256693 -0.42685789 -0.19714957 0.65514072] [ 0.43432696 0.90073595 -0.00590233 0.36062918] [ 0.18009916 -0.08041817 0.98035565 -1.23161879] [ 0. 0. 0. 1. ]] SLAMing on 126.18134618399999 meters Centerline goodness : 0.884277 Centerline is valid? [False, False] Translation: X:0.66, Y:0.36, Z:-1.23 [[ 0.8826124 -0.42663051 -0.19743799 0.6559655 ] [ 0.43411811 0.90083659 -0.00590742 0.36088941] [ 0.18037965 -0.08049745 0.98029758 -1.23166145] [ 0. 0. 0. 1. ]] SLAMing on 126.21134618399999 meters Centerline goodness : 0.885757 Centerline is valid? [False, False] Translation: X:0.66, Y:0.36, Z:-1.23 [[ 0.88277084 -0.42666722 -0.19664873 0.65643956] [ 0.43394422 0.90091483 -0.00669989 0.36037791] [ 0.18002238 -0.07942011 0.98045112 -1.23294019] [ 0. 0. 0. 1. ]] SLAMing on 126.241346184 meters Centerline goodness : 0.884989 Centerline is valid? [False, False] Translation: X:0.66, Y:0.36, Z:-1.24 [[ 0.88288356 -0.42710823 -0.19517986 0.65703648] [ 0.43385879 0.90093624 -0.00896856 0.36087952] [ 0.17967515 -0.0767623 0.98072646 -1.23522006] [ 0. 0. 0. 1. ]] SLAMing on 126.271346184 meters Centerline goodness : 0.885959 Centerline is valid? [False, False] Translation: X:0.66, Y:0.36, Z:-1.24 [[ 0.88286458 -0.42696869 -0.1955706 0.65749832] [ 0.43366915 0.90102319 -0.00939592 0.3624724 ] [ 0.18022541 -0.07651761 0.98064461 -1.23517349] [ 0. 0. 0. 1. ]] SLAMing on 126.301346184 meters Centerline goodness : 0.883892 Centerline is valid? [False, False] Translation: X:0.66, Y:0.36, Z:-1.24 [[ 0.88338113 -0.42479897 -0.19794854 0.66146402] [ 0.432164 0.9017709 -0.00659677 0.36429484] [ 0.18130653 -0.07971877 0.98019022 -1.23663977] [ 0. 0. 0. 1. ]] SLAMing on 126.331346184 meters Centerline goodness : 0.885075 Centerline is valid? [False, False] Translation: X:0.66, Y:0.37, Z:-1.24 [[ 0.88363252 -0.42425345 -0.19799644 0.66108148] [ 0.43153129 0.9020706 -0.00702781 0.36566972] [ 0.18158834 -0.07923166 0.98017755 -1.23671107] [ 0. 0. 0. 1. ]] SLAMing on 126.361346184 meters Centerline goodness : 0.884736 Centerline is valid? [False, False] Translation: X:0.66, Y:0.37, Z:-1.24 [[ 0.88413254 -0.42389686 -0.19652254 0.66094266] [ 0.4305946 0.9024957 -0.00947676 0.36656571] [ 0.18137792 -0.07624284 0.98045351 -1.23878187] [ 0. 0. 0. 1. ]] SLAMing on 126.391346184 meters Centerline goodness : 0.883391 Centerline is valid? [False, False] Translation: X:0.66, Y:0.37, Z:-1.24 [[ 0.88416604 -0.42436699 -0.19535372 0.66100889] [ 0.43068577 0.90243387 -0.01108459 0.36643224] [ 0.18099775 -0.07433545 0.98067021 -1.24013706] [ 0. 0. 0. 1. ]] SLAMing on 126.421346184 meters Centerline goodness : 0.883532 Centerline is valid? [False, False] Translation: X:0.66, Y:0.37, Z:-1.24 [[ 0.88462151 -0.42896776 -0.18284265 0.6608404 ] [ 0.43411879 0.90076259 -0.01294715 0.37132428] [ 0.17025173 -0.0679221 0.98305693 -1.23924027] [ 0. 0. 0. 1. ]] SLAMing on 126.45134618399999 meters Centerline goodness : 0.884058 Centerline is valid? [False, False] Translation: X:0.66, Y:0.37, Z:-1.24 [[ 0.88488889 -0.42732697 -0.18537345 0.66275368] [ 0.43320275 0.90124478 -0.00965568 0.37198239] [ 0.17119298 -0.07176009 0.98262071 -1.23799804] [ 0. 0. 0. 1. ]] SLAMing on 126.48134618399999 meters Centerline goodness : 0.884058 Centerline is valid? [False, False] Translation: X:0.66, Y:0.37, Z:-1.24 [[ 0.88488889 -0.42732697 -0.18537345 0.66275368] [ 0.43320275 0.90124478 -0.00965568 0.37198239] [ 0.17119298 -0.07176009 0.98262071 -1.23799804] [ 0. 0. 0. 1. ]] SLAMing on 126.51134618399999 meters Centerline goodness : 0.883842 Centerline is valid? [False, False] Translation: X:0.67, Y:0.37, Z:-1.24 [[ 0.88529467 -0.42530222 -0.18807275 0.66558309] [ 0.43191108 0.9018933 -0.00642648 0.37301618] [ 0.17235475 -0.07554137 0.98213407 -1.23757376] [ 0. 0. 0. 1. ]] SLAMing on 126.54134618399999 meters Centerline goodness : 0.882053 Centerline is valid? [False, False] Translation: X:0.67, Y:0.37, Z:-1.24 [[ 0.88542984 -0.4244098 -0.18944742 0.66825994] [ 0.43130833 0.90218901 -0.00530275 0.3743083 ] [ 0.17316792 -0.07701503 0.98187655 -1.23828367] [ 0. 0. 0. 1. ]] SLAMing on 126.57134618399999 meters Centerline goodness : 0.881719 Centerline is valid? [False, False] Translation: X:0.67, Y:0.37, Z:-1.24 [[ 0.88544632 -0.42465042 -0.18883019 0.66846325] [ 0.43127116 0.90219802 -0.00662662 0.37462631] [ 0.17317622 -0.0755695 0.9819874 -1.239046 ] [ 0. 0. 0. 1. ]] SLAMing on 126.601346184 meters Centerline goodness : 0.882180 Centerline is valid? [False, False] Translation: X:0.67, Y:0.38, Z:-1.24 [[ 0.8851659 -0.42542674 -0.18839696 0.67241277] [ 0.43161774 0.90201217 -0.00895339 0.37680494] [ 0.17374536 -0.07339024 0.98205215 -1.2428475 ] [ 0. 0. 0. 1. ]] SLAMing on 126.631346184 meters Centerline goodness : 0.882561 Centerline is valid? [False, False] Translation: X:0.68, Y:0.38, Z:-1.24 [[ 0.88443097 -0.42629318 -0.18988416 0.67683164] [ 0.43265114 0.90151896 -0.00874912 0.379516 ] [ 0.17491386 -0.0744156 0.98176752 -1.24441857] [ 0. 0. 0. 1. ]] SLAMing on 126.661346184 meters Centerline goodness : 0.880846 Centerline is valid? [False, False] Translation: X:0.68, Y:0.38, Z:-1.24 [[ 0.88348269 -0.42800689 -0.19044275 0.67803655] [ 0.43428048 0.90072601 -0.00964933 0.38125998] [ 0.17566672 -0.07418055 0.98165088 -1.24379424] [ 0. 0. 0. 1. ]] SLAMing on 126.691346184 meters Centerline goodness : 0.883188 Centerline is valid? [False, False] Translation: X:0.68, Y:0.38, Z:-1.24 [[ 0.88238899 -0.42931195 -0.1925641 0.6808589 ] [ 0.43589623 0.89995208 -0.00898478 0.38378774] [ 0.17715573 -0.07600989 0.98124326 -1.24273568] [ 0. 0. 0. 1. ]] SLAMing on 126.721346184 meters Centerline goodness : 0.883118 Centerline is valid? [False, False] Translation: X:0.68, Y:0.38, Z:-1.24 [[ 0.8818893 -0.43017754 -0.1929211 0.6812481 ] [ 0.43673742 0.89954022 -0.00937144 0.38474806] [ 0.17757167 -0.07599129 0.98116952 -1.24200789] [ 0. 0. 0. 1. ]] SLAMing on 126.751346184 meters Centerline goodness : 0.883463 Centerline is valid? [False, False] Translation: X:0.68, Y:0.39, Z:-1.24 [[ 0.88146439 -0.43092027 -0.19320519 0.6822256 ] [ 0.43742155 0.89920207 -0.00990078 0.3852351 ] [ 0.17799695 -0.07578493 0.98110842 -1.24173773] [ 0. 0. 0. 1. ]] SLAMing on 126.781346184 meters Centerline goodness : 0.883012 Centerline is valid? [False, False] Translation: X:0.68, Y:0.39, Z:-1.24 [[ 0.88091932 -0.43172411 -0.19389544 0.68412404] [ 0.43824925 0.89879608 -0.01015858 0.38634759] [ 0.17865817 -0.07602564 0.9809696 -1.24165795] [ 0. 0. 0. 1. ]] SLAMing on 126.811346184 meters Centerline goodness : 0.883639 Centerline is valid? [False, False] Translation: X:0.69, Y:0.39, Z:-1.24 [[ 0.88057015 -0.43172143 -0.19548096 0.68749475] [ 0.43852424 0.89867091 -0.00933152 0.38809356] [ 0.17970167 -0.07750608 0.9806631 -1.2422694 ] [ 0. 0. 0. 1. ]] SLAMing on 126.84134618399999 meters Centerline goodness : 0.879691 Centerline is valid? [False, False] Translation: X:0.69, Y:0.39, Z:-1.24 [[ 0.87995794 -0.43240199 -0.19672961 0.68943435] [ 0.43931353 0.89828497 -0.00936705 0.39001532] [ 0.18076958 -0.07818337 0.98041304 -1.24171116] [ 0. 0. 0. 1. ]] SLAMing on 126.87134618399999 meters Centerline goodness : 0.879599 Centerline is valid? [False, False] Translation: X:0.69, Y:0.39, Z:-1.24 [[ 0.87946461 -0.43310013 -0.19739877 0.69045294] [ 0.44001613 0.89793729 -0.00971711 0.39119535] [ 0.1814602 -0.07831279 0.98027512 -1.2411148 ] [ 0. 0. 0. 1. ]] SLAMing on 126.90134618399999 meters Centerline goodness : 0.880981 Centerline is valid? [False, False] Translation: X:0.69, Y:0.39, Z:-1.24 [[ 0.87838037 -0.43460774 -0.19890712 0.69405652] [ 0.44162759 0.89714278 -0.00999559 0.39345022] [ 0.18279224 -0.07906294 0.97996737 -1.24124405] [ 0. 0. 0. 1. ]] SLAMing on 126.93134618399999 meters Centerline goodness : 0.881292 Centerline is valid? [False, False] Translation: X:0.70, Y:0.40, Z:-1.24 [[ 0.87770287 -0.43536858 -0.20022953 0.69667478] [ 0.44249554 0.89671387 -0.01009559 0.39507382] [ 0.1839439 -0.07973975 0.979697 -1.24099581] [ 0. 0. 0. 1. ]] SLAMing on 126.96134618399999 meters Centerline goodness : 0.879447 Centerline is valid? [False, False] Translation: X:0.70, Y:0.40, Z:-1.24 [[ 0.87613167 -0.43739567 -0.2026779 0.70034737] [ 0.44478294 0.8955821 -0.01004208 0.39896442] [ 0.18590706 -0.08134949 0.97919397 -1.24001183] [ 0. 0. 0. 1. ]] SLAMing on 126.991346184 meters Centerline goodness : 0.880415 Centerline is valid? [False, False] Translation: X:0.70, Y:0.40, Z:-1.24 [[ 0.87568835 -0.43807159 -0.20313345 0.70073166] [ 0.44542767 0.89525649 -0.01048874 0.40025239] [ 0.18645135 -0.08129639 0.97909488 -1.23925496] [ 0. 0. 0. 1. ]] SLAMing on 127.021346184 meters Centerline goodness : 0.879950 Centerline is valid? [False, False] Translation: X:0.70, Y:0.40, Z:-1.24 [[ 0.87544041 -0.4385494 -0.20317114 0.70066893] [ 0.44580439 0.89506168 -0.01109207 0.40172589] [ 0.18671513 -0.08086414 0.97908041 -1.23912317] [ 0. 0. 0. 1. ]] SLAMing on 127.051346184 meters Centerline goodness : 0.878218 Centerline is valid? [False, False] Translation: X:0.70, Y:0.40, Z:-1.24 [[ 0.87602852 -0.43672792 -0.20455504 0.70270023] [ 0.44433308 0.89580955 -0.00966284 0.40386577] [ 0.18746239 -0.08242565 0.97880737 -1.24042099] [ 0. 0. 0. 1. ]] SLAMing on 127.081346184 meters Centerline goodness : 0.878658 Centerline is valid? [False, False] Translation: X:0.70, Y:0.41, Z:-1.24 [[ 0.87592558 -0.43675299 -0.20494196 0.70277542] [ 0.44431237 0.89581524 -0.01007808 0.40544862] [ 0.18799176 -0.0822306 0.97872224 -1.24001079] [ 0. 0. 0. 1. ]] SLAMing on 127.111346184 meters Centerline goodness : 0.876424 Centerline is valid? [False, False] Translation: X:0.70, Y:0.41, Z:-1.24 [[ 0.87549503 -0.43750328 -0.20518124 0.70308175] [ 0.4449316 0.89549755 -0.01095478 0.40783328] [ 0.18853205 -0.08170077 0.97866269 -1.2399104 ] [ 0. 0. 0. 1. ]] SLAMing on 127.141346184 meters Centerline goodness : 0.874659 Centerline is valid? [False, False] Translation: X:0.71, Y:0.41, Z:-1.24 [[ 0.87515368 -0.43764368 -0.20633479 0.70627162] [ 0.44509662 0.89541056 -0.01135453 0.41072148] [ 0.18972359 -0.08190196 0.97841557 -1.24101928] [ 0. 0. 0. 1. ]] SLAMing on 127.171346184 meters Centerline goodness : 0.874667 Centerline is valid? [False, False] Translation: X:0.71, Y:0.41, Z:-1.24 [[ 0.87454253 -0.43882142 -0.20642463 0.7060902 ] [ 0.44606478 0.89491178 -0.012614 0.41439762] [ 0.19026713 -0.08104728 0.97838119 -1.24105485] [ 0. 0. 0. 1. ]] SLAMing on 127.20134618399999 meters Centerline goodness : 0.874488 Centerline is valid? [False, False] Translation: X:0.71, Y:0.42, Z:-1.24 [[ 0.87411755 -0.43850963 -0.20887271 0.70953567] [ 0.44617266 0.89487295 -0.01150486 0.41762197] [ 0.19195953 -0.0831367 0.97787516 -1.24084407] [ 0. 0. 0. 1. ]] SLAMing on 127.23134618399999 meters Centerline goodness : 0.874562 Centerline is valid? [False, False] Translation: X:0.71, Y:0.42, Z:-1.24 [[ 0.87363506 -0.43890655 -0.21005431 0.71057405] [ 0.4466153 0.89464769 -0.01184433 0.42012207] [ 0.19312316 -0.08346584 0.97761797 -1.23978265] [ 0. 0. 0. 1. ]] SLAMing on 127.26134618399999 meters Centerline goodness : 0.873542 Centerline is valid? [False, False] Translation: X:0.71, Y:0.42, Z:-1.24 [[ 0.87338642 -0.43907192 -0.21074157 0.71291582] [ 0.44659562 0.89464 -0.01310017 0.42368568] [ 0.19428976 -0.08267475 0.97745403 -1.24105421] [ 0. 0. 0. 1. ]] SLAMing on 127.29134618399999 meters Centerline goodness : 0.875636 Centerline is valid? [False, False] Translation: X:0.71, Y:0.42, Z:-1.24 [[ 0.87350733 -0.4388622 -0.21067727 0.71226712] [ 0.44630981 0.89477774 -0.01342923 0.4246257 ] [ 0.19440291 -0.0822968 0.97746342 -1.24060953] [ 0. 0. 0. 1. ]] SLAMing on 127.32134618399999 meters Centerline goodness : 0.875632 Centerline is valid? [False, False] Translation: X:0.71, Y:0.43, Z:-1.24 [[ 0.87355818 -0.43831872 -0.21159586 0.71269777] [ 0.44581433 0.89502335 -0.01351985 0.42639515] [ 0.19530924 -0.08252209 0.97726373 -1.23968825] [ 0. 0. 0. 1. ]] SLAMing on 127.351346184 meters Centerline goodness : 0.872944 Centerline is valid? [False, False] Translation: X:0.71, Y:0.43, Z:-1.24 [[ 0.87432563 -0.43635817 -0.21247646 0.71139542] [ 0.44410366 0.89588942 -0.01241291 0.42900512] [ 0.19577189 -0.08350865 0.97708734 -1.23905822] [ 0. 0. 0. 1. ]] SLAMing on 127.381346184 meters Centerline goodness : 0.874830 Centerline is valid? [False, False] Translation: X:0.71, Y:0.43, Z:-1.24 [[ 0.87444458 -0.43595365 -0.21281703 0.71083841] [ 0.44366907 0.89610125 -0.01266158 0.43105139] [ 0.19622547 -0.08334848 0.97701003 -1.23850517] [ 0. 0. 0. 1. ]] SLAMing on 127.411346184 meters Centerline goodness : 0.872790 Centerline is valid? [False, False] Translation: X:0.71, Y:0.43, Z:-1.24 [[ 0.87455198 -0.43562142 -0.2130559 0.71019773] [ 0.44325894 0.89629772 -0.01311161 0.43312616] [ 0.19667322 -0.08297215 0.97695203 -1.23805437] [ 0. 0. 0. 1. ]] SLAMing on 127.441346184 meters Centerline goodness : 0.875018 Centerline is valid? [False, False] Translation: X:0.71, Y:0.44, Z:-1.24 [[ 0.87426032 -0.43599867 -0.21348081 0.7103043 ] [ 0.44354111 0.89614758 -0.01381276 0.43538161] [ 0.19733266 -0.08261156 0.97684961 -1.2374622 ] [ 0. 0. 0. 1. ]] SLAMing on 127.471346184 meters Centerline goodness : 0.873363 Centerline is valid? [False, False] Translation: X:0.71, Y:0.44, Z:-1.24 [[ 0.87336494 -0.437878 -0.2132992 0.71055969] [ 0.44498029 0.89539483 -0.01614405 0.43903763] [ 0.19805613 -0.08081429 0.97685353 -1.2375689 ] [ 0. 0. 0. 1. ]] SLAMing on 127.501346184 meters Centerline goodness : 0.873854 Centerline is valid? [False, False] Translation: X:0.71, Y:0.44, Z:-1.24 [[ 0.87246866 -0.43976945 -0.21307573 0.71156819] [ 0.44651727 0.89459327 -0.01803333 0.44139574] [ 0.19854662 -0.07940849 0.97686925 -1.23789872] [ 0. 0. 0. 1. ]] SLAMing on 127.531346184 meters Centerline goodness : 0.872098 Centerline is valid? [False, False] Translation: X:0.71, Y:0.44, Z:-1.24 [[ 0.87144963 -0.44193917 -0.21275645 0.71249618] [ 0.44830962 0.89365391 -0.02002955 0.44307636] [ 0.19898248 -0.07792602 0.97689995 -1.23789252] [ 0. 0. 0. 1. ]] SLAMing on 127.561346184 meters Centerline goodness : 0.873111 Centerline is valid? [False, False] Translation: X:0.71, Y:0.44, Z:-1.24 [[ 0.87030573 -0.44416155 -0.21281082 0.71384212] [ 0.45024686 0.89263973 -0.02172738 0.44466722] [ 0.19961386 -0.07690794 0.97685182 -1.23748996] [ 0. 0. 0. 1. ]] SLAMing on 127.59134618399999 meters Centerline goodness : 0.873479 Centerline is valid? [False, False] Translation: X:0.72, Y:0.45, Z:-1.23 [[ 0.86897211 -0.44547399 -0.21550036 0.71598634] [ 0.45199037 0.89177868 -0.02086856 0.44754474] [ 0.20147502 -0.07926989 0.97628075 -1.23485572] [ 0. 0. 0. 1. ]] SLAMing on 127.62134618399999 meters Centerline goodness : 0.873586 Centerline is valid? [False, False] Translation: X:0.72, Y:0.45, Z:-1.23 [[ 0.86842699 -0.44582852 -0.21695967 0.71708492] [ 0.45255898 0.89149946 -0.02047135 0.4490313 ] [ 0.20254614 -0.08040918 0.97596589 -1.23319578] [ 0. 0. 0. 1. ]] SLAMing on 127.65134618399999 meters Centerline goodness : 0.872396 Centerline is valid? [False, False] Translation: X:0.72, Y:0.45, Z:-1.23 [[ 0.86773018 -0.44671634 -0.21791934 0.71896645] [ 0.45342249 0.8910461 -0.02109256 0.45086659] [ 0.20359857 -0.08050688 0.97573883 -1.23252731] [ 0. 0. 0. 1. ]] SLAMing on 127.68134618399999 meters Centerline goodness : 0.871559 Centerline is valid? [False, False] Translation: X:0.72, Y:0.45, Z:-1.23 [[ 0.86714565 -0.44807287 -0.21746065 0.72094148] [ 0.4542783 0.89055034 -0.02348009 0.45168962] [ 0.20418045 -0.07842699 0.97578663 -1.23319356] [ 0. 0. 0. 1. ]] SLAMing on 127.71134618399999 meters Centerline goodness : 0.873883 Centerline is valid? [False, False] Translation: X:0.72, Y:0.45, Z:-1.23 [[ 0.8671324 -0.44768871 -0.21830307 0.72166056] [ 0.45404653 0.89068011 -0.02303666 0.45209858] [ 0.20475146 -0.07914392 0.97560908 -1.23225729] [ 0. 0. 0. 1. ]] SLAMing on 127.741346184 meters Centerline goodness : 0.873778 Centerline is valid? [False, False] Translation: X:0.72, Y:0.45, Z:-1.23 [[ 0.86677696 -0.44745668 -0.22018226 0.72227048] [ 0.45416565 0.89064334 -0.02209076 0.45363802] [ 0.20598852 -0.08085145 0.97520858 -1.22991805] [ 0. 0. 0. 1. ]] SLAMing on 127.771346184 meters Centerline goodness : 0.872678 Centerline is valid? [False, False] Translation: X:0.72, Y:0.46, Z:-1.23 [[ 0.86677908 -0.44725939 -0.2205744 0.7209218 ] [ 0.45413998 0.89067302 -0.02141151 0.45521067] [ 0.20603616 -0.0816126 0.97513511 -1.22884439] [ 0. 0. 0. 1. ]] SLAMing on 127.801346184 meters Centerline goodness : 0.872126 Centerline is valid? [False, False] Translation: X:0.72, Y:0.46, Z:-1.23 [[ 0.86670882 -0.44753439 -0.22029251 0.72216268] [ 0.45415777 0.89063585 -0.02255014 0.45597813] [ 0.20629237 -0.08050314 0.97517317 -1.22971883] [ 0. 0. 0. 1. ]] SLAMing on 127.831346184 meters Centerline goodness : 0.872722 Centerline is valid? [False, False] Translation: X:0.72, Y:0.46, Z:-1.23 [[ 0.86688078 -0.44745158 -0.21978353 0.72283282] [ 0.45385845 0.89076754 -0.02336014 0.45565764] [ 0.20622856 -0.07950015 0.97526894 -1.23046731] [ 0. 0. 0. 1. ]] SLAMing on 127.861346184 meters Centerline goodness : 0.872775 Centerline is valid? [False, False] Translation: X:0.72, Y:0.46, Z:-1.23 [[ 0.86757998 -0.45145726 -0.20854571 0.72433963] [ 0.45711264 0.88910932 -0.02307927 0.46248994] [ 0.19583924 -0.07530576 0.97774027 -1.23109423] [ 0. 0. 0. 1. ]] SLAMing on 127.891346184 meters Centerline goodness : 0.874873 Centerline is valid? [False, False] Translation: X:0.72, Y:0.46, Z:-1.23 [[ 0.86781622 -0.45079684 -0.20899096 0.72440463] [ 0.45639494 0.88946804 -0.0234577 0.46421169] [ 0.19646544 -0.07502544 0.97763619 -1.23071903] [ 0. 0. 0. 1. ]] SLAMing on 127.921346184 meters Centerline goodness : 0.871729 Centerline is valid? [False, False] Translation: X:0.73, Y:0.47, Z:-1.23 [[ 0.86818952 -0.45004518 -0.20906052 0.72518773] [ 0.45542721 0.88993681 -0.02446486 0.46637929] [ 0.19706094 -0.07397172 0.97759663 -1.2316831 ] [ 0. 0. 0. 1. ]] SLAMing on 127.95134618399999 meters Centerline goodness : 0.872647 Centerline is valid? [False, False] Translation: X:0.72, Y:0.47, Z:-1.23 [[ 0.86936227 -0.44840683 -0.20770304 0.72335007] [ 0.45337922 0.89094477 -0.02578168 0.46776469] [ 0.19661261 -0.07175462 0.97785211 -1.23308385] [ 0. 0. 0. 1. ]] SLAMing on 127.98134618399999 meters Centerline goodness : 0.873208 Centerline is valid? [False, False] Translation: X:0.72, Y:0.47, Z:-1.23 [[ 0.8696294 -0.44790549 -0.20766653 0.72369887] [ 0.45275109 0.89124792 -0.02633637 0.4682175 ] [ 0.19687856 -0.07111836 0.97784508 -1.23327873] [ 0. 0. 0. 1. ]] SLAMing on 128.011346184 meters Centerline goodness : 0.872538 Centerline is valid? [False, False] Translation: X:0.72, Y:0.47, Z:-1.23 [[ 0.86950567 -0.44785818 -0.20828569 0.72493805] [ 0.45269657 0.89126792 -0.02659516 0.46881636] [ 0.19754922 -0.07116558 0.97770638 -1.23284354] [ 0. 0. 0. 1. ]] SLAMing on 128.041346184 meters Centerline goodness : 0.873822 Centerline is valid? [False, False] Translation: X:0.73, Y:0.47, Z:-1.23 [[ 0.86946642 -0.44771871 -0.20874888 0.72518978] [ 0.45260074 0.89131844 -0.02653331 0.46916929] [ 0.19794118 -0.07141008 0.97760927 -1.23202703] [ 0. 0. 0. 1. ]] SLAMing on 128.071346184 meters Centerline goodness : 0.872633 Centerline is valid? [False, False] Translation: X:0.73, Y:0.47, Z:-1.23 [[ 0.86905993 -0.44751059 -0.21087698 0.72639583] [ 0.45279427 0.89125524 -0.02532664 0.47072217] [ 0.19927915 -0.07347353 0.97718446 -1.22986365] [ 0. 0. 0. 1. ]] SLAMing on 128.101346184 meters Centerline goodness : 0.873726 Centerline is valid? [False, False] Translation: X:0.73, Y:0.47, Z:-1.23 [[ 0.86871957 -0.4480301 -0.21117609 0.72738731] [ 0.45325297 0.89100841 -0.02580244 0.47069918] [ 0.19971994 -0.07330111 0.97710741 -1.22928134] [ 0. 0. 0. 1. ]] SLAMing on 128.131346184 meters Centerline goodness : 0.874418 Centerline is valid? [False, False] Translation: X:0.73, Y:0.47, Z:-1.23 [[ 0.8683416 -0.4492086 -0.21022487 0.72765073] [ 0.45402782 0.89056079 -0.02757202 0.46946695] [ 0.19960362 -0.071506 0.97726419 -1.22905144] [ 0. 0. 0. 1. ]] SLAMing on 128.161346184 meters Centerline goodness : 0.875103 Centerline is valid? [False, False] Translation: X:0.73, Y:0.47, Z:-1.23 [[ 0.86801845 -0.45005007 -0.20975917 0.72912416] [ 0.45460938 0.89022583 -0.02877999 0.46795499] [ 0.19968547 -0.07037693 0.97732942 -1.22921204] [ 0. 0. 0. 1. ]] SLAMing on 128.191346184 meters Centerline goodness : 0.874552 Centerline is valid? [False, False] Translation: X:0.73, Y:0.47, Z:-1.23 [[ 0.86772242 -0.45017583 -0.21071196 0.73015327] [ 0.45480113 0.89012664 -0.02881832 0.46874433] [ 0.20053364 -0.07082573 0.97712332 -1.22820908] [ 0. 0. 0. 1. ]] SLAMing on 128.221346184 meters Centerline goodness : 0.876437 Centerline is valid? [False, False] Translation: X:0.73, Y:0.47, Z:-1.23 [[ 0.86746301 -0.44995743 -0.21224099 0.73200277] [ 0.4547466 0.89016312 -0.02855083 0.47010387] [ 0.20177576 -0.07174907 0.97680019 -1.22724017] [ 0. 0. 0. 1. ]] SLAMing on 128.251346184 meters Centerline goodness : 0.875820 Centerline is valid? [False, False] Translation: X:0.73, Y:0.47, Z:-1.23 [[ 0.86760531 -0.44940947 -0.21281953 0.7320958 ] [ 0.454234 0.89042574 -0.02852148 0.47082464] [ 0.20231781 -0.07192448 0.97667516 -1.22635071] [ 0. 0. 0. 1. ]] SLAMing on 128.281346184 meters Centerline goodness : 0.876206 Centerline is valid? [False, False] Translation: X:0.73, Y:0.47, Z:-1.23 [[ 0.86871638 -0.44720154 -0.2129381 0.73271084] [ 0.45206267 0.8915432 -0.02810791 0.47137125] [ 0.20241342 -0.07184357 0.97666131 -1.22760176] [ 0. 0. 0. 1. ]] SLAMing on 128.311346184 meters Centerline goodness : 0.877872 Centerline is valid? [False, False] Translation: X:0.73, Y:0.48, Z:-1.23 [[ 0.86931852 -0.45213341 -0.19965145 0.73289931] [ 0.45565314 0.88962891 -0.03066965 0.47640036] [ 0.19148247 -0.06431011 0.97938689 -1.22812058] [ 0. 0. 0. 1. ]] SLAMing on 128.341346184 meters Centerline goodness : 0.877579 Centerline is valid? [False, False] Translation: X:0.74, Y:0.48, Z:-1.23 [[ 0.86940586 -0.45130073 -0.20114946 0.73679441] [ 0.45497206 0.88998961 -0.03031371 0.47772905] [ 0.19270153 -0.06516247 0.9790914 -1.22918407] [ 0. 0. 0. 1. ]] SLAMing on 128.371346184 meters Centerline goodness : 0.879975 Centerline is valid? [False, False] Translation: X:0.74, Y:0.48, Z:-1.23 [[ 0.86964774 -0.45067096 -0.20151548 0.73626651] [ 0.45440277 0.89028909 -0.0300577 0.47744996] [ 0.19295316 -0.06542958 0.97902403 -1.22784711] [ 0. 0. 0. 1. ]] SLAMing on 128.401346184 meters Centerline goodness : 0.880530 Centerline is valid? [False, False] Translation: X:0.74, Y:0.48, Z:-1.23 [[ 0.86925985 -0.4509584 -0.2025434 0.73841217] [ 0.45467647 0.89013367 -0.03051819 0.47824864] [ 0.19405314 -0.06556348 0.97879763 -1.22720394] [ 0. 0. 0. 1. ]] SLAMing on 128.431346184 meters Centerline goodness : 0.880530 Centerline is valid? [False, False] Translation: X:0.74, Y:0.48, Z:-1.23 [[ 0.86925985 -0.4509584 -0.2025434 0.73841217] [ 0.45467647 0.89013367 -0.03051819 0.47824864] [ 0.19405314 -0.06556348 0.97879763 -1.22720394] [ 0. 0. 0. 1. ]] SLAMing on 128.461346184 meters Centerline goodness : 0.881158 Centerline is valid? [False, False] Translation: X:0.74, Y:0.48, Z:-1.23 [[ 0.86878056 -0.45125635 -0.20393144 0.74225084] [ 0.45506923 0.88993154 -0.03055907 0.47899139] [ 0.195275 -0.0662538 0.9785081 -1.2275509 ] [ 0. 0. 0. 1. ]] SLAMing on 128.491346184 meters Centerline goodness : 0.882241 Centerline is valid? [False, False] Translation: X:0.74, Y:0.48, Z:-1.23 [[ 0.86802102 -0.45268751 -0.20399394 0.74316667] [ 0.4563664 0.88923681 -0.03142626 0.4789743 ] [ 0.19562519 -0.06581732 0.97846761 -1.2268661 ] [ 0. 0. 0. 1. ]] SLAMing on 128.52134618399998 meters Centerline goodness : 0.882696 Centerline is valid? [False, False] Translation: X:0.74, Y:0.48, Z:-1.23 [[ 0.86758154 -0.45299509 -0.20517729 0.74392842] [ 0.45678741 0.88902481 -0.03130735 0.47974904] [ 0.19658977 -0.06656072 0.97822397 -1.2250087 ] [ 0. 0. 0. 1. ]] SLAMing on 128.55134618399998 meters Centerline goodness : 0.882004 Centerline is valid? [False, False] Translation: X:0.75, Y:0.48, Z:-1.22 [[ 0.86722671 -0.45290597 -0.20686712 0.7459875 ] [ 0.45685092 0.88899847 -0.03112815 0.48070047] [ 0.19800268 -0.06751227 0.97787373 -1.22348477] [ 0. 0. 0. 1. ]] SLAMing on 128.58134618399998 meters Centerline goodness : 0.879411 Centerline is valid? [False, False] Translation: X:0.75, Y:0.48, Z:-1.22 [[ 0.86704568 -0.45328658 -0.2067923 0.74783906] [ 0.4569984 0.88888087 -0.03229946 0.48089126] [ 0.19845463 -0.06649864 0.97785157 -1.22441159] [ 0. 0. 0. 1. ]] SLAMing on 128.61134618399998 meters Centerline goodness : 0.881513 Centerline is valid? [False, False] Translation: X:0.75, Y:0.48, Z:-1.23 [[ 0.86687798 -0.45355895 -0.20689817 0.74993425] [ 0.45705981 0.88880835 -0.03340725 0.48133224] [ 0.19904498 -0.06560483 0.97779195 -1.22511485] [ 0. 0. 0. 1. ]] SLAMing on 128.64134618399999 meters Centerline goodness : 0.882003 Centerline is valid? [False, False] Translation: X:0.75, Y:0.48, Z:-1.23 [[ 0.86666657 -0.45403399 -0.20674186 0.75058552] [ 0.45725575 0.88865477 -0.03478344 0.482278 ] [ 0.19951501 -0.06438826 0.97777703 -1.22510659] [ 0. 0. 0. 1. ]] SLAMing on 128.671346184 meters Centerline goodness : 0.879359 Centerline is valid? [False, False] Translation: X:0.75, Y:0.48, Z:-1.22 [[ 0.86640143 -0.45407264 -0.20776573 0.75200287] [ 0.45727413 0.88862789 -0.03522552 0.48392217] [ 0.20062137 -0.06448645 0.97754415 -1.2244023 ] [ 0. 0. 0. 1. ]] SLAMing on 128.701346184 meters Centerline goodness : 0.879914 Centerline is valid? [False, False] Translation: X:0.75, Y:0.49, Z:-1.22 [[ 0.86635616 -0.45390536 -0.20831927 0.75234536] [ 0.45704687 0.88872674 -0.0356782 0.48563899] [ 0.20133343 -0.06430164 0.97740992 -1.22384481] [ 0. 0. 0. 1. ]] SLAMing on 128.731346184 meters Centerline goodness : 0.878533 Centerline is valid? [False, False] Translation: X:0.75, Y:0.49, Z:-1.22 [[ 0.86714455 -0.45180804 -0.20959443 0.7537601 ] [ 0.4552726 0.88969229 -0.03427082 0.48760099] [ 0.20195838 -0.06570485 0.97718764 -1.2248823 ] [ 0. 0. 0. 1. ]] SLAMing on 128.761346184 meters Centerline goodness : 0.878436 Centerline is valid? [False, False] Translation: X:0.75, Y:0.49, Z:-1.22 [[ 0.86711209 -0.45167084 -0.210024 0.75357011] [ 0.45506906 0.88977912 -0.03471696 0.48900564] [ 0.20255561 -0.06547193 0.97707965 -1.22398281] [ 0. 0. 0. 1. ]] SLAMing on 128.791346184 meters Centerline goodness : 0.879205 Centerline is valid? [False, False] Translation: X:0.75, Y:0.49, Z:-1.22 [[ 0.86689668 -0.45169185 -0.21086634 0.75411192] [ 0.45511771 0.88974841 -0.03486602 0.49058531] [ 0.20336669 -0.06574377 0.9768929 -1.22305214] [ 0. 0. 0. 1. ]] SLAMing on 128.821346184 meters Centerline goodness : 0.881252 Centerline is valid? [False, False] Translation: X:0.76, Y:0.50, Z:-1.23 [[ 0.86724657 -0.45664694 -0.19838586 0.75604522] [ 0.45906118 0.88765749 -0.03642819 0.49854183] [ 0.19273352 -0.05947902 0.9794468 -1.22593571] [ 0. 0. 0. 1. ]] SLAMing on 128.851346184 meters Centerline goodness : 0.881132 Centerline is valid? [False, False] Translation: X:0.76, Y:0.50, Z:-1.23 [[ 0.86736187 -0.45649388 -0.19823399 0.75707419] [ 0.45858869 0.88783651 -0.03798333 0.49961444] [ 0.19333854 -0.05796258 0.97941848 -1.22645788] [ 0. 0. 0. 1. ]] SLAMing on 128.881346184 meters Centerline goodness : 0.882197 Centerline is valid? [False, False] Translation: X:0.76, Y:0.50, Z:-1.23 [[ 0.86755838 -0.45608532 -0.19831451 0.75672271] [ 0.45803051 0.88809297 -0.03871605 0.5006724 ] [ 0.19377955 -0.05724566 0.97937348 -1.22581924] [ 0. 0. 0. 1. ]] SLAMing on 128.911346184 meters Centerline goodness : 0.882461 Centerline is valid? [False, False] Translation: X:0.76, Y:0.50, Z:-1.22 [[ 0.8682561 -0.45319789 -0.20184898 0.75895549] [ 0.45584939 0.88933203 -0.0359149 0.50434682] [ 0.19578732 -0.0608294 0.97875794 -1.22468602] [ 0. 0. 0. 1. ]] SLAMing on 128.941346184 meters Centerline goodness : 0.882662 Centerline is valid? [False, False] Translation: X:0.76, Y:0.51, Z:-1.22 [[ 0.86851129 -0.45249513 -0.2023272 0.75850596] [ 0.45513285 0.88969347 -0.03605024 0.50565923] [ 0.19632174 -0.06077572 0.97865422 -1.22379007] [ 0. 0. 0. 1. ]] SLAMing on 128.971346184 meters Centerline goodness : 0.885125 Centerline is valid? [False, False] Translation: X:0.76, Y:0.51, Z:-1.22 [[ 0.86894693 -0.4514623 -0.20276347 0.75877076] [ 0.4540356 0.89024039 -0.03638296 0.50665479] [ 0.19693377 -0.06044697 0.97855161 -1.22344795] [ 0. 0. 0. 1. ]] SLAMing on 129.001346184 meters Centerline goodness : 0.883383 Centerline is valid? [False, False] Translation: X:0.76, Y:0.51, Z:-1.22 [[ 0.86938342 -0.45031047 -0.20345259 0.75971271] [ 0.45294722 0.89080434 -0.03614461 0.50761188] [ 0.19751275 -0.06072976 0.9784174 -1.22349692] [ 0. 0. 0. 1. ]] SLAMing on 129.031346184 meters Centerline goodness : 0.880922 Centerline is valid? [False, False] Translation: X:0.76, Y:0.51, Z:-1.22 [[ 0.86986944 -0.44933276 -0.20353679 0.75836946] [ 0.45192619 0.89131783 -0.03626626 0.50858543] [ 0.19771159 -0.06043669 0.97839539 -1.22255512] [ 0. 0. 0. 1. ]] SLAMing on 129.061346184 meters Centerline goodness : 0.881610 Centerline is valid? [False, False] Translation: X:0.76, Y:0.51, Z:-1.22 [[ 0.86973806 -0.44883894 -0.20518117 0.76150692] [ 0.45167475 0.89147495 -0.03552934 0.50974376] [ 0.19886082 -0.06177393 0.97807891 -1.22250227] [ 0. 0. 0. 1. ]] SLAMing on 129.091346184 meters Centerline goodness : 0.883747 Centerline is valid? [False, False] Translation: X:0.76, Y:0.51, Z:-1.22 [[ 0.86933626 -0.44940838 -0.20563701 0.76171257] [ 0.45224234 0.89117818 -0.03575367 0.51012267] [ 0.19932721 -0.0619158 0.977975 -1.22125619] [ 0. 0. 0. 1. ]] SLAMing on 129.121346184 meters Centerline goodness : 0.884376 Centerline is valid? [False, False] Translation: X:0.77, Y:0.51, Z:-1.22 [[ 0.86908461 -0.44899541 -0.20759348 0.76550169] [ 0.45220021 0.89124819 -0.03451987 0.51147431] [ 0.20051658 -0.06387313 0.97760591 -1.2216567 ] [ 0. 0. 0. 1. ]] SLAMing on 129.151346184 meters Centerline goodness : 0.884347 Centerline is valid? [False, False] Translation: X:0.77, Y:0.52, Z:-1.22 [[ 0.86880289 -0.45412206 -0.19736942 0.76893658] [ 0.45676166 0.8889139 -0.0346536 0.51855997] [ 0.19118138 -0.06004364 0.97971651 -1.22129212] [ 0. 0. 0. 1. ]] SLAMing on 129.181346184 meters Centerline goodness : 0.883999 Centerline is valid? [False, False] Translation: X:0.77, Y:0.52, Z:-1.22 [[ 0.86856257 -0.45460214 -0.19732198 0.76928694] [ 0.45712878 0.88870075 -0.0352739 0.51860742] [ 0.19139578 -0.05956397 0.97970393 -1.22098085] [ 0. 0. 0. 1. ]] SLAMing on 129.211346184 meters Centerline goodness : 0.885134 Centerline is valid? [False, False] Translation: X:0.77, Y:0.52, Z:-1.22 [[ 0.86846169 -0.45458155 -0.1978128 0.77118561] [ 0.45702476 0.88873106 -0.03585334 0.51920914] [ 0.19210065 -0.0592681 0.97958391 -1.22128966] [ 0. 0. 0. 1. ]] SLAMing on 129.241346184 meters Centerline goodness : 0.884406 Centerline is valid? [False, False] Translation: X:0.77, Y:0.52, Z:-1.22 [[ 0.86836011 -0.45548194 -0.19618085 0.76994894] [ 0.4574274 0.8884348 -0.03799712 0.51855833] [ 0.1916009 -0.05674332 0.97983126 -1.22119973] [ 0. 0. 0. 1. ]] SLAMing on 129.27134618399998 meters Centerline goodness : 0.881950 Centerline is valid? [False, False] Translation: X:0.77, Y:0.52, Z:-1.22 [[ 0.86794792 -0.45572379 -0.1974392 0.77173577] [ 0.45771432 0.88827927 -0.03817786 0.52007925] [ 0.19277971 -0.05723435 0.97957144 -1.22041318] [ 0. 0. 0. 1. ]] SLAMing on 129.30134618399998 meters Centerline goodness : 0.883192 Centerline is valid? [False, False] Translation: X:0.77, Y:0.52, Z:-1.22 [[ 0.86753003 -0.45604776 -0.19852477 0.77326902] [ 0.45808497 0.88808247 -0.03831036 0.52132249] [ 0.19377772 -0.05770582 0.97934684 -1.21968624] [ 0. 0. 0. 1. ]] SLAMing on 129.33134618399998 meters Centerline goodness : 0.882199 Centerline is valid? [False, False] Translation: X:0.78, Y:0.52, Z:-1.22 [[ 0.86745334 -0.45622299 -0.19845727 0.77514339] [ 0.45809076 0.88804214 -0.03916653 0.52087497] [ 0.19410709 -0.0569363 0.97932665 -1.22052656] [ 0. 0. 0. 1. ]] SLAMing on 129.36134618399998 meters Centerline goodness : 0.881006 Centerline is valid? [False, False] Translation: X:0.78, Y:0.52, Z:-1.22 [[ 0.86748949 -0.45644785 -0.19778102 0.77567206] [ 0.45807961 0.88800245 -0.04018365 0.52017125] [ 0.19397177 -0.05574056 0.97942225 -1.2210789 ] [ 0. 0. 0. 1. ]] SLAMing on 129.39134618399999 meters Centerline goodness : 0.882421 Centerline is valid? [False, False] Translation: X:0.78, Y:0.52, Z:-1.22 [[ 0.8674594 -0.45654732 -0.19768343 0.77609615] [ 0.45809959 0.88797465 -0.04056815 0.51951266] [ 0.19405916 -0.05536747 0.9794261 -1.22078246] [ 0. 0. 0. 1. ]] SLAMing on 129.421346184 meters Centerline goodness : 0.884665 Centerline is valid? [False, False] Translation: X:0.78, Y:0.52, Z:-1.22 [[ 0.86719793 -0.45528946 -0.201691 0.78046563] [ 0.45772886 0.88831416 -0.03717848 0.51948818] [ 0.19609194 -0.06007868 0.97874333 -1.21881887] [ 0. 0. 0. 1. ]] SLAMing on 129.451346184 meters Centerline goodness : 0.884798 Centerline is valid? [False, False] Translation: X:0.78, Y:0.52, Z:-1.22 [[ 0.86712009 -0.45508122 -0.20249403 0.78055912] [ 0.45773041 0.8883472 -0.03636103 0.51890862] [ 0.19643223 -0.0611583 0.97860822 -1.21728451] [ 0. 0. 0. 1. ]] SLAMing on 129.481346184 meters Centerline goodness : 0.884623 Centerline is valid? [False, False] Translation: X:0.78, Y:0.52, Z:-1.22 [[ 0.86699908 -0.45556954 -0.20191332 0.78058484] [ 0.45807872 0.88814399 -0.03693429 0.51821768] [ 0.19615424 -0.0604702 0.97870673 -1.21729575] [ 0. 0. 0. 1. ]] SLAMing on 129.511346184 meters Centerline goodness : 0.883743 Centerline is valid? [False, False] Translation: X:0.78, Y:0.52, Z:-1.22 [[ 0.8662332 -0.45754196 -0.20073714 0.78362442] [ 0.45951236 0.88729267 -0.03949821 0.51650254] [ 0.19618468 -0.05802654 0.97884855 -1.21907054] [ 0. 0. 0. 1. ]] SLAMing on 129.541346184 meters Centerline goodness : 0.886890 Centerline is valid? [False, False] Translation: X:0.78, Y:0.52, Z:-1.22 [[ 0.86539698 -0.45957843 -0.19968908 0.78459572] [ 0.46100609 0.8863958 -0.04214106 0.516588 ] [ 0.19637068 -0.05558913 0.97895271 -1.21944117] [ 0. 0. 0. 1. ]] SLAMing on 129.571346184 meters Centerline goodness : 0.887291 Centerline is valid? [False, False] Translation: X:0.79, Y:0.52, Z:-1.22 [[ 0.86513164 -0.45988592 -0.20013043 0.78780478] [ 0.46140492 0.88620197 -0.04185177 0.51603741] [ 0.19660302 -0.05613388 0.97887499 -1.2208526 ] [ 0. 0. 0. 1. ]] SLAMing on 129.601346184 meters Centerline goodness : 0.887049 Centerline is valid? [False, False] Translation: X:0.79, Y:0.52, Z:-1.22 [[ 0.86469068 -0.46072881 -0.20009745 0.78848789] [ 0.46220113 0.88577155 -0.04217677 0.51575279] [ 0.19667268 -0.05601541 0.97886778 -1.2206183 ] [ 0. 0. 0. 1. ]] SLAMing on 129.631346184 meters Centerline goodness : 0.888810 Centerline is valid? [False, False] Translation: X:0.79, Y:0.51, Z:-1.22 [[ 0.86423272 -0.46136134 -0.20061785 0.78895319] [ 0.46305214 0.88536738 -0.04131969 0.51361059] [ 0.19668381 -0.05718669 0.97879781 -1.21885056] [ 0. 0. 0. 1. ]] SLAMing on 129.661346184 meters Centerline goodness : 0.892047 Centerline is valid? [False, False] Translation: X:0.79, Y:0.51, Z:-1.22 [[ 0.86398019 -0.46080846 -0.20296255 0.79237014] [ 0.46294609 0.88549481 -0.03974746 0.51336796] [ 0.19803825 -0.05961971 0.97837945 -1.21768956] [ 0. 0. 0. 1. ]] SLAMing on 129.691346184 meters Centerline goodness : 0.891838 Centerline is valid? [False, False] Translation: X:0.79, Y:0.51, Z:-1.22 [[ 0.86378331 -0.46085128 -0.20370196 0.79343981] [ 0.46314321 0.88541521 -0.03922083 0.51229098] [ 0.19843578 -0.06046488 0.97824702 -1.21662482] [ 0. 0. 0. 1. ]] SLAMing on 129.721346184 meters Centerline goodness : 0.894576 Centerline is valid? [False, False] Translation: X:0.79, Y:0.51, Z:-1.22 [[ 0.86349661 -0.46231817 -0.20158254 0.7921108 ] [ 0.46417848 0.88479763 -0.04088389 0.50816066] [ 0.19726112 -0.05826718 0.9786179 -1.21596909] [ 0. 0. 0. 1. ]] SLAMing on 129.751346184 meters Centerline goodness : 0.894567 Centerline is valid? [False, False] Translation: X:0.79, Y:0.51, Z:-1.22 [[ 0.86314371 -0.46301026 -0.20150543 0.79343743] [ 0.46484364 0.88443933 -0.04107888 0.50673358] [ 0.19723927 -0.05821154 0.97862561 -1.21588309] [ 0. 0. 0. 1. ]] SLAMing on 129.781346184 meters Centerline goodness : 0.894942 Centerline is valid? [False, False] Translation: X:0.79, Y:0.51, Z:-1.22 [[ 0.8626721 -0.46373277 -0.20186323 0.79499483] [ 0.46557362 0.88404783 -0.04123871 0.50623189] [ 0.19758049 -0.05840671 0.97854515 -1.21562775] [ 0. 0. 0. 1. ]] SLAMing on 129.811346184 meters Centerline goodness : 0.894710 Centerline is valid? [False, False] Translation: X:0.79, Y:0.50, Z:-1.21 [[ 0.86225387 -0.46481916 -0.20115022 0.79476274] [ 0.46657769 0.88350305 -0.0415646 0.50387045] [ 0.19703685 -0.05801297 0.97867818 -1.21492123] [ 0. 0. 0. 1. ]] SLAMing on 129.841346184 meters Centerline goodness : 0.895556 Centerline is valid? [False, False] Translation: X:0.80, Y:0.50, Z:-1.22 [[ 0.86248608 -0.46443046 -0.20105252 0.79593787] [ 0.46623448 0.88369842 -0.04126142 0.50332414] [ 0.19683286 -0.05815022 0.97871108 -1.21593321] [ 0. 0. 0. 1. ]] SLAMing on 129.871346184 meters Centerline goodness : 0.896392 Centerline is valid? [False, False] Translation: X:0.80, Y:0.50, Z:-1.22 [[ 0.86268919 -0.46458483 -0.19982066 0.79506579] [ 0.46611973 0.88371215 -0.04225191 0.50134653] [ 0.19621354 -0.05669009 0.97892108 -1.21592577] [ 0. 0. 0. 1. ]] SLAMing on 129.901346184 meters Centerline goodness : 0.896685 Centerline is valid? [False, False] Translation: X:0.80, Y:0.50, Z:-1.22 [[ 0.86288268 -0.46469471 -0.19872671 0.79539886] [ 0.46599045 0.88373744 -0.04313973 0.49984373] [ 0.19566904 -0.05538022 0.97910503 -1.21687855] [ 0. 0. 0. 1. ]] SLAMing on 129.931346184 meters Centerline goodness : 0.898359 Centerline is valid? [False, False] Translation: X:0.79, Y:0.50, Z:-1.22 [[ 0.86342448 -0.46389147 -0.19824952 0.79444419] [ 0.4652725 0.88414775 -0.04247644 0.49620568] [ 0.19498632 -0.05556485 0.97923076 -1.21573429] [ 0. 0. 0. 1. ]] SLAMing on 129.961346184 meters Centerline goodness : 0.899777 Centerline is valid? [False, False] Translation: X:0.79, Y:0.50, Z:-1.21 [[ 0.86337795 -0.46367142 -0.19896564 0.79470585] [ 0.46525489 0.88419659 -0.04164473 0.49525983] [ 0.19523421 -0.05661459 0.97912123 -1.21432774] [ 0. 0. 0. 1. ]] SLAMing on 129.991346184 meters Centerline goodness : 0.899178 Centerline is valid? [False, False] Translation: X:0.80, Y:0.49, Z:-1.21 [[ 0.86306697 -0.46408293 -0.19935506 0.79550907] [ 0.46578073 0.88393878 -0.04123767 0.49427903] [ 0.19535537 -0.05726488 0.97905925 -1.21354284] [ 0. 0. 0. 1. ]] SLAMing on 130.02134618399998 meters Centerline goodness : 0.897506 Centerline is valid? [False, False] Translation: X:0.80, Y:0.49, Z:-1.21 [[ 0.86201147 -0.46610497 -0.19920435 0.79878984] [ 0.46775628 0.88287463 -0.04167066 0.49180432] [ 0.19529537 -0.0572585 0.97907159 -1.21418755] [ 0. 0. 0. 1. ]] SLAMing on 130.05134618399998 meters Centerline goodness : 0.898843 Centerline is valid? [False, False] Translation: X:0.80, Y:0.49, Z:-1.21 [[ 0.8612914 -0.46731616 -0.19948116 0.80087168] [ 0.46899927 0.8822116 -0.04174177 0.49076808] [ 0.1954912 -0.05760469 0.9790122 -1.21414069] [ 0. 0. 0. 1. ]] SLAMing on 130.08134618399998 meters Centerline goodness : 0.899091 Centerline is valid? [False, False] Translation: X:0.80, Y:0.49, Z:-1.21 [[ 0.86071105 -0.46783793 -0.20075897 0.80485453] [ 0.46982236 0.88182272 -0.04068968 0.49029875] [ 0.19607 -0.05929899 0.97879527 -1.21481497] [ 0. 0. 0. 1. ]] SLAMing on 130.11134618399998 meters Centerline goodness : 0.899590 Centerline is valid? [False, False] Translation: X:0.81, Y:0.49, Z:-1.22 [[ 0.86003585 -0.46872033 -0.20159264 0.80834787] [ 0.47083792 0.88129449 -0.04039407 0.49026198] [ 0.196596 -0.06017711 0.97863616 -1.21556636] [ 0. 0. 0. 1. ]] SLAMing on 130.14134618399999 meters Centerline goodness : 0.896350 Centerline is valid? [False, False] Translation: X:0.81, Y:0.49, Z:-1.22 [[ 0.85918721 -0.4705244 -0.20100779 0.81185666] [ 0.47240183 0.88039961 -0.04162966 0.48824566] [ 0.19655495 -0.05918877 0.97870467 -1.21715547] [ 0. 0. 0. 1. ]] SLAMing on 130.171346184 meters Centerline goodness : 0.897194 Centerline is valid? [False, False] Translation: X:0.82, Y:0.49, Z:-1.22 [[ 0.85932057 -0.47006557 -0.20151058 0.8157042 ] [ 0.4720663 0.88060373 -0.0411155 0.48817701] [ 0.19677795 -0.05979496 0.97862301 -1.21964383] [ 0. 0. 0. 1. ]] SLAMing on 130.201346184 meters Centerline goodness : 0.897622 Centerline is valid? [False, False] Translation: X:0.82, Y:0.49, Z:-1.22 [[ 0.85933423 -0.46952891 -0.20269999 0.81934063] [ 0.47176804 0.88080401 -0.04023939 0.4885883 ] [ 0.19743253 -0.06104829 0.97841377 -1.22090341] [ 0. 0. 0. 1. ]] SLAMing on 130.231346184 meters Centerline goodness : 0.896673 Centerline is valid? [False, False] Translation: X:0.82, Y:0.49, Z:-1.22 [[ 0.85910319 -0.46939785 -0.20397884 0.82216796] [ 0.47187561 0.88078202 -0.03945185 0.4890532 ] [ 0.19817951 -0.06235943 0.97818004 -1.22108696] [ 0. 0. 0. 1. ]] SLAMing on 130.261346184 meters Centerline goodness : 0.895117 Centerline is valid? [False, False] Translation: X:0.83, Y:0.49, Z:-1.22 [[ 0.85919229 -0.46843577 -0.20580704 0.82540281] [ 0.47139904 0.8811207 -0.0375402 0.48924223] [ 0.19892602 -0.06476299 0.97787228 -1.22145518] [ 0. 0. 0. 1. ]] SLAMing on 130.291346184 meters Centerline goodness : 0.895117 Centerline is valid? [False, False] Translation: X:0.83, Y:0.49, Z:-1.22 [[ 0.85919229 -0.46843577 -0.20580704 0.82540281] [ 0.47139904 0.8811207 -0.0375402 0.48924223] [ 0.19892602 -0.06476299 0.97787228 -1.22145518] [ 0. 0. 0. 1. ]] SLAMing on 130.321346184 meters Centerline goodness : 0.897704 Centerline is valid? [False, False] Translation: X:0.83, Y:0.49, Z:-1.22 [[ 0.85928701 -0.46790365 -0.20662043 0.82753354] [ 0.47104921 0.88133684 -0.03685144 0.48925404] [ 0.19934511 -0.06566243 0.97772694 -1.22192617] [ 0. 0. 0. 1. ]] SLAMing on 130.351346184 meters Centerline goodness : 0.894976 Centerline is valid? [False, False] Translation: X:0.83, Y:0.49, Z:-1.22 [[ 0.8594155 -0.46710147 -0.20789713 0.83080492] [ 0.4704994 0.88166771 -0.03594953 0.4899131 ] [ 0.20008826 -0.06691989 0.97748985 -1.2230397 ] [ 0. 0. 0. 1. ]] SLAMing on 130.381346184 meters Centerline goodness : 0.895285 Centerline is valid? [False, False] Translation: X:0.83, Y:0.49, Z:-1.22 [[ 0.85960816 -0.4659913 -0.20958513 0.83375346] [ 0.46980257 0.88210177 -0.03438042 0.48973305] [ 0.20089639 -0.06890994 0.97718579 -1.22322365] [ 0. 0. 0. 1. ]] SLAMing on 130.411346184 meters Centerline goodness : 0.893363 Centerline is valid? [False, False] Translation: X:0.83, Y:0.49, Z:-1.22 [[ 0.85933043 -0.46649218 -0.20960975 0.8347941 ] [ 0.47025816 0.88184751 -0.03467311 0.48976285] [ 0.20101858 -0.06877504 0.97717016 -1.22343791] [ 0. 0. 0. 1. ]] SLAMing on 130.441346184 meters Centerline goodness : 0.892986 Centerline is valid? [False, False] Translation: X:0.84, Y:0.49, Z:-1.22 [[ 0.85897151 -0.46662748 -0.21077653 0.83905521] [ 0.47060674 0.88168513 -0.03406798 0.49061346] [ 0.20173559 -0.06992944 0.97694044 -1.2249609 ] [ 0. 0. 0. 1. ]] SLAMing on 130.471346184 meters Centerline goodness : 0.893060 Centerline is valid? [False, False] Translation: X:0.84, Y:0.49, Z:-1.23 [[ 0.85740312 -0.46965728 -0.21043272 0.84157232] [ 0.47341721 0.88012683 -0.03539648 0.49025378] [ 0.2018317 -0.06927342 0.97696733 -1.22520038] [ 0. 0. 0. 1. ]] SLAMing on 130.501346184 meters Centerline goodness : 0.891190 Centerline is valid? [False, False] Translation: X:0.85, Y:0.49, Z:-1.23 [[ 0.85640572 -0.47057358 -0.21243766 0.84635754] [ 0.4746625 0.87948592 -0.03464147 0.49159931] [ 0.20313729 -0.07116904 0.9765604 -1.22541794] [ 0. 0. 0. 1. ]] SLAMing on 130.531346184 meters Centerline goodness : 0.889936 Centerline is valid? [False, False] Translation: X:0.85, Y:0.49, Z:-1.23 [[ 0.85535594 -0.47164813 -0.21427611 0.85135421] [ 0.47603031 0.8787697 -0.03404359 0.49290518] [ 0.20435595 -0.07288254 0.97617969 -1.22593685] [ 0. 0. 0. 1. ]] SLAMing on 130.561346184 meters Centerline goodness : 0.889559 Centerline is valid? [False, False] Translation: X:0.86, Y:0.49, Z:-1.23 [[ 0.85443016 -0.47270379 -0.21563912 0.85601775] [ 0.47728382 0.87810116 -0.03374184 0.4937844 ] [ 0.20530286 -0.07409102 0.97588998 -1.22684699] [ 0. 0. 0. 1. ]] SLAMing on 130.591346184 meters Centerline goodness : 0.889350 Centerline is valid? [False, False] Translation: X:0.86, Y:0.49, Z:-1.23 [[ 0.85329576 -0.47391012 -0.21747539 0.86143534] [ 0.4787517 0.87731675 -0.03334858 0.49481906] [ 0.20659903 -0.07566051 0.97549594 -1.2277084 ] [ 0. 0. 0. 1. ]] SLAMing on 130.621346184 meters Centerline goodness : 0.884025 Centerline is valid? [False, False] Translation: X:0.86, Y:0.50, Z:-1.23 [[ 0.85294664 -0.47382989 -0.21901429 0.86464452] [ 0.47901418 0.87721241 -0.03230802 0.49633728] [ 0.20743056 -0.07735394 0.97518661 -1.22822732] [ 0. 0. 0. 1. ]] SLAMing on 130.651346184 meters Centerline goodness : 0.883801 Centerline is valid? [False, False] Translation: X:0.87, Y:0.50, Z:-1.23 [[ 0.85267907 -0.47359038 -0.22056868 0.86867499] [ 0.4791103 0.87719636 -0.03130286 0.49770737] [ 0.20830678 -0.07898544 0.97486901 -1.22939411] [ 0. 0. 0. 1. ]] SLAMing on 130.681346184 meters Centerline goodness : 0.884883 Centerline is valid? [False, False] Translation: X:0.87, Y:0.50, Z:-1.23 [[ 0.85212423 -0.47434193 -0.22109735 0.87337988] [ 0.47995261 0.87673992 -0.03118653 0.49652665] [ 0.20863795 -0.07954145 0.97475298 -1.23125329] [ 0. 0. 0. 1. ]] SLAMing on 130.711346184 meters Centerline goodness : 0.884254 Centerline is valid? [False, False] Translation: X:0.88, Y:0.50, Z:-1.23 [[ 0.85199419 -0.47449185 -0.2212767 0.87590523] [ 0.48018905 0.87662154 -0.03087313 0.49547268] [ 0.20862497 -0.07995092 0.97472225 -1.23233573] [ 0. 0. 0. 1. ]] SLAMing on 130.741346184 meters Centerline goodness : 0.886372 Centerline is valid? [False, False] Translation: X:0.88, Y:0.50, Z:-1.23 [[ 0.85192512 -0.47382664 -0.22296166 0.88000582] [ 0.47991063 0.87681619 -0.0296506 0.49563304] [ 0.20954564 -0.08174158 0.97437618 -1.23299724] [ 0. 0. 0. 1. ]] SLAMing on 130.77134618399998 meters Centerline goodness : 0.887438 Centerline is valid? [False, False] Translation: X:0.88, Y:0.50, Z:-1.23 [[ 0.85216457 -0.47184472 -0.2262258 0.88193967] [ 0.47901992 0.87742873 -0.02566598 0.49579468] [ 0.21060738 -0.08649503 0.97373669 -1.23091471] [ 0. 0. 0. 1. ]] SLAMing on 130.80134618399998 meters Centerline goodness : 0.887873 Centerline is valid? [False, False] Translation: X:0.89, Y:0.50, Z:-1.24 [[ 0.85241728 -0.47483007 -0.21890907 0.88725058] [ 0.48303762 0.87541607 -0.01792644 0.50131997] [ 0.20014853 -0.09046051 0.97558058 -1.23604981] [ 0. 0. 0. 1. ]] SLAMing on 130.83134618399998 meters Centerline goodness : 0.886933 Centerline is valid? [False, False] Translation: X:0.89, Y:0.50, Z:-1.24 [[ 0.85234423 -0.47475169 -0.21936304 0.8870166 ] [ 0.4830292 0.87542357 -0.01778636 0.50208483] [ 0.20047968 -0.09079865 0.97548116 -1.23526872] [ 0. 0. 0. 1. ]] SLAMing on 130.86134618399998 meters Centerline goodness : 0.886401 Centerline is valid? [False, False] Translation: X:0.89, Y:0.50, Z:-1.24 [[ 0.85190176 -0.47710704 -0.21594506 0.88685842] [ 0.48429334 0.87463228 -0.02187069 0.50150025] [ 0.19930718 -0.08594908 0.97616054 -1.23836363] [ 0. 0. 0. 1. ]] SLAMing on 130.89134618399999 meters Centerline goodness : 0.887933 Centerline is valid? [False, False] Translation: X:0.89, Y:0.50, Z:-1.24 [[ 0.85136915 -0.47934192 -0.21307723 0.88706108] [ 0.48555839 0.87382689 -0.02568281 0.50055034] [ 0.19850346 -0.08159588 0.97669775 -1.24064359] [ 0. 0. 0. 1. ]] SLAMing on 130.921346184 meters Centerline goodness : 0.887792 Centerline is valid? [False, False] Translation: X:0.89, Y:0.50, Z:-1.24 [[ 0.85122895 -0.47959485 -0.21306822 0.89036052] [ 0.48577517 0.8737003 -0.02588972 0.50000199] [ 0.19857434 -0.08146518 0.97669425 -1.2427652 ] [ 0. 0. 0. 1. ]] SLAMing on 130.951346184 meters Centerline goodness : 0.890628 Centerline is valid? [False, False] Translation: X:0.89, Y:0.50, Z:-1.24 [[ 0.85118124 -0.4786471 -0.21537744 0.89036938] [ 0.48561063 0.87387488 -0.02291336 0.49916491] [ 0.19918035 -0.08508615 0.97626202 -1.23944909] [ 0. 0. 0. 1. ]] SLAMing on 130.981346184 meters Centerline goodness : 0.889443 Centerline is valid? [False, False] Translation: X:0.89, Y:0.50, Z:-1.24 [[ 0.85185785 -0.47568691 -0.21922629 0.89365233] [ 0.48384946 0.87495768 -0.01840544 0.5002305 ] [ 0.20056895 -0.09039371 0.97550042 -1.23843788] [ 0. 0. 0. 1. ]] SLAMing on 131.011346184 meters Centerline goodness : 0.890120 Centerline is valid? [False, False] Translation: X:0.90, Y:0.50, Z:-1.24 [[ 0.85233967 -0.47345561 -0.22216405 0.89647374] [ 0.48257365 0.87572926 -0.01486409 0.50111293] [ 0.20159305 -0.09454127 0.97489599 -1.23792805] [ 0. 0. 0. 1. ]] SLAMing on 131.041346184 meters Centerline goodness : 0.891355 Centerline is valid? [False, False] Translation: X:0.89, Y:0.50, Z:-1.24 [[ 0.85223487 -0.47485994 -0.21955355 0.89458371] [ 0.483211 0.87532838 -0.01753155 0.49990317] [ 0.20050649 -0.09114969 0.97544292 -1.2387958 ] [ 0. 0. 0. 1. ]] SLAMing on 131.071346184 meters Centerline goodness : 0.892139 Centerline is valid? [False, False] Translation: X:0.90, Y:0.50, Z:-1.24 [[ 0.85216007 -0.47562986 -0.218173 0.89512515] [ 0.48356444 0.87510202 -0.01902318 0.49874449] [ 0.19997163 -0.0892899 0.97572469 -1.24021785] [ 0. 0. 0. 1. ]] SLAMing on 131.101346184 meters Centerline goodness : 0.893772 Centerline is valid? [False, False] Translation: X:0.90, Y:0.50, Z:-1.24 [[ 0.85182799 -0.47616933 -0.21829301 0.89801927] [ 0.48413368 0.87478765 -0.01900393 0.4981554 ] [ 0.20000912 -0.08949492 0.97569822 -1.24172867] [ 0. 0. 0. 1. ]] SLAMing on 131.131346184 meters Centerline goodness : 0.894554 Centerline is valid? [False, False] Translation: X:0.90, Y:0.50, Z:-1.24 [[ 0.85100015 -0.47779327 -0.21797326 0.89900951] [ 0.4855984 0.87395667 -0.01984789 0.49777093] [ 0.19998237 -0.08895691 0.9757529 -1.24174242] [ 0. 0. 0. 1. ]] SLAMing on 131.161346184 meters Centerline goodness : 0.894767 Centerline is valid? [False, False] Translation: X:0.90, Y:0.50, Z:-1.24 [[ 0.85009956 -0.47878619 -0.21930461 0.90263826] [ 0.4868583 0.87326792 -0.01929096 0.49882617] [ 0.20074793 -0.09037103 0.97546571 -1.24219239] [ 0. 0. 0. 1. ]] SLAMing on 131.191346184 meters Centerline goodness : 0.893660 Centerline is valid? [False, False] Translation: X:0.90, Y:0.50, Z:-1.24 [[ 0.84840099 -0.48136568 -0.22023361 0.90477147] [ 0.48959199 0.87173765 -0.01931702 0.49915707] [ 0.20128448 -0.09143603 0.97525587 -1.24086579] [ 0. 0. 0. 1. ]] SLAMing on 131.221346184 meters Centerline goodness : 0.894726 Centerline is valid? [False, False] Translation: X:0.91, Y:0.50, Z:-1.24 [[ 0.84812152 -0.48182044 -0.22031556 0.90639137] [ 0.49004838 0.87147915 -0.01940803 0.49894213] [ 0.20135161 -0.09150492 0.97523555 -1.24155224] [ 0. 0. 0. 1. ]] SLAMing on 131.251346184 meters Centerline goodness : 0.896677 Centerline is valid? [False, False] Translation: X:0.91, Y:0.50, Z:-1.24 [[ 0.84832747 -0.48129614 -0.22066836 0.9079912 ] [ 0.4897609 0.87166353 -0.01835634 0.49698386] [ 0.2011834 -0.09250255 0.97517615 -1.24194196] [ 0. 0. 0. 1. ]] SLAMing on 131.281346184 meters Centerline goodness : 0.895408 Centerline is valid? [False, False] Translation: X:0.91, Y:0.50, Z:-1.24 [[ 0.84877219 -0.48043984 -0.2208242 0.90771165] [ 0.48907639 0.87206573 -0.01748302 0.49590073] [ 0.20097276 -0.0931608 0.97515692 -1.2416318 ] [ 0. 0. 0. 1. ]] SLAMing on 131.311346184 meters Centerline goodness : 0.897526 Centerline is valid? [False, False] Translation: X:0.91, Y:0.49, Z:-1.24 [[ 0.84951635 -0.47886198 -0.22138918 0.90792466] [ 0.48780192 0.87280639 -0.01607166 0.49490372] [ 0.200926 -0.09434093 0.97505309 -1.24157991] [ 0. 0. 0. 1. ]] SLAMing on 131.341346184 meters Centerline goodness : 0.897785 Centerline is valid? [False, False] Translation: X:0.91, Y:0.49, Z:-1.24 [[ 0.85022956 -0.4773796 -0.22185225 0.90783879] [ 0.48656848 0.87351553 -0.01489092 0.49436593] [ 0.20090001 -0.09528561 0.97496658 -1.24150204] [ 0. 0. 0. 1. ]] SLAMing on 131.371346184 meters Centerline goodness : 0.897633 Centerline is valid? [False, False] Translation: X:0.91, Y:0.49, Z:-1.24 [[ 0.85166783 -0.47405693 -0.22345455 0.9079297 ] [ 0.48393082 0.87502508 -0.01191919 0.49453687] [ 0.20117871 -0.09798535 0.97464147 -1.2414447 ] [ 0. 0. 0. 1. ]] SLAMing on 131.401346184 meters Centerline goodness : 0.896206 Centerline is valid? [False, False] Translation: X:0.91, Y:0.50, Z:-1.24 [[ 0.85191738 -0.47331122 -0.22408317 0.90948416] [ 0.48336296 0.87534744 -0.01127463 0.49550566] [ 0.20148703 -0.09870845 0.97450481 -1.24246534] [ 0. 0. 0. 1. ]] SLAMing on 131.431346184 meters Centerline goodness : 0.895737 Centerline is valid? [False, False] Translation: X:0.91, Y:0.50, Z:-1.24 [[ 0.85181477 -0.47325141 -0.224599 0.91276347] [ 0.48335033 0.8753541 -0.01129842 0.49635466] [ 0.20195065 -0.09893584 0.97438577 -1.24437362] [ 0. 0. 0. 1. ]] SLAMing on 131.461346184 meters Centerline goodness : 0.895710 Centerline is valid? [False, False] Translation: X:0.91, Y:0.50, Z:-1.25 [[ 0.85118346 -0.47477729 -0.2237705 0.9149218 ] [ 0.48449389 0.87469904 -0.01293312 0.49652555] [ 0.2018722 -0.09740698 0.97455605 -1.24630399] [ 0. 0. 0. 1. ]] SLAMing on 131.491346184 meters Centerline goodness : 0.895339 Centerline is valid? [False, False] Translation: X:0.92, Y:0.50, Z:-1.25 [[ 0.84924605 -0.4820191 -0.21549648 0.92450221] [ 0.49169796 0.87070992 -0.00986681 0.50005344] [ 0.19239091 -0.09757983 0.97645477 -1.25330971] [ 0. 0. 0. 1. ]] SLAMing on 131.52134618399998 meters Centerline goodness : 0.893950 Centerline is valid? [False, False] Translation: X:0.93, Y:0.50, Z:-1.25 [[ 0.84839789 -0.4826099 -0.21750564 0.92791673] [ 0.49279892 0.87010252 -0.00841603 0.50041497] [ 0.19331387 -0.1000464 0.97602278 -1.2524951 ] [ 0. 0. 0. 1. ]] SLAMing on 131.55134618399998 meters Centerline goodness : 0.894198 Centerline is valid? [False, False] Translation: X:0.93, Y:0.50, Z:-1.25 [[ 0.8475135 -0.48289691 -0.22029851 0.93168864] [ 0.49383018 0.86953617 -0.00621242 0.50152808] [ 0.19455748 -0.10352495 0.97541272 -1.25125822] [ 0. 0. 0. 1. ]] SLAMing on 131.58134618399998 meters Centerline goodness : 0.893989 Centerline is valid? [False, False] Translation: X:0.94, Y:0.50, Z:-1.25 [[ 0.84674061 -0.48290241 -0.22323888 0.93543624] [ 0.49468779 0.86906336 -0.00358606 0.50216346] [ 0.19574045 -0.10739708 0.97475717 -1.24990696] [ 0. 0. 0. 1. ]] SLAMing on 131.61134618399998 meters Centerline goodness : 0.892585 Centerline is valid? [False, False] Translation: X:0.94, Y:0.50, Z:-1.25 [[ 0.84671104 -0.48300162 -0.2231364 0.93688407] [ 0.49478291 0.86900931 -0.00356174 0.50121703] [ 0.19562794 -0.10738831 0.97478072 -1.25065517] [ 0. 0. 0. 1. ]] SLAMing on 131.64134618399999 meters Centerline goodness : 0.892813 Centerline is valid? [False, False] Translation: X:0.94, Y:0.50, Z:-1.25 [[ 0.84675266 -0.48304511 -0.22288419 0.93961384] [ 0.49476965 0.86901625 -0.00370835 0.49995329] [ 0.19548128 -0.10713628 0.97483788 -1.25256745] [ 0. 0. 0. 1. ]] SLAMing on 131.671346184 meters Centerline goodness : 0.893493 Centerline is valid? [False, False] Translation: X:0.94, Y:0.50, Z:-1.25 [[ 0.84595942 -0.48463337 -0.2224481 0.94285566] [ 0.49621566 0.86818824 -0.00438159 0.49754895] [ 0.19525029 -0.10667559 0.97493469 -1.25363483] [ 0. 0. 0. 1. ]] SLAMing on 131.701346184 meters Centerline goodness : 0.895612 Centerline is valid? [False, False] Translation: X:0.94, Y:0.50, Z:-1.25 [[ 0.84547999 -0.48493404 -0.22361253 0.94439604] [ 0.49686806 0.86781973 -0.00332417 0.49726372] [ 0.19566737 -0.10829541 0.97467245 -1.2525884 ] [ 0. 0. 0. 1. ]] SLAMing on 131.731346184 meters Centerline goodness : 0.896056 Centerline is valid? [False, False] Translation: X:0.95, Y:0.50, Z:-1.25 [[ 8.45296977e-01 -4.83869148e-01 -2.26591414e-01 9.47840289e-01] [ 4.96767147e-01 8.67883856e-01 -1.16750576e-04 4.97983375e-01] [ 1.96711522e-01 -1.12464481e-01 9.73989896e-01 -1.25170399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.761346184 meters Centerline goodness : 0.894971 Centerline is valid? [False, False] Translation: X:0.95, Y:0.50, Z:-1.25 [[ 0.84449416 -0.48424682 -0.22876763 0.94842286] [ 0.49785878 0.86725565 0.00206779 0.4985229 ] [ 0.1973987 -0.11564021 0.97347886 -1.24874272] [ 0. 0. 0. 1. ]] SLAMing on 131.791346184 meters Centerline goodness : 0.893413 Centerline is valid? [False, False] Translation: X:0.95, Y:0.50, Z:-1.25 [[ 0.84426775 -0.48446445 -0.22914223 0.9506505 ] [ 0.49817682 0.86707239 0.0023081 0.49852293] [ 0.19756471 -0.116102 0.97339021 -1.24958733] [ 0. 0. 0. 1. ]] SLAMing on 131.821346184 meters Centerline goodness : 0.892710 Centerline is valid? [False, False] Translation: X:0.95, Y:0.50, Z:-1.25 [[ 0.84383081 -0.48511256 -0.22938041 0.95483138] [ 0.49884245 0.86668998 0.00216419 0.49868456] [ 0.19775182 -0.11625089 0.97333445 -1.25189999] [ 0. 0. 0. 1. ]] SLAMing on 131.851346184 meters Centerline goodness : 0.895507 Centerline is valid? [False, False] Translation: X:0.96, Y:0.50, Z:-1.25 [[ 0.84178396 -0.48952508 -0.22751915 0.9572031 ] [ 0.50244443 0.86460851 -0.0013093 0.49824178] [ 0.19735593 -0.11321358 0.97377273 -1.2532848 ] [ 0. 0. 0. 1. ]] SLAMing on 131.881346184 meters Centerline goodness : 0.895961 Centerline is valid? [False, False] Translation: X:0.96, Y:0.50, Z:-1.25 [[ 8.40680806e-01 -4.90563337e-01 -2.29354297e-01 9.61438775e-01] [ 5.03869831e-01 8.63779367e-01 -6.31309268e-04 4.99950076e-01] [ 1.98421207e-01 -1.15033981e-01 9.73342801e-01 -1.25332786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.911346184 meters Centerline goodness : 0.894885 Centerline is valid? [False, False] Translation: X:0.96, Y:0.50, Z:-1.25 [[ 8.39682708e-01 -4.91566353e-01 -2.30858118e-01 9.63129562e-01] [ 5.05205113e-01 8.62999300e-01 -4.08114171e-05 5.01722219e-01] [ 1.99250456e-01 -1.16596433e-01 9.72987424e-01 -1.25213433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941346184 meters Centerline goodness : 0.892498 Centerline is valid? [False, False] Translation: X:0.97, Y:0.50, Z:-1.25 [[ 0.83896643 -0.49095916 -0.23472201 0.96520535] [ 0.5058173 0.8626331 0.00360475 0.50416704] [ 0.20070919 -0.12175071 0.97205585 -1.24922769] [ 0. 0. 0. 1. ]] SLAMing on 131.971346184 meters Centerline goodness : 0.893234 Centerline is valid? [False, False] Translation: X:0.97, Y:0.51, Z:-1.25 [[ 0.83877736 -0.49049687 -0.23635854 0.96835901] [ 0.5057941 0.86264108 0.00476351 0.50592522] [ 0.2015561 -0.12354427 0.97165423 -1.24991964] [ 0. 0. 0. 1. ]] SLAMing on 132.001346184 meters Centerline goodness : 0.892470 Centerline is valid? [False, False] Translation: X:0.97, Y:0.51, Z:-1.25 [[ 0.83852122 -0.4910302 -0.23615991 0.97018549] [ 0.50619142 0.86241112 0.00415966 0.50676233] [ 0.20162441 -0.12303008 0.9717053 -1.25151104] [ 0. 0. 0. 1. ]] SLAMing on 132.031346184 meters Centerline goodness : 0.891356 Centerline is valid? [False, False] Translation: X:0.97, Y:0.51, Z:-1.25 [[ 0.83806877 -0.49166629 -0.23644239 0.97372796] [ 0.50677553 0.86207035 0.00364492 0.50770048] [ 0.20203789 -0.12287791 0.97163867 -1.25356577] [ 0. 0. 0. 1. ]] SLAMing on 132.061346184 meters Centerline goodness : 0.890744 Centerline is valid? [False, False] Translation: X:0.98, Y:0.51, Z:-1.25 [[ 0.83707593 -0.49311013 -0.23695208 0.97725944] [ 0.50820859 0.86122853 0.00307514 0.50905406] [ 0.20255351 -0.1229952 0.97151647 -1.25499748] [ 0. 0. 0. 1. ]] SLAMing on 132.091346184 meters Centerline goodness : 0.890023 Centerline is valid? [False, False] Translation: X:0.98, Y:0.51, Z:-1.25 [[ 0.83703584 -0.4915456 -0.24032048 0.98130316] [ 0.50769694 0.8615135 0.00618908 0.51085289] [ 0.20399713 -0.12719046 0.97067387 -1.2545404 ] [ 0. 0. 0. 1. ]] SLAMing on 132.121346184 meters Centerline goodness : 0.888886 Centerline is valid? [False, False] Translation: X:0.98, Y:0.51, Z:-1.25 [[ 0.83711613 -0.48995935 -0.24326205 0.98347241] [ 0.50712519 0.86182211 0.00931045 0.51294949] [ 0.20508687 -0.13115824 0.96991592 -1.253647 ] [ 0. 0. 0. 1. ]] SLAMing on 132.151346184 meters Centerline goodness : 0.886565 Centerline is valid? [False, False] Translation: X:0.99, Y:0.52, Z:-1.26 [[ 0.836652 -0.49139341 -0.24196269 0.9924339 ] [ 0.51006571 0.85996298 0.01722312 0.52157013] [ 0.19961563 -0.13782663 0.97013268 -1.25918436] [ 0. 0. 0. 1. ]] SLAMing on 132.181346184 meters Centerline goodness : 0.886490 Centerline is valid? [False, False] Translation: X:0.99, Y:0.52, Z:-1.26 [[ 0.83669749 -0.49113159 -0.2423367 0.9946453 ] [ 0.50983977 0.86009807 0.01716754 0.52316307] [ 0.20000181 -0.13791692 0.97004031 -1.26101202] [ 0. 0. 0. 1. ]] SLAMing on 132.211346184 meters Centerline goodness : 0.886054 Centerline is valid? [False, False] Translation: X:1.00, Y:0.52, Z:-1.26 [[ 0.83684142 -0.49108583 -0.2419321 0.99515101] [ 0.50960102 0.86025216 0.01652365 0.52431562] [ 0.20000808 -0.13711652 0.97015248 -1.26251834] [ 0. 0. 0. 1. ]] SLAMing on 132.241346184 meters Centerline goodness : 0.886054 Centerline is valid? [False, False] Translation: X:1.00, Y:0.52, Z:-1.26 [[ 0.83684142 -0.49108583 -0.2419321 0.99515101] [ 0.50960102 0.86025216 0.01652365 0.52431562] [ 0.20000808 -0.13711652 0.97015248 -1.26251834] [ 0. 0. 0. 1. ]] SLAMing on 132.27134618399998 meters Centerline goodness : 0.887118 Centerline is valid? [False, False] Translation: X:1.00, Y:0.53, Z:-1.26 [[ 0.8377841 -0.48788478 -0.24512495 0.99838057] [ 0.50745551 0.86145082 0.01978341 0.52767098] [ 0.20151107 -0.14096424 0.96928962 -1.26364833] [ 0. 0. 0. 1. ]] SLAMing on 132.30134618399998 meters Centerline goodness : 0.886665 Centerline is valid? [False, False] Translation: X:1.00, Y:0.53, Z:-1.26 [[ 0.83791682 -0.48738695 -0.2456611 0.99834081] [ 0.50709627 0.86165429 0.02013115 0.52951391] [ 0.20186328 -0.14144206 0.96914672 -1.26378228] [ 0. 0. 0. 1. ]] SLAMing on 132.33134618399998 meters Centerline goodness : 0.885823 Centerline is valid? [False, False] Translation: X:1.00, Y:0.53, Z:-1.26 [[ 0.8377435 -0.48731987 -0.24638421 0.99986249] [ 0.50715804 0.86161546 0.02023677 0.53233076] [ 0.20242667 -0.14190896 0.96896093 -1.26497748] [ 0. 0. 0. 1. ]] SLAMing on 132.36134618399998 meters Centerline goodness : 0.883534 Centerline is valid? [False, False] Translation: X:1.00, Y:0.54, Z:-1.27 [[ 0.83749953 -0.48693817 -0.24796321 1.00284303] [ 0.50715019 0.86160346 0.02093224 0.53523876] [ 0.20345325 -0.14328533 0.96854328 -1.26602694] [ 0. 0. 0. 1. ]] SLAMing on 132.39134618399999 meters Centerline goodness : 0.882576 Centerline is valid? [False, False] Translation: X:1.01, Y:0.54, Z:-1.27 [[ 0.83766642 -0.48579207 -0.2496418 1.00533756] [ 0.50652658 0.86193465 0.02234919 0.53844789] [ 0.20431786 -0.14517138 0.96808031 -1.26746961] [ 0. 0. 0. 1. ]] SLAMing on 132.421346184 meters Centerline goodness : 0.880928 Centerline is valid? [False, False] Translation: X:1.01, Y:0.54, Z:-1.27 [[ 0.83785661 -0.48480813 -0.25091308 1.00826219] [ 0.50587878 0.86229409 0.02314229 0.54084833] [ 0.2051413 -0.14632153 0.96773295 -1.26917979] [ 0. 0. 0. 1. ]] SLAMing on 132.451346184 meters Centerline goodness : 0.880399 Centerline is valid? [False, False] Translation: X:1.01, Y:0.55, Z:-1.28 [[ 0.83870006 -0.4896175 -0.23844687 1.00992902] [ 0.50962813 0.85998079 0.02668725 0.54628 ] [ 0.19199318 -0.14390183 0.97078879 -1.27585807] [ 0. 0. 0. 1. ]] SLAMing on 132.481346184 meters Centerline goodness : 0.880056 Centerline is valid? [False, False] Translation: X:1.01, Y:0.55, Z:-1.28 [[ 0.83882482 -0.48876151 -0.23976053 1.01194118] [ 0.50910706 0.86026457 0.02747502 0.54867116] [ 0.19282876 -0.14511051 0.9704432 -1.27674779] [ 0. 0. 0. 1. ]] SLAMing on 132.511346184 meters Centerline goodness : 0.879441 Centerline is valid? [False, False] Translation: X:1.01, Y:0.55, Z:-1.28 [[ 0.83907225 -0.4873002 -0.24186005 1.01277004] [ 0.5082435 0.86072387 0.02903377 0.55284789] [ 0.19402656 -0.14728523 0.96987667 -1.2768112 ] [ 0. 0. 0. 1. ]] SLAMing on 132.541346184 meters Centerline goodness : 0.880199 Centerline is valid? [False, False] Translation: X:1.01, Y:0.55, Z:-1.28 [[ 0.83899714 -0.48716844 -0.24238545 1.01299646] [ 0.50820715 0.86074249 0.02911797 0.55481453] [ 0.1944461 -0.14761191 0.96974298 -1.27700957] [ 0. 0. 0. 1. ]] SLAMing on 132.571346184 meters Centerline goodness : 0.878676 Centerline is valid? [False, False] Translation: X:1.01, Y:0.56, Z:-1.28 [[ 0.8388841 -0.48675189 -0.2436105 1.01497077] [ 0.50807136 0.86080574 0.02961353 0.55742353] [ 0.19528687 -0.14861384 0.96942094 -1.27779989] [ 0. 0. 0. 1. ]] SLAMing on 132.601346184 meters Centerline goodness : 0.880182 Centerline is valid? [False, False] Translation: X:1.02, Y:0.56, Z:-1.28 [[ 0.83869081 -0.48674367 -0.24429149 1.01791349] [ 0.50807149 0.86082233 0.02912532 0.56117583] [ 0.19611501 -0.14854467 0.96926435 -1.28048991] [ 0. 0. 0. 1. ]] SLAMing on 132.631346184 meters Centerline goodness : 0.880377 Centerline is valid? [False, False] Translation: X:1.02, Y:0.56, Z:-1.28 [[ 0.83851517 -0.48698177 -0.24441985 1.01920726] [ 0.50823648 0.86074142 0.02863359 0.56305285] [ 0.19643825 -0.14823278 0.96924664 -1.28180341] [ 0. 0. 0. 1. ]] SLAMing on 132.661346184 meters Centerline goodness : 0.877408 Centerline is valid? [False, False] Translation: X:1.02, Y:0.57, Z:-1.28 [[ 0.83817402 -0.48695112 -0.24564797 1.02081049] [ 0.50854643 0.86053382 0.02936113 0.56576208] [ 0.19709095 -0.14953313 0.96891434 -1.28231508] [ 0. 0. 0. 1. ]] SLAMing on 132.691346184 meters Centerline goodness : 0.879306 Centerline is valid? [False, False] Translation: X:1.02, Y:0.57, Z:-1.28 [[ 0.8379329 -0.48697412 -0.24642373 1.02003492] [ 0.50871025 0.86043412 0.02944483 0.56816949] [ 0.19769251 -0.15003107 0.96871479 -1.28136443] [ 0. 0. 0. 1. ]] SLAMing on 132.721346184 meters Centerline goodness : 0.879045 Centerline is valid? [False, False] Translation: X:1.02, Y:0.57, Z:-1.28 [[ 0.83840007 -0.48535199 -0.24802976 1.02055615] [ 0.50753226 0.86109014 0.03057404 0.5725354 ] [ 0.19873681 -0.15151638 0.96826983 -1.28232095] [ 0. 0. 0. 1. ]] SLAMing on 132.751346184 meters Centerline goodness : 0.879840 Centerline is valid? [False, False] Translation: X:1.02, Y:0.58, Z:-1.28 [[ 0.83931339 -0.49027987 -0.23490143 1.01996267] [ 0.51045345 0.85937456 0.03020997 0.57957689] [ 0.18705697 -0.14526188 0.97154963 -1.28481502] [ 0. 0. 0. 1. ]] SLAMing on 132.781346184 meters Centerline goodness : 0.877721 Centerline is valid? [False, False] Translation: X:1.02, Y:0.58, Z:-1.29 [[ 0.83977476 -0.48921553 -0.23547086 1.02009581] [ 0.50940175 0.86000725 0.02995628 0.58206934] [ 0.18785157 -0.1451058 0.97141963 -1.28535087] [ 0. 0. 0. 1. ]] SLAMing on 132.811346184 meters Centerline goodness : 0.877680 Centerline is valid? [False, False] Translation: X:1.02, Y:0.59, Z:-1.29 [[ 0.84056423 -0.48779898 -0.23559271 1.01827049] [ 0.50790011 0.86090735 0.02959741 0.58616821] [ 0.18838591 -0.14453609 0.97140109 -1.28631134] [ 0. 0. 0. 1. ]] SLAMing on 132.841346184 meters Centerline goodness : 0.878512 Centerline is valid? [False, False] Translation: X:1.02, Y:0.59, Z:-1.29 [[ 0.84024731 -0.48795223 -0.2364045 1.01867133] [ 0.5081645 0.86075423 0.0295126 0.58818831] [ 0.18908543 -0.14493025 0.97120643 -1.28584082] [ 0. 0. 0. 1. ]] SLAMing on 132.871346184 meters Centerline goodness : 0.878888 Centerline is valid? [False, False] Translation: X:1.02, Y:0.59, Z:-1.28 [[ 0.83949453 -0.48858246 -0.23777324 1.01913719] [ 0.50900711 0.8602585 0.02944602 0.59098072] [ 0.19015964 -0.14574804 0.97087426 -1.28451957] [ 0. 0. 0. 1. ]] SLAMing on 132.901346184 meters Centerline goodness : 0.878223 Centerline is valid? [False, False] Translation: X:1.02, Y:0.60, Z:-1.28 [[ 0.83893598 -0.48780524 -0.24131404 1.02324481] [ 0.50923786 0.86003595 0.03185858 0.59501688] [ 0.19199797 -0.14961356 0.969924 -1.28443254] [ 0. 0. 0. 1. ]] SLAMing on 132.931346184 meters Centerline goodness : 0.876719 Centerline is valid? [False, False] Translation: X:1.02, Y:0.60, Z:-1.29 [[ 0.83747574 -0.49088927 -0.24012937 1.0225965 ] [ 0.51151625 0.85880636 0.02833314 0.59975531] [ 0.19231619 -0.14655839 0.97032733 -1.28536821] [ 0. 0. 0. 1. ]] SLAMing on 132.961346184 meters Centerline goodness : 0.877613 Centerline is valid? [False, False] Translation: X:1.02, Y:0.60, Z:-1.29 [[ 0.83707808 -0.49197845 -0.23928539 1.02324643] [ 0.5121402 0.85849293 0.02650103 0.60090378] [ 0.19238688 -0.1447311 0.97058755 -1.28661524] [ 0. 0. 0. 1. ]] SLAMing on 132.991346184 meters Centerline goodness : 0.878697 Centerline is valid? [False, False] Translation: X:1.02, Y:0.60, Z:-1.29 [[ 0.83675748 -0.49275857 -0.23880098 1.02268839] [ 0.51257419 0.85827814 0.02502663 0.60262879] [ 0.19262558 -0.14334444 0.97074598 -1.28687032] [ 0. 0. 0. 1. ]] SLAMing on 133.02134618399998 meters Centerline goodness : 0.879324 Centerline is valid? [False, False] Translation: X:1.02, Y:0.61, Z:-1.29 [[ 0.83758964 -0.48977639 -0.24199726 1.02341716] [ 0.51052927 0.85941551 0.02765569 0.60726583] [ 0.19443109 -0.14671081 0.96988272 -1.28620609] [ 0. 0. 0. 1. ]] SLAMing on 133.05134618399998 meters Centerline goodness : 0.877928 Centerline is valid? [False, False] Translation: X:1.02, Y:0.61, Z:-1.29 [[ 0.83819258 -0.48772092 -0.24405226 1.0234676 ] [ 0.50913224 0.86017924 0.02959797 0.61006449] [ 0.19549314 -0.14906367 0.9693103 -1.28556888] [ 0. 0. 0. 1. ]] SLAMing on 133.08134618399998 meters Centerline goodness : 0.877687 Centerline is valid? [False, False] Translation: X:1.02, Y:0.62, Z:-1.29 [[ 0.83921531 -0.49101483 -0.23371372 1.0247121 ] [ 0.51109785 0.85897787 0.03059413 0.61844157] [ 0.18573275 -0.14512564 0.971824 -1.28585233] [ 0. 0. 0. 1. ]] SLAMing on 133.11134618399998 meters Centerline goodness : 0.877892 Centerline is valid? [False, False] Translation: X:1.02, Y:0.62, Z:-1.29 [[ 0.83942166 -0.49022883 -0.23462091 1.02480798] [ 0.51037903 0.85941496 0.03031792 0.62143488] [ 0.186774 -0.14519511 0.97161404 -1.28584597] [ 0. 0. 0. 1. ]] SLAMing on 133.14134618399999 meters Centerline goodness : 0.875555 Centerline is valid? [False, False] Translation: X:1.02, Y:0.63, Z:-1.29 [[ 0.83986116 -0.48908511 -0.2354336 1.02495864] [ 0.50918631 0.86014845 0.02956248 0.62616197] [ 0.18804928 -0.14470795 0.97144072 -1.28688574] [ 0. 0. 0. 1. ]] SLAMing on 133.171346184 meters Centerline goodness : 0.875130 Centerline is valid? [False, False] Translation: X:1.02, Y:0.63, Z:-1.29 [[ 0.83971197 -0.48922367 -0.23567777 1.02413731] [ 0.5092112 0.86016069 0.02876712 0.62856455] [ 0.1886472 -0.14416585 0.9714054 -1.2864452 ] [ 0. 0. 0. 1. ]] SLAMing on 133.201346184 meters Centerline goodness : 0.873838 Centerline is valid? [False, False] Translation: X:1.03, Y:0.63, Z:-1.29 [[ 0.8395361 -0.48863491 -0.23751857 1.02641811] [ 0.50899713 0.8602687 0.02932046 0.63207205] [ 0.19000279 -0.14551186 0.97094039 -1.28697869] [ 0. 0. 0. 1. ]] SLAMing on 133.231346184 meters Centerline goodness : 0.871892 Centerline is valid? [False, False] Translation: X:1.03, Y:0.64, Z:-1.29 [[ 0.83946739 -0.48797631 -0.23911005 1.02669026] [ 0.50861025 0.86049003 0.02953857 0.63609134] [ 0.19133769 -0.14641049 0.97054307 -1.28647255] [ 0. 0. 0. 1. ]] SLAMing on 133.261346184 meters Centerline goodness : 0.873620 Centerline is valid? [False, False] Translation: X:1.03, Y:0.64, Z:-1.29 [[ 0.83937155 -0.4872865 -0.24084699 1.02790892] [ 0.50832985 0.86062813 0.03033107 0.63839102] [ 0.19249977 -0.14788875 0.97008905 -1.28588383] [ 0. 0. 0. 1. ]] SLAMing on 133.291346184 meters Centerline goodness : 0.871755 Centerline is valid? [False, False] Translation: X:1.03, Y:0.64, Z:-1.28 [[ 0.8389581 -0.48758622 -0.2416795 1.02688367] [ 0.50868107 0.86043579 0.02989692 0.64096666] [ 0.19337236 -0.14802005 0.96989546 -1.28414725] [ 0. 0. 0. 1. ]] SLAMing on 133.321346184 meters Centerline goodness : 0.867151 Centerline is valid? [False, False] Translation: X:1.03, Y:0.65, Z:-1.29 [[ 0.8385566 -0.48713933 -0.2439633 1.0306192 ] [ 0.50866078 0.86043404 0.03028976 0.64587985] [ 0.195159 -0.14949424 0.96931132 -1.28561169] [ 0. 0. 0. 1. ]] SLAMing on 133.351346184 meters Centerline goodness : 0.866107 Centerline is valid? [False, False] Translation: X:1.03, Y:0.65, Z:-1.29 [[ 0.83837015 -0.48757395 -0.2437358 1.03055262] [ 0.50879625 0.86040084 0.02892705 0.64762645] [ 0.19560641 -0.14826343 0.96941017 -1.28583315] [ 0. 0. 0. 1. ]] SLAMing on 133.381346184 meters Centerline goodness : 0.867305 Centerline is valid? [False, False] Translation: X:1.03, Y:0.65, Z:-1.29 [[ 0.83825204 -0.48755649 -0.24417655 1.03055146] [ 0.5087017 0.86048067 0.02820624 0.64977081] [ 0.19635707 -0.14785697 0.96932049 -1.28559839] [ 0. 0. 0. 1. ]] SLAMing on 133.411346184 meters Centerline goodness : 0.866340 Centerline is valid? [False, False] Translation: X:1.03, Y:0.65, Z:-1.29 [[ 0.83840352 -0.48602342 -0.24669976 1.03243726] [ 0.50785361 0.86092727 0.02981535 0.65304767] [ 0.19789959 -0.15028466 0.9686332 -1.28535978] [ 0. 0. 0. 1. ]] SLAMing on 133.441346184 meters Centerline goodness : 0.865443 Centerline is valid? [False, False] Translation: X:1.03, Y:0.66, Z:-1.28 [[ 0.83922105 -0.4895071 -0.23683505 1.03174654] [ 0.5100457 0.85960084 0.03065585 0.66389078] [ 0.18857735 -0.14652373 0.9710661 -1.28451216] [ 0. 0. 0. 1. ]] SLAMing on 133.471346184 meters Centerline goodness : 0.864853 Centerline is valid? [False, False] Translation: X:1.03, Y:0.67, Z:-1.28 [[ 0.83938889 -0.4886006 -0.23810869 1.03202525] [ 0.50938972 0.85997588 0.03104188 0.666581 ] [ 0.18960065 -0.14734633 0.97074232 -1.28405758] [ 0. 0. 0. 1. ]] SLAMing on 133.501346184 meters Centerline goodness : 0.865809 Centerline is valid? [False, False] Translation: X:1.03, Y:0.67, Z:-1.28 [[ 0.83961649 -0.48808341 -0.23836682 1.0312502 ] [ 0.50879117 0.86035001 0.03048615 0.66837929] [ 0.19019912 -0.14687561 0.97069658 -1.28355091] [ 0. 0. 0. 1. ]] SLAMing on 133.531346184 meters Centerline goodness : 0.863845 Centerline is valid? [False, False] Translation: X:1.03, Y:0.67, Z:-1.28 [[ 0.84023182 -0.48747503 -0.23744174 1.02979705] [ 0.50776041 0.86100554 0.02913454 0.67049733] [ 0.1902363 -0.14504328 0.97096478 -1.28464751] [ 0. 0. 0. 1. ]] SLAMing on 133.561346184 meters Centerline goodness : 0.863673 Centerline is valid? [False, False] Translation: X:1.03, Y:0.67, Z:-1.29 [[ 0.84052358 -0.48720667 -0.23695944 1.02941355] [ 0.50726247 0.86132445 0.02837215 0.67106461] [ 0.19027586 -0.14404809 0.97110517 -1.2850249 ] [ 0. 0. 0. 1. ]] SLAMing on 133.591346184 meters Centerline goodness : 0.863280 Centerline is valid? [False, False] Translation: X:1.03, Y:0.67, Z:-1.29 [[ 0.84056587 -0.48734215 -0.23653043 1.02886467] [ 0.50718688 0.86139374 0.02760958 0.67195653] [ 0.19029052 -0.1431728 0.97123173 -1.28522146] [ 0. 0. 0. 1. ]] SLAMing on 133.621346184 meters Centerline goodness : 0.863734 Centerline is valid? [False, False] Translation: X:1.03, Y:0.67, Z:-1.28 [[ 0.84011146 -0.4874727 -0.23787205 1.02822002] [ 0.50761172 0.86112906 0.02805506 0.67386461] [ 0.19116245 -0.14431602 0.97089124 -1.28309973] [ 0. 0. 0. 1. ]] SLAMing on 133.651346184 meters Centerline goodness : 0.862042 Centerline is valid? [False, False] Translation: X:1.03, Y:0.68, Z:-1.28 [[ 0.83958179 -0.48789324 -0.23887779 1.02726131] [ 0.50825613 0.86073897 0.02835707 0.67542683] [ 0.1917762 -0.14521918 0.9706355 -1.28099198] [ 0. 0. 0. 1. ]] SLAMing on 133.681346184 meters Centerline goodness : 0.863024 Centerline is valid? [False, False] Translation: X:1.03, Y:0.68, Z:-1.28 [[ 0.8389207 -0.48846428 -0.24003065 1.02728999] [ 0.50904443 0.86026877 0.02848533 0.67738387] [ 0.1925768 -0.1460832 0.9703473 -1.2793979 ] [ 0. 0. 0. 1. ]] SLAMing on 133.711346184 meters Centerline goodness : 0.861082 Centerline is valid? [False, False] Translation: X:1.03, Y:0.68, Z:-1.28 [[ 0.83872477 -0.48871058 -0.24021391 1.02739097] [ 0.50931914 0.86010718 0.02845421 0.67803315] [ 0.19270384 -0.1462108 0.97030286 -1.27904884] [ 0. 0. 0. 1. ]] SLAMing on 133.741346184 meters Centerline goodness : 0.861247 Centerline is valid? [False, False] Translation: X:1.03, Y:0.68, Z:-1.28 [[ 0.83881706 -0.48997495 -0.23729829 1.02627855] [ 0.50946638 0.86013047 0.02489147 0.67907123] [ 0.1919113 -0.14177489 0.97111788 -1.28155501] [ 0. 0. 0. 1. ]] SLAMing on 133.77134618399998 meters Centerline goodness : 0.863064 Centerline is valid? [False, False] Translation: X:1.03, Y:0.68, Z:-1.28 [[ 0.83926013 -0.48990012 -0.235882 1.02620969] [ 0.50889185 0.86051139 0.02343549 0.6792642 ] [ 0.1914981 -0.1397069 0.97149908 -1.28335154] [ 0. 0. 0. 1. ]] SLAMing on 133.80134618399998 meters Centerline goodness : 0.861537 Centerline is valid? [False, False] Translation: X:1.03, Y:0.68, Z:-1.28 [[ 0.83980886 -0.48927681 -0.23522177 1.02558477] [ 0.50805319 0.86102083 0.02291477 0.67931319] [ 0.19131917 -0.1387492 0.97167157 -1.28383911] [ 0. 0. 0. 1. ]] SLAMing on 133.83134618399998 meters Centerline goodness : 0.861461 Centerline is valid? [False, False] Translation: X:1.03, Y:0.68, Z:-1.28 [[ 0.84103533 -0.48585952 -0.23790777 1.02580892] [ 0.50549836 0.86244463 0.02570343 0.68165386] [ 0.19269402 -0.14187948 0.97094759 -1.28267181] [ 0. 0. 0. 1. ]] SLAMing on 133.86134618399998 meters Centerline goodness : 0.860413 Centerline is valid? [False, False] Translation: X:1.03, Y:0.68, Z:-1.28 [[ 0.84174509 -0.48359904 -0.23999412 1.02653453] [ 0.50393437 0.86329099 0.02790733 0.68334394] [ 0.1936888 -0.14443214 0.97037313 -1.28200333] [ 0. 0. 0. 1. ]] SLAMing on 133.89134618399999 meters Centerline goodness : 0.863472 Centerline is valid? [False, False] Translation: X:1.03, Y:0.69, Z:-1.28 [[ 0.84215102 -0.48229339 -0.24119441 1.02725747] [ 0.5028488 0.8639124 0.02825681 0.68501963] [ 0.19474277 -0.14508082 0.97006536 -1.28143465] [ 0. 0. 0. 1. ]] SLAMing on 133.921346184 meters Centerline goodness : 0.863886 Centerline is valid? [False, False] Translation: X:1.03, Y:0.69, Z:-1.28 [[ 0.84234936 -0.4823048 -0.24047793 1.02680735] [ 0.50255115 0.86411759 0.02726062 0.68564326] [ 0.19465328 -0.14381542 0.97027173 -1.28195098] [ 0. 0. 0. 1. ]] SLAMing on 133.951346184 meters Centerline goodness : 0.864604 Centerline is valid? [False, False] Translation: X:1.02, Y:0.69, Z:-1.28 [[ 0.84186242 -0.4847624 -0.23721948 1.02488224] [ 0.5037669 0.86352887 0.02316881 0.68504584] [ 0.1936145 -0.13900827 0.97117976 -1.28277755] [ 0. 0. 0. 1. ]] SLAMing on 133.981346184 meters Centerline goodness : 0.864699 Centerline is valid? [False, False] Translation: X:1.03, Y:0.69, Z:-1.28 [[ 0.84133489 -0.48545393 -0.23767642 1.0261495 ] [ 0.50451363 0.86309681 0.02301948 0.68525996] [ 0.19396286 -0.13927808 0.97107158 -1.28231221] [ 0. 0. 0. 1. ]] SLAMing on 134.011346184 meters Centerline goodness : 0.865051 Centerline is valid? [False, False] Translation: X:1.03, Y:0.69, Z:-1.28 [[ 0.84057157 -0.48641122 -0.23841888 1.02688645] [ 0.50554484 0.8625012 0.02271781 0.68610051] [ 0.19458638 -0.13962738 0.97089667 -1.28100921] [ 0. 0. 0. 1. ]] SLAMing on 134.041346184 meters Centerline goodness : 0.865284 Centerline is valid? [False, False] Translation: X:1.03, Y:0.69, Z:-1.28 [[ 0.83852118 -0.4893085 -0.23970696 1.0275498 ] [ 0.50861617 0.86070569 0.02225561 0.68699401] [ 0.19542728 -0.14058063 0.97059016 -1.27767057] [ 0. 0. 0. 1. ]] SLAMing on 134.071346184 meters Centerline goodness : 0.867762 Centerline is valid? [False, False] Translation: X:1.03, Y:0.69, Z:-1.28 [[ 0.83740811 -0.49101572 -0.24010667 1.02907146] [ 0.51031819 0.8597116 0.02170986 0.68720856] [ 0.1957626 -0.14071081 0.97050372 -1.27683961] [ 0. 0. 0. 1. ]] SLAMing on 134.101346184 meters Centerline goodness : 0.867762 Centerline is valid? [False, False] Translation: X:1.03, Y:0.69, Z:-1.28 [[ 0.83740811 -0.49101572 -0.24010667 1.02907146] [ 0.51031819 0.8597116 0.02170986 0.68720856] [ 0.1957626 -0.14071081 0.97050372 -1.27683961] [ 0. 0. 0. 1. ]] SLAMing on 134.131346184 meters Centerline goodness : 0.865933 Centerline is valid? [False, False] Translation: X:1.03, Y:0.69, Z:-1.28 [[ 0.835925 -0.49369843 -0.23977333 1.02955158] [ 0.51264608 0.85837074 0.01984116 0.68716595] [ 0.19601886 -0.13950458 0.97062613 -1.27519897] [ 0. 0. 0. 1. ]] SLAMing on 134.161346184 meters Centerline goodness : 0.868167 Centerline is valid? [False, False] Translation: X:1.03, Y:0.68, Z:-1.27 [[ 0.83404426 -0.4978829 -0.2376611 1.02865884] [ 0.51606712 0.85637891 0.01702595 0.68479218] [ 0.19505103 -0.13684947 0.97119891 -1.27343115] [ 0. 0. 0. 1. ]] SLAMing on 134.191346184 meters Centerline goodness : 0.868253 Centerline is valid? [False, False] Translation: X:1.03, Y:0.69, Z:-1.27 [[ 0.83292753 -0.49953283 -0.23811485 1.02996278] [ 0.51769995 0.85540518 0.01639365 0.68548213] [ 0.19549551 -0.13692677 0.97109864 -1.27248482] [ 0. 0. 0. 1. ]] SLAMing on 134.221346184 meters Centerline goodness : 0.869025 Centerline is valid? [False, False] Translation: X:1.03, Y:0.69, Z:-1.27 [[ 0.83224605 -0.50033333 -0.23881598 1.03088688] [ 0.51850226 0.85493042 0.01579156 0.68696239] [ 0.19627 -0.13696909 0.97093643 -1.27156255] [ 0. 0. 0. 1. ]] SLAMing on 134.251346184 meters Centerline goodness : 0.866767 Centerline is valid? [False, False] Translation: X:1.03, Y:0.69, Z:-1.27 [[ 0.83176622 -0.50052879 -0.24007477 1.03242068] [ 0.5188602 0.85471557 0.01566445 0.68882473] [ 0.19735513 -0.13759441 0.97062801 -1.27081938] [ 0. 0. 0. 1. ]] SLAMing on 134.281346184 meters Centerline goodness : 0.868109 Centerline is valid? [False, False] Translation: X:1.03, Y:0.69, Z:-1.27 [[ 0.83214688 -0.50024106 -0.23935425 1.03146731] [ 0.51828538 0.85507957 0.01480507 0.68942809] [ 0.19726082 -0.1363738 0.97081942 -1.27105345] [ 0. 0. 0. 1. ]] SLAMing on 134.311346184 meters Centerline goodness : 0.867786 Centerline is valid? [False, False] Translation: X:1.03, Y:0.69, Z:-1.27 [[ 0.83230769 -0.50008627 -0.23911846 1.03170734] [ 0.51799068 0.85526665 0.0143047 0.68999784] [ 0.19735647 -0.13576704 0.97088503 -1.27151004] [ 0. 0. 0. 1. ]] SLAMing on 134.341346184 meters Centerline goodness : 0.868975 Centerline is valid? [False, False] Translation: X:1.03, Y:0.69, Z:-1.27 [[ 0.83224628 -0.49974924 -0.24003504 1.03295148] [ 0.51776782 0.85540227 0.01426335 0.69138974] [ 0.19819842 -0.13615303 0.97065943 -1.2712202 ] [ 0. 0. 0. 1. ]] SLAMing on 134.371346184 meters Centerline goodness : 0.867297 Centerline is valid? [False, False] Translation: X:1.03, Y:0.69, Z:-1.27 [[ 0.83228764 -0.49941807 -0.24058027 1.03269842] [ 0.51749765 0.85556643 0.01422213 0.69245613] [ 0.19872961 -0.13633663 0.97052505 -1.27031447] [ 0. 0. 0. 1. ]] SLAMing on 134.401346184 meters Centerline goodness : 0.867773 Centerline is valid? [False, False] Translation: X:1.03, Y:0.69, Z:-1.27 [[ 0.83201754 -0.49962787 -0.24107843 1.03292568] [ 0.51774956 0.85541689 0.01404769 0.69313429] [ 0.19920394 -0.13650618 0.97040396 -1.26933639] [ 0. 0. 0. 1. ]] SLAMing on 134.431346184 meters Centerline goodness : 0.868369 Centerline is valid? [False, False] Translation: X:1.03, Y:0.70, Z:-1.27 [[ 0.83147093 -0.49982322 -0.24255484 1.03471544] [ 0.51819652 0.85514366 0.01420166 0.69502783] [ 0.20032092 -0.13749934 0.97003374 -1.26858876] [ 0. 0. 0. 1. ]] SLAMing on 134.461346184 meters Centerline goodness : 0.868337 Centerline is valid? [False, False] Translation: X:1.04, Y:0.70, Z:-1.27 [[ 0.83114308 -0.49990835 -0.24350117 1.03606428] [ 0.51839094 0.85502832 0.01405022 0.69632602] [ 0.20117658 -0.13790655 0.96979883 -1.26807906] [ 0. 0. 0. 1. ]] SLAMing on 134.491346184 meters Centerline goodness : 0.866014 Centerline is valid? [False, False] Translation: X:1.04, Y:0.70, Z:-1.27 [[ 0.83096289 -0.50050084 -0.24289829 1.03669864] [ 0.51861405 0.85491545 0.01261075 0.69724544] [ 0.20134581 -0.13644953 0.96996979 -1.26880993] [ 0. 0. 0. 1. ]] SLAMing on 134.52134618399998 meters Centerline goodness : 0.867163 Centerline is valid? [False, False] Translation: X:1.04, Y:0.70, Z:-1.27 [[ 0.83074742 -0.50090158 -0.24280923 1.03666197] [ 0.518909 0.85474374 0.01210752 0.6975613 ] [ 0.201475 -0.13605419 0.9699985 -1.26829853] [ 0. 0. 0. 1. ]] SLAMing on 134.55134618399998 meters Centerline goodness : 0.866152 Centerline is valid? [False, False] Translation: X:1.04, Y:0.70, Z:-1.27 [[ 0.83056674 -0.50065212 -0.24393924 1.03757344] [ 0.5188665 0.85476606 0.01235071 0.69850793] [ 0.20232758 -0.13682999 0.96971187 -1.26719889] [ 0. 0. 0. 1. ]] SLAMing on 134.58134618399998 meters Centerline goodness : 0.864308 Centerline is valid? [False, False] Translation: X:1.04, Y:0.70, Z:-1.27 [[ 0.83069358 -0.49947658 -0.24590918 1.03962686] [ 0.51816401 0.85517631 0.01339918 0.70058637] [ 0.20360313 -0.1385519 0.96920026 -1.26684831] [ 0. 0. 0. 1. ]] SLAMing on 134.61134618399998 meters Centerline goodness : 0.861758 Centerline is valid? [False, False] Translation: X:1.04, Y:0.70, Z:-1.27 [[ 0.83031031 -0.50020715 -0.24571853 1.04038246] [ 0.51869904 0.85486553 0.01249928 0.70108891] [ 0.20380407 -0.13783225 0.96926063 -1.26700493] [ 0. 0. 0. 1. ]] SLAMing on 134.64134618399999 meters Centerline goodness : 0.861885 Centerline is valid? [False, False] Translation: X:1.04, Y:0.70, Z:-1.27 [[ 0.82929287 -0.5025458 -0.24437891 1.04047537] [ 0.52028659 0.85393865 0.00952075 0.70195802] [ 0.20389999 -0.13504256 0.96963308 -1.26695556] [ 0. 0. 0. 1. ]] SLAMing on 134.671346184 meters Centerline goodness : 0.860949 Centerline is valid? [False, False] Translation: X:1.04, Y:0.70, Z:-1.27 [[ 0.82849251 -0.50394976 -0.24420236 1.04206867] [ 0.52137276 0.85329217 0.00793212 0.7027834 ] [ 0.20437857 -0.13389216 0.96969185 -1.26714475] [ 0. 0. 0. 1. ]] SLAMing on 134.701346184 meters Centerline goodness : 0.861126 Centerline is valid? [False, False] Translation: X:1.04, Y:0.70, Z:-1.27 [[ 0.82758894 -0.50488751 -0.24532663 1.04341867] [ 0.5224266 0.85265049 0.00758943 0.70427167] [ 0.20534606 -0.13444609 0.96941077 -1.26576708] [ 0. 0. 0. 1. ]] SLAMing on 134.731346184 meters Centerline goodness : 0.861387 Centerline is valid? [False, False] Translation: X:1.04, Y:0.71, Z:-1.26 [[ 0.82719614 -0.50502096 -0.24637447 1.04308872] [ 0.52276912 0.85243819 0.00784758 0.70553017] [ 0.20605582 -0.13528846 0.96914294 -1.26395946] [ 0. 0. 0. 1. ]] SLAMing on 134.761346184 meters Centerline goodness : 0.860661 Centerline is valid? [False, False] Translation: X:1.04, Y:0.71, Z:-1.26 [[ 0.8266831 -0.50541251 -0.24729182 1.04265758] [ 0.52329188 0.85211794 0.00778632 0.70726896] [ 0.2067865 -0.13584262 0.96890976 -1.26233542] [ 0. 0. 0. 1. ]] SLAMing on 134.791346184 meters Centerline goodness : 0.859508 Centerline is valid? [False, False] Translation: X:1.04, Y:0.71, Z:-1.26 [[ 0.82636088 -0.50571196 -0.24775617 1.04386313] [ 0.52354406 0.85196811 0.00720815 0.70861259] [ 0.20743511 -0.1356678 0.9687956 -1.26230486] [ 0. 0. 0. 1. ]] SLAMing on 134.821346184 meters Centerline goodness : 0.856998 Centerline is valid? [False, False] Translation: X:1.04, Y:0.71, Z:-1.27 [[ 0.82613935 -0.50850955 -0.24271755 1.04282179] [ 0.52456101 0.85137101 0.00177246 0.70768175] [ 0.20574137 -0.12878446 0.97009538 -1.26572923] [ 0. 0. 0. 1. ]] SLAMing on 134.851346184 meters Centerline goodness : 0.858461 Centerline is valid? [False, False] Translation: X:1.04, Y:0.71, Z:-1.27 [[ 8.25748575e-01 -5.09247859e-01 -2.42499297e-01 1.04378808e+00] [ 5.25094357e-01 8.51043600e-01 8.40357128e-04 7.08120581e-01] [ 2.05949525e-01 -1.28028936e-01 9.70151217e-01 -1.26598417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881346184 meters Centerline goodness : 0.857684 Centerline is valid? [False, False] Translation: X:1.04, Y:0.71, Z:-1.26 [[ 0.82568607 -0.50771639 -0.24589954 1.043832 ] [ 0.52463203 0.85132029 0.00387189 0.71032976] [ 0.20737345 -0.13220374 0.96928759 -1.26289078] [ 0. 0. 0. 1. ]] SLAMing on 134.911346184 meters Centerline goodness : 0.857053 Centerline is valid? [False, False] Translation: X:1.04, Y:0.71, Z:-1.26 [[ 0.82530629 -0.50716764 -0.2482952 1.04483393] [ 0.52463676 0.85131181 0.00494658 0.71272987] [ 0.20886789 -0.13434723 0.96867178 -1.26097937] [ 0. 0. 0. 1. ]] SLAMing on 134.941346184 meters Centerline goodness : 0.859145 Centerline is valid? [False, False] Translation: X:1.04, Y:0.71, Z:-1.26 [[ 0.82489409 -0.50752492 -0.24893411 1.04477371] [ 0.52502729 0.85107282 0.00462469 0.71370831] [ 0.20951391 -0.13451208 0.96850938 -1.25953321] [ 0. 0. 0. 1. ]] SLAMing on 134.971346184 meters Centerline goodness : 0.857963 Centerline is valid? [False, False] Translation: X:1.05, Y:0.71, Z:-1.26 [[ 0.82437369 -0.50817395 -0.24933363 1.04719541] [ 0.52558905 0.85072982 0.00386252 0.71472345] [ 0.21015272 -0.13423119 0.96840995 -1.2601403 ] [ 0. 0. 0. 1. ]] SLAMing on 135.001346184 meters Centerline goodness : 0.858863 Centerline is valid? [False, False] Translation: X:1.05, Y:0.71, Z:-1.26 [[ 8.22898612e-01 -5.12200843e-01 -2.45943430e-01 1.04654063e+00] [ 5.28360810e-01 8.49019873e-01 -3.30637067e-04 7.13467347e-01] [ 2.08980212e-01 -1.29674789e-01 9.69284128e-01 -1.26091234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.031346184 meters Centerline goodness : 0.859139 Centerline is valid? [False, False] Translation: X:1.05, Y:0.71, Z:-1.26 [[ 8.22042189e-01 -5.13308893e-01 -2.46496692e-01 1.04776137e+00] [ 5.29464073e-01 8.48331915e-01 -8.70235320e-04 7.13549344e-01] [ 2.09557710e-01 -1.29795772e-01 9.69143242e-01 -1.25972693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061346184 meters Centerline goodness : 0.861639 Centerline is valid? [False, False] Translation: X:1.05, Y:0.71, Z:-1.26 [[ 8.21187180e-01 -5.14059560e-01 -2.47778904e-01 1.04867905e+00] [ 5.30450042e-01 8.47715895e-01 -7.17116389e-04 7.14212490e-01] [ 2.10414756e-01 -1.30845443e-01 9.68816340e-01 -1.25774581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.091346184 meters Centerline goodness : 0.860241 Centerline is valid? [False, False] Translation: X:1.05, Y:0.72, Z:-1.26 [[ 8.20363331e-01 -5.14386343e-01 -2.49821326e-01 1.04961448e+00] [ 5.31256455e-01 8.47211051e-01 1.18169149e-04 7.15693229e-01] [ 2.11590604e-01 -1.32816134e-01 9.68291945e-01 -1.25534623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121346184 meters Centerline goodness : 0.858555 Centerline is valid? [False, False] Translation: X:1.05, Y:0.72, Z:-1.26 [[ 8.20342468e-01 -5.14102882e-01 -2.50472477e-01 1.05097411e+00] [ 5.30950459e-01 8.47402784e-01 -3.63330374e-04 7.16898321e-01] [ 2.12437864e-01 -1.32690421e-01 9.68123652e-01 -1.25527761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.151346184 meters Centerline goodness : 0.859270 Centerline is valid? [False, False] Translation: X:1.05, Y:0.72, Z:-1.26 [[ 0.8204155 -0.51392574 -0.25059678 1.05262139] [ 0.53055061 0.84765206 -0.00142965 0.71848488] [ 0.21315361 -0.13178137 0.9680905 -1.25635233] [ 0. 0. 0. 1. ]] SLAMing on 135.181346184 meters Centerline goodness : 0.859113 Centerline is valid? [False, False] Translation: X:1.05, Y:0.72, Z:-1.26 [[ 0.820976 -0.51361815 -0.24938885 1.051975 ] [ 0.52969032 0.84818534 -0.003129 0.71941723] [ 0.21313508 -0.12953003 0.96839837 -1.25750521] [ 0. 0. 0. 1. ]] SLAMing on 135.211346184 meters Centerline goodness : 0.862252 Centerline is valid? [False, False] Translation: X:1.05, Y:0.72, Z:-1.26 [[ 0.82120986 -0.51270781 -0.25048965 1.05289837] [ 0.52898139 0.8486289 -0.00277033 0.72060297] [ 0.21399313 -0.13022934 0.96811531 -1.25702791] [ 0. 0. 0. 1. ]] SLAMing on 135.241346184 meters Centerline goodness : 0.859684 Centerline is valid? [False, False] Translation: X:1.05, Y:0.72, Z:-1.26 [[ 0.82119162 -0.5123628 -0.25125422 1.05244548] [ 0.52882302 0.84872885 -0.00235641 0.72089759] [ 0.21445405 -0.13093395 0.96791826 -1.25554392] [ 0. 0. 0. 1. ]] SLAMing on 135.27134618399998 meters Centerline goodness : 0.862441 Centerline is valid? [False, False] Translation: X:1.05, Y:0.72, Z:-1.25 [[ 8.21160342e-01 -5.11145556e-01 -2.53822603e-01 1.05327800e+00] [ 5.28369973e-01 8.49014156e-01 -3.67758510e-04 7.21412832e-01] [ 2.15686961e-01 -1.33810253e-01 9.67250718e-01 -1.25315332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30134618399998 meters Centerline goodness : 0.862351 Centerline is valid? [False, False] Translation: X:1.05, Y:0.72, Z:-1.25 [[ 8.20567797e-01 -5.11603654e-01 -2.54814034e-01 1.05492590e+00] [ 5.28967963e-01 8.48641676e-01 -4.47799195e-04 7.22384338e-01] [ 2.16474904e-01 -1.34421011e-01 9.66989973e-01 -1.25253476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33134618399998 meters Centerline goodness : 0.864408 Centerline is valid? [False, False] Translation: X:1.06, Y:0.72, Z:-1.25 [[ 0.81955963 -0.51302174 -0.25520718 1.05683588] [ 0.53026074 0.84783334 -0.00147583 0.72329118] [ 0.21713028 -0.13411681 0.96688527 -1.25218322] [ 0. 0. 0. 1. ]] SLAMing on 135.36134618399998 meters Centerline goodness : 0.862709 Centerline is valid? [False, False] Translation: X:1.06, Y:0.72, Z:-1.25 [[ 0.81814017 -0.51577681 -0.25420649 1.05728577] [ 0.5323431 0.84651797 -0.00426059 0.72386188] [ 0.21738788 -0.13183931 0.96714058 -1.25162966] [ 0. 0. 0. 1. ]] SLAMing on 135.39134618399999 meters Centerline goodness : 0.863778 Centerline is valid? [False, False] Translation: X:1.06, Y:0.72, Z:-1.25 [[ 0.81673817 -0.51924923 -0.25163267 1.05694534] [ 0.53475224 0.84497158 -0.00794127 0.7233349 ] [ 0.21674595 -0.1280752 0.96779023 -1.25198393] [ 0. 0. 0. 1. ]] SLAMing on 135.421346184 meters Centerline goodness : 0.865531 Centerline is valid? [False, False] Translation: X:1.06, Y:0.72, Z:-1.25 [[ 0.81607953 -0.52010264 -0.25200683 1.05751874] [ 0.53557815 0.84444365 -0.0084244 0.72409982] [ 0.21718712 -0.12809437 0.96768879 -1.25120009] [ 0. 0. 0. 1. ]] SLAMing on 135.451346184 meters Centerline goodness : 0.865905 Centerline is valid? [False, False] Translation: X:1.06, Y:0.73, Z:-1.25 [[ 0.8153891 -0.52068862 -0.2530296 1.05823695] [ 0.53625135 0.84401297 -0.00875173 0.72550748] [ 0.21811719 -0.12855139 0.96741895 -1.24978918] [ 0. 0. 0. 1. ]] SLAMing on 135.481346184 meters Centerline goodness : 0.868343 Centerline is valid? [False, False] Translation: X:1.06, Y:0.73, Z:-1.25 [[ 0.81461844 -0.52138404 -0.25407772 1.05857837] [ 0.53702891 0.84351437 -0.00913608 0.72723724] [ 0.21908162 -0.12900466 0.96714065 -1.24830826] [ 0. 0. 0. 1. ]] SLAMing on 135.511346184 meters Centerline goodness : 0.864677 Centerline is valid? [False, False] Translation: X:1.06, Y:0.73, Z:-1.25 [[ 0.81441844 -0.52189164 -0.25367642 1.05791585] [ 0.53724753 0.84336237 -0.01024722 0.7282674 ] [ 0.21928909 -0.1279415 0.96723486 -1.24805946] [ 0. 0. 0. 1. ]] SLAMing on 135.541346184 meters Centerline goodness : 0.867728 Centerline is valid? [False, False] Translation: X:1.06, Y:0.73, Z:-1.25 [[ 0.81452608 -0.5215282 -0.25407796 1.05833784] [ 0.53687034 0.84359951 -0.010493 0.7288169 ] [ 0.21981243 -0.1278601 0.96712682 -1.24766147] [ 0. 0. 0. 1. ]] SLAMing on 135.571346184 meters Centerline goodness : 0.866406 Centerline is valid? [False, False] Translation: X:1.06, Y:0.73, Z:-1.25 [[ 0.81460227 -0.52131732 -0.25426637 1.05776131] [ 0.53660697 0.84376314 -0.01080395 0.72914157] [ 0.22017288 -0.12764019 0.96707388 -1.24666948] [ 0. 0. 0. 1. ]] SLAMing on 135.601346184 meters Centerline goodness : 0.868441 Centerline is valid? [False, False] Translation: X:1.06, Y:0.73, Z:-1.25 [[ 0.81485316 -0.52088488 -0.25434872 1.05764788] [ 0.53616262 0.84404514 -0.01083767 0.72944834] [ 0.22032698 -0.12754117 0.96705185 -1.24658745] [ 0. 0. 0. 1. ]] SLAMing on 135.631346184 meters Centerline goodness : 0.868506 Centerline is valid? [False, False] Translation: X:1.06, Y:0.73, Z:-1.25 [[ 0.81496809 -0.52095507 -0.25383622 1.05708937] [ 0.53594771 0.84416879 -0.01179395 0.72992208] [ 0.22042473 -0.12643125 0.96717531 -1.24665517] [ 0. 0. 0. 1. ]] SLAMing on 135.661346184 meters Centerline goodness : 0.868617 Centerline is valid? [False, False] Translation: X:1.06, Y:0.73, Z:-1.25 [[ 0.81488621 -0.52079932 -0.25441804 1.05739024] [ 0.53584404 0.8442333 -0.01188676 0.73044942] [ 0.2209788 -0.12664204 0.96702128 -1.24579753] [ 0. 0. 0. 1. ]] SLAMing on 135.691346184 meters Centerline goodness : 0.870165 Centerline is valid? [False, False] Translation: X:1.06, Y:0.73, Z:-1.24 [[ 0.81470399 -0.52079327 -0.2550133 1.05746758] [ 0.53590784 0.84419214 -0.01193399 0.73136391] [ 0.22149536 -0.12694095 0.9668639 -1.24495092] [ 0. 0. 0. 1. ]] SLAMing on 135.721346184 meters Centerline goodness : 0.868858 Centerline is valid? [False, False] Translation: X:1.06, Y:0.73, Z:-1.24 [[ 0.81438223 -0.52133511 -0.25493388 1.05734402] [ 0.53628514 0.84394147 -0.01269047 0.73244881] [ 0.22176526 -0.12638236 0.96687521 -1.24463711] [ 0. 0. 0. 1. ]] SLAMing on 135.751346184 meters Centerline goodness : 0.866978 Centerline is valid? [False, False] Translation: X:1.06, Y:0.73, Z:-1.25 [[ 0.81412585 -0.52228689 -0.2538021 1.05757774] [ 0.53661598 0.84369527 -0.01488576 0.73410118] [ 0.22190626 -0.12407538 0.96714162 -1.24581527] [ 0. 0. 0. 1. ]] SLAMing on 135.781346184 meters Centerline goodness : 0.867323 Centerline is valid? [False, False] Translation: X:1.06, Y:0.74, Z:-1.25 [[ 0.81470001 -0.52729273 -0.24130122 1.05690136] [ 0.5401644 0.8414268 -0.01494518 0.73962713] [ 0.2109178 -0.11816649 0.97033518 -1.24578001] [ 0. 0. 0. 1. ]] SLAMing on 135.811346184 meters Centerline goodness : 0.868155 Centerline is valid? [False, False] Translation: X:1.06, Y:0.74, Z:-1.25 [[ 0.8150306 -0.5265531 -0.24179939 1.05678038] [ 0.53951007 0.84185029 -0.01472983 0.74013314] [ 0.21131492 -0.11844795 0.97021446 -1.24524923] [ 0. 0. 0. 1. ]] SLAMing on 135.841346184 meters Centerline goodness : 0.868488 Centerline is valid? [False, False] Translation: X:1.06, Y:0.74, Z:-1.24 [[ 0.81551382 -0.52517038 -0.24317338 1.05660118] [ 0.53847346 0.84253055 -0.01373316 0.74119954] [ 0.21209324 -0.11974283 0.96988562 -1.24402872] [ 0. 0. 0. 1. ]] SLAMing on 135.871346184 meters Centerline goodness : 0.868048 Centerline is valid? [False, False] Translation: X:1.06, Y:0.74, Z:-1.24 [[ 0.81511843 -0.52536008 -0.24408756 1.05781995] [ 0.53872768 0.84236362 -0.01400053 0.74238886] [ 0.2129658 -0.12008464 0.96965213 -1.24328293] [ 0. 0. 0. 1. ]] SLAMing on 135.901346184 meters Centerline goodness : 0.869608 Centerline is valid? [False, False] Translation: X:1.06, Y:0.74, Z:-1.24 [[ 0.81458009 -0.52632064 -0.24381521 1.05835194] [ 0.53948324 0.84186411 -0.01492173 0.74269573] [ 0.21311289 -0.11937928 0.96970691 -1.24317299] [ 0. 0. 0. 1. ]] SLAMing on 135.931346184 meters Centerline goodness : 0.866988 Centerline is valid? [False, False] Translation: X:1.06, Y:0.74, Z:-1.24 [[ 0.81374365 -0.52715779 -0.24479773 1.06104082] [ 0.54035777 0.84129354 -0.01544843 0.74358861] [ 0.21409051 -0.11970729 0.96945109 -1.24274412] [ 0. 0. 0. 1. ]] SLAMing on 135.961346184 meters Centerline goodness : 0.868319 Centerline is valid? [False, False] Translation: X:1.06, Y:0.74, Z:-1.24 [[ 0.8112983 -0.53042025 -0.24586466 1.06160785] [ 0.54365934 0.8391459 -0.01639145 0.74472988] [ 0.21501068 -0.12036827 0.96916556 -1.2395388 ] [ 0. 0. 0. 1. ]] SLAMing on 135.991346184 meters Centerline goodness : 0.870789 Centerline is valid? [False, False] Translation: X:1.06, Y:0.75, Z:-1.24 [[ 0.81026183 -0.53128142 -0.24741833 1.06335286] [ 0.54473246 0.83844806 -0.01647394 0.74632172] [ 0.21619972 -0.12142859 0.96876869 -1.23800315] [ 0. 0. 0. 1. ]] SLAMing on 136.02134618399998 meters Centerline goodness : 0.870789 Centerline is valid? [False, False] Translation: X:1.06, Y:0.75, Z:-1.24 [[ 0.81026183 -0.53128142 -0.24741833 1.06335286] [ 0.54473246 0.83844806 -0.01647394 0.74632172] [ 0.21619972 -0.12142859 0.96876869 -1.23800315] [ 0. 0. 0. 1. ]] SLAMing on 136.05134618399998 meters Centerline goodness : 0.867796 Centerline is valid? [False, False] Translation: X:1.06, Y:0.75, Z:-1.24 [[ 0.80954495 -0.53235001 -0.24746807 1.06388872] [ 0.54566226 0.83782678 -0.01729101 0.74726737] [ 0.21654024 -0.12103614 0.96874175 -1.23770963] [ 0. 0. 0. 1. ]] SLAMing on 136.08134618399998 meters Centerline goodness : 0.870249 Centerline is valid? [False, False] Translation: X:1.06, Y:0.75, Z:-1.24 [[ 0.8088948 -0.53435251 -0.24526843 1.06400661] [ 0.54670175 0.83707246 -0.02066133 0.74707021] [ 0.21634788 -0.11737583 0.96923501 -1.23846072] [ 0. 0. 0. 1. ]] SLAMing on 136.11134618399998 meters Centerline goodness : 0.870977 Centerline is valid? [False, False] Translation: X:1.06, Y:0.75, Z:-1.24 [[ 0.80885294 -0.53455342 -0.2449685 1.06455174] [ 0.54671063 0.83704849 -0.02138494 0.74737671] [ 0.2164819 -0.11662962 0.96929517 -1.23879904] [ 0. 0. 0. 1. ]] SLAMing on 136.14134618399999 meters Centerline goodness : 0.870942 Centerline is valid? [False, False] Translation: X:1.06, Y:0.75, Z:-1.24 [[ 0.80877179 -0.53437913 -0.24561584 1.0646957 ] [ 0.54662396 0.83710657 -0.02132697 0.74788587] [ 0.21700332 -0.11701085 0.96913261 -1.23772648] [ 0. 0. 0. 1. ]] SLAMing on 136.171346184 meters Centerline goodness : 0.871513 Centerline is valid? [False, False] Translation: X:1.07, Y:0.75, Z:-1.24 [[ 0.80849175 -0.53394086 -0.24748384 1.065648 ] [ 0.54659237 0.83714799 -0.02049466 0.74897498] [ 0.21812354 -0.11870301 0.96867524 -1.23598896] [ 0. 0. 0. 1. ]] SLAMing on 136.201346184 meters Centerline goodness : 0.870964 Centerline is valid? [False, False] Translation: X:1.07, Y:0.75, Z:-1.23 [[ 0.80762275 -0.53395135 -0.25028273 1.06643842] [ 0.54729662 0.8367226 -0.01901831 0.75031086] [ 0.21957207 -0.12161927 0.96798598 -1.2327604 ] [ 0. 0. 0. 1. ]] SLAMing on 136.231346184 meters Centerline goodness : 0.870574 Centerline is valid? [False, False] Translation: X:1.07, Y:0.75, Z:-1.23 [[ 0.80722471 -0.5341711 -0.25109659 1.06881075] [ 0.5475804 0.83653188 -0.0192385 0.75102718] [ 0.22032695 -0.12196578 0.96777083 -1.23276511] [ 0. 0. 0. 1. ]] SLAMing on 136.261346184 meters Centerline goodness : 0.870959 Centerline is valid? [False, False] Translation: X:1.07, Y:0.75, Z:-1.23 [[ 0.80653046 -0.53605676 -0.24930257 1.06741114] [ 0.54877353 0.83569286 -0.02156512 0.7500621 ] [ 0.2199005 -0.11941773 0.96818551 -1.23191408] [ 0. 0. 0. 1. ]] SLAMing on 136.291346184 meters Centerline goodness : 0.870909 Centerline is valid? [False, False] Translation: X:1.07, Y:0.75, Z:-1.23 [[ 0.80589675 -0.53742675 -0.2484007 1.06746071] [ 0.54970695 0.8350353 -0.0232015 0.74941212] [ 0.21989246 -0.11784958 0.96837946 -1.2313039 ] [ 0. 0. 0. 1. ]] SLAMing on 136.321346184 meters Centerline goodness : 0.873681 Centerline is valid? [False, False] Translation: X:1.07, Y:0.75, Z:-1.23 [[ 0.80451777 -0.53988538 -0.24753774 1.06835142] [ 0.55160566 0.83371261 -0.02558277 0.74878059] [ 0.2201871 -0.11596142 0.96854044 -1.23020426] [ 0. 0. 0. 1. ]] SLAMing on 136.351346184 meters Centerline goodness : 0.871346 Centerline is valid? [False, False] Translation: X:1.07, Y:0.75, Z:-1.23 [[ 0.80379238 -0.54037974 -0.24881229 1.07002879] [ 0.55232693 0.83324166 -0.02536343 0.74920487] [ 0.22102665 -0.1170388 0.96821957 -1.22893756] [ 0. 0. 0. 1. ]] SLAMing on 136.381346184 meters Centerline goodness : 0.870265 Centerline is valid? [False, False] Translation: X:1.07, Y:0.75, Z:-1.23 [[ 0.80309046 -0.54095717 -0.24982203 1.07012364] [ 0.55313673 0.83271541 -0.02499594 0.74921213] [ 0.22155239 -0.11811174 0.96796909 -1.22687086] [ 0. 0. 0. 1. ]] SLAMing on 136.411346184 meters Centerline goodness : 0.873784 Centerline is valid? [False, False] Translation: X:1.07, Y:0.75, Z:-1.22 [[ 0.80242441 -0.54119675 -0.25143816 1.07076273] [ 0.55367725 0.83236733 -0.02461975 0.75015048] [ 0.22261304 -0.1194601 0.96756019 -1.22461782] [ 0. 0. 0. 1. ]] SLAMing on 136.441346184 meters Centerline goodness : 0.871917 Centerline is valid? [False, False] Translation: X:1.07, Y:0.75, Z:-1.22 [[ 0.8019638 -0.54169747 -0.25182915 1.07032858] [ 0.55416049 0.83203451 -0.02499449 0.75133961] [ 0.22306999 -0.11950909 0.96744889 -1.22340595] [ 0. 0. 0. 1. ]] SLAMing on 136.471346184 meters Centerline goodness : 0.871726 Centerline is valid? [False, False] Translation: X:1.07, Y:0.75, Z:-1.22 [[ 0.80162305 -0.54252019 -0.25114205 1.07112772] [ 0.55453233 0.83173362 -0.02670353 0.75226335] [ 0.22337049 -0.11786022 0.96758183 -1.22407904] [ 0. 0. 0. 1. ]] SLAMing on 136.501346184 meters Centerline goodness : 0.872555 Centerline is valid? [False, False] Translation: X:1.07, Y:0.75, Z:-1.23 [[ 0.80125076 -0.54348116 -0.25025077 1.07227578] [ 0.55499314 0.83136513 -0.0285418 0.75311183] [ 0.22356169 -0.11601832 0.96776026 -1.22520355] [ 0. 0. 0. 1. ]] SLAMing on 136.531346184 meters Centerline goodness : 0.872321 Centerline is valid? [False, False] Translation: X:1.07, Y:0.75, Z:-1.23 [[ 0.80162325 -0.54358884 -0.24881989 1.07134705] [ 0.55461318 0.83157064 -0.02990798 0.75345891] [ 0.22316895 -0.11402386 0.9680879 -1.22630716] [ 0. 0. 0. 1. ]] SLAMing on 136.561346184 meters Centerline goodness : 0.871203 Centerline is valid? [False, False] Translation: X:1.07, Y:0.76, Z:-1.22 [[ 0.80149513 -0.54313895 -0.25021119 1.07154396] [ 0.55437029 0.83174082 -0.02967792 0.7551296 ] [ 0.2242301 -0.11492295 0.96773632 -1.22472073] [ 0. 0. 0. 1. ]] SLAMing on 136.591346184 meters Centerline goodness : 0.871172 Centerline is valid? [False, False] Translation: X:1.07, Y:0.76, Z:-1.22 [[ 0.80090092 -0.54370143 -0.25089134 1.07129582] [ 0.55497211 0.8313292 -0.02996197 0.75660209] [ 0.22486366 -0.11524113 0.96755145 -1.22344059] [ 0. 0. 0. 1. ]] SLAMing on 136.621346184 meters Centerline goodness : 0.870037 Centerline is valid? [False, False] Translation: X:1.07, Y:0.76, Z:-1.22 [[ 0.79986497 -0.54520826 -0.25092625 1.07153461] [ 0.55628945 0.83040861 -0.03104176 0.75772753] [ 0.22529554 -0.11475841 0.96750836 -1.22253355] [ 0. 0. 0. 1. ]] SLAMing on 136.651346184 meters Centerline goodness : 0.869087 Centerline is valid? [False, False] Translation: X:1.07, Y:0.76, Z:-1.22 [[ 0.7989723 -0.54621389 -0.25158229 1.07247374] [ 0.55729174 0.82971644 -0.03156811 0.75864411] [ 0.2259849 -0.11498269 0.96732094 -1.22134101] [ 0. 0. 0. 1. ]] SLAMing on 136.681346184 meters Centerline goodness : 0.868890 Centerline is valid? [False, False] Translation: X:1.07, Y:0.76, Z:-1.22 [[ 0.79808086 -0.5473887 -0.25185821 1.07313393] [ 0.55839258 0.82895075 -0.03222388 0.7591704 ] [ 0.22641704 -0.11491849 0.96722751 -1.22036595] [ 0. 0. 0. 1. ]] SLAMing on 136.711346184 meters Centerline goodness : 0.867974 Centerline is valid? [False, False] Translation: X:1.07, Y:0.76, Z:-1.22 [[ 0.79739097 -0.54840127 -0.25184059 1.07391178] [ 0.55930555 0.82831212 -0.03280737 0.75931862] [ 0.22659422 -0.11469555 0.96721249 -1.21994728] [ 0. 0. 0. 1. ]] SLAMing on 136.741346184 meters Centerline goodness : 0.868009 Centerline is valid? [False, False] Translation: X:1.07, Y:0.76, Z:-1.22 [[ 0.79636778 -0.54959059 -0.25248473 1.07364757] [ 0.56058411 0.82744116 -0.03296339 0.75950578] [ 0.22703263 -0.11528795 0.96703923 -1.21777512] [ 0. 0. 0. 1. ]] SLAMing on 136.77134618399998 meters Centerline goodness : 0.865347 Centerline is valid? [False, False] Translation: X:1.08, Y:0.76, Z:-1.22 [[ 0.79594291 -0.54917112 -0.25472724 1.07709659] [ 0.56065656 0.82743007 -0.03199538 0.76153943] [ 0.22833992 -0.117348 0.96648349 -1.21773263] [ 0. 0. 0. 1. ]] SLAMing on 136.80134618399998 meters Centerline goodness : 0.867169 Centerline is valid? [False, False] Translation: X:1.08, Y:0.76, Z:-1.22 [[ 0.79529683 -0.55002961 -0.25489288 1.07778274] [ 0.56142508 0.82688487 -0.03260813 0.76206213] [ 0.2287025 -0.11717012 0.96641933 -1.21722446] [ 0. 0. 0. 1. ]] SLAMing on 136.83134618399998 meters Centerline goodness : 0.866255 Centerline is valid? [False, False] Translation: X:1.08, Y:0.76, Z:-1.22 [[ 0.79460549 -0.55089031 -0.2551901 1.07921542] [ 0.56217627 0.82634381 -0.03337294 0.7629549 ] [ 0.22925959 -0.1169435 0.96631478 -1.21706699] [ 0. 0. 0. 1. ]] SLAMing on 136.86134618399998 meters Centerline goodness : 0.864979 Centerline is valid? [False, False] Translation: X:1.08, Y:0.76, Z:-1.22 [[ 0.79401263 -0.55194231 -0.25476191 1.07922599] [ 0.56300402 0.82574338 -0.03426888 0.76339448] [ 0.2292824 -0.11622206 0.96639641 -1.2168297 ] [ 0. 0. 0. 1. ]] SLAMing on 136.89134618399999 meters Centerline goodness : 0.865847 Centerline is valid? [False, False] Translation: X:1.08, Y:0.76, Z:-1.22 [[ 0.79370924 -0.55255348 -0.25438218 1.07960466] [ 0.5633774 0.82545058 -0.03517445 0.76391721] [ 0.22941569 -0.11539489 0.9664639 -1.2170012 ] [ 0. 0. 0. 1. ]] SLAMing on 136.921346184 meters Centerline goodness : 0.863981 Centerline is valid? [False, False] Translation: X:1.08, Y:0.76, Z:-1.22 [[ 0.79360432 -0.55256867 -0.25467634 1.08110124] [ 0.56331155 0.82547419 -0.03567153 0.76458904] [ 0.22993972 -0.11515305 0.9663682 -1.21735518] [ 0. 0. 0. 1. ]] SLAMing on 136.951346184 meters Centerline goodness : 0.864492 Centerline is valid? [False, False] Translation: X:1.08, Y:0.76, Z:-1.22 [[ 0.79471611 -0.55101351 -0.25457889 1.07947046] [ 0.56175047 0.8265497 -0.03538353 0.76438989] [ 0.22991891 -0.11488995 0.96640447 -1.21683381] [ 0. 0. 0. 1. ]] SLAMing on 136.981346184 meters Centerline goodness : 0.865426 Centerline is valid? [False, False] Translation: X:1.08, Y:0.77, Z:-1.22 [[ 0.79612152 -0.55315911 -0.24536814 1.08215281] [ 0.56342298 0.82551111 -0.03295388 0.77171722] [ 0.22078286 -0.11201076 0.96886971 -1.21659117] [ 0. 0. 0. 1. ]] SLAMing on 137.011346184 meters Centerline goodness : 0.863845 Centerline is valid? [False, False] Translation: X:1.08, Y:0.77, Z:-1.22 [[ 0.79727574 -0.55020021 -0.24825615 1.0845306 ] [ 0.5612396 0.82708691 -0.03061625 0.77344424] [ 0.22217447 -0.11492159 0.96821048 -1.21660544] [ 0. 0. 0. 1. ]] SLAMing on 137.041346184 meters Centerline goodness : 0.862817 Centerline is valid? [False, False] Translation: X:1.09, Y:0.78, Z:-1.22 [[ 0.7981222 -0.5483517 -0.24962244 1.08558905] [ 0.55966335 0.82818174 -0.02986557 0.77515288] [ 0.22310958 -0.11586815 0.96788258 -1.21689317] [ 0. 0. 0. 1. ]] SLAMing on 137.071346184 meters Centerline goodness : 0.861064 Centerline is valid? [False, False] Translation: X:1.09, Y:0.78, Z:-1.22 [[ 0.79868839 -0.54778299 -0.24905953 1.08589674] [ 0.55876265 0.82875136 -0.0309109 0.77624975] [ 0.22334089 -0.11447699 0.96799477 -1.21809913] [ 0. 0. 0. 1. ]] SLAMing on 137.101346184 meters Centerline goodness : 0.860966 Centerline is valid? [False, False] Translation: X:1.09, Y:0.78, Z:-1.22 [[ 0.79805436 -0.54888494 -0.24866557 1.0869384 ] [ 0.55950468 0.82819206 -0.03244117 0.77760931] [ 0.22374932 -0.11323974 0.96804597 -1.21862555] [ 0. 0. 0. 1. ]] SLAMing on 137.131346184 meters Centerline goodness : 0.861659 Centerline is valid? [False, False] Translation: X:1.09, Y:0.78, Z:-1.22 [[ 0.79730373 -0.54927256 -0.25021274 1.09007978] [ 0.56014385 0.82776797 -0.03223435 0.77967421] [ 0.22482354 -0.11445456 0.96765414 -1.21889042] [ 0. 0. 0. 1. ]] SLAMing on 137.161346184 meters Centerline goodness : 0.863126 Centerline is valid? [False, False] Translation: X:1.09, Y:0.78, Z:-1.22 [[ 0.79621714 -0.5500225 -0.25201887 1.09175546] [ 0.56118105 0.82707102 -0.03208372 0.78171362] [ 0.22608427 -0.1158826 0.96719033 -1.21736084] [ 0. 0. 0. 1. ]] SLAMing on 137.191346184 meters Centerline goodness : 0.860596 Centerline is valid? [False, False] Translation: X:1.09, Y:0.78, Z:-1.22 [[ 0.79424082 -0.5521733 -0.25354715 1.0944922 ] [ 0.56342327 0.82551439 -0.03286667 0.78448659] [ 0.22745492 -0.11675032 0.96676451 -1.21640354] [ 0. 0. 0. 1. ]] SLAMing on 137.221346184 meters Centerline goodness : 0.862380 Centerline is valid? [False, False] Translation: X:1.10, Y:0.79, Z:-1.22 [[ 0.79312879 -0.55403874 -0.2529581 1.09651578] [ 0.56484808 0.82446339 -0.03473847 0.78514119] [ 0.22780115 -0.11533081 0.96685337 -1.21696971] [ 0. 0. 0. 1. ]] SLAMing on 137.251346184 meters Centerline goodness : 0.863363 Centerline is valid? [False, False] Translation: X:1.10, Y:0.79, Z:-1.22 [[ 0.7918812 -0.5564497 -0.25157084 1.09736621] [ 0.56658571 0.82315914 -0.03727813 0.78533453] [ 0.22782624 -0.11301659 0.9671207 -1.2173042 ] [ 0. 0. 0. 1. ]] SLAMing on 137.281346184 meters Centerline goodness : 0.864198 Centerline is valid? [False, False] Translation: X:1.10, Y:0.79, Z:-1.22 [[ 0.78977943 -0.55880556 -0.25295217 1.09962872] [ 0.56903095 0.82143717 -0.03801 0.78700168] [ 0.22902451 -0.1139181 0.96673183 -1.21558197] [ 0. 0. 0. 1. ]] SLAMing on 137.311346184 meters Centerline goodness : 0.864567 Centerline is valid? [False, False] Translation: X:1.10, Y:0.79, Z:-1.21 [[ 0.78917665 -0.55802923 -0.25652213 1.10219833] [ 0.56915281 0.82144447 -0.03597317 0.78973276] [ 0.23079276 -0.1176111 0.96586869 -1.21387511] [ 0. 0. 0. 1. ]] SLAMing on 137.341346184 meters Centerline goodness : 0.864234 Centerline is valid? [False, False] Translation: X:1.10, Y:0.79, Z:-1.21 [[ 0.78901889 -0.55708233 -0.25905303 1.10280248] [ 0.56886935 0.82170831 -0.03439651 0.79120484] [ 0.23202771 -0.12022783 0.96525044 -1.21169361] [ 0. 0. 0. 1. ]] SLAMing on 137.371346184 meters Centerline goodness : 0.863844 Centerline is valid? [False, False] Translation: X:1.10, Y:0.79, Z:-1.21 [[ 0.78990911 -0.55495318 -0.26090336 1.10462504] [ 0.56719488 0.82291638 -0.03314505 0.79283482] [ 0.2330956 -0.12180147 0.96479575 -1.21206907] [ 0. 0. 0. 1. ]] SLAMing on 137.401346184 meters Centerline goodness : 0.866456 Centerline is valid? [False, False] Translation: X:1.11, Y:0.79, Z:-1.21 [[ 0.79021708 -0.55485571 -0.26017708 1.10571116] [ 0.56674751 0.82318209 -0.03418332 0.79318054] [ 0.23313993 -0.12044247 0.96495564 -1.2135881 ] [ 0. 0. 0. 1. ]] SLAMing on 137.431346184 meters Centerline goodness : 0.866528 Centerline is valid? [False, False] Translation: X:1.11, Y:0.79, Z:-1.21 [[ 0.79009229 -0.55534675 -0.25950753 1.10624363] [ 0.56683517 0.82306259 -0.03557906 0.79378418] [ 0.23334965 -0.11898725 0.96508548 -1.21417118] [ 0. 0. 0. 1. ]] SLAMing on 137.461346184 meters Centerline goodness : 0.869112 Centerline is valid? [False, False] Translation: X:1.11, Y:0.79, Z:-1.21 [[ 0.79012237 -0.5551659 -0.25980272 1.1074863 ] [ 0.56657652 0.82322123 -0.03602567 0.79492833] [ 0.23387534 -0.11873343 0.96498948 -1.21475972] [ 0. 0. 0. 1. ]] SLAMing on 137.491346184 meters Centerline goodness : 0.870646 Centerline is valid? [False, False] Translation: X:1.11, Y:0.80, Z:-1.21 [[ 0.78990607 -0.55383437 -0.26327909 1.10694995] [ 0.56619639 0.8235793 -0.03374578 0.79781624] [ 0.23552079 -0.12241167 0.96412932 -1.21151257] [ 0. 0. 0. 1. ]] SLAMing on 137.52134618399998 meters Centerline goodness : 0.869202 Centerline is valid? [False, False] Translation: X:1.11, Y:0.80, Z:-1.21 [[ 0.78963674 -0.55361628 -0.26454268 1.10711625] [ 0.56618553 0.82359489 -0.03354713 0.79955192] [ 0.23644824 -0.12329019 0.96379031 -1.21028339] [ 0. 0. 0. 1. ]] SLAMing on 137.55134618399998 meters Centerline goodness : 0.869534 Centerline is valid? [False, False] Translation: X:1.11, Y:0.80, Z:-1.21 [[ 0.78927783 -0.55406916 -0.26466558 1.1081494 ] [ 0.56645714 0.82337161 -0.03443119 0.80075429] [ 0.23699539 -0.12274593 0.96372539 -1.21044779] [ 0. 0. 0. 1. ]] SLAMing on 137.58134618399998 meters Centerline goodness : 0.869957 Centerline is valid? [False, False] Translation: X:1.11, Y:0.80, Z:-1.21 [[ 0.78890644 -0.55596879 -0.26177343 1.1077119 ] [ 0.56713238 0.8227397 -0.03821323 0.80056063] [ 0.23661676 -0.11831353 0.96437255 -1.21177043] [ 0. 0. 0. 1. ]] SLAMing on 137.61134618399998 meters Centerline goodness : 0.869167 Centerline is valid? [False, False] Translation: X:1.11, Y:0.80, Z:-1.21 [[ 0.78886077 -0.55606354 -0.2617098 1.10739196] [ 0.5671457 0.82271581 -0.03852843 0.80027304] [ 0.23673705 -0.11803402 0.96437728 -1.21110114] [ 0. 0. 0. 1. ]] SLAMing on 137.64134618399999 meters Centerline goodness : 0.869018 Centerline is valid? [False, False] Translation: X:1.11, Y:0.80, Z:-1.21 [[ 0.78890807 -0.5554016 -0.26296979 1.10880675] [ 0.56674446 0.8230164 -0.03800948 0.80091074] [ 0.23753897 -0.11905068 0.96405507 -1.21056991] [ 0. 0. 0. 1. ]] SLAMing on 137.671346184 meters Centerline goodness : 0.870400 Centerline is valid? [False, False] Translation: X:1.11, Y:0.80, Z:-1.21 [[ 0.78901644 -0.55470145 -0.26411997 1.10783673] [ 0.56647023 0.82326173 -0.03676418 0.80040977] [ 0.23783301 -0.12060855 0.9637889 -1.2083996 ] [ 0. 0. 0. 1. ]] SLAMing on 137.701346184 meters Centerline goodness : 0.873767 Centerline is valid? [False, False] Translation: X:1.11, Y:0.80, Z:-1.21 [[ 0.78887399 -0.55457361 -0.26481304 1.10835855] [ 0.56647938 0.82326478 -0.03655436 0.80037686] [ 0.23828333 -0.12117434 0.96360668 -1.20738439] [ 0. 0. 0. 1. ]] SLAMing on 137.731346184 meters Centerline goodness : 0.874686 Centerline is valid? [False, False] Translation: X:1.11, Y:0.80, Z:-1.21 [[ 0.78837647 -0.55529742 -0.26477786 1.10839891] [ 0.56710091 0.82281338 -0.0370769 0.80039995] [ 0.23845148 -0.12092521 0.96359638 -1.20666132] [ 0. 0. 0. 1. ]] SLAMing on 137.761346184 meters Centerline goodness : 0.873103 Centerline is valid? [False, False] Translation: X:1.11, Y:0.80, Z:-1.21 [[ 0.78754971 -0.5566552 -0.26438691 1.10898692] [ 0.56818605 0.82201244 -0.03821198 0.80057276] [ 0.23860023 -0.12012712 0.96365938 -1.20632507] [ 0. 0. 0. 1. ]] SLAMing on 137.791346184 meters Centerline goodness : 0.873524 Centerline is valid? [False, False] Translation: X:1.11, Y:0.80, Z:-1.21 [[ 0.78634474 -0.5593894 -0.26219354 1.10787762] [ 0.57005002 0.82058264 -0.04107424 0.79990651] [ 0.23812796 -0.11716492 0.96414079 -1.20583511] [ 0. 0. 0. 1. ]] SLAMing on 137.821346184 meters Centerline goodness : 0.874284 Centerline is valid? [False, False] Translation: X:1.11, Y:0.80, Z:-1.21 [[ 0.78585816 -0.56019886 -0.26192401 1.10848818] [ 0.57066581 0.82011464 -0.04186292 0.80004741] [ 0.23825928 -0.11657275 0.96418012 -1.20588152] [ 0. 0. 0. 1. ]] SLAMing on 137.851346184 meters Centerline goodness : 0.873849 Centerline is valid? [False, False] Translation: X:1.11, Y:0.81, Z:-1.21 [[ 0.78580813 -0.565276 -0.25093551 1.11194349] [ 0.57463505 0.81734497 -0.04173424 0.80644842] [ 0.22869224 -0.11140123 0.96710373 -1.20622958] [ 0. 0. 0. 1. ]] SLAMing on 137.881346184 meters Centerline goodness : 0.874464 Centerline is valid? [False, False] Translation: X:1.11, Y:0.81, Z:-1.21 [[ 0.78519414 -0.56563553 -0.25204486 1.11361422] [ 0.57513022 0.81699398 -0.04178602 0.80680972] [ 0.22955479 -0.11214847 0.96681297 -1.20525109] [ 0. 0. 0. 1. ]] SLAMing on 137.911346184 meters Centerline goodness : 0.874464 Centerline is valid? [False, False] Translation: X:1.11, Y:0.81, Z:-1.21 [[ 0.78519414 -0.56563553 -0.25204486 1.11361422] [ 0.57513022 0.81699398 -0.04178602 0.80680972] [ 0.22955479 -0.11214847 0.96681297 -1.20525109] [ 0. 0. 0. 1. ]] SLAMing on 137.941346184 meters Centerline goodness : 0.874058 Centerline is valid? [False, False] Translation: X:1.12, Y:0.81, Z:-1.20 [[ 0.78480696 -0.56495419 -0.25476421 1.11701108] [ 0.57504029 0.81711801 -0.04058115 0.80943536] [ 0.23109892 -0.11465132 0.96615132 -1.20497292] [ 0. 0. 0. 1. ]] SLAMing on 137.971346184 meters Centerline goodness : 0.873570 Centerline is valid? [False, False] Translation: X:1.12, Y:0.81, Z:-1.20 [[ 0.78431297 -0.56531731 -0.25547898 1.11716859] [ 0.57543641 0.81682443 -0.04087517 0.81073737] [ 0.23178892 -0.11495299 0.96595016 -1.20388368] [ 0. 0. 0. 1. ]] SLAMing on 138.001346184 meters Centerline goodness : 0.874289 Centerline is valid? [False, False] Translation: X:1.12, Y:0.81, Z:-1.20 [[ 0.78367935 -0.56593811 -0.2560483 1.11878518] [ 0.57600039 0.81639467 -0.04151264 0.81195022] [ 0.23253005 -0.11495132 0.96577221 -1.20380195] [ 0. 0. 0. 1. ]] SLAMing on 138.031346184 meters Centerline goodness : 0.876245 Centerline is valid? [False, False] Translation: X:1.12, Y:0.81, Z:-1.20 [[ 0.7837888 -0.56598707 -0.25560468 1.11954105] [ 0.57591166 0.81643926 -0.04186526 0.81120126] [ 0.23238089 -0.11439219 0.9658745 -1.20427736] [ 0. 0. 0. 1. ]] SLAMing on 138.061346184 meters Centerline goodness : 0.875258 Centerline is valid? [False, False] Translation: X:1.12, Y:0.81, Z:-1.20 [[ 0.78359411 -0.56606516 -0.25602833 1.1206799 ] [ 0.57601497 0.8163599 -0.04199129 0.81071149] [ 0.23278107 -0.11457202 0.96575682 -1.20377598] [ 0. 0. 0. 1. ]] SLAMing on 138.091346184 meters Centerline goodness : 0.877584 Centerline is valid? [False, False] Translation: X:1.12, Y:0.81, Z:-1.20 [[ 0.78330134 -0.56631525 -0.25637092 1.12041177] [ 0.57631373 0.81614812 -0.0420087 0.81034147] [ 0.23302681 -0.11484461 0.96566517 -1.20245907] [ 0. 0. 0. 1. ]] SLAMing on 138.121346184 meters Centerline goodness : 0.879201 Centerline is valid? [False, False] Translation: X:1.12, Y:0.81, Z:-1.20 [[ 0.78188899 -0.56555106 -0.2623006 1.12469351] [ 0.57707299 0.81577441 -0.03871535 0.81377264] [ 0.23587362 -0.12109549 0.96420927 -1.19893845] [ 0. 0. 0. 1. ]] SLAMing on 138.151346184 meters Centerline goodness : 0.878277 Centerline is valid? [False, False] Translation: X:1.13, Y:0.82, Z:-1.20 [[ 0.7806278 -0.56674777 -0.26347144 1.12667645] [ 0.5783732 0.8148331 -0.03913382 0.8154037 ] [ 0.23686426 -0.12183587 0.96387309 -1.19797278] [ 0. 0. 0. 1. ]] SLAMing on 138.181346184 meters Centerline goodness : 0.876932 Centerline is valid? [False, False] Translation: X:1.13, Y:0.82, Z:-1.20 [[ 0.77918178 -0.56935416 -0.26212895 1.12704708] [ 0.58019408 0.81339046 -0.04208077 0.81582688] [ 0.23717205 -0.1192971 0.96411494 -1.19745592] [ 0. 0. 0. 1. ]] SLAMing on 138.211346184 meters Centerline goodness : 0.878288 Centerline is valid? [False, False] Translation: X:1.13, Y:0.82, Z:-1.20 [[ 0.7777475 -0.57271763 -0.25904311 1.12901459] [ 0.58231769 0.81165122 -0.04613454 0.81510616] [ 0.23667472 -0.11496437 0.96476332 -1.19958967] [ 0. 0. 0. 1. ]] SLAMing on 138.241346184 meters Centerline goodness : 0.875154 Centerline is valid? [False, False] Translation: X:1.13, Y:0.82, Z:-1.20 [[ 0.77703431 -0.57372385 -0.2589568 1.13197392] [ 0.58306611 0.81104547 -0.04731969 0.81590745] [ 0.23717417 -0.11421991 0.96472909 -1.20077123] [ 0. 0. 0. 1. ]] SLAMing on 138.27134618399998 meters Centerline goodness : 0.876200 Centerline is valid? [False, False] Translation: X:1.13, Y:0.82, Z:-1.20 [[ 0.776629 -0.57383952 -0.25991461 1.13455432] [ 0.58331715 0.81086767 -0.04727282 0.81609898] [ 0.23788337 -0.11489921 0.96447378 -1.20052432] [ 0. 0. 0. 1. ]] SLAMing on 138.30134618399998 meters Centerline goodness : 0.876299 Centerline is valid? [False, False] Translation: X:1.14, Y:0.82, Z:-1.20 [[ 0.77658512 -0.57113182 -0.26593983 1.13676819] [ 0.58248193 0.81173948 -0.04235338 0.81633802] [ 0.24006323 -0.12201414 0.96305877 -1.1955347 ] [ 0. 0. 0. 1. ]] SLAMing on 138.33134618399998 meters Centerline goodness : 0.876115 Centerline is valid? [False, False] Translation: X:1.14, Y:0.82, Z:-1.19 [[ 0.7766397 -0.5689495 -0.27042051 1.13944849] [ 0.58161942 0.81252061 -0.03910376 0.8180084 ] [ 0.24197031 -0.12691229 0.96194784 -1.19297536] [ 0. 0. 0. 1. ]] SLAMing on 138.36134618399998 meters Centerline goodness : 0.876251 Centerline is valid? [False, False] Translation: X:1.14, Y:0.82, Z:-1.19 [[ 0.77661906 -0.5683709 -0.27169351 1.1400836 ] [ 0.58128527 0.81277772 -0.03872743 0.81852809] [ 0.24283797 -0.12785497 0.9616043 -1.19160788] [ 0. 0. 0. 1. ]] SLAMing on 138.39134618399999 meters Centerline goodness : 0.876146 Centerline is valid? [False, False] Translation: X:1.14, Y:0.82, Z:-1.19 [[ 0.77674675 -0.56846425 -0.2711326 1.14116008] [ 0.5810735 0.8128849 -0.03964501 0.81832621] [ 0.24293637 -0.12675384 0.96172521 -1.19236289] [ 0. 0. 0. 1. ]] SLAMing on 138.421346184 meters Centerline goodness : 0.877043 Centerline is valid? [False, False] Translation: X:1.14, Y:0.82, Z:-1.20 [[ 0.77721141 -0.57000888 -0.26651885 1.14011673] [ 0.58106633 0.81268614 -0.04362517 0.8166972 ] [ 0.24146291 -0.12095915 0.96284191 -1.19570948] [ 0. 0. 0. 1. ]] SLAMing on 138.451346184 meters Centerline goodness : 0.875988 Centerline is valid? [False, False] Translation: X:1.14, Y:0.82, Z:-1.20 [[ 0.77723674 -0.5698089 -0.26687237 1.14149347] [ 0.58069771 0.81290519 -0.04444452 0.81817832] [ 0.24226682 -0.12042826 0.96270651 -1.1960708 ] [ 0. 0. 0. 1. ]] SLAMing on 138.481346184 meters Centerline goodness : 0.875318 Centerline is valid? [False, False] Translation: X:1.14, Y:0.82, Z:-1.20 [[ 0.77714637 -0.56938412 -0.26803961 1.14270838] [ 0.58039157 0.81312056 -0.04450363 0.82058285] [ 0.24328818 -0.1209821 0.96237944 -1.19587904] [ 0. 0. 0. 1. ]] SLAMing on 138.511346184 meters Centerline goodness : 0.875973 Centerline is valid? [False, False] Translation: X:1.14, Y:0.82, Z:-1.19 [[ 0.77716513 -0.56794638 -0.27101896 1.1432434 ] [ 0.57977632 0.81366325 -0.04256219 0.82322813] [ 0.24469121 -0.12405252 0.96163256 -1.19407456] [ 0. 0. 0. 1. ]] SLAMing on 138.541346184 meters Centerline goodness : 0.875126 Centerline is valid? [False, False] Translation: X:1.14, Y:0.82, Z:-1.19 [[ 0.77641405 -0.56883207 -0.27131403 1.14404882] [ 0.58051044 0.81309125 -0.043477 0.82459381] [ 0.24533418 -0.12374447 0.96150842 -1.19349989] [ 0. 0. 0. 1. ]] SLAMing on 138.571346184 meters Centerline goodness : 0.874184 Centerline is valid? [False, False] Translation: X:1.14, Y:0.82, Z:-1.19 [[ 0.77553194 -0.5707925 -0.26971491 1.14385763] [ 0.58168754 0.81210637 -0.04607441 0.82467626] [ 0.24533612 -0.12115763 0.96183731 -1.19347061] [ 0. 0. 0. 1. ]] SLAMing on 138.601346184 meters Centerline goodness : 0.875073 Centerline is valid? [False, False] Translation: X:1.14, Y:0.82, Z:-1.19 [[ 0.77476109 -0.57266485 -0.26795565 1.14326574] [ 0.58278765 0.81117294 -0.04854922 0.82416937] [ 0.2451608 -0.1185472 0.96220723 -1.19322647] [ 0. 0. 0. 1. ]] SLAMing on 138.631346184 meters Centerline goodness : 0.873136 Centerline is valid? [False, False] Translation: X:1.14, Y:0.82, Z:-1.19 [[ 0.77435522 -0.57309643 -0.26820603 1.14258529] [ 0.58330341 0.81080953 -0.04842549 0.82366389] [ 0.24521648 -0.11894697 0.9621437 -1.19171784] [ 0. 0. 0. 1. ]] SLAMing on 138.661346184 meters Centerline goodness : 0.874656 Centerline is valid? [False, False] Translation: X:1.14, Y:0.82, Z:-1.19 [[ 0.77418084 -0.57283993 -0.26925534 1.14165679] [ 0.58330471 0.81083967 -0.04790252 0.82391589] [ 0.24576339 -0.1199727 0.96187676 -1.18958136] [ 0. 0. 0. 1. ]] SLAMing on 138.691346184 meters Centerline goodness : 0.876616 Centerline is valid? [False, False] Translation: X:1.14, Y:0.82, Z:-1.19 [[ 0.77425016 -0.57230884 -0.27018377 1.14070787] [ 0.58304435 0.81106683 -0.0472217 0.82404812] [ 0.24616249 -0.12096771 0.96165006 -1.18774981] [ 0. 0. 0. 1. ]] SLAMing on 138.721346184 meters Centerline goodness : 0.876402 Centerline is valid? [False, False] Translation: X:1.14, Y:0.82, Z:-1.19 [[ 0.77429535 -0.57198352 -0.27074261 1.13982385] [ 0.58283043 0.81123261 -0.04701438 0.8246733 ] [ 0.24652668 -0.12139401 0.96150304 -1.18649011] [ 0. 0. 0. 1. ]] SLAMing on 138.751346184 meters Centerline goodness : 0.874489 Centerline is valid? [False, False] Translation: X:1.14, Y:0.82, Z:-1.19 [[ 0.77454604 -0.572311 -0.26932981 1.13807315] [ 0.5826784 0.81127085 -0.04822333 0.8248439 ] [ 0.24609816 -0.11958148 0.96183988 -1.18688495] [ 0. 0. 0. 1. ]] SLAMing on 138.781346184 meters Centerline goodness : 0.874342 Centerline is valid? [False, False] Translation: X:1.14, Y:0.82, Z:-1.19 [[ 0.77456654 -0.57276914 -0.26829495 1.13785754] [ 0.58273846 0.81116049 -0.04934114 0.82497463] [ 0.24589134 -0.11812779 0.96207238 -1.18756793] [ 0. 0. 0. 1. ]] SLAMing on 138.811346184 meters Centerline goodness : 0.871718 Centerline is valid? [False, False] Translation: X:1.14, Y:0.83, Z:-1.19 [[ 0.77510363 -0.57273633 -0.26680978 1.13649923] [ 0.58219612 0.81147298 -0.05058933 0.82514356] [ 0.24548328 -0.11612364 0.96242052 -1.18842512] [ 0. 0. 0. 1. ]] SLAMing on 138.841346184 meters Centerline goodness : 0.869362 Centerline is valid? [False, False] Translation: X:1.14, Y:0.83, Z:-1.19 [[ 0.77587675 -0.57553637 -0.25840501 1.14162562] [ 0.58487103 0.80974042 -0.04739546 0.83304647] [ 0.23651879 -0.11436057 0.96487332 -1.18939339] [ 0. 0. 0. 1. ]] SLAMing on 138.871346184 meters Centerline goodness : 0.871274 Centerline is valid? [False, False] Translation: X:1.14, Y:0.83, Z:-1.19 [[ 0.77576775 -0.5749738 -0.25997987 1.14226273] [ 0.58459493 0.80996708 -0.04692654 0.83467197] [ 0.23755666 -0.11557882 0.9644731 -1.18813668] [ 0. 0. 0. 1. ]] SLAMing on 138.901346184 meters Centerline goodness : 0.869558 Centerline is valid? [False, False] Translation: X:1.14, Y:0.84, Z:-1.19 [[ 0.77588775 -0.57408517 -0.26158061 1.14323392] [ 0.58403849 0.81040799 -0.04623774 0.8359905 ] [ 0.23853142 -0.11689785 0.96407347 -1.1872309 ] [ 0. 0. 0. 1. ]] SLAMing on 138.931346184 meters Centerline goodness : 0.869805 Centerline is valid? [False, False] Translation: X:1.15, Y:0.84, Z:-1.19 [[ 0.77560837 -0.57377932 -0.26307593 1.14538423] [ 0.58384276 0.81053376 -0.04650436 0.83867761] [ 0.23991516 -0.11752581 0.96365367 -1.18709633] [ 0. 0. 0. 1. ]] SLAMing on 138.961346184 meters Centerline goodness : 0.869054 Centerline is valid? [False, False] Translation: X:1.15, Y:0.84, Z:-1.19 [[ 0.77513362 -0.57549751 -0.2607115 1.14673935] [ 0.5844948 0.80986114 -0.04990766 0.84001943] [ 0.23986184 -0.11369941 0.96412589 -1.18960636] [ 0. 0. 0. 1. ]] SLAMing on 138.99134618399998 meters Centerline goodness : 0.868367 Centerline is valid? [False, False] Translation: X:1.15, Y:0.84, Z:-1.19 [[ 0.77454478 -0.57595626 -0.26144746 1.1483776 ] [ 0.58493883 0.80950913 -0.05041368 0.84097246] [ 0.24068018 -0.11388312 0.96390025 -1.18904229] [ 0. 0. 0. 1. ]] SLAMing on 139.02134618399998 meters Centerline goodness : 0.868371 Centerline is valid? [False, False] Translation: X:1.15, Y:0.84, Z:-1.19 [[ 0.77383211 -0.5759197 -0.26362921 1.15023078] [ 0.58526626 0.80929573 -0.05003822 0.84343149] [ 0.24217199 -0.1155721 0.9633254 -1.18762707] [ 0. 0. 0. 1. ]] SLAMing on 139.05134618399998 meters Centerline goodness : 0.870378 Centerline is valid? [False, False] Translation: X:1.15, Y:0.85, Z:-1.19 [[ 0.77268237 -0.57601962 -0.26676459 1.15223933] [ 0.58602803 0.80880701 -0.04901393 0.84670273] [ 0.24399406 -0.11845932 0.96251457 -1.18547741] [ 0. 0. 0. 1. ]] SLAMing on 139.08134618399998 meters Centerline goodness : 0.867843 Centerline is valid? [False, False] Translation: X:1.15, Y:0.85, Z:-1.18 [[ 0.7722139 -0.57622906 -0.26766725 1.15374979] [ 0.58630922 0.80859013 -0.04922904 0.84787309] [ 0.2448003 -0.11892043 0.96225295 -1.18487848] [ 0. 0. 0. 1. ]] SLAMing on 139.11134618399998 meters Centerline goodness : 0.869948 Centerline is valid? [False, False] Translation: X:1.15, Y:0.85, Z:-1.18 [[ 0.77149688 -0.57697122 -0.26813572 1.15388703] [ 0.58708215 0.80801353 -0.04948429 0.84832407] [ 0.2452083 -0.11924072 0.96210942 -1.18359103] [ 0. 0. 0. 1. ]] SLAMing on 139.14134618399999 meters Centerline goodness : 0.872311 Centerline is valid? [False, False] Translation: X:1.15, Y:0.85, Z:-1.18 [[ 0.76939524 -0.5796038 -0.26849656 1.1547789 ] [ 0.58946418 0.80617416 -0.05113909 0.85032986] [ 0.2460954 -0.11892293 0.96192224 -1.18187605] [ 0. 0. 0. 1. ]] SLAMing on 139.171346184 meters Centerline goodness : 0.872668 Centerline is valid? [False, False] Translation: X:1.15, Y:0.85, Z:-1.18 [[ 0.76753056 -0.58292088 -0.26664599 1.15353248] [ 0.59186038 0.80420045 -0.05443283 0.85115403] [ 0.24616686 -0.11603834 0.96225619 -1.18068113] [ 0. 0. 0. 1. ]] SLAMing on 139.201346184 meters Centerline goodness : 0.871423 Centerline is valid? [False, False] Translation: X:1.15, Y:0.85, Z:-1.18 [[ 0.76609865 -0.58462406 -0.26703475 1.15433551] [ 0.5934157 0.80297901 -0.05552041 0.85268104] [ 0.24688187 -0.1159285 0.96208624 -1.17948402] [ 0. 0. 0. 1. ]] SLAMing on 139.231346184 meters Centerline goodness : 0.870716 Centerline is valid? [False, False] Translation: X:1.15, Y:0.85, Z:-1.18 [[ 0.76484821 -0.58589301 -0.26783688 1.15426065] [ 0.59471728 0.80198024 -0.05602728 0.85414178] [ 0.24762587 -0.11643486 0.96183385 -1.17751643] [ 0. 0. 0. 1. ]] SLAMing on 139.261346184 meters Centerline goodness : 0.870442 Centerline is valid? [False, False] Translation: X:1.15, Y:0.86, Z:-1.18 [[ 0.76374509 -0.58675603 -0.26909253 1.15403117] [ 0.5956092 0.8012709 -0.05669772 0.85646328] [ 0.24888374 -0.11697138 0.96144401 -1.17517664] [ 0. 0. 0. 1. ]] SLAMing on 139.291346184 meters Centerline goodness : 0.869061 Centerline is valid? [False, False] Translation: X:1.15, Y:0.86, Z:-1.17 [[ 0.76355295 -0.58721695 -0.26863197 1.15347694] [ 0.59582863 0.80105115 -0.05749169 0.85710384] [ 0.24894805 -0.11616067 0.96152565 -1.17496143] [ 0. 0. 0. 1. ]] SLAMing on 139.321346184 meters Centerline goodness : 0.870518 Centerline is valid? [False, False] Translation: X:1.15, Y:0.86, Z:-1.17 [[ 0.76350117 -0.58696889 -0.26932041 1.15460518] [ 0.59549608 0.80125406 -0.05810644 0.85908721] [ 0.24990075 -0.11601491 0.96129608 -1.17488772] [ 0. 0. 0. 1. ]] SLAMing on 139.351346184 meters Centerline goodness : 0.872429 Centerline is valid? [False, False] Translation: X:1.15, Y:0.86, Z:-1.17 [[ 0.76431616 -0.58504813 -0.27118166 1.15372655] [ 0.59403691 0.80242433 -0.05688011 0.86190393] [ 0.25088036 -0.11761753 0.96084607 -1.17404176] [ 0. 0. 0. 1. ]] SLAMing on 139.381346184 meters Centerline goodness : 0.870187 Centerline is valid? [False, False] Translation: X:1.15, Y:0.86, Z:-1.17 [[ 0.76488643 -0.58331951 -0.27328942 1.15491692] [ 0.59282859 0.80340671 -0.05560501 0.86413193] [ 0.25199804 -0.11948227 0.96032337 -1.17364412] [ 0. 0. 0. 1. ]] SLAMing on 139.411346184 meters Centerline goodness : 0.870465 Centerline is valid? [False, False] Translation: X:1.15, Y:0.87, Z:-1.17 [[ 0.76546866 -0.58213369 -0.27418626 1.15488678] [ 0.59172016 0.80422867 -0.05552928 0.86567435] [ 0.25283392 -0.11973561 0.96007208 -1.17306739] [ 0. 0. 0. 1. ]] SLAMing on 139.441346184 meters Centerline goodness : 0.870336 Centerline is valid? [False, False] Translation: X:1.16, Y:0.87, Z:-1.17 [[ 0.76603901 -0.58109373 -0.27479868 1.15532682] [ 0.59063215 0.80500827 -0.05581539 0.86729193] [ 0.25364918 -0.11954817 0.95988037 -1.17302788] [ 0. 0. 0. 1. ]] SLAMing on 139.471346184 meters Centerline goodness : 0.871158 Centerline is valid? [False, False] Translation: X:1.15, Y:0.87, Z:-1.17 [[ 0.76715436 -0.58004621 -0.27389885 1.15435047] [ 0.58905866 0.80606601 -0.05716201 0.86920258] [ 0.25393716 -0.1174904 0.96005829 -1.17430836] [ 0. 0. 0. 1. ]] SLAMing on 139.501346184 meters Centerline goodness : 0.870089 Centerline is valid? [False, False] Translation: X:1.16, Y:0.87, Z:-1.17 [[ 0.7671993 -0.57953666 -0.27484995 1.15641316] [ 0.58852574 0.80642303 -0.05761388 0.8717346 ] [ 0.25503468 -0.11755494 0.95975942 -1.17483639] [ 0. 0. 0. 1. ]] SLAMing on 139.531346184 meters Centerline goodness : 0.871788 Centerline is valid? [False, False] Translation: X:1.16, Y:0.87, Z:-1.17 [[ 0.76716582 -0.57924179 -0.27556405 1.15734053] [ 0.58819815 0.8066325 -0.05802549 0.87339641] [ 0.2558897 -0.11757109 0.95952983 -1.17456796] [ 0. 0. 0. 1. ]] SLAMing on 139.561346184 meters Centerline goodness : 0.873988 Centerline is valid? [False, False] Translation: X:1.16, Y:0.88, Z:-1.17 [[ 0.76674867 -0.57967751 -0.27580874 1.15518473] [ 0.58849414 0.80636405 -0.0587509 0.87560857] [ 0.25645883 -0.11726465 0.95941538 -1.1728841 ] [ 0. 0. 0. 1. ]] SLAMing on 139.591346184 meters Centerline goodness : 0.873227 Centerline is valid? [False, False] Translation: X:1.16, Y:0.88, Z:-1.17 [[ 0.76651554 -0.58475704 -0.26554308 1.15756038] [ 0.59273407 0.80330756 -0.0579939 0.88316979] [ 0.2472251 -0.11294321 0.96235315 -1.17223548] [ 0. 0. 0. 1. ]] SLAMing on 139.621346184 meters Centerline goodness : 0.873176 Centerline is valid? [False, False] Translation: X:1.16, Y:0.88, Z:-1.17 [[ 0.76623783 -0.5850184 -0.26576883 1.15807914] [ 0.59291924 0.80313805 -0.05844699 0.88354507] [ 0.24764163 -0.11279516 0.96226341 -1.17161975] [ 0. 0. 0. 1. ]] SLAMing on 139.651346184 meters Centerline goodness : 0.873876 Centerline is valid? [False, False] Translation: X:1.16, Y:0.89, Z:-1.17 [[ 0.76547293 -0.58498916 -0.26802773 1.16042861] [ 0.59331897 0.80288496 -0.05786486 0.88510797] [ 0.24904575 -0.11473196 0.96167187 -1.17014971] [ 0. 0. 0. 1. ]] SLAMing on 139.681346184 meters Centerline goodness : 0.874331 Centerline is valid? [False, False] Translation: X:1.16, Y:0.89, Z:-1.17 [[ 0.76480901 -0.58571211 -0.268344 1.16064045] [ 0.59394092 0.80237574 -0.05854358 0.88640472] [ 0.2496024 -0.11460582 0.96154259 -1.16938547] [ 0. 0. 0. 1. ]] SLAMing on 139.711346184 meters Centerline goodness : 0.872726 Centerline is valid? [False, False] Translation: X:1.16, Y:0.89, Z:-1.17 [[ 0.76408107 -0.58627531 -0.26918651 1.16327781] [ 0.59439783 0.80196962 -0.05946379 0.8886691 ] [ 0.25074156 -0.11456872 0.96125058 -1.16957865] [ 0. 0. 0. 1. ]] SLAMing on 139.74134618399998 meters Centerline goodness : 0.874458 Centerline is valid? [False, False] Translation: X:1.17, Y:0.89, Z:-1.17 [[ 0.76272618 -0.58726495 -0.2708665 1.16700037] [ 0.59543693 0.8011382 -0.06026974 0.89225979] [ 0.2523958 -0.11531461 0.96072832 -1.16979864] [ 0. 0. 0. 1. ]] SLAMing on 139.77134618399998 meters Centerline goodness : 0.873945 Centerline is valid? [False, False] Translation: X:1.17, Y:0.89, Z:-1.17 [[ 0.7618274 -0.58812656 -0.27152561 1.16748702] [ 0.59623665 0.80048892 -0.06098642 0.89422399] [ 0.25322097 -0.11543239 0.96049701 -1.16884281] [ 0. 0. 0. 1. ]] SLAMing on 139.80134618399998 meters Centerline goodness : 0.871961 Centerline is valid? [False, False] Translation: X:1.17, Y:0.90, Z:-1.17 [[ 0.76106787 -0.58921772 -0.27128985 1.16771826] [ 0.59700961 0.79981215 -0.06229005 0.89583822] [ 0.25368332 -0.11455569 0.96047997 -1.16857373] [ 0. 0. 0. 1. ]] SLAMing on 139.83134618399998 meters Centerline goodness : 0.871961 Centerline is valid? [False, False] Translation: X:1.17, Y:0.90, Z:-1.17 [[ 0.76106787 -0.58921772 -0.27128985 1.16771826] [ 0.59700961 0.79981215 -0.06229005 0.89583822] [ 0.25368332 -0.11455569 0.96047997 -1.16857373] [ 0. 0. 0. 1. ]] SLAMing on 139.86134618399998 meters Centerline goodness : 0.871535 Centerline is valid? [False, False] Translation: X:1.17, Y:0.90, Z:-1.17 [[ 0.76041735 -0.59049075 -0.27034448 1.16766635] [ 0.59771383 0.79913141 -0.06424298 0.89761977] [ 0.25397565 -0.11273716 0.96061788 -1.16900423] [ 0. 0. 0. 1. ]] SLAMing on 139.89134618399999 meters Centerline goodness : 0.870955 Centerline is valid? [False, False] Translation: X:1.17, Y:0.90, Z:-1.17 [[ 0.76007076 -0.59029232 -0.2717488 1.16876079] [ 0.59768698 0.79915385 -0.06421365 0.89934109] [ 0.25507392 -0.1136138 0.96022351 -1.16784604] [ 0. 0. 0. 1. ]] SLAMing on 139.921346184 meters Centerline goodness : 0.872267 Centerline is valid? [False, False] Translation: X:1.17, Y:0.91, Z:-1.17 [[ 0.76052137 -0.59372711 -0.26285997 1.17212159] [ 0.60070462 0.79704011 -0.06229788 0.90752765] [ 0.24649787 -0.11052233 0.96282065 -1.16718373] [ 0. 0. 0. 1. ]] SLAMing on 139.951346184 meters Centerline goodness : 0.870435 Centerline is valid? [False, False] Translation: X:1.17, Y:0.91, Z:-1.17 [[ 0.76024905 -0.59338217 -0.26442198 1.17329262] [ 0.6005187 0.79717622 -0.06234879 0.90939716] [ 0.24778757 -0.11138973 0.96238955 -1.16595581] [ 0. 0. 0. 1. ]] SLAMing on 139.981346184 meters Centerline goodness : 0.871810 Centerline is valid? [False, False] Translation: X:1.17, Y:0.91, Z:-1.16 [[ 0.76003235 -0.59325618 -0.26532608 1.17253623] [ 0.60050686 0.79718825 -0.06230904 0.91061426] [ 0.24848006 -0.11197324 0.96214326 -1.16433327] [ 0. 0. 0. 1. ]] SLAMing on 140.011346184 meters Centerline goodness : 0.871755 Centerline is valid? [False, False] Translation: X:1.17, Y:0.91, Z:-1.16 [[ 0.7598182 -0.59272285 -0.26712531 1.1744536 ] [ 0.60029508 0.7973858 -0.06181989 0.91274913] [ 0.24964399 -0.11338213 0.96167685 -1.16381031] [ 0. 0. 0. 1. ]] SLAMing on 140.041346184 meters Centerline goodness : 0.871075 Centerline is valid? [False, False] Translation: X:1.17, Y:0.91, Z:-1.16 [[ 0.75937585 -0.59298239 -0.2678063 1.1748179 ] [ 0.60053479 0.79717025 -0.06227001 0.91425564] [ 0.25041223 -0.11354066 0.96145839 -1.16300845] [ 0. 0. 0. 1. ]] SLAMing on 140.071346184 meters Centerline goodness : 0.868031 Centerline is valid? [False, False] Translation: X:1.18, Y:0.92, Z:-1.16 [[ 0.75877615 -0.59406081 -0.26711517 1.17501197] [ 0.60116471 0.79656862 -0.06387039 0.91569651] [ 0.25071845 -0.11211688 0.96154566 -1.1631765 ] [ 0. 0. 0. 1. ]] SLAMing on 140.101346184 meters Centerline goodness : 0.868647 Centerline is valid? [False, False] Translation: X:1.18, Y:0.92, Z:-1.16 [[ 0.75871584 -0.59440385 -0.26652269 1.17525981] [ 0.60114813 0.79648664 -0.06503806 0.91660618] [ 0.25094064 -0.11087421 0.96163179 -1.16353461] [ 0. 0. 0. 1. ]] SLAMing on 140.131346184 meters Centerline goodness : 0.868488 Centerline is valid? [False, False] Translation: X:1.18, Y:0.92, Z:-1.16 [[ 0.75893367 -0.59421695 -0.26631916 1.17506062] [ 0.60077154 0.79672179 -0.06563494 0.91731794] [ 0.25118368 -0.11018441 0.96164763 -1.16351869] [ 0. 0. 0. 1. ]] SLAMing on 140.161346184 meters Centerline goodness : 0.867351 Centerline is valid? [False, False] Translation: X:1.18, Y:0.92, Z:-1.16 [[ 0.75928556 -0.59303959 -0.26793562 1.17664807] [ 0.59987264 0.79744323 -0.06509313 0.91968363] [ 0.25226625 -0.11130297 0.96123535 -1.16356172] [ 0. 0. 0. 1. ]] SLAMing on 140.191346184 meters Centerline goodness : 0.866277 Centerline is valid? [False, False] Translation: X:1.18, Y:0.92, Z:-1.16 [[ 0.76022144 -0.5903646 -0.27116969 1.17563495] [ 0.59802147 0.79900293 -0.06296537 0.92271517] [ 0.2538379 -0.11429767 0.96046986 -1.16142559] [ 0. 0. 0. 1. ]] SLAMing on 140.221346184 meters Centerline goodness : 0.865109 Centerline is valid? [False, False] Translation: X:1.18, Y:0.93, Z:-1.16 [[ 0.7603993 -0.58910114 -0.2734095 1.17743619] [ 0.59710318 0.79972726 -0.06248284 0.92601302] [ 0.25546174 -0.11574178 0.95986621 -1.16098704] [ 0. 0. 0. 1. ]] SLAMing on 140.251346184 meters Centerline goodness : 0.863614 Centerline is valid? [False, False] Translation: X:1.18, Y:0.93, Z:-1.16 [[ 0.76045674 -0.58896778 -0.27353702 1.17755425] [ 0.59685521 0.79987589 -0.06294782 0.92762997] [ 0.25586991 -0.1153929 0.95979949 -1.16116448] [ 0. 0. 0. 1. ]] SLAMing on 140.281346184 meters Centerline goodness : 0.864955 Centerline is valid? [False, False] Translation: X:1.18, Y:0.93, Z:-1.16 [[ 0.76008505 -0.58984451 -0.27267961 1.17760393] [ 0.59731337 0.79942748 -0.06428407 0.92895889] [ 0.25590518 -0.11401382 0.95995489 -1.1618909 ] [ 0. 0. 0. 1. ]] SLAMing on 140.311346184 meters Centerline goodness : 0.861508 Centerline is valid? [False, False] Translation: X:1.18, Y:0.93, Z:-1.16 [[ 0.75901782 -0.59099994 -0.27315018 1.18012783] [ 0.59806821 0.79870425 -0.06622633 0.93312956] [ 0.25730597 -0.11309547 0.95968904 -1.16278312] [ 0. 0. 0. 1. ]] SLAMing on 140.341346184 meters Centerline goodness : 0.861315 Centerline is valid? [False, False] Translation: X:1.18, Y:0.94, Z:-1.16 [[ 0.7583634 -0.59090557 -0.2751646 1.18190062] [ 0.59821025 0.7985948 -0.06626343 0.93627554] [ 0.25890045 -0.11435452 0.95911084 -1.16164 ] [ 0. 0. 0. 1. ]] SLAMing on 140.371346184 meters Centerline goodness : 0.863228 Centerline is valid? [False, False] Translation: X:1.18, Y:0.94, Z:-1.16 [[ 0.75775615 -0.59067457 -0.27732502 1.18206597] [ 0.59837022 0.79851459 -0.06578402 0.93859865] [ 0.26030502 -0.11609479 0.95852141 -1.15933882] [ 0. 0. 0. 1. ]] SLAMing on 140.401346184 meters Centerline goodness : 0.861735 Centerline is valid? [False, False] Translation: X:1.18, Y:0.94, Z:-1.16 [[ 0.75745071 -0.58923758 -0.28118943 1.18388312] [ 0.59777154 0.7990868 -0.06426092 0.94286799] [ 0.26255971 -0.11941256 0.95749832 -1.15749287] [ 0. 0. 0. 1. ]] SLAMing on 140.431346184 meters Centerline goodness : 0.861134 Centerline is valid? [False, False] Translation: X:1.18, Y:0.94, Z:-1.16 [[ 0.75695298 -0.58990367 -0.28113314 1.18439089] [ 0.59817468 0.7986987 -0.06532557 0.94469952] [ 0.26307647 -0.11871835 0.95744281 -1.15755673] [ 0. 0. 0. 1. ]] SLAMing on 140.461346184 meters Centerline goodness : 0.859455 Centerline is valid? [False, False] Translation: X:1.19, Y:0.95, Z:-1.16 [[ 0.75616697 -0.59082499 -0.28131362 1.1864684 ] [ 0.59874805 0.7981419 -0.06686018 0.94729345] [ 0.26403085 -0.11787852 0.95728385 -1.15803098] [ 0. 0. 0. 1. ]] SLAMing on 140.49134618399998 meters Centerline goodness : 0.860652 Centerline is valid? [False, False] Translation: X:1.19, Y:0.95, Z:-1.16 [[ 0.75500314 -0.5923976 -0.28113226 1.18682297] [ 0.59995403 0.79710345 -0.06841972 0.9495309 ] [ 0.26462317 -0.11700932 0.95722693 -1.15764772] [ 0. 0. 0. 1. ]] SLAMing on 140.52134618399998 meters Centerline goodness : 0.860751 Centerline is valid? [False, False] Translation: X:1.19, Y:0.96, Z:-1.16 [[ 0.75295191 -0.59860442 -0.27337917 1.19082185] [ 0.60571216 0.79280041 -0.06767783 0.96136581] [ 0.25724737 -0.11463093 0.95952256 -1.15601131] [ 0. 0. 0. 1. ]] SLAMing on 140.55134618399998 meters Centerline goodness : 0.860434 Centerline is valid? [False, False] Translation: X:1.19, Y:0.96, Z:-1.15 [[ 0.75169631 -0.59914582 -0.27563914 1.19268497] [ 0.6065406 0.79215778 -0.06778316 0.96412233] [ 0.25896169 -0.11623398 0.95886835 -1.15390349] [ 0. 0. 0. 1. ]] SLAMing on 140.58134618399998 meters Centerline goodness : 0.860665 Centerline is valid? [False, False] Translation: X:1.19, Y:0.97, Z:-1.15 [[ 0.75064076 -0.59965974 -0.27739258 1.19401937] [ 0.60724797 0.79159677 -0.06800341 0.96640104] [ 0.26036198 -0.11739995 0.95834696 -1.15216138] [ 0. 0. 0. 1. ]] SLAMing on 140.61134618399998 meters Centerline goodness : 0.859675 Centerline is valid? [False, False] Translation: X:1.20, Y:0.97, Z:-1.15 [[ 0.74895928 -0.60064121 -0.27980376 1.19537776] [ 0.60862102 0.79054888 -0.06791859 0.9698431 ] [ 0.26199325 -0.11942619 0.95765178 -1.15025745] [ 0. 0. 0. 1. ]] SLAMing on 140.64134618399999 meters Centerline goodness : 0.862431 Centerline is valid? [False, False] Translation: X:1.20, Y:0.97, Z:-1.15 [[ 0.74796702 -0.60116719 -0.28132426 1.19657086] [ 0.60928226 0.79000946 -0.06826547 0.97236808] [ 0.26328779 -0.12034556 0.95718153 -1.14883401] [ 0. 0. 0. 1. ]] SLAMing on 140.671346184 meters Centerline goodness : 0.861704 Centerline is valid? [False, False] Translation: X:1.20, Y:0.98, Z:-1.15 [[ 0.74691143 -0.60179728 -0.28277793 1.19777485] [ 0.60994552 0.78943571 -0.06897632 0.97559735] [ 0.26474475 -0.12095993 0.9567021 -1.14757821] [ 0. 0. 0. 1. ]] SLAMing on 140.701346184 meters Centerline goodness : 0.859326 Centerline is valid? [False, False] Translation: X:1.20, Y:0.98, Z:-1.15 [[ 0.74612821 -0.60222404 -0.28393467 1.19868978] [ 0.61019029 0.78913181 -0.07027659 0.97999169] [ 0.26638413 -0.12081883 0.95626477 -1.14696532] [ 0. 0. 0. 1. ]] SLAMing on 140.731346184 meters Centerline goodness : 0.860788 Centerline is valid? [False, False] Translation: X:1.20, Y:0.98, Z:-1.15 [[ 0.74605973 -0.60192319 -0.28475137 1.19979195] [ 0.6098133 0.7893694 -0.07087798 0.98294483] [ 0.26743712 -0.12076597 0.95597749 -1.14710908] [ 0. 0. 0. 1. ]] SLAMing on 140.761346184 meters Centerline goodness : 0.863002 Centerline is valid? [False, False] Translation: X:1.20, Y:0.99, Z:-1.15 [[ 0.74595729 -0.6016236 -0.28565147 1.20132348] [ 0.60943887 0.78960137 -0.07151182 0.9858254 ] [ 0.268574 -0.12074234 0.95566171 -1.14713869] [ 0. 0. 0. 1. ]] SLAMing on 140.791346184 meters Centerline goodness : 0.860896 Centerline is valid? [False, False] Translation: X:1.20, Y:0.99, Z:-1.15 [[ 0.74581866 -0.60166892 -0.2859179 1.20177856] [ 0.60926688 0.78965136 -0.07241964 0.98787888] [ 0.2693481 -0.12018839 0.95551366 -1.14702175] [ 0. 0. 0. 1. ]] SLAMing on 140.821346184 meters Centerline goodness : 0.861380 Centerline is valid? [False, False] Translation: X:1.14, Y:0.95, Z:-1.16 [[ 0.74983825 -0.60055351 -0.2776294 1.14088164] [ 0.60540496 0.79206314 -0.07823564 0.94773849] [ 0.2668847 -0.10941414 0.95749731 -1.16249642] [ 0. 0. 0. 1. ]] SLAMing on 140.851346184 meters Centerline goodness : 0.861518 Centerline is valid? [False, False] Translation: X:1.09, Y:0.92, Z:-1.17 [[ 0.75170805 -0.59984746 -0.2740767 1.09441082] [ 0.60350165 0.79324788 -0.08089225 0.91637339] [ 0.26593377 -0.10459839 0.95829975 -1.17454723] [ 0. 0. 0. 1. ]] SLAMing on 140.881346184 meters Centerline goodness : 0.862847 Centerline is valid? [False, False] Translation: X:1.05, Y:0.88, Z:-1.19 [[ 0.75280142 -0.59934949 -0.27215842 1.04685208] [ 0.60195057 0.79412354 -0.08380521 0.88425087] [ 0.26635602 -0.10073724 0.9585961 -1.186591 ] [ 0. 0. 0. 1. ]] SLAMing on 140.911346184 meters Centerline goodness : 0.863611 Centerline is valid? [False, False] Translation: X:1.05, Y:0.88, Z:-1.18 [[ 0.7537992 -0.59156806 -0.28606644 1.04892604] [ 0.59365941 0.79972762 -0.08946638 0.8818424 ] [ 0.28170068 -0.10238635 0.95402398 -1.17739629] [ 0. 0. 0. 1. ]] SLAMing on 140.941346184 meters Centerline goodness : 0.863731 Centerline is valid? [False, False] Translation: X:1.05, Y:0.88, Z:-1.18 [[ 0.75398872 -0.59049474 -0.28777938 1.0504246 ] [ 0.59274895 0.80041501 -0.08935603 0.88443877] [ 0.2831072 -0.10320749 0.95351902 -1.17680136] [ 0. 0. 0. 1. ]] SLAMing on 140.971346184 meters Centerline goodness : 0.865087 Centerline is valid? [False, False] Translation: X:1.05, Y:0.89, Z:-1.18 [[ 0.75429257 -0.58923129 -0.28956727 1.05277925] [ 0.59161652 0.8012535 -0.08934604 0.88711083] [ 0.28466227 -0.10391973 0.95297853 -1.17652602] [ 0. 0. 0. 1. ]] SLAMing on 141.001346184 meters Centerline goodness : 0.863763 Centerline is valid? [False, False] Translation: X:1.05, Y:0.89, Z:-1.18 [[ 0.75463377 -0.58841401 -0.29033918 1.05485169] [ 0.59063468 0.80190177 -0.09002354 0.88977742] [ 0.28579461 -0.10354958 0.95267986 -1.1771556 ] [ 0. 0. 0. 1. ]] SLAMing on 141.031346184 meters Centerline goodness : 0.862369 Centerline is valid? [False, False] Translation: X:1.06, Y:0.89, Z:-1.18 [[ 0.7555941 -0.58700733 -0.29068874 1.05657487] [ 0.58898366 0.80304168 -0.09067696 0.8930701 ] [ 0.28666322 -0.10269594 0.95251128 -1.17900926] [ 0. 0. 0. 1. ]] SLAMing on 141.061346184 meters Centerline goodness : 0.865989 Centerline is valid? [False, False] Translation: X:1.06, Y:0.90, Z:-1.18 [[ 0.75607871 -0.59070879 -0.28179444 1.05923836] [ 0.59228735 0.80075083 -0.08940808 0.9020698 ] [ 0.27846127 -0.09930374 0.9553 -1.1781155 ] [ 0. 0. 0. 1. ]] SLAMing on 141.091346184 meters Centerline goodness : 0.863015 Centerline is valid? [False, False] Translation: X:1.06, Y:0.91, Z:-1.18 [[ 0.75636058 -0.59430936 -0.27334054 1.06326162] [ 0.59562433 0.79844363 -0.08786024 0.9122185 ] [ 0.27046318 -0.09635426 0.95789641 -1.17798562] [ 0. 0. 0. 1. ]] SLAMing on 141.121346184 meters Centerline goodness : 0.863487 Centerline is valid? [False, False] Translation: X:1.07, Y:0.92, Z:-1.18 [[ 0.75606694 -0.59407527 -0.27465864 1.06575068] [ 0.59525319 0.7986173 -0.08879215 0.91568708] [ 0.27209636 -0.09635862 0.95743333 -1.17791381] [ 0. 0. 0. 1. ]] SLAMing on 141.151346184 meters Centerline goodness : 0.861838 Centerline is valid? [False, False] Translation: X:1.07, Y:0.92, Z:-1.18 [[ 0.75534884 -0.59460642 -0.27548382 1.06850024] [ 0.59552007 0.79826815 -0.09013222 0.91870504] [ 0.27350316 -0.09597488 0.95707097 -1.178315 ] [ 0. 0. 0. 1. ]] SLAMing on 141.181346184 meters Centerline goodness : 0.863289 Centerline is valid? [False, False] Translation: X:1.07, Y:0.92, Z:-1.18 [[ 0.75439121 -0.59522192 -0.27677564 1.06989681] [ 0.59608243 0.79775898 -0.09091944 0.92048924] [ 0.2749175 -0.09639227 0.9566237 -1.17641933] [ 0. 0. 0. 1. ]] SLAMing on 141.211346184 meters Centerline goodness : 0.863169 Centerline is valid? [False, False] Translation: X:1.07, Y:0.92, Z:-1.17 [[ 0.75347962 -0.59589945 -0.27779903 1.07044259] [ 0.5967596 0.79719343 -0.09143636 0.92227444] [ 0.27594644 -0.09688381 0.95627773 -1.17486398] [ 0. 0. 0. 1. ]] SLAMing on 141.24134618399998 meters Centerline goodness : 0.862208 Centerline is valid? [False, False] Translation: X:1.07, Y:0.93, Z:-1.17 [[ 0.75240764 -0.59607538 -0.28031569 1.07202696] [ 0.59723137 0.79684524 -0.09139116 0.92563214] [ 0.27784425 -0.09864992 0.95554736 -1.17272691] [ 0. 0. 0. 1. ]] SLAMing on 141.27134618399998 meters Centerline goodness : 0.863516 Centerline is valid? [False, False] Translation: X:1.07, Y:0.93, Z:-1.17 [[ 0.75224164 -0.59550277 -0.28197334 1.07272766] [ 0.59684725 0.7971488 -0.09125318 0.92698872] [ 0.27911623 -0.09965057 0.95507272 -1.17071986] [ 0. 0. 0. 1. ]] SLAMing on 141.30134618399998 meters Centerline goodness : 0.863966 Centerline is valid? [False, False] Translation: X:1.07, Y:0.93, Z:-1.17 [[ 0.75199455 -0.59488129 -0.28393741 1.07467489] [ 0.59646522 0.79745737 -0.09105482 0.92891688] [ 0.28059479 -0.10088606 0.9545096 -1.16933074] [ 0. 0. 0. 1. ]] SLAMing on 141.33134618399998 meters Centerline goodness : 0.863397 Centerline is valid? [False, False] Translation: X:1.01, Y:0.89, Z:-1.19 [[ 0.75399133 -0.59591515 -0.27637332 1.01419195] [ 0.59452425 0.79799901 -0.09868383 0.88714666] [ 0.27935283 -0.08990389 0.95597034 -1.1865668 ] [ 0. 0. 0. 1. ]] SLAMing on 141.36134618399998 meters Centerline goodness : 0.862839 Centerline is valid? [False, False] Translation: X:0.95, Y:0.84, Z:-1.20 [[ 0.75568733 -0.59638426 -0.27067041 0.95335676] [ 0.59261848 0.79860124 -0.10506849 0.84372609] [ 0.27881892 -0.08100536 0.95692118 -1.20482413] [ 0. 0. 0. 1. ]] SLAMing on 141.39134618399999 meters Centerline goodness : 0.862778 Centerline is valid? [False, False] Translation: X:0.91, Y:0.81, Z:-1.22 [[ 0.75594849 -0.59693835 -0.26871264 0.90524339] [ 0.59237676 0.79848138 -0.10731851 0.80940475] [ 0.27862458 -0.07805186 0.9572232 -1.21964433] [ 0. 0. 0. 1. ]] SLAMing on 141.421346184 meters Centerline goodness : 0.862584 Centerline is valid? [False, False] Translation: X:0.84, Y:0.77, Z:-1.24 [[ 0.75812248 -0.59670513 -0.26304619 0.84351962] [ 0.58992463 0.79946598 -0.11332735 0.76757845] [ 0.27791949 -0.06926141 0.95810418 -1.23842402] [ 0. 0. 0. 1. ]] SLAMing on 141.451346184 meters Centerline goodness : 0.864405 Centerline is valid? [False, False] Translation: X:0.79, Y:0.73, Z:-1.25 [[ 0.75936828 -0.59582758 -0.261437 0.79463072] [ 0.58851525 0.80032534 -0.11458246 0.73414487] [ 0.27750605 -0.06684938 0.9583953 -1.25286749] [ 0. 0. 0. 1. ]] SLAMing on 141.481346184 meters Centerline goodness : 0.863528 Centerline is valid? [False, False] Translation: X:0.75, Y:0.71, Z:-1.27 [[ 0.76227479 -0.59364408 -0.25792219 0.75365026] [ 0.58528003 0.80235119 -0.11696094 0.70642559] [ 0.27637734 -0.06180034 0.9590601 -1.26512147] [ 0. 0. 0. 1. ]] SLAMing on 141.511346184 meters Centerline goodness : 0.862552 Centerline is valid? [False, False] Translation: X:0.73, Y:0.69, Z:-1.27 [[ 0.76374983 -0.59228712 -0.25667521 0.72908046] [ 0.58372945 0.80346019 -0.11709682 0.69116776] [ 0.27558325 -0.0603962 0.95937801 -1.27283065] [ 0. 0. 0. 1. ]] SLAMing on 141.541346184 meters Centerline goodness : 0.864296 Centerline is valid? [False, False] Translation: X:0.69, Y:0.66, Z:-1.29 [[ 0.76683624 -0.58948294 -0.25391345 0.68710585] [ 0.58002057 0.80584305 -0.11913482 0.66145651] [ 0.27484234 -0.05591813 0.95986189 -1.28565151] [ 0. 0. 0. 1. ]] SLAMing on 141.571346184 meters Centerline goodness : 0.863148 Centerline is valid? [False, False] Translation: X:0.65, Y:0.63, Z:-1.30 [[ 0.76953315 -0.58785435 -0.24949146 0.64847734] [ 0.57708027 0.80744044 -0.12254918 0.6339014 ] [ 0.27349057 -0.04967094 0.96059133 -1.29836331] [ 0. 0. 0. 1. ]] SLAMing on 141.601346184 meters Centerline goodness : 0.861840 Centerline is valid? [False, False] Translation: X:0.60, Y:0.60, Z:-1.32 [[ 0.77162504 -0.58536962 -0.24887187 0.60271566] [ 0.57485994 0.8092452 -0.12107127 0.59999722] [ 0.27226981 -0.04964484 0.96093941 -1.31568207] [ 0. 0. 0. 1. ]] SLAMing on 141.631346184 meters Centerline goodness : 0.861069 Centerline is valid? [False, False] Translation: X:0.56, Y:0.57, Z:-1.33 [[ 0.7734535 -0.58355206 -0.24746047 0.55656723] [ 0.57280467 0.81066185 -0.12133499 0.56839168] [ 0.27141204 -0.04789954 0.96127059 -1.33088908] [ 0. 0. 0. 1. ]] SLAMing on 141.661346184 meters Centerline goodness : 0.861483 Centerline is valid? [False, False] Translation: X:0.51, Y:0.54, Z:-1.35 [[ 0.77541615 -0.58180635 -0.24542038 0.51424841] [ 0.57048359 0.81208962 -0.12271478 0.5384431 ] [ 0.27069959 -0.04485328 0.96161838 -1.34556508] [ 0. 0. 0. 1. ]] SLAMing on 141.691346184 meters Centerline goodness : 0.861622 Centerline is valid? [False, False] Translation: X:0.47, Y:0.51, Z:-1.36 [[ 0.77714737 -0.58009095 -0.24400095 0.4709952 ] [ 0.568445 0.81342384 -0.12333671 0.50767385] [ 0.2700227 -0.04285032 0.96189999 -1.36159109] [ 0. 0. 0. 1. ]] SLAMing on 141.721346184 meters Centerline goodness : 0.861622 Centerline is valid? [False, False] Translation: X:0.45, Y:0.49, Z:-1.37 [[ 0.77943994 -0.576992 -0.24403609 0.45124655] [ 0.56644291 0.81547831 -0.11890141 0.48943017] [ 0.2676113 -0.045556 0.9624494 -1.37461053] [ 0. 0. 0. 1. ]] SLAMing on 141.751346184 meters Centerline goodness : 0.860479 Centerline is valid? [False, False] Translation: X:0.41, Y:0.46, Z:-1.39 [[ 0.78081725 -0.57589787 -0.2422108 0.40525158] [ 0.56500757 0.81636671 -0.11963211 0.45727247] [ 0.26662871 -0.04344012 0.96281986 -1.39015067] [ 0. 0. 0. 1. ]] SLAMing on 141.781346184 meters Centerline goodness : 0.860380 Centerline is valid? [False, False] Translation: X:0.38, Y:0.44, Z:-1.40 [[ 0.78163915 -0.57501782 -0.24165006 0.37905012] [ 0.56485933 0.81688841 -0.11673587 0.43744749] [ 0.26452634 -0.04525297 0.96331614 -1.40155193] [ 0. 0. 0. 1. ]] SLAMing on 141.811346184 meters Centerline goodness : 0.863172 Centerline is valid? [False, False] Translation: X:0.33, Y:0.40, Z:-1.42 [[ 0.78294605 -0.57383436 -0.24022827 0.33179773] [ 0.56340413 0.81781432 -0.11728394 0.40478123] [ 0.26376367 -0.0435186 0.96360514 -1.41680147] [ 0. 0. 0. 1. ]] SLAMing on 141.841346184 meters Centerline goodness : 0.862801 Centerline is valid? [False, False] Translation: X:0.28, Y:0.37, Z:-1.43 [[ 0.78419382 -0.57281547 -0.23858435 0.28339628] [ 0.56222218 0.81860537 -0.11743713 0.37268581] [ 0.26257623 -0.04204394 0.96399483 -1.43252793] [ 0. 0. 0. 1. ]] SLAMing on 141.871346184 meters Centerline goodness : 0.861303 Centerline is valid? [False, False] Translation: X:0.23, Y:0.34, Z:-1.45 [[ 0.78473758 -0.57193282 -0.23891375 0.22817783] [ 0.56181493 0.81914587 -0.11560289 0.33591995] [ 0.26182229 -0.04350738 0.96413495 -1.44973137] [ 0. 0. 0. 1. ]] SLAMing on 141.901346184 meters Centerline goodness : 0.860960 Centerline is valid? [False, False] Translation: X:0.18, Y:0.30, Z:-1.46 [[ 0.78652955 -0.57020582 -0.23714254 0.18099309] [ 0.55986194 0.82044583 -0.11585873 0.30447586] [ 0.26062593 -0.04164077 0.96454143 -1.46463558] [ 0. 0. 0. 1. ]] SLAMing on 141.931346184 meters Centerline goodness : 0.861338 Centerline is valid? [False, False] Translation: X:0.14, Y:0.27, Z:-1.48 [[ 0.78837496 -0.56869408 -0.23463153 0.13567429] [ 0.55794125 0.82162961 -0.11673189 0.27360367] [ 0.25916495 -0.03888211 0.96505011 -1.47912217] [ 0. 0. 0. 1. ]] SLAMing on 141.961346184 meters Centerline goodness : 0.863164 Centerline is valid? [False, False] Translation: X:0.09, Y:0.24, Z:-1.49 [[ 0.78964986 -0.56773979 -0.23264702 0.08797262] [ 0.5567533 0.82237534 -0.11715188 0.24055882] [ 0.25783496 -0.03701803 0.96547957 -1.4944435 ] [ 0. 0. 0. 1. ]] SLAMing on 141.99134618399998 meters Centerline goodness : 0.862485 Centerline is valid? [False, False] Translation: X:0.04, Y:0.21, Z:-1.51 [[ 0.79116443 -0.56589366 -0.2319983 0.03941261] [ 0.55497081 0.82366737 -0.11653094 0.2075919 ] [ 0.25703355 -0.03655716 0.96571079 -1.51024208] [ 0. 0. 0. 1. ]] SLAMing on 142.02134618399998 meters Centerline goodness : 0.860955 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.17, Z:-1.53 [[ 0.79267526 -0.56326116 -0.23324406 -0.01232537] [ 0.55297402 0.82537338 -0.11392333 0.1728928 ] [ 0.25668202 -0.0386737 0.96572185 -1.5276747 ] [ 0. 0. 0. 1. ]] SLAMing on 142.05134618399998 meters Centerline goodness : 0.864524 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.14, Z:-1.54 [[ 0.79462523 -0.56065345 -0.23289149 -0.06343578] [ 0.55084942 0.82710424 -0.11163998 0.1391085 ] [ 0.25521688 -0.0395762 0.96607353 -1.54463613] [ 0. 0. 0. 1. ]] SLAMing on 142.08134618399998 meters Centerline goodness : 0.863265 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.11, Z:-1.56 [[ 0.79702271 -0.55772375 -0.23173046 -0.11207774] [ 0.54780704 0.82915037 -0.11143206 0.10846467] [ 0.25428771 -0.0381297 0.96637668 -1.55982364] [ 0. 0. 0. 1. ]] SLAMing on 142.11134618399998 meters Centerline goodness : 0.863833 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.08, Z:-1.57 [[ 0.79953715 -0.55485385 -0.22995119 -0.15761603] [ 0.54465738 0.83117449 -0.11179133 0.07839416] [ 0.25315742 -0.03586329 0.96676013 -1.57446761] [ 0. 0. 0. 1. ]] SLAMing on 142.14134618399999 meters Centerline goodness : 0.863390 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.05, Z:-1.59 [[ 0.80224343 -0.55159072 -0.22837064 -0.20166641] [ 0.54095179 0.83345914 -0.11276979 0.05025308] [ 0.25254037 -0.03306869 0.96702111 -1.58798835] [ 0. 0. 0. 1. ]] SLAMing on 142.171346184 meters Centerline goodness : 0.863792 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.03, Z:-1.60 [[ 0.80556757 -0.54810358 -0.22504077 -0.24632454] [ 0.53650074 0.83595301 -0.11554013 0.0254095 ] [ 0.25145147 -0.02765916 0.96747461 -1.59805449] [ 0. 0. 0. 1. ]] SLAMing on 142.201346184 meters Centerline goodness : 0.865008 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.01, Z:-1.61 [[ 0.80816118 -0.54457967 -0.22429552 -0.29434879] [ 0.53336926 0.83824283 -0.11342925 -0.00674579] [ 0.24978538 -0.02796322 0.96789737 -1.61335451] [ 0. 0. 0. 1. ]] SLAMing on 142.231346184 meters Centerline goodness : 0.864392 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.04, Z:-1.63 [[ 0.81042676 -0.54168032 -0.22313872 -0.34234895] [ 0.53066553 0.84013304 -0.11211855 -0.03800515] [ 0.24819862 -0.02754815 0.96831738 -1.6286107 ] [ 0. 0. 0. 1. ]] SLAMing on 142.261346184 meters Centerline goodness : 0.863667 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.07, Z:-1.64 [[ 0.81261432 -0.53865453 -0.22250679 -0.39116138] [ 0.52815026 0.84204647 -0.10961319 -0.07093141] [ 0.2464047 -0.02844377 0.96874954 -1.64441589] [ 0. 0. 0. 1. ]] SLAMing on 142.291346184 meters Centerline goodness : 0.862476 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.10, Z:-1.66 [[ 0.81415827 -0.53673556 -0.22149773 -0.43807008] [ 0.52618065 0.84330352 -0.10942167 -0.10194247] [ 0.24552032 -0.02746126 0.9690024 -1.65944703] [ 0. 0. 0. 1. ]] SLAMing on 142.321346184 meters Centerline goodness : 0.863912 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.14, Z:-1.68 [[ 0.81531331 -0.53494451 -0.22158197 -0.48820935] [ 0.52484714 0.84439765 -0.10736896 -0.13571503] [ 0.24453974 -0.02875732 0.96921274 -1.67653553] [ 0. 0. 0. 1. ]] SLAMing on 142.351346184 meters Centerline goodness : 0.862186 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.16, Z:-1.69 [[ 0.81692182 -0.53366428 -0.21872627 -0.53153128] [ 0.52292349 0.84532716 -0.10942122 -0.16346867] [ 0.24328946 -0.02498852 0.96963179 -1.69039065] [ 0. 0. 0. 1. ]] SLAMing on 142.381346184 meters Centerline goodness : 0.861483 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.19, Z:-1.71 [[ 0.81812106 -0.53254317 -0.21696936 -0.57546698] [ 0.52152555 0.84609018 -0.11019303 -0.19326693] [ 0.24225819 -0.02300383 0.96993907 -1.70670043] [ 0. 0. 0. 1. ]] SLAMing on 142.411346184 meters Centerline goodness : 0.861559 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.23, Z:-1.72 [[ 0.81948032 -0.53077207 -0.21617822 -0.62407269] [ 0.51992062 0.84720509 -0.10920658 -0.22542151] [ 0.24111109 -0.02290287 0.97022724 -1.72248799] [ 0. 0. 0. 1. ]] SLAMing on 142.441346184 meters Centerline goodness : 0.862542 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.26, Z:-1.74 [[ 0.82096325 -0.52858185 -0.21591796 -0.67326145] [ 0.51788486 0.84857225 -0.10826081 -0.25743145] [ 0.24044669 -0.0229425 0.97039117 -1.73744596] [ 0. 0. 0. 1. ]] SLAMing on 142.471346184 meters Centerline goodness : 0.863294 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.29, Z:-1.75 [[ 0.82306698 -0.52602477 -0.21414642 -0.71883046] [ 0.51492486 0.85022833 -0.10938086 -0.28583073] [ 0.23961039 -0.02024154 0.9706581 -1.75016221] [ 0. 0. 0. 1. ]] SLAMing on 142.501346184 meters Centerline goodness : 0.864661 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.31, Z:-1.76 [[ 0.8252556 -0.52320737 -0.21261995 -0.76589669] [ 0.51192384 0.85200725 -0.10962495 -0.31383547] [ 0.23851032 -0.01837662 0.97096608 -1.76332449] [ 0. 0. 0. 1. ]] SLAMing on 142.531346184 meters Centerline goodness : 0.863714 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.34, Z:-1.78 [[ 0.82713213 -0.52016991 -0.21278089 -0.81517831] [ 0.50922149 0.85384855 -0.10787092 -0.3440815 ] [ 0.23779386 -0.0191291 0.97112726 -1.77879401] [ 0. 0. 0. 1. ]] SLAMing on 142.561346184 meters Centerline goodness : 0.863493 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.36, Z:-1.78 [[ 0.82790759 -0.51882114 -0.21305785 -0.83593321] [ 0.50720948 0.85472061 -0.11041388 -0.35585692] [ 0.23938999 -0.01665247 0.97078068 -1.78439037] [ 0. 0. 0. 1. ]] SLAMing on 142.591346184 meters Centerline goodness : 0.862347 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.38, Z:-1.80 [[ 0.82946359 -0.51764739 -0.20983646 -0.87763211] [ 0.50494257 0.85552367 -0.11450877 -0.38212526] [ 0.23879523 -0.0109745 0.97100793 -1.79622502] [ 0. 0. 0. 1. ]] SLAMing on 142.621346184 meters Centerline goodness : 0.864553 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.41, Z:-1.81 [[ 0.83131535 -0.51550504 -0.20777231 -0.9222153 ] [ 0.50230078 0.85685127 -0.11618872 -0.40967534] [ 0.23792584 -0.00777472 0.97125221 -1.80927447] [ 0. 0. 0. 1. ]] SLAMing on 142.651346184 meters Centerline goodness : 0.864802 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.43, Z:-1.82 [[ 0.8334696 -0.51326768 -0.20465754 -0.96434869] [ 0.49911219 0.85822535 -0.11973415 -0.43371184] [ 0.23709796 -0.0023523 0.9714829 -1.82050576] [ 0. 0. 0. 1. ]] SLAMing on 142.681346184 meters Centerline goodness : 0.867229 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.46, Z:-1.83 [[ 8.35495395e-01 -5.10266586e-01 -2.03900603e-01 -1.01068430e+00] [ 4.95962748e-01 8.60015825e-01 -1.19973884e-01 -4.61029306e-01] [ 2.36576409e-01 -8.89475599e-04 9.71612480e-01 -1.83446449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.711346184 meters Centerline goodness : 0.865089 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.49, Z:-1.85 [[ 0.83816232 -0.50673585 -0.2017491 -1.05378938] [ 0.49177494 0.86209519 -0.12226729 -0.48558851] [ 0.23588415 0.00326468 0.9717757 -1.8459111 ] [ 0. 0. 0. 1. ]] SLAMing on 142.74134618399998 meters Centerline goodness : 0.865198 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.51, Z:-1.86 [[ 8.37255627e-01 -5.06715732e-01 -2.05529030e-01 -1.08958575e+00] [ 4.92418959e-01 8.62112451e-01 -1.19522760e-01 -5.06120482e-01] [ 2.37753198e-01 -1.13528758e-03 9.71324934e-01 -1.85529667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77134618399998 meters Centerline goodness : 0.863377 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.54, Z:-1.87 [[ 8.39746544e-01 -5.02714626e-01 -2.05191973e-01 -1.13847684e+00] [ 4.88556279e-01 8.64452094e-01 -1.18470836e-01 -5.35120066e-01] [ 2.36935653e-01 -7.62351389e-04 9.71525046e-01 -1.86835379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80134618399998 meters Centerline goodness : 0.865004 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.55, Z:-1.88 [[ 0.84160404 -0.49949429 -0.20544607 -1.16524104] [ 0.48660105 0.86630285 -0.11286621 -0.5532401 ] [ 0.23435454 -0.00498161 0.97213843 -1.88034178] [ 0. 0. 0. 1. ]] SLAMing on 142.83134618399998 meters Centerline goodness : 0.862800 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.58, Z:-1.89 [[ 0.84325874 -0.49703333 -0.20462788 -1.21404327] [ 0.48410032 0.86772218 -0.1127169 -0.58130854] [ 0.23358421 -0.00401092 0.9723283 -1.89406709] [ 0. 0. 0. 1. ]] SLAMing on 142.86134618399998 meters Centerline goodness : 0.864165 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.61, Z:-1.91 [[ 8.45163340e-01 -4.94671948e-01 -2.02481093e-01 -1.25897272e+00] [ 4.81293039e-01 8.69079340e-01 -1.14272091e-01 -6.07462606e-01] [ 2.32499332e-01 -8.74158040e-04 9.72596163e-01 -1.90705218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89134618399999 meters Centerline goodness : 0.861744 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.62, Z:-1.92 [[ 0.84608675 -0.49335057 -0.20184752 -1.28347874] [ 0.48054647 0.869827 -0.1116964 -0.62372376] [ 0.2306779 -0.00249227 0.97302697 -1.91770089] [ 0. 0. 0. 1. ]] SLAMing on 142.921346184 meters Centerline goodness : 0.861202 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.66, Z:-1.93 [[ 0.84654075 -0.49283239 -0.20120883 -1.33603793] [ 0.48042067 0.87011692 -0.10996599 -0.65518462] [ 0.22927001 -0.00357419 0.9733563 -1.93486734] [ 0. 0. 0. 1. ]] SLAMing on 142.951346184 meters Centerline goodness : 0.862106 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.67, Z:-1.95 [[ 0.84709042 -0.49196132 -0.20102708 -1.36607997] [ 0.48074683 0.87058107 -0.10474297 -0.67449391] [ 0.22653986 -0.00791637 0.97396972 -1.94772463] [ 0. 0. 0. 1. ]] SLAMing on 142.981346184 meters Centerline goodness : 0.862412 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.70, Z:-1.96 [[ 0.84865053 -0.49034871 -0.1983694 -1.41207962] [ 0.47859892 0.87151565 -0.1067874 -0.70088081] [ 0.2252451 -0.0043142 0.97429258 -1.95987919] [ 0. 0. 0. 1. ]] SLAMing on 143.011346184 meters Centerline goodness : 0.861225 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.73, Z:-1.97 [[ 8.49579268e-01 -4.89907587e-01 -1.95462588e-01 -1.45936295e+00] [ 4.77588986e-01 8.71774166e-01 -1.09172180e-01 -7.27710607e-01] [ 2.23883513e-01 -6.00358533e-04 9.74615725e-01 -1.97245376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.041346184 meters Centerline goodness : 0.860729 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.76, Z:-1.99 [[ 8.50617100e-01 -4.88643385e-01 -1.94108711e-01 -1.51048709e+00] [ 4.76326324e-01 8.72483562e-01 -1.09021408e-01 -7.55702477e-01] [ 2.22629249e-01 2.76384935e-04 9.74903144e-01 -1.98673460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.071346184 meters Centerline goodness : 0.864008 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.78, Z:-2.00 [[ 0.85106304 -0.48772528 -0.19446272 -1.54213727] [ 0.4767179 0.87298332 -0.10315115 -0.77573927] [ 0.22007213 -0.00491573 0.97547122 -1.99953168] [ 0. 0. 0. 1. ]] SLAMing on 143.101346184 meters Centerline goodness : 0.863510 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.78, Z:-1.99 [[ 0.85027117 -0.4825219 -0.21026541 -1.53538019] [ 0.47053555 0.87584903 -0.10716704 -0.77834206] [ 0.2358712 -0.00781631 0.97175289 -1.99173917] [ 0. 0. 0. 1. ]] SLAMing on 143.131346184 meters Centerline goodness : 0.862492 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.80, Z:-2.00 [[ 0.85190711 -0.48068356 -0.20784028 -1.58264461] [ 0.4680707 0.87688487 -0.10946571 -0.80275953] [ 0.23487037 -0.00402932 0.97201835 -2.00379708] [ 0. 0. 0. 1. ]] SLAMing on 143.161346184 meters Centerline goodness : 0.860838 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.80, Z:-2.00 [[ 0.85154747 -0.48035229 -0.21006806 -1.5779168 ] [ 0.46779832 0.87705988 -0.10922772 -0.80015895] [ 0.23671005 -0.00525689 0.97156612 -2.00435217] [ 0. 0. 0. 1. ]] SLAMing on 143.191346184 meters Centerline goodness : 0.860579 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.82, Z:-2.02 [[ 0.85283994 -0.47807047 -0.21003014 -1.60803589] [ 0.46690925 0.87826387 -0.10319075 -0.81896056] [ 0.23379433 -0.01005982 0.97223403 -2.01734821] [ 0. 0. 0. 1. ]] SLAMing on 143.221346184 meters Centerline goodness : 0.863918 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.84, Z:-2.03 [[ 0.85353427 -0.47666638 -0.21040058 -1.64341383] [ 0.46671118 0.8789638 -0.09799645 -0.8374275 ] [ 0.23164611 -0.01455298 0.97269126 -2.02841694] [ 0. 0. 0. 1. ]] SLAMing on 143.251346184 meters Centerline goodness : 0.863194 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.85, Z:-2.04 [[ 0.8550042 -0.47441661 -0.20951539 -1.67353849] [ 0.46556568 0.88011549 -0.09298025 -0.85470177] [ 0.22850911 -0.01804467 0.97337453 -2.03978637] [ 0. 0. 0. 1. ]] SLAMing on 143.281346184 meters Centerline goodness : 0.862073 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.87, Z:-2.05 [[ 0.85569599 -0.47308819 -0.20969484 -1.70450578] [ 0.46495245 0.88077235 -0.08977354 -0.87139603] [ 0.22716422 -0.02067927 0.97363689 -2.04933866] [ 0. 0. 0. 1. ]] SLAMing on 143.311346184 meters Centerline goodness : 0.862135 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.89, Z:-2.06 [[ 0.85701251 -0.47121397 -0.20853525 -1.73179523] [ 0.46351317 0.88175382 -0.08755417 -0.88634876] [ 0.2251335 -0.02162382 0.97408794 -2.05823808] [ 0. 0. 0. 1. ]] SLAMing on 143.341346184 meters Centerline goodness : 0.863731 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.91, Z:-2.07 [[ 0.85892979 -0.4685184 -0.20671267 -1.77915068] [ 0.46004546 0.88328139 -0.09040003 -0.90798313] [ 0.22493953 -0.01744994 0.97421646 -2.0686713 ] [ 0. 0. 0. 1. ]] SLAMing on 143.371346184 meters Centerline goodness : 0.864063 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.92, Z:-2.08 [[ 0.85941942 -0.4675963 -0.20676549 -1.80491824] [ 0.45895411 0.88378496 -0.09102341 -0.92016484] [ 0.22529844 -0.01666858 0.9741472 -2.0760414 ] [ 0. 0. 0. 1. ]] SLAMing on 143.401346184 meters Centerline goodness : 0.859807 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.93, Z:-2.09 [[ 0.86028209 -0.46616969 -0.20639898 -1.83048094] [ 0.45772436 0.88453051 -0.08996773 -0.9340449 ] [ 0.22450643 -0.01707621 0.97432298 -2.08520083] [ 0. 0. 0. 1. ]] SLAMing on 143.431346184 meters Centerline goodness : 0.862312 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.96, Z:-2.10 [[ 0.86191391 -0.46424183 -0.20392139 -1.87824094] [ 0.45499755 0.88561897 -0.09303904 -0.95623942] [ 0.22378927 -0.0125921 0.97455621 -2.09667145] [ 0. 0. 0. 1. ]] SLAMing on 143.461346184 meters Centerline goodness : 0.862289 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.97, Z:-2.11 [[ 0.86318727 -0.46214622 -0.2032944 -1.90894755] [ 0.45378899 0.88666742 -0.08886186 -0.97200916] [ 0.22132169 -0.01554833 0.9750769 -2.10719157] [ 0. 0. 0. 1. ]] SLAMing on 143.49134618399998 meters Centerline goodness : 0.860915 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.99, Z:-2.12 [[ 0.86396224 -0.46068136 -0.20332718 -1.94273994] [ 0.45341367 0.88734611 -0.08386251 -0.98887398] [ 0.21905548 -0.01973728 0.97551276 -2.11843477] [ 0. 0. 0. 1. ]] SLAMing on 143.52134618399998 meters Centerline goodness : 0.863094 Centerline is valid? [False, False] Translation: X:-1.97, Y:-1.00, Z:-2.13 [[ 0.86496068 -0.45916503 -0.20251049 -1.9740504 ] [ 0.45251127 0.88808581 -0.08085257 -1.00408639] [ 0.21697136 -0.02170399 0.97593666 -2.12744638] [ 0. 0. 0. 1. ]] SLAMing on 143.55134618399998 meters Centerline goodness : 0.860964 Centerline is valid? [False, False] Translation: X:-2.01, Y:-1.02, Z:-2.14 [[ 0.86525715 -0.45906014 -0.20147916 -2.00851173] [ 0.453049 0.88808245 -0.0778213 -1.02087601] [ 0.21465477 -0.0239445 0.97639643 -2.13673822] [ 0. 0. 0. 1. ]] SLAMing on 143.58134618399998 meters Centerline goodness : 0.860093 Centerline is valid? [False, False] Translation: X:-2.04, Y:-1.04, Z:-2.15 [[ 0.8655675 -0.45886592 -0.20058657 -2.03768233] [ 0.45305177 0.88817031 -0.07679579 -1.0354849 ] [ 0.213394 -0.02440416 0.97666137 -2.14500907] [ 0. 0. 0. 1. ]] SLAMing on 143.61134618399998 meters Centerline goodness : 0.860740 Centerline is valid? [False, False] Translation: X:-2.09, Y:-1.06, Z:-2.15 [[ 0.86681582 -0.45783645 -0.19752499 -2.08741241] [ 0.45108455 0.88882935 -0.08065434 -1.05821249] [ 0.21249251 -0.01918801 0.97697429 -2.15387511] [ 0. 0. 0. 1. ]] SLAMing on 143.64134618399999 meters Centerline goodness : 0.860740 Centerline is valid? [False, False] Translation: X:-2.12, Y:-1.07, Z:-2.16 [[ 0.86732588 -0.45676346 -0.19776997 -2.11766816] [ 0.45072995 0.88931241 -0.07723958 -1.07467236] [ 0.21115951 -0.02214896 0.97720064 -2.16431019] [ 0. 0. 0. 1. ]] SLAMing on 143.671346184 meters Centerline goodness : 0.862973 Centerline is valid? [False, False] Translation: X:-2.17, Y:-1.10, Z:-2.17 [[ 0.86881742 -0.45539996 -0.19433778 -2.16622129] [ 0.4484989 0.89012514 -0.08078354 -1.09680813] [ 0.20977376 -0.01697413 0.9776026 -2.17380045] [ 0. 0. 0. 1. ]] SLAMing on 143.701346184 meters Centerline goodness : 0.859196 Centerline is valid? [False, False] Translation: X:-2.22, Y:-1.12, Z:-2.18 [[ 0.86975393 -0.45492105 -0.19124578 -2.21619045] [ 0.44715319 0.89045133 -0.08456034 -1.11993157] [ 0.20876334 -0.01196948 0.97789294 -2.18362921] [ 0. 0. 0. 1. ]] SLAMing on 143.731346184 meters Centerline goodness : 0.860034 Centerline is valid? [False, False] Translation: X:-2.24, Y:-1.13, Z:-2.19 [[ 0.87034553 -0.45385897 -0.19107771 -2.24359482] [ 0.44634377 0.89098111 -0.08324604 -1.13430602] [ 0.20802859 -0.01283352 0.97803855 -2.19199693] [ 0. 0. 0. 1. ]] SLAMing on 143.761346184 meters Centerline goodness : 0.860726 Centerline is valid? [False, False] Translation: X:-2.28, Y:-1.15, Z:-2.20 [[ 0.87110215 -0.45269843 -0.19038163 -2.27599938] [ 0.44599413 0.89152208 -0.07923141 -1.15081234] [ 0.20559737 -0.01589044 0.97850765 -2.20204704] [ 0. 0. 0. 1. ]] SLAMing on 143.791346184 meters Centerline goodness : 0.859576 Centerline is valid? [False, False] Translation: X:-2.33, Y:-1.17, Z:-2.21 [[ 0.87309953 -0.44974989 -0.18820801 -2.32671151] [ 0.44262377 0.89306295 -0.08076365 -1.17281425] [ 0.20440504 -0.01279063 0.97880283 -2.21188072] [ 0. 0. 0. 1. ]] SLAMing on 143.821346184 meters Centerline goodness : 0.859576 Centerline is valid? [False, False] Translation: X:-2.35, Y:-1.19, Z:-2.22 [[ 0.87407504 -0.44752532 -0.18898123 -2.35002074] [ 0.44051041 0.89417252 -0.08003804 -1.1856267 ] [ 0.20480087 -0.01328895 0.97871344 -2.21960389] [ 0. 0. 0. 1. ]] SLAMing on 143.851346184 meters Centerline goodness : 0.859636 Centerline is valid? [False, False] Translation: X:-2.39, Y:-1.20, Z:-2.23 [[ 0.87489734 -0.44660704 -0.18734139 -2.38536385] [ 0.44013816 0.89460581 -0.07719354 -1.20170635] [ 0.20207187 -0.01491968 0.97925705 -2.22679886] [ 0. 0. 0. 1. ]] SLAMing on 143.881346184 meters Centerline goodness : 0.862668 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.22, Z:-2.23 [[ 0.87695434 -0.44392474 -0.18407042 -2.43443155] [ 0.4367498 0.89600693 -0.08013243 -1.22401208] [ 0.20050114 -0.01012024 0.9796412 -2.23488545] [ 0. 0. 0. 1. ]] SLAMing on 143.911346184 meters Centerline goodness : 0.863152 Centerline is valid? [False, False] Translation: X:-2.47, Y:-1.24, Z:-2.24 [[ 0.87814597 -0.4421132 -0.18274457 -2.46851996] [ 0.43600632 0.89684721 -0.07458936 -1.24119937] [ 0.1968709 -0.01417744 0.98032691 -2.24488772] [ 0. 0. 0. 1. ]] SLAMing on 143.941346184 meters Centerline goodness : 0.863223 Centerline is valid? [False, False] Translation: X:-2.50, Y:-1.26, Z:-2.25 [[ 0.87908636 -0.44100071 -0.18090205 -2.50142004] [ 0.43543819 0.89736708 -0.07159537 -1.25720096] [ 0.19390915 -0.01583315 0.98089171 -2.25250817] [ 0. 0. 0. 1. ]] SLAMing on 143.971346184 meters Centerline goodness : 0.860707 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.28, Z:-2.26 [[ 0.88048912 -0.43966662 -0.17729123 -2.54563554] [ 0.43285082 0.89812143 -0.07757618 -1.27703057] [ 0.19333671 -0.00843567 0.9810962 -2.2601579 ] [ 0. 0. 0. 1. ]] SLAMing on 144.001346184 meters Centerline goodness : 0.862657 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.29, Z:-2.27 [[ 0.88091175 -0.43888243 -0.17713471 -2.57503736] [ 0.43261178 0.8984794 -0.07471159 -1.29303912] [ 0.19194149 -0.01081625 0.98134677 -2.26978398] [ 0. 0. 0. 1. ]] SLAMing on 144.031346184 meters Centerline goodness : 0.862584 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.31, Z:-2.28 [[ 0.88229684 -0.43728699 -0.1741619 -2.62274055] [ 0.43020867 0.89930451 -0.07856145 -1.31497159] [ 0.19097848 -0.00561145 0.98157818 -2.27851761] [ 0. 0. 0. 1. ]] SLAMing on 144.061346184 meters Centerline goodness : 0.862682 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.33, Z:-2.29 [[ 0.88294547 -0.43615577 -0.17371081 -2.66002834] [ 0.43023921 0.89980631 -0.07240742 -1.33408789] [ 0.187887 -0.0108054 0.98213121 -2.28815906] [ 0. 0. 0. 1. ]] SLAMing on 144.091346184 meters Centerline goodness : 0.863617 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.35, Z:-2.30 [[ 0.8842358 -0.43410667 -0.17227433 -2.69214705] [ 0.4288745 0.90076311 -0.0685017 -1.34956174] [ 0.18491541 -0.01331241 0.98266427 -2.29586988] [ 0. 0. 0. 1. ]] SLAMing on 144.121346184 meters Centerline goodness : 0.866660 Centerline is valid? [False, False] Translation: X:-2.74, Y:-1.37, Z:-2.30 [[ 0.88622844 -0.43100595 -0.16980287 -2.74193902] [ 0.42519517 0.90230255 -0.07112785 -1.37123139] [ 0.18387009 -0.00916384 0.98290784 -2.30268784] [ 0. 0. 0. 1. ]] SLAMing on 144.151346184 meters Centerline goodness : 0.865845 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.39, Z:-2.31 [[ 0.88818051 -0.42833786 -0.16631914 -2.79095964] [ 0.42173405 0.90361179 -0.07500748 -1.3932727 ] [ 0.18241648 -0.00352226 0.98321504 -2.30856438] [ 0. 0. 0. 1. ]] SLAMing on 144.181346184 meters Centerline goodness : 0.865626 Centerline is valid? [False, False] Translation: X:-2.82, Y:-1.41, Z:-2.32 [[ 0.88896456 -0.42684144 -0.16597711 -2.82084259] [ 0.42101317 0.90429883 -0.07065088 -1.41028787] [ 0.18024963 -0.00707242 0.98359547 -2.3185671 ] [ 0. 0. 0. 1. ]] SLAMing on 144.211346184 meters Centerline goodness : 0.866441 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.43, Z:-2.33 [[ 8.90501263e-01 -4.24683789e-01 -1.63251891e-01 -2.86577725e+00] [ 4.17996170e-01 9.05340699e-01 -7.50827559e-02 -1.43070065e+00] [ 1.79685010e-01 -1.37737607e-03 9.83723233e-01 -2.32660259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24134618399998 meters Centerline goodness : 0.863366 Centerline is valid? [False, False] Translation: X:-2.90, Y:-1.45, Z:-2.34 [[ 0.89098977 -0.42358736 -0.16343492 -2.89684765] [ 0.41768653 0.9058397 -0.07065697 -1.44743602] [ 0.17797523 -0.00530992 0.98402064 -2.33711496] [ 0. 0. 0. 1. ]] SLAMing on 144.27134618399998 meters Centerline goodness : 0.867262 Centerline is valid? [False, False] Translation: X:-2.93, Y:-1.46, Z:-2.34 [[ 0.89105843 -0.42309067 -0.16434464 -2.92783949] [ 0.41745875 0.90606043 -0.06915697 -1.46226452] [ 0.17816585 -0.0069842 0.98397569 -2.34393379] [ 0. 0. 0. 1. ]] SLAMing on 144.30134618399998 meters Centerline goodness : 0.864665 Centerline is valid? [False, False] Translation: X:-2.96, Y:-1.48, Z:-2.35 [[ 0.89213398 -0.4209744 -0.16394363 -2.95963403] [ 0.41612684 0.90701048 -0.06457893 -1.47832919] [ 0.17588466 -0.01060829 0.98435362 -2.35259414] [ 0. 0. 0. 1. ]] SLAMing on 144.33134618399998 meters Centerline goodness : 0.865172 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.49, Z:-2.36 [[ 0.89337684 -0.41928386 -0.16148952 -2.99001901] [ 0.41487354 0.90777855 -0.06179029 -1.49346187] [ 0.17250439 -0.01179571 0.98493812 -2.35937607] [ 0. 0. 0. 1. ]] SLAMing on 144.36134618399998 meters Centerline goodness : 0.864726 Centerline is valid? [False, False] Translation: X:-3.03, Y:-1.52, Z:-2.37 [[ 0.89642133 -0.41625721 -0.15217991 -3.03215297] [ 0.411937 0.90920693 -0.06042075 -1.5156389 ] [ 0.1635136 -0.00852608 0.98650424 -2.3707532 ] [ 0. 0. 0. 1. ]] SLAMing on 144.39134618399999 meters Centerline goodness : 0.866282 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.53, Z:-2.38 [[ 0.89710206 -0.41535815 -0.15061704 -3.06089865] [ 0.41126317 0.90961231 -0.05889008 -1.53059704] [ 0.16146359 -0.00911283 0.9868366 -2.3774078 ] [ 0. 0. 0. 1. ]] SLAMing on 144.421346184 meters Centerline goodness : 0.866571 Centerline is valid? [False, False] Translation: X:-3.08, Y:-1.54, Z:-2.38 [[ 0.89780168 -0.4140797 -0.14996714 -3.08442436] [ 0.40957949 0.91021773 -0.06122361 -1.54191413] [ 0.1618542 -0.00645681 0.98679356 -2.38043137] [ 0. 0. 0. 1. ]] SLAMing on 144.451346184 meters Centerline goodness : 0.865127 Centerline is valid? [False, False] Translation: X:-3.12, Y:-1.56, Z:-2.39 [[ 0.89846519 -0.41284952 -0.14938401 -3.11503515] [ 0.40894013 0.91075013 -0.05746453 -1.55821948] [ 0.15977571 -0.00945924 0.98710802 -2.38862486] [ 0. 0. 0. 1. ]] SLAMing on 144.481346184 meters Centerline goodness : 0.867339 Centerline is valid? [False, False] Translation: X:-3.16, Y:-1.58, Z:-2.39 [[ 8.99345837e-01 -4.12078554e-01 -1.46179106e-01 -3.16039370e+00] [ 4.07081329e-01 9.11146258e-01 -6.40100687e-02 -1.57895309e+00] [ 1.59567722e-01 -1.93959575e-03 9.87185079e-01 -2.39361479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.511346184 meters Centerline goodness : 0.867702 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.59, Z:-2.40 [[ 9.00586414e-01 -4.09936642e-01 -1.44554697e-01 -3.18279762e+00] [ 4.04857741e-01 9.12113811e-01 -6.43319939e-02 -1.59198840e+00] [ 1.58222377e-01 -5.87568449e-04 9.87403329e-01 -2.39853681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.541346184 meters Centerline goodness : 0.868803 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.61, Z:-2.41 [[ 0.90160608 -0.40817984 -0.14316317 -3.21300147] [ 0.40368851 0.91289568 -0.06047364 -1.60834378] [ 0.15537716 -0.00326993 0.98784981 -2.40617709] [ 0. 0. 0. 1. ]] SLAMing on 144.571346184 meters Centerline goodness : 0.868844 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.62, Z:-2.41 [[ 0.90276496 -0.40625825 -0.14131403 -3.24255641] [ 0.40222268 0.91374423 -0.05734458 -1.62395554] [ 0.15242158 -0.00507103 0.98830256 -2.41219534] [ 0. 0. 0. 1. ]] SLAMing on 144.601346184 meters Centerline goodness : 0.868509 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.64, Z:-2.41 [[ 9.04526348e-01 -4.03294147e-01 -1.38513240e-01 -3.26354822e+00] [ 3.98733638e-01 9.15070247e-01 -6.04808132e-02 -1.63507949e+00] [ 1.51140902e-01 -5.23398951e-04 9.88512091e-01 -2.41160089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.631346184 meters Centerline goodness : 0.869137 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.64, Z:-2.41 [[ 9.04581173e-01 -4.03081842e-01 -1.38772944e-01 -3.26275586e+00] [ 3.98510704e-01 9.15163774e-01 -6.05349987e-02 -1.63567537e+00] [ 1.51400530e-01 -5.43683445e-04 9.88472349e-01 -2.41100347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661346184 meters Centerline goodness : 0.872396 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.64, Z:-2.40 [[ 0.90535062 -0.39544246 -0.15480797 -3.25743314] [ 0.39057826 0.91848047 -0.06198586 -1.64102371] [ 0.16669994 -0.00434569 0.9859981 -2.40321351] [ 0. 0. 0. 1. ]] SLAMing on 144.691346184 meters Centerline goodness : 0.868412 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.65, Z:-2.40 [[ 0.90526433 -0.38925582 -0.17022459 -3.25147112] [ 0.3838661 0.92110603 -0.06488835 -1.64792688] [ 0.18205307 -0.00660235 0.98326654 -2.3960362 ] [ 0. 0. 0. 1. ]] SLAMing on 144.721346184 meters Centerline goodness : 0.868012 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.65, Z:-2.40 [[ 0.90535278 -0.38889119 -0.1705872 -3.24971479] [ 0.38361574 0.92125501 -0.06425087 -1.65037619] [ 0.18214091 -0.00727023 0.98324556 -2.39660565] [ 0. 0. 0. 1. ]] SLAMing on 144.751346184 meters Centerline goodness : 0.870012 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.65, Z:-2.40 [[ 0.90488409 -0.3893351 -0.17205512 -3.24692206] [ 0.38410943 0.92106061 -0.06408822 -1.6510679 ] [ 0.18342499 -0.00809559 0.98300037 -2.39549449] [ 0. 0. 0. 1. ]] SLAMing on 144.781346184 meters Centerline goodness : 0.868977 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.67, Z:-2.40 [[ 0.90621863 -0.38769989 -0.16869082 -3.27505169] [ 0.38292809 0.92174137 -0.06131012 -1.66580361] [ 0.17925923 -0.00903608 0.98376038 -2.40276548] [ 0. 0. 0. 1. ]] SLAMing on 144.811346184 meters Centerline goodness : 0.868101 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.68, Z:-2.41 [[ 0.90583794 -0.38932318 -0.1669883 -3.31031 ] [ 0.385074 0.92103146 -0.05847271 -1.68430497] [ 0.17656626 -0.01133605 0.98422348 -2.41060172] [ 0. 0. 0. 1. ]] SLAMing on 144.841346184 meters Centerline goodness : 0.868623 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.69, Z:-2.41 [[ 0.90577562 -0.38938468 -0.16718285 -3.30912336] [ 0.3851936 0.92100077 -0.05816761 -1.68686487] [ 0.17662511 -0.01171096 0.98420853 -2.41071709] [ 0. 0. 0. 1. ]] SLAMing on 144.871346184 meters Centerline goodness : 0.869595 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.69, Z:-2.41 [[ 0.90544823 -0.3902409 -0.16695972 -3.30784772] [ 0.38577716 0.92065509 -0.05975104 -1.68817556] [ 0.17702961 -0.01030777 0.98415155 -2.41044132] [ 0. 0. 0. 1. ]] SLAMing on 144.901346184 meters Centerline goodness : 0.871413 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.69, Z:-2.41 [[ 0.90524168 -0.39054342 -0.16737188 -3.30614507] [ 0.38604746 0.92052672 -0.0599826 -1.68992491] [ 0.1774961 -0.01031474 0.98406745 -2.4098581 ] [ 0. 0. 0. 1. ]] SLAMing on 144.931346184 meters Centerline goodness : 0.872261 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.69, Z:-2.41 [[ 0.9049885 -0.390536 -0.16875261 -3.3044827 ] [ 0.38631635 0.92050666 -0.05854211 -1.69348618] [ 0.1782007 -0.01221196 0.98391838 -2.40771307] [ 0. 0. 0. 1. ]] SLAMing on 144.961346184 meters Centerline goodness : 0.874408 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.69, Z:-2.41 [[ 0.90478792 -0.39019516 -0.17060645 -3.30288513] [ 0.38625008 0.92062268 -0.05713801 -1.69484893] [ 0.17935914 -0.01419897 0.98368119 -2.40527135] [ 0. 0. 0. 1. ]] SLAMing on 144.99134618399998 meters Centerline goodness : 0.874347 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.70, Z:-2.40 [[ 0.90476747 -0.3898681 -0.17146044 -3.30201775] [ 0.38608365 0.92074424 -0.056298 -1.69627429] [ 0.17982001 -0.01526147 0.98358114 -2.40383033] [ 0. 0. 0. 1. ]] SLAMing on 145.02134618399998 meters Centerline goodness : 0.873668 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.70, Z:-2.40 [[ 0.90448377 -0.39107296 -0.17020887 -3.30018732] [ 0.38680168 0.92027491 -0.05897926 -1.69957438] [ 0.17970414 -0.01249129 0.98364139 -2.40473203] [ 0. 0. 0. 1. ]] SLAMing on 145.05134618399998 meters Centerline goodness : 0.875247 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.70, Z:-2.41 [[ 0.90453959 -0.3911557 -0.16972141 -3.29815794] [ 0.38658357 0.9202612 -0.06060093 -1.70119029] [ 0.17989242 -0.01079556 0.98362705 -2.40577056] [ 0. 0. 0. 1. ]] SLAMing on 145.08134618399998 meters Centerline goodness : 0.876229 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.70, Z:-2.41 [[ 0.90464611 -0.39079888 -0.16997545 -3.29630005] [ 0.3862226 0.92041247 -0.06060517 -1.70295054] [ 0.18013196 -0.01082213 0.98358292 -2.40612917] [ 0. 0. 0. 1. ]] SLAMing on 145.11134618399998 meters Centerline goodness : 0.875320 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.70, Z:-2.41 [[ 0.90474113 -0.39067724 -0.16974917 -3.29648164] [ 0.38607026 0.92046699 -0.06074764 -1.70439255] [ 0.17998123 -0.01057422 0.98361321 -2.40554299] [ 0. 0. 0. 1. ]] SLAMing on 145.14134618399999 meters Centerline goodness : 0.877716 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.71, Z:-2.41 [[ 0.90538857 -0.390067 -0.16768801 -3.29930767] [ 0.38526972 0.92074429 -0.0616213 -1.70843572] [ 0.17843422 -0.00881389 0.98391237 -2.40507076] [ 0. 0. 0. 1. ]] SLAMing on 145.171346184 meters Centerline goodness : 0.876918 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.71, Z:-2.40 [[ 0.90555565 -0.3892378 -0.16870953 -3.29722429] [ 0.38455065 0.92108679 -0.06099108 -1.70923738] [ 0.17913615 -0.00964654 0.983777 -2.40486596] [ 0. 0. 0. 1. ]] SLAMing on 145.201346184 meters Centerline goodness : 0.877059 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.71, Z:-2.40 [[ 0.90583444 -0.38855249 -0.16879257 -3.29703683] [ 0.38388508 0.92137552 -0.06082273 -1.71079751] [ 0.17915417 -0.00970162 0.98377318 -2.40428315] [ 0. 0. 0. 1. ]] SLAMing on 145.231346184 meters Centerline goodness : 0.878293 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.71, Z:-2.40 [[ 0.90624219 -0.38753048 -0.1689533 -3.29584579] [ 0.38289046 0.92180495 -0.06058489 -1.71277343] [ 0.17922048 -0.00978602 0.98376026 -2.40456423] [ 0. 0. 0. 1. ]] SLAMing on 145.261346184 meters Centerline goodness : 0.882542 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.72, Z:-2.41 [[ 0.90716246 -0.38613443 -0.16720188 -3.29705622] [ 0.38139685 0.92240314 -0.06090069 -1.71733825] [ 0.17774339 -0.00852345 0.98403996 -2.40530025] [ 0. 0. 0. 1. ]] SLAMing on 145.291346184 meters Centerline goodness : 0.881499 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.72, Z:-2.40 [[ 0.90746842 -0.38485851 -0.16847846 -3.29528179] [ 0.38043297 0.92291653 -0.05912555 -1.71861803] [ 0.17824653 -0.01044019 0.98393047 -2.40486802] [ 0. 0. 0. 1. ]] SLAMing on 145.321346184 meters Centerline goodness : 0.884545 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.72, Z:-2.40 [[ 0.90795551 -0.38358302 -0.16876271 -3.29552615] [ 0.37940548 0.9234325 -0.05765328 -1.72017668] [ 0.17795579 -0.01168289 0.98396913 -2.40431899] [ 0. 0. 0. 1. ]] SLAMing on 145.351346184 meters Centerline goodness : 0.884851 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.72, Z:-2.40 [[ 0.90846874 -0.38328696 -0.16666031 -3.29802369] [ 0.37884688 0.92357963 -0.05895518 -1.72393252] [ 0.17652082 -0.0095798 0.98425029 -2.40412231] [ 0. 0. 0. 1. ]] SLAMing on 145.381346184 meters Centerline goodness : 0.887903 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.73, Z:-2.41 [[ 0.90842763 -0.38369747 -0.16593821 -3.29679524] [ 0.37909187 0.92341964 -0.05987923 -1.72520572] [ 0.17620611 -0.00850987 0.98431651 -2.40548371] [ 0. 0. 0. 1. ]] SLAMing on 145.411346184 meters Centerline goodness : 0.886681 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.73, Z:-2.41 [[ 0.90807047 -0.38538665 -0.16396695 -3.29822627] [ 0.38029322 0.92273919 -0.06268535 -1.72697843] [ 0.17545683 -0.0054328 0.98447214 -2.40552513] [ 0. 0. 0. 1. ]] SLAMing on 145.441346184 meters Centerline goodness : 0.888216 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.73, Z:-2.41 [[ 0.90717658 -0.38792715 -0.16292077 -3.29735984] [ 0.38258184 0.92168137 -0.0643008 -1.73059147] [ 0.17510506 -0.00399835 0.98454163 -2.40527706] [ 0. 0. 0. 1. ]] SLAMing on 145.471346184 meters Centerline goodness : 0.890484 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.73, Z:-2.41 [[ 0.90669853 -0.38865002 -0.16385642 -3.29507438] [ 0.38350421 0.92136921 -0.06327164 -1.73172484] [ 0.17556278 -0.00547132 0.98445303 -2.4050766 ] [ 0. 0. 0. 1. ]] SLAMing on 145.501346184 meters Centerline goodness : 0.889771 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.73, Z:-2.40 [[ 0.9063245 -0.38956618 -0.16375012 -3.2956668 ] [ 0.38441818 0.92098193 -0.06336359 -1.73376686] [ 0.17549521 -0.00552055 0.98446481 -2.40347097] [ 0. 0. 0. 1. ]] SLAMing on 145.531346184 meters Centerline goodness : 0.889771 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.73, Z:-2.40 [[ 0.9063245 -0.38956618 -0.16375012 -3.2956668 ] [ 0.38441818 0.92098193 -0.06336359 -1.73376686] [ 0.17549521 -0.00552055 0.98446481 -2.40347097] [ 0. 0. 0. 1. ]] SLAMing on 145.561346184 meters Centerline goodness : 0.892171 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.73, Z:-2.40 [[ 0.90612478 -0.38932355 -0.16542386 -3.2918584 ] [ 0.38446414 0.92106963 -0.06179047 -1.73453279] [ 0.17642338 -0.00760967 0.98428496 -2.40387814] [ 0. 0. 0. 1. ]] SLAMing on 145.591346184 meters Centerline goodness : 0.892622 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.74, Z:-2.40 [[ 0.90555089 -0.3900895 -0.16675661 -3.28742688] [ 0.38551965 0.92072617 -0.06031516 -1.73797682] [ 0.17706548 -0.00966951 0.98415157 -2.4044555 ] [ 0. 0. 0. 1. ]] SLAMing on 145.621346184 meters Centerline goodness : 0.894359 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.74, Z:-2.40 [[ 0.90482868 -0.39194238 -0.16633169 -3.2864756 ] [ 0.38720869 0.919947 -0.06137546 -1.73959723] [ 0.17707199 -0.0088708 0.98415792 -2.4042781 ] [ 0. 0. 0. 1. ]] SLAMing on 145.651346184 meters Centerline goodness : 0.893618 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.74, Z:-2.40 [[ 0.90397299 -0.39417953 -0.16569652 -3.28490788] [ 0.38920418 0.91900175 -0.0628958 -1.74112357] [ 0.17706763 -0.00763368 0.98416908 -2.40483067] [ 0. 0. 0. 1. ]] SLAMing on 145.681346184 meters Centerline goodness : 0.893469 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.74, Z:-2.41 [[ 0.90300683 -0.39589733 -0.16686513 -3.28018314] [ 0.3910359 0.91825231 -0.06247892 -1.74177001] [ 0.17795953 -0.00883136 0.98399818 -2.40609588] [ 0. 0. 0. 1. ]] SLAMing on 145.711346184 meters Centerline goodness : 0.897703 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.74, Z:-2.40 [[ 0.90081146 -0.4004579 -0.16784572 -3.27682348] [ 0.39567945 0.91625938 -0.06250216 -1.74479282] [ 0.1788197 -0.01011044 0.98382991 -2.40437175] [ 0. 0. 0. 1. ]] SLAMing on 145.74134618399998 meters Centerline goodness : 0.897914 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.75, Z:-2.40 [[ 0.89969596 -0.40283953 -0.16812937 -3.27464331] [ 0.39807911 0.91520962 -0.06264491 -1.74716461] [ 0.17910946 -0.01056742 0.9837724 -2.40376101] [ 0. 0. 0. 1. ]] SLAMing on 145.77134618399998 meters Centerline goodness : 0.895750 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.75, Z:-2.40 [[ 0.89859505 -0.40537503 -0.16792267 -3.27134678] [ 0.40043599 0.91409725 -0.06385324 -1.74917746] [ 0.17938216 -0.00986408 0.98373001 -2.40478289] [ 0. 0. 0. 1. ]] SLAMing on 145.80134618399998 meters Centerline goodness : 0.898466 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.75, Z:-2.41 [[ 0.89768447 -0.40784344 -0.16681223 -3.26954838] [ 0.40266913 0.91301199 -0.06531975 -1.75226534] [ 0.1789418 -0.00853361 0.98382265 -2.40582144] [ 0. 0. 0. 1. ]] SLAMing on 145.83134618399998 meters Centerline goodness : 0.900734 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.76, Z:-2.41 [[ 0.896465 -0.41017062 -0.16766204 -3.26578399] [ 0.40518963 0.91195296 -0.06452259 -1.75586406] [ 0.17936517 -0.01009267 0.98373079 -2.40571074] [ 0. 0. 0. 1. ]] SLAMing on 145.86134618399998 meters Centerline goodness : 0.899420 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.76, Z:-2.41 [[ 0.89605491 -0.41032367 -0.16947001 -3.26233461] [ 0.40563622 0.91185767 -0.06304635 -1.75597337] [ 0.18040194 -0.01225018 0.98351669 -2.40554547] [ 0. 0. 0. 1. ]] SLAMing on 145.89134618399999 meters Centerline goodness : 0.900002 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.76, Z:-2.41 [[ 0.89590864 -0.41035165 -0.17017412 -3.26092892] [ 0.40582148 0.91183043 -0.06224302 -1.75662736] [ 0.18071147 -0.01329625 0.98344627 -2.40538224] [ 0. 0. 0. 1. ]] SLAMing on 145.921346184 meters Centerline goodness : 0.900327 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.76, Z:-2.41 [[ 0.89637308 -0.40896207 -0.17107114 -3.25826817] [ 0.40465813 0.9124347 -0.06094847 -1.75745482] [ 0.18101686 -0.01459276 0.98337172 -2.40667663] [ 0. 0. 0. 1. ]] SLAMing on 145.951346184 meters Centerline goodness : 0.899475 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.76, Z:-2.41 [[ 0.89800947 -0.40595645 -0.16964184 -3.25880312] [ 0.4016088 0.91379202 -0.06078258 -1.76107283] [ 0.17969244 -0.01354632 0.98362957 -2.4088842 ] [ 0. 0. 0. 1. ]] SLAMing on 145.981346184 meters Centerline goodness : 0.900082 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.76, Z:-2.41 [[ 0.89856738 -0.40433527 -0.1705569 -3.25543607] [ 0.40017165 0.91449408 -0.05969283 -1.76119248] [ 0.18010919 -0.01461401 0.98353806 -2.41111883] [ 0. 0. 0. 1. ]] SLAMing on 146.011346184 meters Centerline goodness : 0.899923 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.76, Z:-2.41 [[ 0.89911006 -0.40321054 -0.1703595 -3.25424458] [ 0.39905925 0.91499258 -0.05950039 -1.76218718] [ 0.17986886 -0.01448613 0.98358393 -2.41270284] [ 0. 0. 0. 1. ]] SLAMing on 146.041346184 meters Centerline goodness : 0.900872 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.76, Z:-2.41 [[ 0.89959576 -0.40200673 -0.17064013 -3.25230203] [ 0.39797515 0.91551291 -0.05875284 -1.76287015] [ 0.17984228 -0.01505672 0.98358022 -2.41431055] [ 0. 0. 0. 1. ]] SLAMing on 146.071346184 meters Centerline goodness : 0.898563 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.76, Z:-2.42 [[ 0.89986272 -0.40075839 -0.17216215 -3.24895393] [ 0.39703733 0.91602613 -0.05707446 -1.76244744] [ 0.18057809 -0.01699563 0.9834138 -2.41542277] [ 0. 0. 0. 1. ]] SLAMing on 146.101346184 meters Centerline goodness : 0.899508 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.76, Z:-2.42 [[ 0.90076991 -0.39754525 -0.17484661 -3.24519036] [ 0.39463383 0.91732887 -0.05264872 -1.76275753] [ 0.18132209 -0.02157601 0.98318705 -2.41629131] [ 0. 0. 0. 1. ]] SLAMing on 146.131346184 meters Centerline goodness : 0.899776 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.76, Z:-2.42 [[ 0.90124193 -0.39637376 -0.17507374 -3.24409625] [ 0.39362298 0.91781765 -0.05168855 -1.76368643] [ 0.18117375 -0.02232916 0.98319758 -2.41722106] [ 0. 0. 0. 1. ]] SLAMing on 146.161346184 meters Centerline goodness : 0.899139 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.76, Z:-2.42 [[ 0.90161199 -0.39551111 -0.17511933 -3.24267461] [ 0.39284324 0.91818138 -0.05115805 -1.76450416] [ 0.18102488 -0.02266974 0.98321721 -2.41857591] [ 0. 0. 0. 1. ]] SLAMing on 146.191346184 meters Centerline goodness : 0.900036 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.77, Z:-2.42 [[ 0.90159099 -0.39533048 -0.17563455 -3.24002822] [ 0.39279196 0.91823949 -0.05050464 -1.7652129 ] [ 0.1812406 -0.02345331 0.98315908 -2.4198049 ] [ 0. 0. 0. 1. ]] SLAMing on 146.221346184 meters Centerline goodness : 0.900125 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.77, Z:-2.42 [[ 0.90057953 -0.39840947 -0.17385742 -3.23899804] [ 0.39534659 0.91697614 -0.05343995 -1.76720493] [ 0.18071409 -0.02060702 0.98331977 -2.42102123] [ 0. 0. 0. 1. ]] SLAMing on 146.251346184 meters Centerline goodness : 0.900034 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.77, Z:-2.42 [[ 0.89991762 -0.39956334 -0.17463509 -3.23412586] [ 0.3965759 0.91645699 -0.05323657 -1.76733798] [ 0.18131693 -0.02134754 0.98319299 -2.42328047] [ 0. 0. 0. 1. ]] SLAMing on 146.281346184 meters Centerline goodness : 0.901997 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.77, Z:-2.42 [[ 0.89880589 -0.40115626 -0.17669644 -3.2295567 ] [ 0.39856429 0.9156921 -0.05152165 -1.76784517] [ 0.18246777 -0.02411693 0.98291601 -2.4228557 ] [ 0. 0. 0. 1. ]] SLAMing on 146.311346184 meters Centerline goodness : 0.901966 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.77, Z:-2.42 [[ 0.89806477 -0.40159445 -0.17944796 -3.22535368] [ 0.39953389 0.91540193 -0.04911183 -1.76664206] [ 0.18399005 -0.02758994 0.98254082 -2.421948 ] [ 0. 0. 0. 1. ]] SLAMing on 146.341346184 meters Centerline goodness : 0.901757 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.77, Z:-2.42 [[ 0.89733911 -0.40239966 -0.18126509 -3.22085696] [ 0.40067073 0.91497867 -0.04771788 -1.76585773] [ 0.18505535 -0.02980849 0.98227591 -2.42246753] [ 0. 0. 0. 1. ]] SLAMing on 146.371346184 meters Centerline goodness : 0.900588 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.77, Z:-2.42 [[ 0.89660339 -0.40395429 -0.18144775 -3.21739406] [ 0.40217434 0.91429449 -0.04818081 -1.76577713] [ 0.18535952 -0.02977456 0.98221959 -2.42422105] [ 0. 0. 0. 1. ]] SLAMing on 146.401346184 meters Centerline goodness : 0.900851 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.77, Z:-2.43 [[ 0.89466696 -0.4088815 -0.17996376 -3.21336022] [ 0.40645159 0.91219663 -0.05190777 -1.76638147] [ 0.18538646 -0.02670639 0.98230272 -2.42703916] [ 0. 0. 0. 1. ]] SLAMing on 146.431346184 meters Centerline goodness : 0.903376 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.77, Z:-2.43 [[ 0.89384825 -0.41014138 -0.1811611 -3.20893367] [ 0.40785873 0.91159485 -0.05144018 -1.76578973] [ 0.18624328 -0.02790842 0.9821072 -2.42817521] [ 0. 0. 0. 1. ]] SLAMing on 146.461346184 meters Centerline goodness : 0.903110 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.77, Z:-2.43 [[ 0.89302729 -0.41149172 -0.18214505 -3.2063646 ] [ 0.40939484 0.9109443 -0.05075776 -1.76536728] [ 0.18681039 -0.02924117 0.98196071 -2.42806614] [ 0. 0. 0. 1. ]] SLAMing on 146.49134618399998 meters Centerline goodness : 0.903342 Centerline is valid? [False, False] Translation: X:-3.20, Y:-1.76, Z:-2.43 [[ 0.89220744 -0.41193822 -0.18512911 -3.20140058] [ 0.41043816 0.91061435 -0.04818728 -1.76359717] [ 0.18843141 -0.032991 0.98153207 -2.42757693] [ 0. 0. 0. 1. ]] SLAMing on 146.52134618399998 meters Centerline goodness : 0.903505 Centerline is valid? [False, False] Translation: X:-3.20, Y:-1.76, Z:-2.43 [[ 0.89094596 -0.41331162 -0.18811912 -3.196943 ] [ 0.41240958 0.90984661 -0.04579825 -1.76128385] [ 0.1900885 -0.03677836 0.98107783 -2.42663634] [ 0. 0. 0. 1. ]] SLAMing on 146.55134618399998 meters Centerline goodness : 0.904709 Centerline is valid? [False, False] Translation: X:-3.19, Y:-1.76, Z:-2.43 [[ 0.89026997 -0.41408829 -0.18960557 -3.19252249] [ 0.41335565 0.90944165 -0.04530994 -1.75978687] [ 0.19119752 -0.03803646 0.98081432 -2.42771423] [ 0. 0. 0. 1. ]] SLAMing on 146.58134618399998 meters Centerline goodness : 0.906089 Centerline is valid? [False, False] Translation: X:-3.19, Y:-1.76, Z:-2.43 [[ 0.88975592 -0.41494282 -0.19014958 -3.18890643] [ 0.41425648 0.90903324 -0.04527839 -1.75930102] [ 0.19164023 -0.03848397 0.98071046 -2.42947401] [ 0. 0. 0. 1. ]] SLAMing on 146.61134618399998 meters Centerline goodness : 0.904680 Centerline is valid? [False, False] Translation: X:-3.19, Y:-1.76, Z:-2.43 [[ 0.88930407 -0.4154347 -0.19118653 -3.1853562 ] [ 0.41491062 0.90876253 -0.0447196 -1.75859163] [ 0.19232123 -0.039556 0.98053448 -2.43054567] [ 0. 0. 0. 1. ]] SLAMing on 146.64134618399999 meters Centerline goodness : 0.906842 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.76, Z:-2.43 [[ 0.88805806 -0.41763462 -0.19218275 -3.18392608] [ 0.41731492 0.90768941 -0.04413844 -1.75757057] [ 0.19287599 -0.04100323 0.98036605 -2.42907504] [ 0. 0. 0. 1. ]] SLAMing on 146.671346184 meters Centerline goodness : 0.907435 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.76, Z:-2.43 [[ 0.88754371 -0.41792481 -0.19392013 -3.18010922] [ 0.41792293 0.90746685 -0.04294572 -1.75656048] [ 0.19392417 -0.04292746 0.98007686 -2.42943975] [ 0. 0. 0. 1. ]] SLAMing on 146.701346184 meters Centerline goodness : 0.908351 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.76, Z:-2.43 [[ 0.88726391 -0.41792956 -0.19518615 -3.17761421] [ 0.41820401 0.90738885 -0.04184366 -1.7555928 ] [ 0.19459743 -0.04450126 0.97987319 -2.42963494] [ 0. 0. 0. 1. ]] SLAMing on 146.731346184 meters Centerline goodness : 0.909013 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.75, Z:-2.43 [[ 0.88708811 -0.41757048 -0.19674751 -3.17489826] [ 0.41824246 0.9074464 -0.040178 -1.7539164 ] [ 0.19531497 -0.04664674 0.97963062 -2.43006009] [ 0. 0. 0. 1. ]] SLAMing on 146.761346184 meters Centerline goodness : 0.908136 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.75, Z:-2.44 [[ 0.88698527 -0.42189557 -0.18777979 -3.16847583] [ 0.42319332 0.90535741 -0.03514779 -1.74819507] [ 0.18483652 -0.04829158 0.98158208 -2.43726424] [ 0. 0. 0. 1. ]] SLAMing on 146.791346184 meters Centerline goodness : 0.907952 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.75, Z:-2.44 [[ 0.88720694 -0.42144366 -0.18774738 -3.16661439] [ 0.42270179 0.9055811 -0.03529983 -1.74770385] [ 0.18489737 -0.0480429 0.98158283 -2.43923863] [ 0. 0. 0. 1. ]] SLAMing on 146.821346184 meters Centerline goodness : 0.906262 Centerline is valid? [False, False] Translation: X:-3.16, Y:-1.75, Z:-2.44 [[ 0.88781759 -0.41954638 -0.18910514 -3.16282658] [ 0.42110596 0.90637926 -0.03385874 -1.74631978] [ 0.18560629 -0.04957292 0.98137293 -2.44167054] [ 0. 0. 0. 1. ]] SLAMing on 146.851346184 meters Centerline goodness : 0.906243 Centerline is valid? [False, False] Translation: X:-3.16, Y:-1.74, Z:-2.44 [[ 0.8887191 -0.41673355 -0.19107987 -3.15942787] [ 0.4188945 0.90750808 -0.03092697 -1.7448825 ] [ 0.18629483 -0.05255692 0.98108716 -2.44358312] [ 0. 0. 0. 1. ]] SLAMing on 146.881346184 meters Centerline goodness : 0.905465 Centerline is valid? [False, False] Translation: X:-3.15, Y:-1.74, Z:-2.45 [[ 0.89027623 -0.41675326 -0.18364354 -3.15316206] [ 0.41978266 0.9073082 -0.0239656 -1.73811877] [ 0.17660903 -0.05575437 0.98270072 -2.45156046] [ 0. 0. 0. 1. ]] SLAMing on 146.911346184 meters Centerline goodness : 0.903565 Centerline is valid? [False, False] Translation: X:-3.15, Y:-1.74, Z:-2.45 [[ 0.8912718 -0.41382288 -0.18543248 -3.14995044] [ 0.41736724 0.90848634 -0.02138127 -1.73646795] [ 0.17731093 -0.05833692 0.98242437 -2.4537571 ] [ 0. 0. 0. 1. ]] SLAMing on 146.941346184 meters Centerline goodness : 0.904963 Centerline is valid? [False, False] Translation: X:-3.15, Y:-1.73, Z:-2.46 [[ 0.89181614 -0.41228446 -0.18624042 -3.1483146 ] [ 0.41600186 0.90913195 -0.02053158 -1.73437478] [ 0.17778197 -0.05916596 0.98228965 -2.45535642] [ 0. 0. 0. 1. ]] SLAMing on 146.971346184 meters Centerline goodness : 0.904482 Centerline is valid? [False, False] Translation: X:-3.15, Y:-1.73, Z:-2.46 [[ 0.89219658 -0.41097092 -0.18731837 -3.14569366] [ 0.41488305 0.90966179 -0.0196847 -1.73230341] [ 0.1784862 -0.0601526 0.982102 -2.45717396] [ 0. 0. 0. 1. ]] SLAMing on 147.001346184 meters Centerline goodness : 0.903116 Centerline is valid? [False, False] Translation: X:-3.14, Y:-1.73, Z:-2.46 [[ 0.89232446 -0.41037243 -0.18802004 -3.14189085] [ 0.41426305 0.9099379 -0.01997856 -1.72967746] [ 0.17928521 -0.0600624 0.98196198 -2.46034408] [ 0. 0. 0. 1. ]] SLAMing on 147.031346184 meters Centerline goodness : 0.904246 Centerline is valid? [False, False] Translation: X:-3.14, Y:-1.73, Z:-2.46 [[ 0.89224047 -0.41010032 -0.18900973 -3.13867462] [ 0.4141351 0.9100065 -0.01950091 -1.72800664] [ 0.17999742 -0.06087606 0.98178156 -2.46205697] [ 0. 0. 0. 1. ]] SLAMing on 147.061346184 meters Centerline goodness : 0.903392 Centerline is valid? [False, False] Translation: X:-3.14, Y:-1.73, Z:-2.46 [[ 0.89211439 -0.41014765 -0.18950153 -3.13746027] [ 0.41422612 0.90996642 -0.01943786 -1.72668214] [ 0.18041242 -0.06115569 0.98168801 -2.46254187] [ 0. 0. 0. 1. ]] SLAMing on 147.091346184 meters Centerline goodness : 0.902362 Centerline is valid? [False, False] Translation: X:-3.13, Y:-1.72, Z:-2.46 [[ 0.89171573 -0.41040747 -0.19081082 -3.13489613] [ 0.41471145 0.90976083 -0.0186987 -1.72457835] [ 0.1812663 -0.06245751 0.98144872 -2.46299212] [ 0. 0. 0. 1. ]] SLAMing on 147.121346184 meters Centerline goodness : 0.902468 Centerline is valid? [False, False] Translation: X:-3.13, Y:-1.72, Z:-2.46 [[ 0.89089284 -0.4108935 -0.19358845 -3.13015919] [ 0.41573265 0.9093305 -0.01686435 -1.72135474] [ 0.18296533 -0.06545671 0.98093787 -2.46340224] [ 0. 0. 0. 1. ]] SLAMing on 147.151346184 meters Centerline goodness : 0.901840 Centerline is valid? [False, False] Translation: X:-3.13, Y:-1.72, Z:-2.46 [[ 0.89058982 -0.41113228 -0.1944737 -3.12742243] [ 0.41608377 0.9091745 -0.01661417 -1.71952831] [ 0.18364115 -0.06612094 0.98076702 -2.46457946] [ 0. 0. 0. 1. ]] SLAMing on 147.181346184 meters Centerline goodness : 0.901074 Centerline is valid? [False, False] Translation: X:-3.12, Y:-1.72, Z:-2.47 [[ 0.89029022 -0.41142539 -0.19522417 -3.12469374] [ 0.41644303 0.90901079 -0.01657051 -1.71755142] [ 0.1842784 -0.06654718 0.98061865 -2.4659955 ] [ 0. 0. 0. 1. ]] SLAMing on 147.211346184 meters Centerline goodness : 0.901689 Centerline is valid? [False, False] Translation: X:-3.12, Y:-1.71, Z:-2.47 [[ 0.88967424 -0.41263166 -0.19548621 -3.12160389] [ 0.41749379 0.90850877 -0.01762788 -1.71448821] [ 0.18487476 -0.06593121 0.98054801 -2.46857871] [ 0. 0. 0. 1. ]] SLAMing on 147.24134618399998 meters Centerline goodness : 0.900464 Centerline is valid? [False, False] Translation: X:-3.12, Y:-1.71, Z:-2.47 [[ 0.88934167 -0.41309479 -0.19602064 -3.11924459] [ 0.4179793 0.90828301 -0.01775613 -1.71313213] [ 0.18537719 -0.0661413 0.980439 -2.46977032] [ 0. 0. 0. 1. ]] SLAMing on 147.27134618399998 meters Centerline goodness : 0.901838 Centerline is valid? [False, False] Translation: X:-3.12, Y:-1.71, Z:-2.48 [[ 0.8894319 -0.41841355 -0.18395925 -3.11682569] [ 0.42323825 0.90590796 -0.01414752 -1.70862073] [ 0.17256966 -0.06527533 0.98283205 -2.47616665] [ 0. 0. 0. 1. ]] SLAMing on 147.30134618399998 meters Centerline goodness : 0.900883 Centerline is valid? [False, False] Translation: X:-3.12, Y:-1.71, Z:-2.47 [[ 0.8888404 -0.4188973 -0.18570889 -3.11585759] [ 0.42409574 0.90552747 -0.01275969 -1.7068987 ] [ 0.1735095 -0.06741702 0.98252196 -2.47439046] [ 0. 0. 0. 1. ]] SLAMing on 147.33134618399998 meters Centerline goodness : 0.900186 Centerline is valid? [False, False] Translation: X:-3.11, Y:-1.71, Z:-2.47 [[ 0.88906166 -0.41716029 -0.18853819 -3.11226805] [ 0.4231471 0.90601351 -0.00927661 -1.70541733] [ 0.17468798 -0.07153191 0.98202204 -2.47442102] [ 0. 0. 0. 1. ]] SLAMing on 147.36134618399998 meters Centerline goodness : 0.900370 Centerline is valid? [False, False] Translation: X:-3.11, Y:-1.70, Z:-2.47 [[ 0.88905645 -0.41607633 -0.19094271 -3.11006733] [ 0.42266944 0.90625852 -0.00678598 -1.70369957] [ 0.17586694 -0.07467253 0.98157773 -2.47348461] [ 0. 0. 0. 1. ]] SLAMing on 147.39134618399999 meters Centerline goodness : 0.900699 Centerline is valid? [False, False] Translation: X:-3.11, Y:-1.70, Z:-2.47 [[ 0.88893848 -0.41574429 -0.19221101 -3.10823505] [ 0.42263026 0.90628444 -0.00567231 -1.70206382] [ 0.17655607 -0.07619186 0.98133723 -2.47373179] [ 0. 0. 0. 1. ]] SLAMing on 147.421346184 meters Centerline goodness : 0.899964 Centerline is valid? [False, False] Translation: X:-3.11, Y:-1.70, Z:-2.48 [[ 0.88875861 -0.4159513 -0.19259451 -3.1058988 ] [ 0.42281321 0.90619701 -0.00599678 -1.70102257] [ 0.17702294 -0.07610182 0.9812601 -2.47517391] [ 0. 0. 0. 1. ]] SLAMing on 147.451346184 meters Centerline goodness : 0.899964 Centerline is valid? [False, False] Translation: X:-3.11, Y:-1.70, Z:-2.48 [[ 0.88875861 -0.4159513 -0.19259451 -3.1058988 ] [ 0.42281321 0.90619701 -0.00599678 -1.70102257] [ 0.17702294 -0.07610182 0.9812601 -2.47517391] [ 0. 0. 0. 1. ]] SLAMing on 147.481346184 meters Centerline goodness : 0.899614 Centerline is valid? [False, False] Translation: X:-3.10, Y:-1.70, Z:-2.48 [[ 0.88804975 -0.41741256 -0.19270285 -3.10134491] [ 0.42405276 0.90560701 -0.00743004 -1.69889985] [ 0.17761444 -0.07511793 0.98122903 -2.47868815] [ 0. 0. 0. 1. ]] SLAMing on 147.511346184 meters Centerline goodness : 0.902477 Centerline is valid? [False, False] Translation: X:-3.10, Y:-1.70, Z:-2.48 [[ 0.88771131 -0.41767551 -0.19368997 -3.0989826 ] [ 0.42449222 0.90540519 -0.00691327 -1.69677258] [ 0.17825541 -0.0760829 0.98103843 -2.47961609] [ 0. 0. 0. 1. ]] SLAMing on 147.541346184 meters Centerline goodness : 0.899005 Centerline is valid? [False, False] Translation: X:-3.10, Y:-1.69, Z:-2.48 [[ 0.88745409 -0.41786138 -0.19446621 -3.09832476] [ 0.42477847 0.90527238 -0.00672082 -1.69455183] [ 0.17885326 -0.07664064 0.98088619 -2.47944215] [ 0. 0. 0. 1. ]] SLAMing on 147.571346184 meters Centerline goodness : 0.900126 Centerline is valid? [False, False] Translation: X:-3.10, Y:-1.69, Z:-2.48 [[ 0.88722536 -0.41804068 -0.19512344 -3.09714468] [ 0.42497688 0.90517773 -0.00692306 -1.69112752] [ 0.17951551 -0.07678064 0.98075426 -2.48034025] [ 0. 0. 0. 1. ]] SLAMing on 147.601346184 meters Centerline goodness : 0.899590 Centerline is valid? [False, False] Translation: X:-3.10, Y:-1.69, Z:-2.48 [[ 0.88723072 -0.41794776 -0.19529803 -3.0980343 ] [ 0.42489451 0.90521634 -0.00693136 -1.68999799] [ 0.17968391 -0.07683134 0.98071945 -2.47961316] [ 0. 0. 0. 1. ]] SLAMing on 147.631346184 meters Centerline goodness : 0.899108 Centerline is valid? [False, False] Translation: X:-3.09, Y:-1.69, Z:-2.48 [[ 0.88738895 -0.41647432 -0.19771188 -3.09477995] [ 0.42408642 0.90561189 -0.00422075 -1.68812633] [ 0.18080806 -0.08010148 0.98025109 -2.47997616] [ 0. 0. 0. 1. ]] SLAMing on 147.661346184 meters Centerline goodness : 0.897243 Centerline is valid? [False, False] Translation: X:-3.09, Y:-1.69, Z:-2.48 [[ 0.88745891 -0.41652477 -0.19729117 -3.09471016] [ 0.42392434 0.90568274 -0.00518956 -1.68572925] [ 0.18084478 -0.07903101 0.9803312 -2.48140005] [ 0. 0. 0. 1. ]] SLAMing on 147.691346184 meters Centerline goodness : 0.898281 Centerline is valid? [False, False] Translation: X:-3.09, Y:-1.69, Z:-2.48 [[ 0.88756781 -0.41667251 -0.19648769 -3.0946585 ] [ 0.42383628 0.90571808 -0.00612957 -1.68543117] [ 0.18051647 -0.07783821 0.98048713 -2.48268198] [ 0. 0. 0. 1. ]] SLAMing on 147.721346184 meters Centerline goodness : 0.896996 Centerline is valid? [False, False] Translation: X:-3.09, Y:-1.68, Z:-2.48 [[ 0.88784763 -0.41590204 -0.19685549 -3.0933725 ] [ 0.42312873 0.9060506 -0.0058645 -1.68430572] [ 0.18080009 -0.07808843 0.98041498 -2.4838827 ] [ 0. 0. 0. 1. ]] SLAMing on 147.751346184 meters Centerline goodness : 0.896912 Centerline is valid? [False, False] Translation: X:-3.09, Y:-1.68, Z:-2.48 [[ 0.88823102 -0.41490063 -0.19723874 -3.09343945] [ 0.42227841 0.90645182 -0.00510368 -1.68332876] [ 0.18090493 -0.07875641 0.9803422 -2.48411624] [ 0. 0. 0. 1. ]] SLAMing on 147.781346184 meters Centerline goodness : 0.897171 Centerline is valid? [False, False] Translation: X:-3.09, Y:-1.68, Z:-2.48 [[ 8.88622730e-01 -4.12986496e-01 -1.99478817e-01 -3.09058799e+00] [ 4.21039276e-01 9.07039601e-01 -2.25605829e-03 -1.68145188e+00] [ 1.81866908e-01 -8.19836318e-02 9.79899542e-01 -2.48474133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.811346184 meters Centerline goodness : 0.895288 Centerline is valid? [False, False] Translation: X:-3.09, Y:-1.68, Z:-2.48 [[ 8.88771208e-01 -4.11637499e-01 -2.01594416e-01 -3.08904893e+00] [ 4.20286326e-01 9.07391532e-01 1.09153087e-04 -1.67791169e+00] [ 1.82880134e-01 -8.48243884e-02 9.79469080e-01 -2.48487691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841346184 meters Centerline goodness : 0.895209 Centerline is valid? [False, False] Translation: X:-3.09, Y:-1.68, Z:-2.49 [[ 8.88596239e-01 -4.11627350e-01 -2.02384904e-01 -3.08751030e+00] [ 4.20409981e-01 9.07334142e-01 4.50524395e-04 -1.67538653e+00] [ 1.83445285e-01 -8.54849679e-02 9.79305952e-01 -2.48564465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.871346184 meters Centerline goodness : 0.893255 Centerline is valid? [False, False] Translation: X:-3.09, Y:-1.67, Z:-2.49 [[ 8.87660851e-01 -4.13867716e-01 -2.01920102e-01 -3.08714006e+00] [ 4.22183913e-01 9.06507835e-01 -2.07109907e-03 -1.67069408e+00] [ 1.83899316e-01 -8.34089852e-02 9.79399807e-01 -2.48685226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901346184 meters Centerline goodness : 0.892207 Centerline is valid? [False, False] Translation: X:-3.09, Y:-1.67, Z:-2.49 [[ 0.88729967 -0.41509819 -0.20097957 -3.08664254] [ 0.42294362 0.90614585 -0.00428786 -1.66813909] [ 0.18389669 -0.08119841 0.97958605 -2.48878605] [ 0. 0. 0. 1. ]] SLAMing on 147.931346184 meters Centerline goodness : 0.890293 Centerline is valid? [False, False] Translation: X:-3.09, Y:-1.67, Z:-2.49 [[ 0.88711755 -0.41581953 -0.2002912 -3.08627386] [ 0.42330424 0.90596783 -0.0059838 -1.6665122 ] [ 0.18394557 -0.07947578 0.97971814 -2.49000606] [ 0. 0. 0. 1. ]] SLAMing on 147.961346184 meters Centerline goodness : 0.890236 Centerline is valid? [False, False] Translation: X:-3.08, Y:-1.66, Z:-2.50 [[ 8.87336087e-01 -4.20492054e-01 -1.89264632e-01 -3.08248557e+00] [ 4.27862409e-01 9.03841404e-01 -2.11540951e-03 -1.66039693e+00] [ 1.71954724e-01 -7.91021423e-02 9.81923838e-01 -2.49832616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99134618399998 meters Centerline goodness : 0.889067 Centerline is valid? [False, False] Translation: X:-3.08, Y:-1.66, Z:-2.50 [[ 8.88185728e-01 -4.17387180e-01 -1.92130308e-01 -3.08189430e+00] [ 4.25471006e-01 9.04971605e-01 9.04223525e-04 -1.65560570e+00] [ 1.73495062e-01 -8.25489940e-02 9.81369007e-01 -2.49748007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02134618399998 meters Centerline goodness : 0.887876 Centerline is valid? [False, False] Translation: X:-3.08, Y:-1.65, Z:-2.50 [[ 8.88757704e-01 -4.15301079e-01 -1.93996798e-01 -3.08092871e+00] [ 4.23880412e-01 9.05713175e-01 3.00686994e-03 -1.65299684e+00] [ 1.74456700e-01 -8.49038216e-02 9.80997554e-01 -2.49724362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05134618399998 meters Centerline goodness : 0.888499 Centerline is valid? [False, False] Translation: X:-3.08, Y:-1.65, Z:-2.50 [[ 8.89156432e-01 -4.14585428e-01 -1.93700189e-01 -3.08249140e+00] [ 4.23009264e-01 9.06122295e-01 2.35574656e-03 -1.65093447e+00] [ 1.74539401e-01 -8.40316015e-02 9.81057943e-01 -2.49722832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08134618399998 meters Centerline goodness : 0.888428 Centerline is valid? [False, False] Translation: X:-3.08, Y:-1.65, Z:-2.50 [[ 8.89652334e-01 -4.13541285e-01 -1.93655185e-01 -3.08312600e+00] [ 4.21938824e-01 9.06621279e-01 2.34195067e-03 -1.64951377e+00] [ 1.74603419e-01 -8.37941630e-02 9.81066860e-01 -2.49754699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11134618399998 meters Centerline goodness : 0.884056 Centerline is valid? [False, False] Translation: X:-3.08, Y:-1.65, Z:-2.50 [[ 8.89930278e-01 -4.12831974e-01 -1.93891366e-01 -3.08421522e+00] [ 4.21220241e-01 9.06955590e-01 2.25063768e-03 -1.64788842e+00] [ 1.74921723e-01 -8.36738788e-02 9.81020424e-01 -2.49681608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14134618399999 meters Centerline goodness : 0.885062 Centerline is valid? [False, False] Translation: X:-3.08, Y:-1.64, Z:-2.50 [[ 0.88999259 -0.41149529 -0.19643017 -3.08268019] [ 0.42034965 0.90735447 0.00374677 -1.64289286] [ 0.17669002 -0.08590395 0.98051066 -2.49610093] [ 0. 0. 0. 1. ]] SLAMing on 148.171346184 meters Centerline goodness : 0.885115 Centerline is valid? [False, False] Translation: X:-3.08, Y:-1.64, Z:-2.50 [[ 0.88995038 -0.41129216 -0.19704589 -3.08122959] [ 0.42015738 0.90744441 0.00352431 -1.64044104] [ 0.17735867 -0.08592675 0.98038793 -2.49699622] [ 0. 0. 0. 1. ]] SLAMing on 148.201346184 meters Centerline goodness : 0.884442 Centerline is valid? [False, False] Translation: X:-3.07, Y:-1.63, Z:-2.50 [[ 0.88911841 -0.415069 -0.19283718 -3.06914632] [ 0.42385804 0.90571593 0.00479878 -1.6312418 ] [ 0.17266388 -0.08600227 0.98121903 -2.4994422 ] [ 0. 0. 0. 1. ]] SLAMing on 148.231346184 meters Centerline goodness : 0.881298 Centerline is valid? [False, False] Translation: X:-3.07, Y:-1.63, Z:-2.50 [[ 8.87693718e-01 -4.17735166e-01 -1.93641922e-01 -3.06721865e+00] [ 4.26214563e-01 9.04619026e-01 2.35904917e-03 -1.62525181e+00] [ 1.74186709e-01 -8.46271202e-02 9.81069437e-01 -2.49986456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.261346184 meters Centerline goodness : 0.879344 Centerline is valid? [False, False] Translation: X:-3.07, Y:-1.62, Z:-2.50 [[ 8.87147980e-01 -4.18465442e-01 -1.94563962e-01 -3.06584135e+00] [ 4.26929303e-01 9.04283335e-01 1.73795305e-03 -1.62238371e+00] [ 1.75213675e-01 -8.46068782e-02 9.80888293e-01 -2.49963530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.291346184 meters Centerline goodness : 0.879927 Centerline is valid? [False, False] Translation: X:-3.07, Y:-1.62, Z:-2.50 [[ 8.86617011e-01 -4.19078537e-01 -1.95661585e-01 -3.06509342e+00] [ 4.27585980e-01 9.03973638e-01 1.37509618e-03 -1.61937497e+00] [ 1.76296641e-01 -8.48813341e-02 9.80670512e-01 -2.49866094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.321346184 meters Centerline goodness : 0.879620 Centerline is valid? [False, False] Translation: X:-3.07, Y:-1.62, Z:-2.50 [[ 8.86328831e-01 -4.19282901e-01 -1.96527485e-01 -3.06567797e+00] [ 4.27829509e-01 9.03858727e-01 1.14548746e-03 -1.61692241e+00] [ 1.77152799e-01 -8.50955358e-02 9.80497647e-01 -2.49687748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.351346184 meters Centerline goodness : 0.877146 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.61, Z:-2.50 [[ 8.86543512e-01 -4.17439931e-01 -1.99460535e-01 -3.06360107e+00] [ 4.26505921e-01 9.04480571e-01 2.75618636e-03 -1.61078177e+00] [ 1.79257637e-01 -8.75145785e-02 9.79901984e-01 -2.49679378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.381346184 meters Centerline goodness : 0.875135 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.61, Z:-2.50 [[ 8.86867102e-01 -4.17038356e-01 -1.98861140e-01 -3.06398940e+00] [ 4.25790973e-01 9.04820497e-01 1.38364689e-03 -1.60902838e+00] [ 1.79356602e-01 -8.59003895e-02 9.80026700e-01 -2.49770862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.411346184 meters Centerline goodness : 0.875680 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.61, Z:-2.50 [[ 8.87146349e-01 -4.16762486e-01 -1.98192800e-01 -3.06439315e+00] [ 4.25123693e-01 9.05135175e-01 -4.00889866e-04 -1.60709810e+00] [ 1.79558351e-01 -8.39008071e-02 9.80162973e-01 -2.49859759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.441346184 meters Centerline goodness : 0.876212 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.61, Z:-2.50 [[ 8.87485774e-01 -4.16146398e-01 -1.97967613e-01 -3.06484509e+00] [ 4.24304473e-01 9.05518600e-01 -1.33415626e-03 -1.60500907e+00] [ 1.79818560e-01 -8.28144990e-02 9.80207654e-01 -2.49908543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.471346184 meters Centerline goodness : 0.873190 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.60, Z:-2.50 [[ 8.87559387e-01 -4.15371786e-01 -1.99260167e-01 -3.06423648e+00] [ 4.23670567e-01 9.05815687e-01 -1.09148920e-03 -1.60141757e+00] [ 1.80946359e-01 -8.34519065e-02 9.79946016e-01 -2.49860380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.501346184 meters Centerline goodness : 0.870914 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.59, Z:-2.50 [[ 8.88144956e-01 -4.18128640e-01 -1.90701279e-01 -3.06284392e+00] [ 4.25940747e-01 9.04751059e-01 -2.72851863e-05 -1.58882123e+00] [ 1.72548592e-01 -8.12032119e-02 9.81648115e-01 -2.49738222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.531346184 meters Centerline goodness : 0.869410 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.59, Z:-2.50 [[ 8.88031886e-01 -4.17588618e-01 -1.92403524e-01 -3.06146905e+00] [ 4.25560200e-01 9.04930109e-01 1.17006203e-04 -1.58500703e+00] [ 1.74062881e-01 -8.19831872e-02 9.81315887e-01 -2.49671038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.561346184 meters Centerline goodness : 0.867107 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.58, Z:-2.50 [[ 8.87917914e-01 -4.17878127e-01 -1.92300933e-01 -3.06174185e+00] [ 4.25586292e-01 9.04916842e-01 -1.34821009e-03 -1.58273350e+00] [ 1.74579741e-01 -8.06435413e-02 9.81335077e-01 -2.49662080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.591346184 meters Centerline goodness : 0.865534 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.58, Z:-2.50 [[ 0.88747937 -0.41943947 -0.1909212 -3.06201106] [ 0.42639584 0.90452226 -0.00510591 -1.57894214] [ 0.17483409 -0.07687661 0.98159209 -2.49817287] [ 0. 0. 0. 1. ]] SLAMing on 148.621346184 meters Centerline goodness : 0.866293 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.58, Z:-2.50 [[ 0.8870936 -0.42015541 -0.19113969 -3.0617592 ] [ 0.42699731 0.9042335 -0.00592246 -1.57711804] [ 0.17532327 -0.07636235 0.98154498 -2.49768312] [ 0. 0. 0. 1. ]] SLAMing on 148.651346184 meters Centerline goodness : 0.866581 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.57, Z:-2.50 [[ 0.88658774 -0.42003448 -0.19373491 -3.05916665] [ 0.42725251 0.90411865 -0.00497678 -1.57396926] [ 0.17724976 -0.07836137 0.98104129 -2.49618835] [ 0. 0. 0. 1. ]] SLAMing on 148.681346184 meters Centerline goodness : 0.867250 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.57, Z:-2.49 [[ 8.86808571e-01 -4.18389583e-01 -1.96266952e-01 -3.05801163e+00] [ 4.26264111e-01 9.04595735e-01 -2.33745664e-03 -1.57159630e+00] [ 1.78520215e-01 -8.15886810e-02 9.80547714e-01 -2.49470796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.711346184 meters Centerline goodness : 0.865944 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.57, Z:-2.49 [[ 8.88019801e-01 -4.14567342e-01 -1.98883767e-01 -3.05819983e+00] [ 4.23198325e-01 9.06036541e-01 9.82142908e-04 -1.56787931e+00] [ 1.79788796e-01 -8.50394394e-02 9.80022593e-01 -2.49353519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74134618399998 meters Centerline goodness : 0.867734 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.57, Z:-2.49 [[ 8.88310283e-01 -4.14192202e-01 -1.98367492e-01 -3.05857449e+00] [ 4.22518261e-01 9.06354327e-01 -3.91083030e-04 -1.56602820e+00] [ 1.79953218e-01 -8.34664845e-02 9.80127637e-01 -2.49407596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77134618399998 meters Centerline goodness : 0.863271 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.56, Z:-2.49 [[ 8.88440488e-01 -4.14284248e-01 -1.97590642e-01 -3.05882121e+00] [ 4.22238857e-01 9.06482267e-01 -2.06096725e-03 -1.56475901e+00] [ 1.79966239e-01 -8.15994001e-02 9.80282454e-01 -2.49484728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80134618399998 meters Centerline goodness : 0.864393 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.56, Z:-2.50 [[ 0.88831069 -0.41452493 -0.19766942 -3.05867834] [ 0.42219248 0.90649873 -0.0036841 -1.56122919] [ 0.18071423 -0.08018192 0.98026182 -2.49509864] [ 0. 0. 0. 1. ]] SLAMing on 148.83134618399998 meters Centerline goodness : 0.865162 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.56, Z:-2.49 [[ 0.88800116 -0.41483337 -0.19841174 -3.05932069] [ 0.42251861 0.9063456 -0.00395837 -1.55918197] [ 0.18147167 -0.08031761 0.98011077 -2.49330453] [ 0. 0. 0. 1. ]] SLAMing on 148.86134618399998 meters Centerline goodness : 0.867700 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.56, Z:-2.49 [[ 0.88747609 -0.41529288 -0.19979494 -3.05931985] [ 0.42315668 0.90604907 -0.00367523 -1.55658186] [ 0.18255031 -0.08128288 0.97983084 -2.49111632] [ 0. 0. 0. 1. ]] SLAMing on 148.89134618399999 meters Centerline goodness : 0.865287 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.55, Z:-2.49 [[ 0.88720941 -0.41574782 -0.20003304 -3.05980617] [ 0.42345464 0.90590524 -0.00467516 -1.55396109] [ 0.18315466 -0.08055708 0.979778 -2.49040558] [ 0. 0. 0. 1. ]] SLAMing on 148.921346184 meters Centerline goodness : 0.867192 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.55, Z:-2.49 [[ 0.88735362 -0.41603828 -0.19878558 -3.06044914] [ 0.42335334 0.90594308 -0.00625234 -1.55359154] [ 0.18268963 -0.07860851 0.98002306 -2.4911736 ] [ 0. 0. 0. 1. ]] SLAMing on 148.951346184 meters Centerline goodness : 0.867570 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.55, Z:-2.49 [[ 0.88746375 -0.41605196 -0.19826461 -3.06092798] [ 0.42313859 0.90603595 -0.00725226 -1.55292167] [ 0.18265219 -0.07745729 0.9801217 -2.49112252] [ 0. 0. 0. 1. ]] SLAMing on 148.981346184 meters Centerline goodness : 0.866567 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.55, Z:-2.49 [[ 0.88752953 -0.41575135 -0.19860047 -3.06098213] [ 0.42284289 0.9061733 -0.00733747 -1.5520074 ] [ 0.18301701 -0.07746458 0.98005307 -2.490555 ] [ 0. 0. 0. 1. ]] SLAMing on 149.011346184 meters Centerline goodness : 0.866589 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.54, Z:-2.49 [[ 0.88761323 -0.42066248 -0.18757886 -3.06074233] [ 0.42688553 0.90427108 -0.00790959 -1.54496178] [ 0.17294941 -0.07305404 0.9822177 -2.48917162] [ 0. 0. 0. 1. ]] SLAMing on 149.041346184 meters Centerline goodness : 0.867165 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.54, Z:-2.49 [[ 0.88742712 -0.42040859 -0.18902306 -3.06179612] [ 0.42696141 0.90424546 -0.00664167 -1.54280237] [ 0.17371546 -0.07481155 0.98195019 -2.48660129] [ 0. 0. 0. 1. ]] SLAMing on 149.071346184 meters Centerline goodness : 0.866038 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.54, Z:-2.49 [[ 0.88711442 -0.42074843 -0.18973341 -3.06060183] [ 0.4272608 0.90409962 -0.00721685 -1.54125598] [ 0.17457438 -0.07466348 0.98180912 -2.4860324 ] [ 0. 0. 0. 1. ]] SLAMing on 149.101346184 meters Centerline goodness : 0.866363 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.54, Z:-2.49 [[ 0.88691946 -0.42128335 -0.18945766 -3.0597368 ] [ 0.42753863 0.90395617 -0.00860009 -1.54051193] [ 0.17488449 -0.07337288 0.98185123 -2.48642888] [ 0. 0. 0. 1. ]] SLAMing on 149.131346184 meters Centerline goodness : 0.865250 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.54, Z:-2.49 [[ 0.88648023 -0.42282134 -0.18808221 -3.05835663] [ 0.42843328 0.90349633 -0.01180278 -1.54047983] [ 0.17492205 -0.07011775 0.98208237 -2.48784787] [ 0. 0. 0. 1. ]] SLAMing on 149.161346184 meters Centerline goodness : 0.866607 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.54, Z:-2.49 [[ 0.88625505 -0.42317843 -0.18834011 -3.05798116] [ 0.42878187 0.90332842 -0.01199429 -1.54047037] [ 0.1752087 -0.07012682 0.98203062 -2.48703583] [ 0. 0. 0. 1. ]] SLAMing on 149.191346184 meters Centerline goodness : 0.869275 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.54, Z:-2.49 [[ 0.88605265 -0.42269808 -0.19036026 -3.05640133] [ 0.42867817 0.90339423 -0.01067227 -1.53907464] [ 0.1764815 -0.0721471 0.98165629 -2.48534736] [ 0. 0. 0. 1. ]] SLAMing on 149.221346184 meters Centerline goodness : 0.869001 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.54, Z:-2.48 [[ 0.88587257 -0.42213325 -0.19244039 -3.05550584] [ 0.42850578 0.90349105 -0.00931244 -1.53746154] [ 0.17779926 -0.07421218 0.98126448 -2.4832584 ] [ 0. 0. 0. 1. ]] SLAMing on 149.251346184 meters Centerline goodness : 0.865879 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.54, Z:-2.48 [[ 0.88632852 -0.42115363 -0.19248732 -3.05484832] [ 0.42740142 0.90400762 -0.00991243 -1.536658 ] [ 0.17818466 -0.07348369 0.98124939 -2.48369354] [ 0. 0. 0. 1. ]] SLAMing on 149.281346184 meters Centerline goodness : 0.864620 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.54, Z:-2.49 [[ 0.88679857 -0.42094596 -0.19076894 -3.05520499] [ 0.42670379 0.90431338 -0.01188221 -1.53731749] [ 0.17751667 -0.0708647 0.98156305 -2.48520108] [ 0. 0. 0. 1. ]] SLAMing on 149.311346184 meters Centerline goodness : 0.864944 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.54, Z:-2.49 [[ 0.88697258 -0.4209574 -0.18993289 -3.05509694] [ 0.42646456 0.9044118 -0.01293336 -1.53742366] [ 0.17722194 -0.06952811 0.98171189 -2.48594322] [ 0. 0. 0. 1. ]] SLAMing on 149.341346184 meters Centerline goodness : 0.864944 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.54, Z:-2.49 [[ 0.88697258 -0.4209574 -0.18993289 -3.05509694] [ 0.42646456 0.9044118 -0.01293336 -1.53742366] [ 0.17722194 -0.06952811 0.98171189 -2.48594322] [ 0. 0. 0. 1. ]] SLAMing on 149.371346184 meters Centerline goodness : 0.866008 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.54, Z:-2.48 [[ 0.88742538 -0.41954642 -0.19093714 -3.05575874] [ 0.42541193 0.90493049 -0.01120269 -1.53788171] [ 0.17748489 -0.07128539 0.98153834 -2.48418107] [ 0. 0. 0. 1. ]] SLAMing on 149.401346184 meters Centerline goodness : 0.864842 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.54, Z:-2.48 [[ 0.88736041 -0.41892511 -0.19259606 -3.054015 ] [ 0.42509961 0.90509004 -0.01011644 -1.53746171] [ 0.17855481 -0.07289558 0.98122597 -2.48294144] [ 0. 0. 0. 1. ]] SLAMing on 149.431346184 meters Centerline goodness : 0.864647 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.54, Z:-2.48 [[ 0.88720458 -0.4189933 -0.19316483 -3.05389592] [ 0.4252754 0.90501125 -0.0097708 -1.53751972] [ 0.17891024 -0.07347955 0.98111767 -2.4814554 ] [ 0. 0. 0. 1. ]] SLAMing on 149.461346184 meters Centerline goodness : 0.863728 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.54, Z:-2.48 [[ 0.88699202 -0.4193669 -0.19333016 -3.05342518] [ 0.42562647 0.90484364 -0.01000459 -1.53710329] [ 0.17912916 -0.07341244 0.98108275 -2.48100531] [ 0. 0. 0. 1. ]] SLAMing on 149.49134618399998 meters Centerline goodness : 0.864469 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.54, Z:-2.48 [[ 0.88643899 -0.42107663 -0.19214678 -3.05300693] [ 0.42686072 0.90423357 -0.0123116 -1.53739445] [ 0.17892969 -0.07110643 0.98128897 -2.48119785] [ 0. 0. 0. 1. ]] SLAMing on 149.52134618399998 meters Centerline goodness : 0.863723 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.54, Z:-2.48 [[ 0.88618301 -0.42190737 -0.19150417 -3.05140996] [ 0.42740414 0.90395654 -0.01372108 -1.53729867] [ 0.17890047 -0.06969029 0.98139589 -2.4825027 ] [ 0. 0. 0. 1. ]] SLAMing on 149.55134618399998 meters Centerline goodness : 0.862507 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.54, Z:-2.48 [[ 0.88555923 -0.42352122 -0.19082617 -3.05065134] [ 0.42870495 0.90331415 -0.01534951 -1.53695275] [ 0.17887682 -0.06821522 0.98150383 -2.48288505] [ 0. 0. 0. 1. ]] SLAMing on 149.58134618399998 meters Centerline goodness : 0.863650 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.54, Z:-2.48 [[ 0.88496579 -0.42468318 -0.19099671 -3.0496471 ] [ 0.42978163 0.90279089 -0.01601108 -1.53645753] [ 0.17922972 -0.06791762 0.98146009 -2.48255028] [ 0. 0. 0. 1. ]] SLAMing on 149.61134618399998 meters Centerline goodness : 0.864152 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.54, Z:-2.48 [[ 0.88371632 -0.42659538 -0.19251452 -3.04804338] [ 0.4319213 0.90177685 -0.01557252 -1.53566947] [ 0.1802483 -0.06938943 0.98117055 -2.48022403] [ 0. 0. 0. 1. ]] SLAMing on 149.64134618399999 meters Centerline goodness : 0.864110 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.54, Z:-2.48 [[ 0.88299938 -0.42774244 -0.19325762 -3.04709665] [ 0.43310549 0.90120491 -0.01579086 -1.53543051] [ 0.18091914 -0.06975762 0.98102097 -2.47873016] [ 0. 0. 0. 1. ]] SLAMing on 149.671346184 meters Centerline goodness : 0.862195 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.54, Z:-2.48 [[ 0.88213019 -0.42976722 -0.1927342 -3.04690994] [ 0.43474417 0.90037596 -0.01790608 -1.53565293] [ 0.18122868 -0.06799458 0.98108761 -2.47761968] [ 0. 0. 0. 1. ]] SLAMing on 149.701346184 meters Centerline goodness : 0.861973 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.54, Z:-2.48 [[ 0.88158258 -0.43124957 -0.19192697 -3.04642386] [ 0.43581173 0.89981533 -0.0200125 -1.53631293] [ 0.18132921 -0.06600136 0.98120515 -2.47724986] [ 0. 0. 0. 1. ]] SLAMing on 149.731346184 meters Centerline goodness : 0.864572 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.54, Z:-2.48 [[ 0.88100993 -0.43252146 -0.19169428 -3.04676551] [ 0.4370963 0.89919233 -0.01999954 -1.5385715 ] [ 0.18102026 -0.06616907 0.9812509 -2.47549022] [ 0. 0. 0. 1. ]] SLAMing on 149.761346184 meters Centerline goodness : 0.863788 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.54, Z:-2.47 [[ 0.88071342 -0.43271287 -0.19262253 -3.0452975 ] [ 0.43741275 0.89904522 -0.01969222 -1.53787792] [ 0.18169744 -0.06691235 0.98107532 -2.47487779] [ 0. 0. 0. 1. ]] SLAMing on 149.791346184 meters Centerline goodness : 0.862708 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.54, Z:-2.47 [[ 0.88037574 -0.4331742 -0.19312861 -3.04423614] [ 0.43781861 0.89883563 -0.02023275 -1.536966 ] [ 0.18235518 -0.06674288 0.98096482 -2.47434105] [ 0. 0. 0. 1. ]] SLAMing on 149.821346184 meters Centerline goodness : 0.863021 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.54, Z:-2.47 [[ 0.8802205 -0.43340971 -0.19330777 -3.04249264] [ 0.4379692 0.89874973 -0.02078234 -1.53635778] [ 0.18274258 -0.06636981 0.98091804 -2.47494239] [ 0. 0. 0. 1. ]] SLAMing on 149.851346184 meters Centerline goodness : 0.863472 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.54, Z:-2.48 [[ 0.87982982 -0.43476438 -0.19204017 -3.04212031] [ 0.43890044 0.89824771 -0.02274737 -1.53610319] [ 0.18238939 -0.06427271 0.9811234 -2.4758322 ] [ 0. 0. 0. 1. ]] SLAMing on 149.881346184 meters Centerline goodness : 0.862397 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.54, Z:-2.48 [[ 0.87959999 -0.43514266 -0.19223612 -3.04073964] [ 0.43915081 0.89810472 -0.02354725 -1.53548891] [ 0.18289458 -0.06370848 0.98106616 -2.47595639] [ 0. 0. 0. 1. ]] SLAMing on 149.911346184 meters Centerline goodness : 0.863045 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.54, Z:-2.48 [[ 0.87935064 -0.43560097 -0.19233891 -3.0405041 ] [ 0.43954371 0.89790088 -0.02398606 -1.53533618] [ 0.18314963 -0.0634492 0.98103538 -2.47523429] [ 0. 0. 0. 1. ]] SLAMing on 149.941346184 meters Centerline goodness : 0.864457 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.54, Z:-2.48 [[ 0.87976574 -0.4348747 -0.19208393 -3.04000542] [ 0.43874676 0.89828502 -0.02419288 -1.53589863] [ 0.18306699 -0.06299214 0.98108026 -2.47567027] [ 0. 0. 0. 1. ]] SLAMing on 149.971346184 meters Centerline goodness : 0.865079 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.54, Z:-2.48 [[ 0.87985004 -0.43469874 -0.19209611 -3.03864772] [ 0.43843082 0.89841921 -0.02492676 -1.53554257] [ 0.18341846 -0.06228905 0.9810595 -2.47624789] [ 0. 0. 0. 1. ]] SLAMing on 150.001346184 meters Centerline goodness : 0.863926 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.54, Z:-2.48 [[ 0.8801188 -0.43416799 -0.19206526 -3.03808506] [ 0.43782454 0.89870552 -0.02525993 -1.53565087] [ 0.18357716 -0.06185914 0.98105702 -2.47641228] [ 0. 0. 0. 1. ]] SLAMing on 150.031346184 meters Centerline goodness : 0.866075 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.54, Z:-2.48 [[ 0.88059569 -0.43301207 -0.19248837 -3.03810047] [ 0.43681973 0.89921622 -0.02446855 -1.53572598] [ 0.18368385 -0.06253582 0.98099415 -2.47583467] [ 0. 0. 0. 1. ]] SLAMing on 150.061346184 meters Centerline goodness : 0.865787 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.54, Z:-2.48 [[ 0.88161306 -0.43013809 -0.19426693 -3.03642716] [ 0.43440744 0.90044011 -0.02231111 -1.53507994] [ 0.1845226 -0.06472123 0.98069494 -2.47579641] [ 0. 0. 0. 1. ]] SLAMing on 150.091346184 meters Centerline goodness : 0.865518 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.53, Z:-2.48 [[ 0.88170025 -0.4302391 -0.19364653 -3.03660353] [ 0.43424871 0.90048686 -0.02348333 -1.53459781] [ 0.1844796 -0.0633855 0.98079027 -2.47610011] [ 0. 0. 0. 1. ]] SLAMing on 150.121346184 meters Centerline goodness : 0.867561 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.54, Z:-2.48 [[ 0.8818195 -0.43025376 -0.19307013 -3.03659591] [ 0.43412706 0.90053165 -0.02400902 -1.53517268] [ 0.18419574 -0.06264535 0.98089117 -2.47631041] [ 0. 0. 0. 1. ]] SLAMing on 150.151346184 meters Centerline goodness : 0.867619 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.54, Z:-2.48 [[ 0.8817391 -0.4313448 -0.1909917 -3.03803566] [ 0.43466588 0.90020554 -0.02637329 -1.53711648] [ 0.18330777 -0.05976321 0.98123729 -2.47642223] [ 0. 0. 0. 1. ]] SLAMing on 150.181346184 meters Centerline goodness : 0.865377 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.54, Z:-2.48 [[ 0.8813674 -0.43230516 -0.19053545 -3.03704364] [ 0.43540721 0.8998134 -0.02750277 -1.53749684] [ 0.18333594 -0.05872047 0.98129498 -2.4767612 ] [ 0. 0. 0. 1. ]] SLAMing on 150.211346184 meters Centerline goodness : 0.867177 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.54, Z:-2.48 [[ 0.88094875 -0.4336017 -0.18952274 -3.03757072] [ 0.43634686 0.89930353 -0.02923297 -1.53843613] [ 0.18311393 -0.05694491 0.98144107 -2.47627018] [ 0. 0. 0. 1. ]] SLAMing on 150.24134618399998 meters Centerline goodness : 0.868587 Centerline is valid? [False, False] Translation: X:-3.03, Y:-1.54, Z:-2.48 [[ 0.88067167 -0.43379005 -0.19037751 -3.03470177] [ 0.43661058 0.8991791 -0.02912303 -1.5381473 ] [ 0.18381676 -0.05747301 0.98127889 -2.47694797] [ 0. 0. 0. 1. ]] SLAMing on 150.27134618399998 meters Centerline goodness : 0.871840 Centerline is valid? [False, False] Translation: X:-3.03, Y:-1.54, Z:-2.48 [[ 0.88054323 -0.43413254 -0.19019082 -3.03435204] [ 0.43698201 0.89900433 -0.02894715 -1.53946564] [ 0.18354927 -0.05762075 0.98132029 -2.47671357] [ 0. 0. 0. 1. ]] SLAMing on 150.30134618399998 meters Centerline goodness : 0.871430 Centerline is valid? [False, False] Translation: X:-3.03, Y:-1.54, Z:-2.48 [[ 0.88031372 -0.43465853 -0.19005186 -3.03411881] [ 0.43741848 0.89877603 -0.02944027 -1.53943657] [ 0.18361053 -0.05721552 0.98133254 -2.47648251] [ 0. 0. 0. 1. ]] SLAMing on 150.33134618399998 meters Centerline goodness : 0.871988 Centerline is valid? [False, False] Translation: X:-3.03, Y:-1.54, Z:-2.48 [[ 0.88032915 -0.43434845 -0.19068824 -3.03288756] [ 0.43723476 0.89888185 -0.02893431 -1.53953167] [ 0.18397377 -0.05790381 0.98122413 -2.47634824] [ 0. 0. 0. 1. ]] SLAMing on 150.36134618399998 meters Centerline goodness : 0.872507 Centerline is valid? [False, False] Translation: X:-3.03, Y:-1.54, Z:-2.48 [[ 0.88013485 -0.43446768 -0.1913125 -3.03212621] [ 0.43742772 0.89879367 -0.02875622 -1.53936117] [ 0.18444411 -0.05837604 0.98110785 -2.47561279] [ 0. 0. 0. 1. ]] SLAMing on 150.39134618399999 meters Centerline goodness : 0.870324 Centerline is valid? [False, False] Translation: X:-3.03, Y:-1.54, Z:-2.48 [[ 0.87982463 -0.43549444 -0.19040278 -3.03287678] [ 0.43823575 0.89836777 -0.02974518 -1.53928317] [ 0.18400558 -0.05727076 0.98125532 -2.4754549 ] [ 0. 0. 0. 1. ]] SLAMing on 150.421346184 meters Centerline goodness : 0.870297 Centerline is valid? [False, False] Translation: X:-3.03, Y:-1.54, Z:-2.48 [[ 0.87920762 -0.43641839 -0.19113597 -3.03047682] [ 0.43913982 0.89791142 -0.03018783 -1.53827812] [ 0.18479769 -0.05739404 0.98109925 -2.47567822] [ 0. 0. 0. 1. ]] SLAMing on 150.451346184 meters Centerline goodness : 0.868457 Centerline is valid? [False, False] Translation: X:-3.03, Y:-1.54, Z:-2.48 [[ 0.8786392 -0.43805571 -0.19000092 -3.0309209 ] [ 0.44026259 0.8972715 -0.03275217 -1.53814319] [ 0.18482969 -0.05487296 0.98123746 -2.47541112] [ 0. 0. 0. 1. ]] SLAMing on 150.481346184 meters Centerline goodness : 0.870195 Centerline is valid? [False, False] Translation: X:-3.03, Y:-1.54, Z:-2.48 [[ 0.87771495 -0.4409386 -0.18758894 -3.03241631] [ 0.4424642 0.89606364 -0.03599146 -1.53942328] [ 0.18396165 -0.05141114 0.981588 -2.47512748] [ 0. 0. 0. 1. ]] SLAMing on 150.511346184 meters Centerline goodness : 0.869948 Centerline is valid? [False, False] Translation: X:-3.03, Y:-1.54, Z:-2.47 [[ 0.87684849 -0.44209966 -0.1889037 -3.02966467] [ 0.44372757 0.89544018 -0.03595455 -1.53821385] [ 0.18504746 -0.05229509 0.98133718 -2.47465685] [ 0. 0. 0. 1. ]] SLAMing on 150.541346184 meters Centerline goodness : 0.870261 Centerline is valid? [False, False] Translation: X:-3.03, Y:-1.54, Z:-2.47 [[ 0.87593607 -0.44333637 -0.19023373 -3.02799563] [ 0.44506777 0.89477567 -0.0359331 -1.53690884] [ 0.18614696 -0.0531918 0.98108101 -2.47335119] [ 0. 0. 0. 1. ]] SLAMing on 150.571346184 meters Centerline goodness : 0.871494 Centerline is valid? [False, False] Translation: X:-3.02, Y:-1.54, Z:-2.47 [[ 0.87507469 -0.44411509 -0.19236963 -3.02433274] [ 0.44615335 0.89427016 -0.03504385 -1.53541577] [ 0.18759392 -0.05516037 0.98069662 -2.47275451] [ 0. 0. 0. 1. ]] SLAMing on 150.601346184 meters Centerline goodness : 0.872327 Centerline is valid? [False, False] Translation: X:-3.02, Y:-1.54, Z:-2.47 [[ 0.87375026 -0.44724982 -0.19112323 -3.02360552] [ 0.44877641 0.892848 -0.03771185 -1.53642313] [ 0.18751061 -0.05282085 0.98084134 -2.47243874] [ 0. 0. 0. 1. ]] SLAMing on 150.631346184 meters Centerline goodness : 0.871273 Centerline is valid? [False, False] Translation: X:-3.02, Y:-1.54, Z:-2.47 [[ 0.87308352 -0.4482926 -0.19172612 -3.01998396] [ 0.44969468 0.89234556 -0.03865355 -1.53545561] [ 0.18841405 -0.05247044 0.980687 -2.47371866] [ 0. 0. 0. 1. ]] SLAMing on 150.661346184 meters Centerline goodness : 0.871378 Centerline is valid? [False, False] Translation: X:-3.02, Y:-1.53, Z:-2.47 [[ 0.8723845 -0.44950832 -0.19206133 -3.01790822] [ 0.45075197 0.89176549 -0.03971116 -1.53483915] [ 0.18912417 -0.05192863 0.98057915 -2.47383976] [ 0. 0. 0. 1. ]] SLAMing on 150.691346184 meters Centerline goodness : 0.871519 Centerline is valid? [False, False] Translation: X:-3.02, Y:-1.53, Z:-2.47 [[ 0.87171936 -0.45047073 -0.19282498 -3.01697088] [ 0.45177949 0.89124585 -0.03970049 -1.534146 ] [ 0.18973837 -0.05250668 0.9804297 -2.47291665] [ 0. 0. 0. 1. ]] SLAMing on 150.721346184 meters Centerline goodness : 0.871525 Centerline is valid? [False, False] Translation: X:-3.02, Y:-1.53, Z:-2.47 [[ 0.87120424 -0.44994733 -0.19634298 -3.01559169] [ 0.45206263 0.8912381 -0.0365245 -1.53180411] [ 0.19142244 -0.05693902 0.97985478 -2.46966915] [ 0. 0. 0. 1. ]] SLAMing on 150.751346184 meters Centerline goodness : 0.870926 Centerline is valid? [False, False] Translation: X:-3.01, Y:-1.53, Z:-2.47 [[ 0.87106285 -0.44950408 -0.19797878 -3.0130306 ] [ 0.45190177 0.89135971 -0.03553405 -1.53033885] [ 0.192443 -0.05851457 0.97956201 -2.46973617] [ 0. 0. 0. 1. ]] SLAMing on 150.781346184 meters Centerline goodness : 0.870791 Centerline is valid? [False, False] Translation: X:-3.01, Y:-1.53, Z:-2.47 [[ 0.8707798 -0.45013111 -0.19779919 -3.01183843] [ 0.45226444 0.89112034 -0.03689729 -1.52961606] [ 0.1928715 -0.05732813 0.97954789 -2.47028265] [ 0. 0. 0. 1. ]] SLAMing on 150.811346184 meters Centerline goodness : 0.870392 Centerline is valid? [False, False] Translation: X:-3.01, Y:-1.53, Z:-2.47 [[ 0.87057857 -0.4517072 -0.19507321 -3.01136258] [ 0.4529714 0.89059517 -0.04070812 -1.53069803] [ 0.19211941 -0.05292297 0.97994351 -2.47278132] [ 0. 0. 0. 1. ]] SLAMing on 150.841346184 meters Centerline goodness : 0.869451 Centerline is valid? [False, False] Translation: X:-3.01, Y:-1.53, Z:-2.47 [[ 0.87047743 -0.45209594 -0.19462349 -3.01125908] [ 0.45321844 0.89043987 -0.04135073 -1.53091826] [ 0.19199502 -0.05221208 0.98000603 -2.47286896] [ 0. 0. 0. 1. ]] SLAMing on 150.871346184 meters Centerline goodness : 0.872245 Centerline is valid? [False, False] Translation: X:-3.01, Y:-1.53, Z:-2.47 [[ 0.87013051 -0.45204033 -0.19629678 -3.00807637] [ 0.45351148 0.89035047 -0.04004217 -1.52967243] [ 0.1928736 -0.05418093 0.97972659 -2.47332986] [ 0. 0. 0. 1. ]] SLAMing on 150.901346184 meters Centerline goodness : 0.870097 Centerline is valid? [False, False] Translation: X:-3.01, Y:-1.53, Z:-2.47 [[ 0.86980245 -0.4522178 -0.19733919 -3.0066751 ] [ 0.45381881 0.89020891 -0.03970625 -1.52887551] [ 0.19362898 -0.05501964 0.97953084 -2.47263241] [ 0. 0. 0. 1. ]] SLAMing on 150.931346184 meters Centerline goodness : 0.872542 Centerline is valid? [False, False] Translation: X:-3.01, Y:-1.53, Z:-2.47 [[ 0.86924066 -0.45290495 -0.19823667 -3.00583864] [ 0.45461908 0.88981059 -0.03947924 -1.52893463] [ 0.19427343 -0.05580521 0.97935878 -2.47096952] [ 0. 0. 0. 1. ]] SLAMing on 150.961346184 meters Centerline goodness : 0.871055 Centerline is valid? [False, False] Translation: X:-3.01, Y:-1.53, Z:-2.47 [[ 0.86908477 -0.45326033 -0.19810789 -3.00540273] [ 0.45486883 0.88965895 -0.04001623 -1.5290995 ] [ 0.19438623 -0.05533561 0.97936304 -2.4708076 ] [ 0. 0. 0. 1. ]] SLAMing on 150.99134618399998 meters Centerline goodness : 0.871921 Centerline is valid? [False, False] Translation: X:-3.00, Y:-1.53, Z:-2.47 [[ 0.86898602 -0.45347974 -0.19803895 -3.00424195] [ 0.45492004 0.88959399 -0.04086919 -1.52910412] [ 0.19470761 -0.05457713 0.97934176 -2.4712335 ] [ 0. 0. 0. 1. ]] SLAMing on 151.02134618399998 meters Centerline goodness : 0.873598 Centerline is valid? [False, False] Translation: X:-3.00, Y:-1.53, Z:-2.47 [[ 0.86904538 -0.4539982 -0.19658527 -3.00452136] [ 0.45498816 0.88946882 -0.04279001 -1.53061699] [ 0.19428306 -0.05225751 0.97955257 -2.47167569] [ 0. 0. 0. 1. ]] SLAMing on 151.05134618399998 meters Centerline goodness : 0.874253 Centerline is valid? [False, False] Translation: X:-3.00, Y:-1.53, Z:-2.47 [[ 0.86922041 -0.4532481 -0.19753999 -3.00336737] [ 0.45437016 0.88980809 -0.04230036 -1.53061612] [ 0.19494523 -0.05298794 0.97938176 -2.47105218] [ 0. 0. 0. 1. ]] SLAMing on 151.08134618399998 meters Centerline goodness : 0.874547 Centerline is valid? [False, False] Translation: X:-3.00, Y:-1.53, Z:-2.47 [[ 0.86940786 -0.45261489 -0.19816592 -3.00356657] [ 0.4538754 0.89008865 -0.04170512 -1.53069238] [ 0.19526159 -0.05368388 0.97928083 -2.46987919] [ 0. 0. 0. 1. ]] SLAMing on 151.11134618399998 meters Centerline goodness : 0.872823 Centerline is valid? [False, False] Translation: X:-3.00, Y:-1.53, Z:-2.47 [[ 0.86961698 -0.45212371 -0.19836952 -3.00411097] [ 0.45342962 0.89032651 -0.04147629 -1.53105975] [ 0.19536605 -0.05387813 0.97924933 -2.46898277] [ 0. 0. 0. 1. ]] SLAMing on 151.14134618399999 meters Centerline goodness : 0.876847 Centerline is valid? [False, False] Translation: X:-3.00, Y:-1.53, Z:-2.47 [[ 0.8694215 -0.45228837 -0.19885042 -3.00095317] [ 0.4536583 0.89021767 -0.04131156 -1.53149482] [ 0.1957049 -0.05429299 0.97915875 -2.4702785 ] [ 0. 0. 0. 1. ]] SLAMing on 151.171346184 meters Centerline goodness : 0.875309 Centerline is valid? [False, False] Translation: X:-3.00, Y:-1.53, Z:-2.47 [[ 0.86862832 -0.45427543 -0.19778441 -3.00058155] [ 0.45508104 0.88935853 -0.04407547 -1.53144612] [ 0.19592366 -0.05172274 0.97925414 -2.47029383] [ 0. 0. 0. 1. ]] SLAMing on 151.201346184 meters Centerline goodness : 0.874767 Centerline is valid? [False, False] Translation: X:-3.00, Y:-1.53, Z:-2.47 [[ 0.86834746 -0.45485974 -0.19767474 -2.99827406] [ 0.45559128 0.88907682 -0.04448583 -1.53176232] [ 0.19598285 -0.05142973 0.97925773 -2.47164946] [ 0. 0. 0. 1. ]] SLAMing on 151.231346184 meters Centerline goodness : 0.879062 Centerline is valid? [False, False] Translation: X:-3.00, Y:-1.53, Z:-2.47 [[ 0.8679013 -0.4554178 -0.19834808 -2.9962574 ] [ 0.45626409 0.88874789 -0.04416183 -1.53193506] [ 0.19639352 -0.052171 0.97913624 -2.47173073] [ 0. 0. 0. 1. ]] SLAMing on 151.261346184 meters Centerline goodness : 0.879062 Centerline is valid? [False, False] Translation: X:-3.00, Y:-1.53, Z:-2.47 [[ 0.8679013 -0.4554178 -0.19834808 -2.9962574 ] [ 0.45626409 0.88874789 -0.04416183 -1.53193506] [ 0.19639352 -0.052171 0.97913624 -2.47173073] [ 0. 0. 0. 1. ]] SLAMing on 151.291346184 meters Centerline goodness : 0.877243 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.53, Z:-2.47 [[ 0.86762131 -0.45559388 -0.19916697 -2.99472256] [ 0.45658169 0.88860747 -0.04370263 -1.53119063] [ 0.19689191 -0.05301866 0.9789906 -2.47171565] [ 0. 0. 0. 1. ]] SLAMing on 151.321346184 meters Centerline goodness : 0.876997 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.53, Z:-2.47 [[ 0.86717848 -0.45641324 -0.19921956 -2.99468927] [ 0.45732968 0.88819961 -0.04417038 -1.53095437] [ 0.19710668 -0.05280542 0.97895891 -2.47096637] [ 0. 0. 0. 1. ]] SLAMing on 151.351346184 meters Centerline goodness : 0.877040 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.53, Z:-2.47 [[ 0.86676756 -0.4570272 -0.19959994 -2.99323295] [ 0.4580156 0.88785495 -0.04399196 -1.53065349] [ 0.19732132 -0.05328908 0.97888946 -2.47126497] [ 0. 0. 0. 1. ]] SLAMing on 151.381346184 meters Centerline goodness : 0.877917 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.53, Z:-2.47 [[ 0.86609207 -0.45883312 -0.19838522 -2.99251734] [ 0.45943021 0.88703113 -0.04582199 -1.5315004 ] [ 0.19699851 -0.0514581 0.97905242 -2.47189328] [ 0. 0. 0. 1. ]] SLAMing on 151.411346184 meters Centerline goodness : 0.880234 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.53, Z:-2.47 [[ 0.86563937 -0.45966148 -0.19844346 -2.99102468] [ 0.46019714 0.88661167 -0.04624227 -1.5317455 ] [ 0.19719808 -0.05129398 0.97902086 -2.47221195] [ 0. 0. 0. 1. ]] SLAMing on 151.441346184 meters Centerline goodness : 0.879502 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.53, Z:-2.47 [[ 0.86559412 -0.4598454 -0.19821462 -2.98974918] [ 0.46035706 0.88652445 -0.04632264 -1.53221254] [ 0.19702336 -0.05115289 0.97906342 -2.47322544] [ 0. 0. 0. 1. ]] SLAMing on 151.471346184 meters Centerline goodness : 0.878450 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.53, Z:-2.47 [[ 0.86547615 -0.45957924 -0.19934381 -2.98697342] [ 0.46030654 0.88659204 -0.04552418 -1.53127043] [ 0.1976586 -0.05235917 0.97887159 -2.47413786] [ 0. 0. 0. 1. ]] SLAMing on 151.501346184 meters Centerline goodness : 0.879510 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.53, Z:-2.47 [[ 0.86571043 -0.45871677 -0.20031069 -2.98623878] [ 0.459823 0.88692922 -0.04381065 -1.53120519] [ 0.19775808 -0.05418012 0.9787524 -2.47396166] [ 0. 0. 0. 1. ]] SLAMing on 151.531346184 meters Centerline goodness : 0.879199 Centerline is valid? [False, False] Translation: X:-2.98, Y:-1.53, Z:-2.47 [[ 0.86560173 -0.45877661 -0.20064316 -2.98460521] [ 0.45991216 0.88688517 -0.0437663 -1.53113839] [ 0.1980264 -0.05439404 0.97868628 -2.47452891] [ 0. 0. 0. 1. ]] SLAMing on 151.561346184 meters Centerline goodness : 0.879707 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.53, Z:-2.48 [[ 0.86497782 -0.46134284 -0.1974238 -2.98613716] [ 0.46158095 0.88581718 -0.04765445 -1.53309162] [ 0.19686643 -0.04990702 0.97915928 -2.4754041 ] [ 0. 0. 0. 1. ]] SLAMing on 151.591346184 meters Centerline goodness : 0.880349 Centerline is valid? [False, False] Translation: X:-2.98, Y:-1.53, Z:-2.48 [[ 0.86461467 -0.46186266 -0.19779876 -2.98364834] [ 0.46203176 0.88555496 -0.04815671 -1.53281018] [ 0.19740345 -0.04975231 0.97905903 -2.4762095 ] [ 0. 0. 0. 1. ]] SLAMing on 151.621346184 meters Centerline goodness : 0.881072 Centerline is valid? [False, False] Translation: X:-2.98, Y:-1.53, Z:-2.48 [[ 0.86419147 -0.46195397 -0.19942826 -2.9799772 ] [ 0.46236222 0.88542272 -0.0474108 -1.5314946 ] [ 0.19847992 -0.05123608 0.97876483 -2.47674552] [ 0. 0. 0. 1. ]] SLAMing on 151.651346184 meters Centerline goodness : 0.880349 Centerline is valid? [False, False] Translation: X:-2.98, Y:-1.53, Z:-2.48 [[ 0.86384726 -0.46184271 -0.20116963 -2.97800117] [ 0.46253486 0.88538252 -0.04646819 -1.53074494] [ 0.19957307 -0.05290655 0.97845362 -2.47552516] [ 0. 0. 0. 1. ]] SLAMing on 151.681346184 meters Centerline goodness : 0.881719 Centerline is valid? [False, False] Translation: X:-2.98, Y:-1.53, Z:-2.47 [[ 0.86374639 -0.46146567 -0.20246385 -2.97696915] [ 0.46236442 0.8855081 -0.04576616 -1.52982283] [ 0.20040289 -0.05408173 0.97821974 -2.47447592] [ 0. 0. 0. 1. ]] SLAMing on 151.711346184 meters Centerline goodness : 0.883353 Centerline is valid? [False, False] Translation: X:-2.98, Y:-1.53, Z:-2.48 [[ 0.86414457 -0.46101775 -0.20178402 -2.97705726] [ 0.46181627 0.88578127 -0.04601386 -1.53113547] [ 0.19994972 -0.05342452 0.97834857 -2.47501192] [ 0. 0. 0. 1. ]] SLAMing on 151.74134618399998 meters Centerline goodness : 0.884235 Centerline is valid? [False, False] Translation: X:-2.98, Y:-1.53, Z:-2.48 [[ 0.86399811 -0.46201251 -0.20012922 -2.97798772] [ 0.46240096 0.88538692 -0.04770056 -1.53215873] [ 0.19923005 -0.05132675 0.97860766 -2.47558007] [ 0. 0. 0. 1. ]] SLAMing on 151.77134618399998 meters Centerline goodness : 0.884860 Centerline is valid? [False, False] Translation: X:-2.97, Y:-1.53, Z:-2.48 [[ 0.86420577 -0.46139443 -0.20065782 -2.97457954] [ 0.46191575 0.88567159 -0.04711345 -1.53238239] [ 0.19945481 -0.05197129 0.97852785 -2.47762799] [ 0. 0. 0. 1. ]] SLAMing on 151.80134618399998 meters Centerline goodness : 0.883954 Centerline is valid? [False, False] Translation: X:-2.97, Y:-1.53, Z:-2.48 [[ 0.86418741 -0.46155192 -0.2003745 -2.97451188] [ 0.4619898 0.8856141 -0.04746675 -1.53320206] [ 0.19936285 -0.05155081 0.97856884 -2.47744647] [ 0. 0. 0. 1. ]] SLAMing on 151.83134618399998 meters Centerline goodness : 0.887780 Centerline is valid? [False, False] Translation: X:-2.98, Y:-1.54, Z:-2.48 [[ 0.86511437 -0.46015339 -0.19958954 -2.97637164] [ 0.46058873 0.88636304 -0.04710183 -1.53542026] [ 0.19858286 -0.05118022 0.97874687 -2.47706229] [ 0. 0. 0. 1. ]] SLAMing on 151.86134618399998 meters Centerline goodness : 0.886475 Centerline is valid? [False, False] Translation: X:-2.98, Y:-1.54, Z:-2.48 [[ 0.86540623 -0.45945209 -0.1999396 -2.97710405] [ 0.46000076 0.8866974 -0.04655128 -1.53527791] [ 0.198674 -0.0516866 0.97870176 -2.4761455 ] [ 0. 0. 0. 1. ]] SLAMing on 151.89134618399999 meters Centerline goodness : 0.886433 Centerline is valid? [False, False] Translation: X:-2.98, Y:-1.54, Z:-2.48 [[ 0.86543175 -0.45953286 -0.1996433 -2.97772219] [ 0.46009766 0.88665492 -0.04640249 -1.53621064] [ 0.19833818 -0.05169723 0.97876931 -2.47539023] [ 0. 0. 0. 1. ]] SLAMing on 151.921346184 meters Centerline goodness : 0.885512 Centerline is valid? [False, False] Translation: X:-2.97, Y:-1.54, Z:-2.48 [[ 0.86515521 -0.46001584 -0.19972954 -2.97456324] [ 0.46059747 0.88639546 -0.046401 -1.53627671] [ 0.19838455 -0.05185086 0.97875179 -2.47750063] [ 0. 0. 0. 1. ]] SLAMing on 151.951346184 meters Centerline goodness : 0.885851 Centerline is valid? [False, False] Translation: X:-2.98, Y:-1.54, Z:-2.48 [[ 0.86454718 -0.46200211 -0.19776811 -2.97501226] [ 0.46204533 0.88551324 -0.04878947 -1.53770062] [ 0.19766712 -0.04919703 0.97903389 -2.47821274] [ 0. 0. 0. 1. ]] SLAMing on 151.981346184 meters Centerline goodness : 0.885864 Centerline is valid? [False, False] Translation: X:-2.97, Y:-1.54, Z:-2.48 [[ 0.86428299 -0.46239795 -0.1979976 -2.97265997] [ 0.46257481 0.88526721 -0.04823392 -1.53872915] [ 0.19758405 -0.04990095 0.97901503 -2.47921534] [ 0. 0. 0. 1. ]] SLAMing on 152.011346184 meters Centerline goodness : 0.888682 Centerline is valid? [False, False] Translation: X:-2.97, Y:-1.54, Z:-2.48 [[ 0.86323593 -0.46415153 -0.19846179 -2.97304039] [ 0.4644859 0.88429029 -0.0477864 -1.54019597] [ 0.19767796 -0.05093176 0.97894299 -2.47654947] [ 0. 0. 0. 1. ]] SLAMing on 152.041346184 meters Centerline goodness : 0.886748 Centerline is valid? [False, False] Translation: X:-2.97, Y:-1.54, Z:-2.48 [[ 0.86292253 -0.46408567 -0.199973 -2.9696362 ] [ 0.46479334 0.88420577 -0.04633917 -1.53934853] [ 0.19832262 -0.052959 0.978705 -2.47730136] [ 0. 0. 0. 1. ]] SLAMing on 152.071346184 meters Centerline goodness : 0.886257 Centerline is valid? [False, False] Translation: X:-2.97, Y:-1.54, Z:-2.48 [[ 0.86283039 -0.46421564 -0.20006889 -2.96766869] [ 0.46500619 0.884113 -0.04597223 -1.5395483 ] [ 0.19822453 -0.05336703 0.97870271 -2.4786212 ] [ 0. 0. 0. 1. ]] SLAMing on 152.101346184 meters Centerline goodness : 0.886371 Centerline is valid? [False, False] Translation: X:-2.97, Y:-1.54, Z:-2.48 [[ 0.8624909 -0.46557794 -0.19835984 -2.9679842 ] [ 0.465895 0.88353617 -0.04801755 -1.54082829] [ 0.197614 -0.05100016 0.97895234 -2.47937748] [ 0. 0. 0. 1. ]] SLAMing on 152.131346184 meters Centerline goodness : 0.887686 Centerline is valid? [False, False] Translation: X:-2.97, Y:-1.54, Z:-2.48 [[ 0.86160647 -0.46781682 -0.19693075 -2.96706315] [ 0.46779361 0.88244469 -0.04960356 -1.54234886] [ 0.19698587 -0.0493842 0.97916177 -2.48035977] [ 0. 0. 0. 1. ]] SLAMing on 152.161346184 meters Centerline goodness : 0.887693 Centerline is valid? [False, False] Translation: X:-2.96, Y:-1.54, Z:-2.48 [[ 0.86124221 -0.46798349 -0.19812448 -2.96455623] [ 0.46818288 0.88228141 -0.04882924 -1.54217068] [ 0.19765282 -0.05070469 0.97895985 -2.4802952 ] [ 0. 0. 0. 1. ]] SLAMing on 152.191346184 meters Centerline goodness : 0.888345 Centerline is valid? [False, False] Translation: X:-2.96, Y:-1.54, Z:-2.48 [[ 0.86094126 -0.46796352 -0.19947504 -2.96148023] [ 0.4684765 0.88219074 -0.04763672 -1.54135022] [ 0.19826728 -0.05243695 0.97874432 -2.48105642] [ 0. 0. 0. 1. ]] SLAMing on 152.221346184 meters Centerline goodness : 0.887028 Centerline is valid? [False, False] Translation: X:-2.96, Y:-1.54, Z:-2.48 [[ 0.86112678 -0.46778826 -0.19908494 -2.96004197] [ 0.46820341 0.88231639 -0.04799336 -1.54219261] [ 0.19810663 -0.05188388 0.97880633 -2.48232872] [ 0. 0. 0. 1. ]] SLAMing on 152.251346184 meters Centerline goodness : 0.887805 Centerline is valid? [False, False] Translation: X:-2.96, Y:-1.54, Z:-2.48 [[ 0.86151384 -0.46717992 -0.19883867 -2.95857507] [ 0.46755697 0.88265648 -0.0480419 -1.54309593] [ 0.19795045 -0.05157964 0.978854 -2.48372768] [ 0. 0. 0. 1. ]] SLAMing on 152.281346184 meters Centerline goodness : 0.888651 Centerline is valid? [False, False] Translation: X:-2.96, Y:-1.54, Z:-2.49 [[ 0.86194929 -0.4666865 -0.1981089 -2.95790518] [ 0.46700988 0.88294542 -0.04805374 -1.54431052] [ 0.19734538 -0.05109893 0.97900138 -2.48530687] [ 0. 0. 0. 1. ]] SLAMing on 152.311346184 meters Centerline goodness : 0.887215 Centerline is valid? [False, False] Translation: X:-2.96, Y:-1.54, Z:-2.49 [[ 0.86241997 -0.46576208 -0.1982359 -2.95518294] [ 0.46617006 0.88341604 -0.04755608 -1.54459898] [ 0.19727459 -0.05139833 0.97899997 -2.4877594 ] [ 0. 0. 0. 1. ]] SLAMing on 152.341346184 meters Centerline goodness : 0.889337 Centerline is valid? [False, False] Translation: X:-2.96, Y:-1.55, Z:-2.49 [[ 0.86264774 -0.46586932 -0.19698898 -2.95639867] [ 0.46611541 0.88341847 -0.04804408 -1.54701674] [ 0.19640596 -0.05037448 0.97922781 -2.48767893] [ 0. 0. 0. 1. ]] SLAMing on 152.371346184 meters Centerline goodness : 0.890163 Centerline is valid? [False, False] Translation: X:-2.96, Y:-1.55, Z:-2.49 [[ 0.86262572 -0.46543004 -0.19812051 -2.95521554] [ 0.46598016 0.88355771 -0.04677875 -1.54702951] [ 0.19682314 -0.05196767 0.97906078 -2.48702775] [ 0. 0. 0. 1. ]] SLAMing on 152.401346184 meters Centerline goodness : 0.892050 Centerline is valid? [False, False] Translation: X:-2.95, Y:-1.55, Z:-2.49 [[ 0.86266513 -0.46451895 -0.20007751 -2.9524794 ] [ 0.46559112 0.88387446 -0.04461877 -1.54607615] [ 0.19756967 -0.05466325 0.97876359 -2.48715487] [ 0. 0. 0. 1. ]] SLAMing on 152.431346184 meters Centerline goodness : 0.889964 Centerline is valid? [False, False] Translation: X:-2.95, Y:-1.55, Z:-2.49 [[ 0.86270323 -0.46408308 -0.20092296 -2.95026871] [ 0.46536643 0.8840356 -0.04376226 -1.54580163] [ 0.19793237 -0.05574896 0.97862906 -2.48790416] [ 0. 0. 0. 1. ]] SLAMing on 152.461346184 meters Centerline goodness : 0.888592 Centerline is valid? [False, False] Translation: X:-2.95, Y:-1.55, Z:-2.49 [[ 0.86208174 -0.46626768 -0.19851831 -2.94689747] [ 0.46682967 0.88310121 -0.04692878 -1.54748536] [ 0.19719313 -0.05221779 0.97897302 -2.4921471 ] [ 0. 0. 0. 1. ]] SLAMing on 152.49134618399998 meters Centerline goodness : 0.891856 Centerline is valid? [False, False] Translation: X:-2.94, Y:-1.55, Z:-2.49 [[ 0.86174601 -0.46666886 -0.19903265 -2.94270502] [ 0.46732034 0.88285518 -0.04667364 -1.54799299] [ 0.19749814 -0.05279119 0.97888078 -2.49419501] [ 0. 0. 0. 1. ]] SLAMing on 152.52134618399998 meters Centerline goodness : 0.893251 Centerline is valid? [False, False] Translation: X:-2.94, Y:-1.55, Z:-2.50 [[ 0.86142992 -0.46668628 -0.20035571 -2.93888052] [ 0.46763477 0.88274615 -0.04557364 -1.54766456] [ 0.19813183 -0.0544348 0.97866267 -2.49526528] [ 0. 0. 0. 1. ]] SLAMing on 152.55134618399998 meters Centerline goodness : 0.892993 Centerline is valid? [False, False] Translation: X:-2.94, Y:-1.55, Z:-2.49 [[ 0.86094694 -0.46644453 -0.20297752 -2.93545232] [ 0.46813645 0.88262663 -0.04264374 -1.5479671 ] [ 0.19904431 -0.05830718 0.97825438 -2.49420839] [ 0. 0. 0. 1. ]] SLAMing on 152.58134618399998 meters Centerline goodness : 0.894701 Centerline is valid? [False, False] Translation: X:-2.93, Y:-1.55, Z:-2.49 [[ 0.8607191 -0.46636442 -0.20412463 -2.93331624] [ 0.46835546 0.88256429 -0.04151428 -1.54805419] [ 0.19951389 -0.05987075 0.97806426 -2.49406017] [ 0. 0. 0. 1. ]] SLAMing on 152.61134618399998 meters Centerline goodness : 0.893830 Centerline is valid? [False, False] Translation: X:-2.93, Y:-1.55, Z:-2.49 [[ 0.86047274 -0.46613686 -0.20567716 -2.92975303] [ 0.46845591 0.88256428 -0.04036524 -1.54760952] [ 0.20033904 -0.0616175 0.97778707 -2.4945773 ] [ 0. 0. 0. 1. ]] SLAMing on 152.64134618399999 meters Centerline goodness : 0.896545 Centerline is valid? [False, False] Translation: X:-2.93, Y:-1.55, Z:-2.50 [[ 0.86007593 -0.46739512 -0.20447785 -2.92801457] [ 0.46942046 0.88199503 -0.04158364 -1.54902092] [ 0.19978443 -0.060221 0.97798753 -2.49650227] [ 0. 0. 0. 1. ]] SLAMing on 152.671346184 meters Centerline goodness : 0.895673 Centerline is valid? [False, False] Translation: X:-2.92, Y:-1.55, Z:-2.50 [[ 0.86007503 -0.46714711 -0.20504758 -2.92414218] [ 0.46931762 0.88207617 -0.04101957 -1.54897457] [ 0.20002976 -0.06095253 0.97789206 -2.49881829] [ 0. 0. 0. 1. ]] SLAMing on 152.701346184 meters Centerline goodness : 0.895027 Centerline is valid? [False, False] Translation: X:-2.92, Y:-1.55, Z:-2.50 [[ 0.86023995 -0.46668953 -0.20539744 -2.9216286 ] [ 0.46897504 0.8822819 -0.04051003 -1.54912966] [ 0.20012405 -0.06147793 0.97783988 -2.50047358] [ 0. 0. 0. 1. ]] SLAMing on 152.731346184 meters Centerline goodness : 0.895566 Centerline is valid? [False, False] Translation: X:-2.92, Y:-1.55, Z:-2.50 [[ 0.860337 -0.4663532 -0.20575455 -2.91987129] [ 0.46873338 0.8824282 -0.04011841 -1.54914001] [ 0.20027297 -0.06192867 0.97778095 -2.50147077] [ 0. 0. 0. 1. ]] SLAMing on 152.761346184 meters Centerline goodness : 0.895604 Centerline is valid? [False, False] Translation: X:-2.92, Y:-1.55, Z:-2.50 [[ 0.86015517 -0.46615925 -0.20695082 -2.91705206] [ 0.46886555 0.88241307 -0.03888793 -1.54981256] [ 0.20074407 -0.06358246 0.97757818 -2.50176285] [ 0. 0. 0. 1. ]] SLAMing on 152.791346184 meters Centerline goodness : 0.895259 Centerline is valid? [False, False] Translation: X:-2.91, Y:-1.55, Z:-2.50 [[ 0.8599094 -0.46588243 -0.20858901 -2.91312347] [ 0.46893524 0.88242724 -0.03770824 -1.54900645] [ 0.20163223 -0.06538907 0.97727617 -2.50259495] [ 0. 0. 0. 1. ]] SLAMing on 152.821346184 meters Centerline goodness : 0.895294 Centerline is valid? [False, False] Translation: X:-2.91, Y:-1.55, Z:-2.51 [[ 0.85983981 -0.47040574 -0.19847909 -2.90784088] [ 0.47394832 0.87995874 -0.03233596 -1.54541692] [ 0.18986443 -0.06626509 0.97957156 -2.50907163] [ 0. 0. 0. 1. ]] SLAMing on 152.851346184 meters Centerline goodness : 0.896275 Centerline is valid? [False, False] Translation: X:-2.90, Y:-1.54, Z:-2.51 [[ 0.85950527 -0.47057466 -0.19952491 -2.90388816] [ 0.47428648 0.87979386 -0.03186054 -1.5446648 ] [ 0.19053355 -0.06724767 0.97937466 -2.51057701] [ 0. 0. 0. 1. ]] SLAMing on 152.881346184 meters Centerline goodness : 0.896586 Centerline is valid? [False, False] Translation: X:-2.90, Y:-1.54, Z:-2.51 [[ 0.85902361 -0.4710632 -0.20044423 -2.90034818] [ 0.47495334 0.87945278 -0.03133895 -1.54459927] [ 0.19104386 -0.06828076 0.97920375 -2.51166055] [ 0. 0. 0. 1. ]] SLAMing on 152.911346184 meters Centerline goodness : 0.898462 Centerline is valid? [False, False] Translation: X:-2.90, Y:-1.54, Z:-2.51 [[ 0.85901811 -0.47065112 -0.20143342 -2.89723563] [ 0.4747342 0.87959484 -0.0306653 -1.54353656] [ 0.19161245 -0.06928529 0.97902207 -2.513081 ] [ 0. 0. 0. 1. ]] SLAMing on 152.941346184 meters Centerline goodness : 0.897251 Centerline is valid? [False, False] Translation: X:-2.89, Y:-1.54, Z:-2.51 [[ 0.85921612 -0.46998407 -0.2021451 -2.89439277] [ 0.47421848 0.87989333 -0.03007588 -1.54314074] [ 0.1920013 -0.07001926 0.97889366 -2.51466747] [ 0. 0. 0. 1. ]] SLAMing on 152.971346184 meters Centerline goodness : 0.898257 Centerline is valid? [False, False] Translation: X:-2.89, Y:-1.54, Z:-2.52 [[ 0.85915803 -0.46961162 -0.20325453 -2.89008656] [ 0.47406277 0.88000194 -0.02934403 -1.54284173] [ 0.19264468 -0.07114425 0.97868612 -2.5166082 ] [ 0. 0. 0. 1. ]] SLAMing on 153.001346184 meters Centerline goodness : 0.899621 Centerline is valid? [False, False] Translation: X:-2.89, Y:-1.54, Z:-2.52 [[ 0.85860366 -0.46984272 -0.20505505 -2.8858397 ] [ 0.47464825 0.87972159 -0.02826584 -1.54140877] [ 0.19367185 -0.07305987 0.9783422 -2.51738161] [ 0. 0. 0. 1. ]] SLAMing on 153.031346184 meters Centerline goodness : 0.898975 Centerline is valid? [False, False] Translation: X:-2.88, Y:-1.54, Z:-2.52 [[ 0.85791557 -0.47040297 -0.20664444 -2.88195388] [ 0.4755256 0.87927637 -0.02735813 -1.54025596] [ 0.19456692 -0.07479375 0.97803354 -2.51787385] [ 0. 0. 0. 1. ]] SLAMing on 153.061346184 meters Centerline goodness : 0.899338 Centerline is valid? [False, False] Translation: X:-2.88, Y:-1.54, Z:-2.52 [[ 0.85703919 -0.47150117 -0.20777507 -2.8778068 ] [ 0.47685796 0.87857263 -0.02676967 -1.54064697] [ 0.19516743 -0.07613654 0.97781026 -2.51859143] [ 0. 0. 0. 1. ]] SLAMing on 153.091346184 meters Centerline goodness : 0.898189 Centerline is valid? [False, False] Translation: X:-2.88, Y:-1.54, Z:-2.52 [[ 0.8568118 -0.47174762 -0.2081531 -2.87547268] [ 0.47718069 0.87840344 -0.0265703 -1.54064579] [ 0.19537688 -0.07656089 0.97773529 -2.51968426] [ 0. 0. 0. 1. ]] SLAMing on 153.121346184 meters Centerline goodness : 0.897728 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.54, Z:-2.52 [[ 0.85681031 -0.4713587 -0.20903845 -2.87208253] [ 0.4769599 0.87853928 -0.02603815 -1.54031896] [ 0.1959218 -0.0773932 0.97756071 -2.52115607] [ 0. 0. 0. 1. ]] SLAMing on 153.151346184 meters Centerline goodness : 0.898242 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.54, Z:-2.52 [[ 0.85683501 -0.47114862 -0.20941047 -2.87124933] [ 0.47697343 0.87856075 -0.02504725 -1.54157336] [ 0.19578079 -0.07842186 0.97750698 -2.5209761 ] [ 0. 0. 0. 1. ]] SLAMing on 153.181346184 meters Centerline goodness : 0.898242 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.54, Z:-2.52 [[ 0.85683501 -0.47114862 -0.20941047 -2.87124933] [ 0.47697343 0.87856075 -0.02504725 -1.54157336] [ 0.19578079 -0.07842186 0.97750698 -2.5209761 ] [ 0. 0. 0. 1. ]] SLAMing on 153.211346184 meters Centerline goodness : 0.898466 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.54, Z:-2.52 [[ 0.85691416 -0.4704361 -0.21068458 -2.86800393] [ 0.4765803 0.87880622 -0.02389242 -1.54126418] [ 0.19639078 -0.07993437 0.97726207 -2.52199618] [ 0. 0. 0. 1. ]] SLAMing on 153.24134618399998 meters Centerline goodness : 0.897979 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.54, Z:-2.52 [[ 0.85707508 -0.46972119 -0.21162304 -2.86504018] [ 0.47608588 0.87909536 -0.02309946 -1.54073264] [ 0.19688714 -0.08095277 0.97707835 -2.52335681] [ 0. 0. 0. 1. ]] SLAMing on 153.27134618399998 meters Centerline goodness : 0.901696 Centerline is valid? [False, False] Translation: X:-2.86, Y:-1.54, Z:-2.52 [[ 0.85766381 -0.46859488 -0.21173479 -2.86365787] [ 0.47511161 0.87964423 -0.02224836 -1.54183576] [ 0.19667675 -0.08151604 0.97707389 -2.52455122] [ 0. 0. 0. 1. ]] SLAMing on 153.30134618399998 meters Centerline goodness : 0.900605 Centerline is valid? [False, False] Translation: X:-2.86, Y:-1.54, Z:-2.53 [[ 0.85789029 -0.46785287 -0.21245693 -2.86154505] [ 0.47456543 0.87995785 -0.02149017 -1.54153354] [ 0.19700738 -0.0823885 0.9769341 -2.52559711] [ 0. 0. 0. 1. ]] SLAMing on 153.33134618399998 meters Centerline goodness : 0.900176 Centerline is valid? [False, False] Translation: X:-2.86, Y:-1.54, Z:-2.53 [[ 0.85807897 -0.46728384 -0.21294669 -2.85994996] [ 0.47418185 0.88018333 -0.02070929 -1.54163041] [ 0.19710925 -0.08320525 0.97684432 -2.52644857] [ 0. 0. 0. 1. ]] SLAMing on 153.36134618399998 meters Centerline goodness : 0.898946 Centerline is valid? [False, False] Translation: X:-2.86, Y:-1.54, Z:-2.53 [[ 0.85872428 -0.47092375 -0.20204809 -2.85571376] [ 0.47795918 0.87824363 -0.01559349 -1.53832085] [ 0.18479079 -0.08318023 0.97925146 -2.5326689 ] [ 0. 0. 0. 1. ]] SLAMing on 153.39134618399999 meters Centerline goodness : 0.899615 Centerline is valid? [False, False] Translation: X:-2.85, Y:-1.54, Z:-2.53 [[ 0.85909803 -0.46975992 -0.20316542 -2.85324079] [ 0.47720127 0.8786853 -0.01382351 -1.5394779 ] [ 0.1850122 -0.08507504 0.97904684 -2.53309245] [ 0. 0. 0. 1. ]] SLAMing on 153.421346184 meters Centerline goodness : 0.898257 Centerline is valid? [False, False] Translation: X:-2.85, Y:-1.54, Z:-2.53 [[ 0.85886073 -0.46952605 -0.20470351 -2.8503045 ] [ 0.47734002 0.87862894 -0.01255757 -1.5387534 ] [ 0.18575454 -0.08692797 0.97874347 -2.53328736] [ 0. 0. 0. 1. ]] SLAMing on 153.451346184 meters Centerline goodness : 0.897962 Centerline is valid? [False, False] Translation: X:-2.85, Y:-1.54, Z:-2.53 [[ 0.8584824 -0.46957393 -0.20617538 -2.84629161] [ 0.47771462 0.87843907 -0.01155564 -1.53830411] [ 0.18653874 -0.08857268 0.97844682 -2.53402812] [ 0. 0. 0. 1. ]] SLAMing on 153.481346184 meters Centerline goodness : 0.898644 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.54, Z:-2.54 [[ 0.85782056 -0.47079677 -0.2061414 -2.84112679] [ 0.47882855 0.87782283 -0.01225944 -1.53947913] [ 0.18672733 -0.08818999 0.97844541 -2.53682919] [ 0. 0. 0. 1. ]] SLAMing on 153.511346184 meters Centerline goodness : 0.899426 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.54, Z:-2.54 [[ 0.85809593 -0.47019027 -0.20637949 -2.8383095 ] [ 0.47835754 0.87808867 -0.01159074 -1.54104649] [ 0.18666934 -0.08877722 0.97840337 -2.53839689] [ 0. 0. 0. 1. ]] SLAMing on 153.541346184 meters Centerline goodness : 0.899472 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.54, Z:-2.54 [[ 0.85843259 -0.46905189 -0.20756642 -2.83488398] [ 0.47757909 0.87853013 -0.01014982 -1.5417769 ] [ 0.18711415 -0.09041645 0.97816827 -2.53946429] [ 0. 0. 0. 1. ]] SLAMing on 153.571346184 meters Centerline goodness : 0.901401 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.54, Z:-2.54 [[ 0.85911598 -0.46668241 -0.21006491 -2.83244089] [ 0.4762018 0.87931593 -0.00594435 -1.54367751] [ 0.18748754 -0.0949264 0.97766937 -2.53846913] [ 0. 0. 0. 1. ]] SLAMing on 153.601346184 meters Centerline goodness : 0.901196 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.54, Z:-2.54 [[ 0.85920348 -0.46600069 -0.21121728 -2.83002048] [ 0.47590771 0.879484 -0.00444369 -1.54384948] [ 0.18783298 -0.0967019 0.97742903 -2.53880699] [ 0. 0. 0. 1. ]] SLAMing on 153.631346184 meters Centerline goodness : 0.902304 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.54, Z:-2.54 [[ 0.85930889 -0.46573551 -0.2113733 -2.8288911 ] [ 0.47579319 0.87954936 -0.00370934 -1.54493631] [ 0.18764082 -0.09738251 0.97739837 -2.53921857] [ 0. 0. 0. 1. ]] SLAMing on 153.661346184 meters Centerline goodness : 0.905097 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.55, Z:-2.54 [[ 8.59605305e-01 -4.64819056e-01 -2.12183799e-01 -2.82538455e+00] [ 4.75173471e-01 8.79888627e-01 -2.48541544e-03 -1.54577475e+00] [ 1.87853380e-01 -9.86876360e-02 9.77226616e-01 -2.54093574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.691346184 meters Centerline goodness : 0.903943 Centerline is valid? [False, False] Translation: X:-2.82, Y:-1.55, Z:-2.54 [[ 0.85976758 -0.46532244 -0.21041563 -2.82421759] [ 0.47532476 0.8798037 -0.00343882 -1.54968189] [ 0.18672461 -0.09705917 0.97760597 -2.54273644] [ 0. 0. 0. 1. ]] SLAMing on 153.721346184 meters Centerline goodness : 0.905880 Centerline is valid? [False, False] Translation: X:-2.82, Y:-1.55, Z:-2.54 [[ 0.85961794 -0.46590198 -0.2097435 -2.82283832] [ 0.47578802 0.87955193 -0.00376205 -1.55160691] [ 0.18623304 -0.09655952 0.97774921 -2.54373085] [ 0. 0. 0. 1. ]] SLAMing on 153.751346184 meters Centerline goodness : 0.906887 Centerline is valid? [False, False] Translation: X:-2.82, Y:-1.55, Z:-2.54 [[ 8.59621681e-01 -4.65661177e-01 -2.10262300e-01 -2.82005007e+00] [ 4.75799302e-01 8.79549776e-01 -2.68611224e-03 -1.55363909e+00] [ 1.86186977e-01 -9.77336152e-02 9.77641320e-01 -2.54447013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.781346184 meters Centerline goodness : 0.909296 Centerline is valid? [False, False] Translation: X:-2.82, Y:-1.56, Z:-2.54 [[ 8.59476266e-01 -4.65410837e-01 -2.11407903e-01 -2.81906520e+00] [ 4.76153874e-01 8.79361972e-01 -1.02352738e-04 -1.55779195e+00] [ 1.85951707e-01 -1.00574722e-01 9.77397917e-01 -2.54199337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.811346184 meters Centerline goodness : 0.909514 Centerline is valid? [False, False] Translation: X:-2.82, Y:-1.56, Z:-2.54 [[ 8.59365660e-01 -4.65159130e-01 -2.12409150e-01 -2.81638780e+00] [ 4.76270094e-01 8.79298073e-01 1.30237908e-03 -1.55927544e+00] [ 1.86165143e-01 -1.02283346e-01 9.77179951e-01 -2.54200320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.841346184 meters Centerline goodness : 0.909083 Centerline is valid? [False, False] Translation: X:-2.81, Y:-1.56, Z:-2.54 [[ 8.59294328e-01 -4.64822058e-01 -2.13433157e-01 -2.81214685e+00] [ 4.76261662e-01 8.79300087e-01 2.48728803e-03 -1.56076826e+00] [ 1.86515647e-01 -1.03787343e-01 9.76954503e-01 -2.54313306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.871346184 meters Centerline goodness : 0.908082 Centerline is valid? [False, False] Translation: X:-2.81, Y:-1.56, Z:-2.55 [[ 0.859452 -0.4641324 -0.21429741 -2.80715997] [ 0.47585165 0.87951843 0.0035402 -1.5626322 ] [ 0.1868354 -0.10501641 0.97676204 -2.54511469] [ 0. 0. 0. 1. ]] SLAMing on 153.901346184 meters Centerline goodness : 0.907657 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.56, Z:-2.55 [[ 0.85953933 -0.46570782 -0.21049552 -2.79251919] [ 0.47814748 0.87822875 0.00944705 -1.56204524] [ 0.18046365 -0.10876801 0.97754918 -2.55218698] [ 0. 0. 0. 1. ]] SLAMing on 153.931346184 meters Centerline goodness : 0.907559 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.56, Z:-2.55 [[ 0.85967868 -0.46494288 -0.21161446 -2.78878891] [ 0.47777135 0.87841602 0.01094712 -1.56340224] [ 0.18079575 -0.11051433 0.97729191 -2.55310846] [ 0. 0. 0. 1. ]] SLAMing on 153.961346184 meters Centerline goodness : 0.909490 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.57, Z:-2.55 [[ 0.86024309 -0.46248659 -0.2146811 -2.78451717] [ 0.47654297 0.87900736 0.01590118 -1.56652747] [ 0.18135218 -0.11598365 0.97655475 -2.55193763] [ 0. 0. 0. 1. ]] SLAMing on 153.99134618399998 meters Centerline goodness : 0.909283 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.57, Z:-2.55 [[ 0.86040652 -0.46130922 -0.21655119 -2.78061694] [ 0.47596505 0.87927942 0.01802684 -1.56696636] [ 0.18209306 -0.11858121 0.97610482 -2.5521952 ] [ 0. 0. 0. 1. ]] SLAMing on 154.02134618399998 meters Centerline goodness : 0.906955 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.57, Z:-2.55 [[ 0.86037439 -0.46097557 -0.21738776 -2.77682422] [ 0.47592567 0.87927846 0.0190828 -1.56822557] [ 0.18234767 -0.11987877 0.97589877 -2.55331622] [ 0. 0. 0. 1. ]] SLAMing on 154.05134618399998 meters Centerline goodness : 0.905393 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.57, Z:-2.56 [[ 0.86017144 -0.46109979 -0.21792678 -2.7713219 ] [ 0.47620798 0.87911531 0.01955068 -1.57051281] [ 0.18256795 -0.12059541 0.97576928 -2.5555038 ] [ 0. 0. 0. 1. ]] SLAMing on 154.08134618399998 meters Centerline goodness : 0.905761 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.57, Z:-2.56 [[ 0.85953199 -0.46277778 -0.21689048 -2.7677669 ] [ 0.47746238 0.87847224 0.01778205 -1.57303047] [ 0.18230313 -0.11884128 0.97603397 -2.55738596] [ 0. 0. 0. 1. ]] SLAMing on 154.11134618399998 meters Centerline goodness : 0.905570 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.58, Z:-2.56 [[ 0.85876752 -0.46336018 -0.21866799 -2.76174299] [ 0.47869508 0.87775356 0.01999256 -1.57741834] [ 0.18267285 -0.12184425 0.97559449 -2.55691405] [ 0. 0. 0. 1. ]] SLAMing on 154.14134618399999 meters Centerline goodness : 0.905224 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.58, Z:-2.56 [[ 0.85905356 -0.46104939 -0.22239706 -2.75609531] [ 0.47765035 0.87821086 0.02440973 -1.5781093 ] [ 0.18405742 -0.1271973 0.97465056 -2.5562855 ] [ 0. 0. 0. 1. ]] SLAMing on 154.171346184 meters Centerline goodness : 0.902707 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.58, Z:-2.56 [[ 0.85968687 -0.45827069 -0.2256689 -2.75077136] [ 0.47609107 0.87892352 0.02882256 -1.57928156] [ 0.18513717 -0.13221732 0.9737776 -2.5561876 ] [ 0. 0. 0. 1. ]] SLAMing on 154.201346184 meters Centerline goodness : 0.904407 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.58, Z:-2.56 [[ 0.86007633 -0.45684801 -0.22706519 -2.7476264 ] [ 0.47524793 0.87930539 0.03100688 -1.58198546] [ 0.18549421 -0.13458055 0.97338583 -2.55594038] [ 0. 0. 0. 1. ]] SLAMing on 154.231346184 meters Centerline goodness : 0.903873 Centerline is valid? [False, False] Translation: X:-2.74, Y:-1.58, Z:-2.56 [[ 0.86015542 -0.45605576 -0.22835455 -2.74349326] [ 0.47487407 0.87945969 0.03233067 -1.58286532] [ 0.18608404 -0.13624905 0.97304107 -2.55677166] [ 0. 0. 0. 1. ]] SLAMing on 154.261346184 meters Centerline goodness : 0.903451 Centerline is valid? [False, False] Translation: X:-2.74, Y:-1.58, Z:-2.56 [[ 0.86028295 -0.45543252 -0.22911672 -2.73938126] [ 0.47454632 0.87959758 0.03337499 -1.584648 ] [ 0.18633045 -0.13743843 0.97282662 -2.55811832] [ 0. 0. 0. 1. ]] SLAMing on 154.291346184 meters Centerline goodness : 0.902234 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.59, Z:-2.56 [[ 0.86015442 -0.45512256 -0.23021257 -2.73395486] [ 0.4745362 0.87957347 0.0341453 -1.58590867] [ 0.18694857 -0.13861443 0.97254114 -2.55981143] [ 0. 0. 0. 1. ]] SLAMing on 154.321346184 meters Centerline goodness : 0.902230 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.59, Z:-2.56 [[ 0.86053796 -0.45466031 -0.229692 -2.73171176] [ 0.4740337 0.87983506 0.0343848 -1.58921607] [ 0.18645767 -0.13847117 0.97265578 -2.56124714] [ 0. 0. 0. 1. ]] SLAMing on 154.351346184 meters Centerline goodness : 0.901181 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.59, Z:-2.56 [[ 0.86137397 -0.4517522 -0.23228178 -2.72842644] [ 0.47214244 0.88070183 0.0380237 -1.58959769] [ 0.1873937 -0.14242271 0.97190502 -2.56111195] [ 0. 0. 0. 1. ]] SLAMing on 154.381346184 meters Centerline goodness : 0.900590 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.59, Z:-2.56 [[ 0.86184871 -0.45049494 -0.23296159 -2.72689319] [ 0.47115659 0.8811849 0.03904658 -1.59002399] [ 0.18769195 -0.14341363 0.97170174 -2.56153913] [ 0. 0. 0. 1. ]] SLAMing on 154.411346184 meters Centerline goodness : 0.899404 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.59, Z:-2.56 [[ 0.8618376 -0.45053238 -0.2329303 -2.72506513] [ 0.47123573 0.88113209 0.03928271 -1.59124906] [ 0.18754423 -0.1436204 0.97169972 -2.56246187] [ 0. 0. 0. 1. ]] SLAMing on 154.441346184 meters Centerline goodness : 0.898946 Centerline is valid? [False, False] Translation: X:-2.72, Y:-1.59, Z:-2.56 [[ 0.86153471 -0.45039393 -0.23431444 -2.72099292] [ 0.47148096 0.88095974 0.04019512 -1.59121968] [ 0.18831795 -0.14510429 0.97132955 -2.56298119] [ 0. 0. 0. 1. ]] SLAMing on 154.471346184 meters Centerline goodness : 0.899334 Centerline is valid? [False, False] Translation: X:-2.72, Y:-1.59, Z:-2.56 [[ 0.86101218 -0.45081061 -0.23543112 -2.71779328] [ 0.47220137 0.88054467 0.04082832 -1.59107379] [ 0.18890178 -0.14632458 0.97103308 -2.56303192] [ 0. 0. 0. 1. ]] SLAMing on 154.501346184 meters Centerline goodness : 0.898193 Centerline is valid? [False, False] Translation: X:-2.71, Y:-1.59, Z:-2.56 [[ 0.85963455 -0.45262953 -0.23697037 -2.71248953] [ 0.4744578 0.87929307 0.0416352 -1.59201288] [ 0.18952108 -0.1482235 0.97062431 -2.5627392 ] [ 0. 0. 0. 1. ]] SLAMing on 154.531346184 meters Centerline goodness : 0.898455 Centerline is valid? [False, False] Translation: X:-2.71, Y:-1.59, Z:-2.56 [[ 0.85913913 -0.4529839 -0.23808727 -2.70813209] [ 0.47514528 0.87888517 0.04240071 -1.5927394 ] [ 0.19004453 -0.14955416 0.9703178 -2.56335272] [ 0. 0. 0. 1. ]] SLAMing on 154.561346184 meters Centerline goodness : 0.895668 Centerline is valid? [False, False] Translation: X:-2.70, Y:-1.59, Z:-2.56 [[ 0.85878348 -0.45332465 -0.23872098 -2.70482138] [ 0.47567463 0.87857885 0.04281176 -1.5937392 ] [ 0.19032758 -0.15031955 0.97014403 -2.56398322] [ 0. 0. 0. 1. ]] SLAMing on 154.591346184 meters Centerline goodness : 0.895638 Centerline is valid? [False, False] Translation: X:-2.70, Y:-1.59, Z:-2.56 [[ 0.85801013 -0.45383967 -0.24051648 -2.6988504 ] [ 0.4766875 0.87797972 0.04382518 -1.59456584] [ 0.19127899 -0.15225364 0.96965518 -2.5646271 ] [ 0. 0. 0. 1. ]] SLAMing on 154.621346184 meters Centerline goodness : 0.894510 Centerline is valid? [False, False] Translation: X:-2.70, Y:-1.59, Z:-2.56 [[ 0.85772022 -0.45379816 -0.24162629 -2.69569659] [ 0.47696166 0.87779577 0.04452143 -1.59432765] [ 0.19189479 -0.15343341 0.9693475 -2.56493621] [ 0. 0. 0. 1. ]] SLAMing on 154.651346184 meters Centerline goodness : 0.895322 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.59, Z:-2.56 [[ 0.85729415 -0.45424565 -0.24229658 -2.6949349 ] [ 0.47756499 0.8774583 0.04470575 -1.59356225] [ 0.19229775 -0.15403834 0.96917169 -2.56410405] [ 0. 0. 0. 1. ]] SLAMing on 154.681346184 meters Centerline goodness : 0.891899 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.59, Z:-2.56 [[ 0.85685651 -0.45458964 -0.24319783 -2.69395782] [ 0.4781036 0.87715479 0.04490461 -1.59154968] [ 0.19290897 -0.15475057 0.96893673 -2.56360546] [ 0. 0. 0. 1. ]] SLAMing on 154.711346184 meters Centerline goodness : 0.892348 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.59, Z:-2.56 [[ 0.85657737 -0.45454277 -0.24426642 -2.69026 ] [ 0.47830907 0.87702261 0.04529661 -1.59077871] [ 0.19363793 -0.1556349 0.96864964 -2.56467893] [ 0. 0. 0. 1. ]] SLAMing on 154.74134618399998 meters Centerline goodness : 0.892215 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.59, Z:-2.57 [[ 0.85625235 -0.4546701 -0.24516733 -2.6857278 ] [ 0.47861907 0.87684543 0.04545185 -1.59004005] [ 0.19430826 -0.15626001 0.96841474 -2.56654012] [ 0. 0. 0. 1. ]] SLAMing on 154.77134618399998 meters Centerline goodness : 0.889835 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.59, Z:-2.57 [[ 0.85584056 -0.45499447 -0.24600195 -2.68060102] [ 0.47914841 0.87654105 0.04574482 -1.59022228] [ 0.19481717 -0.15702171 0.96818926 -2.56854347] [ 0. 0. 0. 1. ]] SLAMing on 154.80134618399998 meters Centerline goodness : 0.889179 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.59, Z:-2.57 [[ 0.85569973 -0.45481135 -0.24682913 -2.67797903] [ 0.47922988 0.87646229 0.04639599 -1.58990972] [ 0.195235 -0.15798893 0.96794772 -2.56916906] [ 0. 0. 0. 1. ]] SLAMing on 154.83134618399998 meters Centerline goodness : 0.889955 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.59, Z:-2.57 [[ 0.85541663 -0.45478309 -0.24786029 -2.67644122] [ 0.47946822 0.87630708 0.04686287 -1.58865205] [ 0.19588928 -0.15892841 0.96766169 -2.56885704] [ 0. 0. 0. 1. ]] SLAMing on 154.86134618399998 meters Centerline goodness : 0.889960 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.59, Z:-2.57 [[ 0.85579819 -0.45237953 -0.25092273 -2.6724446 ] [ 0.47821458 0.8768048 0.05024107 -1.58709118] [ 0.19728222 -0.16299112 0.96670245 -2.56877989] [ 0. 0. 0. 1. ]] SLAMing on 154.89134618399999 meters Centerline goodness : 0.888433 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.59, Z:-2.57 [[ 0.85547473 -0.45281079 -0.25124763 -2.67276254] [ 0.4786371 0.87659532 0.04987162 -1.58519342] [ 0.19766009 -0.16292034 0.96663719 -2.56824265] [ 0. 0. 0. 1. ]] SLAMing on 154.921346184 meters Centerline goodness : 0.886736 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.58, Z:-2.57 [[ 0.85525474 -0.45304734 -0.25156995 -2.66862361] [ 0.47884517 0.87650657 0.04943213 -1.58284188] [ 0.19810762 -0.16274012 0.96657593 -2.57159963] [ 0. 0. 0. 1. ]] SLAMing on 154.951346184 meters Centerline goodness : 0.888551 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.58, Z:-2.57 [[ 0.85524591 -0.45260332 -0.25239785 -2.66466851] [ 0.47861999 0.87660563 0.04985451 -1.58201186] [ 0.19868906 -0.16344053 0.96633837 -2.57360261] [ 0. 0. 0. 1. ]] SLAMing on 154.981346184 meters Centerline goodness : 0.886025 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.58, Z:-2.57 [[ 0.85475064 -0.45353646 -0.25240052 -2.66386669] [ 0.47945623 0.87618173 0.04926757 -1.57967162] [ 0.19880409 -0.16312649 0.96636778 -2.57442283] [ 0. 0. 0. 1. ]] SLAMing on 155.011346184 meters Centerline goodness : 0.883700 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.58, Z:-2.57 [[ 0.85440303 -0.45406661 -0.25262419 -2.66331372] [ 0.47993683 0.87594618 0.04877431 -1.57811868] [ 0.19913841 -0.16291657 0.96633435 -2.57462284] [ 0. 0. 0. 1. ]] SLAMing on 155.041346184 meters Centerline goodness : 0.883747 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.58, Z:-2.58 [[ 0.85445677 -0.45365756 -0.2531767 -2.66136389] [ 0.47967369 0.8760739 0.04906805 -1.57673924] [ 0.19954141 -0.16336872 0.96617487 -2.57579137] [ 0. 0. 0. 1. ]] SLAMing on 155.071346184 meters Centerline goodness : 0.883747 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.58, Z:-2.58 [[ 0.85445677 -0.45365756 -0.2531767 -2.66136389] [ 0.47967369 0.8760739 0.04906805 -1.57673924] [ 0.19954141 -0.16336872 0.96617487 -2.57579137] [ 0. 0. 0. 1. ]] SLAMing on 155.101346184 meters Centerline goodness : 0.885949 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.58, Z:-2.58 [[ 0.85512369 -0.45107987 -0.25551993 -2.65757802] [ 0.47809879 0.876751 0.05224202 -1.57642117] [ 0.20046203 -0.16683716 0.96539129 -2.5764598 ] [ 0. 0. 0. 1. ]] SLAMing on 155.131346184 meters Centerline goodness : 0.884276 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.57, Z:-2.58 [[ 0.85689493 -0.45471847 -0.24282133 -2.65571702] [ 0.48004466 0.87555366 0.05443269 -1.57085316] [ 0.18785156 -0.16320818 0.96854266 -2.58125437] [ 0. 0. 0. 1. ]] SLAMing on 155.161346184 meters Centerline goodness : 0.886489 Centerline is valid? [False, False] Translation: X:-2.65, Y:-1.57, Z:-2.58 [[ 0.85647947 -0.45516195 -0.24345537 -2.65476442] [ 0.48056096 0.87528512 0.0541952 -1.56884745] [ 0.18842527 -0.16341222 0.9683968 -2.5812265 ] [ 0. 0. 0. 1. ]] SLAMing on 155.191346184 meters Centerline goodness : 0.886327 Centerline is valid? [False, False] Translation: X:-2.65, Y:-1.57, Z:-2.58 [[ 0.85601789 -0.45580824 -0.24386928 -2.65432889] [ 0.4811965 0.87496638 0.05370059 -1.56648316] [ 0.18890025 -0.16331771 0.96832021 -2.58122681] [ 0. 0. 0. 1. ]] SLAMing on 155.221346184 meters Centerline goodness : 0.885686 Centerline is valid? [False, False] Translation: X:-2.65, Y:-1.56, Z:-2.58 [[ 0.85601665 -0.45450763 -0.24628907 -2.65016871] [ 0.48071234 0.87509682 0.05586766 -1.56406983] [ 0.19013451 -0.16621784 0.96758488 -2.58212341] [ 0. 0. 0. 1. ]] SLAMing on 155.251346184 meters Centerline goodness : 0.885187 Centerline is valid? [False, False] Translation: X:-2.65, Y:-1.56, Z:-2.58 [[ 0.85595649 -0.45467013 -0.24619822 -2.64912125] [ 0.48077698 0.87508899 0.05543236 -1.5629677 ] [ 0.19024192 -0.16581412 0.96763303 -2.5832736 ] [ 0. 0. 0. 1. ]] SLAMing on 155.281346184 meters Centerline goodness : 0.887968 Centerline is valid? [False, False] Translation: X:-2.65, Y:-1.56, Z:-2.58 [[ 0.85606746 -0.45459133 -0.24595778 -2.64962036] [ 0.48056516 0.87523396 0.05497862 -1.56228187] [ 0.1902778 -0.16526415 0.96772006 -2.58351884] [ 0. 0. 0. 1. ]] SLAMing on 155.311346184 meters Centerline goodness : 0.886820 Centerline is valid? [False, False] Translation: X:-2.65, Y:-1.56, Z:-2.58 [[ 0.85638565 -0.45339851 -0.24704939 -2.64800566] [ 0.47974128 0.87562008 0.05601596 -1.55996055] [ 0.19092385 -0.16649106 0.96738245 -2.58455143] [ 0. 0. 0. 1. ]] SLAMing on 155.341346184 meters Centerline goodness : 0.886691 Centerline is valid? [False, False] Translation: X:-2.65, Y:-1.56, Z:-2.58 [[ 0.8571927 -0.45098235 -0.24866763 -2.64857593] [ 0.47794293 0.87647629 0.05796431 -1.55625259] [ 0.1918104 -0.16853552 0.96685291 -2.58448792] [ 0. 0. 0. 1. ]] SLAMing on 155.371346184 meters Centerline goodness : 0.885953 Centerline is valid? [False, False] Translation: X:-2.65, Y:-1.55, Z:-2.58 [[ 0.85740146 -0.45057292 -0.24869012 -2.64953722] [ 0.47749008 0.87673578 0.05777186 -1.55435934] [ 0.19200509 -0.16828075 0.96685864 -2.58465831] [ 0. 0. 0. 1. ]] SLAMing on 155.401346184 meters Centerline goodness : 0.887926 Centerline is valid? [False, False] Translation: X:-2.65, Y:-1.55, Z:-2.59 [[ 0.85913798 -0.4537858 -0.23655946 -2.64724842] [ 0.47896319 0.87582041 0.05943791 -1.54791496] [ 0.18021152 -0.16436863 0.96979728 -2.588773 ] [ 0. 0. 0. 1. ]] SLAMing on 155.431346184 meters Centerline goodness : 0.885313 Centerline is valid? [False, False] Translation: X:-2.65, Y:-1.55, Z:-2.59 [[ 0.85921604 -0.45406623 -0.2357364 -2.64679565] [ 0.47885612 0.87596977 0.05808426 -1.54577548] [ 0.18012386 -0.16279074 0.97007967 -2.59120475] [ 0. 0. 0. 1. ]] SLAMing on 155.461346184 meters Centerline goodness : 0.886952 Centerline is valid? [False, False] Translation: X:-2.64, Y:-1.54, Z:-2.59 [[ 0.85882764 -0.45467044 -0.23598701 -2.64469535] [ 0.47942589 0.87568973 0.05760473 -1.54451212] [ 0.18046023 -0.16261082 0.97004733 -2.5924355 ] [ 0. 0. 0. 1. ]] SLAMing on 155.49134618399998 meters Centerline goodness : 0.885112 Centerline is valid? [False, False] Translation: X:-2.64, Y:-1.54, Z:-2.59 [[ 0.85811601 -0.45591192 -0.23618051 -2.64388977] [ 0.48059074 0.87509813 0.05688418 -1.5430774 ] [ 0.18074695 -0.16231939 0.97004276 -2.59236868] [ 0. 0. 0. 1. ]] SLAMing on 155.52134618399998 meters Centerline goodness : 0.884085 Centerline is valid? [False, False] Translation: X:-2.64, Y:-1.54, Z:-2.59 [[ 0.85785125 -0.45555416 -0.23782691 -2.64019742] [ 0.48069117 0.87497881 0.0578626 -1.54090108] [ 0.18173396 -0.1639588 0.96958253 -2.59334019] [ 0. 0. 0. 1. ]] SLAMing on 155.55134618399998 meters Centerline goodness : 0.882641 Centerline is valid? [False, False] Translation: X:-2.64, Y:-1.54, Z:-2.59 [[ 0.85741704 -0.45575549 -0.23900409 -2.63749397] [ 0.48120588 0.87465849 0.05842455 -1.53903803] [ 0.18241965 -0.16510438 0.96925931 -2.59390051] [ 0. 0. 0. 1. ]] SLAMing on 155.58134618399998 meters Centerline goodness : 0.883690 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.54, Z:-2.59 [[ 0.8570142 -0.45619748 -0.23960492 -2.63484284] [ 0.48179994 0.87431769 0.05862927 -1.53840543] [ 0.1827443 -0.16568775 0.9690986 -2.59475696] [ 0. 0. 0. 1. ]] SLAMing on 155.61134618399998 meters Centerline goodness : 0.882565 Centerline is valid? [False, False] Translation: X:-2.64, Y:-1.54, Z:-2.59 [[ 0.85721323 -0.45589746 -0.23946394 -2.63503057] [ 0.48146328 0.87450526 0.05859738 -1.53845292] [ 0.18269808 -0.16552355 0.96913537 -2.59490063] [ 0. 0. 0. 1. ]] SLAMing on 155.64134618399999 meters Centerline goodness : 0.886032 Centerline is valid? [False, False] Translation: X:-2.64, Y:-1.54, Z:-2.59 [[ 0.8577924 -0.45481799 -0.23944268 -2.6365973 ] [ 0.48046495 0.87501611 0.05916283 -1.53728839] [ 0.18260788 -0.16579324 0.96910627 -2.59480382] [ 0. 0. 0. 1. ]] SLAMing on 155.671346184 meters Centerline goodness : 0.885651 Centerline is valid? [False, False] Translation: X:-2.64, Y:-1.54, Z:-2.59 [[ 0.85750376 -0.45541959 -0.23933305 -2.63648705] [ 0.48095118 0.87478764 0.05858789 -1.53630269] [ 0.18268352 -0.16534685 0.96916828 -2.59494995] [ 0. 0. 0. 1. ]] SLAMing on 155.701346184 meters Centerline goodness : 0.883253 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.54, Z:-2.60 [[ 0.85746141 -0.45500666 -0.24026833 -2.63299176] [ 0.48078502 0.87484625 0.0590745 -1.535034 ] [ 0.18331856 -0.16617152 0.96890729 -2.59666307] [ 0. 0. 0. 1. ]] SLAMing on 155.731346184 meters Centerline goodness : 0.885009 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.53, Z:-2.60 [[ 0.85713147 -0.4550755 -0.24131292 -2.62987224] [ 0.48115089 0.87460489 0.05966655 -1.53379846] [ 0.18390068 -0.16725001 0.96861136 -2.59750745] [ 0. 0. 0. 1. ]] SLAMing on 155.761346184 meters Centerline goodness : 0.885199 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.53, Z:-2.60 [[ 0.85565499 -0.45880953 -0.23947516 -2.63180207] [ 0.48404711 0.87321377 0.05653415 -1.53274384] [ 0.1831746 -0.16429099 0.96925514 -2.59680279] [ 0. 0. 0. 1. ]] SLAMing on 155.791346184 meters Centerline goodness : 0.884321 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.53, Z:-2.60 [[ 0.8550726 -0.45909419 -0.24100493 -2.62736882] [ 0.48475192 0.87277164 0.05731706 -1.53132274] [ 0.18402834 -0.16583785 0.9688299 -2.59776727] [ 0. 0. 0. 1. ]] SLAMing on 155.821346184 meters Centerline goodness : 0.884420 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.53, Z:-2.60 [[ 0.85442499 -0.4597396 -0.2420691 -2.62354369] [ 0.48567592 0.87223053 0.05773034 -1.53038786] [ 0.18459913 -0.16689338 0.96854001 -2.59869111] [ 0. 0. 0. 1. ]] SLAMing on 155.851346184 meters Centerline goodness : 0.884103 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.53, Z:-2.60 [[ 0.85363788 -0.46077896 -0.24286851 -2.62051703] [ 0.48688132 0.87155708 0.05774801 -1.52907041] [ 0.1850647 -0.16754403 0.96833881 -2.59931755] [ 0. 0. 0. 1. ]] SLAMing on 155.881346184 meters Centerline goodness : 0.883201 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.53, Z:-2.60 [[ 0.85214184 -0.46319115 -0.24353284 -2.61844817] [ 0.48934895 0.87021296 0.05715768 -1.5263079 ] [ 0.1854505 -0.16787899 0.96820698 -2.59916005] [ 0. 0. 0. 1. ]] SLAMing on 155.911346184 meters Centerline goodness : 0.882422 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.52, Z:-2.60 [[ 0.8514191 -0.46426419 -0.24401696 -2.6182265 ] [ 0.49049332 0.86958123 0.05696305 -1.52483739] [ 0.18574666 -0.16818812 0.96809655 -2.59823531] [ 0. 0. 0. 1. ]] SLAMing on 155.941346184 meters Centerline goodness : 0.881844 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.52, Z:-2.60 [[ 0.85080776 -0.4649534 -0.24483564 -2.61625342] [ 0.4913726 0.86907453 0.05711776 -1.52311438] [ 0.18622332 -0.16890176 0.96788071 -2.59845566] [ 0. 0. 0. 1. ]] SLAMing on 155.971346184 meters Centerline goodness : 0.883225 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.52, Z:-2.60 [[ 0.84994882 -0.46634821 -0.24516598 -2.61359607] [ 0.49272203 0.86835577 0.05642037 -1.5209439 ] [ 0.18657975 -0.1687531 0.967838 -2.59982317] [ 0. 0. 0. 1. ]] SLAMing on 156.001346184 meters Centerline goodness : 0.884437 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.52, Z:-2.60 [[ 0.84944711 -0.46728797 -0.24511541 -2.61371462] [ 0.4934924 0.86797863 0.05548292 -1.51855433] [ 0.18682844 -0.1680924 0.967905 -2.60011694] [ 0. 0. 0. 1. ]] SLAMing on 156.031346184 meters Centerline goodness : 0.882582 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.52, Z:-2.60 [[ 0.84920629 -0.46733223 -0.24586433 -2.6124191 ] [ 0.49370476 0.8678466 0.05565875 -1.51564296] [ 0.18736139 -0.16865015 0.96770493 -2.60096266] [ 0. 0. 0. 1. ]] SLAMing on 156.061346184 meters Centerline goodness : 0.884543 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.51, Z:-2.60 [[ 0.84878636 -0.46810072 -0.24585247 -2.61294524] [ 0.49432062 0.86755097 0.05479449 -1.51314921] [ 0.18764021 -0.16803877 0.96775727 -2.60110356] [ 0. 0. 0. 1. ]] SLAMing on 156.091346184 meters Centerline goodness : 0.885181 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.51, Z:-2.60 [[ 0.8481226 -0.46946196 -0.24554739 -2.61330587] [ 0.49534378 0.86706807 0.05317419 -1.51000178] [ 0.18794304 -0.1667286 0.96792509 -2.60162601] [ 0. 0. 0. 1. ]] SLAMing on 156.121346184 meters Centerline goodness : 0.885011 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.51, Z:-2.60 [[ 0.84810562 -0.46923901 -0.24603171 -2.61316087] [ 0.49525081 0.8671055 0.05342917 -1.5079676 ] [ 0.18826439 -0.16716098 0.96778806 -2.60185676] [ 0. 0. 0. 1. ]] SLAMing on 156.151346184 meters Centerline goodness : 0.885544 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.51, Z:-2.60 [[ 0.84787254 -0.46936184 -0.2466001 -2.61449334] [ 0.49546858 0.86698371 0.05338658 -1.50535414] [ 0.18874065 -0.16744762 0.96764573 -2.60075515] [ 0. 0. 0. 1. ]] SLAMing on 156.181346184 meters Centerline goodness : 0.884298 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.50, Z:-2.60 [[ 0.84746727 -0.46896268 -0.24874332 -2.61429464] [ 0.4956837 0.86678388 0.05462023 -1.5002598 ] [ 0.18999185 -0.16958687 0.96702812 -2.59968903] [ 0. 0. 0. 1. ]] SLAMing on 156.211346184 meters Centerline goodness : 0.884730 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.49, Z:-2.60 [[ 0.84819773 -0.47488985 -0.23460657 -2.61482667] [ 0.4992425 0.86474323 0.05455334 -1.49480922] [ 0.17696762 -0.16339759 0.97055844 -2.60338652] [ 0. 0. 0. 1. ]] SLAMing on 156.24134618399998 meters Centerline goodness : 0.884437 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.49, Z:-2.60 [[ 0.84804399 -0.47521961 -0.23449459 -2.61442707] [ 0.49945256 0.86465872 0.05396698 -1.49339574] [ 0.17711163 -0.1628853 0.97061828 -2.60414853] [ 0. 0. 0. 1. ]] SLAMing on 156.27134618399998 meters Centerline goodness : 0.884582 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.49, Z:-2.61 [[ 0.84801551 -0.47515514 -0.23472811 -2.61338741] [ 0.49936366 0.86473156 0.05362155 -1.49115383] [ 0.17749825 -0.16268659 0.97058098 -2.60547018] [ 0. 0. 0. 1. ]] SLAMing on 156.30134618399998 meters Centerline goodness : 0.884539 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.49, Z:-2.61 [[ 0.84800303 -0.47504827 -0.23498936 -2.61320175] [ 0.4992659 0.8647993 0.05343898 -1.48882187] [ 0.17783254 -0.16263859 0.97052783 -2.60617337] [ 0. 0. 0. 1. ]] SLAMing on 156.33134618399998 meters Centerline goodness : 0.883839 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.48, Z:-2.61 [[ 0.84818681 -0.47371926 -0.23700041 -2.61411056] [ 0.49851002 0.86514898 0.05481799 -1.48333893] [ 0.17907233 -0.16464298 0.96996175 -2.60539628] [ 0. 0. 0. 1. ]] SLAMing on 156.36134618399998 meters Centerline goodness : 0.884362 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.48, Z:-2.61 [[ 0.84810503 -0.47384529 -0.23704116 -2.61570343] [ 0.49851835 0.86518754 0.05412933 -1.4804756 ] [ 0.17943612 -0.16407673 0.96999047 -2.60509284] [ 0. 0. 0. 1. ]] SLAMing on 156.39134618399999 meters Centerline goodness : 0.884953 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.48, Z:-2.61 [[ 0.84799032 -0.47411507 -0.23691207 -2.61710969] [ 0.49858375 0.86521264 0.0531161 -1.47751864] [ 0.17979618 -0.16316244 0.97007801 -2.60521547] [ 0. 0. 0. 1. ]] SLAMing on 156.421346184 meters Centerline goodness : 0.885204 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.47, Z:-2.61 [[ 0.84802576 -0.47381749 -0.23738006 -2.61705242] [ 0.49833587 0.86536357 0.05298362 -1.47427305] [ 0.18031549 -0.16322647 0.96997085 -2.60604239] [ 0. 0. 0. 1. ]] SLAMing on 156.451346184 meters Centerline goodness : 0.885797 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.47, Z:-2.61 [[ 0.84798467 -0.47402749 -0.23710744 -2.61836966] [ 0.49833487 0.86541917 0.05207706 -1.47207692] [ 0.18051137 -0.16231946 0.97008661 -2.60614971] [ 0. 0. 0. 1. ]] SLAMing on 156.481346184 meters Centerline goodness : 0.887210 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.47, Z:-2.61 [[ 0.8481894 -0.47395229 -0.23652476 -2.61952711] [ 0.4979788 0.86568182 0.05110864 -1.46985888] [ 0.18053213 -0.16113412 0.97028034 -2.60709111] [ 0. 0. 0. 1. ]] SLAMing on 156.511346184 meters Centerline goodness : 0.886936 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.47, Z:-2.61 [[ 0.84822904 -0.47323481 -0.2378157 -2.61836092] [ 0.4976984 0.86576872 0.05235288 -1.46742462] [ 0.18111819 -0.16276773 0.96989838 -2.60749051] [ 0. 0. 0. 1. ]] SLAMing on 156.541346184 meters Centerline goodness : 0.886538 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.46, Z:-2.61 [[ 0.84807617 -0.472852 -0.23911879 -2.61912845] [ 0.49774666 0.86567084 0.05350015 -1.46461654] [ 0.1817005 -0.16439278 0.96951531 -2.60631384] [ 0. 0. 0. 1. ]] SLAMing on 156.571346184 meters Centerline goodness : 0.887316 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.46, Z:-2.61 [[ 0.84909347 -0.47655091 -0.22790242 -2.6185609 ] [ 0.50007719 0.86415853 0.05615011 -1.45507618] [ 0.17018543 -0.1616455 0.97206361 -2.60921888] [ 0. 0. 0. 1. ]] SLAMing on 156.601346184 meters Centerline goodness : 0.886086 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.45, Z:-2.61 [[ 0.84900543 -0.47653043 -0.22827294 -2.61691184] [ 0.50007545 0.86417567 0.05590138 -1.45276502] [ 0.17062921 -0.16161427 0.971991 -2.61085837] [ 0. 0. 0. 1. ]] SLAMing on 156.631346184 meters Centerline goodness : 0.886448 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.45, Z:-2.61 [[ 0.84908907 -0.47658239 -0.22785299 -2.6159511 ] [ 0.49994053 0.86429655 0.05523529 -1.45167673] [ 0.17060838 -0.16081263 0.9721276 -2.61272554] [ 0. 0. 0. 1. ]] SLAMing on 156.661346184 meters Centerline goodness : 0.885985 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.45, Z:-2.61 [[ 0.84928026 -0.47645835 -0.2273994 -2.61495608] [ 0.49962718 0.86451788 0.05460322 -1.45050718] [ 0.17057469 -0.15998835 0.97226951 -2.61479111] [ 0. 0. 0. 1. ]] SLAMing on 156.691346184 meters Centerline goodness : 0.886514 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.45, Z:-2.62 [[ 0.84930939 -0.47619248 -0.22784706 -2.61455558] [ 0.4993501 0.86470706 0.05414037 -1.44675971] [ 0.17123973 -0.15975738 0.97219059 -2.61607407] [ 0. 0. 0. 1. ]] SLAMing on 156.721346184 meters Centerline goodness : 0.885132 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.44, Z:-2.62 [[ 0.84948841 -0.4753771 -0.22887999 -2.61444183] [ 0.49885198 0.8649378 0.05503911 -1.44436676] [ 0.17180262 -0.16093233 0.97189745 -2.61599823] [ 0. 0. 0. 1. ]] SLAMing on 156.751346184 meters Centerline goodness : 0.885374 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.44, Z:-2.62 [[ 0.84982252 -0.47436742 -0.22973296 -2.61431941] [ 0.49810795 0.86531592 0.05582864 -1.44171069] [ 0.1723083 -0.16187625 0.97165114 -2.61650867] [ 0. 0. 0. 1. ]] SLAMing on 156.781346184 meters Centerline goodness : 0.887015 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.44, Z:-2.62 [[ 0.85070289 -0.47177431 -0.23180507 -2.61218215] [ 0.49627117 0.86620432 0.05835238 -1.43930451] [ 0.1732614 -0.16467871 0.97101051 -2.61779482] [ 0. 0. 0. 1. ]] SLAMing on 156.811346184 meters Centerline goodness : 0.885504 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.43, Z:-2.63 [[ 0.85264475 -0.4729431 -0.22208501 -2.60779582] [ 0.49692816 0.86535211 0.0650241 -1.4319443 ] [ 0.16142903 -0.16580275 0.97285668 -2.62618407] [ 0. 0. 0. 1. ]] SLAMing on 156.841346184 meters Centerline goodness : 0.884981 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.43, Z:-2.63 [[ 0.85297317 -0.47239261 -0.22199549 -2.60611802] [ 0.49625027 0.86578771 0.06439971 -1.43007478] [ 0.16177902 -0.16509655 0.97291864 -2.62870539] [ 0. 0. 0. 1. ]] SLAMing on 156.871346184 meters Centerline goodness : 0.885995 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.43, Z:-2.63 [[ 0.85321529 -0.47203528 -0.22182506 -2.60527289] [ 0.49573359 0.86613902 0.06365062 -1.42874917] [ 0.162086 -0.16427382 0.9730068 -2.63025333] [ 0. 0. 0. 1. ]] SLAMing on 156.901346184 meters Centerline goodness : 0.887131 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.42, Z:-2.63 [[ 0.85439897 -0.46830475 -0.22515118 -2.59968315] [ 0.49312597 0.86735531 0.0672424 -1.42465548] [ 0.16379614 -0.16847973 0.97200072 -2.63362918] [ 0. 0. 0. 1. ]] SLAMing on 156.931346184 meters Centerline goodness : 0.885227 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.42, Z:-2.63 [[ 0.854704 -0.46695232 -0.22679639 -2.59831866] [ 0.49227777 0.8677288 0.06862455 -1.42196611] [ 0.16475337 -0.1703005 0.97152152 -2.63401912] [ 0. 0. 0. 1. ]] SLAMing on 156.961346184 meters Centerline goodness : 0.884047 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.42, Z:-2.63 [[ 0.85500798 -0.46521209 -0.22921403 -2.595303 ] [ 0.49133247 0.86808161 0.07089935 -1.41915999] [ 0.16599325 -0.17323981 0.97079051 -2.63477739] [ 0. 0. 0. 1. ]] SLAMing on 156.99134618399998 meters Centerline goodness : 0.884047 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.42, Z:-2.63 [[ 0.85500798 -0.46521209 -0.22921403 -2.595303 ] [ 0.49133247 0.86808161 0.07089935 -1.41915999] [ 0.16599325 -0.17323981 0.97079051 -2.63477739] [ 0. 0. 0. 1. ]] SLAMing on 157.02134618399998 meters Centerline goodness : 0.885574 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.42, Z:-2.63 [[ 0.85498791 -0.46500284 -0.22971295 -2.59541078] [ 0.49122638 0.86813407 0.0709921 -1.4170209 ] [ 0.16641011 -0.17353845 0.97066579 -2.63489564] [ 0. 0. 0. 1. ]] SLAMing on 157.05134618399998 meters Centerline goodness : 0.883780 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.42, Z:-2.64 [[ 0.85495184 -0.46515172 -0.22954571 -2.59620055] [ 0.4912391 0.86817821 0.07036148 -1.41509594] [ 0.16655782 -0.17291751 0.97075127 -2.63515123] [ 0. 0. 0. 1. ]] SLAMing on 157.08134618399998 meters Centerline goodness : 0.883771 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.41, Z:-2.64 [[ 0.85488249 -0.46489125 -0.23033032 -2.59370939] [ 0.49112533 0.8682385 0.07041175 -1.41246975] [ 0.16724785 -0.17331483 0.97056176 -2.63695679] [ 0. 0. 0. 1. ]] SLAMing on 157.11134618399998 meters Centerline goodness : 0.880913 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.41, Z:-2.64 [[ 0.8542951 -0.46736309 -0.22748983 -2.59584396] [ 0.49243009 0.86781928 0.06634983 -1.41059198] [ 0.1664106 -0.16870517 0.97151741 -2.63869555] [ 0. 0. 0. 1. ]] SLAMing on 157.14134618399999 meters Centerline goodness : 0.881922 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.41, Z:-2.64 [[ 0.85397483 -0.4679201 -0.2275473 -2.59528697] [ 0.49290543 0.86759409 0.06576266 -1.40904728] [ 0.16664703 -0.16831896 0.97154387 -2.63925462] [ 0. 0. 0. 1. ]] SLAMing on 157.171346184 meters Centerline goodness : 0.880618 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.41, Z:-2.64 [[ 0.85377899 -0.46732541 -0.22949596 -2.5925181 ] [ 0.49291464 0.86746941 0.06731996 -1.40642861] [ 0.1676204 -0.17059829 0.97097869 -2.63973846] [ 0. 0. 0. 1. ]] SLAMing on 157.201346184 meters Centerline goodness : 0.880951 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.40, Z:-2.64 [[ 0.8535449 -0.46756479 -0.22987881 -2.59311369] [ 0.49320835 0.86731048 0.06721645 -1.40450766] [ 0.16794826 -0.17075041 0.9708953 -2.63924558] [ 0. 0. 0. 1. ]] SLAMing on 157.231346184 meters Centerline goodness : 0.880082 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.40, Z:-2.64 [[ 0.85425158 -0.47135459 -0.21926944 -2.58858109] [ 0.49516405 0.86620773 0.0670576 -1.39606175] [ 0.15832497 -0.16585841 0.97335718 -2.64119824] [ 0. 0. 0. 1. ]] SLAMing on 157.261346184 meters Centerline goodness : 0.880342 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.39, Z:-2.64 [[ 0.85439799 -0.47080967 -0.21986892 -2.58644834] [ 0.49475294 0.86642466 0.06728921 -1.39422637] [ 0.15881944 -0.16627256 0.97320595 -2.64294627] [ 0. 0. 0. 1. ]] SLAMing on 157.291346184 meters Centerline goodness : 0.881445 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.39, Z:-2.64 [[ 0.85443063 -0.47024892 -0.22093948 -2.58490518] [ 0.49446946 0.8665392 0.06789522 -1.3924669 ] [ 0.15952507 -0.16725958 0.97292137 -2.64336654] [ 0. 0. 0. 1. ]] SLAMing on 157.321346184 meters Centerline goodness : 0.881570 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.39, Z:-2.64 [[ 0.85478249 -0.46856408 -0.22314703 -2.58447896] [ 0.49348403 0.8669389 0.06993183 -1.38862605] [ 0.16068729 -0.169896 0.97227308 -2.64275127] [ 0. 0. 0. 1. ]] SLAMing on 157.351346184 meters Centerline goodness : 0.883861 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.39, Z:-2.64 [[ 0.85483704 -0.46786186 -0.22440792 -2.58199122] [ 0.49308067 0.867127 0.07044298 -1.38568095] [ 0.16163259 -0.17086848 0.97194592 -2.64415152] [ 0. 0. 0. 1. ]] SLAMing on 157.381346184 meters Centerline goodness : 0.882259 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.38, Z:-2.65 [[ 0.85497489 -0.46767123 -0.2242801 -2.58136245] [ 0.49274782 0.86737287 0.06974168 -1.38393639] [ 0.1619183 -0.17014092 0.97202599 -2.64543962] [ 0. 0. 0. 1. ]] SLAMing on 157.411346184 meters Centerline goodness : 0.882782 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.38, Z:-2.65 [[ 0.8551139 -0.46754049 -0.22402256 -2.57962411] [ 0.49240852 0.86764264 0.0687757 -1.38153723] [ 0.16221611 -0.16912168 0.9721542 -2.64791685] [ 0. 0. 0. 1. ]] SLAMing on 157.441346184 meters Centerline goodness : 0.882969 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.38, Z:-2.65 [[ 0.85497399 -0.46761278 -0.22440533 -2.57958631] [ 0.49256824 0.86754307 0.06888787 -1.38004657] [ 0.16246844 -0.16943228 0.97205798 -2.64771503] [ 0. 0. 0. 1. ]] SLAMing on 157.471346184 meters Centerline goodness : 0.882193 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.38, Z:-2.65 [[ 0.85473105 -0.46756914 -0.22541947 -2.57912432] [ 0.49280507 0.86736037 0.06949203 -1.37805198] [ 0.16302759 -0.17048485 0.97178028 -2.64708209] [ 0. 0. 0. 1. ]] SLAMing on 157.501346184 meters Centerline goodness : 0.882478 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.38, Z:-2.65 [[ 0.85418697 -0.46806829 -0.22644359 -2.5790944 ] [ 0.4935575 0.86690231 0.06986684 -1.37596977] [ 0.16360202 -0.17144227 0.97151527 -2.64575639] [ 0. 0. 0. 1. ]] SLAMing on 157.531346184 meters Centerline goodness : 0.882080 Centerline is valid? [False, False] Translation: X:-2.57, Y:-1.37, Z:-2.65 [[ 0.85324847 -0.46913552 -0.22776944 -2.57499435] [ 0.49492 0.86610555 0.07010972 -1.37234756] [ 0.16438141 -0.17254866 0.97118778 -2.64741592] [ 0. 0. 0. 1. ]] SLAMing on 157.561346184 meters Centerline goodness : 0.881181 Centerline is valid? [False, False] Translation: X:-2.57, Y:-1.37, Z:-2.65 [[ 0.8524182 -0.47074325 -0.22756098 -2.57262638] [ 0.49630256 0.8654146 0.06885738 -1.3710738 ] [ 0.16452045 -0.17163438 0.97132624 -2.64878138] [ 0. 0. 0. 1. ]] SLAMing on 157.591346184 meters Centerline goodness : 0.881050 Centerline is valid? [False, False] Translation: X:-2.57, Y:-1.37, Z:-2.65 [[ 0.85150353 -0.47256842 -0.22720219 -2.571577 ] [ 0.49788288 0.86460363 0.06762548 -1.36994636] [ 0.16448217 -0.17070342 0.97149676 -2.6492324 ] [ 0. 0. 0. 1. ]] SLAMing on 157.621346184 meters Centerline goodness : 0.884365 Centerline is valid? [False, False] Translation: X:-2.57, Y:-1.37, Z:-2.65 [[ 0.85017388 -0.47458902 -0.22796851 -2.56921697] [ 0.50001453 0.86339895 0.06728837 -1.3688263 ] [ 0.16489345 -0.17119439 0.97134064 -2.64861681] [ 0. 0. 0. 1. ]] SLAMing on 157.651346184 meters Centerline goodness : 0.883659 Centerline is valid? [False, False] Translation: X:-2.57, Y:-1.37, Z:-2.65 [[ 0.84956993 -0.47482848 -0.22971471 -2.56544733] [ 0.50079343 0.86284509 0.06858779 -1.36702373] [ 0.16564077 -0.17330974 0.97083823 -2.64914035] [ 0. 0. 0. 1. ]] SLAMing on 157.681346184 meters Centerline goodness : 0.884162 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.36, Z:-2.65 [[ 0.84874019 -0.47562593 -0.23112781 -2.56363234] [ 0.50190757 0.86217558 0.06886261 -1.36493925] [ 0.16651991 -0.17445126 0.97048332 -2.64833554] [ 0. 0. 0. 1. ]] SLAMing on 157.711346184 meters Centerline goodness : 0.884054 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.36, Z:-2.65 [[ 0.84793006 -0.47675304 -0.23177823 -2.56282185] [ 0.5031363 0.86147548 0.06865761 -1.36297052] [ 0.16693853 -0.17483289 0.97034272 -2.64784123] [ 0. 0. 0. 1. ]] SLAMing on 157.74134618399998 meters Centerline goodness : 0.884010 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.36, Z:-2.65 [[ 0.84715419 -0.47889759 -0.23018878 -2.56145304] [ 0.50458325 0.86083081 0.06607624 -1.36190926] [ 0.16650985 -0.17212616 0.97090013 -2.64996495] [ 0. 0. 0. 1. ]] SLAMing on 157.77134618399998 meters Centerline goodness : 0.884717 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.36, Z:-2.65 [[ 0.84690416 -0.47970172 -0.22943323 -2.56062538] [ 0.50505471 0.86064753 0.06485038 -1.36141649] [ 0.16635231 -0.17079839 0.97116158 -2.65122746] [ 0. 0. 0. 1. ]] SLAMing on 157.80134618399998 meters Centerline goodness : 0.884223 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.36, Z:-2.65 [[ 0.84655258 -0.48065032 -0.22874439 -2.56013246] [ 0.50568142 0.86037306 0.0635964 -1.36024358] [ 0.16623788 -0.16950949 0.97140697 -2.65232283] [ 0. 0. 0. 1. ]] SLAMing on 157.83134618399998 meters Centerline goodness : 0.884425 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.36, Z:-2.65 [[ 0.84647812 -0.48084924 -0.22860185 -2.55943064] [ 0.5057834 0.86034536 0.06315858 -1.35944809] [ 0.16630678 -0.16908538 0.97146909 -2.65303105] [ 0. 0. 0. 1. ]] SLAMing on 157.86134618399998 meters Centerline goodness : 0.884826 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.36, Z:-2.65 [[ 0.8467071 -0.48019435 -0.2291298 -2.55905164] [ 0.50531892 0.86057197 0.06378618 -1.35876224] [ 0.16655292 -0.16979183 0.97130369 -2.65284426] [ 0. 0. 0. 1. ]] SLAMing on 157.89134618399999 meters Centerline goodness : 0.884811 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.36, Z:-2.65 [[ 0.8467549 -0.47951186 -0.23037908 -2.5574403 ] [ 0.50501821 0.86067457 0.06477575 -1.35698129] [ 0.16722068 -0.17119481 0.97094263 -2.65295881] [ 0. 0. 0. 1. ]] SLAMing on 157.921346184 meters Centerline goodness : 0.883800 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.36, Z:-2.65 [[ 0.84650724 -0.47941679 -0.23148441 -2.55617776] [ 0.505214 0.86051862 0.06531856 -1.35548318] [ 0.16788183 -0.1722418 0.97064332 -2.65253111] [ 0. 0. 0. 1. ]] SLAMing on 157.951346184 meters Centerline goodness : 0.884678 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.35, Z:-2.65 [[ 0.84602174 -0.48017145 -0.23169505 -2.55349988] [ 0.50591734 0.86014977 0.06473037 -1.35465789] [ 0.16821076 -0.17198184 0.97063247 -2.65368286] [ 0. 0. 0. 1. ]] SLAMing on 157.981346184 meters Centerline goodness : 0.883894 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.35, Z:-2.65 [[ 0.84563825 -0.48104048 -0.23129205 -2.55294224] [ 0.50658461 0.85981907 0.06389989 -1.35426588] [ 0.16813088 -0.17120518 0.9707836 -2.65412664] [ 0. 0. 0. 1. ]] SLAMing on 158.011346184 meters Centerline goodness : 0.885154 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.35, Z:-2.65 [[ 0.84518849 -0.48179997 -0.23135514 -2.55132977] [ 0.50728362 0.859443 0.06341188 -1.35325557] [ 0.16828471 -0.17095767 0.97080056 -2.65492786] [ 0. 0. 0. 1. ]] SLAMing on 158.041346184 meters Centerline goodness : 0.887067 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.35, Z:-2.66 [[ 0.84443175 -0.48304316 -0.23152608 -2.54979923] [ 0.50846331 0.85879435 0.06274812 -1.35192257] [ 0.16852324 -0.17070902 0.97080294 -2.65532554] [ 0. 0. 0. 1. ]] SLAMing on 158.071346184 meters Centerline goodness : 0.887455 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.35, Z:-2.65 [[ 0.84226229 -0.48723189 -0.23064979 -2.54897018] [ 0.51202782 0.85689634 0.05963372 -1.34996973] [ 0.16858751 -0.16832634 0.97120775 -2.65475305] [ 0. 0. 0. 1. ]] SLAMing on 158.101346184 meters Centerline goodness : 0.887224 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.35, Z:-2.65 [[ 0.84145732 -0.48811735 -0.23171327 -2.54654971] [ 0.5131666 0.85619487 0.05991983 -1.34864359] [ 0.1691438 -0.16932749 0.97093696 -2.65464559] [ 0. 0. 0. 1. ]] SLAMing on 158.131346184 meters Centerline goodness : 0.889065 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.35, Z:-2.65 [[ 0.84039224 -0.48955714 -0.23253965 -2.54491328] [ 0.51471783 0.85528754 0.05957156 -1.3468856 ] [ 0.16972459 -0.16975578 0.9707608 -2.65408883] [ 0. 0. 0. 1. ]] SLAMing on 158.161346184 meters Centerline goodness : 0.891418 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.35, Z:-2.65 [[ 0.83836554 -0.49358928 -0.23132845 -2.54581273] [ 0.51806552 0.85347509 0.05646573 -1.34503313] [ 0.16956219 -0.16718221 0.97123569 -2.65281949] [ 0. 0. 0. 1. ]] SLAMing on 158.191346184 meters Centerline goodness : 0.890995 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.34, Z:-2.65 [[ 0.83789296 -0.49389179 -0.23239254 -2.54192415] [ 0.518615 0.85312065 0.0567771 -1.34271762] [ 0.17021713 -0.16809539 0.97096347 -2.65485968] [ 0. 0. 0. 1. ]] SLAMing on 158.221346184 meters Centerline goodness : 0.891337 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.34, Z:-2.66 [[ 0.8374714 -0.4947542 -0.23207745 -2.54147413] [ 0.51928652 0.85276905 0.05591468 -1.34136629] [ 0.17024444 -0.16734163 0.97108888 -2.6556072 ] [ 0. 0. 0. 1. ]] SLAMing on 158.251346184 meters Centerline goodness : 0.891866 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.34, Z:-2.66 [[ 0.83695076 -0.4952569 -0.23288199 -2.54003615] [ 0.51988087 0.85242876 0.05557949 -1.33877443] [ 0.17098918 -0.16758819 0.9709155 -2.6559332 ] [ 0. 0. 0. 1. ]] SLAMing on 158.281346184 meters Centerline goodness : 0.892724 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.34, Z:-2.66 [[ 0.83640399 -0.4955526 -0.23421353 -2.53801327] [ 0.52043227 0.85208653 0.05566685 -1.33557611] [ 0.17198434 -0.16845226 0.97059014 -2.65632494] [ 0. 0. 0. 1. ]] SLAMing on 158.311346184 meters Centerline goodness : 0.892940 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.33, Z:-2.66 [[ 0.83543361 -0.49696061 -0.23469306 -2.53649557] [ 0.52168149 0.8514203 0.05414692 -1.33119433] [ 0.17291355 -0.16767118 0.97056029 -2.65730539] [ 0. 0. 0. 1. ]] SLAMing on 158.341346184 meters Centerline goodness : 0.891973 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.33, Z:-2.66 [[ 0.83491578 -0.49806402 -0.23419621 -2.53613959] [ 0.52248466 0.85101031 0.0528321 -1.32981649] [ 0.17298963 -0.16647428 0.97075275 -2.65796432] [ 0. 0. 0. 1. ]] SLAMing on 158.371346184 meters Centerline goodness : 0.891681 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.33, Z:-2.66 [[ 0.83455184 -0.49888265 -0.23375057 -2.53579093] [ 0.52303792 0.85074055 0.05169 -1.32856716] [ 0.17307384 -0.16539839 0.97092163 -2.65867605] [ 0. 0. 0. 1. ]] SLAMing on 158.401346184 meters Centerline goodness : 0.890679 Centerline is valid? [False, False] Translation: X:-2.53, Y:-1.33, Z:-2.66 [[ 0.8339195 -0.49956461 -0.23454951 -2.53388086] [ 0.5238159 0.85028081 0.05137546 -1.32611664] [ 0.17376759 -0.16570376 0.97074564 -2.65924797] [ 0. 0. 0. 1. ]] SLAMing on 158.431346184 meters Centerline goodness : 0.889750 Centerline is valid? [False, False] Translation: X:-2.53, Y:-1.32, Z:-2.66 [[ 0.83262948 -0.50120341 -0.23563379 -2.53268351] [ 0.52555054 0.84925177 0.05067605 -1.32116993] [ 0.17471341 -0.16603183 0.97051979 -2.65929025] [ 0. 0. 0. 1. ]] SLAMing on 158.461346184 meters Centerline goodness : 0.890581 Centerline is valid? [False, False] Translation: X:-2.53, Y:-1.32, Z:-2.66 [[ 0.83217735 -0.50152186 -0.23655165 -2.53187991] [ 0.525976 0.84900802 0.05034515 -1.3183168 ] [ 0.17558506 -0.16631659 0.9703137 -2.6591028 ] [ 0. 0. 0. 1. ]] SLAMing on 158.49134618399998 meters Centerline goodness : 0.891356 Centerline is valid? [False, False] Translation: X:-2.53, Y:-1.31, Z:-2.66 [[ 0.83157953 -0.50196724 -0.23770649 -2.5304041 ] [ 0.52664103 0.848593 0.05038993 -1.31467471] [ 0.17642197 -0.16708923 0.97002911 -2.65955142] [ 0. 0. 0. 1. ]] SLAMing on 158.52134618399998 meters Centerline goodness : 0.889913 Centerline is valid? [False, False] Translation: X:-2.53, Y:-1.31, Z:-2.66 [[ 0.83081371 -0.50305297 -0.23808883 -2.53018831] [ 0.52765905 0.8480112 0.04952698 -1.31200086] [ 0.1769873 -0.16677742 0.96997979 -2.65927491] [ 0. 0. 0. 1. ]] SLAMing on 158.55134618399998 meters Centerline goodness : 0.886495 Centerline is valid? [False, False] Translation: X:-2.53, Y:-1.31, Z:-2.66 [[ 0.82950291 -0.5049767 -0.23858636 -2.52650977] [ 0.52940811 0.84701531 0.04787604 -1.30745758] [ 0.17791001 -0.16602287 0.96994043 -2.66170067] [ 0. 0. 0. 1. ]] SLAMing on 158.58134618399998 meters Centerline goodness : 0.887998 Centerline is valid? [False, False] Translation: X:-2.53, Y:-1.31, Z:-2.66 [[ 0.82891638 -0.50617719 -0.23808042 -2.52624072] [ 0.53022546 0.84660087 0.04612944 -1.30519516] [ 0.17820942 -0.16447375 0.97014936 -2.66250592] [ 0. 0. 0. 1. ]] SLAMing on 158.61134618399998 meters Centerline goodness : 0.889101 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.30, Z:-2.66 [[ 0.82867628 -0.50595721 -0.2393803 -2.52381315] [ 0.53019886 0.84662562 0.04598069 -1.30183713] [ 0.17940123 -0.16502227 0.96983651 -2.66359948] [ 0. 0. 0. 1. ]] SLAMing on 158.64134618399999 meters Centerline goodness : 0.885431 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.29, Z:-2.66 [[ 0.82821589 -0.50454711 -0.24390707 -2.5219738 ] [ 0.53005006 0.8465708 0.0486293 -1.29346614] [ 0.18194883 -0.16955851 0.96857861 -2.66264283] [ 0. 0. 0. 1. ]] SLAMing on 158.671346184 meters Centerline goodness : 0.885038 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.29, Z:-2.66 [[ 0.82780881 -0.50456822 -0.24524169 -2.52262707] [ 0.53033287 0.84638703 0.04874465 -1.28939986] [ 0.18297439 -0.17041098 0.96823575 -2.66163873] [ 0. 0. 0. 1. ]] SLAMing on 158.701346184 meters Centerline goodness : 0.884924 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.29, Z:-2.66 [[ 0.82775988 -0.50430046 -0.24595656 -2.52131072] [ 0.53006391 0.84659284 0.04809171 -1.2860644 ] [ 0.18397239 -0.17018109 0.96808706 -2.66278064] [ 0. 0. 0. 1. ]] SLAMing on 158.731346184 meters Centerline goodness : 0.885701 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.28, Z:-2.66 [[ 0.8276415 -0.50476639 -0.24539853 -2.52190699] [ 0.53014825 0.84662597 0.04655431 -1.28361918] [ 0.18426171 -0.16862788 0.96830381 -2.66361579] [ 0. 0. 0. 1. ]] SLAMing on 158.761346184 meters Centerline goodness : 0.881424 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.28, Z:-2.67 [[ 0.82792628 -0.50365128 -0.24672549 -2.52080388] [ 0.52926258 0.84717464 0.04665026 -1.27808109] [ 0.18552412 -0.16920555 0.96796192 -2.66532286] [ 0. 0. 0. 1. ]] SLAMing on 158.791346184 meters Centerline goodness : 0.881993 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.28, Z:-2.67 [[ 0.82791115 -0.50373311 -0.24660914 -2.52150368] [ 0.52914448 0.84729985 0.04570645 -1.27527794] [ 0.18592804 -0.16833275 0.9680366 -2.66594618] [ 0. 0. 0. 1. ]] SLAMing on 158.821346184 meters Centerline goodness : 0.882567 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.27, Z:-2.67 [[ 0.8278393 -0.50360395 -0.24711364 -2.52044028] [ 0.52896176 0.8474529 0.04497809 -1.27213892] [ 0.18676603 -0.1679483 0.96794205 -2.66708047] [ 0. 0. 0. 1. ]] SLAMing on 158.851346184 meters Centerline goodness : 0.882335 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.27, Z:-2.67 [[ 0.82806621 -0.50233005 -0.24893951 -2.51855274] [ 0.52814736 0.84791535 0.04582487 -1.26729786] [ 0.18806042 -0.16942277 0.96743434 -2.66844782] [ 0. 0. 0. 1. ]] SLAMing on 158.881346184 meters Centerline goodness : 0.882335 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.27, Z:-2.67 [[ 0.82806621 -0.50233005 -0.24893951 -2.51855274] [ 0.52814736 0.84791535 0.04582487 -1.26729786] [ 0.18806042 -0.16942277 0.96743434 -2.66844782] [ 0. 0. 0. 1. ]] SLAMing on 158.911346184 meters Centerline goodness : 0.881327 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.26, Z:-2.67 [[ 0.82791872 -0.50239502 -0.2492987 -2.51913221] [ 0.52815925 0.84794075 0.04521372 -1.26434501] [ 0.18867538 -0.1691027 0.9673706 -2.66845456] [ 0. 0. 0. 1. ]] SLAMing on 158.941346184 meters Centerline goodness : 0.881330 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.26, Z:-2.67 [[ 0.82865176 -0.50606066 -0.23924648 -2.51669454] [ 0.5302547 0.84659844 0.04583693 -1.25627904] [ 0.17934943 -0.16484442 0.96987633 -2.66848655] [ 0. 0. 0. 1. ]] SLAMing on 158.971346184 meters Centerline goodness : 0.880318 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.25, Z:-2.67 [[ 0.82852046 -0.50580445 -0.24024093 -2.51565322] [ 0.53011556 0.8467002 0.04556616 -1.25259202] [ 0.18036448 -0.16510795 0.96964324 -2.66918025] [ 0. 0. 0. 1. ]] SLAMing on 159.001346184 meters Centerline goodness : 0.878562 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.25, Z:-2.67 [[ 0.82892154 -0.5050769 -0.24038804 -2.51664604] [ 0.52922646 0.84730505 0.04464869 -1.24729428] [ 0.18113097 -0.16422998 0.96964947 -2.67063399] [ 0. 0. 0. 1. ]] SLAMing on 159.031346184 meters Centerline goodness : 0.876505 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.24, Z:-2.67 [[ 0.82857173 -0.50576075 -0.24015609 -2.51628873] [ 0.52957713 0.84717122 0.04299987 -1.24415284] [ 0.18170568 -0.16280965 0.96978145 -2.67178569] [ 0. 0. 0. 1. ]] SLAMing on 159.061346184 meters Centerline goodness : 0.875146 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.24, Z:-2.67 [[ 0.82808077 -0.50655145 -0.24018296 -2.51509226] [ 0.53008507 0.84693447 0.04137418 -1.24117274] [ 0.18246108 -0.16157857 0.96984551 -2.67288843] [ 0. 0. 0. 1. ]] SLAMing on 159.091346184 meters Centerline goodness : 0.874758 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.24, Z:-2.67 [[ 0.82736213 -0.50766716 -0.2403039 -2.51475906] [ 0.53098721 0.8464354 0.03999621 -1.23819734] [ 0.18309696 -0.16068965 0.96987336 -2.67312965] [ 0. 0. 0. 1. ]] SLAMing on 159.121346184 meters Centerline goodness : 0.874261 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.23, Z:-2.67 [[ 0.82616083 -0.50856463 -0.24252897 -2.51167431] [ 0.53228358 0.84562104 0.03999065 -1.23240841] [ 0.18474977 -0.1621329 0.96931958 -2.67369074] [ 0. 0. 0. 1. ]] SLAMing on 159.151346184 meters Centerline goodness : 0.873663 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.23, Z:-2.67 [[ 0.82551892 -0.50969998 -0.24233126 -2.51153864] [ 0.53316095 0.84512939 0.03867443 -1.23010028] [ 0.18508892 -0.16112804 0.96942243 -2.67402733] [ 0. 0. 0. 1. ]] SLAMing on 159.181346184 meters Centerline goodness : 0.873218 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.23, Z:-2.67 [[ 0.82512884 -0.5100104 -0.24300574 -2.51076241] [ 0.53349295 0.84494377 0.03814851 -1.22766413] [ 0.18587005 -0.16111929 0.96927442 -2.67408581] [ 0. 0. 0. 1. ]] SLAMing on 159.211346184 meters Centerline goodness : 0.875077 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.22, Z:-2.67 [[ 0.8251747 -0.50866417 -0.24565726 -2.51099078] [ 0.53292843 0.84521381 0.04001136 -1.22271985] [ 0.18728056 -0.1639341 0.96853064 -2.67276501] [ 0. 0. 0. 1. ]] SLAMing on 159.24134618399998 meters Centerline goodness : 0.873448 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.22, Z:-2.67 [[ 0.8250391 -0.50788376 -0.24771875 -2.50916575] [ 0.53266531 0.84533604 0.04092248 -1.21921822] [ 0.18862173 -0.16571383 0.96796734 -2.67283543] [ 0. 0. 0. 1. ]] SLAMing on 159.27134618399998 meters Centerline goodness : 0.873475 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.22, Z:-2.67 [[ 0.82511271 -0.50769103 -0.24786857 -2.50925751] [ 0.53237717 0.84554632 0.04032333 -1.21681261] [ 0.18911256 -0.16523086 0.96795413 -2.67332059] [ 0. 0. 0. 1. ]] SLAMing on 159.30134618399998 meters Centerline goodness : 0.873446 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.21, Z:-2.67 [[ 0.82522109 -0.5073848 -0.24813469 -2.5090857 ] [ 0.53197772 0.8458296 0.03964845 -1.21459426] [ 0.18976264 -0.16472086 0.96791383 -2.67371547] [ 0. 0. 0. 1. ]] SLAMing on 159.33134618399998 meters Centerline goodness : 0.872714 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.20, Z:-2.68 [[ 0.82594676 -0.51167066 -0.23665392 -2.50853794] [ 0.53429999 0.84439003 0.03910243 -1.2046679 ] [ 0.17982064 -0.15874071 0.97080684 -2.67520245] [ 0. 0. 0. 1. ]] SLAMing on 159.36134618399998 meters Centerline goodness : 0.872597 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.20, Z:-2.68 [[ 0.8259576 -0.51147154 -0.23704621 -2.50766498] [ 0.53404509 0.84458017 0.03847303 -1.20207142] [ 0.18052667 -0.15837046 0.97073628 -2.67611764] [ 0. 0. 0. 1. ]] SLAMing on 159.39134618399999 meters Centerline goodness : 0.870353 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.20, Z:-2.68 [[ 0.8257129 -0.51143195 -0.23798228 -2.50602332] [ 0.53407564 0.84458154 0.03801611 -1.19886665] [ 0.18155279 -0.15849093 0.97052522 -2.6768637 ] [ 0. 0. 0. 1. ]] SLAMing on 159.421346184 meters Centerline goodness : 0.871029 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.20, Z:-2.68 [[ 0.82559941 -0.51143804 -0.23836263 -2.50577329] [ 0.53403528 0.8446333 0.03742876 -1.19648796] [ 0.18218652 -0.15819522 0.97045471 -2.67709625] [ 0. 0. 0. 1. ]] SLAMing on 159.451346184 meters Centerline goodness : 0.870978 Centerline is valid? [False, False] Translation: X:-2.50, Y:-1.19, Z:-2.68 [[ 0.82554954 -0.51061468 -0.24029275 -2.5031648 ] [ 0.53364358 0.84485065 0.0381038 -1.19229447] [ 0.18355513 -0.15968726 0.96995231 -2.67828483] [ 0. 0. 0. 1. ]] SLAMing on 159.481346184 meters Centerline goodness : 0.870665 Centerline is valid? [False, False] Translation: X:-2.50, Y:-1.19, Z:-2.68 [[ 0.82528926 -0.51105183 -0.2402575 -2.5028275 ] [ 0.5339334 0.84470326 0.03730311 -1.19102573] [ 0.18388247 -0.15906736 0.96999217 -2.67836537] [ 0. 0. 0. 1. ]] SLAMing on 159.511346184 meters Centerline goodness : 0.867493 Centerline is valid? [False, False] Translation: X:-2.50, Y:-1.19, Z:-2.68 [[ 0.8247207 -0.51244071 -0.23924944 -2.50375811] [ 0.53490028 0.84415678 0.03579123 -1.18998919] [ 0.18362315 -0.15749236 0.97029825 -2.67831506] [ 0. 0. 0. 1. ]] SLAMing on 159.541346184 meters Centerline goodness : 0.867610 Centerline is valid? [False, False] Translation: X:-2.50, Y:-1.19, Z:-2.68 [[ 0.82416877 -0.51274285 -0.24050075 -2.5014405 ] [ 0.53541208 0.8438336 0.03575983 -1.188278 ] [ 0.18460702 -0.15823914 0.96999001 -2.67824341] [ 0. 0. 0. 1. ]] SLAMing on 159.571346184 meters Centerline goodness : 0.868351 Centerline is valid? [False, False] Translation: X:-2.50, Y:-1.19, Z:-2.68 [[ 0.82343535 -0.51339805 -0.24161263 -2.50009386] [ 0.53622332 0.84332846 0.03551988 -1.18635605] [ 0.18552297 -0.15880665 0.96972247 -2.67745323] [ 0. 0. 0. 1. ]] SLAMing on 159.601346184 meters Centerline goodness : 0.868380 Centerline is valid? [False, False] Translation: X:-2.50, Y:-1.18, Z:-2.68 [[ 0.82252935 -0.51436515 -0.24263957 -2.49887497] [ 0.53730695 0.84265584 0.0351053 -1.18436108] [ 0.1864047 -0.15924707 0.96948113 -2.67660197] [ 0. 0. 0. 1. ]] SLAMing on 159.631346184 meters Centerline goodness : 0.867452 Centerline is valid? [False, False] Translation: X:-2.50, Y:-1.18, Z:-2.68 [[ 0.82146921 -0.51595446 -0.24285662 -2.49807437] [ 0.53877165 0.84176282 0.03406553 -1.1826339 ] [ 0.18685141 -0.15882804 0.96946387 -2.67632063] [ 0. 0. 0. 1. ]] SLAMing on 159.661346184 meters Centerline goodness : 0.864253 Centerline is valid? [False, False] Translation: X:-2.50, Y:-1.18, Z:-2.68 [[ 0.82035716 -0.51881111 -0.24051853 -2.49852475] [ 0.5406182 0.84071632 0.03046353 -1.18295667] [ 0.18640303 -0.15501967 0.97016638 -2.67642733] [ 0. 0. 0. 1. ]] SLAMing on 159.691346184 meters Centerline goodness : 0.864767 Centerline is valid? [False, False] Translation: X:-2.50, Y:-1.18, Z:-2.68 [[ 0.81983201 -0.51972341 -0.24033946 -2.49786092] [ 0.54131617 0.84030558 0.02938276 -1.18221676] [ 0.18668768 -0.15418856 0.97024409 -2.67628546] [ 0. 0. 0. 1. ]] SLAMing on 159.721346184 meters Centerline goodness : 0.865297 Centerline is valid? [False, False] Translation: X:-2.50, Y:-1.18, Z:-2.68 [[ 0.81929823 -0.52030062 -0.24091012 -2.49714824] [ 0.54192301 0.83992838 0.02897888 -1.18131208] [ 0.18726951 -0.15429708 0.9701147 -2.67536496] [ 0. 0. 0. 1. ]] SLAMing on 159.751346184 meters Centerline goodness : 0.864314 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.68 [[ 0.81868313 -0.52075867 -0.24200898 -2.49464406] [ 0.54253778 0.83953753 0.02880095 -1.17954347] [ 0.18817728 -0.15487787 0.96984646 -2.67557006] [ 0. 0. 0. 1. ]] SLAMing on 159.781346184 meters Centerline goodness : 0.863112 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.68 [[ 0.81799274 -0.52215622 -0.24133122 -2.49461233] [ 0.54368511 0.83882551 0.0278974 -1.17934532] [ 0.18786798 -0.15402806 0.97004174 -2.67544793] [ 0. 0. 0. 1. ]] SLAMing on 159.811346184 meters Centerline goodness : 0.864233 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.8176174 -0.52221212 -0.24247946 -2.49307687] [ 0.54394669 0.83865303 0.02798382 -1.17803501] [ 0.18874265 -0.15477596 0.96975286 -2.67486467] [ 0. 0. 0. 1. ]] SLAMing on 159.841346184 meters Centerline goodness : 0.868144 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81750346 -0.52216905 -0.24295591 -2.49394698] [ 0.54402644 0.83859342 0.02821898 -1.17742634] [ 0.18900615 -0.15524355 0.96962679 -2.67325243] [ 0. 0. 0. 1. ]] SLAMing on 159.871346184 meters Centerline goodness : 0.866196 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81749543 -0.52206011 -0.24321689 -2.49354275] [ 0.54391783 0.83867069 0.02801546 -1.17697835] [ 0.18935313 -0.15519252 0.96956726 -2.67293465] [ 0. 0. 0. 1. ]] SLAMing on 159.901346184 meters Centerline goodness : 0.865431 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81742096 -0.52185226 -0.24391226 -2.49182068] [ 0.5438161 0.83873714 0.0280011 -1.17621607] [ 0.18996583 -0.1555321 0.96939298 -2.67316639] [ 0. 0. 0. 1. ]] SLAMing on 159.931346184 meters Centerline goodness : 0.865946 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81733381 -0.5222426 -0.24336824 -2.4917001 ] [ 0.54400258 0.83863722 0.02736438 -1.17648227] [ 0.18980682 -0.15475878 0.96954788 -2.67333593] [ 0. 0. 0. 1. ]] SLAMing on 159.961346184 meters Centerline goodness : 0.867038 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81713218 -0.52300083 -0.24241521 -2.49113373] [ 0.54433507 0.83846855 0.02588102 -1.17722452] [ 0.18972173 -0.15310332 0.96982732 -2.67365653] [ 0. 0. 0. 1. ]] SLAMing on 159.99134618399998 meters Centerline goodness : 0.866733 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81674546 -0.52332613 -0.24301566 -2.48980677] [ 0.54471024 0.83823364 0.02559525 -1.17649065] [ 0.19030924 -0.15327793 0.96968462 -2.67344935] [ 0. 0. 0. 1. ]] SLAMing on 160.02134618399998 meters Centerline goodness : 0.867903 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81621379 -0.52402972 -0.24328565 -2.48887438] [ 0.54532834 0.8378543 0.02484304 -1.17548881] [ 0.19081943 -0.15294779 0.96963649 -2.67320622] [ 0. 0. 0. 1. ]] SLAMing on 160.05134618399998 meters Centerline goodness : 0.865329 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81577125 -0.52464861 -0.24343603 -2.48805833] [ 0.54589756 0.83749704 0.02438374 -1.17515267] [ 0.19108406 -0.15278269 0.9696104 -2.67293278] [ 0. 0. 0. 1. ]] SLAMing on 160.08134618399998 meters Centerline goodness : 0.869602 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81621192 -0.52384883 -0.24368114 -2.48889546] [ 0.5452313 0.83791375 0.02496766 -1.17597844] [ 0.1911045 -0.15324149 0.96953397 -2.67173972] [ 0. 0. 0. 1. ]] SLAMing on 160.11134618399998 meters Centerline goodness : 0.871306 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81642403 -0.52346891 -0.243787 -2.4891791 ] [ 0.54484882 0.83816395 0.02491888 -1.17629131] [ 0.19128922 -0.15317144 0.96950861 -2.671087 ] [ 0. 0. 0. 1. ]] SLAMing on 160.14134618399999 meters Centerline goodness : 0.872787 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81660899 -0.52330145 -0.24352691 -2.48914791] [ 0.54457341 0.83835211 0.02460783 -1.1766747 ] [ 0.19128398 -0.15271325 0.96958192 -2.67108031] [ 0. 0. 0. 1. ]] SLAMing on 160.171346184 meters Centerline goodness : 0.871785 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81702079 -0.52279164 -0.24324047 -2.48839333] [ 0.54388644 0.83881518 0.02401313 -1.17672188] [ 0.19147994 -0.15191442 0.96966873 -2.67186193] [ 0. 0. 0. 1. ]] SLAMing on 160.201346184 meters Centerline goodness : 0.874160 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81850415 -0.52119418 -0.24167661 -2.49004276] [ 0.54194616 0.84007733 0.02375803 -1.17897025] [ 0.19064449 -0.15042176 0.97006596 -2.67257567] [ 0. 0. 0. 1. ]] SLAMing on 160.231346184 meters Centerline goodness : 0.873221 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81862602 -0.5209778 -0.24173039 -2.48978127] [ 0.54166595 0.84026755 0.02341908 -1.17866712] [ 0.19091738 -0.15010859 0.97006081 -2.67256211] [ 0. 0. 0. 1. ]] SLAMing on 160.261346184 meters Centerline goodness : 0.873514 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81847198 -0.52096893 -0.24227048 -2.48902406] [ 0.54169341 0.84025677 0.02316919 -1.17762829] [ 0.19149899 -0.15019966 0.96993206 -2.67234706] [ 0. 0. 0. 1. ]] SLAMing on 160.291346184 meters Centerline goodness : 0.871714 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81849069 -0.52116649 -0.24178188 -2.48988204] [ 0.54166797 0.84029388 0.02240524 -1.17734935] [ 0.19149097 -0.14930398 0.97007192 -2.67185785] [ 0. 0. 0. 1. ]] SLAMing on 160.321346184 meters Centerline goodness : 0.872004 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81826807 -0.52161563 -0.24156675 -2.48895682] [ 0.54192163 0.8401533 0.02152644 -1.17713721] [ 0.19172457 -0.14852465 0.97014541 -2.67215345] [ 0. 0. 0. 1. ]] SLAMing on 160.351346184 meters Centerline goodness : 0.871766 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81814163 -0.52223587 -0.24065322 -2.48876633] [ 0.54218474 0.84001266 0.02035778 -1.17735689] [ 0.19152019 -0.14713405 0.97039764 -2.67271925] [ 0. 0. 0. 1. ]] SLAMing on 160.381346184 meters Centerline goodness : 0.873074 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81779405 -0.52264993 -0.24093557 -2.48701462] [ 0.54250801 0.83982148 0.01962013 -1.17679129] [ 0.19208841 -0.1467547 0.97034278 -2.67299563] [ 0. 0. 0. 1. ]] SLAMing on 160.411346184 meters Centerline goodness : 0.873213 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81788727 -0.52278161 -0.2403327 -2.48765581] [ 0.54249795 0.83983406 0.01935802 -1.17711836] [ 0.19171957 -0.14621268 0.97049753 -2.67286747] [ 0. 0. 0. 1. ]] SLAMing on 160.441346184 meters Centerline goodness : 0.872182 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.18, Z:-2.67 [[ 0.81742602 -0.52318575 -0.2410215 -2.48630353] [ 0.54294389 0.83955457 0.01897539 -1.17612256] [ 0.19242305 -0.14637212 0.97033426 -2.67243521] [ 0. 0. 0. 1. ]] SLAMing on 160.471346184 meters Centerline goodness : 0.869818 Centerline is valid? [False, False] Translation: X:-2.48, Y:-1.17, Z:-2.67 [[ 0.81654738 -0.52437411 -0.24141701 -2.48450587] [ 0.54404229 0.83886359 0.01805156 -1.17483741] [ 0.19305017 -0.14608101 0.97025356 -2.67242766] [ 0. 0. 0. 1. ]] SLAMing on 160.501346184 meters Centerline goodness : 0.872059 Centerline is valid? [False, False] Translation: X:-2.48, Y:-1.17, Z:-2.67 [[ 0.81539072 -0.52600251 -0.24178365 -2.48259426] [ 0.54556265 0.83789759 0.01700068 -1.17399729] [ 0.19364754 -0.14577033 0.97018124 -2.67199727] [ 0. 0. 0. 1. ]] SLAMing on 160.531346184 meters Centerline goodness : 0.870465 Centerline is valid? [False, False] Translation: X:-2.48, Y:-1.17, Z:-2.67 [[ 0.81338188 -0.52799014 -0.2442055 -2.47752411] [ 0.54796206 0.83633245 0.01690022 -1.17151861] [ 0.19531383 -0.14756169 0.96957622 -2.6714123 ] [ 0. 0. 0. 1. ]] SLAMing on 160.561346184 meters Centerline goodness : 0.871278 Centerline is valid? [False, False] Translation: X:-2.48, Y:-1.17, Z:-2.67 [[ 0.81241119 -0.52910628 -0.2450196 -2.47704043] [ 0.54912797 0.83557817 0.0163581 -1.1703094 ] [ 0.19607786 -0.14783662 0.96938012 -2.66975935] [ 0. 0. 0. 1. ]] SLAMing on 160.591346184 meters Centerline goodness : 0.871359 Centerline is valid? [False, False] Translation: X:-2.47, Y:-1.17, Z:-2.67 [[ 0.81157756 -0.52945837 -0.24701355 -2.474548 ] [ 0.54987357 0.83508099 0.01669717 -1.16819791] [ 0.19743586 -0.14937727 0.96886816 -2.66878612] [ 0. 0. 0. 1. ]] SLAMing on 160.621346184 meters Centerline goodness : 0.870891 Centerline is valid? [False, False] Translation: X:-2.47, Y:-1.17, Z:-2.67 [[ 0.81080675 -0.52986694 -0.2486633 -2.47116695] [ 0.55052869 0.83465198 0.01656011 -1.16537356] [ 0.19877266 -0.15032333 0.96844841 -2.66927744] [ 0. 0. 0. 1. ]] SLAMing on 160.651346184 meters Centerline goodness : 0.870600 Centerline is valid? [False, False] Translation: X:-2.47, Y:-1.16, Z:-2.67 [[ 0.81028919 -0.53068064 -0.24861512 -2.47076089] [ 0.55116381 0.83425101 0.01561135 -1.16438028] [ 0.19912278 -0.14967737 0.96847654 -2.66900507] [ 0. 0. 0. 1. ]] SLAMing on 160.681346184 meters Centerline goodness : 0.871581 Centerline is valid? [False, False] Translation: X:-2.47, Y:-1.16, Z:-2.67 [[ 0.80977079 -0.53093109 -0.24976678 -2.46928103] [ 0.5515474 0.83400266 0.01533041 -1.16264271] [ 0.20016677 -0.15017233 0.96818466 -2.66837231] [ 0. 0. 0. 1. ]] SLAMing on 160.711346184 meters Centerline goodness : 0.871093 Centerline is valid? [False, False] Translation: X:-2.47, Y:-1.16, Z:-2.67 [[ 0.80931186 -0.53142516 -0.25020315 -2.46912391] [ 0.55205708 0.83367143 0.01499727 -1.16133098] [ 0.20061729 -0.15026389 0.9680772 -2.66767938] [ 0. 0. 0. 1. ]] SLAMing on 160.74134618399998 meters Centerline goodness : 0.872029 Centerline is valid? [False, False] Translation: X:-2.47, Y:-1.16, Z:-2.67 [[ 0.80871524 -0.53178241 -0.25137049 -2.46722457] [ 0.55253925 0.83335818 0.01464646 -1.15924129] [ 0.20169293 -0.15073688 0.96778012 -2.66741092] [ 0. 0. 0. 1. ]] SLAMing on 160.77134618399998 meters Centerline goodness : 0.872029 Centerline is valid? [False, False] Translation: X:-2.47, Y:-1.16, Z:-2.67 [[ 0.80871524 -0.53178241 -0.25137049 -2.46722457] [ 0.55253925 0.83335818 0.01464646 -1.15924129] [ 0.20169293 -0.15073688 0.96778012 -2.66741092] [ 0. 0. 0. 1. ]] SLAMing on 160.80134618399998 meters Centerline goodness : 0.872695 Centerline is valid? [False, False] Translation: X:-2.47, Y:-1.16, Z:-2.67 [[ 0.8071668 -0.53498027 -0.24955533 -2.46746426] [ 0.55477232 0.83193042 0.0109292 -1.15774773] [ 0.20176577 -0.14726808 0.96829886 -2.6674928 ] [ 0. 0. 0. 1. ]] SLAMing on 160.83134618399998 meters Centerline goodness : 0.873370 Centerline is valid? [False, False] Translation: X:-2.47, Y:-1.16, Z:-2.67 [[ 0.80613439 -0.53646045 -0.24971491 -2.46651765] [ 0.55605721 0.83108794 0.00965512 -1.15637177] [ 0.20235546 -0.1466391 0.96827126 -2.66698882] [ 0. 0. 0. 1. ]] SLAMing on 160.86134618399998 meters Centerline goodness : 0.872122 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.15, Z:-2.67 [[ 0.80515694 -0.5369326 -0.25184459 -2.46328596] [ 0.55694615 0.83048868 0.00997682 -1.153844 ] [ 0.2037972 -0.14829678 0.96771626 -2.66645464] [ 0. 0. 0. 1. ]] SLAMing on 160.89134618399999 meters Centerline goodness : 0.871797 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.15, Z:-2.66 [[ 0.8038938 -0.53863383 -0.25224663 -2.46360047] [ 0.55849871 0.8294596 0.00871628 -1.15166997] [ 0.2045335 -0.14788638 0.96762372 -2.66486102] [ 0. 0. 0. 1. ]] SLAMing on 160.921346184 meters Centerline goodness : 0.871821 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.15, Z:-2.66 [[ 0.80300821 -0.53986113 -0.25244359 -2.46281951] [ 0.55954752 0.82876396 0.00754152 -1.15035251] [ 0.20514478 -0.14731009 0.96758222 -2.6642858 ] [ 0. 0. 0. 1. ]] SLAMing on 160.951346184 meters Centerline goodness : 0.872759 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.15, Z:-2.66 [[ 0.80275034 -0.54058136 -0.25172143 -2.46259967] [ 0.55992387 0.82851978 0.00634323 -1.15009984] [ 0.20512715 -0.14603687 0.96777894 -2.66477076] [ 0. 0. 0. 1. ]] SLAMing on 160.981346184 meters Centerline goodness : 0.870796 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.15, Z:-2.66 [[ 0.80227567 -0.54141642 -0.25143986 -2.46249821] [ 0.56055966 0.82809589 0.00548307 -1.14985302] [ 0.20524769 -0.14534597 0.96785739 -2.66434657] [ 0. 0. 0. 1. ]] SLAMing on 161.011346184 meters Centerline goodness : 0.870449 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.15, Z:-2.66 [[ 0.80095025 -0.5430111 -0.25222538 -2.46306916] [ 0.56221247 0.82697808 0.00493977 -1.14815241] [ 0.20590251 -0.14576076 0.96765591 -2.66192472] [ 0. 0. 0. 1. ]] SLAMing on 161.041346184 meters Centerline goodness : 0.871100 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.15, Z:-2.66 [[ 0.80021455 -0.54334626 -0.25383364 -2.46116656] [ 0.56278608 0.82658848 0.00482936 -1.14636417] [ 0.20719194 -0.14671856 0.96723584 -2.66077019] [ 0. 0. 0. 1. ]] SLAMing on 161.071346184 meters Centerline goodness : 0.870941 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.15, Z:-2.66 [[ 0.79950863 -0.54406739 -0.25451252 -2.46028578] [ 0.56352899 0.82608497 0.00432355 -1.14537637] [ 0.20789667 -0.1468819 0.96705981 -2.65966631] [ 0. 0. 0. 1. ]] SLAMing on 161.101346184 meters Centerline goodness : 0.871649 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.15, Z:-2.66 [[ 0.79857434 -0.54552548 -0.25432454 -2.46089127] [ 0.56482131 0.82520597 0.00346377 -1.1450202 ] [ 0.20798055 -0.14641399 0.96711273 -2.65830154] [ 0. 0. 0. 1. ]] SLAMing on 161.131346184 meters Centerline goodness : 0.871131 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.14, Z:-2.66 [[ 0.79821155 -0.54543281 -0.25565868 -2.45857836] [ 0.5649519 0.82511623 0.00354248 -1.14322147] [ 0.20901595 -0.14726251 0.96676062 -2.65828283] [ 0. 0. 0. 1. ]] SLAMing on 161.161346184 meters Centerline goodness : 0.871518 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.14, Z:-2.66 [[ 7.97729907e-01 -5.46255763e-01 -2.55404850e-01 -2.45869259e+00] [ 5.65519917e-01 8.24731088e-01 2.41984920e-03 -1.14222211e+00] [ 2.09318463e-01 -1.46366916e-01 9.66831168e-01 -2.65787234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.191346184 meters Centerline goodness : 0.870849 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.14, Z:-2.66 [[ 7.97038112e-01 -5.47440106e-01 -2.55028584e-01 -2.45814147e+00] [ 5.66390156e-01 8.24136565e-01 1.05530024e-03 -1.14118712e+00] [ 2.09600668e-01 -1.45286794e-01 9.66932938e-01 -2.65795106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.221346184 meters Centerline goodness : 0.874471 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.14, Z:-2.66 [[ 7.96349813e-01 -5.48491425e-01 -2.54919853e-01 -2.45756641e+00] [ 5.67199453e-01 8.23580451e-01 -1.47643489e-04 -1.13999561e+00] [ 2.10027988e-01 -1.44472825e-01 9.66962175e-01 -2.65777075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.251346184 meters Centerline goodness : 0.873319 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.14, Z:-2.66 [[ 7.95198376e-01 -5.49466727e-01 -2.56409551e-01 -2.45828433e+00] [ 5.68281430e-01 8.22833797e-01 -8.70961848e-04 -1.13636697e+00] [ 2.11461009e-01 -1.45020199e-01 9.66567837e-01 -2.65528174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.281346184 meters Centerline goodness : 0.872484 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.13, Z:-2.65 [[ 7.94758291e-01 -5.49700181e-01 -2.57272170e-01 -2.45897785e+00] [ 5.68591841e-01 8.22618959e-01 -1.16884230e-03 -1.13430963e+00] [ 2.12279477e-01 -1.45353910e-01 9.66338276e-01 -2.65376497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.311346184 meters Centerline goodness : 0.872421 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.13, Z:-2.65 [[ 7.95502939e-01 -5.54304835e-01 -2.44788123e-01 -2.45962558e+00] [ 5.71443948e-01 8.20640188e-01 -1.22344176e-03 -1.12811530e+00] [ 2.01561131e-01 -1.38909440e-01 9.69575824e-01 -2.65397329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.341346184 meters Centerline goodness : 0.873999 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.13, Z:-2.65 [[ 7.95670818e-01 -5.54194359e-01 -2.44492457e-01 -2.45988178e+00] [ 5.71103883e-01 8.20875107e-01 -2.10092378e-03 -1.12718986e+00] [ 2.01862092e-01 -1.37958948e-01 9.69648918e-01 -2.65414014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.371346184 meters Centerline goodness : 0.875550 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.13, Z:-2.65 [[ 7.96253238e-01 -5.53084260e-01 -2.45109327e-01 -2.46231266e+00] [ 5.70033265e-01 8.21618730e-01 -2.17679858e-03 -1.12514168e+00] [ 2.02590367e-01 -1.37987187e-01 9.69493001e-01 -2.65245393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.401346184 meters Centerline goodness : 0.874508 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.12, Z:-2.65 [[ 7.96380179e-01 -5.52065543e-01 -2.46986330e-01 -2.46277774e+00] [ 5.69462143e-01 8.22016670e-01 -1.20944202e-03 -1.12269582e+00] [ 2.03694572e-01 -1.39686189e-01 9.69018209e-01 -2.65082768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.431346184 meters Centerline goodness : 0.873756 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.12, Z:-2.65 [[ 7.96820109e-01 -5.50070588e-01 -2.50000123e-01 -2.46016282e+00] [ 5.68212301e-01 8.22881857e-01 4.79523900e-04 -1.11940086e+00] [ 2.05456793e-01 -1.42435239e-01 9.68245686e-01 -2.65074805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.461346184 meters Centerline goodness : 0.875426 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.12, Z:-2.65 [[ 7.97064025e-01 -5.49479634e-01 -2.50521598e-01 -2.46097877e+00] [ 5.67410937e-01 8.23434397e-01 -7.88697796e-04 -1.11536422e+00] [ 2.06721475e-01 -1.41520052e-01 9.68110689e-01 -2.65058406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49134618399998 meters Centerline goodness : 0.873149 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.11, Z:-2.65 [[ 7.96502071e-01 -5.50187665e-01 -2.50754827e-01 -2.46042754e+00] [ 5.67893570e-01 8.23099274e-01 -2.11626318e-03 -1.11267911e+00] [ 2.07560458e-01 -1.40716446e-01 9.68048314e-01 -2.65056405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52134618399998 meters Centerline goodness : 0.871869 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.11, Z:-2.65 [[ 7.95944889e-01 -5.50230219e-01 -2.52425117e-01 -2.45796612e+00] [ 5.68175331e-01 8.22904632e-01 -2.18181375e-03 -1.10953644e+00] [ 2.08922298e-01 -1.41685121e-01 9.67613973e-01 -2.65067026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55134618399998 meters Centerline goodness : 0.872101 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.11, Z:-2.65 [[ 0.79525303 -0.55083251 -0.25329066 -2.45747013] [ 0.56874348 0.82250934 -0.00303962 -1.10675496] [ 0.21000825 -0.14164014 0.96738545 -2.64979248] [ 0. 0. 0. 1. ]] SLAMing on 161.58134618399998 meters Centerline goodness : 0.871247 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.10, Z:-2.65 [[ 0.79365057 -0.55275559 -0.25412602 -2.45733494] [ 0.5705414 0.82125651 -0.00450023 -1.10278048] [ 0.21119018 -0.1414178 0.96716065 -2.6484742 ] [ 0. 0. 0. 1. ]] SLAMing on 161.61134618399998 meters Centerline goodness : 0.871172 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.10, Z:-2.65 [[ 0.79266145 -0.55350667 -0.25557425 -2.45547428] [ 0.5714334 0.82063334 -0.00498015 -1.1002812 ] [ 0.2124893 -0.14209609 0.9667766 -2.6476419 ] [ 0. 0. 0. 1. ]] SLAMing on 161.64134618399999 meters Centerline goodness : 0.870807 Centerline is valid? [False, False] Translation: X:-2.45, Y:-1.09, Z:-2.65 [[ 0.7923855 -0.55896621 -0.24429898 -2.45406487] [ 0.57533495 0.81790081 -0.00528793 -1.09329865] [ 0.20276811 -0.13636366 0.96968554 -2.64694284] [ 0. 0. 0. 1. ]] SLAMing on 161.671346184 meters Centerline goodness : 0.871507 Centerline is valid? [False, False] Translation: X:-2.45, Y:-1.09, Z:-2.64 [[ 0.79184791 -0.55926909 -0.24534664 -2.45388162] [ 0.57573971 0.81761403 -0.00557567 -1.09213326] [ 0.20371715 -0.13684072 0.96941938 -2.64498669] [ 0. 0. 0. 1. ]] SLAMing on 161.701346184 meters Centerline goodness : 0.870879 Centerline is valid? [False, False] Translation: X:-2.45, Y:-1.09, Z:-2.64 [[ 0.79192523 -0.55788692 -0.24822695 -2.45161586] [ 0.57512336 0.81805813 -0.00374345 -1.09011975] [ 0.2051525 -0.13979658 0.96869467 -2.64417756] [ 0. 0. 0. 1. ]] SLAMing on 161.731346184 meters Centerline goodness : 0.870888 Centerline is valid? [False, False] Translation: X:-2.45, Y:-1.09, Z:-2.64 [[ 0.79189333 -0.557011 -0.25028723 -2.45092368] [ 0.57462688 0.81840896 -0.00327464 -1.0878535 ] [ 0.20666132 -0.1412286 0.96816609 -2.64253171] [ 0. 0. 0. 1. ]] SLAMing on 161.761346184 meters Centerline goodness : 0.872204 Centerline is valid? [False, False] Translation: X:-2.45, Y:-1.09, Z:-2.64 [[ 0.79207871 -0.55614777 -0.25161672 -2.4500003 ] [ 0.57400717 0.81884499 -0.00294084 -1.08636184] [ 0.20767063 -0.14210043 0.96782249 -2.64195305] [ 0. 0. 0. 1. ]] SLAMing on 161.791346184 meters Centerline goodness : 0.871125 Centerline is valid? [False, False] Translation: X:-2.45, Y:-1.09, Z:-2.64 [[ 0.79192617 -0.55752288 -0.24904053 -2.45225879] [ 0.57445937 0.8185135 -0.00566411 -1.08700349] [ 0.20700091 -0.13857811 0.9684765 -2.64178219] [ 0. 0. 0. 1. ]] SLAMing on 161.821346184 meters Centerline goodness : 0.869314 Centerline is valid? [False, False] Translation: X:-2.45, Y:-1.09, Z:-2.64 [[ 0.79128791 -0.55796151 -0.25008479 -2.45014722] [ 0.57500707 0.81812683 -0.00594652 -1.08569783] [ 0.207919 -0.13909511 0.96820568 -2.64145473] [ 0. 0. 0. 1. ]] SLAMing on 161.851346184 meters Centerline goodness : 0.871055 Centerline is valid? [False, False] Translation: X:-2.45, Y:-1.08, Z:-2.64 [[ 0.79050511 -0.55895981 -0.25033098 -2.45017018] [ 0.57593533 0.81746861 -0.00660039 -1.08495478] [ 0.20832707 -0.13895681 0.96813782 -2.64029914] [ 0. 0. 0. 1. ]] SLAMing on 161.881346184 meters Centerline goodness : 0.870460 Centerline is valid? [False, False] Translation: X:-2.45, Y:-1.08, Z:-2.64 [[ 0.78970247 -0.55985164 -0.25087079 -2.44791906] [ 0.5767889 0.8168607 -0.00729132 -1.08420205] [ 0.20900855 -0.13894151 0.96799312 -2.64045783] [ 0. 0. 0. 1. ]] SLAMing on 161.911346184 meters Centerline goodness : 0.871234 Centerline is valid? [False, False] Translation: X:-2.45, Y:-1.08, Z:-2.64 [[ 0.78901663 -0.56087981 -0.25073212 -2.44699545] [ 0.57762734 0.81625902 -0.00823833 -1.0841747 ] [ 0.20928307 -0.13832954 0.96802145 -2.64004834] [ 0. 0. 0. 1. ]] SLAMing on 161.941346184 meters Centerline goodness : 0.871039 Centerline is valid? [False, False] Translation: X:-2.44, Y:-1.08, Z:-2.64 [[ 0.78818395 -0.56157675 -0.25178884 -2.44481861] [ 0.57838459 0.81571683 -0.00879369 -1.0832777 ] [ 0.21032673 -0.13869974 0.96774224 -2.63918232] [ 0. 0. 0. 1. ]] SLAMing on 161.971346184 meters Centerline goodness : 0.868448 Centerline is valid? [False, False] Translation: X:-2.45, Y:-1.08, Z:-2.64 [[ 0.78713311 -0.56307183 -0.25173714 -2.44517051] [ 0.57978291 0.81471626 -0.00944417 -1.08353441] [ 0.21041208 -0.13851907 0.96774957 -2.63753593] [ 0. 0. 0. 1. ]] SLAMing on 162.001346184 meters Centerline goodness : 0.869810 Centerline is valid? [False, False] Translation: X:-2.44, Y:-1.08, Z:-2.64 [[ 0.78663304 -0.56318251 -0.25304923 -2.44222576] [ 0.58009657 0.81449317 -0.00942577 -1.08255588] [ 0.2114153 -0.13937837 0.96740748 -2.63738572] [ 0. 0. 0. 1. ]] SLAMing on 162.031346184 meters Centerline goodness : 0.871398 Centerline is valid? [False, False] Translation: X:-2.44, Y:-1.08, Z:-2.64 [[ 0.78627117 -0.56364934 -0.2531345 -2.44147117] [ 0.58050207 0.81419931 -0.00984006 -1.08314579] [ 0.21164828 -0.13920815 0.96738105 -2.63670474] [ 0. 0. 0. 1. ]] SLAMing on 162.061346184 meters Centerline goodness : 0.871475 Centerline is valid? [False, False] Translation: X:-2.44, Y:-1.08, Z:-2.64 [[ 0.78565915 -0.56409871 -0.25403216 -2.43932327] [ 0.58105944 0.81379929 -0.01003204 -1.08268693] [ 0.21239025 -0.13972602 0.96714374 -2.63628249] [ 0. 0. 0. 1. ]] SLAMing on 162.091346184 meters Centerline goodness : 0.868852 Centerline is valid? [False, False] Translation: X:-2.44, Y:-1.08, Z:-2.64 [[ 0.78588155 -0.56342236 -0.25484394 -2.43678183] [ 0.58051289 0.81419105 -0.00988479 -1.08339465] [ 0.21306097 -0.14017192 0.96693167 -2.63644853] [ 0. 0. 0. 1. ]] SLAMing on 162.121346184 meters Centerline goodness : 0.870652 Centerline is valid? [False, False] Translation: X:-2.44, Y:-1.08, Z:-2.63 [[ 0.78579211 -0.56322688 -0.25555087 -2.43644707] [ 0.58043889 0.81424503 -0.00978431 -1.08392747] [ 0.21359181 -0.14064323 0.9667461 -2.63491158] [ 0. 0. 0. 1. ]] SLAMing on 162.151346184 meters Centerline goodness : 0.873561 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.08, Z:-2.63 [[ 0.78558889 -0.56267454 -0.25738582 -2.43485436] [ 0.58030348 0.81434983 -0.0090679 -1.08370559] [ 0.21470438 -0.14223824 0.96626617 -2.63314203] [ 0. 0. 0. 1. ]] SLAMing on 162.181346184 meters Centerline goodness : 0.872628 Centerline is valid? [False, False] Translation: X:-2.44, Y:-1.08, Z:-2.63 [[ 0.78527694 -0.56235199 -0.25903738 -2.43511906] [ 0.58041378 0.81428032 -0.00820961 -1.0838201 ] [ 0.21554573 -0.14390205 0.96583241 -2.63018013] [ 0. 0. 0. 1. ]] SLAMing on 162.211346184 meters Centerline goodness : 0.873351 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.08, Z:-2.63 [[ 0.78532079 -0.56217873 -0.25928041 -2.43499821] [ 0.58020108 0.81442865 -0.00852547 -1.08392779] [ 0.21595823 -0.14373954 0.96576446 -2.62918915] [ 0. 0. 0. 1. ]] SLAMing on 162.24134618399998 meters Centerline goodness : 0.875529 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.08, Z:-2.63 [[ 0.78538864 -0.56167722 -0.26016032 -2.43325749] [ 0.57984054 0.81468647 -0.00842039 -1.08341184] [ 0.21667864 -0.14423822 0.96552872 -2.62908621] [ 0. 0. 0. 1. ]] SLAMing on 162.27134618399998 meters Centerline goodness : 0.875161 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.08, Z:-2.63 [[ 0.78517292 -0.56192815 -0.26026955 -2.43331434] [ 0.57999322 0.81457186 -0.00897487 -1.08292161] [ 0.21705148 -0.14390775 0.96549429 -2.62832492] [ 0. 0. 0. 1. ]] SLAMing on 162.30134618399998 meters Centerline goodness : 0.876304 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.08, Z:-2.63 [[ 0.78493393 -0.56160897 -0.26167555 -2.4322791 ] [ 0.57991535 0.814629 -0.00881904 -1.08189308] [ 0.21812134 -0.1448273 0.96511561 -2.62700344] [ 0. 0. 0. 1. ]] SLAMing on 162.33134618399998 meters Centerline goodness : 0.877338 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.08, Z:-2.63 [[ 0.78472866 -0.56163008 -0.26224527 -2.43195493] [ 0.58001371 0.81455838 -0.00887378 -1.08192195] [ 0.21859787 -0.14514234 0.96496045 -2.62576602] [ 0. 0. 0. 1. ]] SLAMing on 162.36134618399998 meters Centerline goodness : 0.877879 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.08, Z:-2.62 [[ 0.78420552 -0.56205674 -0.26289527 -2.43163397] [ 0.58046123 0.81423476 -0.00930117 -1.08127025] [ 0.21928625 -0.14530649 0.96477954 -2.6243148 ] [ 0. 0. 0. 1. ]] SLAMing on 162.39134618399999 meters Centerline goodness : 0.879637 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.08, Z:-2.62 [[ 0.78386033 -0.56171994 -0.26463879 -2.42989214] [ 0.58046397 0.81423667 -0.00895671 -1.08015047] [ 0.22050977 -0.14659247 0.96430601 -2.6229812 ] [ 0. 0. 0. 1. ]] SLAMing on 162.421346184 meters Centerline goodness : 0.883144 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.08, Z:-2.62 [[ 0.78369987 -0.56181211 -0.26491825 -2.43076309] [ 0.58064499 0.81410955 -0.00877705 -1.08083014] [ 0.22060353 -0.14694487 0.96423093 -2.62132986] [ 0. 0. 0. 1. ]] SLAMing on 162.451346184 meters Centerline goodness : 0.881802 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.08, Z:-2.62 [[ 0.7835052 -0.56212615 -0.26482784 -2.42980223] [ 0.58081779 0.8139795 -0.00938497 -1.08121844] [ 0.22083997 -0.14646354 0.96425004 -2.62114192] [ 0. 0. 0. 1. ]] SLAMing on 162.481346184 meters Centerline goodness : 0.882013 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.08, Z:-2.62 [[ 0.78310178 -0.56208685 -0.26610144 -2.42718989] [ 0.58095744 0.81387877 -0.00947664 -1.0810905 ] [ 0.22190101 -0.14717244 0.96389845 -2.62022388] [ 0. 0. 0. 1. ]] SLAMing on 162.511346184 meters Centerline goodness : 0.885318 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.08, Z:-2.62 [[ 0.78174166 -0.56290559 -0.26836034 -2.42530069] [ 0.58235107 0.81289093 -0.00869264 -1.0813096 ] [ 0.22304083 -0.14948454 0.96327938 -2.61710847] [ 0. 0. 0. 1. ]] SLAMing on 162.541346184 meters Centerline goodness : 0.885910 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.08, Z:-2.62 [[ 0.78107061 -0.56335121 -0.26937727 -2.42481647] [ 0.58302301 0.81241114 -0.00850351 -1.08137387] [ 0.22363556 -0.1504113 0.96299718 -2.61514866] [ 0. 0. 0. 1. ]] SLAMing on 162.571346184 meters Centerline goodness : 0.885174 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.08, Z:-2.61 [[ 0.78039659 -0.56369034 -0.27061848 -2.42400754] [ 0.58368083 0.81194315 -0.00806291 -1.08147961] [ 0.22427181 -0.15166256 0.96265291 -2.61318676] [ 0. 0. 0. 1. ]] SLAMing on 162.601346184 meters Centerline goodness : 0.884349 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.08, Z:-2.61 [[ 0.77861747 -0.56667518 -0.2695071 -2.42129056] [ 0.58597167 0.81025978 -0.01078387 -1.08218219] [ 0.22448171 -0.14952702 0.96293802 -2.61333616] [ 0. 0. 0. 1. ]] SLAMing on 162.631346184 meters Centerline goodness : 0.884576 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.08, Z:-2.61 [[ 0.77739438 -0.56909371 -0.26793717 -2.42016222] [ 0.58764801 0.80900718 -0.01331149 -1.08321785] [ 0.22433858 -0.14710447 0.96334442 -2.61315851] [ 0. 0. 0. 1. ]] SLAMing on 162.661346184 meters Centerline goodness : 0.886162 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.08, Z:-2.61 [[ 0.77628112 -0.57083579 -0.26745864 -2.41813146] [ 0.58895785 0.80802181 -0.01514591 -1.08353646] [ 0.22475824 -0.14576439 0.9634503 -2.61281406] [ 0. 0. 0. 1. ]] SLAMing on 162.691346184 meters Centerline goodness : 0.886162 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.08, Z:-2.61 [[ 0.77628112 -0.57083579 -0.26745864 -2.41813146] [ 0.58895785 0.80802181 -0.01514591 -1.08353646] [ 0.22475824 -0.14576439 0.9634503 -2.61281406] [ 0. 0. 0. 1. ]] SLAMing on 162.721346184 meters Centerline goodness : 0.886891 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.08, Z:-2.61 [[ 0.77512465 -0.57222058 -0.26785329 -2.41786812] [ 0.59038145 0.80697572 -0.01548944 -1.08434876] [ 0.22501448 -0.14612937 0.96333519 -2.6106947 ] [ 0. 0. 0. 1. ]] SLAMing on 162.751346184 meters Centerline goodness : 0.887236 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.08, Z:-2.61 [[ 0.77474252 -0.57223024 -0.26893602 -2.41801524] [ 0.59066386 0.80677719 -0.01505894 -1.08435589] [ 0.22558863 -0.14718399 0.96304031 -2.60860897] [ 0. 0. 0. 1. ]] SLAMing on 162.781346184 meters Centerline goodness : 0.889493 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.08, Z:-2.61 [[ 0.77468669 -0.57156366 -0.27050972 -2.41680006] [ 0.59038283 0.80699541 -0.01437113 -1.08358853] [ 0.22651412 -0.14857117 0.96260997 -2.6075223 ] [ 0. 0. 0. 1. ]] SLAMing on 162.811346184 meters Centerline goodness : 0.888205 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.09, Z:-2.61 [[ 0.77476552 -0.57295102 -0.26733035 -2.41895934] [ 0.59077984 0.80666023 -0.01668705 -1.08600615] [ 0.22520562 -0.14500483 0.96346044 -2.6079176 ] [ 0. 0. 0. 1. ]] SLAMing on 162.841346184 meters Centerline goodness : 0.888467 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.09, Z:-2.61 [[ 0.77447383 -0.57424272 -0.26539704 -2.42033298] [ 0.59133788 0.8062054 -0.01877139 -1.08699134] [ 0.22474386 -0.14240137 0.96395646 -2.6075722 ] [ 0. 0. 0. 1. ]] SLAMing on 162.871346184 meters Centerline goodness : 0.891115 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.09, Z:-2.61 [[ 0.7741952 -0.57464975 -0.26532895 -2.41982549] [ 0.59169441 0.80593807 -0.01901467 -1.08741718] [ 0.22476548 -0.14227259 0.96397043 -2.60724489] [ 0. 0. 0. 1. ]] SLAMing on 162.901346184 meters Centerline goodness : 0.891882 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.09, Z:-2.61 [[ 0.77375514 -0.5751352 -0.2655607 -2.4199623 ] [ 0.59220015 0.80556294 -0.01916584 -1.08763091] [ 0.22494881 -0.14243542 0.96390362 -2.60603418] [ 0. 0. 0. 1. ]] SLAMing on 162.931346184 meters Centerline goodness : 0.894209 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.09, Z:-2.60 [[ 0.77297529 -0.57557872 -0.26686764 -2.42038692] [ 0.59297632 0.80500306 -0.01868563 -1.08756271] [ 0.22558432 -0.14380266 0.96355203 -2.60307442] [ 0. 0. 0. 1. ]] SLAMing on 162.961346184 meters Centerline goodness : 0.893671 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.09, Z:-2.60 [[ 0.77248613 -0.57630658 -0.26671313 -2.42115112] [ 0.59360192 0.80453097 -0.0191488 -1.08793616] [ 0.22561455 -0.14352924 0.96358571 -2.60170448] [ 0. 0. 0. 1. ]] SLAMing on 162.99134618399998 meters Centerline goodness : 0.896548 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.09, Z:-2.60 [[ 0.77208886 -0.57690484 -0.26657005 -2.42178892] [ 0.59411143 0.8041454 -0.01953918 -1.0892857 ] [ 0.22563333 -0.14328633 0.96361747 -2.59980798] [ 0. 0. 0. 1. ]] SLAMing on 163.02134618399998 meters Centerline goodness : 0.895550 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.09, Z:-2.60 [[ 0.77171022 -0.57699615 -0.26746733 -2.42020754] [ 0.59430814 0.80399612 -0.01969962 -1.08802537] [ 0.2264093 -0.14375561 0.96336553 -2.59954877] [ 0. 0. 0. 1. ]] SLAMing on 163.05134618399998 meters Centerline goodness : 0.893775 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.09, Z:-2.60 [[ 0.77121629 -0.57778006 -0.26719961 -2.41983946] [ 0.59485227 0.80356892 -0.02068242 -1.08704529] [ 0.2266632 -0.14299368 0.96341923 -2.59958526] [ 0. 0. 0. 1. ]] SLAMing on 163.08134618399998 meters Centerline goodness : 0.894316 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.09, Z:-2.60 [[ 0.77091574 -0.57830837 -0.26692387 -2.41998601] [ 0.59516757 0.80331393 -0.021501 -1.08627097] [ 0.22685787 -0.14228897 0.96347774 -2.59945617] [ 0. 0. 0. 1. ]] SLAMing on 163.11134618399998 meters Centerline goodness : 0.896045 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.08, Z:-2.60 [[ 0.77068884 -0.57853926 -0.26707869 -2.42125915] [ 0.59518667 0.80327127 -0.0225411 -1.08412933] [ 0.22757755 -0.1415895 0.96341106 -2.59835167] [ 0. 0. 0. 1. ]] SLAMing on 163.14134618399999 meters Centerline goodness : 0.895718 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.08, Z:-2.60 [[ 0.77025726 -0.57839411 -0.26863359 -2.41930907] [ 0.59526402 0.80321272 -0.02258495 -1.08134474] [ 0.22883292 -0.14251169 0.96297763 -2.59818156] [ 0. 0. 0. 1. ]] SLAMing on 163.171346184 meters Centerline goodness : 0.897269 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.08, Z:-2.60 [[ 0.76982162 -0.57898808 -0.26860283 -2.42054095] [ 0.5957164 0.80285777 -0.0232675 -1.07968046] [ 0.22912148 -0.14209929 0.96296996 -2.59743864] [ 0. 0. 0. 1. ]] SLAMing on 163.201346184 meters Centerline goodness : 0.896516 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.08, Z:-2.60 [[ 0.76949282 -0.57919649 -0.26909518 -2.42159887] [ 0.59583933 0.80274553 -0.0239815 -1.07755659] [ 0.22990495 -0.14188389 0.96281497 -2.59612471] [ 0. 0. 0. 1. ]] SLAMing on 163.231346184 meters Centerline goodness : 0.896548 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.07, Z:-2.60 [[ 0.76940153 -0.57853905 -0.27076532 -2.42153204] [ 0.59539891 0.80307074 -0.02403171 -1.07302562] [ 0.23134698 -0.14272334 0.96234538 -2.59586097] [ 0. 0. 0. 1. ]] SLAMing on 163.261346184 meters Centerline goodness : 0.896280 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.07, Z:-2.60 [[ 0.76922713 -0.57908087 -0.27010178 -2.42294924] [ 0.59553862 0.80292574 -0.02537736 -1.07121515] [ 0.23156722 -0.14133509 0.96249728 -2.59574563] [ 0. 0. 0. 1. ]] SLAMing on 163.291346184 meters Centerline goodness : 0.895311 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.07, Z:-2.60 [[ 0.76922262 -0.57877215 -0.27077548 -2.42231621] [ 0.59523145 0.80314183 -0.02574318 -1.06919767] [ 0.23237056 -0.14137185 0.96229825 -2.59576966] [ 0. 0. 0. 1. ]] SLAMing on 163.321346184 meters Centerline goodness : 0.893599 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.07, Z:-2.59 [[ 0.76947335 -0.57830336 -0.27106456 -2.42574015] [ 0.59464909 0.80355475 -0.0263103 -1.06581016] [ 0.23303054 -0.14094322 0.96220153 -2.59419773] [ 0. 0. 0. 1. ]] SLAMing on 163.351346184 meters Centerline goodness : 0.889729 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.06, Z:-2.59 [[ 0.76994873 -0.57690391 -0.27269182 -2.42511412] [ 0.59358946 0.80435805 -0.02568413 -1.06217467] [ 0.23415914 -0.14209153 0.96175854 -2.59457928] [ 0. 0. 0. 1. ]] SLAMing on 163.381346184 meters Centerline goodness : 0.891935 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.05, Z:-2.59 [[ 0.77102068 -0.58042965 -0.26197047 -2.42524571] [ 0.59592925 0.8026634 -0.02449078 -1.05387106] [ 0.22448928 -0.13723297 0.96476509 -2.59480472] [ 0. 0. 0. 1. ]] SLAMing on 163.411346184 meters Centerline goodness : 0.889107 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.05, Z:-2.60 [[ 0.7733775 -0.57704671 -0.26249635 -2.42663806] [ 0.59247242 0.80521674 -0.02454446 -1.04945191] [ 0.22552975 -0.13653971 0.96462077 -2.59666355] [ 0. 0. 0. 1. ]] SLAMing on 163.441346184 meters Centerline goodness : 0.887623 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.05, Z:-2.60 [[ 0.77404028 -0.5757259 -0.26344133 -2.42607872] [ 0.5911636 0.80616862 -0.02485454 -1.04585986] [ 0.22668754 -0.13649851 0.96435518 -2.59753796] [ 0. 0. 0. 1. ]] SLAMing on 163.471346184 meters Centerline goodness : 0.886053 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.04, Z:-2.60 [[ 0.7745518 -0.57500978 -0.26350191 -2.42796275] [ 0.59024034 0.80682007 -0.02564579 -1.04352821] [ 0.22734521 -0.13566546 0.96431791 -2.59700535] [ 0. 0. 0. 1. ]] SLAMing on 163.501346184 meters Centerline goodness : 0.885032 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.04, Z:-2.60 [[ 0.77492013 -0.57364536 -0.26538612 -2.4278852 ] [ 0.58929021 0.8075399 -0.02482676 -1.04034827] [ 0.22855164 -0.13715069 0.96382251 -2.59640939] [ 0. 0. 0. 1. ]] SLAMing on 163.531346184 meters Centerline goodness : 0.884693 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.04, Z:-2.60 [[ 0.77568863 -0.57133313 -0.26811491 -2.42853421] [ 0.58758389 0.80881949 -0.02358399 -1.0351727 ] [ 0.23033088 -0.13924617 0.96309822 -2.59568229] [ 0. 0. 0. 1. ]] SLAMing on 163.561346184 meters Centerline goodness : 0.883849 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.03, Z:-2.59 [[ 0.7755572 -0.5712572 -0.26865637 -2.42959966] [ 0.58747095 0.80888734 -0.02406566 -1.03299661] [ 0.23106042 -0.13916351 0.96293541 -2.59462419] [ 0. 0. 0. 1. ]] SLAMing on 163.591346184 meters Centerline goodness : 0.884489 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.03, Z:-2.59 [[ 0.77508032 -0.57133186 -0.26987109 -2.42881265] [ 0.58763469 0.80875622 -0.02447134 -1.03048404] [ 0.23224118 -0.13961836 0.96258545 -2.59373424] [ 0. 0. 0. 1. ]] SLAMing on 163.621346184 meters Centerline goodness : 0.883149 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.02, Z:-2.59 [[ 0.77355584 -0.57238435 -0.27200646 -2.42598381] [ 0.58877466 0.80789051 -0.02563839 -1.02406445] [ 0.23442645 -0.14031779 0.96195382 -2.59397588] [ 0. 0. 0. 1. ]] SLAMing on 163.651346184 meters Centerline goodness : 0.879655 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.01, Z:-2.59 [[ 0.77258963 -0.57827314 -0.26211723 -2.4234732 ] [ 0.59338338 0.8045041 -0.02587111 -1.01423611] [ 0.22583496 -0.13554826 0.9646892 -2.59349585] [ 0. 0. 0. 1. ]] SLAMing on 163.681346184 meters Centerline goodness : 0.879840 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.01, Z:-2.59 [[ 0.77144146 -0.57907612 -0.26372131 -2.42084662] [ 0.59423424 0.80384505 -0.02681065 -1.00965825] [ 0.22751648 -0.13602939 0.96422625 -2.59373467] [ 0. 0. 0. 1. ]] SLAMing on 163.711346184 meters Centerline goodness : 0.877348 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.00, Z:-2.59 [[ 0.77045154 -0.58017759 -0.26419385 -2.42119847] [ 0.59495832 0.80323704 -0.02889383 -1.00392325] [ 0.22897384 -0.13492303 0.9640367 -2.59368092] [ 0. 0. 0. 1. ]] SLAMing on 163.74134618399998 meters Centerline goodness : 0.874787 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.00, Z:-2.59 [[ 0.77037027 -0.5801161 -0.26456559 -2.42026141] [ 0.59471581 0.80338088 -0.02987084 -1.00055083] [ 0.22987549 -0.13432973 0.96390496 -2.59467047] [ 0. 0. 0. 1. ]] SLAMing on 163.77134618399998 meters Centerline goodness : 0.877010 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.00, Z:-2.59 [[ 0.77061008 -0.57970153 -0.26477585 -2.42032938] [ 0.59409814 0.80380368 -0.03077397 -0.99797277] [ 0.23066752 -0.1335881 0.96381882 -2.59497602] [ 0. 0. 0. 1. ]] SLAMing on 163.80134618399998 meters Centerline goodness : 0.876955 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.99, Z:-2.59 [[ 0.77049812 -0.57917096 -0.2662586 -2.42026061] [ 0.59366971 0.80410578 -0.03114759 -0.99453377] [ 0.23213986 -0.13407051 0.96339825 -2.59392579] [ 0. 0. 0. 1. ]] SLAMing on 163.83134618399998 meters Centerline goodness : 0.875940 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.99, Z:-2.59 [[ 0.77082981 -0.57684332 -0.27032053 -2.42116295] [ 0.59227959 0.80519874 -0.02932352 -0.98919319] [ 0.23457683 -0.1375019 0.96232372 -2.59103543] [ 0. 0. 0. 1. ]] SLAMing on 163.86134618399998 meters Centerline goodness : 0.876515 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.99, Z:-2.59 [[ 0.7706309 -0.57615442 -0.27234923 -2.42104163] [ 0.5920847 0.80537432 -0.02842384 -0.9863335 ] [ 0.2357196 -0.13934952 0.96177855 -2.58975106] [ 0. 0. 0. 1. ]] SLAMing on 163.89134618399999 meters Centerline goodness : 0.876906 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.98, Z:-2.59 [[ 0.76994279 -0.57634076 -0.27389674 -2.42057777] [ 0.5924207 0.80511363 -0.02880558 -0.98373408] [ 0.23711983 -0.14008345 0.96132763 -2.58807814] [ 0. 0. 0. 1. ]] SLAMing on 163.921346184 meters Centerline goodness : 0.876892 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.98, Z:-2.59 [[ 0.76793363 -0.57807698 -0.27587124 -2.419243 ] [ 0.59422618 0.80373576 -0.03006789 -0.97976121] [ 0.23910914 -0.14083977 0.96072419 -2.58571159] [ 0. 0. 0. 1. ]] SLAMing on 163.951346184 meters Centerline goodness : 0.876527 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.98, Z:-2.58 [[ 0.76674802 -0.57943186 -0.27632625 -2.41898495] [ 0.5955216 0.80274706 -0.03084115 -0.97855213] [ 0.23969042 -0.14091086 0.96056891 -2.58431047] [ 0. 0. 0. 1. ]] SLAMing on 163.981346184 meters Centerline goodness : 0.877076 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.98, Z:-2.58 [[ 0.76548985 -0.58081904 -0.27690165 -2.41854086] [ 0.59676624 0.80177577 -0.03202628 -0.97677877] [ 0.24061451 -0.14072976 0.96036441 -2.58272277] [ 0. 0. 0. 1. ]] SLAMing on 164.011346184 meters Centerline goodness : 0.873968 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.97, Z:-2.58 [[ 0.76384759 -0.58283455 -0.27720163 -2.41789936] [ 0.59851998 0.80040149 -0.03363468 -0.97427361] [ 0.24147605 -0.14021894 0.96022287 -2.58181087] [ 0. 0. 0. 1. ]] SLAMing on 164.041346184 meters Centerline goodness : 0.873379 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.97, Z:-2.58 [[ 0.7612516 -0.58561526 -0.27847938 -2.41659049] [ 0.60105602 0.79839973 -0.03591003 -0.96932895] [ 0.24336732 -0.14004514 0.95977065 -2.58011454] [ 0. 0. 0. 1. ]] SLAMing on 164.071346184 meters Centerline goodness : 0.872033 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.97, Z:-2.58 [[ 0.76084351 -0.58580432 -0.27919608 -2.41565313] [ 0.60115054 0.79829034 -0.03674995 -0.96688079] [ 0.24440781 -0.13987791 0.95953061 -2.57981968] [ 0. 0. 0. 1. ]] SLAMing on 164.101346184 meters Centerline goodness : 0.870255 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.96, Z:-2.58 [[ 0.76073556 -0.58551545 -0.28009476 -2.41389391] [ 0.6007495 0.79854927 -0.03767095 -0.96377385] [ 0.24572638 -0.13960916 0.95923294 -2.58012021] [ 0. 0. 0. 1. ]] SLAMing on 164.131346184 meters Centerline goodness : 0.871398 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.96, Z:-2.58 [[ 0.76140471 -0.58455246 -0.28028788 -2.41306036] [ 0.5995683 0.79939948 -0.03844905 -0.9617959 ] [ 0.24653747 -0.13877645 0.95914565 -2.58088977] [ 0. 0. 0. 1. ]] SLAMing on 164.161346184 meters Centerline goodness : 0.869843 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.96, Z:-2.58 [[ 0.76259126 -0.58290991 -0.28048282 -2.41316287] [ 0.59784417 0.80068427 -0.03856227 -0.96064131] [ 0.24705652 -0.13827777 0.95908411 -2.58124231] [ 0. 0. 0. 1. ]] SLAMing on 164.191346184 meters Centerline goodness : 0.870889 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.96, Z:-2.58 [[ 0.7650049 -0.5781954 -0.28365046 -2.41388957] [ 0.59405435 0.80362144 -0.03594469 -0.95860429] [ 0.24873065 -0.14100593 0.95825383 -2.57954291] [ 0. 0. 0. 1. ]] SLAMing on 164.221346184 meters Centerline goodness : 0.870278 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.96, Z:-2.58 [[ 0.76556503 -0.57627402 -0.28603922 -2.41314064] [ 0.59269793 0.80467143 -0.0348289 -0.95602408] [ 0.25023858 -0.14287107 0.95758473 -2.57847818] [ 0. 0. 0. 1. ]] SLAMing on 164.251346184 meters Centerline goodness : 0.868257 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.95, Z:-2.58 [[ 0.76642212 -0.58001365 -0.27600961 -2.41323996] [ 0.59542359 0.80271426 -0.033475 -0.94880507] [ 0.2409728 -0.13868665 0.96057177 -2.57708526] [ 0. 0. 0. 1. ]] SLAMing on 164.281346184 meters Centerline goodness : 0.868706 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.95, Z:-2.58 [[ 0.76656618 -0.57958314 -0.27651342 -2.41352387] [ 0.59481526 0.8031259 -0.03440329 -0.94585304] [ 0.24201466 -0.138102 0.96039406 -2.57657182] [ 0. 0. 0. 1. ]] SLAMing on 164.311346184 meters Centerline goodness : 0.868720 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.94, Z:-2.58 [[ 0.76593273 -0.58053488 -0.27627216 -2.41289 ] [ 0.59534799 0.80265653 -0.03610063 -0.94408912] [ 0.24270933 -0.13682742 0.96040119 -2.57626416] [ 0. 0. 0. 1. ]] SLAMing on 164.341346184 meters Centerline goodness : 0.866970 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.94, Z:-2.58 [[ 0.76523023 -0.58163719 -0.27590009 -2.41141702] [ 0.59595751 0.80211451 -0.03803886 -0.9423928 ] [ 0.24342828 -0.13531625 0.96043333 -2.57645475] [ 0. 0. 0. 1. ]] SLAMing on 164.371346184 meters Centerline goodness : 0.865954 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.94, Z:-2.58 [[ 0.7645579 -0.58280209 -0.27530517 -2.41027188] [ 0.59656438 0.80156203 -0.04011552 -0.94113068] [ 0.24405358 -0.13356662 0.96051955 -2.5763656 ] [ 0. 0. 0. 1. ]] SLAMing on 164.401346184 meters Centerline goodness : 0.863591 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.94, Z:-2.58 [[ 0.76434801 -0.58320996 -0.27502411 -2.41014513] [ 0.59653679 0.80149939 -0.04174439 -0.93952758] [ 0.2447774 -0.13215476 0.96053066 -2.57581918] [ 0. 0. 0. 1. ]] SLAMing on 164.431346184 meters Centerline goodness : 0.867111 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.94, Z:-2.57 [[ 0.76445061 -0.58268395 -0.27585264 -2.41045346] [ 0.59603927 0.80185604 -0.04200092 -0.93841123] [ 0.24566737 -0.13231137 0.96028186 -2.57430271] [ 0. 0. 0. 1. ]] SLAMing on 164.461346184 meters Centerline goodness : 0.866274 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.94, Z:-2.57 [[ 0.76451891 -0.58181101 -0.27750096 -2.40959306] [ 0.59536367 0.80235804 -0.04199612 -0.93611182] [ 0.24708893 -0.13310716 0.95980703 -2.57308551] [ 0. 0. 0. 1. ]] SLAMing on 164.49134618399998 meters Centerline goodness : 0.868046 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.93, Z:-2.57 [[ 0.76470524 -0.5809388 -0.27881177 -2.40897886] [ 0.59464713 0.8028908 -0.04196607 -0.93460295] [ 0.24823512 -0.13370294 0.9594284 -2.57190037] [ 0. 0. 0. 1. ]] SLAMing on 164.52134618399998 meters Centerline goodness : 0.867501 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.93, Z:-2.57 [[ 0.76516173 -0.57987053 -0.27978152 -2.40958683] [ 0.59379416 0.80354718 -0.04147796 -0.93414311] [ 0.2488695 -0.13439529 0.95916728 -2.57042472] [ 0. 0. 0. 1. ]] SLAMing on 164.55134618399998 meters Centerline goodness : 0.868215 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.93, Z:-2.57 [[ 0.76479102 -0.58001719 -0.28049021 -2.40744387] [ 0.59388199 0.80344815 -0.04213383 -0.93304238] [ 0.24979769 -0.13435451 0.95893169 -2.57026387] [ 0. 0. 0. 1. ]] SLAMing on 164.58134618399998 meters Centerline goodness : 0.868215 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.93, Z:-2.57 [[ 0.76479102 -0.58001719 -0.28049021 -2.40744387] [ 0.59388199 0.80344815 -0.04213383 -0.93304238] [ 0.24979769 -0.13435451 0.95893169 -2.57026387] [ 0. 0. 0. 1. ]] SLAMing on 164.61134618399998 meters Centerline goodness : 0.867823 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.93, Z:-2.57 [[ 0.76430622 -0.58101733 -0.27974071 -2.40668965] [ 0.59453082 0.80290853 -0.04325497 -0.93340306] [ 0.24973809 -0.13325442 0.9591007 -2.57028133] [ 0. 0. 0. 1. ]] SLAMing on 164.64134618399999 meters Centerline goodness : 0.867031 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.93, Z:-2.57 [[ 0.76254683 -0.58353494 -0.27930147 -2.40600993] [ 0.59660849 0.80125927 -0.04518726 -0.93267274] [ 0.25016124 -0.13217623 0.95913961 -2.56901737] [ 0. 0. 0. 1. ]] SLAMing on 164.671346184 meters Centerline goodness : 0.869352 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.93, Z:-2.57 [[ 0.76130373 -0.58462858 -0.28040336 -2.40535142] [ 0.59776046 0.800366 -0.04578967 -0.93175757] [ 0.25119527 -0.1327542 0.95878948 -2.56672737] [ 0. 0. 0. 1. ]] SLAMing on 164.701346184 meters Centerline goodness : 0.868923 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.93, Z:-2.57 [[ 0.76019831 -0.58561769 -0.2813369 -2.40364614] [ 0.59871867 0.7996015 -0.04661976 -0.93049706] [ 0.25225876 -0.13300139 0.95847595 -2.56532686] [ 0. 0. 0. 1. ]] SLAMing on 164.731346184 meters Centerline goodness : 0.868135 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.93, Z:-2.57 [[ 0.75979357 -0.58747842 -0.27853695 -2.4040331 ] [ 0.59947126 0.79885363 -0.04966972 -0.93135594] [ 0.25169014 -0.12923616 0.95914029 -2.56575125] [ 0. 0. 0. 1. ]] SLAMing on 164.761346184 meters Centerline goodness : 0.870159 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.93, Z:-2.57 [[ 0.7598261 -0.58717755 -0.27908209 -2.40306907] [ 0.59907235 0.79911483 -0.05027724 -0.9303048 ] [ 0.25254031 -0.1289884 0.95895015 -2.5650941 ] [ 0. 0. 0. 1. ]] SLAMing on 164.791346184 meters Centerline goodness : 0.868094 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.92, Z:-2.56 [[ 0.76045024 -0.59102482 -0.26908196 -2.4018997 ] [ 0.60203518 0.79696 -0.04907555 -0.9235967 ] [ 0.24345243 -0.12467729 0.96186615 -2.56374021] [ 0. 0. 0. 1. ]] SLAMing on 164.821346184 meters Centerline goodness : 0.871388 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.92, Z:-2.56 [[ 0.76134442 -0.58923554 -0.27047393 -2.40177346] [ 0.60051475 0.79814606 -0.04842416 -0.92294562] [ 0.24441094 -0.12555612 0.96150869 -2.56264304] [ 0. 0. 0. 1. ]] SLAMing on 164.851346184 meters Centerline goodness : 0.871876 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.92, Z:-2.56 [[ 0.76146127 -0.58844643 -0.2718594 -2.39938858] [ 0.59988861 0.7986194 -0.04838085 -0.92150174] [ 0.24558173 -0.12624521 0.96112005 -2.56258431] [ 0. 0. 0. 1. ]] SLAMing on 164.881346184 meters Centerline goodness : 0.869959 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.92, Z:-2.56 [[ 0.76134402 -0.58859089 -0.27187506 -2.39832809] [ 0.59980938 0.79862324 -0.0492913 -0.92137474] [ 0.24613815 -0.12554557 0.96106936 -2.56211499] [ 0. 0. 0. 1. ]] SLAMing on 164.911346184 meters Centerline goodness : 0.870384 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.92, Z:-2.56 [[ 0.7612313 -0.58900757 -0.27128766 -2.39570898] [ 0.5998941 0.79849329 -0.05035403 -0.92171065] [ 0.24628028 -0.1244128 0.96118025 -2.56352708] [ 0. 0. 0. 1. ]] SLAMing on 164.941346184 meters Centerline goodness : 0.870967 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.92, Z:-2.56 [[ 0.76061668 -0.58913074 -0.27274024 -2.3935418 ] [ 0.60010239 0.79830749 -0.05081609 -0.92001444] [ 0.24766789 -0.1250205 0.96074476 -2.56256915] [ 0. 0. 0. 1. ]] SLAMing on 164.971346184 meters Centerline goodness : 0.870627 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.92, Z:-2.56 [[ 0.76039161 -0.58898551 -0.27367985 -2.39258233] [ 0.59997063 0.79837985 -0.05123332 -0.91937725] [ 0.24867616 -0.12524248 0.96045535 -2.56120362] [ 0. 0. 0. 1. ]] SLAMing on 165.001346184 meters Centerline goodness : 0.871145 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.92, Z:-2.56 [[ 0.76028352 -0.58893597 -0.27408647 -2.39194587] [ 0.5998458 0.7984417 -0.05172877 -0.91918924] [ 0.249307 -0.12508109 0.96031284 -2.56033513] [ 0. 0. 0. 1. ]] SLAMing on 165.031346184 meters Centerline goodness : 0.872525 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.92, Z:-2.56 [[ 0.7602495 -0.58995619 -0.27197867 -2.39209279] [ 0.60011294 0.79810869 -0.05373069 -0.92081521] [ 0.24876729 -0.12236918 0.96080207 -2.56073878] [ 0. 0. 0. 1. ]] SLAMing on 165.061346184 meters Centerline goodness : 0.869372 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.92, Z:-2.56 [[ 0.75987839 -0.59098056 -0.27078925 -2.39188302] [ 0.60049475 0.7976794 -0.05579999 -0.92143772] [ 0.24897971 -0.12020632 0.96102005 -2.56017582] [ 0. 0. 0. 1. ]] SLAMing on 165.091346184 meters Centerline goodness : 0.869287 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.92, Z:-2.56 [[ 0.75950733 -0.59169677 -0.27026568 -2.39040658] [ 0.60087237 0.79731154 -0.05697983 -0.92172374] [ 0.24920073 -0.11911858 0.9610982 -2.56040608] [ 0. 0. 0. 1. ]] SLAMing on 165.121346184 meters Centerline goodness : 0.870792 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.92, Z:-2.56 [[ 0.75806325 -0.59404798 -0.26916 -2.38963372] [ 0.60262681 0.79582564 -0.0591818 -0.9231746 ] [ 0.24936126 -0.11733948 0.96127541 -2.55899321] [ 0. 0. 0. 1. ]] SLAMing on 165.151346184 meters Centerline goodness : 0.872873 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.92, Z:-2.56 [[ 0.75744971 -0.59422079 -0.27050248 -2.38795529] [ 0.60298356 0.79555608 -0.05917225 -0.92286185] [ 0.25036127 -0.11828854 0.96089909 -2.55756492] [ 0. 0. 0. 1. ]] SLAMing on 165.181346184 meters Centerline goodness : 0.872164 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.92, Z:-2.56 [[ 0.75714311 -0.59429322 -0.2712008 -2.38735086] [ 0.60313302 0.79543789 -0.0592378 -0.92341002] [ 0.25092802 -0.11871866 0.96069819 -2.55604989] [ 0. 0. 0. 1. ]] SLAMing on 165.211346184 meters Centerline goodness : 0.874452 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.93, Z:-2.56 [[ 0.75763569 -0.59393525 -0.27060873 -2.38722891] [ 0.60267246 0.79578466 -0.05926784 -0.92597392] [ 0.25054754 -0.118185 0.96086328 -2.55541462] [ 0. 0. 0. 1. ]] SLAMing on 165.24134618399998 meters Centerline goodness : 0.875830 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.93, Z:-2.56 [[ 0.75748432 -0.59393731 -0.27102764 -2.38546382] [ 0.60255697 0.79582287 -0.0599254 -0.92557934] [ 0.25128193 -0.11791704 0.96070441 -2.55523782] [ 0. 0. 0. 1. ]] SLAMing on 165.27134618399998 meters Centerline goodness : 0.877043 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.93, Z:-2.55 [[ 0.75753873 -0.59444602 -0.26975728 -2.38606587] [ 0.60258954 0.79569941 -0.06122332 -0.92716813] [ 0.25103967 -0.11617388 0.96098008 -2.55457528] [ 0. 0. 0. 1. ]] SLAMing on 165.30134618399998 meters Centerline goodness : 0.876101 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.93, Z:-2.55 [[ 0.7572675 -0.59488677 -0.26954715 -2.3854646 ] [ 0.60277555 0.79548423 -0.06218101 -0.92728902] [ 0.25141117 -0.11538877 0.96097755 -2.55394493] [ 0. 0. 0. 1. ]] SLAMing on 165.33134618399998 meters Centerline goodness : 0.877783 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.93, Z:-2.55 [[ 0.75680805 -0.59480453 -0.27101502 -2.38535907] [ 0.60304982 0.79532804 -0.061516 -0.92783197] [ 0.25213584 -0.11687976 0.96060743 -2.55140307] [ 0. 0. 0. 1. ]] SLAMing on 165.36134618399998 meters Centerline goodness : 0.879724 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.93, Z:-2.55 [[ 0.75603338 -0.59510955 -0.27250348 -2.38383039] [ 0.6035329 0.79495305 -0.06162537 -0.92690411] [ 0.25330132 -0.11787398 0.96017924 -2.54979552] [ 0. 0. 0. 1. ]] SLAMing on 165.39134618399999 meters Centerline goodness : 0.877089 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.93, Z:-2.55 [[ 0.75541063 -0.59612538 -0.27200978 -2.38305456] [ 0.60430457 0.79429761 -0.06250829 -0.92702721] [ 0.2533195 -0.11715733 0.96026215 -2.54977202] [ 0. 0. 0. 1. ]] SLAMing on 165.421346184 meters Centerline goodness : 0.877031 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.93, Z:-2.55 [[ 0.75429498 -0.59851306 -0.26985403 -2.38312476] [ 0.60587195 0.79289833 -0.06504936 -0.92770209] [ 0.2528997 -0.11443058 0.96070151 -2.54987261] [ 0. 0. 0. 1. ]] SLAMing on 165.451346184 meters Centerline goodness : 0.877867 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.93, Z:-2.55 [[ 0.75203653 -0.60229709 -0.26772983 -2.38287868] [ 0.6088667 0.79037109 -0.06778554 -0.92977541] [ 0.25243295 -0.11203458 0.96110658 -2.54855969] [ 0. 0. 0. 1. ]] SLAMing on 165.481346184 meters Centerline goodness : 0.877234 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.93, Z:-2.55 [[ 0.75049853 -0.60375397 -0.26876216 -2.38112653] [ 0.61039648 0.78914809 -0.0682746 -0.92914683] [ 0.25331421 -0.11281149 0.96078378 -2.54699757] [ 0. 0. 0. 1. ]] SLAMing on 165.511346184 meters Centerline goodness : 0.875983 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.93, Z:-2.55 [[ 0.74940935 -0.60489522 -0.26923485 -2.37928427] [ 0.61150945 0.78823798 -0.06882648 -0.92924576] [ 0.25385394 -0.11306044 0.96061205 -2.54598328] [ 0. 0. 0. 1. ]] SLAMing on 165.541346184 meters Centerline goodness : 0.879060 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.93, Z:-2.54 [[ 0.74864878 -0.60587507 -0.26914755 -2.37834868] [ 0.6123993 0.78750369 -0.06931836 -0.93064935] [ 0.25395295 -0.11293066 0.96060115 -2.54489521] [ 0. 0. 0. 1. ]] SLAMing on 165.571346184 meters Centerline goodness : 0.877453 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.93, Z:-2.54 [[ 0.74780424 -0.60694632 -0.26908173 -2.37669348] [ 0.61343722 0.78666846 -0.06962412 -0.93414405] [ 0.25393622 -0.11299953 0.96059747 -2.54301217] [ 0. 0. 0. 1. ]] SLAMing on 165.601346184 meters Centerline goodness : 0.879402 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.94, Z:-2.54 [[ 0.74729403 -0.60766243 -0.26888286 -2.37593297] [ 0.61405713 0.78614809 -0.07003585 -0.93579645] [ 0.2539399 -0.11277206 0.96062323 -2.54203726] [ 0. 0. 0. 1. ]] SLAMing on 165.631346184 meters Centerline goodness : 0.880352 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.94, Z:-2.54 [[ 0.74696874 -0.60820054 -0.26856991 -2.37554005] [ 0.61449057 0.78577754 -0.07039165 -0.93769343] [ 0.25384844 -0.11245332 0.96068477 -2.54102559] [ 0. 0. 0. 1. ]] SLAMing on 165.661346184 meters Centerline goodness : 0.881214 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.94, Z:-2.54 [[ 0.74738147 -0.60816603 -0.26749769 -2.37565599] [ 0.61428829 0.78592397 -0.0705224 -0.94153211] [ 0.25312218 -0.11161357 0.96097428 -2.54043769] [ 0. 0. 0. 1. ]] SLAMing on 165.691346184 meters Centerline goodness : 0.881951 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.94, Z:-2.54 [[ 0.74741401 -0.60719033 -0.26961491 -2.37235184] [ 0.61377661 0.78640922 -0.06956158 -0.94049069] [ 0.25426477 -0.11349203 0.96045249 -2.54028628] [ 0. 0. 0. 1. ]] SLAMing on 165.721346184 meters Centerline goodness : 0.884736 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.94, Z:-2.54 [[ 0.74756737 -0.60668843 -0.27031864 -2.37209639] [ 0.61341449 0.78671778 -0.0692661 -0.94078324] [ 0.25468742 -0.11403629 0.96027602 -2.53934278] [ 0. 0. 0. 1. ]] SLAMing on 165.751346184 meters Centerline goodness : 0.884076 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.94, Z:-2.54 [[ 0.74773645 -0.60652563 -0.27021631 -2.37166208] [ 0.61314591 0.78689903 -0.06958457 -0.94095086] [ 0.25483777 -0.11365111 0.9602818 -2.53935877] [ 0. 0. 0. 1. ]] SLAMing on 165.781346184 meters Centerline goodness : 0.885953 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.94, Z:-2.54 [[ 0.74861681 -0.61263672 -0.25347408 -2.37441778] [ 0.61715293 0.78361139 -0.0712422 -0.93959222] [ 0.24227077 -0.10309916 0.96471521 -2.54092311] [ 0. 0. 0. 1. ]] SLAMing on 165.811346184 meters Centerline goodness : 0.884853 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.94, Z:-2.54 [[ 0.74844966 -0.61310593 -0.25283242 -2.374244 ] [ 0.61744528 0.78333479 -0.07174909 -0.94050275] [ 0.24204223 -0.1024096 0.96484602 -2.5409481 ] [ 0. 0. 0. 1. ]] SLAMing on 165.841346184 meters Centerline goodness : 0.884544 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.94, Z:-2.54 [[ 0.74844985 -0.61285242 -0.25344571 -2.37309585] [ 0.61728793 0.78347326 -0.07159096 -0.94066713] [ 0.24244263 -0.10286674 0.96469685 -2.54056745] [ 0. 0. 0. 1. ]] SLAMing on 165.871346184 meters Centerline goodness : 0.885861 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.94, Z:-2.54 [[ 0.74788133 -0.61325173 -0.25415709 -2.37183029] [ 0.61778538 0.78308097 -0.07159196 -0.94068938] [ 0.24292947 -0.10347225 0.9645096 -2.53968166] [ 0. 0. 0. 1. ]] SLAMing on 165.901346184 meters Centerline goodness : 0.887371 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.94, Z:-2.54 [[ 0.74706985 -0.61412317 -0.25443932 -2.36940158] [ 0.61863617 0.782375 -0.07196287 -0.94152863] [ 0.24326103 -0.10364407 0.96440758 -2.53940688] [ 0. 0. 0. 1. ]] SLAMing on 165.931346184 meters Centerline goodness : 0.888059 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.94, Z:-2.54 [[ 0.74646878 -0.61483966 -0.25447308 -2.36857734] [ 0.6192401 0.78184206 -0.07255819 -0.94130502] [ 0.24356941 -0.10341751 0.96435406 -2.53904892] [ 0. 0. 0. 1. ]] SLAMing on 165.961346184 meters Centerline goodness : 0.888557 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.94, Z:-2.54 [[ 0.74588766 -0.61552374 -0.25452335 -2.36719755] [ 0.61979855 0.78133901 -0.07320593 -0.94152254] [ 0.24392902 -0.1031498 0.96429184 -2.53863576] [ 0. 0. 0. 1. ]] SLAMing on 165.99134618399998 meters Centerline goodness : 0.889971 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.95, Z:-2.54 [[ 0.74518197 -0.61711528 -0.25273024 -2.36662044] [ 0.62091454 0.78032053 -0.07459893 -0.94533324] [ 0.24324673 -0.1013341 0.96465664 -2.53791753] [ 0. 0. 0. 1. ]] SLAMing on 166.02134618399998 meters Centerline goodness : 0.889994 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.95, Z:-2.54 [[ 0.74500925 -0.6168762 -0.25382075 -2.36450773] [ 0.62090963 0.78037156 -0.07410438 -0.94557778] [ 0.24378772 -0.1023913 0.9644084 -2.53748739] [ 0. 0. 0. 1. ]] SLAMing on 166.05134618399998 meters Centerline goodness : 0.889925 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.95, Z:-2.54 [[ 0.74486311 -0.61647013 -0.25523231 -2.36250014] [ 0.62080163 0.78051699 -0.07347497 -0.94534685] [ 0.24450828 -0.10371984 0.96408397 -2.53686115] [ 0. 0. 0. 1. ]] SLAMing on 166.08134618399998 meters Centerline goodness : 0.891120 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.95, Z:-2.54 [[ 0.74481692 -0.61638211 -0.25557943 -2.36227312] [ 0.6208028 0.78053614 -0.0732613 -0.94624988] [ 0.24464594 -0.10409817 0.96400827 -2.53593881] [ 0. 0. 0. 1. ]] SLAMing on 166.11134618399998 meters Centerline goodness : 0.893802 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.95, Z:-2.54 [[ 0.74486025 -0.61688664 -0.25423234 -2.36159057] [ 0.62093786 0.78033838 -0.07421714 -0.94881857] [ 0.24417082 -0.10258109 0.96429131 -2.53603846] [ 0. 0. 0. 1. ]] SLAMing on 166.14134618399999 meters Centerline goodness : 0.893572 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.95, Z:-2.54 [[ 0.74398132 -0.61807228 -0.25392607 -2.35993607] [ 0.62186791 0.77949214 -0.07531472 -0.94871504] [ 0.24448331 -0.10187573 0.96428691 -2.53607795] [ 0. 0. 0. 1. ]] SLAMing on 166.171346184 meters Centerline goodness : 0.896084 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.95, Z:-2.54 [[ 0.74332763 -0.61902271 -0.253525 -2.35789197] [ 0.62258741 0.77882857 -0.07622973 -0.94900734] [ 0.24464045 -0.10117781 0.96432054 -2.53655957] [ 0. 0. 0. 1. ]] SLAMing on 166.201346184 meters Centerline goodness : 0.893461 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.95, Z:-2.54 [[ 0.74165189 -0.62158583 -0.25215775 -2.35556428] [ 0.62461476 0.77700411 -0.07823688 -0.94976567] [ 0.24455854 -0.09947693 0.96451825 -2.53700885] [ 0. 0. 0. 1. ]] SLAMing on 166.231346184 meters Centerline goodness : 0.891555 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.95, Z:-2.54 [[ 0.74106126 -0.62196093 -0.25296799 -2.35282589] [ 0.62510528 0.77661335 -0.07819904 -0.94953898] [ 0.24509507 -0.10018135 0.96430913 -2.53711471] [ 0. 0. 0. 1. ]] SLAMing on 166.261346184 meters Centerline goodness : 0.893709 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.95, Z:-2.54 [[ 0.7405995 -0.62186676 -0.25454687 -2.3497293 ] [ 0.62533445 0.77648974 -0.07759191 -0.94870245] [ 0.24590486 -0.1017124 0.96394263 -2.53703742] [ 0. 0. 0. 1. ]] SLAMing on 166.291346184 meters Centerline goodness : 0.892892 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.95, Z:-2.54 [[ 0.74008744 -0.62267821 -0.25405201 -2.35016685] [ 0.62605992 0.77587719 -0.07786885 -0.95114825] [ 0.2456004 -0.10142202 0.96405084 -2.53549124] [ 0. 0. 0. 1. ]] SLAMing on 166.321346184 meters Centerline goodness : 0.892729 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.95, Z:-2.54 [[ 0.74023637 -0.62245239 -0.25417147 -2.34847527] [ 0.62585716 0.77604895 -0.07778721 -0.95156833] [ 0.24566833 -0.10149411 0.96402594 -2.53616774] [ 0. 0. 0. 1. ]] SLAMing on 166.351346184 meters Centerline goodness : 0.893855 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.95, Z:-2.54 [[ 0.74045726 -0.62236724 -0.25373623 -2.34743782] [ 0.6256487 0.77618892 -0.07806704 -0.95259799] [ 0.24553362 -0.10094444 0.96411797 -2.53671324] [ 0. 0. 0. 1. ]] SLAMing on 166.381346184 meters Centerline goodness : 0.894137 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.95, Z:-2.54 [[ 0.74124229 -0.6214698 -0.25364376 -2.34579857] [ 0.62484117 0.77689552 -0.07750395 -0.95412796] [ 0.24522106 -0.10103786 0.96418773 -2.53782749] [ 0. 0. 0. 1. ]] SLAMing on 166.411346184 meters Centerline goodness : 0.892339 Centerline is valid? [False, False] Translation: X:-2.34, Y:-0.95, Z:-2.54 [[ 0.74089992 -0.62165275 -0.25419514 -2.34420697] [ 0.6250502 0.77671032 -0.07767445 -0.95393022] [ 0.24572252 -0.10133573 0.96402879 -2.53756161] [ 0. 0. 0. 1. ]] SLAMing on 166.441346184 meters Centerline goodness : 0.891387 Centerline is valid? [False, False] Translation: X:-2.34, Y:-0.95, Z:-2.54 [[ 0.7409539 -0.62120556 -0.25512931 -2.34153009] [ 0.62477064 0.77696881 -0.07733768 -0.9532825 ] [ 0.24627012 -0.10209365 0.96380907 -2.53825135] [ 0. 0. 0. 1. ]] SLAMing on 166.471346184 meters Centerline goodness : 0.889603 Centerline is valid? [False, False] Translation: X:-2.34, Y:-0.96, Z:-2.54 [[ 0.74152905 -0.62109471 -0.25372433 -2.34148946] [ 0.62421293 0.77730433 -0.07846147 -0.9559093 ] [ 0.24595302 -0.10019654 0.96408908 -2.53822699] [ 0. 0. 0. 1. ]] SLAMing on 166.501346184 meters Centerline goodness : 0.889603 Centerline is valid? [False, False] Translation: X:-2.34, Y:-0.96, Z:-2.54 [[ 0.74152905 -0.62109471 -0.25372433 -2.34148946] [ 0.62421293 0.77730433 -0.07846147 -0.9559093 ] [ 0.24595302 -0.10019654 0.96408908 -2.53822699] [ 0. 0. 0. 1. ]] SLAMing on 166.531346184 meters Centerline goodness : 0.889427 Centerline is valid? [False, False] Translation: X:-2.34, Y:-0.96, Z:-2.54 [[ 0.7416135 -0.62045841 -0.25503093 -2.33769692] [ 0.62391022 0.77763416 -0.07759613 -0.95516515] [ 0.24646593 -0.10157006 0.96381433 -2.5395786 ] [ 0. 0. 0. 1. ]] SLAMing on 166.561346184 meters Centerline goodness : 0.888461 Centerline is valid? [False, False] Translation: X:-2.34, Y:-0.96, Z:-2.54 [[ 0.74176766 -0.62002314 -0.25564046 -2.33506014] [ 0.62363018 0.77790107 -0.07717075 -0.95547676] [ 0.24671064 -0.10218234 0.963687 -2.54038022] [ 0. 0. 0. 1. ]] SLAMing on 166.591346184 meters Centerline goodness : 0.890778 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.96, Z:-2.54 [[ 0.74167478 -0.61990285 -0.25620105 -2.33294723] [ 0.62367112 0.77790864 -0.07676252 -0.95584167] [ 0.24688632 -0.10285237 0.96357072 -2.54067091] [ 0. 0. 0. 1. ]] SLAMing on 166.621346184 meters Centerline goodness : 0.889801 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.96, Z:-2.54 [[ 0.74184211 -0.61903244 -0.25781604 -2.33019239] [ 0.62325074 0.77836382 -0.07555315 -0.95731583] [ 0.24744453 -0.10463553 0.96323549 -2.53996669] [ 0. 0. 0. 1. ]] SLAMing on 166.651346184 meters Centerline goodness : 0.889870 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.96, Z:-2.54 [[ 0.74186736 -0.61830957 -0.25947271 -2.32738672] [ 0.62292384 0.7787159 -0.07461526 -0.95729517] [ 0.24819086 -0.10627711 0.96286368 -2.53957111] [ 0. 0. 0. 1. ]] SLAMing on 166.681346184 meters Centerline goodness : 0.889282 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.96, Z:-2.54 [[ 0.74139043 -0.6183973 -0.26062427 -2.32537689] [ 0.62323288 0.77849927 -0.07429448 -0.95742867] [ 0.24883931 -0.10734839 0.96257744 -2.53869896] [ 0. 0. 0. 1. ]] SLAMing on 166.711346184 meters Centerline goodness : 0.890044 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.96, Z:-2.54 [[ 0.7407576 -0.61837279 -0.26247526 -2.32091201] [ 0.62361515 0.77826249 -0.07356384 -0.95640706] [ 0.24976453 -0.10919058 0.9621305 -2.539032 ] [ 0. 0. 0. 1. ]] SLAMing on 166.74134618399998 meters Centerline goodness : 0.890677 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.96, Z:-2.54 [[ 0.73995481 -0.62019541 -0.26043143 -2.32040018] [ 0.62501369 0.77703885 -0.07462246 -0.95946337] [ 0.24864584 -0.10755597 0.96260426 -2.53936945] [ 0. 0. 0. 1. ]] SLAMing on 166.77134618399998 meters Centerline goodness : 0.891820 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.96, Z:-2.54 [[ 0.7398048 -0.6201695 -0.26091884 -2.31746376] [ 0.62509372 0.77699299 -0.07442937 -0.95946739] [ 0.24889094 -0.10803552 0.96248721 -2.54039257] [ 0. 0. 0. 1. ]] SLAMing on 166.80134618399998 meters Centerline goodness : 0.890149 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.96, Z:-2.54 [[ 0.73934322 -0.62054176 -0.2613418 -2.31453693] [ 0.62571981 0.77655716 -0.07371361 -0.96091497] [ 0.24868922 -0.10902708 0.96242754 -2.54094697] [ 0. 0. 0. 1. ]] SLAMing on 166.83134618399998 meters Centerline goodness : 0.890073 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.96, Z:-2.54 [[ 0.73883912 -0.62113346 -0.26136178 -2.31511031] [ 0.62640558 0.77602682 -0.07347394 -0.96237035] [ 0.24846088 -0.10943306 0.96244044 -2.53942529] [ 0. 0. 0. 1. ]] SLAMing on 166.86134618399998 meters Centerline goodness : 0.890045 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.96, Z:-2.54 [[ 0.73848238 -0.62100284 -0.26267707 -2.31261677] [ 0.62669601 0.77589031 -0.07243164 -0.9623346 ] [ 0.24878885 -0.11112918 0.96216132 -2.53934913] [ 0. 0. 0. 1. ]] SLAMing on 166.89134618399999 meters Centerline goodness : 0.890501 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.96, Z:-2.54 [[ 0.7378032 -0.62153819 -0.26331864 -2.30955943] [ 0.62742177 0.77533419 -0.07210284 -0.96237533] [ 0.24897461 -0.11201414 0.96201064 -2.53991411] [ 0. 0. 0. 1. ]] SLAMing on 166.921346184 meters Centerline goodness : 0.890017 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.97, Z:-2.54 [[ 0.73568339 -0.62520151 -0.26056288 -2.30918499] [ 0.63030603 0.77275923 -0.07454846 -0.96508018] [ 0.24796018 -0.10939029 0.96257442 -2.5395951 ] [ 0. 0. 0. 1. ]] SLAMing on 166.951346184 meters Centerline goodness : 0.887814 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.96, Z:-2.54 [[ 0.7350679 -0.62549025 -0.26160492 -2.30511096] [ 0.63079713 0.77238185 -0.07430515 -0.96419161] [ 0.24853604 -0.1104003 0.96231056 -2.54059394] [ 0. 0. 0. 1. ]] SLAMing on 166.981346184 meters Centerline goodness : 0.888914 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.96, Z:-2.54 [[ 0.73430903 -0.62636913 -0.26163325 -2.30342649] [ 0.63165139 0.77165625 -0.07458658 -0.9643554 ] [ 0.24860966 -0.11049141 0.96228108 -2.54069887] [ 0. 0. 0. 1. ]] SLAMing on 167.011346184 meters Centerline goodness : 0.888854 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.97, Z:-2.54 [[ 0.73210281 -0.62913273 -0.26118477 -2.29996056] [ 0.63423968 0.76943132 -0.07560079 -0.96511199] [ 0.24852667 -0.11030619 0.96232377 -2.54085104] [ 0. 0. 0. 1. ]] SLAMing on 167.041346184 meters Centerline goodness : 0.885696 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.96, Z:-2.54 [[ 0.73066876 -0.63034795 -0.26226823 -2.29604473] [ 0.63571522 0.76823801 -0.07534272 -0.96434035] [ 0.24897655 -0.11167733 0.9620493 -2.54114009] [ 0. 0. 0. 1. ]] SLAMing on 167.071346184 meters Centerline goodness : 0.886595 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.96, Z:-2.54 [[ 0.72907906 -0.63178788 -0.26322575 -2.29308087] [ 0.63732272 0.76689576 -0.07543636 -0.96378786] [ 0.24952649 -0.11276068 0.96178041 -2.54058874] [ 0. 0. 0. 1. ]] SLAMing on 167.101346184 meters Centerline goodness : 0.886272 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.96, Z:-2.54 [[ 0.72645966 -0.63436037 -0.26427881 -2.290206 ] [ 0.64022892 0.76449731 -0.07517179 -0.96385298] [ 0.24972644 -0.11458967 0.9615123 -2.53907165] [ 0. 0. 0. 1. ]] SLAMing on 167.131346184 meters Centerline goodness : 0.886277 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.96, Z:-2.54 [[ 0.72576605 -0.63491157 -0.26486022 -2.28755974] [ 0.64097341 0.76390767 -0.07482088 -0.96342648] [ 0.2498334 -0.1154659 0.96137968 -2.53974449] [ 0. 0. 0. 1. ]] SLAMing on 167.161346184 meters Centerline goodness : 0.886602 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.96, Z:-2.54 [[ 0.72552041 -0.63476241 -0.26588873 -2.28320271] [ 0.64110065 0.76385849 -0.0742305 -0.9629684 ] [ 0.2502201 -0.11660569 0.96114152 -2.54116611] [ 0. 0. 0. 1. ]] SLAMing on 167.191346184 meters Centerline goodness : 0.885995 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.96, Z:-2.54 [[ 0.72539764 -0.6348865 -0.26592744 -2.28073314] [ 0.64128838 0.76372033 -0.07403017 -0.9634268 ] [ 0.25009495 -0.11683487 0.96114626 -2.54227322] [ 0. 0. 0. 1. ]] SLAMing on 167.221346184 meters Centerline goodness : 0.888354 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.96, Z:-2.55 [[ 0.72504088 -0.63621092 -0.26372597 -2.27271417] [ 0.64413689 0.76194861 -0.06724571 -0.95772845] [ 0.24372809 -0.12111973 0.96225081 -2.54823525] [ 0. 0. 0. 1. ]] SLAMing on 167.251346184 meters Centerline goodness : 0.887664 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.96, Z:-2.55 [[ 0.7254353 -0.63508273 -0.26535554 -2.27000622] [ 0.64340001 0.76265102 -0.06633142 -0.9552624 ] [ 0.24449961 -0.1226106 0.9618662 -2.54947829] [ 0. 0. 0. 1. ]] SLAMing on 167.281346184 meters Centerline goodness : 0.889767 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.95, Z:-2.55 [[ 0.72575929 -0.63382588 -0.26746627 -2.26708965] [ 0.64269494 0.76335715 -0.06503134 -0.95270008] [ 0.24539084 -0.12470212 0.96137023 -2.55045068] [ 0. 0. 0. 1. ]] SLAMing on 167.311346184 meters Centerline goodness : 0.885904 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.95, Z:-2.55 [[ 0.7256984 -0.63331926 -0.26882809 -2.26406329] [ 0.64246691 0.76358831 -0.06456906 -0.95036602] [ 0.24616681 -0.12585549 0.96102149 -2.55156786] [ 0. 0. 0. 1. ]] SLAMing on 167.341346184 meters Centerline goodness : 0.886881 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.95, Z:-2.55 [[ 0.72551595 -0.63329408 -0.26937933 -2.26084356] [ 0.64255957 0.76352452 -0.06440114 -0.94893261] [ 0.24646258 -0.12636821 0.96087838 -2.55347567] [ 0. 0. 0. 1. ]] SLAMing on 167.371346184 meters Centerline goodness : 0.887343 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.95, Z:-2.55 [[ 0.72544172 -0.6328531 -0.27061276 -2.25781855] [ 0.64245829 0.76367218 -0.0636565 -0.94777633] [ 0.24694465 -0.12767833 0.96058138 -2.55431512] [ 0. 0. 0. 1. ]] SLAMing on 167.401346184 meters Centerline goodness : 0.886215 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.95, Z:-2.55 [[ 0.72514363 -0.63294172 -0.27120378 -2.25661113] [ 0.64275901 0.76345929 -0.06317256 -0.94711861] [ 0.24703759 -0.12850949 0.96044663 -2.55450832] [ 0. 0. 0. 1. ]] SLAMing on 167.431346184 meters Centerline goodness : 0.884519 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.94, Z:-2.56 [[ 0.72456346 -0.63307952 -0.27243003 -2.25349479] [ 0.64316534 0.76314509 -0.06283239 -0.94484861] [ 0.24768153 -0.1296915 0.96012185 -2.55543317] [ 0. 0. 0. 1. ]] SLAMing on 167.461346184 meters Centerline goodness : 0.884338 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.94, Z:-2.56 [[ 0.7244766 -0.63310793 -0.27259494 -2.25170935] [ 0.64322084 0.76309899 -0.06282426 -0.94349568] [ 0.24779146 -0.12982404 0.96007558 -2.55681996] [ 0. 0. 0. 1. ]] SLAMing on 167.49134618399998 meters Centerline goodness : 0.884698 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.94, Z:-2.56 [[ 0.72449486 -0.63298959 -0.27282116 -2.24943404] [ 0.64309917 0.7631922 -0.06293748 -0.94211817] [ 0.24805375 -0.12985318 0.9600039 -2.55840424] [ 0. 0. 0. 1. ]] SLAMing on 167.52134618399998 meters Centerline goodness : 0.884577 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.94, Z:-2.56 [[ 0.72476455 -0.63327459 -0.27143994 -2.24826732] [ 0.64307 0.7631739 -0.0634553 -0.94272341] [ 0.2473405 -0.12856473 0.96036128 -2.56069314] [ 0. 0. 0. 1. ]] SLAMing on 167.55134618399998 meters Centerline goodness : 0.882972 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.94, Z:-2.56 [[ 0.72502645 -0.63255274 -0.27242187 -2.24533264] [ 0.64265319 0.76359039 -0.06266251 -0.94224999] [ 0.24765607 -0.12964081 0.96013527 -2.56171533] [ 0. 0. 0. 1. ]] SLAMing on 167.58134618399998 meters Centerline goodness : 0.882343 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.94, Z:-2.56 [[ 0.72512496 -0.63188038 -0.27371696 -2.24256896] [ 0.64233998 0.76392011 -0.06184996 -0.94131275] [ 0.24817967 -0.1309704 0.95981957 -2.56229432] [ 0. 0. 0. 1. ]] SLAMing on 167.61134618399998 meters Centerline goodness : 0.882731 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.94, Z:-2.56 [[ 0.72446817 -0.6314486 -0.27643904 -2.23810945] [ 0.64269265 0.76375039 -0.0602619 -0.93981053] [ 0.24918272 -0.13400751 0.95914022 -2.56213045] [ 0. 0. 0. 1. ]] SLAMing on 167.64134618399999 meters Centerline goodness : 0.881440 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.93, Z:-2.57 [[ 0.72330312 -0.63426029 -0.27303202 -2.22881976] [ 0.64710386 0.76058622 -0.05258504 -0.932373 ] [ 0.241017 -0.13864515 0.96056667 -2.56745658] [ 0. 0. 0. 1. ]] SLAMing on 167.671346184 meters Centerline goodness : 0.881043 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.93, Z:-2.57 [[ 0.72257658 -0.63448741 -0.27442452 -2.22513113] [ 0.64770108 0.76011762 -0.05200494 -0.9304533 ] [ 0.24159139 -0.1401675 0.96020137 -2.56839993] [ 0. 0. 0. 1. ]] SLAMing on 167.701346184 meters Centerline goodness : 0.881827 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.93, Z:-2.57 [[ 0.72046571 -0.63734973 -0.2733395 -2.22137067] [ 0.65004374 0.75797545 -0.0540033 -0.9292567 ] [ 0.24160362 -0.13877511 0.96040052 -2.57008415] [ 0. 0. 0. 1. ]] SLAMing on 167.731346184 meters Centerline goodness : 0.880765 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.93, Z:-2.57 [[ 0.71953395 -0.63808541 -0.27407647 -2.21721494] [ 0.65088381 0.75724105 -0.05418732 -0.92777888] [ 0.24211809 -0.13940232 0.9601801 -2.57138569] [ 0. 0. 0. 1. ]] SLAMing on 167.761346184 meters Centerline goodness : 0.879444 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.93, Z:-2.57 [[ 0.71845854 -0.63891502 -0.27496349 -2.21339536] [ 0.65182662 0.75641076 -0.05445013 -0.92574724] [ 0.24277435 -0.14010836 0.95991159 -2.57238503] [ 0. 0. 0. 1. ]] SLAMing on 167.791346184 meters Centerline goodness : 0.877186 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.92, Z:-2.57 [[ 0.71763635 -0.63925655 -0.27631347 -2.20939672] [ 0.65245891 0.75588363 -0.0541969 -0.92376583] [ 0.24350655 -0.14138952 0.9595382 -2.57326627] [ 0. 0. 0. 1. ]] SLAMing on 167.821346184 meters Centerline goodness : 0.878765 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.92, Z:-2.57 [[ 0.71635371 -0.63999685 -0.27792335 -2.20558822] [ 0.65355087 0.75495677 -0.05395865 -0.9214775 ] [ 0.24435348 -0.14298357 0.95908659 -2.57357318] [ 0. 0. 0. 1. ]] SLAMing on 167.851346184 meters Centerline goodness : 0.879917 Centerline is valid? [False, False] Translation: X:-2.20, Y:-0.92, Z:-2.57 [[ 0.71588914 -0.63998094 -0.27915434 -2.20356997] [ 0.65383436 0.75474085 -0.05354328 -0.91924849] [ 0.24495586 -0.14418964 0.9587523 -2.57398445] [ 0. 0. 0. 1. ]] SLAMing on 167.881346184 meters Centerline goodness : 0.878679 Centerline is valid? [False, False] Translation: X:-2.20, Y:-0.92, Z:-2.57 [[ 0.71581973 -0.6391166 -0.28130425 -2.20025563] [ 0.65354793 0.75506604 -0.05244406 -0.91622896] [ 0.24592116 -0.14630532 0.9581845 -2.57496305] [ 0. 0. 0. 1. ]] SLAMing on 167.911346184 meters Centerline goodness : 0.880204 Centerline is valid? [False, False] Translation: X:-2.20, Y:-0.91, Z:-2.58 [[ 0.71593927 -0.63849155 -0.28241725 -2.19777916] [ 0.65315403 0.75542987 -0.05211073 -0.91371242] [ 0.24661869 -0.14715385 0.95787524 -2.57632305] [ 0. 0. 0. 1. ]] SLAMing on 167.941346184 meters Centerline goodness : 0.878833 Centerline is valid? [False, False] Translation: X:-2.20, Y:-0.91, Z:-2.58 [[ 0.71585564 -0.63893871 -0.28161682 -2.19620324] [ 0.65333607 0.75522916 -0.0527342 -0.91306666] [ 0.24637915 -0.14624035 0.95807676 -2.57838085] [ 0. 0. 0. 1. ]] SLAMing on 167.971346184 meters Centerline goodness : 0.876488 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.91, Z:-2.58 [[ 0.71560918 -0.63877731 -0.28260761 -2.19370634] [ 0.65343556 0.75517271 -0.05230823 -0.91169127] [ 0.24683087 -0.14723361 0.95780832 -2.57912732] [ 0. 0. 0. 1. ]] SLAMing on 168.001346184 meters Centerline goodness : 0.875676 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.91, Z:-2.58 [[ 0.71515382 -0.63858861 -0.28418235 -2.19140126] [ 0.65364927 0.75502935 -0.05170404 -0.90948926] [ 0.24758362 -0.14877925 0.9573751 -2.57928492] [ 0. 0. 0. 1. ]] SLAMing on 168.031346184 meters Centerline goodness : 0.876426 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.90, Z:-2.58 [[ 0.71371202 -0.64279847 -0.27825398 -2.18559057] [ 0.65901192 0.7508344 -0.04416996 -0.90162248] [ 0.23731504 -0.15184806 0.95949139 -2.58454552] [ 0. 0. 0. 1. ]] SLAMing on 168.061346184 meters Centerline goodness : 0.876293 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.90, Z:-2.59 [[ 0.71333466 -0.64260216 -0.27967145 -2.18264003] [ 0.65918846 0.75071384 -0.04358101 -0.89995186] [ 0.23795848 -0.15326835 0.95910613 -2.58507039] [ 0. 0. 0. 1. ]] SLAMing on 168.091346184 meters Centerline goodness : 0.877552 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.90, Z:-2.59 [[ 0.71309454 -0.64227534 -0.28103126 -2.17999965] [ 0.65923345 0.75071126 -0.04294023 -0.89818514] [ 0.23855279 -0.15464477 0.95873748 -2.58570804] [ 0. 0. 0. 1. ]] SLAMing on 168.121346184 meters Centerline goodness : 0.875989 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.90, Z:-2.59 [[ 0.71277659 -0.64201671 -0.28242535 -2.17759303] [ 0.65931181 0.75066821 -0.04248736 -0.89603747] [ 0.23928532 -0.15592238 0.95834793 -2.58622592] [ 0. 0. 0. 1. ]] SLAMing on 168.151346184 meters Centerline goodness : 0.875916 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.89, Z:-2.59 [[ 0.71275574 -0.6415495 -0.28353748 -2.17489302] [ 0.65913964 0.75084834 -0.04197265 -0.89470235] [ 0.23982118 -0.15697454 0.95804217 -2.5872123 ] [ 0. 0. 0. 1. ]] SLAMing on 168.181346184 meters Centerline goodness : 0.877359 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.89, Z:-2.59 [[ 0.7128693 -0.6411675 -0.28411545 -2.17361381] [ 0.65896308 0.75103122 -0.04146999 -0.89464765] [ 0.23996878 -0.15765891 0.95789282 -2.58741898] [ 0. 0. 0. 1. ]] SLAMing on 168.211346184 meters Centerline goodness : 0.876246 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.89, Z:-2.59 [[ 0.7128073 -0.64077851 -0.28514673 -2.17187831] [ 0.65891421 0.75111371 -0.04074626 -0.89387828] [ 0.24028695 -0.15884301 0.9576174 -2.58762249] [ 0. 0. 0. 1. ]] SLAMing on 168.24134618399998 meters Centerline goodness : 0.875707 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.89, Z:-2.59 [[ 0.71255328 -0.64030856 -0.28683231 -2.16903374] [ 0.65891849 0.75115338 -0.03993765 -0.89224633] [ 0.24102748 -0.16054141 0.95714796 -2.58786226] [ 0. 0. 0. 1. ]] SLAMing on 168.27134618399998 meters Centerline goodness : 0.874957 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.89, Z:-2.59 [[ 0.71237805 -0.64013217 -0.28766006 -2.16766462] [ 0.65900475 0.75110401 -0.03944002 -0.89105744] [ 0.24130945 -0.16147314 0.95692015 -2.5882427 ] [ 0. 0. 0. 1. ]] SLAMing on 168.30134618399998 meters Centerline goodness : 0.873991 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.89, Z:-2.59 [[ 0.71272065 -0.6394122 -0.2884117 -2.16613101] [ 0.65848318 0.75158272 -0.03902962 -0.88979527] [ 0.24172126 -0.16209704 0.95671071 -2.58915133] [ 0. 0. 0. 1. ]] SLAMing on 168.33134618399998 meters Centerline goodness : 0.873132 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.89, Z:-2.59 [[ 0.71326804 -0.63848613 -0.28910927 -2.16571916] [ 0.65775545 0.75224497 -0.03853919 -0.88772412] [ 0.24208774 -0.16267443 0.95652002 -2.5902521 ] [ 0. 0. 0. 1. ]] SLAMing on 168.36134618399998 meters Centerline goodness : 0.874978 Centerline is valid? [False, False] Translation: X:-2.16, Y:-0.88, Z:-2.59 [[ 0.7131576 -0.63775634 -0.29098641 -2.16321289] [ 0.65751843 0.75249097 -0.03777369 -0.88448715] [ 0.24305506 -0.16439033 0.9559812 -2.59106217] [ 0. 0. 0. 1. ]] SLAMing on 168.39134618399999 meters Centerline goodness : 0.874978 Centerline is valid? [False, False] Translation: X:-2.16, Y:-0.88, Z:-2.59 [[ 0.7131576 -0.63775634 -0.29098641 -2.16321289] [ 0.65751843 0.75249097 -0.03777369 -0.88448715] [ 0.24305506 -0.16439033 0.9559812 -2.59106217] [ 0. 0. 0. 1. ]] SLAMing on 168.421346184 meters Centerline goodness : 0.874680 Centerline is valid? [False, False] Translation: X:-2.16, Y:-0.88, Z:-2.59 [[ 0.7131291 -0.63753233 -0.2915466 -2.16181926] [ 0.65735243 0.7526298 -0.03789679 -0.88222288] [ 0.24358709 -0.16462356 0.95580564 -2.59210433] [ 0. 0. 0. 1. ]] SLAMing on 168.451346184 meters Centerline goodness : 0.874689 Centerline is valid? [False, False] Translation: X:-2.16, Y:-0.88, Z:-2.59 [[ 0.71327838 -0.63723847 -0.29182371 -2.16089102] [ 0.65708404 0.75286242 -0.03793063 -0.88084995] [ 0.24387397 -0.16469761 0.95571972 -2.592989 ] [ 0. 0. 0. 1. ]] SLAMing on 168.481346184 meters Centerline goodness : 0.877348 Centerline is valid? [False, False] Translation: X:-2.16, Y:-0.88, Z:-2.59 [[ 0.71258238 -0.63808498 -0.29167434 -2.16174876] [ 0.65778908 0.75221436 -0.03856277 -0.87887705] [ 0.24400795 -0.16438104 0.95574002 -2.59285245] [ 0. 0. 0. 1. ]] SLAMing on 168.511346184 meters Centerline goodness : 0.874567 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.87, Z:-2.60 [[ 0.71217392 -0.64124213 -0.28568659 -2.15466185] [ 0.66184187 0.74899038 -0.03128487 -0.87143486] [ 0.23403769 -0.16679908 0.95781231 -2.59970825] [ 0. 0. 0. 1. ]] SLAMing on 168.541346184 meters Centerline goodness : 0.874760 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.87, Z:-2.60 [[ 0.71152311 -0.64193818 -0.28574505 -2.15386597] [ 0.66249148 0.74839983 -0.03166609 -0.87027607] [ 0.23417922 -0.16677251 0.95778235 -2.60003864] [ 0. 0. 0. 1. ]] SLAMing on 168.571346184 meters Centerline goodness : 0.873897 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.87, Z:-2.60 [[ 0.71100101 -0.64220244 -0.28644997 -2.15297754] [ 0.66290684 0.74803332 -0.03163342 -0.86872459] [ 0.23458918 -0.16739826 0.95757284 -2.59995506] [ 0. 0. 0. 1. ]] SLAMing on 168.601346184 meters Centerline goodness : 0.874457 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.87, Z:-2.60 [[ 0.7109762 -0.64186253 -0.28727223 -2.15159386] [ 0.6627305 0.74819468 -0.03151196 -0.86665745] [ 0.2351619 -0.16797982 0.95733049 -2.60075623] [ 0. 0. 0. 1. ]] SLAMing on 168.631346184 meters Centerline goodness : 0.871756 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.87, Z:-2.60 [[ 0.71104857 -0.64151053 -0.28787876 -2.14945627] [ 0.66251491 0.74839288 -0.03133829 -0.86501748] [ 0.23555026 -0.16844092 0.95715397 -2.60214587] [ 0. 0. 0. 1. ]] SLAMing on 168.661346184 meters Centerline goodness : 0.872368 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.86, Z:-2.60 [[ 0.71098573 -0.64151953 -0.28801387 -2.14925569] [ 0.66247892 0.7484127 -0.03162454 -0.863857 ] [ 0.235841 -0.16831852 0.95710391 -2.60236208] [ 0. 0. 0. 1. ]] SLAMing on 168.691346184 meters Centerline goodness : 0.871799 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.86, Z:-2.60 [[ 0.71124152 -0.64054345 -0.28955066 -2.14697609] [ 0.66192441 0.74893483 -0.03086569 -0.86138451] [ 0.23662539 -0.1697077 0.9566649 -2.60349165] [ 0. 0. 0. 1. ]] SLAMing on 168.721346184 meters Centerline goodness : 0.874217 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.86, Z:-2.60 [[ 0.71120026 -0.63984868 -0.29118356 -2.14393936] [ 0.66163755 0.74921107 -0.03030706 -0.8587065 ] [ 0.23754988 -0.17110359 0.95618702 -2.60452781] [ 0. 0. 0. 1. ]] SLAMing on 168.751346184 meters Centerline goodness : 0.874666 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.86, Z:-2.61 [[ 0.71062892 -0.63995129 -0.29235062 -2.14217502] [ 0.66203333 0.7488722 -0.03003826 -0.8561555 ] [ 0.23815628 -0.1721998 0.95583933 -2.60500305] [ 0. 0. 0. 1. ]] SLAMing on 168.781346184 meters Centerline goodness : 0.874942 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.85, Z:-2.61 [[ 0.70988862 -0.64013974 -0.29373332 -2.14024765] [ 0.66252545 0.74844167 -0.0299182 -0.85325892] [ 0.23899408 -0.17336721 0.95541909 -2.60517103] [ 0. 0. 0. 1. ]] SLAMing on 168.811346184 meters Centerline goodness : 0.873243 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.85, Z:-2.61 [[ 0.70851377 -0.64155821 -0.29395799 -2.13758598] [ 0.66378507 0.7472793 -0.03103269 -0.8496879 ] [ 0.239578 -0.17313784 0.95531444 -2.60687873] [ 0. 0. 0. 1. ]] SLAMing on 168.841346184 meters Centerline goodness : 0.872380 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.85, Z:-2.61 [[ 0.70821144 -0.64181691 -0.29412176 -2.13514476] [ 0.66396257 0.74710046 -0.03153737 -0.84763916] [ 0.23997972 -0.17295071 0.9552475 -2.60868484] [ 0. 0. 0. 1. ]] SLAMing on 168.871346184 meters Centerline goodness : 0.874195 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.85, Z:-2.61 [[ 0.70828482 -0.64152944 -0.29457189 -2.13357761] [ 0.66374973 0.7472903 -0.03151989 -0.84575342] [ 0.24035166 -0.17319695 0.95510936 -2.61003556] [ 0. 0. 0. 1. ]] SLAMing on 168.901346184 meters Centerline goodness : 0.872399 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.84, Z:-2.62 [[ 0.7098328 -0.64411882 -0.28504096 -2.13145132] [ 0.66640505 0.74519054 -0.02440033 -0.84000076] [ 0.22812653 -0.17263258 0.95820472 -2.61505341] [ 0. 0. 0. 1. ]] SLAMing on 168.931346184 meters Centerline goodness : 0.872881 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.84, Z:-2.61 [[ 0.71081078 -0.64142088 -0.28866467 -2.13036309] [ 0.66488254 0.74662923 -0.02181738 -0.83685831] [ 0.2295196 -0.17642007 0.95718165 -2.61457196] [ 0. 0. 0. 1. ]] SLAMing on 168.96134618399998 meters Centerline goodness : 0.872936 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.83, Z:-2.62 [[ 0.71145727 -0.63917172 -0.2920412 -2.12660256] [ 0.66375119 0.74770066 -0.01944418 -0.83410094] [ 0.23078757 -0.18000899 0.95620807 -2.61530788] [ 0. 0. 0. 1. ]] SLAMing on 168.99134618399998 meters Centerline goodness : 0.872936 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.83, Z:-2.62 [[ 0.71188587 -0.63859189 -0.29226513 -2.12638122] [ 0.66325197 0.74815057 -0.01917157 -0.83346781] [ 0.23090114 -0.18019745 0.95614515 -2.61588151] [ 0. 0. 0. 1. ]] SLAMing on 169.02134618399998 meters Centerline goodness : 0.869573 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.83, Z:-2.62 [[ 0.71161361 -0.63844201 -0.29325393 -2.12467938] [ 0.66334947 0.7480703 -0.018929 -0.83101368] [ 0.23145962 -0.1810597 0.95584718 -2.61679675] [ 0. 0. 0. 1. ]] SLAMing on 169.05134618399998 meters Centerline goodness : 0.870996 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.83, Z:-2.62 [[ 0.71164791 -0.63803847 -0.2940479 -2.12259446] [ 0.66313373 0.74826675 -0.01872225 -0.82921643] [ 0.23197179 -0.18166943 0.9556073 -2.61794251] [ 0. 0. 0. 1. ]] SLAMing on 169.08134618399998 meters Centerline goodness : 0.869810 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.83, Z:-2.62 [[ 0.7113732 -0.63840382 -0.2939196 -2.12210511] [ 0.66334154 0.74806674 -0.01934296 -0.82777404] [ 0.23222009 -0.18120902 0.95563441 -2.61855907] [ 0. 0. 0. 1. ]] SLAMing on 169.11134618399998 meters Centerline goodness : 0.869335 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.83, Z:-2.62 [[ 0.71140298 -0.63837234 -0.29391591 -2.12128662] [ 0.66324958 0.74814206 -0.01958202 -0.82640356] [ 0.23239147 -0.1810089 0.95563067 -2.61962207] [ 0. 0. 0. 1. ]] SLAMing on 169.14134618399999 meters Centerline goodness : 0.869315 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.82, Z:-2.62 [[ 0.71208538 -0.63606282 -0.29725157 -2.11872684] [ 0.66202363 0.74928094 -0.01740074 -0.82283963] [ 0.2337929 -0.18439675 0.95464062 -2.62032242] [ 0. 0. 0. 1. ]] SLAMing on 169.171346184 meters Centerline goodness : 0.870529 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.82, Z:-2.62 [[ 0.71203622 -0.63558156 -0.29839654 -2.11799117] [ 0.661849 0.74944441 -0.0169995 -0.82046272] [ 0.23443618 -0.18538919 0.95429059 -2.6206011 ] [ 0. 0. 0. 1. ]] SLAMing on 169.201346184 meters Centerline goodness : 0.869809 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.82, Z:-2.62 [[ 0.71193216 -0.63555432 -0.29870271 -2.1177409 ] [ 0.66186789 0.74942633 -0.0170608 -0.81880973] [ 0.23469874 -0.1855556 0.9541937 -2.62110838] [ 0. 0. 0. 1. ]] SLAMing on 169.231346184 meters Centerline goodness : 0.871123 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.82, Z:-2.62 [[ 0.71176137 -0.63579931 -0.29858833 -2.11812012] [ 0.66198369 0.74931291 -0.01754328 -0.81673241] [ 0.23489009 -0.18517397 0.95422075 -2.62194519] [ 0. 0. 0. 1. ]] SLAMing on 169.261346184 meters Centerline goodness : 0.872339 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.82, Z:-2.62 [[ 0.71134982 -0.6364247 -0.29823654 -2.11831257] [ 0.66236887 0.74895282 -0.0183616 -0.81506178] [ 0.23505088 -0.18448108 0.95431537 -2.62247316] [ 0. 0. 0. 1. ]] SLAMing on 169.291346184 meters Centerline goodness : 0.871351 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.81, Z:-2.62 [[ 0.71076361 -0.63726407 -0.29784155 -2.11813052] [ 0.66296712 0.7484024 -0.01919496 -0.81344139] [ 0.23513759 -0.18381607 0.95442232 -2.6231353 ] [ 0. 0. 0. 1. ]] SLAMing on 169.321346184 meters Centerline goodness : 0.872059 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.81, Z:-2.62 [[ 0.71019478 -0.6383169 -0.29694261 -2.11966983] [ 0.66355199 0.74784695 -0.02058373 -0.8112668 ] [ 0.23520657 -0.1824184 0.95467345 -2.62342351] [ 0. 0. 0. 1. ]] SLAMing on 169.351346184 meters Centerline goodness : 0.871957 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.81, Z:-2.62 [[ 0.71005591 -0.63814804 -0.29763685 -2.11900392] [ 0.66360047 0.74781349 -0.02023365 -0.81008319] [ 0.23548891 -0.18314493 0.95446472 -2.62356178] [ 0. 0. 0. 1. ]] SLAMing on 169.381346184 meters Centerline goodness : 0.870825 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.81, Z:-2.62 [[ 0.70955451 -0.63865651 -0.29774192 -2.11967765] [ 0.66404011 0.74741013 -0.0207082 -0.80860855] [ 0.23576076 -0.18301898 0.95442177 -2.6231184 ] [ 0. 0. 0. 1. ]] SLAMing on 169.411346184 meters Centerline goodness : 0.872598 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.81, Z:-2.62 [[ 0.70939806 -0.63824816 -0.29898776 -2.11902141] [ 0.66396832 0.74748565 -0.02028011 -0.80576909] [ 0.2364328 -0.18413174 0.95404142 -2.6235135 ] [ 0. 0. 0. 1. ]] SLAMing on 169.441346184 meters Centerline goodness : 0.872736 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.80, Z:-2.63 [[ 0.70995713 -0.64317485 -0.28685708 -2.1184249 ] [ 0.66723292 0.74462694 -0.01819217 -0.79919063] [ 0.22530225 -0.17848483 0.95780064 -2.62566133] [ 0. 0. 0. 1. ]] SLAMing on 169.471346184 meters Centerline goodness : 0.871009 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.80, Z:-2.63 [[ 0.70973864 -0.64373785 -0.28613397 -2.11813573] [ 0.66751854 0.74435355 -0.01888923 -0.79925828] [ 0.22514455 -0.17759332 0.95800342 -2.62610554] [ 0. 0. 0. 1. ]] SLAMing on 169.501346184 meters Centerline goodness : 0.872342 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.80, Z:-2.63 [[ 0.70936313 -0.64432378 -0.28574606 -2.11711101] [ 0.66799105 0.74392227 -0.01917292 -0.79974996] [ 0.22492642 -0.17727525 0.95811356 -2.62644826] [ 0. 0. 0. 1. ]] SLAMing on 169.531346184 meters Centerline goodness : 0.872624 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.80, Z:-2.63 [[ 0.70932659 -0.64410433 -0.28633093 -2.1177218 ] [ 0.66802811 0.74390556 -0.01851943 -0.80022792] [ 0.22493162 -0.17814079 0.95795179 -2.62511465] [ 0. 0. 0. 1. ]] SLAMing on 169.561346184 meters Centerline goodness : 0.873219 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.80, Z:-2.62 [[ 0.7096616 -0.64321439 -0.28749899 -2.1164698 ] [ 0.66756985 0.74434217 -0.01747105 -0.80029773] [ 0.22523525 -0.17952713 0.95762158 -2.62486494] [ 0. 0. 0. 1. ]] SLAMing on 169.591346184 meters Centerline goodness : 0.872723 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.80, Z:-2.63 [[ 0.71036389 -0.64284196 -0.28659615 -2.11614492] [ 0.66703841 0.74482206 -0.01731659 -0.80284818] [ 0.22459497 -0.17886956 0.95789497 -2.62530056] [ 0. 0. 0. 1. ]] SLAMing on 169.621346184 meters Centerline goodness : 0.872276 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.80, Z:-2.63 [[ 0.71047555 -0.64327588 -0.28534301 -2.11675385] [ 0.66710675 0.74474648 -0.01792374 -0.80485634] [ 0.22403811 -0.17761987 0.95825785 -2.62503123] [ 0. 0. 0. 1. ]] SLAMing on 169.651346184 meters Centerline goodness : 0.871919 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.81, Z:-2.63 [[ 0.71074205 -0.64264681 -0.28609582 -2.11468833] [ 0.66677828 0.74505912 -0.01713588 -0.80500445] [ 0.22417062 -0.17858329 0.95804778 -2.6255493 ] [ 0. 0. 0. 1. ]] SLAMing on 169.681346184 meters Centerline goodness : 0.871610 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.81, Z:-2.63 [[ 0.71097985 -0.64218063 -0.28655138 -2.11420424] [ 0.66653792 0.74528948 -0.01645581 -0.80590475] [ 0.22413133 -0.17929761 0.95792354 -2.62505032] [ 0. 0. 0. 1. ]] SLAMing on 169.71134618399998 meters Centerline goodness : 0.871052 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.81, Z:-2.63 [[ 0.71132968 -0.64150526 -0.2871952 -2.11088554] [ 0.66606937 0.74571873 -0.01597373 -0.80571355] [ 0.22441407 -0.17992934 0.95773888 -2.62667433] [ 0. 0. 0. 1. ]] SLAMing on 169.74134618399998 meters Centerline goodness : 0.871009 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.81, Z:-2.63 [[ 0.71133937 -0.64161849 -0.28691815 -2.10912017] [ 0.66610621 0.74568332 -0.01609043 -0.80616441] [ 0.22427399 -0.17967221 0.95781996 -2.62761582] [ 0. 0. 0. 1. ]] SLAMing on 169.77134618399998 meters Centerline goodness : 0.868973 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.81, Z:-2.63 [[ 0.71084309 -0.64174518 -0.2878632 -2.10588601] [ 0.66650823 0.74533155 -0.01573722 -0.80568841] [ 0.22465281 -0.1806765 0.95754223 -2.62815858] [ 0. 0. 0. 1. ]] SLAMing on 169.80134618399998 meters Centerline goodness : 0.869301 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.80, Z:-2.63 [[ 0.71002262 -0.64217043 -0.28893774 -2.103063 ] [ 0.66722358 0.74469624 -0.01549838 -0.80478654] [ 0.22512345 -0.18178187 0.95722243 -2.62812296] [ 0. 0. 0. 1. ]] SLAMing on 169.83134618399998 meters Centerline goodness : 0.865419 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.80, Z:-2.63 [[ 0.70737579 -0.64540085 -0.28823123 -2.10022022] [ 0.67008754 0.74208434 -0.01713264 -0.80453363] [ 0.2249493 -0.18102094 0.95740756 -2.62773359] [ 0. 0. 0. 1. ]] SLAMing on 169.86134618399998 meters Centerline goodness : 0.864899 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.81, Z:-2.63 [[ 0.70565318 -0.6481708 -0.28623104 -2.10140378] [ 0.67210916 0.74020256 -0.01922125 -0.80564301] [ 0.2243276 -0.17881497 0.95796781 -2.62647931] [ 0. 0. 0. 1. ]] SLAMing on 169.89134618399999 meters Centerline goodness : 0.864598 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.80, Z:-2.63 [[ 0.70284078 -0.6472819 -0.29502708 -2.08769736] [ 0.6739149 0.73865412 -0.01512598 -0.80238757] [ 0.22771374 -0.18819199 0.95536916 -2.62850395] [ 0. 0. 0. 1. ]] SLAMing on 169.921346184 meters Centerline goodness : 0.864875 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.80, Z:-2.63 [[ 0.70177022 -0.64839107 -0.29513995 -2.08575347] [ 0.67503927 0.7376211 -0.0153977 -0.80247763] [ 0.22768518 -0.18842541 0.95532995 -2.62822588] [ 0. 0. 0. 1. ]] SLAMing on 169.951346184 meters Centerline goodness : 0.865802 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.80, Z:-2.63 [[ 0.70105622 -0.64834993 -0.29692177 -2.08079237] [ 0.67549795 0.7372123 -0.01485073 -0.80153798] [ 0.22852285 -0.19015885 0.95478632 -2.62851876] [ 0. 0. 0. 1. ]] SLAMing on 169.981346184 meters Centerline goodness : 0.865736 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.80, Z:-2.63 [[ 0.70153741 -0.65246361 -0.28659466 -2.07705709] [ 0.67922736 0.73388295 -0.00812474 -0.79794529] [ 0.21562804 -0.18896313 0.95801748 -2.63458249] [ 0. 0. 0. 1. ]] SLAMing on 170.011346184 meters Centerline goodness : 0.866710 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.80, Z:-2.63 [[ 0.70008071 -0.65480756 -0.2848053 -2.07816919] [ 0.68102415 0.73220055 -0.00940496 -0.79937389] [ 0.21469303 -0.18737506 0.95853925 -2.63361283] [ 0. 0. 0. 1. ]] SLAMing on 170.041346184 meters Centerline goodness : 0.865704 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.80, Z:-2.63 [[ 0.69967783 -0.65466516 -0.28611965 -2.07473733] [ 0.68122228 0.73202058 -0.00906001 -0.79776291] [ 0.21537675 -0.18857199 0.95815106 -2.63432319] [ 0. 0. 0. 1. ]] SLAMing on 170.071346184 meters Centerline goodness : 0.865818 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.80, Z:-2.63 [[ 0.69947308 -0.65494011 -0.28599102 -2.07416557] [ 0.68146386 0.7317946 -0.00914718 -0.79792841] [ 0.21527754 -0.18849434 0.95818864 -2.63438056] [ 0. 0. 0. 1. ]] SLAMing on 170.101346184 meters Centerline goodness : 0.867185 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.80, Z:-2.64 [[ 0.6997197 -0.65438278 -0.28666272 -2.07202474] [ 0.68113824 0.73210411 -0.00861804 -0.79788682] [ 0.21550645 -0.18922673 0.9579928 -2.63509438] [ 0. 0. 0. 1. ]] SLAMing on 170.131346184 meters Centerline goodness : 0.867555 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.80, Z:-2.64 [[ 0.6998958 -0.65399878 -0.2871088 -2.07073606] [ 0.68089721 0.7323318 -0.00831392 -0.79767909] [ 0.2156962 -0.1896727 0.9578619 -2.63543397] [ 0. 0. 0. 1. ]] SLAMing on 170.161346184 meters Centerline goodness : 0.867477 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.80, Z:-2.64 [[ 0.6998062 -0.65411616 -0.2870598 -2.07076282] [ 0.68103819 0.73220212 -0.00818815 -0.79766337] [ 0.2155418 -0.18976857 0.95787767 -2.63549409] [ 0. 0. 0. 1. ]] SLAMing on 170.191346184 meters Centerline goodness : 0.868524 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.80, Z:-2.64 [[ 0.69977724 -0.65379001 -0.28787226 -2.06877551] [ 0.68092505 0.73231023 -0.00792457 -0.79673294] [ 0.21599281 -0.190474 0.95763603 -2.63596011] [ 0. 0. 0. 1. ]] SLAMing on 170.221346184 meters Centerline goodness : 0.868707 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.80, Z:-2.64 [[ 0.6993948 -0.65405059 -0.28820955 -2.06617229] [ 0.68130034 0.73196263 -0.00778141 -0.79623453] [ 0.21604805 -0.19091499 0.95753575 -2.63706843] [ 0. 0. 0. 1. ]] SLAMing on 170.251346184 meters Centerline goodness : 0.868831 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.80, Z:-2.64 [[ 0.69917718 -0.65391002 -0.28905528 -2.06351874] [ 0.68139062 0.73188139 -0.00751346 -0.79514282] [ 0.21646731 -0.19170632 0.95728292 -2.63783112] [ 0. 0. 0. 1. ]] SLAMing on 170.281346184 meters Centerline goodness : 0.867716 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.79, Z:-2.64 [[ 0.69895872 -0.65343476 -0.29065396 -2.06027538] [ 0.6813945 0.73188489 -0.00678608 -0.7940526 ] [ 0.2171595 -0.19330682 0.95680417 -2.63808054] [ 0. 0. 0. 1. ]] SLAMing on 170.311346184 meters Centerline goodness : 0.867716 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.79, Z:-2.64 [[ 0.69895872 -0.65343476 -0.29065396 -2.06027538] [ 0.6813945 0.73188489 -0.00678608 -0.7940526 ] [ 0.2171595 -0.19330682 0.95680417 -2.63808054] [ 0. 0. 0. 1. ]] SLAMing on 170.341346184 meters Centerline goodness : 0.869529 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.79, Z:-2.64 [[ 0.69850197 -0.65296637 -0.29279671 -2.05653604] [ 0.68156089 0.73173759 -0.00590312 -0.79250017] [ 0.21810489 -0.19543544 0.95615649 -2.63791847] [ 0. 0. 0. 1. ]] SLAMing on 170.371346184 meters Centerline goodness : 0.868783 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.79, Z:-2.64 [[ 0.69692877 -0.65414799 -0.29390594 -2.05313739] [ 0.68305147 0.73034688 -0.00584106 -0.79158583] [ 0.21847421 -0.19668208 0.9558165 -2.63766628] [ 0. 0. 0. 1. ]] SLAMing on 170.401346184 meters Centerline goodness : 0.869259 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.79, Z:-2.64 [[ 0.69652227 -0.65417427 -0.29480968 -2.04880858] [ 0.68326388 0.73014781 -0.00588652 -0.79041977] [ 0.21910545 -0.19733271 0.95553786 -2.63894001] [ 0. 0. 0. 1. ]] SLAMing on 170.431346184 meters Centerline goodness : 0.868409 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.79, Z:-2.64 [[ 0.69679617 -0.65400748 -0.29453235 -2.04663653] [ 0.68297105 0.73041964 -0.00613953 -0.79052455] [ 0.21914751 -0.19687906 0.95562179 -2.64033589] [ 0. 0. 0. 1. ]] SLAMing on 170.46134618399998 meters Centerline goodness : 0.868956 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.79, Z:-2.64 [[ 0.69742309 -0.65292961 -0.29543858 -2.04343039] [ 0.68213645 0.73120264 -0.00570724 -0.7901932 ] [ 0.2197519 -0.19754906 0.95534469 -2.64148051] [ 0. 0. 0. 1. ]] SLAMing on 170.49134618399998 meters Centerline goodness : 0.871785 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.79, Z:-2.64 [[ 0.69915022 -0.65118268 -0.29521195 -2.04542648] [ 0.68055819 0.73268087 -0.00439236 -0.79323265] [ 0.21915637 -0.19783799 0.95542169 -2.64062554] [ 0. 0. 0. 1. ]] SLAMing on 170.52134618399998 meters Centerline goodness : 0.874583 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.79, Z:-2.64 [[ 7.00701147e-01 -6.48269918e-01 -2.97932906e-01 -2.04336116e+00] [ 6.78748766e-01 7.34368866e-01 -1.57486826e-03 -7.93505883e-01] [ 2.19813590e-01 -2.01118080e-01 9.54585514e-01 -2.64042554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55134618399998 meters Centerline goodness : 0.874663 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.79, Z:-2.64 [[ 7.02358316e-01 -6.45488565e-01 -3.00062173e-01 -2.04269336e+00] [ 6.76888297e-01 7.36085145e-01 9.45073575e-04 -7.94721902e-01] [ 2.20261274e-01 -2.03772354e-01 9.53919178e-01 -2.63951918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58134618399998 meters Centerline goodness : 0.877620 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.79, Z:-2.64 [[ 0.70580945 -0.64653713 -0.28952161 -2.04411831] [ 0.67724964 0.73570867 0.00810377 -0.79245702] [ 0.20776417 -0.20179812 0.95713717 -2.64181332] [ 0. 0. 0. 1. ]] SLAMing on 170.61134618399998 meters Centerline goodness : 0.877404 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.79, Z:-2.64 [[ 0.70651041 -0.64535959 -0.29043767 -2.04059004] [ 0.67624561 0.73663054 0.00820477 -0.7912481 ] [ 0.20865023 -0.20220396 0.95685874 -2.64351064] [ 0. 0. 0. 1. ]] SLAMing on 170.64134618399999 meters Centerline goodness : 0.876618 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.79, Z:-2.65 [[ 0.70673789 -0.64489922 -0.29090643 -2.03603161] [ 0.67583262 0.7370113 0.00803869 -0.79023407] [ 0.20921718 -0.2022853 0.95671774 -2.64594367] [ 0. 0. 0. 1. ]] SLAMing on 170.671346184 meters Centerline goodness : 0.878314 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.79, Z:-2.65 [[ 0.70651457 -0.64490349 -0.29143892 -2.03239453] [ 0.67597682 0.73687793 0.00814002 -0.79018304] [ 0.20950538 -0.20275699 0.95655481 -2.64706093] [ 0. 0. 0. 1. ]] SLAMing on 170.701346184 meters Centerline goodness : 0.877831 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.79, Z:-2.65 [[ 0.7037653 -0.64822485 -0.29072143 -2.03089586] [ 0.6789448 0.7341597 0.00659472 -0.790227 ] [ 0.2091611 -0.20202494 0.95678501 -2.64575261] [ 0. 0. 0. 1. ]] SLAMing on 170.731346184 meters Centerline goodness : 0.878686 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.79, Z:-2.65 [[ 0.70262887 -0.64851796 -0.29280903 -2.02659462] [ 0.67984714 0.73331844 0.00720623 -0.78873658] [ 0.21004889 -0.20412869 0.95614379 -2.6452043 ] [ 0. 0. 0. 1. ]] SLAMing on 170.761346184 meters Centerline goodness : 0.880758 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.79, Z:-2.64 [[ 0.70190103 -0.64882674 -0.29386869 -2.02403559] [ 0.6805152 0.73269349 0.00770137 -0.78890873] [ 0.21031882 -0.20538771 0.95581477 -2.644445 ] [ 0. 0. 0. 1. ]] SLAMing on 170.791346184 meters Centerline goodness : 0.881828 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.79, Z:-2.65 [[ 0.70252693 -0.65447825 -0.27948904 -2.02466314] [ 0.68417062 0.72922118 0.01212528 -0.78918255] [ 0.1958736 -0.19973653 0.96007232 -2.64806312] [ 0. 0. 0. 1. ]] SLAMing on 170.821346184 meters Centerline goodness : 0.881283 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.79, Z:-2.65 [[ 0.70221793 -0.65537812 -0.27815373 -2.02354996] [ 0.68457341 0.72886202 0.01092741 -0.79034903] [ 0.1955741 -0.19809007 0.96047441 -2.64866808] [ 0. 0. 0. 1. ]] SLAMing on 170.851346184 meters Centerline goodness : 0.882294 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.79, Z:-2.65 [[ 0.70199593 -0.65544529 -0.27855554 -2.02005561] [ 0.68478076 0.72866337 0.01118028 -0.79115227] [ 0.19564516 -0.19859798 0.96035505 -2.64939532] [ 0. 0. 0. 1. ]] SLAMing on 170.881346184 meters Centerline goodness : 0.882584 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.79, Z:-2.65 [[ 0.7007599 -0.65704056 -0.27790875 -2.01577233] [ 0.68615308 0.72738186 0.01046811 -0.79425251] [ 0.19526781 -0.19802357 0.96055044 -2.64928042] [ 0. 0. 0. 1. ]] SLAMing on 170.911346184 meters Centerline goodness : 0.882793 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.79, Z:-2.65 [[ 0.7003135 -0.65660489 -0.28005537 -2.00962019] [ 0.68635003 0.72718223 0.01138628 -0.79413909] [ 0.19617501 -0.20018998 0.95991632 -2.64962498] [ 0. 0. 0. 1. ]] SLAMing on 170.941346184 meters Centerline goodness : 0.883572 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.79, Z:-2.65 [[ 0.69998945 -0.65597237 -0.28233848 -2.00413642] [ 0.68642971 0.72708781 0.01255247 -0.79396158] [ 0.19705079 -0.20259212 0.95923272 -2.64965452] [ 0. 0. 0. 1. ]] SLAMing on 170.971346184 meters Centerline goodness : 0.884708 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.80, Z:-2.65 [[ 0.69893043 -0.65088497 -0.29638659 -2.00130268] [ 0.68377207 0.72962512 0.01014585 -0.79926033] [ 0.20964732 -0.20975211 0.95501416 -2.64596272] [ 0. 0. 0. 1. ]] SLAMing on 171.001346184 meters Centerline goodness : 0.881980 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.80, Z:-2.65 [[ 0.69904387 -0.64973911 -0.29862478 -1.99468572] [ 0.68347868 0.72987343 0.01190212 -0.80139872] [ 0.21022502 -0.21242378 0.95429638 -2.64613101] [ 0. 0. 0. 1. ]] SLAMing on 171.031346184 meters Centerline goodness : 0.881750 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.80, Z:-2.65 [[ 0.69911144 -0.64916745 -0.29970788 -1.98895862] [ 0.68335903 0.72996814 0.01292112 -0.80341555] [ 0.21038924 -0.21384139 0.95394351 -2.64694391] [ 0. 0. 0. 1. ]] SLAMing on 171.061346184 meters Centerline goodness : 0.881337 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.81, Z:-2.65 [[ 0.69907028 -0.64846231 -0.30132602 -1.98196576] [ 0.68323836 0.73006147 0.01398579 -0.80519676] [ 0.21091726 -0.21565455 0.9534186 -2.6477057 ] [ 0. 0. 0. 1. ]] SLAMing on 171.091346184 meters Centerline goodness : 0.880844 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.81, Z:-2.65 [[ 0.6973761 -0.64831164 -0.30554638 -1.97024105] [ 0.68476246 0.72856774 0.01701224 -0.80933051] [ 0.211582 -0.22109062 0.95202521 -2.64804161] [ 0. 0. 0. 1. ]] SLAMing on 171.121346184 meters Centerline goodness : 0.883079 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.82, Z:-2.65 [[ 0.69536632 -0.64461686 -0.31770235 -1.96723697] [ 0.68329862 0.72999704 0.01439852 -0.81691239] [ 0.22264025 -0.22709783 0.94808117 -2.64592182] [ 0. 0. 0. 1. ]] SLAMing on 171.151346184 meters Centerline goodness : 0.880416 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.82, Z:-2.65 [[ 0.69480104 -0.6443337 -0.31950837 -1.96194995] [ 0.68371175 0.72958801 0.01547847 -0.81767052] [ 0.22313618 -0.22920608 0.94745703 -2.64553074] [ 0. 0. 0. 1. ]] SLAMing on 171.181346184 meters Centerline goodness : 0.879516 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.82, Z:-2.64 [[ 0.69417653 -0.64445863 -0.32061194 -1.95758145] [ 0.68448414 0.72882937 0.01700638 -0.82232506] [ 0.22271149 -0.23125922 0.94705795 -2.64362242] [ 0. 0. 0. 1. ]] SLAMing on 171.21134618399998 meters Centerline goodness : 0.879387 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.82, Z:-2.64 [[ 0.69425291 -0.64340235 -0.32256211 -1.95264806] [ 0.68414612 0.72911919 0.01814669 -0.82276795] [ 0.2235106 -0.23327801 0.94637433 -2.64354465] [ 0. 0. 0. 1. ]] SLAMing on 171.24134618399998 meters Centerline goodness : 0.879281 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.82, Z:-2.64 [[ 0.69461821 -0.64233066 -0.32390873 -1.9479078 ] [ 0.68359296 0.72961381 0.01908807 -0.82370196] [ 0.22406743 -0.23468065 0.94589576 -2.64406992] [ 0. 0. 0. 1. ]] SLAMing on 171.27134618399998 meters Centerline goodness : 0.878427 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.83, Z:-2.64 [[ 0.69482146 -0.64134741 -0.32541764 -1.94118134] [ 0.68330809 0.72984015 0.02057675 -0.82695679] [ 0.22430601 -0.23665768 0.94534647 -2.64450146] [ 0. 0. 0. 1. ]] SLAMing on 171.30134618399998 meters Centerline goodness : 0.880515 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.83, Z:-2.64 [[ 0.69505495 -0.64032026 -0.32693819 -1.93779835] [ 0.68286621 0.73022498 0.0215689 -0.82731206] [ 0.22492743 -0.23824661 0.94479956 -2.64426544] [ 0. 0. 0. 1. ]] SLAMing on 171.33134618399998 meters Centerline goodness : 0.880907 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.83, Z:-2.64 [[ 0.69515817 -0.63925135 -0.32880515 -1.93437951] [ 0.68246785 0.73056846 0.02252466 -0.82671572] [ 0.22581575 -0.24005715 0.94412913 -2.64400348] [ 0. 0. 0. 1. ]] SLAMing on 171.36134618399998 meters Centerline goodness : 0.878721 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.83, Z:-2.64 [[ 0.69540825 -0.63840841 -0.3299122 -1.93157177] [ 0.68207259 0.73091207 0.02333498 -0.82696057] [ 0.22623957 -0.24125141 0.94372317 -2.64410683] [ 0. 0. 0. 1. ]] SLAMing on 171.39134618399999 meters Centerline goodness : 0.881575 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.83, Z:-2.64 [[ 0.6960173 -0.63671281 -0.33189866 -1.92717554] [ 0.68124915 0.73162143 0.02509338 -0.82915191] [ 0.2268469 -0.24357111 0.94298123 -2.64343034] [ 0. 0. 0. 1. ]] SLAMing on 171.421346184 meters Centerline goodness : 0.882165 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.83, Z:-2.64 [[ 0.69633665 -0.6357083 -0.33315196 -1.92470591] [ 0.68075012 0.73205456 0.02598844 -0.82964438] [ 0.22736435 -0.24488994 0.94251492 -2.64307908] [ 0. 0. 0. 1. ]] SLAMing on 171.451346184 meters Centerline goodness : 0.883147 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.83, Z:-2.64 [[ 0.69678011 -0.63449805 -0.33452906 -1.92222234] [ 0.68008806 0.73263482 0.02695272 -0.82972865] [ 0.22798619 -0.24628934 0.94199992 -2.64293539] [ 0. 0. 0. 1. ]] SLAMing on 171.481346184 meters Centerline goodness : 0.882449 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.83, Z:-2.64 [[ 0.69740127 -0.63305381 -0.33596777 -1.92002536] [ 0.67928788 0.73332685 0.02827914 -0.83118333] [ 0.22847197 -0.24794074 0.94144886 -2.64210353] [ 0. 0. 0. 1. ]] SLAMing on 171.511346184 meters Centerline goodness : 0.882752 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.83, Z:-2.64 [[ 0.697346 -0.63230731 -0.33748483 -1.91624283] [ 0.67906891 0.73350645 0.02887391 -0.83038092] [ 0.22929012 -0.24931056 0.94088803 -2.64235438] [ 0. 0. 0. 1. ]] SLAMing on 171.541346184 meters Centerline goodness : 0.882252 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.83, Z:-2.64 [[ 0.69730431 -0.63145532 -0.33916201 -1.91240955] [ 0.678858 0.73366628 0.02975904 -0.83022647] [ 0.23004023 -0.25099396 0.94025716 -2.64216967] [ 0. 0. 0. 1. ]] SLAMing on 171.571346184 meters Centerline goodness : 0.881442 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.83, Z:-2.64 [[ 0.69618462 -0.63171527 -0.3409733 -1.90918442] [ 0.67979021 0.7327779 0.03036162 -0.83045208] [ 0.2306778 -0.25292761 0.93958256 -2.64017355] [ 0. 0. 0. 1. ]] SLAMing on 171.601346184 meters Centerline goodness : 0.883415 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.83, Z:-2.64 [[ 0.69549816 -0.63153777 -0.34269863 -1.90526884] [ 0.68021628 0.73236164 0.03085843 -0.82914793] [ 0.23149107 -0.25457117 0.93893845 -2.63989006] [ 0. 0. 0. 1. ]] SLAMing on 171.631346184 meters Centerline goodness : 0.881943 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.83, Z:-2.64 [[ 0.69490475 -0.63133697 -0.34426882 -1.90079079] [ 0.68055751 0.73202688 0.03127502 -0.82787626] [ 0.23226895 -0.25602789 0.93835007 -2.64022602] [ 0. 0. 0. 1. ]] SLAMing on 171.661346184 meters Centerline goodness : 0.884152 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.83, Z:-2.64 [[ 0.69321454 -0.63406923 -0.34265114 -1.89993043] [ 0.68234048 0.7304703 0.02871609 -0.82678459] [ 0.23208849 -0.25371116 0.93902374 -2.64057868] [ 0. 0. 0. 1. ]] SLAMing on 171.691346184 meters Centerline goodness : 0.882541 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.83, Z:-2.64 [[ 0.69267936 -0.63382697 -0.34417826 -1.8957068 ] [ 0.68265662 0.73015318 0.02926206 -0.82622447] [ 0.23275577 -0.25522479 0.93844822 -2.64049133] [ 0. 0. 0. 1. ]] SLAMing on 171.721346184 meters Centerline goodness : 0.884996 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.83, Z:-2.64 [[ 0.69112528 -0.63451751 -0.34602511 -1.89273515] [ 0.68402115 0.72885799 0.02968327 -0.82584488] [ 0.2333686 -0.25720335 0.93775558 -2.63826695] [ 0. 0. 0. 1. ]] SLAMing on 171.751346184 meters Centerline goodness : 0.883864 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.82, Z:-2.64 [[ 0.69059147 -0.63419594 -0.34767648 -1.88976728] [ 0.68428407 0.72859094 0.03017554 -0.82425104] [ 0.23417673 -0.25874845 0.93712886 -2.637943 ] [ 0. 0. 0. 1. ]] SLAMing on 171.781346184 meters Centerline goodness : 0.884819 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.83, Z:-2.63 [[ 0.68785728 -0.62939507 -0.3615442 -1.88989802] [ 0.68197886 0.7309432 0.02503726 -0.82730623] [ 0.24850995 -0.26378756 0.93201874 -2.62996684] [ 0. 0. 0. 1. ]] SLAMing on 171.811346184 meters Centerline goodness : 0.884673 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.83, Z:-2.63 [[ 0.68792725 -0.62917653 -0.36179138 -1.88899582] [ 0.6818392 0.73107114 0.02510552 -0.82661802] [ 0.24869943 -0.26395432 0.93192098 -2.63045255] [ 0. 0. 0. 1. ]] SLAMing on 171.841346184 meters Centerline goodness : 0.884558 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.83, Z:-2.63 [[ 0.68779061 -0.62938339 -0.36169134 -1.88777787] [ 0.68196333 0.73096375 0.02485967 -0.82650922] [ 0.248737 -0.26375848 0.9319664 -2.63098069] [ 0. 0. 0. 1. ]] SLAMing on 171.871346184 meters Centerline goodness : 0.885703 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.83, Z:-2.63 [[ 0.68784318 -0.62890225 -0.36242754 -1.88383959] [ 0.68175887 0.73114354 0.02517848 -0.82649507] [ 0.24915175 -0.26440704 0.93167179 -2.63198419] [ 0. 0. 0. 1. ]] SLAMing on 171.901346184 meters Centerline goodness : 0.886704 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.83, Z:-2.63 [[ 0.68716791 -0.62895634 -0.3636127 -1.88210433] [ 0.68234064 0.73057905 0.0257974 -0.82656215] [ 0.24942238 -0.26583487 0.93119294 -2.63071048] [ 0. 0. 0. 1. ]] SLAMing on 171.931346184 meters Centerline goodness : 0.886423 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.82, Z:-2.63 [[ 0.68636155 -0.62925104 -0.36462439 -1.88225689] [ 0.68299034 0.72996793 0.02590399 -0.82478532] [ 0.249864 -0.26681444 0.93079431 -2.62938856] [ 0. 0. 0. 1. ]] SLAMing on 171.96134618399998 meters Centerline goodness : 0.886627 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.82, Z:-2.63 [[ 0.68549131 -0.62965241 -0.36556739 -1.88186598] [ 0.68367576 0.72932992 0.02579401 -0.82243209] [ 0.25037798 -0.26761113 0.9304274 -2.62873642] [ 0. 0. 0. 1. ]] SLAMing on 171.99134618399998 meters Centerline goodness : 0.886724 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.82, Z:-2.63 [[ 0.6850391 -0.62974183 -0.36626037 -1.8803811 ] [ 0.68396878 0.72905702 0.0257403 -0.82085571] [ 0.25081495 -0.26814377 0.93015632 -2.62891946] [ 0. 0. 0. 1. ]] SLAMing on 172.02134618399998 meters Centerline goodness : 0.885755 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.82, Z:-2.63 [[ 0.68476915 -0.62925482 -0.36759976 -1.87651049] [ 0.68398869 0.72902169 0.02620769 -0.82035086] [ 0.25149688 -0.2693803 0.92961474 -2.62908022] [ 0. 0. 0. 1. ]] SLAMing on 172.05134618399998 meters Centerline goodness : 0.887048 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.82, Z:-2.63 [[ 0.68473221 -0.62879647 -0.3684519 -1.87319433] [ 0.68385352 0.72913654 0.02653819 -0.82011902] [ 0.25196462 -0.27013868 0.92926795 -2.62953361] [ 0. 0. 0. 1. ]] SLAMing on 172.08134618399998 meters Centerline goodness : 0.886843 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.82, Z:-2.63 [[ 0.6844872 -0.62846197 -0.36947642 -1.86975088] [ 0.68392303 0.72905676 0.02693571 -0.81985866] [ 0.25244121 -0.27113059 0.92884963 -2.62963649] [ 0. 0. 0. 1. ]] SLAMing on 172.11134618399998 meters Centerline goodness : 0.889429 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.82, Z:-2.63 [[ 0.68353565 -0.6272652 -0.37325245 -1.86626943] [ 0.68439712 0.7285322 0.02900699 -0.81765436] [ 0.25373135 -0.27528022 0.92727623 -2.62740022] [ 0. 0. 0. 1. ]] SLAMing on 172.14134618399999 meters Centerline goodness : 0.890037 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.82, Z:-2.63 [[ 0.68309397 -0.62706136 -0.37440177 -1.8659408 ] [ 0.68460379 0.72832932 0.02922408 -0.81543664] [ 0.2543625 -0.27627966 0.92680595 -2.62675837] [ 0. 0. 0. 1. ]] SLAMing on 172.171346184 meters Centerline goodness : 0.889901 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.81, Z:-2.63 [[ 0.68265408 -0.6273042 -0.37479709 -1.86703898] [ 0.68493679 0.7280237 0.0290359 -0.81377786] [ 0.25464682 -0.27653379 0.92665207 -2.6260143 ] [ 0. 0. 0. 1. ]] SLAMing on 172.201346184 meters Centerline goodness : 0.889901 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.81, Z:-2.63 [[ 0.68265408 -0.6273042 -0.37479709 -1.86703898] [ 0.68493679 0.7280237 0.0290359 -0.81377786] [ 0.25464682 -0.27653379 0.92665207 -2.6260143 ] [ 0. 0. 0. 1. ]] SLAMing on 172.231346184 meters Centerline goodness : 0.890181 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.81, Z:-2.63 [[ 0.6826419 -0.62691831 -0.37546434 -1.86745946] [ 0.68479987 0.72814347 0.0292614 -0.81217848] [ 0.2550474 -0.27709299 0.92637482 -2.62571656] [ 0. 0. 0. 1. ]] SLAMing on 172.261346184 meters Centerline goodness : 0.890010 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.81, Z:-2.62 [[ 0.68429269 -0.62300298 -0.37896016 -1.86600176] [ 0.68268355 0.72998437 0.03264967 -0.81177786] [ 0.25629415 -0.28105179 0.92483685 -2.62456826] [ 0. 0. 0. 1. ]] SLAMing on 172.291346184 meters Centerline goodness : 0.890683 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.81, Z:-2.62 [[ 0.68440413 -0.62317623 -0.37847374 -1.86659111] [ 0.68258328 0.73009857 0.03218915 -0.8113556 ] [ 0.25626362 -0.28037024 0.92505215 -2.6249597 ] [ 0. 0. 0. 1. ]] SLAMing on 172.321346184 meters Centerline goodness : 0.890897 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.81, Z:-2.63 [[ 0.68451757 -0.62290037 -0.37872263 -1.86636599] [ 0.68234976 0.73031996 0.03211803 -0.80991936] [ 0.25658236 -0.28040665 0.92495276 -2.625493 ] [ 0. 0. 0. 1. ]] SLAMing on 172.351346184 meters Centerline goodness : 0.892724 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.81, Z:-2.63 [[ 0.6854248 -0.62092134 -0.38032818 -1.86713667] [ 0.68100857 0.73153075 0.0330165 -0.80569091] [ 0.25772111 -0.28163708 0.92426207 -2.62660109] [ 0. 0. 0. 1. ]] SLAMing on 172.381346184 meters Centerline goodness : 0.892980 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.80, Z:-2.63 [[ 0.68543712 -0.62134013 -0.37962138 -1.8687667 ] [ 0.68097203 0.73160533 0.03210503 -0.80345647] [ 0.25778488 -0.28051753 0.9245847 -2.62774043] [ 0. 0. 0. 1. ]] SLAMing on 172.411346184 meters Centerline goodness : 0.893336 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.80, Z:-2.63 [[ 0.68547908 -0.62157537 -0.37916023 -1.87124639] [ 0.68082535 0.73178041 0.03121333 -0.80091126] [ 0.25806059 -0.27953798 0.92480444 -2.62823012] [ 0. 0. 0. 1. ]] SLAMing on 172.441346184 meters Centerline goodness : 0.893796 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.80, Z:-2.63 [[ 0.68569499 -0.62147254 -0.37893833 -1.87448206] [ 0.68049752 0.73210746 0.03068852 -0.79782035] [ 0.25835151 -0.27890956 0.92491294 -2.62866746] [ 0. 0. 0. 1. ]] SLAMing on 172.471346184 meters Centerline goodness : 0.894127 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.78, Z:-2.63 [[ 0.68817408 -0.6237944 -0.37053607 -1.87552247] [ 0.68126726 0.73123304 0.03425145 -0.78200767] [ 0.24958236 -0.27600505 0.92818633 -2.63225402] [ 0. 0. 0. 1. ]] SLAMing on 172.501346184 meters Centerline goodness : 0.895448 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.78, Z:-2.63 [[ 0.68821812 -0.62427909 -0.36963688 -1.87802744] [ 0.68113111 0.73142265 0.03288337 -0.77868588] [ 0.24983239 -0.27440211 0.92859424 -2.63371062] [ 0. 0. 0. 1. ]] SLAMing on 172.531346184 meters Centerline goodness : 0.894286 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.77, Z:-2.64 [[ 0.68970197 -0.62958029 -0.35768681 -1.87768405] [ 0.68351235 0.72911768 0.03461602 -0.76884015] [ 0.23900221 -0.26835809 0.93319981 -2.63769049] [ 0. 0. 0. 1. ]] SLAMing on 172.561346184 meters Centerline goodness : 0.897261 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.76, Z:-2.64 [[ 0.68945658 -0.62881373 -0.35950371 -1.88130135] [ 0.68324365 0.72937168 0.03456961 -0.76046213] [ 0.24047398 -0.26946287 0.9325031 -2.63834088] [ 0. 0. 0. 1. ]] SLAMing on 172.591346184 meters Centerline goodness : 0.896342 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.75, Z:-2.64 [[ 0.68997541 -0.63448941 -0.34836348 -1.88267457] [ 0.68637645 0.72632688 0.03655998 -0.74903765] [ 0.22982883 -0.26433398 0.93664628 -2.64090159] [ 0. 0. 0. 1. ]] SLAMing on 172.621346184 meters Centerline goodness : 0.895896 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.74, Z:-2.64 [[ 0.68932974 -0.63545629 -0.34787901 -1.8849952 ] [ 0.68685009 0.72595936 0.03492809 -0.74432933] [ 0.23035074 -0.2630177 0.93688859 -2.64199651] [ 0. 0. 0. 1. ]] SLAMing on 172.651346184 meters Centerline goodness : 0.895501 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.74, Z:-2.65 [[ 0.68931091 -0.63654552 -0.34591946 -1.88825512] [ 0.68666715 0.72627347 0.03186012 -0.73702952] [ 0.23095171 -0.25949306 0.93772313 -2.64617598] [ 0. 0. 0. 1. ]] SLAMing on 172.681346184 meters Centerline goodness : 0.898743 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.73, Z:-2.65 [[ 0.69075818 -0.64059439 -0.33539822 -1.8868534 ] [ 0.68846483 0.72446212 0.03421705 -0.72619517] [ 0.22106406 -0.25454559 0.94145485 -2.64960192] [ 0. 0. 0. 1. ]] SLAMing on 172.71134618399998 meters Centerline goodness : 0.901005 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.72, Z:-2.65 [[ 0.69117057 -0.63933188 -0.33695397 -1.88755733] [ 0.68763994 0.72523362 0.03446024 -0.72093951] [ 0.22233882 -0.25552091 0.94089028 -2.65088683] [ 0. 0. 0. 1. ]] SLAMing on 172.74134618399998 meters Centerline goodness : 0.899945 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.71, Z:-2.65 [[ 0.69306436 -0.64320245 -0.3255033 -1.89044882] [ 0.68933613 0.72343276 0.03821953 -0.71207727] [ 0.21089686 -0.25086978 0.94476816 -2.65443655] [ 0. 0. 0. 1. ]] SLAMing on 172.77134618399998 meters Centerline goodness : 0.899194 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.71, Z:-2.66 [[ 0.69376757 -0.64147146 -0.32741552 -1.89089274] [ 0.68823908 0.72443412 0.03901507 -0.70752753] [ 0.21216392 -0.25240754 0.94407463 -2.6554063 ] [ 0. 0. 0. 1. ]] SLAMing on 172.80134618399998 meters Centerline goodness : 0.900928 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.70, Z:-2.66 [[ 0.69650566 -0.64377422 -0.31691422 -1.89336603] [ 0.68867125 0.72378175 0.04326532 -0.69597442] [ 0.20152363 -0.24838425 0.94746688 -2.66063762] [ 0. 0. 0. 1. ]] SLAMing on 172.83134618399998 meters Centerline goodness : 0.900190 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.69, Z:-2.66 [[ 0.69712038 -0.64262898 -0.31788547 -1.89292457] [ 0.68780707 0.72458587 0.04355169 -0.69180856] [ 0.20234774 -0.24900465 0.94712833 -2.66292339] [ 0. 0. 0. 1. ]] SLAMing on 172.86134618399998 meters Centerline goodness : 0.898669 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.69, Z:-2.66 [[ 0.69715119 -0.64245122 -0.31817706 -1.8930106 ] [ 0.68758378 0.72483072 0.04299955 -0.68766426] [ 0.2029994 -0.24875058 0.94705564 -2.6649291 ] [ 0. 0. 0. 1. ]] SLAMing on 172.89134618399999 meters Centerline goodness : 0.895412 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.68, Z:-2.67 [[ 0.69815734 -0.64115832 -0.31857863 -1.88231861] [ 0.68774631 0.72425675 0.04956983 -0.67584414] [ 0.19895061 -0.25370882 0.94659943 -2.6746062 ] [ 0. 0. 0. 1. ]] SLAMing on 172.921346184 meters Centerline goodness : 0.897935 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.67, Z:-2.68 [[ 0.69807227 -0.64091777 -0.31924836 -1.87972221] [ 0.68760711 0.72441349 0.04920928 -0.67216853] [ 0.19972872 -0.25386907 0.94639259 -2.67722841] [ 0. 0. 0. 1. ]] SLAMing on 172.951346184 meters Centerline goodness : 0.897403 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.67, Z:-2.68 [[ 0.69825261 -0.64015052 -0.32039132 -1.87791171] [ 0.6871604 0.72482732 0.04935515 -0.66908186] [ 0.20063366 -0.25462259 0.94599866 -2.67873045] [ 0. 0. 0. 1. ]] SLAMing on 172.981346184 meters Centerline goodness : 0.898855 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.66, Z:-2.68 [[ 0.69904186 -0.63658074 -0.32573828 -1.87655241] [ 0.68579029 0.72585135 0.05321183 -0.66299773] [ 0.20256394 -0.26058545 0.94396137 -2.67844553] [ 0. 0. 0. 1. ]] SLAMing on 173.011346184 meters Centerline goodness : 0.898874 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.65, Z:-2.68 [[ 0.70026708 -0.63998313 -0.31630303 -1.87575927] [ 0.68749196 0.72392718 0.05730835 -0.65440897] [ 0.19230398 -0.25758694 0.94692563 -2.67979846] [ 0. 0. 0. 1. ]] SLAMing on 173.041346184 meters Centerline goodness : 0.897453 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.65, Z:-2.68 [[ 0.70026815 -0.63920405 -0.31787215 -1.87374002] [ 0.6871834 0.72419886 0.05757599 -0.65087426] [ 0.19339984 -0.2587551 0.9463838 -2.68107977] [ 0. 0. 0. 1. ]] SLAMing on 173.071346184 meters Centerline goodness : 0.897992 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.65, Z:-2.68 [[ 0.69971956 -0.63921722 -0.31905153 -1.87088591] [ 0.68740214 0.72404091 0.05694785 -0.64700238] [ 0.19460432 -0.25916423 0.94602487 -2.68261581] [ 0. 0. 0. 1. ]] SLAMing on 173.101346184 meters Centerline goodness : 0.896833 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.64, Z:-2.68 [[ 0.6990831 -0.639905 -0.31906803 -1.86816608] [ 0.68793731 0.72360121 0.0560674 -0.64461439] [ 0.1950002 -0.25869457 0.9460719 -2.68465125] [ 0. 0. 0. 1. ]] SLAMing on 173.131346184 meters Centerline goodness : 0.896184 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.64, Z:-2.69 [[ 0.69727619 -0.64262835 -0.31754482 -1.86643044] [ 0.68975869 0.72207444 0.05330525 -0.6412463 ] [ 0.19503553 -0.25619778 0.94674381 -2.68702334] [ 0. 0. 0. 1. ]] SLAMing on 173.161346184 meters Centerline goodness : 0.895593 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.64, Z:-2.69 [[ 0.69655903 -0.64317739 -0.31800685 -1.86631358] [ 0.69040353 0.72147698 0.05304645 -0.63949899] [ 0.19531635 -0.25650304 0.94660325 -2.68665965] [ 0. 0. 0. 1. ]] SLAMing on 173.191346184 meters Centerline goodness : 0.897702 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.64, Z:-2.68 [[ 0.69605452 -0.64288868 -0.31969087 -1.86853274] [ 0.69077303 0.72105356 0.05398504 -0.63715628] [ 0.19580787 -0.25841036 0.94598275 -2.68453909] [ 0. 0. 0. 1. ]] SLAMing on 173.221346184 meters Centerline goodness : 0.897858 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.64, Z:-2.68 [[ 0.69564621 -0.64319732 -0.31995867 -1.86928787] [ 0.69109316 0.72077392 0.05362093 -0.6352784 ] [ 0.19612903 -0.25842244 0.94591292 -2.68421166] [ 0. 0. 0. 1. ]] SLAMing on 173.251346184 meters Centerline goodness : 0.894961 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.63, Z:-2.68 [[ 0.69529042 -0.64359187 -0.31993864 -1.86959768] [ 0.69136707 0.72055728 0.05299797 -0.63351472] [ 0.19642505 -0.25804403 0.9459548 -2.68445581] [ 0. 0. 0. 1. ]] SLAMing on 173.281346184 meters Centerline goodness : 0.893606 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.63, Z:-2.69 [[ 0.69490446 -0.6442539 -0.31944436 -1.86985607] [ 0.69171798 0.72028916 0.05205542 -0.63178749] [ 0.1965554 -0.25713895 0.94617416 -2.68527465] [ 0. 0. 0. 1. ]] SLAMing on 173.311346184 meters Centerline goodness : 0.894159 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.63, Z:-2.69 [[ 0.6951 -0.64476056 -0.31799342 -1.87166647] [ 0.69150681 0.72060474 0.05046917 -0.62926419] [ 0.19660704 -0.25497573 0.94674867 -2.68723306] [ 0. 0. 0. 1. ]] SLAMing on 173.341346184 meters Centerline goodness : 0.893963 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.63, Z:-2.69 [[ 0.69530631 -0.64474898 -0.31756557 -1.87242207] [ 0.69123825 0.72090832 0.04980833 -0.62805625] [ 0.19682179 -0.25414552 0.94692726 -2.68794546] [ 0. 0. 0. 1. ]] SLAMing on 173.371346184 meters Centerline goodness : 0.893260 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.63, Z:-2.69 [[ 0.69535538 -0.64478251 -0.31739 -1.87319181] [ 0.69110852 0.72107091 0.04925209 -0.62666911] [ 0.19710381 -0.25359864 0.94701522 -2.68828757] [ 0. 0. 0. 1. ]] SLAMing on 173.401346184 meters Centerline goodness : 0.893781 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.63, Z:-2.69 [[ 0.69543434 -0.64470947 -0.31736536 -1.87421748] [ 0.69096325 0.7212306 0.04895105 -0.62558791] [ 0.1973344 -0.25333004 0.94703908 -2.68821502] [ 0. 0. 0. 1. ]] SLAMing on 173.431346184 meters Centerline goodness : 0.892561 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.62, Z:-2.69 [[ 0.69461846 -0.64555742 -0.31742844 -1.87554443] [ 0.69178485 0.72046707 0.04858941 -0.62343937] [ 0.19732949 -0.25334329 0.94703656 -2.68778492] [ 0. 0. 0. 1. ]] SLAMing on 173.46134618399998 meters Centerline goodness : 0.892758 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.62, Z:-2.69 [[ 0.69373932 -0.64621761 -0.31800718 -1.87524197] [ 0.69259682 0.71969741 0.04842816 -0.62180809] [ 0.19757382 -0.25384728 0.94685065 -2.68731843] [ 0. 0. 0. 1. ]] SLAMing on 173.49134618399998 meters Centerline goodness : 0.891810 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.62, Z:-2.69 [[ 0.69292547 -0.64705915 -0.31807036 -1.87543132] [ 0.69338273 0.7189739 0.04792623 -0.62043898] [ 0.19767318 -0.2537538 0.94685496 -2.68702082] [ 0. 0. 0. 1. ]] SLAMing on 173.52134618399998 meters Centerline goodness : 0.890589 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.62, Z:-2.69 [[ 0.69248228 -0.64762595 -0.31788193 -1.87534328] [ 0.69380775 0.71859894 0.04739577 -0.61816888] [ 0.19773489 -0.25336968 0.94694494 -2.6881912 ] [ 0. 0. 0. 1. ]] SLAMing on 173.55134618399998 meters Centerline goodness : 0.892098 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.62, Z:-2.69 [[ 0.69222849 -0.64793111 -0.31781283 -1.87667463] [ 0.6940092 0.71843459 0.04693586 -0.61685451] [ 0.19791653 -0.25305536 0.94699104 -2.68787809] [ 0. 0. 0. 1. ]] SLAMing on 173.58134618399998 meters Centerline goodness : 0.892114 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.62, Z:-2.69 [[ 0.69170978 -0.64842054 -0.317944 -1.87752259] [ 0.6944529 0.71803701 0.04645447 -0.61504542] [ 0.19817353 -0.25293015 0.94697075 -2.68770332] [ 0. 0. 0. 1. ]] SLAMing on 173.61134618399998 meters Centerline goodness : 0.890530 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.61, Z:-2.69 [[ 0.69088334 -0.64932105 -0.31790311 -1.87790447] [ 0.69518909 0.71738166 0.04555966 -0.61274032] [ 0.19847502 -0.25247918 0.94702795 -2.68787548] [ 0. 0. 0. 1. ]] SLAMing on 173.64134618399999 meters Centerline goodness : 0.889560 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.61, Z:-2.69 [[ 0.6893 -0.65106698 -0.31776926 -1.876385 ] [ 0.69660494 0.71611415 0.04384159 -0.60860554] [ 0.19901525 -0.25157964 0.94715396 -2.68953972] [ 0. 0. 0. 1. ]] SLAMing on 173.671346184 meters Centerline goodness : 0.888797 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.61, Z:-2.69 [[ 0.68853569 -0.65220972 -0.31708212 -1.87622342] [ 0.6973226 0.71549589 0.04250672 -0.60670791] [ 0.19914766 -0.25037592 0.94744504 -2.69044437] [ 0. 0. 0. 1. ]] SLAMing on 173.701346184 meters Centerline goodness : 0.886853 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.60, Z:-2.69 [[ 0.68745001 -0.65330715 -0.31717859 -1.87614743] [ 0.69828535 0.71461344 0.04153558 -0.60467177] [ 0.19952459 -0.2500348 0.94745582 -2.69014477] [ 0. 0. 0. 1. ]] SLAMing on 173.731346184 meters Centerline goodness : 0.885699 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.60, Z:-2.69 [[ 0.68653938 -0.65401391 -0.31769401 -1.87583365] [ 0.69906188 0.71388121 0.04106235 -0.60299384] [ 0.19994043 -0.25027869 0.94730375 -2.68950625] [ 0. 0. 0. 1. ]] SLAMing on 173.761346184 meters Centerline goodness : 0.887151 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.60, Z:-2.69 [[ 0.68623567 -0.65393729 -0.31850687 -1.87556874] [ 0.699228 0.71371246 0.0411671 -0.60205684] [ 0.20040162 -0.25095926 0.94702621 -2.68872393] [ 0. 0. 0. 1. ]] SLAMing on 173.791346184 meters Centerline goodness : 0.885320 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.60, Z:-2.69 [[ 0.68602134 -0.65357741 -0.319705 -1.87568841] [ 0.69930329 0.71360621 0.04172621 -0.60119285] [ 0.20087217 -0.25219583 0.94659793 -2.68752596] [ 0. 0. 0. 1. ]] SLAMing on 173.821346184 meters Centerline goodness : 0.884662 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.60, Z:-2.69 [[ 0.68601551 -0.65293076 -0.32103606 -1.87595956] [ 0.69914189 0.71372517 0.04239107 -0.59993536] [ 0.20145308 -0.25353068 0.94611778 -2.68656037] [ 0. 0. 0. 1. ]] SLAMing on 173.851346184 meters Centerline goodness : 0.883610 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.60, Z:-2.69 [[ 0.68585058 -0.65291486 -0.32142056 -1.87293858] [ 0.69918041 0.71370193 0.04214632 -0.59867731] [ 0.20188052 -0.25363703 0.94599816 -2.68816572] [ 0. 0. 0. 1. ]] SLAMing on 173.881346184 meters Centerline goodness : 0.884090 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.60, Z:-2.69 [[ 0.68503971 -0.65507375 -0.31874596 -1.87333539] [ 0.70018229 0.71285498 0.03978116 -0.59939317] [ 0.20116005 -0.25043195 0.947005 -2.68902753] [ 0. 0. 0. 1. ]] SLAMing on 173.911346184 meters Centerline goodness : 0.885196 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.60, Z:-2.69 [[ 0.68459025 -0.65581598 -0.31818486 -1.87186324] [ 0.70064171 0.7124448 0.03903329 -0.5993994 ] [ 0.20109049 -0.24965539 0.94722479 -2.68977583] [ 0. 0. 0. 1. ]] SLAMing on 173.941346184 meters Centerline goodness : 0.883281 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.60, Z:-2.69 [[ 0.68446641 -0.65473539 -0.32066696 -1.86851739] [ 0.70041507 0.71261198 0.04003626 -0.5968227 ] [ 0.20229796 -0.25200345 0.9463455 -2.69025758] [ 0. 0. 0. 1. ]] SLAMing on 173.971346184 meters Centerline goodness : 0.882643 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.60, Z:-2.69 [[ 0.68434492 -0.65457591 -0.3212513 -1.86887062] [ 0.70039361 0.71263767 0.03995427 -0.59550563] [ 0.20278267 -0.25234486 0.94615076 -2.68983092] [ 0. 0. 0. 1. ]] SLAMing on 174.001346184 meters Centerline goodness : 0.881823 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.59, Z:-2.69 [[ 0.6841556 -0.65474489 -0.32131021 -1.86936054] [ 0.70047894 0.71258159 0.03945546 -0.59450786] [ 0.20312648 -0.25206471 0.94615169 -2.68959529] [ 0. 0. 0. 1. ]] SLAMing on 174.031346184 meters Centerline goodness : 0.882804 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.59, Z:-2.69 [[ 0.68490535 -0.65426796 -0.32068379 -1.87079541] [ 0.69974073 0.71332396 0.03913876 -0.59407586] [ 0.20314419 -0.25120186 0.94637734 -2.69020612] [ 0. 0. 0. 1. ]] SLAMing on 174.061346184 meters Centerline goodness : 0.880840 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.59, Z:-2.69 [[ 0.68526219 -0.65351019 -0.32146566 -1.86963279] [ 0.69923992 0.71379645 0.03947364 -0.59308374] [ 0.20366462 -0.25183141 0.94609813 -2.69076951] [ 0. 0. 0. 1. ]] SLAMing on 174.091346184 meters Centerline goodness : 0.881605 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.59, Z:-2.69 [[ 0.68523646 -0.6538388 -0.32085169 -1.86991855] [ 0.69929831 0.71376833 0.03894407 -0.5929661 ] [ 0.20355063 -0.25105694 0.94632846 -2.69120028] [ 0. 0. 0. 1. ]] SLAMing on 174.121346184 meters Centerline goodness : 0.881605 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.59, Z:-2.69 [[ 0.68523646 -0.6538388 -0.32085169 -1.86991855] [ 0.69929831 0.71376833 0.03894407 -0.5929661 ] [ 0.20355063 -0.25105694 0.94632846 -2.69120028] [ 0. 0. 0. 1. ]] SLAMing on 174.151346184 meters Centerline goodness : 0.883396 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.59, Z:-2.69 [[ 0.68468992 -0.65488024 -0.31989308 -1.86921912] [ 0.69993663 0.71318819 0.03809618 -0.59307638] [ 0.20319553 -0.24998895 0.94668743 -2.69197383] [ 0. 0. 0. 1. ]] SLAMing on 174.181346184 meters Centerline goodness : 0.883819 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.59, Z:-2.69 [[ 0.68428819 -0.65525884 -0.31997738 -1.86979946] [ 0.70030525 0.71283838 0.03786818 -0.59292658] [ 0.20327869 -0.24999459 0.94666809 -2.6909995 ] [ 0. 0. 0. 1. ]] SLAMing on 174.21134618399998 meters Centerline goodness : 0.883002 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.59, Z:-2.69 [[ 0.68383921 -0.65566694 -0.32010123 -1.87027876] [ 0.70071828 0.71244378 0.03765309 -0.59211322] [ 0.20336624 -0.25004944 0.9466348 -2.69058167] [ 0. 0. 0. 1. ]] SLAMing on 174.24134618399998 meters Centerline goodness : 0.885564 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.59, Z:-2.69 [[ 0.68309482 -0.65649613 -0.3199911 -1.87137247] [ 0.70145523 0.71174187 0.03720307 -0.59123647] [ 0.20332739 -0.24987266 0.94668983 -2.68977573] [ 0. 0. 0. 1. ]] SLAMing on 174.27134618399998 meters Centerline goodness : 0.885910 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.59, Z:-2.69 [[ 0.68318354 -0.65635207 -0.32009718 -1.87192621] [ 0.70134492 0.71184799 0.03725244 -0.59086592] [ 0.20340982 -0.24994879 0.94665202 -2.68965211] [ 0. 0. 0. 1. ]] SLAMing on 174.30134618399998 meters Centerline goodness : 0.885550 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.59, Z:-2.69 [[ 0.68343912 -0.65591707 -0.32044307 -1.87288382] [ 0.70105137 0.71212134 0.03755234 -0.59063507] [ 0.20356312 -0.25031179 0.94652314 -2.68904045] [ 0. 0. 0. 1. ]] SLAMing on 174.33134618399998 meters Centerline goodness : 0.881886 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.59, Z:-2.69 [[ 0.6841432 -0.65529561 -0.32021204 -1.87518381] [ 0.70037952 0.71277248 0.03773503 -0.59085202] [ 0.20351072 -0.25008612 0.94659406 -2.68832888] [ 0. 0. 0. 1. ]] SLAMing on 174.36134618399998 meters Centerline goodness : 0.882619 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.59, Z:-2.69 [[ 0.68423114 -0.65522535 -0.32016791 -1.87479609] [ 0.70027719 0.71287719 0.03765603 -0.59054397] [ 0.20356721 -0.24997171 0.94661214 -2.68879689] [ 0. 0. 0. 1. ]] SLAMing on 174.39134618399999 meters Centerline goodness : 0.881347 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.59, Z:-2.69 [[ 0.68428057 -0.65542307 -0.31965715 -1.8748373 ] [ 0.70025663 0.71291845 0.03725496 -0.59049961] [ 0.20347172 -0.24933489 0.9468006 -2.68928834] [ 0. 0. 0. 1. ]] SLAMing on 174.421346184 meters Centerline goodness : 0.882570 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.59, Z:-2.69 [[ 0.68411553 -0.65593087 -0.31896807 -1.87516377] [ 0.70041308 0.71280898 0.03639878 -0.58996508] [ 0.20348822 -0.24831038 0.94706626 -2.68975812] [ 0. 0. 0. 1. ]] SLAMing on 174.451346184 meters Centerline goodness : 0.881135 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.59, Z:-2.69 [[ 0.68417499 -0.65608287 -0.31852764 -1.87556571] [ 0.70038693 0.71284991 0.03609924 -0.58990491] [ 0.2033783 -0.24779079 0.94722594 -2.69007849] [ 0. 0. 0. 1. ]] SLAMing on 174.481346184 meters Centerline goodness : 0.879469 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.59, Z:-2.69 [[ 0.6841837 -0.65577148 -0.31914954 -1.87541784] [ 0.70029163 0.71292948 0.0363757 -0.58916314] [ 0.20367697 -0.24838542 0.94700601 -2.68990092] [ 0. 0. 0. 1. ]] SLAMing on 174.511346184 meters Centerline goodness : 0.880662 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.59, Z:-2.69 [[ 0.68423975 -0.65526473 -0.32006889 -1.87669156] [ 0.70013487 0.71305489 0.03693075 -0.58816137] [ 0.20402727 -0.24936088 0.94667419 -2.68891124] [ 0. 0. 0. 1. ]] SLAMing on 174.541346184 meters Centerline goodness : 0.881806 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.59, Z:-2.69 [[ 0.68431771 -0.65361013 -0.32326936 -1.87841715] [ 0.69970496 0.71337626 0.0388238 -0.58521243] [ 0.20523706 -0.25276099 0.94551025 -2.68657806] [ 0. 0. 0. 1. ]] SLAMing on 174.571346184 meters Centerline goodness : 0.878836 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.58, Z:-2.69 [[ 0.68381668 -0.65441784 -0.32269497 -1.87887188] [ 0.70023344 0.71289575 0.03811526 -0.58439819] [ 0.20510456 -0.25202566 0.94573526 -2.68687392] [ 0. 0. 0. 1. ]] SLAMing on 174.601346184 meters Centerline goodness : 0.879519 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.58, Z:-2.69 [[ 0.68337251 -0.65553835 -0.32135881 -1.87776512] [ 0.70075781 0.71244684 0.03685102 -0.58393862] [ 0.20479381 -0.25037767 0.9462402 -2.6885095 ] [ 0. 0. 0. 1. ]] SLAMing on 174.631346184 meters Centerline goodness : 0.879127 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.58, Z:-2.69 [[ 0.6822103 -0.65731294 -0.32020118 -1.87714348] [ 0.70196201 0.71133729 0.03533562 -0.58297863] [ 0.20454447 -0.24887539 0.94669034 -2.6892777 ] [ 0. 0. 0. 1. ]] SLAMing on 174.661346184 meters Centerline goodness : 0.879801 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.58, Z:-2.69 [[ 0.67965883 -0.65989499 -0.32031623 -1.87622255] [ 0.70442642 0.70895584 0.0341326 -0.58031944] [ 0.20456613 -0.24883774 0.94669556 -2.68888628] [ 0. 0. 0. 1. ]] SLAMing on 174.691346184 meters Centerline goodness : 0.880578 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.58, Z:-2.69 [[ 0.67856284 -0.66088546 -0.32059769 -1.87672607] [ 0.70544061 0.70796803 0.03368709 -0.57919206] [ 0.20470961 -0.24902144 0.94661624 -2.68774043] [ 0. 0. 0. 1. ]] SLAMing on 174.721346184 meters Centerline goodness : 0.878133 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.58, Z:-2.69 [[ 0.67827358 -0.66094148 -0.32109392 -1.87614572] [ 0.70563674 0.70777225 0.03369333 -0.57785402] [ 0.20499205 -0.24942896 0.94644781 -2.68805302] [ 0. 0. 0. 1. ]] SLAMing on 174.751346184 meters Centerline goodness : 0.878162 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.58, Z:-2.69 [[ 0.6786266 -0.66082017 -0.32059731 -1.87665673] [ 0.7053055 0.70811726 0.03337802 -0.57748248] [ 0.20496362 -0.24877026 0.94662731 -2.68871722] [ 0. 0. 0. 1. ]] SLAMing on 174.781346184 meters Centerline goodness : 0.877439 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.58, Z:-2.69 [[ 0.679601 -0.66037309 -0.31945243 -1.87927989] [ 0.70441202 0.70903069 0.03285098 -0.57692435] [ 0.20480767 -0.24735169 0.94703271 -2.68959513] [ 0. 0. 0. 1. ]] SLAMing on 174.811346184 meters Centerline goodness : 0.876732 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.58, Z:-2.69 [[ 0.67969496 -0.66048053 -0.31903014 -1.87974077] [ 0.70431323 0.70914924 0.03240722 -0.57656634] [ 0.20483565 -0.24672418 0.94719034 -2.68994181] [ 0. 0. 0. 1. ]] SLAMing on 174.841346184 meters Centerline goodness : 0.876420 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.58, Z:-2.69 [[ 0.67953416 -0.66076591 -0.31878165 -1.88011833] [ 0.70446223 0.70901831 0.0320314 -0.57634686] [ 0.20485678 -0.24633606 0.94728678 -2.68981767] [ 0. 0. 0. 1. ]] SLAMing on 174.871346184 meters Centerline goodness : 0.877099 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.58, Z:-2.69 [[ 0.67916146 -0.66064442 -0.31982598 -1.88053461] [ 0.70472658 0.70873304 0.03252583 -0.57640401] [ 0.20518323 -0.24748016 0.94691785 -2.68784278] [ 0. 0. 0. 1. ]] SLAMing on 174.901346184 meters Centerline goodness : 0.878567 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.58, Z:-2.69 [[ 0.67844063 -0.66123442 -0.32013646 -1.88095709] [ 0.70540052 0.70806787 0.03240347 -0.57631757] [ 0.20525205 -0.24780826 0.94681712 -2.68646019] [ 0. 0. 0. 1. ]] SLAMing on 174.931346184 meters Centerline goodness : 0.878747 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.58, Z:-2.69 [[ 0.67742975 -0.66215736 -0.32036941 -1.88085393] [ 0.70636624 0.70711738 0.03212084 -0.57589004] [ 0.20526972 -0.24805775 0.94674796 -2.68543705] [ 0. 0. 0. 1. ]] SLAMing on 174.96134618399998 meters Centerline goodness : 0.876461 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.58, Z:-2.68 [[ 0.67499459 -0.66584481 -0.31785688 -1.88251847] [ 0.70898789 0.70459908 0.02960245 -0.57652298] [ 0.20425102 -0.24533817 0.94767647 -2.68403494] [ 0. 0. 0. 1. ]] SLAMing on 174.99134618399998 meters Centerline goodness : 0.876104 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.58, Z:-2.68 [[ 0.67420879 -0.66642388 -0.31831074 -1.88282625] [ 0.70967965 0.70390923 0.0294377 -0.57589402] [ 0.20444388 -0.24574581 0.94752926 -2.68285484] [ 0. 0. 0. 1. ]] SLAMing on 175.02134618399998 meters Centerline goodness : 0.875735 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.57, Z:-2.68 [[ 0.674181 -0.66573452 -0.31980859 -1.8821118 ] [ 0.70955336 0.70399994 0.03030042 -0.57473429] [ 0.20497319 -0.24734923 0.94699754 -2.68239974] [ 0. 0. 0. 1. ]] SLAMing on 175.05134618399998 meters Centerline goodness : 0.874721 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.57, Z:-2.68 [[ 0.67412138 -0.66514887 -0.32115002 -1.88187138] [ 0.70942922 0.7041009 0.03085627 -0.57360893] [ 0.205598 -0.24863408 0.94652552 -2.68163021] [ 0. 0. 0. 1. ]] SLAMing on 175.08134618399998 meters Centerline goodness : 0.873884 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.57, Z:-2.68 [[ 0.67456174 -0.66499783 -0.32053761 -1.88431128] [ 0.70905208 0.70449106 0.03061851 -0.57337719] [ 0.20545463 -0.24793193 0.9467408 -2.68132039] [ 0. 0. 0. 1. ]] SLAMing on 175.11134618399998 meters Centerline goodness : 0.874134 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.57, Z:-2.68 [[ 0.67472067 -0.66473544 -0.32074727 -1.88520453] [ 0.70882669 0.70471957 0.03057842 -0.57255993] [ 0.20571032 -0.24798612 0.94667109 -2.68109309] [ 0. 0. 0. 1. ]] SLAMing on 175.14134618399999 meters Centerline goodness : 0.873506 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.57, Z:-2.68 [[ 0.67493053 -0.66430516 -0.32119687 -1.88564221] [ 0.70851922 0.70502494 0.03066511 -0.57111242] [ 0.20608082 -0.24827098 0.94651583 -2.68129515] [ 0. 0. 0. 1. ]] SLAMing on 175.171346184 meters Centerline goodness : 0.873412 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.57, Z:-2.68 [[ 0.67484909 -0.66414829 -0.32169202 -1.88619124] [ 0.7084606 0.70508991 0.03052525 -0.56939458] [ 0.20654851 -0.24850606 0.94635218 -2.68124227] [ 0. 0. 0. 1. ]] SLAMing on 175.201346184 meters Centerline goodness : 0.871017 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.56, Z:-2.68 [[ 0.67484072 -0.66236043 -0.32537464 -1.88359013] [ 0.70789386 0.70560177 0.03181842 -0.56395808] [ 0.20850966 -0.25180308 0.9450497 -2.68205152] [ 0. 0. 0. 1. ]] SLAMing on 175.231346184 meters Centerline goodness : 0.868751 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.56, Z:-2.68 [[ 0.67422203 -0.66235993 -0.32665575 -1.88246117] [ 0.70813683 0.705381 0.03130312 -0.56039977] [ 0.20968282 -0.25242222 0.94462487 -2.68232512] [ 0. 0. 0. 1. ]] SLAMing on 175.261346184 meters Centerline goodness : 0.868314 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.56, Z:-2.68 [[ 0.67330754 -0.66311198 -0.327016 -1.88247938] [ 0.70877398 0.70478991 0.03017662 -0.55732236] [ 0.2104671 -0.25209857 0.94453688 -2.68238995] [ 0. 0. 0. 1. ]] SLAMing on 175.291346184 meters Centerline goodness : 0.867151 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.55, Z:-2.68 [[ 0.67195143 -0.66412123 -0.32775643 -1.88126907] [ 0.70976685 0.70384097 0.02896393 -0.55206845] [ 0.21145285 -0.25209301 0.94431817 -2.68385371] [ 0. 0. 0. 1. ]] SLAMing on 175.321346184 meters Centerline goodness : 0.866759 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.55, Z:-2.68 [[ 0.67092086 -0.66502973 -0.32802539 -1.88199103] [ 0.71059671 0.70303882 0.02808452 -0.54967673] [ 0.21193754 -0.25193625 0.94425135 -2.68331256] [ 0. 0. 0. 1. ]] SLAMing on 175.351346184 meters Centerline goodness : 0.865874 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.55, Z:-2.68 [[ 0.67000012 -0.66552309 -0.32890554 -1.88153495] [ 0.71121043 0.70244426 0.02741883 -0.54701814] [ 0.21278994 -0.25229167 0.9439647 -2.6827915 ] [ 0. 0. 0. 1. ]] SLAMing on 175.381346184 meters Centerline goodness : 0.867730 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.55, Z:-2.68 [[ 0.66921531 -0.6660519 -0.32943245 -1.88192622] [ 0.71178525 0.70188361 0.0268543 -0.54505859] [ 0.21333688 -0.25245647 0.94379717 -2.68211538] [ 0. 0. 0. 1. ]] SLAMing on 175.411346184 meters Centerline goodness : 0.866313 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.54, Z:-2.68 [[ 0.66720765 -0.66721119 -0.3311543 -1.88166128] [ 0.71334314 0.70032415 0.02622309 -0.54051056] [ 0.21441902 -0.25372289 0.94321216 -2.68111299] [ 0. 0. 0. 1. ]] SLAMing on 175.441346184 meters Centerline goodness : 0.866453 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.54, Z:-2.68 [[ 0.66670129 -0.66792405 -0.33073682 -1.88258599] [ 0.71382848 0.69985309 0.02558427 -0.53971777] [ 0.21437884 -0.25314643 0.94337617 -2.68083444] [ 0. 0. 0. 1. ]] SLAMing on 175.471346184 meters Centerline goodness : 0.865016 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.54, Z:-2.68 [[ 0.6663376 -0.66858362 -0.33013656 -1.88325871] [ 0.71414965 0.69955738 0.02469329 -0.53858697] [ 0.21443994 -0.25222097 0.94361014 -2.68112783] [ 0. 0. 0. 1. ]] SLAMing on 175.501346184 meters Centerline goodness : 0.866859 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.54, Z:-2.68 [[ 0.66609482 -0.66896313 -0.32985758 -1.88384785] [ 0.71427607 0.69945788 0.02384076 -0.53708227] [ 0.21477289 -0.25148958 0.94372962 -2.68136759] [ 0. 0. 0. 1. ]] SLAMing on 175.531346184 meters Centerline goodness : 0.864828 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.53, Z:-2.68 [[ 0.66644298 -0.66884407 -0.32939545 -1.88689028] [ 0.71380853 0.69996628 0.02290372 -0.53440827] [ 0.21524669 -0.25038931 0.94391422 -2.68165895] [ 0. 0. 0. 1. ]] SLAMing on 175.561346184 meters Centerline goodness : 0.865360 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.53, Z:-2.68 [[ 0.66666391 -0.66883139 -0.32897388 -1.88845318] [ 0.71351751 0.70028558 0.02220054 -0.53309815] [ 0.21552724 -0.24952892 0.94407803 -2.6819124 ] [ 0. 0. 0. 1. ]] SLAMing on 175.591346184 meters Centerline goodness : 0.862064 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.53, Z:-2.68 [[ 0.66733447 -0.66894551 -0.3273784 -1.89167019] [ 0.71285971 0.70100038 0.02072463 -0.5309469 ] [ 0.21562873 -0.24720513 0.94466601 -2.68324782] [ 0. 0. 0. 1. ]] SLAMing on 175.621346184 meters Centerline goodness : 0.864560 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.53, Z:-2.68 [[ 0.66709543 -0.6692635 -0.32721561 -1.89242357] [ 0.71299416 0.70088335 0.02004641 -0.5293199 ] [ 0.21592364 -0.24667569 0.94473705 -2.68346548] [ 0. 0. 0. 1. ]] SLAMing on 175.651346184 meters Centerline goodness : 0.864343 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.53, Z:-2.68 [[ 0.66680446 -0.66944099 -0.32744552 -1.89352866] [ 0.71314659 0.70074027 0.01962178 -0.52810156] [ 0.21631864 -0.24660054 0.9446663 -2.68270344] [ 0. 0. 0. 1. ]] SLAMing on 175.681346184 meters Centerline goodness : 0.863868 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.53, Z:-2.68 [[ 0.6663221 -0.66983764 -0.32761623 -1.89492889] [ 0.71350885 0.70038367 0.01917906 -0.52702831] [ 0.2166102 -0.24653651 0.9446162 -2.68162099] [ 0. 0. 0. 1. ]] SLAMing on 175.71134618399998 meters Centerline goodness : 0.863218 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.53, Z:-2.68 [[ 0.665 -0.67107682 -0.32776653 -1.89522137] [ 0.71467172 0.69921825 0.01838972 -0.52600541] [ 0.21683942 -0.24647463 0.94457976 -2.68036925] [ 0. 0. 0. 1. ]] SLAMing on 175.74134618399998 meters Centerline goodness : 0.862446 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.53, Z:-2.68 [[ 0.66458482 -0.67179285 -0.32714122 -1.89467546] [ 0.71507793 0.69882251 0.01762531 -0.5259307 ] [ 0.2167731 -0.24564498 0.94481108 -2.68058931] [ 0. 0. 0. 1. ]] SLAMing on 175.77134618399998 meters Centerline goodness : 0.862194 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.53, Z:-2.68 [[ 0.66424805 -0.67237109 -0.32663687 -1.89453292] [ 0.71540086 0.69850783 0.01698262 -0.52566618] [ 0.21673979 -0.24495697 0.94499732 -2.68074578] [ 0. 0. 0. 1. ]] SLAMing on 175.80134618399998 meters Centerline goodness : 0.861582 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.53, Z:-2.68 [[ 0.6639065 -0.67272741 -0.32659759 -1.89523448] [ 0.71566805 0.69824422 0.01656059 -0.52532691] [ 0.21690412 -0.24473014 0.94501839 -2.67993031] [ 0. 0. 0. 1. ]] SLAMing on 175.83134618399998 meters Centerline goodness : 0.863547 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.68 [[ 0.66423023 -0.67185759 -0.32772789 -1.8964039 ] [ 0.71512386 0.69879508 0.01683137 -0.52424161] [ 0.21770635 -0.24554594 0.94462222 -2.67860975] [ 0. 0. 0. 1. ]] SLAMing on 175.86134618399998 meters Centerline goodness : 0.860492 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.68 [[ 0.66472172 -0.67112536 -0.3282313 -1.89750108] [ 0.71452925 0.69939909 0.01699609 -0.52382344] [ 0.21815816 -0.24582854 0.94444446 -2.67787872] [ 0. 0. 0. 1. ]] SLAMing on 175.89134618399999 meters Centerline goodness : 0.862740 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.68 [[ 0.66504012 -0.67057639 -0.328708 -1.89736179] [ 0.7140306 0.69991353 0.01677327 -0.5228444 ] [ 0.21881942 -0.24586246 0.94428264 -2.67771166] [ 0. 0. 0. 1. ]] SLAMing on 175.921346184 meters Centerline goodness : 0.861369 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.68 [[ 0.6659082 -0.66922694 -0.3296992 -1.89584713] [ 0.71296624 0.70098897 0.01713491 -0.52191592] [ 0.21964836 -0.24647468 0.94393052 -2.67847394] [ 0. 0. 0. 1. ]] SLAMing on 175.951346184 meters Centerline goodness : 0.862217 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.68 [[ 0.66582435 -0.66934906 -0.32962065 -1.89652759] [ 0.71300023 0.70096199 0.01682136 -0.52170107] [ 0.21979219 -0.24621967 0.94396359 -2.67786774] [ 0. 0. 0. 1. ]] SLAMing on 175.981346184 meters Centerline goodness : 0.862273 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.68 [[ 0.66539299 -0.6696873 -0.32980463 -1.89663028] [ 0.71332762 0.7006369 0.01648117 -0.52137481] [ 0.22003606 -0.24622521 0.94390533 -2.67704213] [ 0. 0. 0. 1. ]] SLAMing on 176.011346184 meters Centerline goodness : 0.862273 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.68 [[ 0.66539299 -0.6696873 -0.32980463 -1.89663028] [ 0.71332762 0.7006369 0.01648117 -0.52137481] [ 0.22003606 -0.24622521 0.94390533 -2.67704213] [ 0. 0. 0. 1. ]] SLAMing on 176.041346184 meters Centerline goodness : 0.860031 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.68 [[ 0.66410268 -0.67122304 -0.32928295 -1.89677556] [ 0.71455491 0.69940935 0.01542188 -0.52056875] [ 0.21995205 -0.24553246 0.94410535 -2.67648264] [ 0. 0. 0. 1. ]] SLAMing on 176.071346184 meters Centerline goodness : 0.861173 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.68 [[ 0.66339403 -0.67207533 -0.32897281 -1.89692692] [ 0.7151655 0.69880361 0.01455399 -0.51976055] [ 0.22010601 -0.24492503 0.94422724 -2.67608683] [ 0. 0. 0. 1. ]] SLAMing on 176.101346184 meters Centerline goodness : 0.859890 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.68 [[ 0.66301936 -0.67229173 -0.32928583 -1.89633195] [ 0.71542225 0.69854579 0.01431049 -0.51906647] [ 0.22040041 -0.24506654 0.94412184 -2.67581731] [ 0. 0. 0. 1. ]] SLAMing on 176.131346184 meters Centerline goodness : 0.859909 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.68 [[ 0.66246107 -0.67276317 -0.32944658 -1.89560244] [ 0.71579989 0.69817277 0.01361264 -0.51780969] [ 0.22085254 -0.24483567 0.94407608 -2.67575258] [ 0. 0. 0. 1. ]] SLAMing on 176.161346184 meters Centerline goodness : 0.860062 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.68 [[ 0.66153337 -0.67424408 -0.32828115 -1.89726643] [ 0.71673914 0.69723269 0.01231215 -0.5169926 ] [ 0.22058696 -0.24343685 0.94449981 -2.6753623 ] [ 0. 0. 0. 1. ]] SLAMing on 176.191346184 meters Centerline goodness : 0.860531 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.68 [[ 0.66129916 -0.67454836 -0.32812793 -1.89769372] [ 0.71686085 0.69711912 0.01163851 -0.51601826] [ 0.22089352 -0.2429186 0.9445616 -2.67527131] [ 0. 0. 0. 1. ]] SLAMing on 176.221346184 meters Centerline goodness : 0.860637 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.68 [[ 0.66108081 -0.6750591 -0.327517 -1.89854437] [ 0.71703439 0.69695435 0.01078507 -0.51527134] [ 0.22098384 -0.24197075 0.94478373 -2.67532048] [ 0. 0. 0. 1. ]] SLAMing on 176.251346184 meters Centerline goodness : 0.859366 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.51, Z:-2.68 [[ 0.66082546 -0.67598706 -0.32611533 -1.89977918] [ 0.71730748 0.69669361 0.00938066 -0.514051 ] [ 0.22086126 -0.24012395 0.94528345 -2.67627546] [ 0. 0. 0. 1. ]] SLAMing on 176.281346184 meters Centerline goodness : 0.859137 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.51, Z:-2.68 [[ 0.66022846 -0.6763323 -0.32660834 -1.90039074] [ 0.71770987 0.69628436 0.00897982 -0.51304335] [ 0.22133894 -0.24033876 0.94511711 -2.67504372] [ 0. 0. 0. 1. ]] SLAMing on 176.311346184 meters Centerline goodness : 0.859489 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.51, Z:-2.67 [[ 0.65960094 -0.6767435 -0.3270242 -1.90139755] [ 0.71816797 0.69581655 0.00860776 -0.51188744] [ 0.2217236 -0.240536 0.94497676 -2.67382709] [ 0. 0. 0. 1. ]] SLAMing on 176.341346184 meters Centerline goodness : 0.858820 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.51, Z:-2.67 [[ 0.65885787 -0.67761829 -0.3267105 -1.90156842] [ 0.71887302 0.69509493 0.00803804 -0.51127668] [ 0.22164809 -0.24015929 0.94509028 -2.67359432] [ 0. 0. 0. 1. ]] SLAMing on 176.371346184 meters Centerline goodness : 0.859405 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.51, Z:-2.67 [[ 0.65817792 -0.67931828 -0.32454352 -1.90279976] [ 0.71963994 0.69432045 0.00612104 -0.51203999] [ 0.22117907 -0.23758322 0.94585096 -2.67332338] [ 0. 0. 0. 1. ]] SLAMing on 176.401346184 meters Centerline goodness : 0.857673 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.51, Z:-2.67 [[ 0.65723895 -0.68043845 -0.32409948 -1.90180487] [ 0.72045851 0.69347951 0.00507029 -0.51156083] [ 0.22130633 -0.23683262 0.94600942 -2.67320023] [ 0. 0. 0. 1. ]] SLAMing on 176.431346184 meters Centerline goodness : 0.858342 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.51, Z:-2.67 [[ 6.54522231e-01 -6.84114985e-01 -3.21849867e-01 -1.90345638e+00] [ 7.23177504e-01 6.90657205e-01 2.63107338e-03 -5.12049825e-01] [ 2.20487972e-01 -2.34476679e-01 9.46787062e-01 -2.67125347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46134618399998 meters Centerline goodness : 0.859915 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.51, Z:-2.67 [[ 6.52939441e-01 -6.85483909e-01 -3.22151978e-01 -1.90208202e+00] [ 7.24546748e-01 6.89222850e-01 1.96793648e-03 -5.11154001e-01] [ 2.20685516e-01 -2.34699112e-01 9.46685919e-01 -2.67050276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49134618399998 meters Centerline goodness : 0.858792 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.51, Z:-2.67 [[ 6.50893582e-01 -6.88199136e-01 -3.20498821e-01 -1.90323826e+00] [ 7.26495657e-01 6.87171045e-01 -1.22181023e-04 -5.11217874e-01] [ 2.20321594e-01 -2.32761474e-01 9.47248907e-01 -2.66903455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52134618399998 meters Centerline goodness : 0.859375 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.51, Z:-2.67 [[ 6.50166495e-01 -6.88522766e-01 -3.21278586e-01 -1.90228137e+00] [ 7.27070778e-01 6.86562513e-01 9.76791593e-06 -5.11198839e-01] [ 2.20571108e-01 -2.33598622e-01 9.46984725e-01 -2.66789908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55134618399998 meters Centerline goodness : 0.861091 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.51, Z:-2.67 [[ 6.49544997e-01 -6.88784536e-01 -3.21973851e-01 -1.90267796e+00] [ 7.27662140e-01 6.85935471e-01 5.82522964e-04 -5.12513559e-01] [ 2.20452052e-01 -2.34666556e-01 9.46748383e-01 -2.66567210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58134618399998 meters Centerline goodness : 0.861483 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.51, Z:-2.67 [[ 6.49509458e-01 -6.89089738e-01 -3.21391967e-01 -1.90228347e+00] [ 7.27717721e-01 6.85876745e-01 8.99704032e-05 -5.13224135e-01] [ 2.20373278e-01 -2.33941066e-01 9.46946247e-01 -2.66568050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61134618399998 meters Centerline goodness : 0.860338 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.51, Z:-2.67 [[ 6.50120871e-01 -6.89367764e-01 -3.19554281e-01 -1.90212283e+00] [ 7.27292428e-01 6.86327051e-01 -9.50566327e-04 -5.14819238e-01] [ 2.19974037e-01 -2.31791426e-01 9.47567495e-01 -2.66666249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64134618399999 meters Centerline goodness : 0.861823 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.67 [[ 6.50596414e-01 -6.90230572e-01 -3.16711326e-01 -1.90385635e+00] [ 7.27178863e-01 6.86444424e-01 -2.22589608e-03 -5.18076617e-01] [ 2.18941105e-01 -2.28857622e-01 9.48519363e-01 -2.66648780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.671346184 meters Centerline goodness : 0.862561 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.67 [[ 6.50183792e-01 -6.90445853e-01 -3.17089199e-01 -1.90390996e+00] [ 7.27517990e-01 6.86085212e-01 -2.15801886e-03 -5.18273879e-01] [ 2.19040206e-01 -2.29284988e-01 9.48393264e-01 -2.66536298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.701346184 meters Centerline goodness : 0.863171 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.66 [[ 6.49684939e-01 -6.90426808e-01 -3.18151382e-01 -1.90368565e+00] [ 7.27857377e-01 6.85726240e-01 -1.77841089e-03 -5.18412924e-01] [ 2.19392614e-01 -2.30413424e-01 9.48038256e-01 -2.66361497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.731346184 meters Centerline goodness : 0.864440 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.66 [[ 6.49001493e-01 -6.90583799e-01 -3.19203819e-01 -1.90342184e+00] [ 7.28351863e-01 6.85201597e-01 -1.52778527e-03 -5.18333036e-01] [ 2.19774030e-01 -2.31501161e-01 9.47684857e-01 -2.66182546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.761346184 meters Centerline goodness : 0.863906 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.66 [[ 6.48460266e-01 -6.91306755e-01 -3.18738535e-01 -1.90216964e+00] [ 7.28834740e-01 6.84686053e-01 -2.22039008e-03 -5.18779168e-01] [ 2.19770800e-01 -2.30867883e-01 9.47840079e-01 -2.66186161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.791346184 meters Centerline goodness : 0.864764 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.66 [[ 6.48564581e-01 -6.91109316e-01 -3.18954381e-01 -1.89897192e+00] [ 7.28655909e-01 6.84875995e-01 -2.33189040e-03 -5.18127908e-01] [ 2.20055790e-01 -2.30895613e-01 9.47767200e-01 -2.66361318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.821346184 meters Centerline goodness : 0.863146 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.66 [[ 0.64840863 -0.69236051 -0.31654885 -1.89887859] [ 0.72896759 0.68453632 -0.00403425 -0.5192188 ] [ 0.21948234 -0.22813801 0.94856763 -2.66475462] [ 0. 0. 0. 1. ]] SLAMing on 176.851346184 meters Centerline goodness : 0.859552 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.66 [[ 0.6478935 -0.69389959 -0.31422503 -1.89944653] [ 0.72961756 0.68383152 -0.00571544 -0.52086988] [ 0.21884293 -0.2255611 0.94933132 -2.66471171] [ 0. 0. 0. 1. ]] SLAMing on 176.881346184 meters Centerline goodness : 0.860899 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.66 [[ 0.64708542 -0.69435549 -0.31488239 -1.89897218] [ 0.73025766 0.68314769 -0.00574267 -0.52029829] [ 0.21909863 -0.22622928 0.94911332 -2.66378175] [ 0. 0. 0. 1. ]] SLAMing on 176.911346184 meters Centerline goodness : 0.860566 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.66 [[ 0.64644767 -0.69456787 -0.3157228 -1.89771175] [ 0.73068711 0.68268809 -0.00577163 -0.51965616] [ 0.21954899 -0.22696352 0.94883392 -2.66307275] [ 0. 0. 0. 1. ]] SLAMing on 176.941346184 meters Centerline goodness : 0.859153 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.52, Z:-2.66 [[ 0.64606795 -0.69437828 -0.31691482 -1.89570305] [ 0.73085847 0.68250711 -0.00547114 -0.51908402] [ 0.22009566 -0.22808516 0.94843822 -2.6626126 ] [ 0. 0. 0. 1. ]] SLAMing on 176.971346184 meters Centerline goodness : 0.858040 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.52, Z:-2.66 [[ 0.64600441 -0.69363906 -0.31865837 -1.89284169] [ 0.73065436 0.68272994 -0.00490247 -0.51773525] [ 0.22095816 -0.22966211 0.94785696 -2.66292851] [ 0. 0. 0. 1. ]] SLAMing on 177.001346184 meters Centerline goodness : 0.856398 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.52, Z:-2.66 [[ 0.6459119 -0.69365968 -0.31880098 -1.89213515] [ 0.7306629 0.68271924 -0.00511588 -0.51780888] [ 0.22120024 -0.22963164 0.94780787 -2.66263541] [ 0. 0. 0. 1. ]] SLAMing on 177.031346184 meters Centerline goodness : 0.857580 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.52, Z:-2.66 [[ 0.64615304 -0.69304725 -0.31964319 -1.889961 ] [ 0.73028811 0.68312189 -0.00487375 -0.51724776] [ 0.221733 -0.23028244 0.94752545 -2.66318753] [ 0. 0. 0. 1. ]] SLAMing on 177.061346184 meters Centerline goodness : 0.856309 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.52, Z:-2.66 [[ 0.64657557 -0.69218284 -0.32066019 -1.88731549] [ 0.72966956 0.68378356 -0.00473003 -0.51610718] [ 0.22253621 -0.23091766 0.94718249 -2.66406175] [ 0. 0. 0. 1. ]] SLAMing on 177.091346184 meters Centerline goodness : 0.853876 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.52, Z:-2.67 [[ 0.64720121 -0.69179517 -0.32023435 -1.88492416] [ 0.72912182 0.68436676 -0.00484987 -0.51689744] [ 0.22251287 -0.23035101 0.94732594 -2.66565809] [ 0. 0. 0. 1. ]] SLAMing on 177.121346184 meters Centerline goodness : 0.855330 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.52, Z:-2.67 [[ 0.64697043 -0.6921561 -0.31992061 -1.8842634 ] [ 0.72931899 0.68415335 -0.00529224 -0.51696344] [ 0.22253781 -0.22990025 0.94742957 -2.66582324] [ 0. 0. 0. 1. ]] SLAMing on 177.151346184 meters Centerline goodness : 0.855517 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.52, Z:-2.67 [[ 0.6468292 -0.69239703 -0.31968476 -1.88311278] [ 0.72947154 0.6839893 -0.00546996 -0.51775376] [ 0.22244833 -0.2296628 0.94750817 -2.66588445] [ 0. 0. 0. 1. ]] SLAMing on 177.181346184 meters Centerline goodness : 0.855790 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.52, Z:-2.66 [[ 0.64657338 -0.69222121 -0.32058176 -1.88274222] [ 0.72959019 0.68386518 -0.00515432 -0.5180581 ] [ 0.22280263 -0.23056066 0.94720682 -2.66443042] [ 0. 0. 0. 1. ]] SLAMing on 177.21134618399998 meters Centerline goodness : 0.855360 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.52, Z:-2.66 [[ 0.64633792 -0.69226037 -0.32097177 -1.88274789] [ 0.72980626 0.6836369 -0.00483928 -0.51859739] [ 0.22277819 -0.23111939 0.9470764 -2.6635085 ] [ 0. 0. 0. 1. ]] SLAMing on 177.24134618399998 meters Centerline goodness : 0.854506 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.52, Z:-2.66 [[ 0.64608717 -0.69244264 -0.32108342 -1.88236498] [ 0.73002911 0.68339896 -0.00483409 -0.51908934] [ 0.2227754 -0.231277 0.94703858 -2.66290613] [ 0. 0. 0. 1. ]] SLAMing on 177.27134618399998 meters Centerline goodness : 0.855959 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.52, Z:-2.66 [[ 0.64537415 -0.69436421 -0.318356 -1.88345434] [ 0.73105386 0.6822921 -0.00614392 -0.52208977] [ 0.2214779 -0.22877026 0.94795132 -2.66241706] [ 0. 0. 0. 1. ]] SLAMing on 177.30134618399998 meters Centerline goodness : 0.856144 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.52, Z:-2.66 [[ 0.64502039 -0.69563266 -0.31629717 -1.88328972] [ 0.73160894 0.68168576 -0.00727227 -0.52434799] [ 0.2206741 -0.22671507 0.94863229 -2.66260436] [ 0. 0. 0. 1. ]] SLAMing on 177.33134618399998 meters Centerline goodness : 0.857918 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.53, Z:-2.66 [[ 0.64461125 -0.69674064 -0.31468845 -1.88193387] [ 0.73217231 0.68107075 -0.00814511 -0.52664473] [ 0.22000013 -0.22515574 0.94916007 -2.66290059] [ 0. 0. 0. 1. ]] SLAMing on 177.36134618399998 meters Centerline goodness : 0.859434 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.53, Z:-2.66 [[ 0.64342577 -0.69890321 -0.31231006 -1.88292939] [ 0.73351818 0.67960144 -0.00964149 -0.52956107] [ 0.21898484 -0.22288153 0.9499313 -2.66160507] [ 0. 0. 0. 1. ]] SLAMing on 177.39134618399999 meters Centerline goodness : 0.860751 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.54, Z:-2.66 [[ 0.64097364 -0.69604036 -0.32354383 -1.88368288] [ 0.73252966 0.68061129 -0.01298347 -0.53913673] [ 0.2292446 -0.22868339 0.9461241 -2.65649425] [ 0. 0. 0. 1. ]] SLAMing on 177.421346184 meters Centerline goodness : 0.860627 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.54, Z:-2.65 [[ 0.64023284 -0.69600305 -0.32508717 -1.88258009] [ 0.73311301 0.67999999 -0.01205537 -0.53964479] [ 0.22944985 -0.23060739 0.94560721 -2.65451646] [ 0. 0. 0. 1. ]] SLAMing on 177.451346184 meters Centerline goodness : 0.862899 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.54, Z:-2.65 [[ 0.63981191 -0.69626941 -0.3253454 -1.88274447] [ 0.73358155 0.67950301 -0.011566 -0.54202844] [ 0.22912623 -0.23126732 0.94552451 -2.6523315 ] [ 0. 0. 0. 1. ]] SLAMing on 177.481346184 meters Centerline goodness : 0.861097 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.55, Z:-2.65 [[ 0.63918121 -0.69799027 -0.32288847 -1.88272501] [ 0.73464027 0.67834862 -0.01211714 -0.54797821] [ 0.22748859 -0.22946183 0.94635945 -2.65062658] [ 0. 0. 0. 1. ]] SLAMing on 177.511346184 meters Centerline goodness : 0.862168 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.55, Z:-2.65 [[ 0.63886307 -0.69826587 -0.3229222 -1.88085555] [ 0.73500874 0.67795431 -0.01183696 -0.54965137] [ 0.22719184 -0.22978844 0.94635149 -2.65024368] [ 0. 0. 0. 1. ]] SLAMing on 177.541346184 meters Centerline goodness : 0.863746 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.55, Z:-2.65 [[ 0.63833567 -0.69855044 -0.32334943 -1.87935427] [ 0.73544882 0.6774789 -0.01172096 -0.55067469] [ 0.2272501 -0.23032505 0.94620704 -2.64924315] [ 0. 0. 0. 1. ]] SLAMing on 177.571346184 meters Centerline goodness : 0.863420 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.55, Z:-2.65 [[ 0.63785248 -0.69842549 -0.32457057 -1.8772367 ] [ 0.73579126 0.67711806 -0.01106149 -0.55072933] [ 0.22749822 -0.23176058 0.9457968 -2.64856404] [ 0. 0. 0. 1. ]] SLAMing on 177.601346184 meters Centerline goodness : 0.865408 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.55, Z:-2.65 [[ 0.63763922 -0.69825989 -0.32534497 -1.87763554] [ 0.73607676 0.67682446 -0.00998313 -0.55353516] [ 0.22717225 -0.23311324 0.94554269 -2.64581231] [ 0. 0. 0. 1. ]] SLAMing on 177.631346184 meters Centerline goodness : 0.864380 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.55, Z:-2.65 [[ 0.63778856 -0.69768743 -0.32627902 -1.8762014 ] [ 0.73589391 0.67703387 -0.00923535 -0.55414391] [ 0.22734534 -0.23421655 0.94522839 -2.64537781] [ 0. 0. 0. 1. ]] SLAMing on 177.661346184 meters Centerline goodness : 0.864085 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.55, Z:-2.65 [[ 0.63789603 -0.69752653 -0.32641292 -1.87519765] [ 0.73583198 0.67710528 -0.00892916 -0.5549527 ] [ 0.22724424 -0.23448919 0.9451851 -2.64537031] [ 0. 0. 0. 1. ]] SLAMing on 177.691346184 meters Centerline goodness : 0.866027 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.56, Z:-2.65 [[ 0.63911162 -0.69712524 -0.3248888 -1.87635607] [ 0.73500808 0.67799965 -0.00892143 -0.55826059] [ 0.22649385 -0.2330941 0.94571014 -2.64536576] [ 0. 0. 0. 1. ]] SLAMing on 177.721346184 meters Centerline goodness : 0.865766 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.56, Z:-2.65 [[ 0.63981021 -0.69676108 -0.32429445 -1.87633787] [ 0.73447286 0.67857976 -0.00889538 -0.55958748] [ 0.2262576 -0.23249412 0.94591436 -2.64578281] [ 0. 0. 0. 1. ]] SLAMing on 177.751346184 meters Centerline goodness : 0.866798 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.56, Z:-2.65 [[ 0.64170929 -0.70078374 -0.31162693 -1.87633864] [ 0.73681551 0.6760867 -0.00311015 -0.55773041] [ 0.21286637 -0.22761575 0.95019944 -2.65013059] [ 0. 0. 0. 1. ]] SLAMing on 177.781346184 meters Centerline goodness : 0.869930 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.56, Z:-2.65 [[ 0.64250557 -0.70120766 -0.30902171 -1.87732756] [ 0.73647267 0.67645708 -0.00371851 -0.56226121] [ 0.21164737 -0.22519688 0.95104772 -2.65004408] [ 0. 0. 0. 1. ]] SLAMing on 177.811346184 meters Centerline goodness : 0.869386 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.56, Z:-2.65 [[ 0.64298081 -0.7006168 -0.30937319 -1.87621287] [ 0.73605229 0.67691709 -0.00320646 -0.56302109] [ 0.2116665 -0.22565315 0.9509353 -2.65023554] [ 0. 0. 0. 1. ]] SLAMing on 177.841346184 meters Centerline goodness : 0.872116 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.56, Z:-2.65 [[ 6.43772878e-01 -6.99756292e-01 -3.09673397e-01 -1.87598746e+00] [ 7.35402362e-01 6.77626472e-01 -2.39378862e-03 -5.64718334e-01] [ 2.11517960e-01 -2.26193491e-01 9.50839974e-01 -2.64981369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.871346184 meters Centerline goodness : 0.872684 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.57, Z:-2.65 [[ 6.44654621e-01 -6.98718123e-01 -3.10182857e-01 -1.87570861e+00] [ 7.34641958e-01 6.78453402e-01 -1.47446686e-03 -5.66484308e-01] [ 2.11474851e-01 -2.26922820e-01 9.50675771e-01 -2.64920075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.901346184 meters Centerline goodness : 0.874112 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.57, Z:-2.65 [[ 6.47378836e-01 -6.96165882e-01 -3.10247818e-01 -1.87665771e+00] [ 7.32423301e-01 6.80849325e-01 5.52052700e-04 -5.72110854e-01] [ 2.10847697e-01 -2.27590118e-01 9.50655556e-01 -2.64786050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.931346184 meters Centerline goodness : 0.873949 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.57, Z:-2.65 [[ 6.48984700e-01 -6.94721230e-01 -3.10131055e-01 -1.87609087e+00] [ 7.31080959e-01 6.82289114e-01 1.48203429e-03 -5.74872168e-01] [ 2.10569442e-01 -2.27692727e-01 9.50692659e-01 -2.64812420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96134618399998 meters Centerline goodness : 0.873949 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.57, Z:-2.65 [[ 6.48984700e-01 -6.94721230e-01 -3.10131055e-01 -1.87609087e+00] [ 7.31080959e-01 6.82289114e-01 1.48203429e-03 -5.74872168e-01] [ 2.10569442e-01 -2.27692727e-01 9.50692659e-01 -2.64812420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99134618399998 meters Centerline goodness : 0.874516 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.58, Z:-2.65 [[ 6.50075133e-01 -6.93813608e-01 -3.09879007e-01 -1.87468023e+00] [ 7.30220946e-01 6.83207550e-01 2.19370641e-03 -5.78071700e-01] [ 2.10189654e-01 -2.27706216e-01 9.50773469e-01 -2.64820022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02134618399998 meters Centerline goodness : 0.877468 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.58, Z:-2.65 [[ 0.65124213 -0.69213204 -0.31118632 -1.86905224] [ 0.72928041 0.68420054 0.0044379 -0.58325346] [ 0.20984224 -0.22983224 0.95033856 -2.64803385] [ 0. 0. 0. 1. ]] SLAMing on 178.05134618399998 meters Centerline goodness : 0.877402 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.59, Z:-2.65 [[ 0.65123229 -0.69166616 -0.31224099 -1.86652817] [ 0.72929657 0.68417553 0.0055099 -0.5851199 ] [ 0.20981663 -0.2313045 0.94998695 -2.64712912] [ 0. 0. 0. 1. ]] SLAMing on 178.08134618399998 meters Centerline goodness : 0.876062 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.59, Z:-2.65 [[ 0.6510451 -0.69110726 -0.31386469 -1.86266704] [ 0.72935441 0.68410479 0.0065405 -0.5857431 ] [ 0.21019616 -0.23317676 0.94944519 -2.64674294] [ 0. 0. 0. 1. ]] SLAMing on 178.11134618399998 meters Centerline goodness : 0.879383 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.59, Z:-2.65 [[ 0.65064666 -0.69066477 -0.31565978 -1.85636424] [ 0.72974506 0.68366896 0.00830047 -0.5895542 ] [ 0.21007395 -0.23575184 0.94883613 -2.64564409] [ 0. 0. 0. 1. ]] SLAMing on 178.14134618399999 meters Centerline goodness : 0.879363 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.59, Z:-2.65 [[ 0.65074675 -0.69001512 -0.3168719 -1.85234902] [ 0.72962669 0.68378086 0.00941409 -0.59125574] [ 0.21017508 -0.23732438 0.94842162 -2.64554142] [ 0. 0. 0. 1. ]] SLAMing on 178.171346184 meters Centerline goodness : 0.878710 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.59, Z:-2.65 [[ 0.65145693 -0.6887311 -0.31820328 -1.84779836] [ 0.72890821 0.68452822 0.01067377 -0.59300245] [ 0.21046777 -0.23889449 0.94796242 -2.6459957 ] [ 0. 0. 0. 1. ]] SLAMing on 178.201346184 meters Centerline goodness : 0.880100 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.60, Z:-2.65 [[ 0.65381821 -0.68607053 -0.31910652 -1.84394816] [ 0.72698106 0.68652472 0.01350358 -0.59974149] [ 0.2098101 -0.24081329 0.94762265 -2.64563098] [ 0. 0. 0. 1. ]] SLAMing on 178.231346184 meters Centerline goodness : 0.880135 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.60, Z:-2.65 [[ 0.65471931 -0.68454762 -0.32052642 -1.84052468] [ 0.72609679 0.68742859 0.01501276 -0.60172616] [ 0.21006208 -0.24256235 0.9471206 -2.64549885] [ 0. 0. 0. 1. ]] SLAMing on 178.261346184 meters Centerline goodness : 0.881175 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.60, Z:-2.64 [[ 0.6551071 -0.68331121 -0.32236698 -1.83700025] [ 0.72561841 0.6879003 0.01646504 -0.60294306] [ 0.2105056 -0.24470178 0.94647157 -2.64482836] [ 0. 0. 0. 1. ]] SLAMing on 178.291346184 meters Centerline goodness : 0.879483 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.60, Z:-2.64 [[ 0.65564154 -0.68192254 -0.32421571 -1.83369723] [ 0.72499234 0.68852332 0.01793721 -0.60412522] [ 0.21099829 -0.24681428 0.94581311 -2.64422437] [ 0. 0. 0. 1. ]] SLAMing on 178.321346184 meters Centerline goodness : 0.879301 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.61, Z:-2.64 [[ 0.65645431 -0.68021481 -0.32615264 -1.82755886] [ 0.72429194 0.68919034 0.02044162 -0.60947808] [ 0.21087656 -0.24964872 0.94509608 -2.64299913] [ 0. 0. 0. 1. ]] SLAMing on 178.351346184 meters Centerline goodness : 0.880766 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.62, Z:-2.64 [[ 0.65547208 -0.67456376 -0.33958812 -1.82084436] [ 0.72123405 0.69249391 0.01654206 -0.61560047] [ 0.22400403 -0.25576538 0.94042877 -2.63992377] [ 0. 0. 0. 1. ]] SLAMing on 178.381346184 meters Centerline goodness : 0.880643 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.62, Z:-2.64 [[ 0.65554832 -0.67391701 -0.34072315 -1.81573461] [ 0.7211634 0.69253783 0.01774001 -0.61793001] [ 0.22400838 -0.2573465 0.93999629 -2.63997397] [ 0. 0. 0. 1. ]] SLAMing on 178.411346184 meters Centerline goodness : 0.884143 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.62, Z:-2.64 [[ 0.65551136 -0.67266704 -0.34325487 -1.80887031] [ 0.72113175 0.6925077 0.02005201 -0.62203953] [ 0.22421832 -0.26067631 0.93902823 -2.63830271] [ 0. 0. 0. 1. ]] SLAMing on 178.441346184 meters Centerline goodness : 0.883225 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.62, Z:-2.64 [[ 0.65583143 -0.67140513 -0.34510909 -1.80538918] [ 0.72073186 0.69287516 0.02167044 -0.6240105 ] [ 0.22456787 -0.26294327 0.93831237 -2.63703346] [ 0. 0. 0. 1. ]] SLAMing on 178.471346184 meters Centerline goodness : 0.884846 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.63, Z:-2.64 [[ 0.65683106 -0.66803439 -0.34971848 -1.79985095] [ 0.71943678 0.69409476 0.02536112 -0.62516077] [ 0.22579566 -0.26825831 0.9365115 -2.63533432] [ 0. 0. 0. 1. ]] SLAMing on 178.501346184 meters Centerline goodness : 0.886135 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.63, Z:-2.63 [[ 0.65684529 -0.66687707 -0.3518938 -1.79716712] [ 0.71925006 0.69422987 0.0269116 -0.62654905] [ 0.22634845 -0.2707764 0.93565299 -2.63319654] [ 0. 0. 0. 1. ]] SLAMing on 178.531346184 meters Centerline goodness : 0.885337 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.63, Z:-2.63 [[ 0.65662707 -0.66579345 -0.35434444 -1.79189847] [ 0.71932293 0.69407746 0.02882698 -0.6291304 ] [ 0.22674967 -0.27381666 0.93467054 -2.63125649] [ 0. 0. 0. 1. ]] SLAMing on 178.561346184 meters Centerline goodness : 0.885055 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.63, Z:-2.63 [[ 0.65661122 -0.66510785 -0.35565891 -1.78716399] [ 0.7191898 0.69418365 0.02958196 -0.63009067] [ 0.22721741 -0.27521011 0.93414755 -2.63126537] [ 0. 0. 0. 1. ]] SLAMing on 178.591346184 meters Centerline goodness : 0.884248 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.63, Z:-2.63 [[ 0.65495687 -0.65926658 -0.36932245 -1.78177602] [ 0.71613763 0.69751531 0.02488536 -0.63483331] [ 0.24120198 -0.28078454 0.92896805 -2.62661082] [ 0. 0. 0. 1. ]] SLAMing on 178.621346184 meters Centerline goodness : 0.887292 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.64, Z:-2.63 [[ 0.6552639 -0.65803294 -0.37097422 -1.77645157] [ 0.71574027 0.69786901 0.02635753 -0.63770996] [ 0.24154729 -0.28279232 0.92826904 -2.62579972] [ 0. 0. 0. 1. ]] SLAMing on 178.651346184 meters Centerline goodness : 0.887034 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.64, Z:-2.63 [[ 0.65548283 -0.65715554 -0.3721409 -1.77344624] [ 0.71540341 0.6981822 0.02719495 -0.63861474] [ 0.24195084 -0.28405669 0.92777777 -2.62538421] [ 0. 0. 0. 1. ]] SLAMing on 178.681346184 meters Centerline goodness : 0.887871 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.64, Z:-2.62 [[ 0.65567574 -0.65618943 -0.37350335 -1.77030783] [ 0.71509581 0.69845533 0.02825134 -0.63989678] [ 0.24233717 -0.2856144 0.92719853 -2.62460623] [ 0. 0. 0. 1. ]] SLAMing on 178.71134618399998 meters Centerline goodness : 0.890217 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.64, Z:-2.62 [[ 0.65511496 -0.65565374 -0.37542317 -1.7647796 ] [ 0.71547832 0.69801287 0.02947554 -0.64201243] [ 0.24272446 -0.287917 0.92638471 -2.62305671] [ 0. 0. 0. 1. ]] SLAMing on 178.74134618399998 meters Centerline goodness : 0.891539 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.64, Z:-2.62 [[ 0.65449804 -0.65527235 -0.37716106 -1.76101601] [ 0.71582738 0.69762593 0.03015327 -0.64198003] [ 0.24335873 -0.28971746 0.9256567 -2.62200168] [ 0. 0. 0. 1. ]] SLAMing on 178.77134618399998 meters Centerline goodness : 0.890701 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.64, Z:-2.62 [[ 0.65381199 -0.65501036 -0.37880247 -1.75692932] [ 0.71623024 0.69719035 0.03065719 -0.64140322] [ 0.24401664 -0.29135382 0.92496964 -2.62138341] [ 0. 0. 0. 1. ]] SLAMing on 178.80134618399998 meters Centerline goodness : 0.888947 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.64, Z:-2.62 [[ 0.65285692 -0.65534709 -0.37986581 -1.75452102] [ 0.7169406 0.69646096 0.0306318 -0.64124192] [ 0.24448725 -0.2923394 0.92453429 -2.62001968] [ 0. 0. 0. 1. ]] SLAMing on 178.83134618399998 meters Centerline goodness : 0.891590 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.64, Z:-2.62 [[ 0.6525653 -0.6545959 -0.38165787 -1.74973165] [ 0.71706024 0.69628459 0.03181801 -0.64314717] [ 0.24491456 -0.29443501 0.92375586 -2.61859933] [ 0. 0. 0. 1. ]] SLAMing on 178.86134618399998 meters Centerline goodness : 0.892407 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.64, Z:-2.62 [[ 0.65249501 -0.65413054 -0.38257483 -1.74675395] [ 0.7169983 0.69632718 0.03227848 -0.64379884] [ 0.24528292 -0.29536705 0.92336049 -2.61819671] [ 0. 0. 0. 1. ]] SLAMing on 178.89134618399999 meters Centerline goodness : 0.891575 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.64, Z:-2.62 [[ 0.65261163 -0.65341791 -0.38359236 -1.74311076] [ 0.71673138 0.69657633 0.03282597 -0.64413666] [ 0.24575228 -0.29635529 0.92291893 -2.61838732] [ 0. 0. 0. 1. ]] SLAMing on 178.921346184 meters Centerline goodness : 0.892756 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.64, Z:-2.62 [[ 0.65290706 -0.65252575 -0.38460697 -1.74135668] [ 0.71629986 0.69698931 0.03347254 -0.64471132] [ 0.24622525 -0.29734838 0.92247334 -2.61772814] [ 0. 0. 0. 1. ]] SLAMing on 178.951346184 meters Centerline goodness : 0.894214 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.64, Z:-2.62 [[ 0.6530579 -0.65195 -0.38532659 -1.74060513] [ 0.7160205 0.69726052 0.03379951 -0.64441053] [ 0.24663743 -0.29797477 0.92216106 -2.61738452] [ 0. 0. 0. 1. ]] SLAMing on 178.981346184 meters Centerline goodness : 0.893261 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.64, Z:-2.62 [[ 0.65325036 -0.65141094 -0.38591159 -1.73850408] [ 0.71572047 0.69755513 0.03407414 -0.64436583] [ 0.24699834 -0.29846377 0.92190629 -2.61772639] [ 0. 0. 0. 1. ]] SLAMing on 179.011346184 meters Centerline goodness : 0.893326 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.65, Z:-2.62 [[ 0.65369854 -0.65041444 -0.38683236 -1.73279779] [ 0.7151877 0.69806225 0.03486622 -0.64651054] [ 0.24735557 -0.29944975 0.92149068 -2.61816143] [ 0. 0. 0. 1. ]] SLAMing on 179.041346184 meters Centerline goodness : 0.893016 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.65, Z:-2.61 [[ 0.65124847 -0.64471631 -0.4002703 -1.73045468] [ 0.7127484 0.70073525 0.03098122 -0.65225675] [ 0.26050941 -0.30546849 0.91587327 -2.61251391] [ 0. 0. 0. 1. ]] SLAMing on 179.071346184 meters Centerline goodness : 0.893616 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.65, Z:-2.61 [[ 0.6507429 -0.64436053 -0.40166302 -1.72756465] [ 0.71301922 0.70043579 0.03151652 -0.65197242] [ 0.26103116 -0.30690261 0.91524506 -2.61162001] [ 0. 0. 0. 1. ]] SLAMing on 179.101346184 meters Centerline goodness : 0.892148 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.65, Z:-2.61 [[ 0.64979504 -0.64416004 -0.40351486 -1.7239725 ] [ 0.71363713 0.69978033 0.0320864 -0.65149557] [ 0.26170298 -0.30881277 0.91441031 -2.61012052] [ 0. 0. 0. 1. ]] SLAMing on 179.131346184 meters Centerline goodness : 0.890641 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.65, Z:-2.61 [[ 0.64952637 -0.64422343 -0.4038461 -1.72277624] [ 0.71383613 0.6995757 0.03212196 -0.65182478] [ 0.2618272 -0.30914399 0.91426282 -2.60962458] [ 0. 0. 0. 1. ]] SLAMing on 179.161346184 meters Centerline goodness : 0.891091 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.65, Z:-2.61 [[ 0.64999137 -0.64330477 -0.40456174 -1.72052281] [ 0.71330462 0.70008577 0.03280916 -0.65271818] [ 0.26212163 -0.30990142 0.91392197 -2.60961384] [ 0. 0. 0. 1. ]] SLAMing on 179.191346184 meters Centerline goodness : 0.890985 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.66, Z:-2.61 [[ 0.65083115 -0.64211716 -0.40509797 -1.71783124] [ 0.71251176 0.70084462 0.0338202 -0.65526969] [ 0.2621942 -0.3106483 0.91364754 -2.60938709] [ 0. 0. 0. 1. ]] SLAMing on 179.221346184 meters Centerline goodness : 0.891064 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.65, Z:-2.61 [[ 0.65069975 -0.64167317 -0.40601154 -1.71585861] [ 0.71245046 0.70089314 0.03410496 -0.65494065] [ 0.26268647 -0.3114552 0.91323134 -2.60902094] [ 0. 0. 0. 1. ]] SLAMing on 179.251346184 meters Centerline goodness : 0.889320 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.66, Z:-2.61 [[ 0.65057737 -0.64168373 -0.40619093 -1.71532283] [ 0.71256831 0.70076645 0.03424594 -0.65567326] [ 0.26266992 -0.31171842 0.91314629 -2.60838094] [ 0. 0. 0. 1. ]] SLAMing on 179.281346184 meters Centerline goodness : 0.891516 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.66, Z:-2.61 [[ 0.65022566 -0.64158454 -0.40691014 -1.71343886] [ 0.71278543 0.70053554 0.03445135 -0.65591693] [ 0.26295156 -0.31244077 0.91281829 -2.60766275] [ 0. 0. 0. 1. ]] SLAMing on 179.311346184 meters Centerline goodness : 0.888949 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.66, Z:-2.61 [[ 0.64928005 -0.64142689 -0.40866486 -1.70981917] [ 0.71341679 0.69986645 0.03497762 -0.65545266] [ 0.26357524 -0.31425865 0.91201403 -2.60632718] [ 0. 0. 0. 1. ]] SLAMing on 179.341346184 meters Centerline goodness : 0.888495 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.66, Z:-2.61 [[ 0.64855261 -0.64180226 -0.40923022 -1.70842709] [ 0.71405972 0.69920561 0.03507451 -0.65563915] [ 0.26362516 -0.31496248 0.91175677 -2.60531095] [ 0. 0. 0. 1. ]] SLAMing on 179.371346184 meters Centerline goodness : 0.889650 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.66, Z:-2.60 [[ 0.64797882 -0.64187504 -0.41002424 -1.70568444] [ 0.71452438 0.69871509 0.03538544 -0.65645151] [ 0.26377709 -0.31590133 0.91138795 -2.60434115] [ 0. 0. 0. 1. ]] SLAMing on 179.401346184 meters Centerline goodness : 0.890191 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.66, Z:-2.60 [[ 0.64753268 -0.6414607 -0.41137525 -1.70178882] [ 0.71477853 0.69842074 0.03605711 -0.65726388] [ 0.26418379 -0.31739035 0.9107526 -2.60329116] [ 0. 0. 0. 1. ]] SLAMing on 179.431346184 meters Centerline goodness : 0.890316 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.66, Z:-2.60 [[ 0.64262569 -0.63956555 -0.4218864 -1.70117109] [ 0.71482455 0.69867422 0.02966832 -0.66399474] [ 0.27578632 -0.32064038 0.90616315 -2.59729418] [ 0. 0. 0. 1. ]] SLAMing on 179.46134618399998 meters Centerline goodness : 0.889133 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.66, Z:-2.60 [[ 0.64185487 -0.63961322 -0.42298612 -1.69716078] [ 0.71533487 0.6981469 0.02978157 -0.66373018] [ 0.27625776 -0.32169216 0.90564662 -2.59678587] [ 0. 0. 0. 1. ]] SLAMing on 179.49134618399998 meters Centerline goodness : 0.889870 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.66, Z:-2.59 [[ 0.64107352 -0.63927445 -0.42467978 -1.69378324] [ 0.71586727 0.69756638 0.03058112 -0.664362 ] [ 0.27669261 -0.3236191 0.90482699 -2.59491575] [ 0. 0. 0. 1. ]] SLAMing on 179.52134618399998 meters Centerline goodness : 0.888155 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.66, Z:-2.59 [[ 0.64094086 -0.63898509 -0.42531503 -1.69318187] [ 0.71589881 0.69751976 0.03090433 -0.66477097] [ 0.27691823 -0.32429037 0.90451758 -2.59388178] [ 0. 0. 0. 1. ]] SLAMing on 179.55134618399998 meters Centerline goodness : 0.888300 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.67, Z:-2.59 [[ 0.64102914 -0.63828902 -0.4262262 -1.69104574] [ 0.71567543 0.69772297 0.03148539 -0.66535831] [ 0.27729103 -0.32522267 0.90406853 -2.59324972] [ 0. 0. 0. 1. ]] SLAMing on 179.58134618399998 meters Centerline goodness : 0.889066 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.67, Z:-2.59 [[ 0.64102152 -0.63772004 -0.42708847 -1.68838902] [ 0.71551866 0.69786534 0.0318907 -0.66620053] [ 0.2777129 -0.32603239 0.90364729 -2.59249701] [ 0. 0. 0. 1. ]] SLAMing on 179.61134618399998 meters Centerline goodness : 0.888787 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.67, Z:-2.59 [[ 0.64096975 -0.63699875 -0.42824102 -1.68424813] [ 0.71544428 0.6979029 0.03272658 -0.66770051] [ 0.27802385 -0.32735934 0.90307176 -2.59176427] [ 0. 0. 0. 1. ]] SLAMing on 179.64134618399999 meters Centerline goodness : 0.889760 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.67, Z:-2.59 [[ 0.64052974 -0.63668986 -0.42935728 -1.68288536] [ 0.71563196 0.69769783 0.0329945 -0.66706601] [ 0.27855438 -0.32839575 0.90253182 -2.5907217 ] [ 0. 0. 0. 1. ]] SLAMing on 179.671346184 meters Centerline goodness : 0.887941 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.67, Z:-2.59 [[ 0.63988417 -0.63667847 -0.43033565 -1.68126649] [ 0.71602561 0.69729114 0.0330514 -0.66652993] [ 0.27902612 -0.32928042 0.90206365 -2.58958103] [ 0. 0. 0. 1. ]] SLAMing on 179.701346184 meters Centerline goodness : 0.887600 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.67, Z:-2.59 [[ 0.63936967 -0.63656129 -0.4312727 -1.6789499 ] [ 0.71632763 0.69697221 0.03323334 -0.6665648 ] [ 0.27943003 -0.33018094 0.90160934 -2.58860029] [ 0. 0. 0. 1. ]] SLAMing on 179.731346184 meters Centerline goodness : 0.886371 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.67, Z:-2.59 [[ 0.63964275 -0.63566316 -0.4321915 -1.6762928 ] [ 0.71595096 0.69732263 0.03399078 -0.66790277] [ 0.27977023 -0.33116988 0.90114102 -2.58791083] [ 0. 0. 0. 1. ]] SLAMing on 179.761346184 meters Centerline goodness : 0.884368 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.67, Z:-2.59 [[ 0.64003235 -0.63505008 -0.43251589 -1.67461783] [ 0.71546568 0.69781218 0.03416174 -0.66796466] [ 0.28012044 -0.33131489 0.9009789 -2.58836511] [ 0. 0. 0. 1. ]] SLAMing on 179.791346184 meters Centerline goodness : 0.882397 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.67, Z:-2.59 [[ 0.64040467 -0.63457684 -0.43265932 -1.67360333] [ 0.71499868 0.69829201 0.03413438 -0.66746055] [ 0.28046166 -0.33121066 0.90091107 -2.58911483] [ 0. 0. 0. 1. ]] SLAMing on 179.821346184 meters Centerline goodness : 0.882397 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.67, Z:-2.59 [[ 0.64040467 -0.63457684 -0.43265932 -1.67360333] [ 0.71499868 0.69829201 0.03413438 -0.66746055] [ 0.28046166 -0.33121066 0.90091107 -2.58911483] [ 0. 0. 0. 1. ]] SLAMing on 179.851346184 meters Centerline goodness : 0.881960 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.67, Z:-2.59 [[ 0.6406821 -0.63409421 -0.43295609 -1.6735764 ] [ 0.7145545 0.6987523 0.03401613 -0.66578507] [ 0.28095963 -0.33116425 0.90077296 -2.5898991 ] [ 0. 0. 0. 1. ]] SLAMing on 179.881346184 meters Centerline goodness : 0.881633 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.66, Z:-2.59 [[ 0.64036397 -0.63390727 -0.43369984 -1.67294174] [ 0.71463284 0.69867471 0.03396391 -0.66472847] [ 0.28148514 -0.33168541 0.90041707 -2.58931388] [ 0. 0. 0. 1. ]] SLAMing on 179.911346184 meters Centerline goodness : 0.882108 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.66, Z:-2.59 [[ 0.6398769 -0.63369685 -0.43472504 -1.67135941] [ 0.71483244 0.69846794 0.03401652 -0.66369494] [ 0.28208534 -0.33252195 0.89992056 -2.58852553] [ 0. 0. 0. 1. ]] SLAMing on 179.941346184 meters Centerline goodness : 0.883876 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.66, Z:-2.59 [[ 0.63932722 -0.63381198 -0.43536546 -1.67006063] [ 0.71521584 0.69807548 0.03401361 -0.66351968] [ 0.28235972 -0.3331261 0.89961102 -2.58759471] [ 0. 0. 0. 1. ]] SLAMing on 179.971346184 meters Centerline goodness : 0.880952 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.66, Z:-2.59 [[ 0.63878212 -0.63344901 -0.43669184 -1.66712788] [ 0.71557409 0.69767426 0.03470379 -0.66465691] [ 0.28268558 -0.33465353 0.89894153 -2.58572942] [ 0. 0. 0. 1. ]] SLAMing on 180.001346184 meters Centerline goodness : 0.882884 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.67, Z:-2.59 [[ 0.63849124 -0.63357364 -0.43693636 -1.66621557] [ 0.71583358 0.69740422 0.03477975 -0.66512483] [ 0.28268573 -0.33498029 0.89881977 -2.58513854] [ 0. 0. 0. 1. ]] SLAMing on 180.031346184 meters Centerline goodness : 0.882131 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.66, Z:-2.58 [[ 0.63797581 -0.63381507 -0.43733891 -1.66463195] [ 0.71621208 0.6970233 0.03462328 -0.66494639] [ 0.28289066 -0.33531623 0.89863001 -2.58466706] [ 0. 0. 0. 1. ]] SLAMing on 180.061346184 meters Centerline goodness : 0.882178 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.67, Z:-2.58 [[ 0.63842203 -0.63333154 -0.43738824 -1.66337358] [ 0.71582861 0.69739735 0.03501927 -0.66650555] [ 0.28285459 -0.33545208 0.89859066 -2.58452465] [ 0. 0. 0. 1. ]] SLAMing on 180.091346184 meters Centerline goodness : 0.881933 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.67, Z:-2.58 [[ 0.63884349 -0.63284777 -0.43747307 -1.66345128] [ 0.71545373 0.69776285 0.03539713 -0.66747929] [ 0.28285147 -0.33560497 0.89853456 -2.58418025] [ 0. 0. 0. 1. ]] SLAMing on 180.121346184 meters Centerline goodness : 0.883384 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.67, Z:-2.58 [[ 0.63905867 -0.63259975 -0.43751751 -1.66406973] [ 0.71525752 0.69795484 0.03557679 -0.66789882] [ 0.2828616 -0.33567334 0.89850583 -2.58376501] [ 0. 0. 0. 1. ]] SLAMing on 180.151346184 meters Centerline goodness : 0.878505 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.68, Z:-2.58 [[ 0.63856493 -0.62545897 -0.44837029 -1.66841937] [ 0.71178216 0.70152182 0.03511831 -0.67934692] [ 0.29257648 -0.34156729 0.89315776 -2.58157205] [ 0. 0. 0. 1. ]] SLAMing on 180.181346184 meters Centerline goodness : 0.878603 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.68, Z:-2.58 [[ 0.6391716 -0.62487956 -0.44831373 -1.66744742] [ 0.71127676 0.70201044 0.03559099 -0.68124708] [ 0.29248084 -0.34162388 0.89316745 -2.58146351] [ 0. 0. 0. 1. ]] SLAMing on 180.21134618399998 meters Centerline goodness : 0.878030 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.68, Z:-2.58 [[ 0.63913685 -0.62675845 -0.44573302 -1.66917732] [ 0.71179302 0.70155818 0.03415863 -0.68350904] [ 0.29129844 -0.33910169 0.89451398 -2.58212452] [ 0. 0. 0. 1. ]] SLAMing on 180.24134618399998 meters Centerline goodness : 0.876454 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.69, Z:-2.58 [[ 0.63888228 -0.62648674 -0.44647933 -1.66790338] [ 0.71203436 0.70127872 0.03486009 -0.68524566] [ 0.29126707 -0.34018011 0.89411464 -2.58038424] [ 0. 0. 0. 1. ]] SLAMing on 180.27134618399998 meters Centerline goodness : 0.874610 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.69, Z:-2.58 [[ 0.63709348 -0.63011538 -0.44392173 -1.67008364] [ 0.71411999 0.69927808 0.03229244 -0.68511839] [ 0.29007677 -0.33758669 0.8954835 -2.5803084 ] [ 0. 0. 0. 1. ]] SLAMing on 180.30134618399998 meters Centerline goodness : 0.874344 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.69, Z:-2.57 [[ 0.63259798 -0.62716399 -0.45440634 -1.67219705] [ 0.71331396 0.70034617 0.02642804 -0.69174594] [ 0.30166703 -0.34085271 0.8904024 -2.57402824] [ 0. 0. 0. 1. ]] SLAMing on 180.33134618399998 meters Centerline goodness : 0.872462 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.71, Z:-2.57 [[ 0.62837307 -0.62542206 -0.46259544 -1.67128408] [ 0.71365447 0.70012532 0.02284379 -0.70506472] [ 0.30958777 -0.34448772 0.88627514 -2.57088304] [ 0. 0. 0. 1. ]] SLAMing on 180.36134618399998 meters Centerline goodness : 0.871055 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.71, Z:-2.57 [[ 0.62666747 -0.62876312 -0.46037465 -1.66996947] [ 0.7156242 0.69818275 0.02056336 -0.70632069] [ 0.30849615 -0.34234164 0.88748652 -2.57089258] [ 0. 0. 0. 1. ]] SLAMing on 180.39134618399999 meters Centerline goodness : 0.871087 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.71, Z:-2.57 [[ 0.62542555 -0.63189665 -0.45776578 -1.67024479] [ 0.71724631 0.69657694 0.01839267 -0.70760522] [ 0.30724682 -0.33983406 0.88888256 -2.57133394] [ 0. 0. 0. 1. ]] SLAMing on 180.421346184 meters Centerline goodness : 0.869283 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.72, Z:-2.57 [[ 0.62475546 -0.62577443 -0.46699783 -1.67384555] [ 0.71444274 0.69944841 0.01853343 -0.72254082] [ 0.31504315 -0.34522207 0.88406421 -2.56992328] [ 0. 0. 0. 1. ]] SLAMing on 180.451346184 meters Centerline goodness : 0.869320 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.72, Z:-2.57 [[ 0.62520129 -0.62522357 -0.46713899 -1.67292312] [ 0.71404704 0.69984039 0.01898027 -0.72365531] [ 0.31505582 -0.34542571 0.88398015 -2.56987454] [ 0. 0. 0. 1. ]] SLAMing on 180.481346184 meters Centerline goodness : 0.868995 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.72, Z:-2.57 [[ 0.62549519 -0.62474941 -0.46737986 -1.67191436] [ 0.7137756 0.7001054 0.01941198 -0.7246911 ] [ 0.31508754 -0.34574644 0.88384345 -2.5695927 ] [ 0. 0. 0. 1. ]] SLAMing on 180.511346184 meters Centerline goodness : 0.868377 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.74, Z:-2.57 [[ 0.62412082 -0.61890473 -0.47689636 -1.67665241] [ 0.71130209 0.70262861 0.01903614 -0.73721114] [ 0.32329947 -0.35109823 0.87875337 -2.56863522] [ 0. 0. 0. 1. ]] SLAMing on 180.541346184 meters Centerline goodness : 0.867080 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.74, Z:-2.57 [[ 0.62332736 -0.62163419 -0.47437741 -1.67549539] [ 0.71269306 0.70125695 0.0175299 -0.74068503] [ 0.32176327 -0.34901235 0.88014702 -2.56881653] [ 0. 0. 0. 1. ]] SLAMing on 180.571346184 meters Centerline goodness : 0.865745 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.74, Z:-2.57 [[ 0.62167234 -0.62539033 -0.47160411 -1.67532947] [ 0.71476454 0.69920432 0.01499928 -0.74159 ] [ 0.32036722 -0.34641053 0.88168282 -2.5694713 ] [ 0. 0. 0. 1. ]] SLAMing on 180.601346184 meters Centerline goodness : 0.864605 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.75, Z:-2.57 [[ 0.61875428 -0.62155006 -0.48043591 -1.67817217] [ 0.71358676 0.70044912 0.01284391 -0.75319086] [ 0.32853777 -0.35077993 0.87693578 -2.56846602] [ 0. 0. 0. 1. ]] SLAMing on 180.631346184 meters Centerline goodness : 0.863565 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.75, Z:-2.57 [[ 0.61699688 -0.62460069 -0.47873669 -1.67682618] [ 0.71539185 0.69864478 0.01048703 -0.75248012] [ 0.32791668 -0.34895479 0.87789589 -2.5688243 ] [ 0. 0. 0. 1. ]] SLAMing on 180.661346184 meters Centerline goodness : 0.861453 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.75, Z:-2.57 [[ 0.61421639 -0.62891782 -0.47665565 -1.67672923] [ 0.71832908 0.69566026 0.00775477 -0.75218575] [ 0.32671327 -0.34715872 0.87905589 -2.56810636] [ 0. 0. 0. 1. ]] SLAMing on 180.691346184 meters Centerline goodness : 0.863140 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.76, Z:-2.56 [[ 6.09540509e-01 -6.27160092e-01 -4.84902656e-01 -1.68117432e+00] [ 7.17173898e-01 6.96894233e-01 1.69706618e-04 -7.58666815e-01] [ 3.37819431e-01 -3.47862971e-01 8.74568114e-01 -2.56216797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.721346184 meters Centerline goodness : 0.860881 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.77, Z:-2.56 [[ 0.60488273 -0.62474429 -0.49377267 -1.68454564] [ 0.71566928 0.69840481 -0.00694333 -0.76564613] [ 0.34919101 -0.34917803 0.86956331 -2.55567893] [ 0. 0. 0. 1. ]] SLAMing on 180.751346184 meters Centerline goodness : 0.861298 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.77, Z:-2.55 [[ 0.60516295 -0.62391562 -0.49447659 -1.68167529] [ 0.71544955 0.6986393 -0.00592225 -0.76927102] [ 0.34915577 -0.35018913 0.86917077 -2.55390511] [ 0. 0. 0. 1. ]] SLAMing on 180.781346184 meters Centerline goodness : 0.862356 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.77, Z:-2.55 [[ 0.60538949 -0.62353727 -0.49467649 -1.68075584] [ 0.71516474 0.69893207 -0.00577544 -0.76918924] [ 0.34934647 -0.35027879 0.869058 -2.55416588] [ 0. 0. 0. 1. ]] SLAMing on 180.811346184 meters Centerline goodness : 0.861947 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.77, Z:-2.55 [[ 0.60521302 -0.62383218 -0.49452059 -1.68144753] [ 0.71523889 0.69885204 -0.00625757 -0.76774341] [ 0.3495004 -0.34991319 0.86914339 -2.55463753] [ 0. 0. 0. 1. ]] SLAMing on 180.841346184 meters Centerline goodness : 0.861158 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.77, Z:-2.55 [[ 0.60494537 -0.62394669 -0.49470358 -1.68146672] [ 0.71525433 0.69883157 -0.00675931 -0.76586072] [ 0.34993193 -0.34974987 0.86903549 -2.55496385] [ 0. 0. 0. 1. ]] SLAMing on 180.871346184 meters Centerline goodness : 0.861257 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.77, Z:-2.55 [[ 0.60455737 -0.62427657 -0.49476172 -1.68070538] [ 0.71556603 0.69851004 -0.00699879 -0.76577203] [ 0.34996521 -0.34980351 0.86900049 -2.55463278] [ 0. 0. 0. 1. ]] SLAMing on 180.901346184 meters Centerline goodness : 0.862326 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.77, Z:-2.55 [[ 0.60374027 -0.62646869 -0.49298547 -1.68176127] [ 0.71669683 0.69733383 -0.0084365 -0.76689067] [ 0.34906065 -0.34822767 0.86999664 -2.55466571] [ 0. 0. 0. 1. ]] SLAMing on 180.931346184 meters Centerline goodness : 0.860781 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.77, Z:-2.56 [[ 0.60192892 -0.63024208 -0.49038402 -1.68241868] [ 0.7187765 0.69515199 -0.01113755 -0.7662913 ] [ 0.34791078 -0.3457725 0.87143529 -2.55548589] [ 0. 0. 0. 1. ]] SLAMing on 180.96134618399998 meters Centerline goodness : 0.860912 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.77, Z:-2.55 [[ 0.60036766 -0.63092705 -0.49141605 -1.6798553 ] [ 0.71987242 0.6940101 -0.01156174 -0.76527205] [ 0.34834232 -0.34681557 0.8708482 -2.55386328] [ 0. 0. 0. 1. ]] SLAMing on 180.99134618399998 meters Centerline goodness : 0.859915 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.77, Z:-2.55 [[ 0.59952128 -0.63107901 -0.49225351 -1.68831457] [ 0.71705229 0.69673463 -0.01992163 -0.77122433] [ 0.35554219 -0.34102807 0.87022388 -2.55190073] [ 0. 0. 0. 1. ]] SLAMing on 181.02134618399998 meters Centerline goodness : 0.859649 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.77, Z:-2.55 [[ 0.59904053 -0.63109782 -0.49281435 -1.68797059] [ 0.71720009 0.69657334 -0.02023884 -0.76962604] [ 0.35605402 -0.34132261 0.86989908 -2.55144375] [ 0. 0. 0. 1. ]] SLAMing on 181.05134618399998 meters Centerline goodness : 0.861020 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.77, Z:-2.55 [[ 0.59842152 -0.63194963 -0.49247472 -1.68868432] [ 0.71763707 0.69609413 -0.0212132 -0.76735388] [ 0.35621444 -0.34072368 0.87006819 -2.55205389] [ 0. 0. 0. 1. ]] SLAMing on 181.08134618399998 meters Centerline goodness : 0.860090 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.77, Z:-2.55 [[ 0.5987577 -0.63170377 -0.49238152 -1.6880856 ] [ 0.71724771 0.69649077 -0.021362 -0.76657193] [ 0.35643364 -0.34036885 0.87011729 -2.55299226] [ 0. 0. 0. 1. ]] SLAMing on 181.11134618399998 meters Centerline goodness : 0.860377 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.77, Z:-2.55 [[ 0.5993564 -0.63125536 -0.49222817 -1.68800466] [ 0.71662653 0.69712765 -0.02143491 -0.7659194 ] [ 0.35667677 -0.33989661 0.87020226 -2.55399896] [ 0. 0. 0. 1. ]] SLAMing on 181.14134618399999 meters Centerline goodness : 0.858345 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.76, Z:-2.56 [[ 0.59950434 -0.63160252 -0.49160228 -1.68875671] [ 0.71649949 0.69723944 -0.02203738 -0.76467054] [ 0.35668337 -0.33902128 0.87054095 -2.55523652] [ 0. 0. 0. 1. ]] SLAMing on 181.171346184 meters Centerline goodness : 0.859215 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.76, Z:-2.56 [[ 0.59933655 -0.63164426 -0.49175323 -1.68804851] [ 0.71622248 0.69749299 -0.02299758 -0.7606018 ] [ 0.35752072 -0.33842142 0.87043086 -2.55688064] [ 0. 0. 0. 1. ]] SLAMing on 181.201346184 meters Centerline goodness : 0.859793 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.76, Z:-2.56 [[ 0.59892786 -0.63119008 -0.49283314 -1.68700659] [ 0.71606288 0.69764715 -0.02328975 -0.75687915] [ 0.35852389 -0.33895063 0.8698121 -2.55719542] [ 0. 0. 0. 1. ]] SLAMing on 181.231346184 meters Centerline goodness : 0.862971 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.75, Z:-2.56 [[ 0.59822795 -0.63189672 -0.4927777 -1.68847787] [ 0.71642514 0.69723902 -0.02434669 -0.75375214] [ 0.35896843 -0.33847346 0.86981457 -2.55748347] [ 0. 0. 0. 1. ]] SLAMing on 181.261346184 meters Centerline goodness : 0.861702 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.75, Z:-2.56 [[ 0.59711881 -0.63370406 -0.49180107 -1.69049941] [ 0.71722762 0.6963373 -0.02643685 -0.74842158] [ 0.35921257 -0.33694737 0.87030615 -2.5595373 ] [ 0. 0. 0. 1. ]] SLAMing on 181.291346184 meters Centerline goodness : 0.860786 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.75, Z:-2.56 [[ 0.59678764 -0.63427426 -0.49146788 -1.69016766] [ 0.71739147 0.6961357 -0.02728682 -0.74621411] [ 0.35943566 -0.33629043 0.87046812 -2.56071021] [ 0. 0. 0. 1. ]] SLAMing on 181.321346184 meters Centerline goodness : 0.863760 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.74, Z:-2.56 [[ 0.59685578 -0.63459886 -0.49096584 -1.69078415] [ 0.71733013 0.6961784 -0.02780517 -0.74493211] [ 0.35944494 -0.33558891 0.87073498 -2.56176135] [ 0. 0. 0. 1. ]] SLAMing on 181.351346184 meters Centerline goodness : 0.864721 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.74, Z:-2.56 [[ 0.59691597 -0.63559269 -0.48960521 -1.69509955] [ 0.71737175 0.69608527 -0.02903575 -0.74195296] [ 0.35926188 -0.33389705 0.87146065 -2.56352943] [ 0. 0. 0. 1. ]] SLAMing on 181.381346184 meters Centerline goodness : 0.864522 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.74, Z:-2.56 [[ 0.59653339 -0.63605388 -0.48947255 -1.6959491 ] [ 0.7175752 0.69584737 -0.02970309 -0.73973521] [ 0.35949095 -0.33351448 0.87151268 -2.56407631] [ 0. 0. 0. 1. ]] SLAMing on 181.411346184 meters Centerline goodness : 0.864745 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.74, Z:-2.57 [[ 0.596183 -0.63679241 -0.48893892 -1.69735198] [ 0.71778903 0.69558366 -0.03069664 -0.73698198] [ 0.35964531 -0.33265417 0.87177775 -2.56524967] [ 0. 0. 0. 1. ]] SLAMing on 181.441346184 meters Centerline goodness : 0.867334 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.73, Z:-2.57 [[ 0.59682617 -0.6347709 -0.4907794 -1.69900568] [ 0.7164309 0.69700145 -0.0302611 -0.73100031] [ 0.36128282 -0.33354891 0.8707582 -2.56658351] [ 0. 0. 0. 1. ]] SLAMing on 181.471346184 meters Centerline goodness : 0.868230 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.73, Z:-2.57 [[ 0.59636783 -0.6357475 -0.49007196 -1.70095857] [ 0.71672684 0.69664062 -0.03153558 -0.72771286] [ 0.36145269 -0.33244092 0.87111135 -2.56793176] [ 0. 0. 0. 1. ]] SLAMing on 181.501346184 meters Centerline goodness : 0.867728 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.71, Z:-2.57 [[ 0.59812133 -0.6399077 -0.48246141 -1.69595633] [ 0.7188384 0.69452888 -0.03001649 -0.71333779] [ 0.35429117 -0.32885828 0.87540276 -2.56764142] [ 0. 0. 0. 1. ]] SLAMing on 181.531346184 meters Centerline goodness : 0.869301 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.71, Z:-2.57 [[ 0.59702571 -0.64163309 -0.481526 -1.70008971] [ 0.71972778 0.69352934 -0.0317644 -0.70905973] [ 0.3543335 -0.32760348 0.875856 -2.56841533] [ 0. 0. 0. 1. ]] SLAMing on 181.561346184 meters Centerline goodness : 0.872317 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.71, Z:-2.57 [[ 0.59652529 -0.64230236 -0.48125384 -1.700886 ] [ 0.72011641 0.69309481 -0.03243356 -0.7076861 ] [ 0.35438669 -0.32721135 0.87598105 -2.56860451] [ 0. 0. 0. 1. ]] SLAMing on 181.591346184 meters Centerline goodness : 0.870158 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.70, Z:-2.57 [[ 0.59901533 -0.64617101 -0.47290978 -1.69606449] [ 0.72346216 0.68986543 -0.02623357 -0.70007957] [ 0.34319548 -0.32641802 0.88072024 -2.57322081] [ 0. 0. 0. 1. ]] SLAMing on 181.621346184 meters Centerline goodness : 0.872824 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.70, Z:-2.57 [[ 0.59838037 -0.6469554 -0.47264113 -1.69703421] [ 0.72394279 0.68933047 -0.02702455 -0.69838857] [ 0.34328961 -0.32599418 0.88084053 -2.57332598] [ 0. 0. 0. 1. ]] SLAMing on 181.651346184 meters Centerline goodness : 0.874701 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.69, Z:-2.57 [[ 0.59808394 -0.64523399 -0.47536165 -1.69910993] [ 0.72351183 0.68982093 -0.02603301 -0.69392329] [ 0.3447118 -0.32835985 0.87940525 -2.57197487] [ 0. 0. 0. 1. ]] SLAMing on 181.681346184 meters Centerline goodness : 0.875569 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.69, Z:-2.57 [[ 0.59784665 -0.64584744 -0.47482677 -1.7010865 ] [ 0.7236811 0.68961321 -0.02681948 -0.69180165] [ 0.34476811 -0.32758922 0.87967054 -2.57277592] [ 0. 0. 0. 1. ]] SLAMing on 181.71134618399998 meters Centerline goodness : 0.877089 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.68, Z:-2.57 [[ 0.59936856 -0.65110911 -0.46563318 -1.69698606] [ 0.726044 0.68714572 -0.02628442 -0.67844617] [ 0.33707187 -0.32231612 0.8845874 -2.57349472] [ 0. 0. 0. 1. ]] SLAMing on 181.74134618399998 meters Centerline goodness : 0.877089 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.68, Z:-2.57 [[ 0.59936856 -0.65110911 -0.46563318 -1.69698606] [ 0.726044 0.68714572 -0.02628442 -0.67844617] [ 0.33707187 -0.32231612 0.8845874 -2.57349472] [ 0. 0. 0. 1. ]] SLAMing on 181.77134618399998 meters Centerline goodness : 0.877833 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.67, Z:-2.58 [[ 0.59961455 -0.65241935 -0.46347749 -1.70060942] [ 0.7258824 0.68723637 -0.02830052 -0.67388079] [ 0.3369824 -0.31946075 0.88565665 -2.57733943] [ 0. 0. 0. 1. ]] SLAMing on 181.80134618399998 meters Centerline goodness : 0.876020 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.66, Z:-2.58 [[ 0.60170973 -0.6569664 -0.45424724 -1.6980824 ] [ 0.72798176 0.68508367 -0.02651253 -0.66112172] [ 0.32861521 -0.31473086 0.89048107 -2.57861398] [ 0. 0. 0. 1. ]] SLAMing on 181.83134618399998 meters Centerline goodness : 0.878062 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.66, Z:-2.58 [[ 0.60191144 -0.65691387 -0.45405593 -1.69983191] [ 0.72764188 0.68542316 -0.02706276 -0.65845054] [ 0.32899835 -0.31410073 0.89056208 -2.57977036] [ 0. 0. 0. 1. ]] SLAMing on 181.86134618399998 meters Centerline goodness : 0.880180 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.65, Z:-2.58 [[ 0.60391662 -0.66105957 -0.445292 -1.69772934] [ 0.7296677 0.68334935 -0.02487397 -0.64524594] [ 0.32073317 -0.30989339 0.89503984 -2.5808624 ] [ 0. 0. 0. 1. ]] SLAMing on 181.89134618399999 meters Centerline goodness : 0.879708 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.63, Z:-2.58 [[ 0.60632709 -0.66366208 -0.43808687 -1.6989448 ] [ 0.73097592 0.68206235 -0.02156744 -0.6290333 ] [ 0.31311604 -0.30715403 0.89867388 -2.58218744] [ 0. 0. 0. 1. ]] SLAMing on 181.921346184 meters Centerline goodness : 0.878221 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.63, Z:-2.58 [[ 0.6062173 -0.66409224 -0.43758666 -1.70277874] [ 0.73097773 0.68203359 -0.02239982 -0.62641419] [ 0.31332435 -0.30628694 0.89889719 -2.5825618 ] [ 0. 0. 0. 1. ]] SLAMing on 181.951346184 meters Centerline goodness : 0.880904 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.62, Z:-2.58 [[ 0.60857436 -0.66763656 -0.42883409 -1.70069702] [ 0.73268508 0.68029289 -0.01934327 -0.61503195] [ 0.30464705 -0.30242852 0.90317615 -2.58351568] [ 0. 0. 0. 1. ]] SLAMing on 181.981346184 meters Centerline goodness : 0.881051 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.61, Z:-2.58 [[ 0.60955226 -0.66511868 -0.43135042 -1.70045981] [ 0.73138746 0.68173363 -0.01765362 -0.61318594] [ 0.30580784 -0.30472349 0.90201173 -2.58306964] [ 0. 0. 0. 1. ]] SLAMing on 182.011346184 meters Centerline goodness : 0.881029 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.60, Z:-2.59 [[ 0.61093861 -0.67023369 -0.42135592 -1.69996127] [ 0.73417824 0.67878645 -0.01520737 -0.60041749] [ 0.29620318 -0.30005958 0.90676785 -2.58557516] [ 0. 0. 0. 1. ]] SLAMing on 182.041346184 meters Centerline goodness : 0.882450 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.60, Z:-2.59 [[ 0.61082682 -0.67040621 -0.42124353 -1.70158145] [ 0.7341672 0.67878714 -0.01570137 -0.59834611] [ 0.29646099 -0.29967237 0.90681164 -2.58604799] [ 0. 0. 0. 1. ]] SLAMing on 182.071346184 meters Centerline goodness : 0.884795 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.60, Z:-2.59 [[ 0.61169178 -0.66781115 -0.42410073 -1.70128357] [ 0.73291916 0.68017317 -0.01392736 -0.59577295] [ 0.29776278 -0.3023123 0.90550792 -2.58554816] [ 0. 0. 0. 1. ]] SLAMing on 182.101346184 meters Centerline goodness : 0.882354 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.58, Z:-2.59 [[ 0.61418712 -0.67043404 -0.41628403 -1.69814724] [ 0.73411433 0.6789471 -0.01034314 -0.58404571] [ 0.28956923 -0.29924744 0.9091758 -2.5863028 ] [ 0. 0. 0. 1. ]] SLAMing on 182.131346184 meters Centerline goodness : 0.887340 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.58, Z:-2.59 [[ 0.61575686 -0.66782025 -0.41816217 -1.70202216] [ 0.73229132 0.68093005 -0.00914831 -0.5803528 ] [ 0.29084861 -0.3005834 0.90832632 -2.58660471] [ 0. 0. 0. 1. ]] SLAMing on 182.161346184 meters Centerline goodness : 0.885014 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.57, Z:-2.59 [[ 0.61750149 -0.67149772 -0.4096129 -1.69995977] [ 0.73426734 0.67883461 -0.00591954 -0.56908964] [ 0.28203437 -0.29711005 0.91224023 -2.58712705] [ 0. 0. 0. 1. ]] SLAMing on 182.191346184 meters Centerline goodness : 0.884014 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.57, Z:-2.59 [[ 0.6173245 -0.67183855 -0.40932068 -1.70231072] [ 0.73435764 0.67873161 -0.00650124 -0.567534 ] [ 0.28218667 -0.29657439 0.91236742 -2.58712372] [ 0. 0. 0. 1. ]] SLAMing on 182.221346184 meters Centerline goodness : 0.885442 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.57, Z:-2.59 [[ 0.61686155 -0.67232481 -0.4092202 -1.70359704] [ 0.734653 0.67840528 -0.00715878 -0.56521761] [ 0.28243017 -0.29621887 0.91240757 -2.58748702] [ 0. 0. 0. 1. ]] SLAMing on 182.251346184 meters Centerline goodness : 0.886160 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.56, Z:-2.59 [[ 0.61561606 -0.67335121 -0.40940813 -1.70405423] [ 0.73549911 0.67747498 -0.00828887 -0.56078973] [ 0.28294509 -0.29601656 0.91231369 -2.5882939 ] [ 0. 0. 0. 1. ]] SLAMing on 182.281346184 meters Centerline goodness : 0.886684 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.56, Z:-2.59 [[ 0.61507092 -0.67389564 -0.40933169 -1.70412167] [ 0.73587979 0.67705364 -0.00890534 -0.55887552] [ 0.28314078 -0.2957415 0.91234219 -2.58879556] [ 0. 0. 0. 1. ]] SLAMing on 182.311346184 meters Centerline goodness : 0.887076 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.55, Z:-2.59 [[ 0.61595015 -0.67868425 -0.39999137 -1.70159599] [ 0.7386017 0.67411151 -0.00641772 -0.5473676 ] [ 0.2739944 -0.29148131 0.91649644 -2.58990887] [ 0. 0. 0. 1. ]] SLAMing on 182.341346184 meters Centerline goodness : 0.888331 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.54, Z:-2.59 [[ 0.6153122 -0.67907413 -0.4003114 -1.70227495] [ 0.73893407 0.67374027 -0.00710559 -0.54395481] [ 0.27453114 -0.29143157 0.91635162 -2.5904354 ] [ 0. 0. 0. 1. ]] SLAMing on 182.371346184 meters Centerline goodness : 0.889173 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.54, Z:-2.59 [[ 0.61558948 -0.67723523 -0.40299136 -1.70224514] [ 0.73821003 0.67454484 -0.00593363 -0.53967502] [ 0.27585421 -0.29383959 0.91518455 -2.59063987] [ 0. 0. 0. 1. ]] SLAMing on 182.401346184 meters Centerline goodness : 0.891024 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.53, Z:-2.59 [[ 0.61698995 -0.68148415 -0.39357688 -1.69975649] [ 0.74034966 0.67221367 -0.00334028 -0.52894701] [ 0.2668441 -0.28932359 0.91928564 -2.59164232] [ 0. 0. 0. 1. ]] SLAMing on 182.431346184 meters Centerline goodness : 0.891657 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.53, Z:-2.59 [[ 6.17158798e-01 -6.79976914e-01 -3.95912129e-01 -1.69896898e+00] [ 7.39861057e-01 6.72756300e-01 -2.13934294e-03 -5.26090809e-01] [ 2.67807083e-01 -2.91599652e-01 9.18285908e-01 -2.59157356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46134618399998 meters Centerline goodness : 0.893800 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.52, Z:-2.59 [[ 6.17112559e-01 -6.78593810e-01 -3.98349760e-01 -1.70088815e+00] [ 7.39351395e-01 6.73317817e-01 -1.62237260e-03 -5.20230585e-01] [ 2.69316923e-01 -2.93519264e-01 9.17232161e-01 -2.59168964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49134618399998 meters Centerline goodness : 0.893255 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.51, Z:-2.59 [[ 6.18717670e-01 -6.83057699e-01 -3.88098731e-01 -1.70052201e+00] [ 7.41672262e-01 6.70759892e-01 1.85011048e-03 -5.09871384e-01] [ 2.59057330e-01 -2.88986760e-01 9.21615946e-01 -2.59465806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52134618399998 meters Centerline goodness : 0.893814 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.51, Z:-2.60 [[ 6.18441536e-01 -6.83390989e-01 -3.87952087e-01 -1.70093584e+00] [ 7.41737777e-01 6.70689286e-01 9.75469472e-04 -5.06656149e-01] [ 2.59528682e-01 -2.88361990e-01 9.21679026e-01 -2.59614082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55134618399998 meters Centerline goodness : 0.894501 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.50, Z:-2.60 [[ 6.18880348e-01 -6.83426883e-01 -3.87188339e-01 -1.70021075e+00] [ 7.41210277e-01 6.71272904e-01 -1.17448450e-04 -5.03063334e-01] [ 2.59989308e-01 -2.86915289e-01 9.22000638e-01 -2.59970113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58134618399998 meters Centerline goodness : 0.895722 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.50, Z:-2.61 [[ 0.61993993 -0.68527721 -0.38219056 -1.69387796] [ 0.74383958 0.66830704 0.00826885 -0.49546389] [ 0.24975419 -0.28941466 0.92404654 -2.6056384 ] [ 0. 0. 0. 1. ]] SLAMing on 182.61134618399998 meters Centerline goodness : 0.894532 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.49, Z:-2.61 [[ 0.62039114 -0.68329754 -0.38499261 -1.69185704] [ 0.74308124 0.66912893 0.00983619 -0.49310886] [ 0.25088864 -0.29218307 0.92286724 -2.60555341] [ 0. 0. 0. 1. ]] SLAMing on 182.64134618399999 meters Centerline goodness : 0.894300 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.49, Z:-2.61 [[ 0.62091773 -0.68529631 -0.38056555 -1.68571577] [ 0.74599305 0.66569975 0.01839033 -0.48500545] [ 0.24073957 -0.29531814 0.92457107 -2.61108375] [ 0. 0. 0. 1. ]] SLAMing on 182.671346184 meters Centerline goodness : 0.895121 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.48, Z:-2.61 [[ 0.62050057 -0.6854609 -0.38094933 -1.68791801] [ 0.74626427 0.66539958 0.01824917 -0.48330266] [ 0.24097443 -0.29561249 0.9244158 -2.61034395] [ 0. 0. 0. 1. ]] SLAMing on 182.701346184 meters Centerline goodness : 0.894114 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.48, Z:-2.61 [[ 0.62027531 -0.68421726 -0.38354305 -1.68645573] [ 0.74615898 0.66548133 0.01952892 -0.4807739 ] [ 0.24187872 -0.2982974 0.92331649 -2.60973703] [ 0. 0. 0. 1. ]] SLAMing on 182.731346184 meters Centerline goodness : 0.895350 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.48, Z:-2.61 [[ 0.61990994 -0.6830625 -0.38618298 -1.6839007 ] [ 0.74613123 0.66547893 0.02063909 -0.47794904] [ 0.24289885 -0.30093756 0.92219127 -2.60954534] [ 0. 0. 0. 1. ]] SLAMing on 182.761346184 meters Centerline goodness : 0.895931 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.48, Z:-2.61 [[ 0.61996941 -0.68288325 -0.38640445 -1.68196708] [ 0.74602652 0.66559512 0.02067746 -0.47733178] [ 0.24306863 -0.30108735 0.92209763 -2.61054911] [ 0. 0. 0. 1. ]] SLAMing on 182.791346184 meters Centerline goodness : 0.897038 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.48, Z:-2.61 [[ 0.61978911 -0.6829453 -0.38658398 -1.68003021] [ 0.74611267 0.66550366 0.02051278 -0.47662835] [ 0.24326394 -0.3011488 0.92202606 -2.61134194] [ 0. 0. 0. 1. ]] SLAMing on 182.821346184 meters Centerline goodness : 0.897861 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.48, Z:-2.61 [[ 0.61946614 -0.68333524 -0.38641253 -1.6794569 ] [ 0.74638265 0.66521112 0.02017681 -0.47598584] [ 0.24325839 -0.30091046 0.92210534 -2.61178464] [ 0. 0. 0. 1. ]] SLAMing on 182.851346184 meters Centerline goodness : 0.897099 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.47, Z:-2.61 [[ 0.61940533 -0.68181872 -0.38917897 -1.68003304] [ 0.74603839 0.66556064 0.02134868 -0.47272014] [ 0.24446627 -0.30356594 0.92091474 -2.61070164] [ 0. 0. 0. 1. ]] SLAMing on 182.881346184 meters Centerline goodness : 0.899404 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.46, Z:-2.61 [[ 0.62119983 -0.68594409 -0.37893466 -1.67966741] [ 0.7479472 0.66326856 0.02549127 -0.46468315] [ 0.23384986 -0.29925829 0.92507228 -2.61290802] [ 0. 0. 0. 1. ]] SLAMing on 182.911346184 meters Centerline goodness : 0.897557 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.46, Z:-2.61 [[ 0.62175358 -0.6856712 -0.37852014 -1.68090436] [ 0.74742742 0.66386712 0.0251535 -0.4641408 ] [ 0.23404005 -0.29855561 0.92525121 -2.61350522] [ 0. 0. 0. 1. ]] SLAMing on 182.941346184 meters Centerline goodness : 0.899347 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.46, Z:-2.61 [[ 0.62339909 -0.68245565 -0.38161218 -1.67810315] [ 0.74563514 0.66579094 0.02739819 -0.46262565] [ 0.23537588 -0.30162346 0.92391638 -2.61421096] [ 0. 0. 0. 1. ]] SLAMing on 182.971346184 meters Centerline goodness : 0.898840 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.46, Z:-2.62 [[ 0.6245261 -0.68189 -0.38077969 -1.6793642 ] [ 0.74472322 0.66681375 0.02732672 -0.46256519] [ 0.23527531 -0.30064172 0.92426191 -2.61572855] [ 0. 0. 0. 1. ]] SLAMing on 183.001346184 meters Centerline goodness : 0.899239 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.46, Z:-2.62 [[ 0.62424684 -0.6820765 -0.38090358 -1.67834201] [ 0.74486928 0.66666595 0.02694936 -0.46099346] [ 0.23555392 -0.30054643 0.92422194 -2.61662167] [ 0. 0. 0. 1. ]] SLAMing on 183.031346184 meters Centerline goodness : 0.900552 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.46, Z:-2.62 [[ 0.6239501 -0.68235483 -0.38089128 -1.67933697] [ 0.74506979 0.66645642 0.02658664 -0.45967586] [ 0.23570591 -0.30037932 0.92423752 -2.61665959] [ 0. 0. 0. 1. ]] SLAMing on 183.061346184 meters Centerline goodness : 0.898179 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.46, Z:-2.62 [[ 0.62482837 -0.68007226 -0.38352473 -1.68270396] [ 0.74390869 0.6676949 0.02798901 -0.45612566] [ 0.23704296 -0.30279571 0.92310638 -2.61561407] [ 0. 0. 0. 1. ]] SLAMing on 183.091346184 meters Centerline goodness : 0.898764 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.45, Z:-2.62 [[ 0.62739818 -0.68359201 -0.37292558 -1.68348561] [ 0.74520859 0.66602112 0.03286391 -0.44890154] [ 0.22591081 -0.2985261 0.92727907 -2.61876395] [ 0. 0. 0. 1. ]] SLAMing on 183.121346184 meters Centerline goodness : 0.897422 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.45, Z:-2.62 [[ 0.62791105 -0.68312984 -0.37290929 -1.68405684] [ 0.74465969 0.66664538 0.03264786 -0.44741957] [ 0.22629552 -0.29819047 0.92729325 -2.61982622] [ 0. 0. 0. 1. ]] SLAMing on 183.151346184 meters Centerline goodness : 0.897813 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.45, Z:-2.62 [[ 0.62890698 -0.68107681 -0.37498053 -1.6815983 ] [ 0.74348362 0.66789694 0.03384955 -0.44500373] [ 0.22739421 -0.3000801 0.92641449 -2.62131207] [ 0. 0. 0. 1. ]] SLAMing on 183.181346184 meters Centerline goodness : 0.898979 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.44, Z:-2.62 [[ 0.62846297 -0.68181471 -0.37438349 -1.68348867] [ 0.74378819 0.66761342 0.03273297 -0.44182287] [ 0.22762561 -0.29903348 0.92669604 -2.62260598] [ 0. 0. 0. 1. ]] SLAMing on 183.21134618399998 meters Centerline goodness : 0.897972 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.44, Z:-2.63 [[ 0.63047241 -0.68510141 -0.36488437 -1.68027752] [ 0.74573754 0.66504668 0.03985515 -0.43537693] [ 0.21536032 -0.29723555 0.93019942 -2.62923379] [ 0. 0. 0. 1. ]] SLAMing on 183.24134618399998 meters Centerline goodness : 0.896038 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.43, Z:-2.63 [[ 0.63021788 -0.68577444 -0.36405884 -1.68136967] [ 0.74592697 0.66489627 0.03880593 -0.43378761] [ 0.21544925 -0.2960175 0.93056717 -2.6302167 ] [ 0. 0. 0. 1. ]] SLAMing on 183.27134618399998 meters Centerline goodness : 0.899037 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.43, Z:-2.63 [[ 0.63059107 -0.68527661 -0.36434994 -1.68309779] [ 0.74540674 0.66550261 0.03840665 -0.43024381] [ 0.21615666 -0.29580779 0.9304698 -2.63171361] [ 0. 0. 0. 1. ]] SLAMing on 183.30134618399998 meters Centerline goodness : 0.895492 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.43, Z:-2.63 [[ 0.63104767 -0.68463077 -0.36477329 -1.68423989] [ 0.74494129 0.66600514 0.03872501 -0.42927225] [ 0.21642856 -0.29617201 0.93029072 -2.63185347] [ 0. 0. 0. 1. ]] SLAMing on 183.33134618399998 meters Centerline goodness : 0.897929 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.43, Z:-2.63 [[ 0.63127932 -0.68404571 -0.36546939 -1.68527771] [ 0.74462138 0.66634691 0.03899734 -0.42752756] [ 0.21685344 -0.29675454 0.93000609 -2.63200721] [ 0. 0. 0. 1. ]] SLAMing on 183.36134618399998 meters Centerline goodness : 0.897411 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.43, Z:-2.63 [[ 0.6311856 -0.68397418 -0.36576502 -1.6860489 ] [ 0.74462423 0.66634906 0.03890624 -0.42570613] [ 0.21711631 -0.29691455 0.92989368 -2.63242424] [ 0. 0. 0. 1. ]] SLAMing on 183.39134618399999 meters Centerline goodness : 0.897906 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.42, Z:-2.63 [[ 0.62999509 -0.68593778 -0.36413673 -1.6863205 ] [ 0.7457024 0.66525188 0.03698461 -0.42348149] [ 0.2168735 -0.29483775 0.93061087 -2.63416301] [ 0. 0. 0. 1. ]] SLAMing on 183.421346184 meters Centerline goodness : 0.896581 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.42, Z:-2.64 [[ 0.62954667 -0.68676483 -0.36335253 -1.68568397] [ 0.74610681 0.66484716 0.03609557 -0.42219806] [ 0.21678473 -0.29382364 0.93095223 -2.6356732 ] [ 0. 0. 0. 1. ]] SLAMing on 183.451346184 meters Centerline goodness : 0.894410 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.42, Z:-2.64 [[ 0.63083544 -0.69149645 -0.35196492 -1.68428652] [ 0.74869026 0.66158157 0.04210375 -0.41728485] [ 0.20373891 -0.29007324 0.93506576 -2.64103543] [ 0. 0. 0. 1. ]] SLAMing on 183.481346184 meters Centerline goodness : 0.897144 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.41, Z:-2.64 [[ 0.62915261 -0.69294065 -0.3521367 -1.68394538] [ 0.75007374 0.66006688 0.04124444 -0.41444569] [ 0.20385382 -0.29007753 0.93503938 -2.64127495] [ 0. 0. 0. 1. ]] SLAMing on 183.511346184 meters Centerline goodness : 0.896205 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.41, Z:-2.64 [[ 0.63050375 -0.69676759 -0.34202332 -1.68422762] [ 0.75211691 0.65732306 0.04739776 -0.40871146] [ 0.19179459 -0.28712598 0.93849534 -2.64379774] [ 0. 0. 0. 1. ]] SLAMing on 183.541346184 meters Centerline goodness : 0.897356 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.41, Z:-2.64 [[ 0.63034111 -0.69616603 -0.34354467 -1.68545269] [ 0.75213233 0.65725008 0.04815895 -0.40687825] [ 0.19226814 -0.28874762 0.93790073 -2.64283021] [ 0. 0. 0. 1. ]] SLAMing on 183.571346184 meters Centerline goodness : 0.899068 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.40, Z:-2.64 [[ 0.63053039 -0.69613513 -0.34325982 -1.68891029] [ 0.75191424 0.65753317 0.04769811 -0.40487949] [ 0.19250039 -0.28817705 0.93802856 -2.64288058] [ 0. 0. 0. 1. ]] SLAMing on 183.601346184 meters Centerline goodness : 0.899023 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.40, Z:-2.64 [[ 0.63118492 -0.69602881 -0.34227108 -1.68889313] [ 0.75141338 0.6581315 0.04733764 -0.40473432] [ 0.19231102 -0.28706588 0.93840804 -2.64473281] [ 0. 0. 0. 1. ]] SLAMing on 183.631346184 meters Centerline goodness : 0.899023 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.40, Z:-2.64 [[ 0.63118492 -0.69602881 -0.34227108 -1.68889313] [ 0.75141338 0.6581315 0.04733764 -0.40473432] [ 0.19231102 -0.28706588 0.93840804 -2.64473281] [ 0. 0. 0. 1. ]] SLAMing on 183.661346184 meters Centerline goodness : 0.898093 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.40, Z:-2.65 [[ 0.63183936 -0.69538515 -0.34237191 -1.68729187] [ 0.75074427 0.65890519 0.04719108 -0.40322848] [ 0.19277465 -0.28685093 0.93837864 -2.64689537] [ 0. 0. 0. 1. ]] SLAMing on 183.691346184 meters Centerline goodness : 0.898762 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.40, Z:-2.65 [[ 0.63191615 -0.69543248 -0.34213397 -1.68793113] [ 0.75063986 0.65905119 0.04681161 -0.40229996] [ 0.19292949 -0.28640041 0.93848443 -2.6473978 ] [ 0. 0. 0. 1. ]] SLAMing on 183.721346184 meters Centerline goodness : 0.898326 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.40, Z:-2.65 [[ 0.63245378 -0.69350083 -0.345049 -1.68470213] [ 0.74983352 0.65987239 0.04814677 -0.39861485] [ 0.19429848 -0.28917992 0.93734896 -2.64916756] [ 0. 0. 0. 1. ]] SLAMing on 183.751346184 meters Centerline goodness : 0.896940 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.40, Z:-2.65 [[ 0.63243432 -0.69345332 -0.34518012 -1.68501039] [ 0.74982799 0.65987803 0.04815557 -0.39786863] [ 0.19438314 -0.28928096 0.93730023 -2.6493659 ] [ 0. 0. 0. 1. ]] SLAMing on 183.781346184 meters Centerline goodness : 0.896441 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.40, Z:-2.65 [[ 0.63272261 -0.69308074 -0.34540004 -1.68623944] [ 0.74953427 0.66020313 0.04827216 -0.39737648] [ 0.19457769 -0.28943205 0.93721322 -2.6490713 ] [ 0. 0. 0. 1. ]] SLAMing on 183.811346184 meters Centerline goodness : 0.896394 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.40, Z:-2.65 [[ 0.63377802 -0.69213892 -0.34535365 -1.68580509] [ 0.74859083 0.6612536 0.04853303 -0.39721944] [ 0.19477474 -0.28928774 0.93721684 -2.65052235] [ 0. 0. 0. 1. ]] SLAMing on 183.841346184 meters Centerline goodness : 0.896835 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.40, Z:-2.65 [[ 0.63338097 -0.69375704 -0.34282608 -1.68638764] [ 0.74917146 0.66069967 0.04709647 -0.39902681] [ 0.19383157 -0.28666552 0.93821757 -2.65110554] [ 0. 0. 0. 1. ]] SLAMing on 183.871346184 meters Centerline goodness : 0.896286 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.40, Z:-2.65 [[ 0.63225822 -0.695847 -0.34065598 -1.68717214] [ 0.75032395 0.65950599 0.04545118 -0.40009954] [ 0.19303759 -0.28433923 0.93908876 -2.65089671] [ 0. 0. 0. 1. ]] SLAMing on 183.901346184 meters Centerline goodness : 0.896455 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.40, Z:-2.65 [[ 0.63176351 -0.69552228 -0.3422333 -1.68363788] [ 0.75057776 0.6591859 0.04590192 -0.39885424] [ 0.19366956 -0.28587186 0.93849314 -2.6511302 ] [ 0. 0. 0. 1. ]] SLAMing on 183.931346184 meters Centerline goodness : 0.893495 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.40, Z:-2.65 [[ 0.63120281 -0.69532645 -0.34366284 -1.68229783] [ 0.75104415 0.65858114 0.04694218 -0.39963817] [ 0.19368973 -0.287736 0.93791912 -2.64934565] [ 0. 0. 0. 1. ]] SLAMing on 183.96134618399998 meters Centerline goodness : 0.895751 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.40, Z:-2.65 [[ 0.63145641 -0.69442015 -0.34502674 -1.67894943] [ 0.75066022 0.65897573 0.04754179 -0.3986665 ] [ 0.19435028 -0.28901842 0.93738803 -2.65024745] [ 0. 0. 0. 1. ]] SLAMing on 183.99134618399998 meters Centerline goodness : 0.893797 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.40, Z:-2.65 [[ 0.63168049 -0.6938421 -0.34577869 -1.67589167] [ 0.75035626 0.65930194 0.04781663 -0.39855562] [ 0.19479537 -0.28966203 0.93709694 -2.65098214] [ 0. 0. 0. 1. ]] SLAMing on 184.02134618399998 meters Centerline goodness : 0.892335 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.40, Z:-2.65 [[ 0.63200541 -0.69317491 -0.3465223 -1.67279391] [ 0.74995858 0.65973384 0.04809773 -0.39829817] [ 0.19527235 -0.2902754 0.93680783 -2.65189381] [ 0. 0. 0. 1. ]] SLAMing on 184.05134618399998 meters Centerline goodness : 0.895849 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.40, Z:-2.65 [[ 0.6321449 -0.69252207 -0.34757159 -1.66896289] [ 0.74969346 0.66000834 0.04846353 -0.39804103] [ 0.19583808 -0.29120812 0.93640017 -2.65281238] [ 0. 0. 0. 1. ]] SLAMing on 184.08134618399998 meters Centerline goodness : 0.892953 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.40, Z:-2.65 [[ 0.63165762 -0.692393 -0.34871276 -1.66521143] [ 0.74993412 0.65973341 0.04848347 -0.39627549] [ 0.19648784 -0.29213655 0.93597477 -2.65378874] [ 0. 0. 0. 1. ]] SLAMing on 184.11134618399998 meters Centerline goodness : 0.892366 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.40, Z:-2.65 [[ 0.63140167 -0.6923398 -0.34928145 -1.66255299] [ 0.75007192 0.65957401 0.04852054 -0.39586519] [ 0.19678426 -0.29262216 0.93576077 -2.65423427] [ 0. 0. 0. 1. ]] SLAMing on 184.14134618399999 meters Centerline goodness : 0.890090 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.39, Z:-2.65 [[ 0.6311735 -0.69187268 -0.35061689 -1.65990338] [ 0.75007256 0.65955529 0.04876443 -0.39467622] [ 0.19751245 -0.29376693 0.93524854 -2.6543708 ] [ 0. 0. 0. 1. ]] SLAMing on 184.171346184 meters Centerline goodness : 0.892565 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.39, Z:-2.66 [[ 0.63097248 -0.69163856 -0.35143966 -1.65768256] [ 0.75005118 0.659596 0.0485421 -0.3928375 ] [ 0.1982346 -0.29422646 0.93495125 -2.65514512] [ 0. 0. 0. 1. ]] SLAMing on 184.201346184 meters Centerline goodness : 0.890145 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.39, Z:-2.66 [[ 0.63052943 -0.69192756 -0.35166589 -1.65594334] [ 0.75035445 0.65927634 0.04819658 -0.39181655] [ 0.19849646 -0.29426343 0.93488405 -2.65573785] [ 0. 0. 0. 1. ]] SLAMing on 184.231346184 meters Centerline goodness : 0.889169 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.39, Z:-2.65 [[ 0.6300607 -0.69191398 -0.35253165 -1.65528685] [ 0.75068658 0.65887711 0.04848311 -0.39149852] [ 0.19872889 -0.29518808 0.93454311 -2.65472298] [ 0. 0. 0. 1. ]] SLAMing on 184.261346184 meters Centerline goodness : 0.887872 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.39, Z:-2.65 [[ 0.62965556 -0.69204548 -0.35299706 -1.65406156] [ 0.75100376 0.65850662 0.04860425 -0.39128658] [ 0.19881455 -0.29570606 0.93436112 -2.65444179] [ 0. 0. 0. 1. ]] SLAMing on 184.291346184 meters Centerline goodness : 0.889488 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.39, Z:-2.65 [[ 0.62873068 -0.69400101 -0.35079957 -1.65416557] [ 0.75198535 0.65750175 0.04700512 -0.39276854] [ 0.19802972 -0.2933497 0.93527011 -2.65442466] [ 0. 0. 0. 1. ]] SLAMing on 184.321346184 meters Centerline goodness : 0.887510 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.39, Z:-2.65 [[ 0.62758588 -0.69413797 -0.35257403 -1.64709184] [ 0.75280088 0.65653799 0.04742057 -0.39276661] [ 0.19856183 -0.29517852 0.93458164 -2.65478803] [ 0. 0. 0. 1. ]] SLAMing on 184.351346184 meters Centerline goodness : 0.887837 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.39, Z:-2.65 [[ 0.62692345 -0.69457406 -0.35289356 -1.64600777] [ 0.7533287 0.65594385 0.04726026 -0.39268853] [ 0.19865261 -0.29547341 0.93446916 -2.65416272] [ 0. 0. 0. 1. ]] SLAMing on 184.381346184 meters Centerline goodness : 0.886580 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.39, Z:-2.65 [[ 0.62686446 -0.69460146 -0.35294442 -1.64555064] [ 0.75336397 0.65590681 0.04721215 -0.3928715 ] [ 0.19870502 -0.29549122 0.93445238 -2.65401942] [ 0. 0. 0. 1. ]] SLAMing on 184.411346184 meters Centerline goodness : 0.885938 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.40, Z:-2.65 [[ 0.62678582 -0.69619702 -0.34992748 -1.64705577] [ 0.75377684 0.65552082 0.04596664 -0.39635086] [ 0.19738291 -0.29257847 0.93564835 -2.65390485] [ 0. 0. 0. 1. ]] SLAMing on 184.441346184 meters Centerline goodness : 0.886041 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.40, Z:-2.65 [[ 0.62685532 -0.69613345 -0.34992945 -1.64598699] [ 0.75376625 0.65551457 0.04622866 -0.39771666] [ 0.19720254 -0.2927437 0.9356347 -2.65349533] [ 0. 0. 0. 1. ]] SLAMing on 184.471346184 meters Centerline goodness : 0.886075 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.41, Z:-2.65 [[ 0.62582278 -0.69214821 -0.35955069 -1.64793674] [ 0.75215781 0.65755458 0.04336595 -0.40750101] [ 0.20640854 -0.29757826 0.93211732 -2.65215076] [ 0. 0. 0. 1. ]] SLAMing on 184.501346184 meters Centerline goodness : 0.885449 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.41, Z:-2.65 [[ 0.62554277 -0.69205829 -0.36021045 -1.64578953] [ 0.75239156 0.65725517 0.04384719 -0.40831491] [ 0.20640536 -0.2984476 0.93184004 -2.65156066] [ 0. 0. 0. 1. ]] SLAMing on 184.531346184 meters Centerline goodness : 0.886014 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.41, Z:-2.65 [[ 0.62344814 -0.69457537 -0.35899508 -1.64448592] [ 0.75440919 0.65500385 0.04285703 -0.41056962] [ 0.20537573 -0.29754832 0.93235498 -2.64972419] [ 0. 0. 0. 1. ]] SLAMing on 184.561346184 meters Centerline goodness : 0.883639 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.41, Z:-2.65 [[ 0.62309166 -0.69468043 -0.35941047 -1.64298841] [ 0.75473844 0.65460073 0.04321777 -0.41181306] [ 0.20524781 -0.29818953 0.93217828 -2.64865975] [ 0. 0. 0. 1. ]] SLAMing on 184.591346184 meters Centerline goodness : 0.885474 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.41, Z:-2.65 [[ 0.62313926 -0.69389115 -0.36084974 -1.63916506] [ 0.75459074 0.65471158 0.04410849 -0.4126167 ] [ 0.20564602 -0.29977961 0.93158033 -2.64816805] [ 0. 0. 0. 1. ]] SLAMing on 184.621346184 meters Centerline goodness : 0.883499 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.41, Z:-2.65 [[ 0.62300131 -0.69321493 -0.36238437 -1.63485058] [ 0.75454385 0.65472166 0.04475631 -0.41261308] [ 0.20623515 -0.30131814 0.93095351 -2.64801129] [ 0. 0. 0. 1. ]] SLAMing on 184.651346184 meters Centerline goodness : 0.884989 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.42, Z:-2.64 [[ 0.62135004 -0.68778387 -0.3753365 -1.62738194] [ 0.75221833 0.65769453 0.04006856 -0.4195682 ] [ 0.21929825 -0.30723159 0.92602215 -2.64390029] [ 0. 0. 0. 1. ]] SLAMing on 184.681346184 meters Centerline goodness : 0.882745 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.42, Z:-2.64 [[ 0.62115723 -0.68769687 -0.37581472 -1.62407249] [ 0.75238077 0.65748637 0.04043333 -0.42083825] [ 0.21928718 -0.30787122 0.92581232 -2.64366672] [ 0. 0. 0. 1. ]] SLAMing on 184.71134618399998 meters Centerline goodness : 0.883208 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.42, Z:-2.64 [[ 0.6205576 -0.68806861 -0.37612479 -1.62104482] [ 0.75287972 0.65691595 0.04041739 -0.42157826] [ 0.21927244 -0.30825804 0.92568708 -2.64338643] [ 0. 0. 0. 1. ]] SLAMing on 184.74134618399998 meters Centerline goodness : 0.883191 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.42, Z:-2.64 [[ 0.62002367 -0.68758589 -0.37788396 -1.61628475] [ 0.75314643 0.65656949 0.04107266 -0.42138382] [ 0.2198661 -0.31006798 0.92494148 -2.64288096] [ 0. 0. 0. 1. ]] SLAMing on 184.77134618399998 meters Centerline goodness : 0.882677 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.42, Z:-2.64 [[ 0.61919237 -0.68725519 -0.37984354 -1.61235505] [ 0.75380242 0.65573403 0.04236505 -0.42347884] [ 0.21996074 -0.31255909 0.92408013 -2.64015067] [ 0. 0. 0. 1. ]] SLAMing on 184.80134618399998 meters Centerline goodness : 0.882407 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.42, Z:-2.64 [[ 0.61907371 -0.68653627 -0.38133411 -1.60932661] [ 0.75380454 0.6556691 0.04332148 -0.42445639] [ 0.22028723 -0.31427057 0.92342165 -2.63890087] [ 0. 0. 0. 1. ]] SLAMing on 184.83134618399998 meters Centerline goodness : 0.880148 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.42, Z:-2.64 [[ 0.61859118 -0.68623267 -0.3826613 -1.6052315 ] [ 0.7540856 0.65531159 0.04383637 -0.42468766] [ 0.22068044 -0.31567616 0.92284815 -2.63838554] [ 0. 0. 0. 1. ]] SLAMing on 184.86134618399998 meters Centerline goodness : 0.879584 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.43, Z:-2.64 [[ 0.616486 -0.68889687 -0.38126909 -1.600526 ] [ 0.75604252 0.65315305 0.04231799 -0.4262312 ] [ 0.21987434 -0.31434409 0.92349503 -2.63841252] [ 0. 0. 0. 1. ]] SLAMing on 184.89134618399999 meters Centerline goodness : 0.879374 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.43, Z:-2.64 [[ 0.61598953 -0.68849379 -0.38279654 -1.59628068] [ 0.75628036 0.65284689 0.04278972 -0.42602246] [ 0.22044708 -0.31585952 0.92284118 -2.63791426] [ 0. 0. 0. 1. ]] SLAMing on 184.921346184 meters Centerline goodness : 0.880116 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.43, Z:-2.64 [[ 0.61561293 -0.68810692 -0.3840958 -1.59390153] [ 0.75644733 0.65262461 0.04322683 -0.42614365] [ 0.22092569 -0.31715924 0.92228079 -2.63667642] [ 0. 0. 0. 1. ]] SLAMing on 184.951346184 meters Centerline goodness : 0.879017 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.43, Z:-2.63 [[ 0.61557376 -0.68717424 -0.38582446 -1.59234378] [ 0.75636216 0.65264746 0.04435741 -0.42761106] [ 0.22132609 -0.31912828 0.92150524 -2.63413512] [ 0. 0. 0. 1. ]] SLAMing on 184.981346184 meters Centerline goodness : 0.879830 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.43, Z:-2.63 [[ 0.61306109 -0.68172593 -0.39925662 -1.59092222] [ 0.75408308 0.65565711 0.03837268 -0.43114256] [ 0.23561579 -0.32459747 0.91603585 -2.62665252] [ 0. 0. 0. 1. ]] SLAMing on 185.011346184 meters Centerline goodness : 0.878084 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.43, Z:-2.63 [[ 0.61270893 -0.68146928 -0.40023418 -1.58854653] [ 0.7542747 0.65541496 0.03874152 -0.43133281] [ 0.23591831 -0.32562379 0.91559363 -2.62585858] [ 0. 0. 0. 1. ]] SLAMing on 185.041346184 meters Centerline goodness : 0.880690 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.43, Z:-2.63 [[ 0.61236832 -0.68166248 -0.40042639 -1.58683562] [ 0.75454843 0.65510121 0.03871782 -0.43184114] [ 0.23592733 -0.32585068 0.91551059 -2.62555071] [ 0. 0. 0. 1. ]] SLAMing on 185.071346184 meters Centerline goodness : 0.881885 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.43, Z:-2.62 [[ 0.61185445 -0.68199709 -0.40064211 -1.58553999] [ 0.75498306 0.65460154 0.03869637 -0.4324687 ] [ 0.23587013 -0.32615455 0.91541711 -2.62486043] [ 0. 0. 0. 1. ]] SLAMing on 185.101346184 meters Centerline goodness : 0.879837 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.43, Z:-2.62 [[ 0.61148277 -0.68229055 -0.4007099 -1.58572862] [ 0.75527413 0.65427684 0.03850719 -0.43225954] [ 0.23590212 -0.32619231 0.91539542 -2.62434333] [ 0. 0. 0. 1. ]] SLAMing on 185.131346184 meters Centerline goodness : 0.882294 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.43, Z:-2.62 [[ 0.61176871 -0.68134779 -0.40187588 -1.58337146] [ 0.75481618 0.65478094 0.03891594 -0.43139163] [ 0.23662538 -0.32714997 0.91486683 -2.62456905] [ 0. 0. 0. 1. ]] SLAMing on 185.161346184 meters Centerline goodness : 0.880748 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.43, Z:-2.62 [[ 0.61149144 -0.6812768 -0.40241787 -1.58230492] [ 0.75501864 0.65453117 0.03918944 -0.4322395 ] [ 0.23669618 -0.327797 0.91461689 -2.62337283] [ 0. 0. 0. 1. ]] SLAMing on 185.191346184 meters Centerline goodness : 0.880868 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.43, Z:-2.62 [[ 0.61122942 -0.68130858 -0.40276198 -1.58234757] [ 0.75524172 0.65426052 0.0394095 -0.43278236] [ 0.23666123 -0.3282709 0.91445594 -2.62227589] [ 0. 0. 0. 1. ]] SLAMing on 185.221346184 meters Centerline goodness : 0.879915 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.44, Z:-2.61 [[ 0.608576 -0.67518209 -0.41685057 -1.58091708] [ 0.75281688 0.65733203 0.03437076 -0.43694652] [ 0.25080271 -0.33472937 0.90832497 -2.61425318] [ 0. 0. 0. 1. ]] SLAMing on 185.251346184 meters Centerline goodness : 0.881444 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.44, Z:-2.61 [[ 0.60847415 -0.67495328 -0.41736947 -1.58043029] [ 0.75288626 0.65723166 0.03476814 -0.43789337] [ 0.25084156 -0.33538725 0.90807153 -2.6130275 ] [ 0. 0. 0. 1. ]] SLAMing on 185.281346184 meters Centerline goodness : 0.882431 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.44, Z:-2.61 [[ 0.60896943 -0.67378207 -0.41853788 -1.57671943] [ 0.75241201 0.65771163 0.03593847 -0.44066375] [ 0.25106253 -0.33679836 0.907488 -2.61176238] [ 0. 0. 0. 1. ]] SLAMing on 185.311346184 meters Centerline goodness : 0.880942 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.44, Z:-2.61 [[ 0.6095986 -0.67273664 -0.41930294 -1.57419569] [ 0.75180742 0.6583593 0.03672364 -0.44191916] [ 0.25134665 -0.33762174 0.90710331 -2.61156374] [ 0. 0. 0. 1. ]] SLAMing on 185.341346184 meters Centerline goodness : 0.880497 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.44, Z:-2.61 [[ 0.61015868 -0.67209383 -0.41951909 -1.57377848] [ 0.75135524 0.65884389 0.0372832 -0.44353956] [ 0.25133978 -0.33795653 0.90698054 -2.61092448] [ 0. 0. 0. 1. ]] SLAMing on 185.371346184 meters Centerline goodness : 0.881134 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.44, Z:-2.61 [[ 0.61082198 -0.67123563 -0.41992764 -1.57372235] [ 0.75075244 0.65949795 0.03785788 -0.44486602] [ 0.25152987 -0.33838613 0.90676764 -2.61011532] [ 0. 0. 0. 1. ]] SLAMing on 185.401346184 meters Centerline goodness : 0.882256 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.45, Z:-2.61 [[ 0.61186284 -0.66970073 -0.42086197 -1.57412932] [ 0.74981437 0.66049257 0.0390893 -0.44683209] [ 0.25179807 -0.33948565 0.90628209 -2.60850501] [ 0. 0. 0. 1. ]] SLAMing on 185.431346184 meters Centerline goodness : 0.879660 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.45, Z:-2.61 [[ 0.61192201 -0.66951044 -0.42107865 -1.57371926] [ 0.74976343 0.66053612 0.03932974 -0.44761625] [ 0.25180598 -0.3397761 0.90617104 -2.60790353] [ 0. 0. 0. 1. ]] SLAMing on 185.46134618399998 meters Centerline goodness : 0.881952 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.45, Z:-2.61 [[ 0.61213817 -0.66927847 -0.42113322 -1.57262411] [ 0.74960791 0.66069697 0.03959165 -0.44882046] [ 0.25174361 -0.33992035 0.90613427 -2.60768931] [ 0. 0. 0. 1. ]] SLAMing on 185.49134618399998 meters Centerline goodness : 0.880988 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.45, Z:-2.61 [[ 0.61254388 -0.66811576 -0.42238764 -1.56969069] [ 0.74917304 0.66112214 0.04070961 -0.45070713] [ 0.25205109 -0.34137786 0.90550064 -2.60653514] [ 0. 0. 0. 1. ]] SLAMing on 185.52134618399998 meters Centerline goodness : 0.882621 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.45, Z:-2.61 [[ 0.61232138 -0.66800285 -0.42288855 -1.56955471] [ 0.74934447 0.660908 0.04103023 -0.45138878] [ 0.25208212 -0.34201288 0.90525234 -2.60525424] [ 0. 0. 0. 1. ]] SLAMing on 185.55134618399998 meters Centerline goodness : 0.882621 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.45, Z:-2.61 [[ 0.61232138 -0.66800285 -0.42288855 -1.56955471] [ 0.74934447 0.660908 0.04103023 -0.45138878] [ 0.25208212 -0.34201288 0.90525234 -2.60525424] [ 0. 0. 0. 1. ]] SLAMing on 185.58134618399998 meters Centerline goodness : 0.882808 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.45, Z:-2.60 [[ 0.61224655 -0.66747167 -0.42383455 -1.5677057 ] [ 0.74926281 0.66097702 0.04140797 -0.45170151] [ 0.25250625 -0.34291536 0.9047926 -2.60431157] [ 0. 0. 0. 1. ]] SLAMing on 185.61134618399998 meters Centerline goodness : 0.882197 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.46, Z:-2.60 [[ 0.60948952 -0.66307283 -0.43457675 -1.56923552] [ 0.74717161 0.66369629 0.03523956 -0.45840375] [ 0.26506059 -0.34618155 0.89994512 -2.59809704] [ 0. 0. 0. 1. ]] SLAMing on 185.64134618399999 meters Centerline goodness : 0.883551 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.46, Z:-2.60 [[ 0.60909707 -0.66531859 -0.43168499 -1.57163987] [ 0.74805066 0.66276948 0.03401231 -0.46196629] [ 0.26347861 -0.34363904 0.90138295 -2.59751652] [ 0. 0. 0. 1. ]] SLAMing on 185.671346184 meters Centerline goodness : 0.883191 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.46, Z:-2.60 [[ 0.608725 -0.66483563 -0.43295203 -1.57026289] [ 0.74817788 0.66260362 0.03444281 -0.46149912] [ 0.26397677 -0.34489133 0.9007587 -2.59627472] [ 0. 0. 0. 1. ]] SLAMing on 185.701346184 meters Centerline goodness : 0.883087 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.46, Z:-2.60 [[ 0.60700317 -0.66783114 -0.43075367 -1.57300481] [ 0.74993054 0.66072233 0.03240661 -0.46173385] [ 0.26296642 -0.34270625 0.90188751 -2.59544384] [ 0. 0. 0. 1. ]] SLAMing on 185.731346184 meters Centerline goodness : 0.881631 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.46, Z:-2.59 [[ 0.60650655 -0.66768271 -0.4316823 -1.57070556] [ 0.75020986 0.6603957 0.03259897 -0.46172883] [ 0.26331537 -0.34362381 0.90143646 -2.59454436] [ 0. 0. 0. 1. ]] SLAMing on 185.761346184 meters Centerline goodness : 0.882362 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.47, Z:-2.59 [[ 0.60596643 -0.66970788 -0.42929715 -1.568641 ] [ 0.75110815 0.65942727 0.03149958 -0.46542959] [ 0.26199473 -0.34153627 0.90261384 -2.59475617] [ 0. 0. 0. 1. ]] SLAMing on 185.791346184 meters Centerline goodness : 0.882151 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.47, Z:-2.59 [[ 0.60612408 -0.66892543 -0.43029336 -1.56670858] [ 0.75088526 0.65964486 0.03224874 -0.46653239] [ 0.2622688 -0.34264768 0.90211288 -2.59367945] [ 0. 0. 0. 1. ]] SLAMing on 185.821346184 meters Centerline goodness : 0.883435 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.47, Z:-2.59 [[ 0.60475646 -0.66639816 -0.43609989 -1.57321065] [ 0.74809747 0.66315249 0.02406143 -0.47404623] [ 0.27316624 -0.34079653 0.89957653 -2.58727002] [ 0. 0. 0. 1. ]] SLAMing on 185.851346184 meters Centerline goodness : 0.882916 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.47, Z:-2.59 [[ 0.60457178 -0.66595496 -0.43703198 -1.57099162] [ 0.74809816 0.66313983 0.0243867 -0.47420853] [ 0.27357287 -0.34168633 0.89911531 -2.58652364] [ 0. 0. 0. 1. ]] SLAMing on 185.881346184 meters Centerline goodness : 0.883883 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.48, Z:-2.58 [[ 0.60222162 -0.65978038 -0.4494652 -1.5688076 ] [ 0.74536819 0.66633588 0.0205611 -0.48248357] [ 0.28592898 -0.3473994 0.89306118 -2.58076354] [ 0. 0. 0. 1. ]] SLAMing on 185.911346184 meters Centerline goodness : 0.882475 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.48, Z:-2.58 [[ 0.60179885 -0.65977186 -0.4500436 -1.56826237] [ 0.74567128 0.66599056 0.02075863 -0.4828383 ] [ 0.28602883 -0.34807711 0.89276527 -2.57951747] [ 0. 0. 0. 1. ]] SLAMing on 185.941346184 meters Centerline goodness : 0.881822 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.48, Z:-2.58 [[ 0.60150511 -0.65923506 -0.45122138 -1.56585248] [ 0.74573515 0.66590442 0.02122232 -0.4827826 ] [ 0.28647982 -0.34925698 0.89215967 -2.57859853] [ 0. 0. 0. 1. ]] SLAMing on 185.971346184 meters Centerline goodness : 0.882239 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.49, Z:-2.58 [[ 0.59982697 -0.66198647 -0.44942354 -1.56265489] [ 0.74752638 0.66393899 0.01973162 -0.48535414] [ 0.28532774 -0.3477915 0.89310086 -2.57799417] [ 0. 0. 0. 1. ]] SLAMing on 186.001346184 meters Centerline goodness : 0.881642 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.49, Z:-2.58 [[ 0.59994957 -0.66106404 -0.45061608 -1.55884598] [ 0.74733034 0.66413015 0.02070045 -0.48720837] [ 0.2855834 -0.34917829 0.89247781 -2.57686907] [ 0. 0. 0. 1. ]] SLAMing on 186.031346184 meters Centerline goodness : 0.883241 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.49, Z:-2.58 [[ 0.59964527 -0.66079228 -0.45141901 -1.55695804] [ 0.74756564 0.66384673 0.0212871 -0.48878807] [ 0.28560668 -0.35023005 0.89205815 -2.57520998] [ 0. 0. 0. 1. ]] SLAMing on 186.061346184 meters Centerline goodness : 0.883598 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.50, Z:-2.57 [[ 0.5969176 -0.65535909 -0.46281081 -1.55926707] [ 0.74606218 0.66558325 0.01975238 -0.49965553] [ 0.29509422 -0.35707618 0.88623699 -2.57042156] [ 0. 0. 0. 1. ]] SLAMing on 186.091346184 meters Centerline goodness : 0.883966 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.50, Z:-2.57 [[ 0.59677529 -0.65499026 -0.46351592 -1.55876053] [ 0.74606235 0.66557461 0.02003532 -0.50019149] [ 0.29538149 -0.35776836 0.88586205 -2.56905087] [ 0. 0. 0. 1. ]] SLAMing on 186.121346184 meters Centerline goodness : 0.883507 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.50, Z:-2.57 [[ 0.59704616 -0.65437411 -0.46403707 -1.5576942 ] [ 0.74579352 0.66585905 0.02058509 -0.50145514] [ 0.29551294 -0.35836609 0.88557656 -2.56822151] [ 0. 0. 0. 1. ]] SLAMing on 186.151346184 meters Centerline goodness : 0.883876 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.50, Z:-2.57 [[ 0.59718584 -0.65367064 -0.46484812 -1.55606369] [ 0.74557826 0.66608104 0.02119221 -0.50235205] [ 0.29577379 -0.35923634 0.88513678 -2.56728313] [ 0. 0. 0. 1. ]] SLAMing on 186.181346184 meters Centerline goodness : 0.884128 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.51, Z:-2.56 [[ 0.59433342 -0.65189349 -0.4709593 -1.56078013] [ 0.74339081 0.66874101 0.0124726 -0.50993697] [ 0.30681899 -0.3575197 0.88206676 -2.56109261] [ 0. 0. 0. 1. ]] SLAMing on 186.21134618399998 meters Centerline goodness : 0.882036 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.51, Z:-2.56 [[ 0.5938811 -0.65181436 -0.47163894 -1.55858165] [ 0.74363807 0.66846465 0.01254717 -0.50985137] [ 0.30709553 -0.3581802 0.88170249 -2.56046408] [ 0. 0. 0. 1. ]] SLAMing on 186.24134618399998 meters Centerline goodness : 0.882659 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.51, Z:-2.56 [[ 0.5927087 -0.65452336 -0.46935655 -1.5590138 ] [ 0.74489741 0.66709814 0.0103884 -0.50977493] [ 0.30630743 -0.35577977 0.88294763 -2.5611828 ] [ 0. 0. 0. 1. ]] SLAMing on 186.27134618399998 meters Centerline goodness : 0.880077 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.51, Z:-2.56 [[ 0.59244673 -0.65380903 -0.47068102 -1.55392854] [ 0.74486964 0.66712114 0.01089009 -0.50984466] [ 0.30688122 -0.35704781 0.88223624 -2.56087029] [ 0. 0. 0. 1. ]] SLAMing on 186.30134618399998 meters Centerline goodness : 0.880618 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.51, Z:-2.56 [[ 0.59095389 -0.65741477 -0.46752467 -1.55526632] [ 0.74655703 0.66527121 0.00817424 -0.50997658] [ 0.30565684 -0.35386443 0.88394223 -2.56188912] [ 0. 0. 0. 1. ]] SLAMing on 186.33134618399998 meters Centerline goodness : 0.881513 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.52, Z:-2.56 [[ 0.5879699 -0.65126257 -0.4797379 -1.5555608 ] [ 0.74403757 0.66811982 0.00489906 -0.51743405] [ 0.31733183 -0.35982352 0.87739817 -2.55688386] [ 0. 0. 0. 1. ]] SLAMing on 186.36134618399998 meters Centerline goodness : 0.881412 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.52, Z:-2.56 [[ 0.58778674 -0.65110226 -0.48017975 -1.5556707 ] [ 0.74413521 0.66800954 0.00510286 -0.5178158 ] [ 0.31744217 -0.36031806 0.87715527 -2.55579147] [ 0. 0. 0. 1. ]] SLAMing on 186.39134618399999 meters Centerline goodness : 0.880046 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.52, Z:-2.55 [[ 0.58739018 -0.65031286 -0.48173226 -1.55376393] [ 0.74431762 0.66779815 0.00607626 -0.51958984] [ 0.31774844 -0.36213094 0.87629739 -2.5529869 ] [ 0. 0. 0. 1. ]] SLAMing on 186.421346184 meters Centerline goodness : 0.879973 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.52, Z:-2.55 [[ 0.58704482 -0.64965719 -0.48303615 -1.55005114] [ 0.74438775 0.66771468 0.00663166 -0.52004599] [ 0.31822202 -0.36345927 0.8755753 -2.55180498] [ 0. 0. 0. 1. ]] SLAMing on 186.451346184 meters Centerline goodness : 0.881192 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.52, Z:-2.55 [[ 0.58540161 -0.65275227 -0.48085282 -1.55051564] [ 0.74613171 0.66578271 0.00456589 -0.52063577] [ 0.3171631 -0.36145242 0.87678944 -2.55163159] [ 0. 0. 0. 1. ]] SLAMing on 186.481346184 meters Centerline goodness : 0.880262 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.53, Z:-2.55 [[ 5.81827721e-01 -6.48407907e-01 -4.90962004e-01 -1.55151066e+00] [ 7.44760932e-01 6.67330171e-01 1.26363459e-03 -5.31712477e-01] [ 3.26814407e-01 -3.66384537e-01 8.71180070e-01 -2.54734141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.511346184 meters Centerline goodness : 0.881192 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.53, Z:-2.55 [[ 5.81607427e-01 -6.48016679e-01 -4.91738940e-01 -1.54838978e+00] [ 7.44839808e-01 6.67241241e-01 1.66940536e-03 -5.32845165e-01] [ 3.27026698e-01 -3.67237676e-01 8.70741080e-01 -2.54631896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.541346184 meters Centerline goodness : 0.880658 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.53, Z:-2.55 [[ 5.81492913e-01 -6.47401545e-01 -4.92683703e-01 -1.54463133e+00] [ 7.44793976e-01 6.67290838e-01 2.20689037e-03 -5.33989121e-01] [ 3.27334577e-01 -3.68231145e-01 8.70205665e-01 -2.54538816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.571346184 meters Centerline goodness : 0.879490 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.53, Z:-2.54 [[ 5.81095094e-01 -6.47490827e-01 -4.93035618e-01 -1.54263817e+00] [ 7.45080047e-01 6.66971292e-01 2.24033780e-03 -5.34313246e-01] [ 3.27390005e-01 -3.68652851e-01 8.70006241e-01 -2.54488232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.601346184 meters Centerline goodness : 0.878516 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.53, Z:-2.54 [[ 5.80502110e-01 -6.47466546e-01 -4.93765502e-01 -1.54037519e+00] [ 7.45364349e-01 6.66653936e-01 2.12541359e-03 -5.33637101e-01] [ 3.27794581e-01 -3.69269009e-01 8.69592497e-01 -2.54431325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.631346184 meters Centerline goodness : 0.879055 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.53, Z:-2.54 [[ 5.80216466e-01 -6.47465169e-01 -4.94102933e-01 -1.53888976e+00] [ 7.45533351e-01 6.66464882e-01 2.14110981e-03 -5.33794667e-01] [ 3.27915958e-01 -3.69612522e-01 8.69400775e-01 -2.54385562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.661346184 meters Centerline goodness : 0.878353 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.53, Z:-2.54 [[ 5.79783783e-01 -6.47534988e-01 -4.94519165e-01 -1.53722322e+00] [ 7.45804873e-01 6.66161124e-01 2.10899036e-03 -5.33822745e-01] [ 3.28063798e-01 -3.70037561e-01 8.69164166e-01 -2.54326957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.691346184 meters Centerline goodness : 0.879898 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.53, Z:-2.54 [[ 5.79139235e-01 -6.47848456e-01 -4.94863744e-01 -1.53656831e+00] [ 7.46288046e-01 6.65620163e-01 1.98780706e-03 -5.33506929e-01] [ 3.28103488e-01 -3.70462114e-01 8.68968310e-01 -2.54253420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.721346184 meters Centerline goodness : 0.878547 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.54, Z:-2.54 [[ 0.57323365 -0.64451358 -0.50596979 -1.54064588] [ 0.74561933 0.66635965 -0.0040788 -0.53806279] [ 0.3397867 -0.37492275 0.86254156 -2.53608331] [ 0. 0. 0. 1. ]] SLAMing on 186.751346184 meters Centerline goodness : 0.880119 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.54, Z:-2.54 [[ 0.57237905 -0.64459884 -0.50682794 -1.53786709] [ 0.74606673 0.66585732 -0.00429709 -0.53722151] [ 0.34024499 -0.3756679 0.86203653 -2.53518843] [ 0. 0. 0. 1. ]] SLAMing on 186.781346184 meters Centerline goodness : 0.879432 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.54, Z:-2.53 [[ 0.57192269 -0.64465358 -0.5072733 -1.53440075] [ 0.74630074 0.66559411 -0.00443803 -0.53713058] [ 0.34049911 -0.37604023 0.86177381 -2.5349944 ] [ 0. 0. 0. 1. ]] SLAMing on 186.811346184 meters Centerline goodness : 0.879215 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.54, Z:-2.54 [[ 0.56996128 -0.64899385 -0.50393563 -1.5341295 ] [ 0.74835022 0.66325821 -0.00777848 -0.53533438] [ 0.33928762 -0.37268691 0.86370619 -2.53745934] [ 0. 0. 0. 1. ]] SLAMing on 186.841346184 meters Centerline goodness : 0.880524 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.53, Z:-2.54 [[ 0.56979899 -0.64890171 -0.50423773 -1.53381377] [ 0.74828592 0.66332744 -0.00805522 -0.53371689] [ 0.33970177 -0.37272413 0.86352732 -2.53778233] [ 0. 0. 0. 1. ]] SLAMing on 186.871346184 meters Centerline goodness : 0.880981 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.53, Z:-2.54 [[ 0.56971937 -0.64914282 -0.5040173 -1.53454149] [ 0.74826287 0.66334731 -0.00854592 -0.53258015] [ 0.33988604 -0.37226866 0.86365128 -2.53821942] [ 0. 0. 0. 1. ]] SLAMing on 186.901346184 meters Centerline goodness : 0.881877 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.53, Z:-2.54 [[ 0.56958926 -0.64912636 -0.50418553 -1.53465376] [ 0.74815244 0.66346595 -0.008992 -0.53115642] [ 0.34034688 -0.37208588 0.86354855 -2.53835076] [ 0. 0. 0. 1. ]] SLAMing on 186.931346184 meters Centerline goodness : 0.883306 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.53, Z:-2.54 [[ 0.56957225 -0.64978428 -0.50335657 -1.53625716] [ 0.74812497 0.66348321 -0.00995268 -0.52875247] [ 0.34043573 -0.37090485 0.86402147 -2.54011302] [ 0. 0. 0. 1. ]] SLAMing on 186.96134618399998 meters Centerline goodness : 0.881483 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.53, Z:-2.54 [[ 0.56925779 -0.65047273 -0.50282282 -1.53748013] [ 0.74831054 0.66325999 -0.01084067 -0.52649636] [ 0.34055382 -0.37009648 0.86432152 -2.54126056] [ 0. 0. 0. 1. ]] SLAMing on 186.99134618399998 meters Centerline goodness : 0.881104 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.53, Z:-2.54 [[ 0.56920772 -0.65076666 -0.50249909 -1.53835697] [ 0.74829028 0.6632743 -0.01135165 -0.52502803] [ 0.340682 -0.36955374 0.86450322 -2.54206336] [ 0. 0. 0. 1. ]] SLAMing on 187.02134618399998 meters Centerline goodness : 0.882751 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.52, Z:-2.54 [[ 0.56861398 -0.65095067 -0.50293277 -1.53943941] [ 0.74866417 0.66284977 -0.01149574 -0.52412287] [ 0.34085203 -0.36999111 0.86424908 -2.54106831] [ 0. 0. 0. 1. ]] SLAMing on 187.05134618399998 meters Centerline goodness : 0.882816 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.52, Z:-2.54 [[ 0.56777215 -0.65138702 -0.50331873 -1.53890933] [ 0.74927368 0.66215661 -0.01172913 -0.52354085] [ 0.34091603 -0.370464 0.86402123 -2.54015272] [ 0. 0. 0. 1. ]] SLAMing on 187.08134618399998 meters Centerline goodness : 0.882258 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.52, Z:-2.54 [[ 0.56684806 -0.65176195 -0.50387462 -1.53792271] [ 0.74987509 0.66147025 -0.01201867 -0.52264214] [ 0.34113138 -0.37103027 0.86369319 -2.53917424] [ 0. 0. 0. 1. ]] SLAMing on 187.11134618399998 meters Centerline goodness : 0.882391 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.52, Z:-2.54 [[ 0.56612934 -0.65220317 -0.50411169 -1.53731801] [ 0.75038538 0.66088556 -0.01233155 -0.52200304] [ 0.34120281 -0.37129679 0.86355043 -2.53858898] [ 0. 0. 0. 1. ]] SLAMing on 187.14134618399999 meters Centerline goodness : 0.883754 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.52, Z:-2.54 [[ 0.56536594 -0.65294504 -0.50400806 -1.53708018] [ 0.75094806 0.66023393 -0.01296809 -0.52061004] [ 0.34123067 -0.37115216 0.86360159 -2.53869799] [ 0. 0. 0. 1. ]] SLAMing on 187.171346184 meters Centerline goodness : 0.882479 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.52, Z:-2.54 [[ 0.56503947 -0.65315134 -0.50410686 -1.53592061] [ 0.75111552 0.66003722 -0.01327949 -0.51967396] [ 0.34140281 -0.37113905 0.86353919 -2.53901444] [ 0. 0. 0. 1. ]] SLAMing on 187.201346184 meters Centerline goodness : 0.881728 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.52, Z:-2.54 [[ 0.5647253 -0.65370621 -0.50373954 -1.53502673] [ 0.75136551 0.65974151 -0.01382065 -0.51870773] [ 0.34137253 -0.37068765 0.86374502 -2.53988785] [ 0. 0. 0. 1. ]] SLAMing on 187.231346184 meters Centerline goodness : 0.880427 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.52, Z:-2.54 [[ 0.5639026 -0.654601 -0.50349915 -1.5324896 ] [ 0.75197998 0.65902409 -0.01460651 -0.51684133] [ 0.34137951 -0.37038463 0.86387224 -2.54107972] [ 0. 0. 0. 1. ]] SLAMing on 187.261346184 meters Centerline goodness : 0.880453 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.51, Z:-2.54 [[ 0.56301953 -0.65522171 -0.50367998 -1.53144798] [ 0.7525424 0.65836724 -0.01524864 -0.51494865] [ 0.34159764 -0.37045526 0.86375573 -2.54122603] [ 0. 0. 0. 1. ]] SLAMing on 187.291346184 meters Centerline goodness : 0.879421 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.51, Z:-2.54 [[ 0.56100234 -0.65960067 -0.50020329 -1.53421484] [ 0.75465779 0.65585852 -0.01847236 -0.51338197] [ 0.34024697 -0.36711927 0.86571094 -2.54280624] [ 0. 0. 0. 1. ]] SLAMing on 187.321346184 meters Centerline goodness : 0.880375 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.51, Z:-2.54 [[ 0.56063643 -0.65997351 -0.50012175 -1.53577923] [ 0.75496146 0.65550231 -0.01870596 -0.51262732] [ 0.3401764 -0.3670854 0.86575304 -2.5424652 ] [ 0. 0. 0. 1. ]] SLAMing on 187.351346184 meters Centerline goodness : 0.881628 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.51, Z:-2.54 [[ 0.56009501 -0.66013735 -0.500512 -1.5361573 ] [ 0.7552394 0.65517422 -0.01897887 -0.51112496] [ 0.34045121 -0.36737641 0.86552154 -2.5420952 ] [ 0. 0. 0. 1. ]] SLAMing on 187.381346184 meters Centerline goodness : 0.881094 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.51, Z:-2.54 [[ 0.55957346 -0.66063592 -0.50043754 -1.53701986] [ 0.75561172 0.65473181 -0.01942118 -0.50993836] [ 0.34048271 -0.36726889 0.86555479 -2.542041 ] [ 0. 0. 0. 1. ]] SLAMing on 187.411346184 meters Centerline goodness : 0.879440 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.51, Z:-2.54 [[ 0.5589169 -0.6610517 -0.50062216 -1.53605872] [ 0.75599019 0.65427951 -0.01992898 -0.5082256 ] [ 0.3407209 -0.3673268 0.86543648 -2.54224763] [ 0. 0. 0. 1. ]] SLAMing on 187.441346184 meters Centerline goodness : 0.879440 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.51, Z:-2.54 [[ 0.5589169 -0.6610517 -0.50062216 -1.53605872] [ 0.75599019 0.65427951 -0.01992898 -0.5082256 ] [ 0.3407209 -0.3673268 0.86543648 -2.54224763] [ 0. 0. 0. 1. ]] SLAMing on 187.471346184 meters Centerline goodness : 0.879453 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.51, Z:-2.54 [[ 0.55843266 -0.66172391 -0.50027436 -1.53568847] [ 0.75636765 0.6538245 -0.02053056 -0.50703121] [ 0.34067719 -0.36692641 0.86562351 -2.5428752 ] [ 0. 0. 0. 1. ]] SLAMing on 187.501346184 meters Centerline goodness : 0.880464 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.51, Z:-2.54 [[ 0.55782385 -0.66229153 -0.50020245 -1.53519795] [ 0.75675664 0.65335478 -0.02114032 -0.50562957] [ 0.34081072 -0.36673895 0.86565039 -2.54315961] [ 0. 0. 0. 1. ]] SLAMing on 187.531346184 meters Centerline goodness : 0.877688 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.50, Z:-2.55 [[ 0.55678048 -0.66289921 -0.50055983 -1.53272119] [ 0.75718334 0.65282115 -0.02231445 -0.50050042] [ 0.34156827 -0.36659131 0.86541431 -2.5450188 ] [ 0. 0. 0. 1. ]] SLAMing on 187.561346184 meters Centerline goodness : 0.878537 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.50, Z:-2.55 [[ 0.55615429 -0.66372921 -0.50015591 -1.53332134] [ 0.75758769 0.65231926 -0.02324817 -0.49817313] [ 0.34169183 -0.36598239 0.86562324 -2.54587282] [ 0. 0. 0. 1. ]] SLAMing on 187.591346184 meters Centerline goodness : 0.877331 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.50, Z:-2.55 [[ 0.55564442 -0.66462776 -0.499529 -1.5342067 ] [ 0.75795266 0.65186024 -0.02420727 -0.49592999] [ 0.34171192 -0.3651687 0.86595888 -2.54705807] [ 0. 0. 0. 1. ]] SLAMing on 187.621346184 meters Centerline goodness : 0.876901 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.49, Z:-2.55 [[ 0.55548789 -0.66470312 -0.49960281 -1.53363573] [ 0.75784406 0.65196427 -0.02479867 -0.49346915] [ 0.34220693 -0.36484566 0.86589957 -2.54814108] [ 0. 0. 0. 1. ]] SLAMing on 187.651346184 meters Centerline goodness : 0.878175 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.49, Z:-2.55 [[ 0.55500893 -0.66623845 -0.49808777 -1.53562052] [ 0.7581965 0.65148422 -0.02657766 -0.48942275] [ 0.34220338 -0.36289756 0.86671922 -2.55107595] [ 0. 0. 0. 1. ]] SLAMing on 187.681346184 meters Centerline goodness : 0.875841 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.49, Z:-2.55 [[ 0.55453428 -0.66703807 -0.49754592 -1.53727988] [ 0.75846514 0.65112888 -0.02760112 -0.48664149] [ 0.34237752 -0.36206547 0.8669984 -2.55222912] [ 0. 0. 0. 1. ]] SLAMing on 187.71134618399998 meters Centerline goodness : 0.876511 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.47, Z:-2.55 [[ 0.55830416 -0.66879245 -0.49093088 -1.53696958] [ 0.7590113 0.65066326 -0.02322019 -0.4738268 ] [ 0.33496017 -0.35965816 0.87088902 -2.55218801] [ 0. 0. 0. 1. ]] SLAMing on 187.74134618399998 meters Centerline goodness : 0.876816 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.47, Z:-2.55 [[ 0.55846415 -0.66912656 -0.49029321 -1.54000616] [ 0.75893827 0.65073384 -0.02362563 -0.47298486] [ 0.33485892 -0.35890822 0.87123728 -2.55264206] [ 0. 0. 0. 1. ]] SLAMing on 187.77134618399998 meters Centerline goodness : 0.878603 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.47, Z:-2.55 [[ 0.55902029 -0.66907594 -0.48972819 -1.54147444] [ 0.75859087 0.65113713 -0.02367127 -0.47298678] [ 0.33471809 -0.35827062 0.87155377 -2.55341766] [ 0. 0. 0. 1. ]] SLAMing on 187.80134618399998 meters Centerline goodness : 0.878387 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.46, Z:-2.55 [[ 0.5610482 -0.67436768 -0.48005536 -1.5384093 ] [ 0.76067563 0.64874803 -0.02232871 -0.46145369] [ 0.32649273 -0.35263894 0.87695398 -2.55416044] [ 0. 0. 0. 1. ]] SLAMing on 187.83134618399998 meters Centerline goodness : 0.879310 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.46, Z:-2.56 [[ 0.56216141 -0.67207525 -0.48196412 -1.53932918] [ 0.75925303 0.65044292 -0.02142034 -0.45749781] [ 0.32788623 -0.35389103 0.87592908 -2.55538387] [ 0. 0. 0. 1. ]] SLAMing on 187.86134618399998 meters Centerline goodness : 0.877338 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.46, Z:-2.56 [[ 0.56202878 -0.67272517 -0.48121149 -1.54096107] [ 0.75932022 0.65033452 -0.02231156 -0.45540145] [ 0.32795799 -0.35285387 0.87632055 -2.55672651] [ 0. 0. 0. 1. ]] SLAMing on 187.89134618399999 meters Centerline goodness : 0.874305 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.45, Z:-2.56 [[ 0.56194132 -0.67346552 -0.48027716 -1.54239161] [ 0.75936503 0.65024681 -0.0233203 -0.45331286] [ 0.32800411 -0.35160104 0.87680672 -2.55834514] [ 0. 0. 0. 1. ]] SLAMing on 187.921346184 meters Centerline goodness : 0.875924 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.45, Z:-2.56 [[ 0.56242195 -0.67453021 -0.47821601 -1.54555675] [ 0.75905483 0.65055041 -0.02489839 -0.45022804] [ 0.32789834 -0.34898878 0.87788924 -2.56190968] [ 0. 0. 0. 1. ]] SLAMing on 187.951346184 meters Centerline goodness : 0.876737 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.44, Z:-2.57 [[ 0.56411284 -0.67533987 -0.47507133 -1.53728954] [ 0.76146468 0.64798446 -0.0169611 -0.44016759] [ 0.31929335 -0.35218206 0.87978381 -2.56647558] [ 0. 0. 0. 1. ]] SLAMing on 187.981346184 meters Centerline goodness : 0.874060 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.44, Z:-2.57 [[ 0.5636827 -0.67620224 -0.47435465 -1.5392387 ] [ 0.76173014 0.64764287 -0.01805286 -0.43760945] [ 0.31941979 -0.35115415 0.88014871 -2.56762018] [ 0. 0. 0. 1. ]] SLAMing on 188.011346184 meters Centerline goodness : 0.872786 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.44, Z:-2.57 [[ 0.5631362 -0.67692865 -0.47396753 -1.54081186] [ 0.76208926 0.6471968 -0.01887472 -0.43541777] [ 0.31952711 -0.35057653 0.88034 -2.5681787 ] [ 0. 0. 0. 1. ]] SLAMing on 188.041346184 meters Centerline goodness : 0.872847 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.43, Z:-2.57 [[ 0.56205065 -0.67840662 -0.47314218 -1.54321086] [ 0.76282752 0.64627751 -0.02048273 -0.43155777] [ 0.31967677 -0.34941355 0.88074794 -2.56930178] [ 0. 0. 0. 1. ]] SLAMing on 188.071346184 meters Centerline goodness : 0.871548 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.42, Z:-2.57 [[ 0.56313776 -0.68331378 -0.46471297 -1.53916421] [ 0.76527164 0.6434343 -0.01875172 -0.41790314] [ 0.31182557 -0.34507186 0.8852628 -2.5701481 ] [ 0. 0. 0. 1. ]] SLAMing on 188.101346184 meters Centerline goodness : 0.870078 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.42, Z:-2.57 [[ 0.5623143 -0.68416714 -0.46445447 -1.54002996] [ 0.76577707 0.64280252 -0.0197586 -0.41506661] [ 0.31207069 -0.34455804 0.88537655 -2.57090208] [ 0. 0. 0. 1. ]] SLAMing on 188.131346184 meters Centerline goodness : 0.869860 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.40, Z:-2.57 [[ 0.56396614 -0.68933454 -0.45470879 -1.53730268] [ 0.76805342 0.6401372 -0.01784121 -0.40165149] [ 0.30337457 -0.33917881 0.89046146 -2.5739236 ] [ 0. 0. 0. 1. ]] SLAMing on 188.161346184 meters Centerline goodness : 0.869529 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.40, Z:-2.57 [[ 0.56403807 -0.68967127 -0.45410858 -1.5391609 ] [ 0.76799473 0.64019252 -0.01837474 -0.4004505 ] [ 0.30338945 -0.33838894 0.89075685 -2.57469996] [ 0. 0. 0. 1. ]] SLAMing on 188.191346184 meters Centerline goodness : 0.869009 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.39, Z:-2.58 [[ 0.56611592 -0.69411731 -0.44465033 -1.53707114] [ 0.76982186 0.63806015 -0.01592305 -0.38917491] [ 0.29476612 -0.33328726 0.89556269 -2.57596483] [ 0. 0. 0. 1. ]] SLAMing on 188.221346184 meters Centerline goodness : 0.869165 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.39, Z:-2.58 [[ 0.56697138 -0.69160775 -0.44746192 -1.53684898] [ 0.76868335 0.63946761 -0.0143907 -0.3868159 ] [ 0.29609012 -0.33579741 0.8941872 -2.57540408] [ 0. 0. 0. 1. ]] SLAMing on 188.251346184 meters Centerline goodness : 0.870107 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.37, Z:-2.58 [[ 0.56819594 -0.69602052 -0.43898611 -1.53655445] [ 0.771172 0.63653052 -0.01107439 -0.37337593] [ 0.28713605 -0.33224137 0.8984256 -2.57675987] [ 0. 0. 0. 1. ]] SLAMing on 188.281346184 meters Centerline goodness : 0.870693 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.37, Z:-2.58 [[ 0.56760441 -0.69633211 -0.43925713 -1.53650134] [ 0.77144952 0.63618388 -0.01164948 -0.37097772] [ 0.28756021 -0.33225241 0.89828585 -2.57710979] [ 0. 0. 0. 1. ]] SLAMing on 188.311346184 meters Centerline goodness : 0.869322 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.37, Z:-2.58 [[ 0.56731056 -0.69672105 -0.43901994 -1.5374285 ] [ 0.7716683 0.63591157 -0.01202087 -0.36991122] [ 0.28755305 -0.3319582 0.8983969 -2.57737614] [ 0. 0. 0. 1. ]] SLAMing on 188.341346184 meters Centerline goodness : 0.871393 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.37, Z:-2.58 [[ 0.56711584 -0.69709433 -0.43867883 -1.54050647] [ 0.77185846 0.63567554 -0.01229295 -0.36867158] [ 0.28742675 -0.33162644 0.89855983 -2.57727914] [ 0. 0. 0. 1. ]] SLAMing on 188.371346184 meters Centerline goodness : 0.872301 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.37, Z:-2.58 [[ 0.56807403 -0.69430637 -0.44184902 -1.53850512] [ 0.7707258 0.63708545 -0.01019166 -0.36765695] [ 0.28857171 -0.33475482 0.89703154 -2.57637355] [ 0. 0. 0. 1. ]] SLAMing on 188.401346184 meters Centerline goodness : 0.873866 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.36, Z:-2.58 [[ 0.56993747 -0.69845373 -0.4328206 -1.53575463] [ 0.77255205 0.63490976 -0.0072749 -0.35701364] [ 0.27988321 -0.3302302 0.90145072 -2.57705756] [ 0. 0. 0. 1. ]] SLAMing on 188.431346184 meters Centerline goodness : 0.873740 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.35, Z:-2.58 [[ 0.5715552 -0.69537105 -0.43564179 -1.53687265] [ 0.77087033 0.63696955 -0.00536046 -0.3549905 ] [ 0.28121806 -0.33275953 0.90010416 -2.57678259] [ 0. 0. 0. 1. ]] SLAMing on 188.46134618399998 meters Centerline goodness : 0.873388 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.35, Z:-2.58 [[ 0.57185128 -0.69498189 -0.43587417 -1.53837193] [ 0.77053534 0.63737482 -0.00535094 -0.35350003] [ 0.28153402 -0.33279651 0.89999171 -2.57716889] [ 0. 0. 0. 1. ]] SLAMing on 188.49134618399998 meters Centerline goodness : 0.874992 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.34, Z:-2.58 [[ 0.5740572 -0.69934959 -0.42587378 -1.53635368] [ 0.77214548 0.63544016 -0.00267483 -0.34354821] [ 0.27248794 -0.32730101 0.90477863 -2.57878307] [ 0. 0. 0. 1. ]] SLAMing on 188.52134618399998 meters Centerline goodness : 0.872493 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.34, Z:-2.58 [[ 0.57460321 -0.69871472 -0.42617941 -1.53499138] [ 0.77154506 0.63616877 -0.00274113 -0.34207122] [ 0.27303729 -0.32724156 0.90463451 -2.58002304] [ 0. 0. 0. 1. ]] SLAMing on 188.55134618399998 meters Centerline goodness : 0.872658 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.34, Z:-2.58 [[ 0.57426257 -0.69882619 -0.42645568 -1.53598799] [ 0.77160808 0.63608964 -0.00330739 -0.33917096] [ 0.27357533 -0.32715734 0.90450241 -2.58060514] [ 0. 0. 0. 1. ]] SLAMing on 188.58134618399998 meters Centerline goodness : 0.873180 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.34, Z:-2.58 [[ 0.57380386 -0.69828276 -0.42796064 -1.53472219] [ 0.77163341 0.6360593 -0.00323164 -0.336085 ] [ 0.27446495 -0.3283744 0.9037916 -2.58054955] [ 0. 0. 0. 1. ]] SLAMing on 188.61134618399998 meters Centerline goodness : 0.871357 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.33, Z:-2.58 [[ 0.57339419 -0.69840044 -0.42831757 -1.53508601] [ 0.77182935 0.63582017 -0.00348951 -0.33439545] [ 0.27477002 -0.3285872 0.90362154 -2.58050287] [ 0. 0. 0. 1. ]] SLAMing on 188.64134618399999 meters Centerline goodness : 0.870130 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.33, Z:-2.58 [[ 0.57357962 -0.69821908 -0.42836495 -1.53561168] [ 0.77158283 0.6361181 -0.00370152 -0.33296918] [ 0.27507517 -0.32839592 0.90359823 -2.58119778] [ 0. 0. 0. 1. ]] SLAMing on 188.671346184 meters Centerline goodness : 0.870666 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.33, Z:-2.58 [[ 0.57340963 -0.69832812 -0.42841478 -1.5365222 ] [ 0.77166761 0.63601415 -0.00388626 -0.33231748] [ 0.27519175 -0.32836539 0.90357383 -2.58091804] [ 0. 0. 0. 1. ]] SLAMing on 188.701346184 meters Centerline goodness : 0.872632 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.33, Z:-2.58 [[ 0.57303997 -0.6985331 -0.4285752 -1.53779782] [ 0.77189142 0.63574109 -0.00411027 -0.33110792] [ 0.27533402 -0.32845817 0.90349677 -2.58058527] [ 0. 0. 0. 1. ]] SLAMing on 188.731346184 meters Centerline goodness : 0.873460 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.32, Z:-2.58 [[ 5.74127985e-01 -7.03808140e-01 -4.18367254e-01 -1.53704399e+00] [ 7.74450348e-01 6.32632968e-01 -1.47863976e-03 -3.21551791e-01] [ 2.65713596e-01 -3.23155737e-01 9.08276750e-01 -2.58120852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.761346184 meters Centerline goodness : 0.870837 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.32, Z:-2.58 [[ 5.73720089e-01 -7.04014318e-01 -4.18579860e-01 -1.53599899e+00] [ 7.74626979e-01 6.32415445e-01 -1.93623469e-03 -3.19586054e-01] [ 2.66079505e-01 -3.23132396e-01 9.08177930e-01 -2.58207472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.791346184 meters Centerline goodness : 0.873509 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.32, Z:-2.58 [[ 5.73369032e-01 -7.04330746e-01 -4.18528557e-01 -1.53691441e+00] [ 7.74841085e-01 6.32151783e-01 -2.32733117e-03 -3.18305122e-01] [ 2.66212785e-01 -3.22958702e-01 9.08200655e-01 -2.58210490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.821346184 meters Centerline goodness : 0.873737 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.32, Z:-2.58 [[ 0.57281516 -0.70462317 -0.41879468 -1.53859299] [ 0.77516465 0.63175358 -0.00267947 -0.31646468] [ 0.26646305 -0.32309999 0.908077 -2.58168979] [ 0. 0. 0. 1. ]] SLAMing on 188.851346184 meters Centerline goodness : 0.873097 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.31, Z:-2.58 [[ 0.57091506 -0.70611237 -0.41888103 -1.54169349] [ 0.77648404 0.63012487 -0.00389737 -0.31263424] [ 0.26669934 -0.32302937 0.90803276 -2.58082468] [ 0. 0. 0. 1. ]] SLAMing on 188.881346184 meters Centerline goodness : 0.872811 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.31, Z:-2.58 [[ 0.56969318 -0.70702839 -0.41899944 -1.54178789] [ 0.77730307 0.62910869 -0.0047099 -0.31012404] [ 0.26692622 -0.32300636 0.90797428 -2.58084784] [ 0. 0. 0. 1. ]] SLAMing on 188.911346184 meters Centerline goodness : 0.875226 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.31, Z:-2.58 [[ 0.56870125 -0.70775616 -0.41911826 -1.542349 ] [ 0.77799199 0.62825218 -0.00525946 -0.30858087] [ 0.26703438 -0.32307959 0.90791642 -2.58033326] [ 0. 0. 0. 1. ]] SLAMing on 188.941346184 meters Centerline goodness : 0.873454 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.31, Z:-2.58 [[ 0.56781422 -0.70879894 -0.41855832 -1.54182029] [ 0.77870169 0.62736551 -0.00601617 -0.30689549] [ 0.26685331 -0.32251601 0.90816999 -2.58144297] [ 0. 0. 0. 1. ]] SLAMing on 188.971346184 meters Centerline goodness : 0.873979 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.30, Z:-2.58 [[ 0.56721739 -0.7093664 -0.4184062 -1.54029203] [ 0.77905895 0.62691454 -0.00673107 -0.30490691] [ 0.26707972 -0.32214511 0.90823507 -2.5826256 ] [ 0. 0. 0. 1. ]] SLAMing on 189.001346184 meters Centerline goodness : 0.874703 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.30, Z:-2.58 [[ 0.56627029 -0.70989464 -0.41879298 -1.5391473 ] [ 0.77964432 0.62618072 -0.00724206 -0.30262684] [ 0.26738118 -0.3224086 0.90805286 -2.58299483] [ 0. 0. 0. 1. ]] SLAMing on 189.031346184 meters Centerline goodness : 0.873274 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.29, Z:-2.58 [[ 0.56678235 -0.71455513 -0.41008381 -1.53634822] [ 0.78214186 0.62308276 -0.00468874 -0.29009019] [ 0.25886651 -0.31808622 0.91203579 -2.58401316] [ 0. 0. 0. 1. ]] SLAMing on 189.061346184 meters Centerline goodness : 0.875354 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.29, Z:-2.58 [[ 0.5670582 -0.71430652 -0.41013558 -1.53753884] [ 0.78188513 0.6234048 -0.00470024 -0.28959297] [ 0.2590379 -0.31801361 0.91201245 -2.58397385] [ 0. 0. 0. 1. ]] SLAMing on 189.091346184 meters Centerline goodness : 0.875821 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.29, Z:-2.58 [[ 5.68619500e-01 -7.11412183e-01 -4.12994637e-01 -1.53637268e+00] [ 7.80408976e-01 6.25264091e-01 -2.57807184e-03 -2.89345430e-01] [ 2.60064788e-01 -3.20838780e-01 9.10729808e-01 -2.58323755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.121346184 meters Centerline goodness : 0.877923 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.29, Z:-2.58 [[ 5.69913449e-01 -7.08749028e-01 -4.15780563e-01 -1.53806292e+00] [ 7.79175905e-01 6.26805163e-01 -4.44278606e-04 -2.88965787e-01] [ 2.60928285e-01 -3.23712996e-01 9.09464857e-01 -2.58154029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.151346184 meters Centerline goodness : 0.877057 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.28, Z:-2.59 [[ 0.57233893 -0.71298462 -0.40506924 -1.53750496] [ 0.78137311 0.62403876 0.00562919 -0.2830804 ] [ 0.24876538 -0.31973201 0.91426868 -2.58601881] [ 0. 0. 0. 1. ]] SLAMing on 189.181346184 meters Centerline goodness : 0.877734 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.28, Z:-2.59 [[ 0.57222182 -0.712748 -0.40565068 -1.53603949] [ 0.78129649 0.62413601 0.00548059 -0.28130542] [ 0.24927492 -0.32006956 0.91401176 -2.5867189 ] [ 0. 0. 0. 1. ]] SLAMing on 189.21134618399998 meters Centerline goodness : 0.878682 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.28, Z:-2.59 [[ 0.57309439 -0.71200192 -0.40572908 -1.53338731] [ 0.78057563 0.62503525 0.00571124 -0.28074661] [ 0.24952856 -0.31997531 0.91397555 -2.58886552] [ 0. 0. 0. 1. ]] SLAMing on 189.24134618399998 meters Centerline goodness : 0.877695 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.28, Z:-2.59 [[ 0.57363327 -0.71120323 -0.40636785 -1.53211722] [ 0.78002233 0.62572309 0.00598099 -0.27991816] [ 0.25002005 -0.3204069 0.91368999 -2.5895339 ] [ 0. 0. 0. 1. ]] SLAMing on 189.27134618399998 meters Centerline goodness : 0.878344 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.28, Z:-2.59 [[ 0.57465109 -0.70876133 -0.40918639 -1.53023697] [ 0.77894753 0.6270403 0.00782315 -0.27872916] [ 0.25103161 -0.32323031 0.91241728 -2.58922738] [ 0. 0. 0. 1. ]] SLAMing on 189.30134618399998 meters Centerline goodness : 0.879504 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.28, Z:-2.59 [[ 0.57486723 -0.70669194 -0.41244898 -1.53171444] [ 0.77836996 0.62773672 0.00931728 -0.27566403] [ 0.25232492 -0.3263941 0.91093305 -2.58760177] [ 0. 0. 0. 1. ]] SLAMing on 189.33134618399998 meters Centerline goodness : 0.879811 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.27, Z:-2.59 [[ 0.5744108 -0.70713024 -0.41233367 -1.53238177] [ 0.7786694 0.62737225 0.0088332 -0.27405834] [ 0.25244047 -0.32614549 0.91099008 -2.58795596] [ 0. 0. 0. 1. ]] SLAMing on 189.36134618399998 meters Centerline goodness : 0.879811 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.27, Z:-2.59 [[ 0.5744108 -0.70713024 -0.41233367 -1.53238177] [ 0.7786694 0.62737225 0.0088332 -0.27405834] [ 0.25244047 -0.32614549 0.91099008 -2.58795596] [ 0. 0. 0. 1. ]] SLAMing on 189.39134618399999 meters Centerline goodness : 0.879679 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.27, Z:-2.59 [[ 0.57439497 -0.70716127 -0.4123025 -1.5312552 ] [ 0.77860031 0.62746252 0.00850568 -0.27292546] [ 0.25268947 -0.32590447 0.9110073 -2.58893861] [ 0. 0. 0. 1. ]] SLAMing on 189.421346184 meters Centerline goodness : 0.878238 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.27, Z:-2.59 [[ 0.57456842 -0.70714202 -0.4120938 -1.52993288] [ 0.77844895 0.62765265 0.00832971 -0.27240214] [ 0.25276148 -0.32557998 0.91110335 -2.59009409] [ 0. 0. 0. 1. ]] SLAMing on 189.451346184 meters Centerline goodness : 0.879098 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.27, Z:-2.59 [[ 0.57467266 -0.70722106 -0.41181271 -1.52922562] [ 0.77837101 0.62775188 0.00813281 -0.27228209] [ 0.25276451 -0.32521678 0.91123222 -2.59072529] [ 0. 0. 0. 1. ]] SLAMing on 189.481346184 meters Centerline goodness : 0.881355 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.26, Z:-2.59 [[ 0.57587757 -0.71097992 -0.40357474 -1.52757052] [ 0.78036444 0.62520786 0.01210219 -0.26172492] [ 0.24371369 -0.32190476 0.91486664 -2.59128275] [ 0. 0. 0. 1. ]] SLAMing on 189.511346184 meters Centerline goodness : 0.882443 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.26, Z:-2.59 [[ 0.5753415 -0.71079262 -0.40466778 -1.52804807] [ 0.78055778 0.62496803 0.01202128 -0.25915519] [ 0.24435979 -0.32278292 0.91438475 -2.59085139] [ 0. 0. 0. 1. ]] SLAMing on 189.541346184 meters Centerline goodness : 0.882574 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.26, Z:-2.59 [[ 0.57469483 -0.71126461 -0.40475735 -1.52951356] [ 0.78098999 0.62443596 0.01159143 -0.25745463] [ 0.24450047 -0.32277297 0.91435066 -2.59055719] [ 0. 0. 0. 1. ]] SLAMing on 189.571346184 meters Centerline goodness : 0.881084 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.25, Z:-2.59 [[ 0.57386562 -0.71120323 -0.40603968 -1.52716091] [ 0.78134441 0.62399734 0.01132345 -0.25358366] [ 0.24531441 -0.32375498 0.91378529 -2.59172525] [ 0. 0. 0. 1. ]] SLAMing on 189.601346184 meters Centerline goodness : 0.880298 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.25, Z:-2.60 [[ 0.57547254 -0.71536142 -0.39634504 -1.5243426 ] [ 0.78400611 0.62047928 0.01843607 -0.24755992] [ 0.23273543 -0.32134639 0.91791651 -2.59773936] [ 0. 0. 0. 1. ]] SLAMing on 189.631346184 meters Centerline goodness : 0.881870 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.24, Z:-2.60 [[ 0.57469333 -0.71486525 -0.39836573 -1.52173977] [ 0.7842347 0.62019052 0.0184298 -0.24376636] [ 0.23388783 -0.32300371 0.91704149 -2.59792238] [ 0. 0. 0. 1. ]] SLAMing on 189.661346184 meters Centerline goodness : 0.883596 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.24, Z:-2.60 [[ 0.57434123 -0.71581404 -0.39716799 -1.52438827] [ 0.78451902 0.61986312 0.0173098 -0.24204857] [ 0.23379919 -0.32152758 0.91758267 -2.59880151] [ 0. 0. 0. 1. ]] SLAMing on 189.691346184 meters Centerline goodness : 0.885011 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.24, Z:-2.60 [[ 0.57452014 -0.71575519 -0.39701525 -1.52336956] [ 0.78429858 0.62015275 0.01692072 -0.24073023] [ 0.234099 -0.32109979 0.91765603 -2.6002097 ] [ 0. 0. 0. 1. ]] SLAMing on 189.721346184 meters Centerline goodness : 0.885837 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.24, Z:-2.60 [[ 0.57441874 -0.71536294 -0.39786805 -1.52246561] [ 0.78419671 0.62028166 0.0169171 -0.23844859] [ 0.23468839 -0.32172431 0.91728667 -2.60089881] [ 0. 0. 0. 1. ]] SLAMing on 189.751346184 meters Centerline goodness : 0.885765 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.24, Z:-2.60 [[ 0.57443171 -0.71523453 -0.39808011 -1.52423114] [ 0.78409909 0.62040922 0.01676368 -0.23712413] [ 0.23498261 -0.32176385 0.91719747 -2.60068547] [ 0. 0. 0. 1. ]] SLAMing on 189.781346184 meters Centerline goodness : 0.886307 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.23, Z:-2.60 [[ 0.57545791 -0.71864922 -0.39037354 -1.5254992 ] [ 0.78616684 0.61762615 0.02190049 -0.22587554] [ 0.22536614 -0.31950154 0.92039604 -2.60160752] [ 0. 0. 0. 1. ]] SLAMing on 189.811346184 meters Centerline goodness : 0.887262 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.22, Z:-2.60 [[ 0.57516416 -0.71876905 -0.39058576 -1.52667735] [ 0.78629315 0.61747704 0.02156824 -0.22412799] [ 0.22567516 -0.31952019 0.92031385 -2.60160227] [ 0. 0. 0. 1. ]] SLAMing on 189.841346184 meters Centerline goodness : 0.887770 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.22, Z:-2.60 [[ 0.57566734 -0.71696562 -0.39315062 -1.52454516] [ 0.7855907 0.61833068 0.02268105 -0.22132391] [ 0.22683555 -0.32191221 0.9191943 -2.60225576] [ 0. 0. 0. 1. ]] SLAMing on 189.871346184 meters Centerline goodness : 0.888388 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.22, Z:-2.60 [[ 0.5757155 -0.71716586 -0.39271465 -1.52560192] [ 0.78550844 0.61845477 0.02214009 -0.21924499] [ 0.22699813 -0.32122707 0.91939383 -2.60377056] [ 0. 0. 0. 1. ]] SLAMing on 189.901346184 meters Centerline goodness : 0.889707 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.22, Z:-2.60 [[ 0.57605518 -0.71555067 -0.39515525 -1.52426266] [ 0.78496087 0.61910999 0.02322179 -0.21664222] [ 0.2280282 -0.32355844 0.91832079 -2.60392745] [ 0. 0. 0. 1. ]] SLAMing on 189.931346184 meters Centerline goodness : 0.890855 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.21, Z:-2.60 [[ 0.57613174 -0.71519343 -0.39569 -1.52606839] [ 0.78476741 0.61935702 0.02317304 -0.21497751] [ 0.22850017 -0.32387534 0.91809174 -2.60370346] [ 0. 0. 0. 1. ]] SLAMing on 189.96134618399998 meters Centerline goodness : 0.891688 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.21, Z:-2.61 [[ 0.57866472 -0.71900168 -0.3849464 -1.53157366] [ 0.78611584 0.61742186 0.02849786 -0.20774991] [ 0.21718431 -0.31910317 0.92249886 -2.60626086] [ 0. 0. 0. 1. ]] SLAMing on 189.99134618399998 meters Centerline goodness : 0.890799 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.20, Z:-2.61 [[ 0.58087979 -0.72289551 -0.37416676 -1.53248942] [ 0.78743036 0.61550382 0.03329379 -0.20075245] [ 0.20623314 -0.31396995 0.9267636 -2.60922043] [ 0. 0. 0. 1. ]] SLAMing on 190.02134618399998 meters Centerline goodness : 0.891824 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.20, Z:-2.61 [[ 0.58223493 -0.72223091 -0.37334302 -1.53406097] [ 0.78626743 0.6170279 0.03255918 -0.19928282] [ 0.20684781 -0.31250455 0.92712183 -2.61122858] [ 0. 0. 0. 1. ]] SLAMing on 190.05134618399998 meters Centerline goodness : 0.893888 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.20, Z:-2.61 [[ 0.58254642 -0.72170311 -0.37387737 -1.53432813] [ 0.78593469 0.61744325 0.03271853 -0.1983696 ] [ 0.20723499 -0.31290326 0.92690086 -2.61129977] [ 0. 0. 0. 1. ]] SLAMing on 190.08134618399998 meters Centerline goodness : 0.892090 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.20, Z:-2.61 [[ 0.58230055 -0.72138104 -0.3748806 -1.53499013] [ 0.78592752 0.61745833 0.03260586 -0.19655275] [ 0.2079519 -0.31361539 0.92649954 -2.610443 ] [ 0. 0. 0. 1. ]] SLAMing on 190.11134618399998 meters Centerline goodness : 0.891275 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.20, Z:-2.61 [[ 0.58206729 -0.72131882 -0.37536226 -1.53597698] [ 0.7860313 0.61732699 0.03259125 -0.19578612] [ 0.20821257 -0.31401679 0.92630502 -2.60951868] [ 0. 0. 0. 1. ]] SLAMing on 190.14134618399999 meters Centerline goodness : 0.890319 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.19, Z:-2.61 [[ 0.58139227 -0.7216137 -0.37584133 -1.53635787] [ 0.78637175 0.61692687 0.03194852 -0.19438948] [ 0.20881212 -0.31412563 0.92613314 -2.6085019 ] [ 0. 0. 0. 1. ]] SLAMing on 190.171346184 meters Centerline goodness : 0.893007 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.19, Z:-2.61 [[ 0.58081674 -0.72188616 -0.37620777 -1.53698072] [ 0.78674015 0.61646907 0.0317148 -0.19346927] [ 0.20902598 -0.31439825 0.92599238 -2.60758547] [ 0. 0. 0. 1. ]] SLAMing on 190.201346184 meters Centerline goodness : 0.890981 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.19, Z:-2.61 [[ 0.58000943 -0.72208163 -0.37707715 -1.53588904] [ 0.78721341 0.61587551 0.03150232 -0.19206316] [ 0.20948533 -0.31511183 0.92564595 -2.60692606] [ 0. 0. 0. 1. ]] SLAMing on 190.231346184 meters Centerline goodness : 0.890296 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.19, Z:-2.61 [[ 0.57739536 -0.72526275 -0.37497805 -1.53558817] [ 0.78930804 0.61330438 0.02916431 -0.19117793] [ 0.2088239 -0.31281253 0.92657482 -2.6066881 ] [ 0. 0. 0. 1. ]] SLAMing on 190.261346184 meters Centerline goodness : 0.891338 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.19, Z:-2.61 [[ 0.57639374 -0.72607969 -0.37493805 -1.53468153] [ 0.79006885 0.61234343 0.02875302 -0.19085699] [ 0.20871387 -0.31279994 0.92660386 -2.60608304] [ 0. 0. 0. 1. ]] SLAMing on 190.291346184 meters Centerline goodness : 0.890910 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.19, Z:-2.60 [[ 0.57550178 -0.72621044 -0.37605332 -1.53375222] [ 0.79055806 0.61172218 0.02852931 -0.18960091] [ 0.20932187 -0.31371065 0.92615872 -2.60467205] [ 0. 0. 0. 1. ]] SLAMing on 190.321346184 meters Centerline goodness : 0.890737 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.19, Z:-2.60 [[ 0.57484806 -0.7263063 -0.37686717 -1.53478631] [ 0.79092677 0.61125087 0.02841151 -0.18832775] [ 0.20972493 -0.31440664 0.92583147 -2.60320913] [ 0. 0. 0. 1. ]] SLAMing on 190.351346184 meters Centerline goodness : 0.889407 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.19, Z:-2.60 [[ 0.57377621 -0.72143014 -0.38771047 -1.53816219] [ 0.78788014 0.61547923 0.02074127 -0.18970424] [ 0.22366436 -0.31737022 0.92154783 -2.59752429] [ 0. 0. 0. 1. ]] SLAMing on 190.381346184 meters Centerline goodness : 0.888444 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.19, Z:-2.60 [[ 0.57415805 -0.72144594 -0.38711535 -1.53867047] [ 0.78750367 0.61598455 0.0200251 -0.18842836] [ 0.22401004 -0.31635233 0.92181381 -2.59868293] [ 0. 0. 0. 1. ]] SLAMing on 190.411346184 meters Centerline goodness : 0.889472 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.19, Z:-2.60 [[ 0.57471907 -0.72127271 -0.38660531 -1.53947001] [ 0.78698893 0.61666066 0.0194437 -0.18728762] [ 0.22438007 -0.31542877 0.92204028 -2.59971812] [ 0. 0. 0. 1. ]] SLAMing on 190.441346184 meters Centerline goodness : 0.889636 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.19, Z:-2.60 [[ 0.57554659 -0.72119066 -0.38552582 -1.54243432] [ 0.78635519 0.61748775 0.01882533 -0.18647282] [ 0.22448082 -0.31399508 0.92250498 -2.60062782] [ 0. 0. 0. 1. ]] SLAMing on 190.471346184 meters Centerline goodness : 0.890581 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.19, Z:-2.60 [[ 0.57568752 -0.72109159 -0.38550072 -1.54304911] [ 0.78622652 0.61765323 0.01877103 -0.18632769] [ 0.22457013 -0.31389714 0.92251658 -2.60039473] [ 0. 0. 0. 1. ]] SLAMing on 190.501346184 meters Centerline goodness : 0.892006 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.19, Z:-2.60 [[ 0.57566656 -0.72081996 -0.38603963 -1.54370523] [ 0.78614696 0.61775261 0.01883254 -0.18565488] [ 0.22490212 -0.31432515 0.92228994 -2.59959852] [ 0. 0. 0. 1. ]] SLAMing on 190.531346184 meters Centerline goodness : 0.894331 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.19, Z:-2.60 [[ 0.5758091 -0.71904217 -0.3891301 -1.5456153 ] [ 0.78583034 0.61809594 0.0206903 -0.18518025] [ 0.22564253 -0.3177039 0.92095042 -2.59637745] [ 0. 0. 0. 1. ]] SLAMing on 190.561346184 meters Centerline goodness : 0.895575 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:-2.60 [[ 0.57583559 -0.71846972 -0.39014695 -1.54502513] [ 0.78568489 0.61826817 0.0210648 -0.18412483] [ 0.22608102 -0.31866242 0.92051162 -2.59610568] [ 0. 0. 0. 1. ]] SLAMing on 190.591346184 meters Centerline goodness : 0.893905 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:-2.60 [[ 0.5779979 -0.72163519 -0.38100011 -1.54314826] [ 0.78763984 0.61544318 0.0292092 -0.17985733] [ 0.21340553 -0.31697372 0.92411349 -2.60071084] [ 0. 0. 0. 1. ]] SLAMing on 190.621346184 meters Centerline goodness : 0.894578 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:-2.60 [[ 0.57833819 -0.7219028 -0.37997538 -1.54281773] [ 0.78747411 0.61567099 0.02887487 -0.18041476] [ 0.21309497 -0.31592021 0.92454581 -2.60177936] [ 0. 0. 0. 1. ]] SLAMing on 190.651346184 meters Centerline goodness : 0.895241 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:-2.60 [[ 0.57860904 -0.72165335 -0.38003687 -1.54146189] [ 0.78723342 0.61597821 0.02888573 -0.1802582 ] [ 0.21324894 -0.31589127 0.92452019 -2.60244642] [ 0. 0. 0. 1. ]] SLAMing on 190.681346184 meters Centerline goodness : 0.896313 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:-2.60 [[ 0.5805512 -0.72024312 -0.37975011 -1.5428647 ] [ 0.78581948 0.61774167 0.02971495 -0.18281177] [ 0.21318548 -0.31566608 0.92461174 -2.60202463] [ 0. 0. 0. 1. ]] SLAMing on 190.71134618399998 meters Centerline goodness : 0.897119 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:-2.60 [[ 0.58134595 -0.71937729 -0.38017523 -1.54454363] [ 0.78513787 0.61858991 0.03008396 -0.18301932] [ 0.21353084 -0.31597916 0.92442509 -2.60115038] [ 0. 0. 0. 1. ]] SLAMing on 190.74134618399998 meters Centerline goodness : 0.896458 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:-2.60 [[ 0.5819512 -0.71868077 -0.38056636 -1.54547354] [ 0.78460503 0.61925169 0.03036937 -0.18342169] [ 0.21384048 -0.31626777 0.92425481 -2.60029122] [ 0. 0. 0. 1. ]] SLAMing on 190.77134618399998 meters Centerline goodness : 0.896038 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:-2.60 [[ 0.58228908 -0.71804768 -0.38124397 -1.54513086] [ 0.78423168 0.6197131 0.03059979 -0.1827743 ] [ 0.21428977 -0.31680152 0.9239679 -2.60019017] [ 0. 0. 0. 1. ]] SLAMing on 190.80134618399998 meters Centerline goodness : 0.897156 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:-2.60 [[ 0.58257171 -0.7174404 -0.38195481 -1.54514588] [ 0.78394936 0.62004787 0.03104905 -0.18312103] [ 0.21455442 -0.31752153 0.92365929 -2.5992614 ] [ 0. 0. 0. 1. ]] SLAMing on 190.83134618399998 meters Centerline goodness : 0.897203 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:-2.60 [[ 0.58230391 -0.71739339 -0.38245115 -1.54438807] [ 0.78412725 0.61981291 0.03124759 -0.18339333] [ 0.21463134 -0.31808596 0.92344719 -2.59838068] [ 0. 0. 0. 1. ]] SLAMing on 190.86134618399998 meters Centerline goodness : 0.894484 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:-2.60 [[ 0.58220805 -0.7167069 -0.38388151 -1.54158068] [ 0.78404169 0.61989506 0.03176062 -0.18257421] [ 0.21520319 -0.3194704 0.92283598 -2.59820303] [ 0. 0. 0. 1. ]] SLAMing on 190.89134618399999 meters Centerline goodness : 0.895284 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:-2.60 [[ 0.5818191 -0.71661947 -0.38463369 -1.54131979] [ 0.78431315 0.61953237 0.03213294 -0.18307308] [ 0.21526594 -0.32036882 0.92250983 -2.59661885] [ 0. 0. 0. 1. ]] SLAMing on 190.921346184 meters Centerline goodness : 0.895297 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:-2.59 [[ 0.58250167 -0.71337872 -0.38959287 -1.53836874] [ 0.78336365 0.6205826 0.03490879 -0.18208069] [ 0.21687137 -0.32552733 0.92032536 -2.59403444] [ 0. 0. 0. 1. ]] SLAMing on 190.951346184 meters Centerline goodness : 0.893230 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:-2.59 [[ 0.58239197 -0.71223741 -0.39183857 -1.53611132] [ 0.78322867 0.6206971 0.03588824 -0.18000905] [ 0.21765211 -0.32780023 0.91933376 -2.59394517] [ 0. 0. 0. 1. ]] SLAMing on 190.981346184 meters Centerline goodness : 0.892931 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:-2.59 [[ 0.58185534 -0.7127506 -0.39170261 -1.53540907] [ 0.78358946 0.62027417 0.03531998 -0.17935059] [ 0.21778868 -0.32748516 0.91941371 -2.59390854] [ 0. 0. 0. 1. ]] SLAMing on 191.011346184 meters Centerline goodness : 0.891090 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.18, Z:-2.60 [[ 0.58134409 -0.71286589 -0.39225154 -1.53098516] [ 0.78387093 0.61993042 0.03510882 -0.17765048] [ 0.21814079 -0.32788489 0.91918774 -2.59580006] [ 0. 0. 0. 1. ]] SLAMing on 191.041346184 meters Centerline goodness : 0.891821 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.18, Z:-2.60 [[ 0.58098113 -0.71260031 -0.39327054 -1.52867906] [ 0.78397432 0.61980006 0.03510196 -0.17585521] [ 0.21873544 -0.32870758 0.91875249 -2.5961575 ] [ 0. 0. 0. 1. ]] SLAMing on 191.071346184 meters Centerline goodness : 0.889914 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.17, Z:-2.60 [[ 0.58050878 -0.71268642 -0.39381167 -1.52735124] [ 0.78418225 0.61955839 0.03472176 -0.17421191] [ 0.21924359 -0.32897641 0.91853512 -2.59632753] [ 0. 0. 0. 1. ]] SLAMing on 191.101346184 meters Centerline goodness : 0.887682 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.17, Z:-2.60 [[ 0.58033962 -0.71242272 -0.39453744 -1.52417466] [ 0.78417819 0.61956361 0.03472036 -0.17265763] [ 0.21970547 -0.32953726 0.91822367 -2.59772131] [ 0. 0. 0. 1. ]] SLAMing on 191.131346184 meters Centerline goodness : 0.890451 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.17, Z:-2.60 [[ 0.58227636 -0.71589481 -0.38529062 -1.52172941] [ 0.78617932 0.61653034 0.04257244 -0.16852758] [ 0.20706596 -0.32769645 0.92181274 -2.60237221] [ 0. 0. 0. 1. ]] SLAMing on 191.161346184 meters Centerline goodness : 0.887884 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.17, Z:-2.60 [[ 0.58155889 -0.71557402 -0.38696651 -1.52067762] [ 0.78649021 0.61612816 0.04265245 -0.16662918] [ 0.20789998 -0.32915029 0.92110677 -2.60124824] [ 0. 0. 0. 1. ]] SLAMing on 191.191346184 meters Centerline goodness : 0.886995 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.17, Z:-2.60 [[ 0.5807465 -0.71528914 -0.38870935 -1.52067826] [ 0.78691705 0.61556238 0.04294786 -0.16523849] [ 0.20855471 -0.33082383 0.92035891 -2.599278 ] [ 0. 0. 0. 1. ]] SLAMing on 191.221346184 meters Centerline goodness : 0.887248 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.16, Z:-2.60 [[ 0.58036364 -0.71508057 -0.38966373 -1.51675453] [ 0.78702763 0.61543096 0.04280485 -0.16355942] [ 0.20920221 -0.33151849 0.91996192 -2.6003346 ] [ 0. 0. 0. 1. ]] SLAMing on 191.251346184 meters Centerline goodness : 0.887248 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.16, Z:-2.60 [[ 0.58036364 -0.71508057 -0.38966373 -1.51675453] [ 0.78702763 0.61543096 0.04280485 -0.16355942] [ 0.20920221 -0.33151849 0.91996192 -2.6003346 ] [ 0. 0. 0. 1. ]] SLAMing on 191.281346184 meters Centerline goodness : 0.888672 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.16, Z:-2.60 [[ 0.57969677 -0.71552628 -0.38983818 -1.51425199] [ 0.78750097 0.61484528 0.0425146 -0.16345925] [ 0.20926985 -0.33164352 0.91990146 -2.6002821 ] [ 0. 0. 0. 1. ]] SLAMing on 191.311346184 meters Centerline goodness : 0.888259 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.16, Z:-2.60 [[ 0.577216 -0.71666714 -0.39142036 -1.51066464] [ 0.78924465 0.61262778 0.04219106 -0.16195358] [ 0.20955804 -0.33327978 0.91924426 -2.598509 ] [ 0. 0. 0. 1. ]] SLAMing on 191.341346184 meters Centerline goodness : 0.885620 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.16, Z:-2.60 [[ 0.5756167 -0.71702755 -0.39311183 -1.50672449] [ 0.79028758 0.6112796 0.04222313 -0.16023427] [ 0.2100261 -0.33497574 0.91852071 -2.59774704] [ 0. 0. 0. 1. ]] SLAMing on 191.371346184 meters Centerline goodness : 0.888496 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.16, Z:-2.60 [[ 0.57421426 -0.71729629 -0.3946695 -1.50234063] [ 0.79118289 0.6101189 0.04224414 -0.15863885] [ 0.21049376 -0.33651295 0.91785152 -2.59739819] [ 0. 0. 0. 1. ]] SLAMing on 191.401346184 meters Centerline goodness : 0.887885 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.16, Z:-2.60 [[ 0.57157566 -0.72001229 -0.39355249 -1.49840906] [ 0.79324569 0.60755037 0.04054402 -0.15820401] [ 0.20991077 -0.33535779 0.91840765 -2.59737078] [ 0. 0. 0. 1. ]] SLAMing on 191.431346184 meters Centerline goodness : 0.886451 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.16, Z:-2.59 [[ 0.56827106 -0.71569487 -0.40601583 -1.49376586] [ 0.79152515 0.61029524 0.03205704 -0.15827411] [ 0.22484647 -0.33958883 0.91330362 -2.59159409] [ 0. 0. 0. 1. ]] SLAMing on 191.46134618399998 meters Centerline goodness : 0.886578 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.16, Z:-2.59 [[ 0.56778488 -0.71588737 -0.40635648 -1.49218709] [ 0.79179736 0.60995704 0.03177021 -0.15766027] [ 0.2251161 -0.33979064 0.91316212 -2.59148092] [ 0. 0. 0. 1. ]] SLAMing on 191.49134618399998 meters Centerline goodness : 0.886579 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.16, Z:-2.59 [[ 0.56858357 -0.71315984 -0.41001923 -1.48830721] [ 0.79076162 0.61120829 0.03347369 -0.15560935] [ 0.22673506 -0.34326006 0.91146242 -2.59125449] [ 0. 0. 0. 1. ]] SLAMing on 191.52134618399998 meters Centerline goodness : 0.884780 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.16, Z:-2.59 [[ 0.5704863 -0.71162193 -0.41004831 -1.48952693] [ 0.78933978 0.61299467 0.0343547 -0.15706202] [ 0.22690987 -0.34326633 0.91141656 -2.59149791] [ 0. 0. 0. 1. ]] SLAMing on 191.55134618399998 meters Centerline goodness : 0.885826 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.16, Z:-2.59 [[ 0.57225876 -0.70851459 -0.41294913 -1.48724321] [ 0.78770642 0.61497096 0.03645971 -0.15648287] [ 0.22811949 -0.34614707 0.91002401 -2.59164348] [ 0. 0. 0. 1. ]] SLAMing on 191.58134618399998 meters Centerline goodness : 0.886543 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.16, Z:-2.59 [[ 0.57289576 -0.70801521 -0.41292241 -1.48767992] [ 0.78722993 0.61556395 0.03674312 -0.15724566] [ 0.22816546 -0.34611486 0.91002474 -2.5914864 ] [ 0. 0. 0. 1. ]] SLAMing on 191.61134618399998 meters Centerline goodness : 0.886039 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.16, Z:-2.59 [[ 0.57319017 -0.7080773 -0.41240703 -1.48599078] [ 0.78708984 0.61574221 0.03675757 -0.1588033 ] [ 0.22790922 -0.34567046 0.91025783 -2.59173824] [ 0. 0. 0. 1. ]] SLAMing on 191.64134618399999 meters Centerline goodness : 0.886776 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.16, Z:-2.59 [[ 0.572864 -0.7080775 -0.41285964 -1.48490656] [ 0.78732429 0.61543057 0.03695495 -0.15902041] [ 0.22791948 -0.34622458 0.91004464 -2.59116004] [ 0. 0. 0. 1. ]] SLAMing on 191.671346184 meters Centerline goodness : 0.885509 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.16, Z:-2.59 [[ 0.57273198 -0.70716377 -0.4146052 -1.48282667] [ 0.7872261 0.61551563 0.03762425 -0.1579816 ] [ 0.22858948 -0.34793665 0.90922326 -2.59052735] [ 0. 0. 0. 1. ]] SLAMing on 191.701346184 meters Centerline goodness : 0.883853 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.16, Z:-2.59 [[ 0.57140895 -0.70765076 -0.41559863 -1.4834296 ] [ 0.78826762 0.6141546 0.03805644 -0.15880268] [ 0.22831114 -0.34934873 0.90875161 -2.58738976] [ 0. 0. 0. 1. ]] SLAMing on 191.731346184 meters Centerline goodness : 0.883703 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.16, Z:-2.59 [[ 0.57065656 -0.70803575 -0.41597652 -1.4811385 ] [ 0.78883728 0.61342285 0.03805469 -0.15868723] [ 0.22822542 -0.34985395 0.90857877 -2.58718549] [ 0. 0. 0. 1. ]] SLAMing on 191.761346184 meters Centerline goodness : 0.882712 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.16, Z:-2.59 [[ 0.56974655 -0.70815926 -0.4170124 -1.4768412 ] [ 0.78941877 0.61266962 0.03813065 -0.15779418] [ 0.22848826 -0.35092222 0.90810061 -2.58725498] [ 0. 0. 0. 1. ]] SLAMing on 191.791346184 meters Centerline goodness : 0.879295 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.16, Z:-2.59 [[ 0.56695217 -0.71102432 -0.41594429 -1.47326878] [ 0.79169791 0.60980936 0.03670097 -0.15868267] [ 0.22755144 -0.35010992 0.90864921 -2.58599615] [ 0. 0. 0. 1. ]] SLAMing on 191.821346184 meters Centerline goodness : 0.878383 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.16, Z:-2.59 [[ 0.56590346 -0.71126785 -0.41695482 -1.47038102] [ 0.79238574 0.60891383 0.03672578 -0.15807653] [ 0.22776769 -0.3511723 0.90818495 -2.58513566] [ 0. 0. 0. 1. ]] SLAMing on 191.851346184 meters Centerline goodness : 0.877949 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.16, Z:-2.58 [[ 0.56496972 -0.71117833 -0.41837137 -1.46735529] [ 0.79294474 0.60817016 0.0369823 -0.15711851] [ 0.22813998 -0.35263926 0.90752284 -2.58434658] [ 0. 0. 0. 1. ]] SLAMing on 191.881346184 meters Centerline goodness : 0.875301 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-2.58 [[ 0.56394214 -0.71167809 -0.41890759 -1.46408936] [ 0.79366499 0.60724016 0.03681388 -0.15687324] [ 0.22817788 -0.35323318 0.9072823 -2.5839742 ] [ 0. 0. 0. 1. ]] SLAMing on 191.911346184 meters Centerline goodness : 0.875915 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-2.58 [[ 0.56398944 -0.71161765 -0.41894657 -1.46349402] [ 0.79363121 0.60728072 0.0368733 -0.15733484] [ 0.22817848 -0.35328523 0.90726189 -2.58378686] [ 0. 0. 0. 1. ]] SLAMing on 191.941346184 meters Centerline goodness : 0.875388 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-2.58 [[ 0.56485788 -0.71062255 -0.41946535 -1.46348564] [ 0.79293217 0.60815559 0.03748798 -0.15785194] [ 0.22846039 -0.35378295 0.90699695 -2.58367257] [ 0. 0. 0. 1. ]] SLAMing on 191.971346184 meters Centerline goodness : 0.874532 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-2.58 [[ 0.56775783 -0.70662961 -0.4222862 -1.46438057] [ 0.79045195 0.6112183 0.03997368 -0.15794609] [ 0.22986247 -0.35649232 0.90558074 -2.58324566] [ 0. 0. 0. 1. ]] SLAMing on 192.001346184 meters Centerline goodness : 0.876565 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.16, Z:-2.58 [[ 0.56848775 -0.70638281 -0.42171673 -1.46522166] [ 0.78993542 0.61188825 0.03993503 -0.15850452] [ 0.2298341 -0.35583156 0.90584777 -2.58378639] [ 0. 0. 0. 1. ]] SLAMing on 192.031346184 meters Centerline goodness : 0.873232 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.16, Z:-2.58 [[ 0.56892617 -0.70637497 -0.42113824 -1.46529344] [ 0.78962733 0.61229997 0.03971684 -0.15864044] [ 0.22980795 -0.35513821 0.90612646 -2.58462569] [ 0. 0. 0. 1. ]] SLAMing on 192.061346184 meters Centerline goodness : 0.873596 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-2.59 [[ 0.56877164 -0.70631024 -0.42145542 -1.46398785] [ 0.78970336 0.61219888 0.03976347 -0.15799553] [ 0.22992919 -0.35544109 0.90597693 -2.58505295] [ 0. 0. 0. 1. ]] SLAMing on 192.091346184 meters Centerline goodness : 0.872373 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.16, Z:-2.58 [[ 0.56772529 -0.70865295 -0.418926 -1.46613884] [ 0.79073462 0.61097369 0.0380777 -0.15905911] [ 0.22896889 -0.35287696 0.90722164 -2.58477987] [ 0. 0. 0. 1. ]] SLAMing on 192.121346184 meters Centerline goodness : 0.873030 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.16, Z:-2.58 [[ 0.56725799 -0.70883304 -0.41925421 -1.46586111] [ 0.79106371 0.61054809 0.03806889 -0.15897467] [ 0.22899037 -0.35325167 0.90707037 -2.58404316] [ 0. 0. 0. 1. ]] SLAMing on 192.151346184 meters Centerline goodness : 0.873564 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.16, Z:-2.58 [[ 0.56776218 -0.70800882 -0.41996382 -1.46595804] [ 0.79065654 0.61102995 0.03878972 -0.15991774] [ 0.22914701 -0.35407048 0.9067115 -2.58295798] [ 0. 0. 0. 1. ]] SLAMing on 192.181346184 meters Centerline goodness : 0.872402 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.16, Z:-2.58 [[ 0.56789045 -0.70787708 -0.42001246 -1.46597323] [ 0.79053576 0.61118606 0.03879196 -0.16018747] [ 0.22924582 -0.35406445 0.90668887 -2.58268176] [ 0. 0. 0. 1. ]] SLAMing on 192.21134618399998 meters Centerline goodness : 0.872557 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-2.58 [[ 0.56830577 -0.70725767 -0.42049392 -1.46408009] [ 0.79017749 0.6116225 0.03921035 -0.16085429] [ 0.22945173 -0.3545483 0.90644769 -2.58265043] [ 0. 0. 0. 1. ]] SLAMing on 192.24134618399998 meters Centerline goodness : 0.874101 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-2.58 [[ 0.56791441 -0.70737221 -0.42082986 -1.46335463] [ 0.79048723 0.61121071 0.03938795 -0.16141069] [ 0.22935378 -0.35502962 0.90628407 -2.58172288] [ 0. 0. 0. 1. ]] SLAMing on 192.27134618399998 meters Centerline goodness : 0.873014 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-2.58 [[ 0.56738495 -0.70760125 -0.42115888 -1.46257599] [ 0.7908746 0.61070887 0.03939604 -0.161702 ] [ 0.22932877 -0.35543657 0.90613087 -2.58078054] [ 0. 0. 0. 1. ]] SLAMing on 192.30134618399998 meters Centerline goodness : 0.872218 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-2.58 [[ 0.5671781 -0.70713876 -0.42221294 -1.4605961 ] [ 0.7909205 0.61062437 0.03978237 -0.16181838] [ 0.22968186 -0.35650056 0.90562332 -2.57985984] [ 0. 0. 0. 1. ]] SLAMing on 192.33134618399998 meters Centerline goodness : 0.870885 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.17, Z:-2.57 [[ 0.56502512 -0.7007855 -0.43548398 -1.45854558] [ 0.7882423 0.61442638 0.03397508 -0.16744121] [ 0.2437636 -0.36246367 0.89955511 -2.57173221] [ 0. 0. 0. 1. ]] SLAMing on 192.36134618399998 meters Centerline goodness : 0.867823 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.17, Z:-2.57 [[ 0.56420315 -0.70327259 -0.43253031 -1.46004652] [ 0.78919239 0.61329878 0.03224887 -0.16936869] [ 0.24259056 -0.35954454 0.90104247 -2.57181728] [ 0. 0. 0. 1. ]] SLAMing on 192.39134618399999 meters Centerline goodness : 0.868662 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.17, Z:-2.57 [[ 0.56471512 -0.70243807 -0.43321773 -1.45609035] [ 0.78869522 0.61391612 0.0326627 -0.16938796] [ 0.24301583 -0.36012187 0.90069726 -2.57279385] [ 0. 0. 0. 1. ]] SLAMing on 192.421346184 meters Centerline goodness : 0.866259 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.17, Z:-2.57 [[ 0.56489236 -0.70256475 -0.43278101 -1.45471022] [ 0.78860286 0.61404269 0.03251294 -0.17002533] [ 0.24290357 -0.35965865 0.9009126 -2.57338032] [ 0. 0. 0. 1. ]] SLAMing on 192.451346184 meters Centerline goodness : 0.865910 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.17, Z:-2.57 [[ 0.56500677 -0.7022678 -0.43311348 -1.45390773] [ 0.78850716 0.61414927 0.03281964 -0.1703525 ] [ 0.24294815 -0.3600564 0.90074169 -2.57310971] [ 0. 0. 0. 1. ]] SLAMing on 192.481346184 meters Centerline goodness : 0.864415 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.17, Z:-2.57 [[ 0.56491263 -0.70230356 -0.43317828 -1.45320091] [ 0.78858179 0.61405193 0.03284781 -0.17070298] [ 0.24292483 -0.36015265 0.9007095 -2.57286223] [ 0. 0. 0. 1. ]] SLAMing on 192.511346184 meters Centerline goodness : 0.864356 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.17, Z:-2.57 [[ 0.56487019 -0.70235447 -0.43315109 -1.45173922] [ 0.78867151 0.61392751 0.03301919 -0.17170674] [ 0.24273219 -0.36026548 0.90071631 -2.57265975] [ 0. 0. 0. 1. ]] SLAMing on 192.541346184 meters Centerline goodness : 0.864177 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.17, Z:-2.57 [[ 0.56475068 -0.7018864 -0.43406468 -1.44942315] [ 0.78877769 0.61374724 0.03382421 -0.17346524] [ 0.24266525 -0.36148278 0.90024651 -2.57104446] [ 0. 0. 0. 1. ]] SLAMing on 192.571346184 meters Centerline goodness : 0.865410 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.17, Z:-2.57 [[ 0.56419742 -0.70193459 -0.43470576 -1.44911715] [ 0.7891699 0.6132306 0.03404566 -0.17359096] [ 0.24267704 -0.36226517 0.89992877 -2.56975617] [ 0. 0. 0. 1. ]] SLAMing on 192.601346184 meters Centerline goodness : 0.864168 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.17, Z:-2.57 [[ 0.56321656 -0.70230946 -0.43537172 -1.447287 ] [ 0.78989825 0.61228613 0.03415342 -0.17366581] [ 0.24258579 -0.36313513 0.8996027 -2.56856037] [ 0. 0. 0. 1. ]] SLAMing on 192.631346184 meters Centerline goodness : 0.861922 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.18, Z:-2.56 [[ 0.5583046 -0.70001195 -0.44528559 -1.44062517] [ 0.78965513 0.61298092 0.02644173 -0.17907754] [ 0.25444204 -0.36638459 0.89499809 -2.56370166] [ 0. 0. 0. 1. ]] SLAMing on 192.661346184 meters Centerline goodness : 0.860157 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.18, Z:-2.56 [[ 0.55734017 -0.70124972 -0.44454557 -1.43756907] [ 0.79043446 0.61201269 0.02557026 -0.17893017] [ 0.25413639 -0.36563547 0.8953912 -2.56422678] [ 0. 0. 0. 1. ]] SLAMing on 192.691346184 meters Centerline goodness : 0.859480 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.18, Z:-2.56 [[ 0.55665421 -0.70145514 -0.44508064 -1.43541684] [ 0.79089237 0.61142199 0.02554251 -0.17872869] [ 0.25421516 -0.36622923 0.89512614 -2.5636524 ] [ 0. 0. 0. 1. ]] SLAMing on 192.721346184 meters Centerline goodness : 0.859014 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.18, Z:-2.56 [[ 0.55554276 -0.7016311 -0.44619059 -1.43280637] [ 0.79164146 0.61044353 0.02573904 -0.17880128] [ 0.25431484 -0.36752211 0.89456775 -2.56193149] [ 0. 0. 0. 1. ]] SLAMing on 192.751346184 meters Centerline goodness : 0.858234 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.18, Z:-2.56 [[ 0.5551758 -0.70180556 -0.44637293 -1.43214627] [ 0.79191911 0.61008275 0.0257517 -0.17887974] [ 0.25425174 -0.36778798 0.89447642 -2.56148529] [ 0. 0. 0. 1. ]] SLAMing on 192.781346184 meters Centerline goodness : 0.855065 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.18, Z:-2.56 [[ 0.55486212 -0.70177483 -0.44681105 -1.43146902] [ 0.7921276 0.60980546 0.02590688 -0.17913132] [ 0.25428702 -0.36830611 0.89425316 -2.56063924] [ 0. 0. 0. 1. ]] SLAMing on 192.811346184 meters Centerline goodness : 0.856642 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.18, Z:-2.56 [[ 0.55466897 -0.70266986 -0.44564268 -1.43135377] [ 0.79256941 0.60923316 0.02585899 -0.18284745] [ 0.25332997 -0.36754594 0.89483737 -2.55905204] [ 0. 0. 0. 1. ]] SLAMing on 192.841346184 meters Centerline goodness : 0.856792 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.19, Z:-2.55 [[ 0.55326452 -0.69959712 -0.45217501 -1.43411354] [ 0.78983506 0.61305804 0.0179003 -0.18953766] [ 0.26468653 -0.36704728 0.89174959 -2.55162124] [ 0. 0. 0. 1. ]] SLAMing on 192.871346184 meters Centerline goodness : 0.856957 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.20, Z:-2.55 [[ 0.55159964 -0.69505441 -0.46112602 -1.43784462] [ 0.78736086 0.6163594 0.01280484 -0.19838794] [ 0.27531929 -0.37013572 0.88724226 -2.54628817] [ 0. 0. 0. 1. ]] SLAMing on 192.901346184 meters Centerline goodness : 0.856587 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.20, Z:-2.55 [[ 0.55203755 -0.69454049 -0.46137625 -1.43875708] [ 0.78704859 0.6167482 0.01327286 -0.19928251] [ 0.27533444 -0.37045264 0.88710529 -2.54550376] [ 0. 0. 0. 1. ]] SLAMing on 192.931346184 meters Centerline goodness : 0.857467 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.20, Z:-2.55 [[ 0.55311308 -0.69389685 -0.46105648 -1.44059056] [ 0.78628578 0.61771304 0.01361181 -0.19970964] [ 0.27535541 -0.37005102 0.88726639 -2.54600026] [ 0. 0. 0. 1. ]] SLAMing on 192.96134618399998 meters Centerline goodness : 0.856340 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.20, Z:-2.55 [[ 0.55324474 -0.69403025 -0.46069758 -1.44007235] [ 0.78618483 0.61784734 0.01334471 -0.19937347] [ 0.27537915 -0.36957634 0.88745685 -2.54681833] [ 0. 0. 0. 1. ]] SLAMing on 192.99134618399998 meters Centerline goodness : 0.856607 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.20, Z:-2.55 [[ 0.55247228 -0.69679304 -0.45744272 -1.44212992] [ 0.78715147 0.61665503 0.01136413 -0.20022409] [ 0.27416591 -0.36635508 0.88916647 -2.54802554] [ 0. 0. 0. 1. ]] SLAMing on 193.02134618399998 meters Centerline goodness : 0.856746 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.20, Z:-2.55 [[ 0.5513555 -0.6968619 -0.45868355 -1.44011234] [ 0.7877928 0.61583595 0.01133959 -0.19898057] [ 0.2745717 -0.36759974 0.88852733 -2.54676928] [ 0. 0. 0. 1. ]] SLAMing on 193.05134618399998 meters Centerline goodness : 0.856984 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.20, Z:-2.55 [[ 0.54949806 -0.70007271 -0.45601545 -1.44134169] [ 0.78952127 0.6136528 0.00929536 -0.19934871] [ 0.27332773 -0.36514168 0.88992332 -2.54681182] [ 0. 0. 0. 1. ]] SLAMing on 193.08134618399998 meters Centerline goodness : 0.853699 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.20, Z:-2.54 [[ 5.45071645e-01 -6.97172379e-01 -4.65668954e-01 -1.44110978e+00] [ 7.88170673e-01 6.15455677e-01 1.13983619e-03 -2.02992445e-01] [ 2.85803939e-01 -3.67647906e-01 8.84958262e-01 -2.54111262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11134618399998 meters Centerline goodness : 0.854431 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.20, Z:-2.54 [[ 5.41068359e-01 -7.00085674e-01 -4.65966822e-01 -1.43951228e+00] [ 7.91123479e-01 6.11656377e-01 -3.43338879e-04 -2.00089080e-01] [ 2.85251945e-01 -3.68451524e-01 8.84802126e-01 -2.53913188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14134618399999 meters Centerline goodness : 0.854198 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.20, Z:-2.54 [[ 5.39483970e-01 -7.00863341e-01 -4.66634357e-01 -1.43910202e+00] [ 7.92150872e-01 6.10324713e-01 -8.60458849e-04 -1.98467901e-01] [ 2.85401544e-01 -3.69180609e-01 8.84449906e-01 -2.53784676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.171346184 meters Centerline goodness : 0.854198 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.20, Z:-2.54 [[ 5.39483970e-01 -7.00863341e-01 -4.66634357e-01 -1.43910202e+00] [ 7.92150872e-01 6.10324713e-01 -8.60458849e-04 -1.98467901e-01] [ 2.85401544e-01 -3.69180609e-01 8.84449906e-01 -2.53784676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.201346184 meters Centerline goodness : 0.852909 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.20, Z:-2.54 [[ 5.38569811e-01 -7.01121321e-01 -4.67302313e-01 -1.43822663e+00] [ 7.92734324e-01 6.09566580e-01 -9.35905075e-04 -1.97698450e-01] [ 2.85508056e-01 -3.69942533e-01 8.84097095e-01 -2.53687283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.231346184 meters Centerline goodness : 0.852166 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.20, Z:-2.54 [[ 5.38003877e-01 -7.01575484e-01 -4.67272586e-01 -1.43808868e+00] [ 7.93226635e-01 6.08925763e-01 -9.59572728e-04 -1.97962311e-01] [ 2.85207529e-01 -3.70136807e-01 8.84112781e-01 -2.53621921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.261346184 meters Centerline goodness : 0.852793 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.20, Z:-2.54 [[ 5.37699694e-01 -7.01421983e-01 -4.67852798e-01 -1.43683474e+00] [ 7.93259868e-01 6.08882100e-01 -1.17067199e-03 -1.96667264e-01] [ 2.85688329e-01 -3.70499379e-01 8.83805628e-01 -2.53622781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.291346184 meters Centerline goodness : 0.853487 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.20, Z:-2.54 [[ 5.37264155e-01 -7.01928069e-01 -4.67594069e-01 -1.43747363e+00] [ 7.93540436e-01 6.08515161e-01 -1.69600200e-03 -1.95279208e-01] [ 2.85728552e-01 -3.70143600e-01 8.83941689e-01 -2.53669348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.321346184 meters Centerline goodness : 0.851290 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.19, Z:-2.54 [[ 5.36537575e-01 -7.02228972e-01 -4.67976390e-01 -1.43717653e+00] [ 7.93831057e-01 6.08133567e-01 -2.41212770e-03 -1.92373821e-01] [ 2.86286017e-01 -3.70199995e-01 8.83737676e-01 -2.53726479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.351346184 meters Centerline goodness : 0.850343 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.19, Z:-2.54 [[ 0.53597797 -0.70306205 -0.46736642 -1.43839853] [ 0.79413985 0.60772509 -0.00348118 -0.18926143] [ 0.28647778 -0.36928846 0.88405685 -2.5388878 ] [ 0. 0. 0. 1. ]] SLAMing on 193.381346184 meters Centerline goodness : 0.850150 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.19, Z:-2.54 [[ 0.5358174 -0.70338454 -0.46706519 -1.43943834] [ 0.79418772 0.60765919 -0.00402187 -0.18746859] [ 0.28664537 -0.36878245 0.88421374 -2.53982112] [ 0. 0. 0. 1. ]] SLAMing on 193.411346184 meters Centerline goodness : 0.851236 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.18, Z:-2.54 [[ 0.53521002 -0.70411477 -0.46666115 -1.44162922] [ 0.79450889 0.60723196 -0.00499693 -0.18495456] [ 0.28688998 -0.36809202 0.88442207 -2.54042178] [ 0. 0. 0. 1. ]] SLAMing on 193.441346184 meters Centerline goodness : 0.849256 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.18, Z:-2.54 [[ 0.53402948 -0.70586583 -0.46536647 -1.44511728] [ 0.79520527 0.60629879 -0.00709664 -0.18000524] [ 0.2871604 -0.36627205 0.88508965 -2.54249597] [ 0. 0. 0. 1. ]] SLAMing on 193.471346184 meters Centerline goodness : 0.846880 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.18, Z:-2.54 [[ 0.53383784 -0.70619474 -0.46508725 -1.44437077] [ 0.79521434 0.60627805 -0.00781546 -0.17795303] [ 0.28749143 -0.36567186 0.88523035 -2.54395703] [ 0. 0. 0. 1. ]] SLAMing on 193.501346184 meters Centerline goodness : 0.848114 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.18, Z:-2.55 [[ 0.5338143 -0.7066655 -0.46439872 -1.44455913] [ 0.79522595 0.60625455 -0.00843284 -0.17664661] [ 0.28750303 -0.36480034 0.88558609 -2.54538055] [ 0. 0. 0. 1. ]] SLAMing on 193.531346184 meters Centerline goodness : 0.848771 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.17, Z:-2.55 [[ 0.53358403 -0.70728991 -0.46371226 -1.44604892] [ 0.79537271 0.60605118 -0.00917748 -0.1749264 ] [ 0.2875245 -0.36392712 0.88593832 -2.54647073] [ 0. 0. 0. 1. ]] SLAMing on 193.561346184 meters Centerline goodness : 0.849323 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.17, Z:-2.55 [[ 0.53363833 -0.70803174 -0.46251615 -1.45011765] [ 0.79528275 0.60615057 -0.01033582 -0.17205817] [ 0.28767252 -0.36231552 0.88655061 -2.54814093] [ 0. 0. 0. 1. ]] SLAMing on 193.591346184 meters Centerline goodness : 0.849641 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.17, Z:-2.55 [[ 0.53408229 -0.70791638 -0.46218016 -1.45112098] [ 0.79481504 0.60675399 -0.01089284 -0.17000611] [ 0.28814087 -0.36153007 0.88671915 -2.54975683] [ 0. 0. 0. 1. ]] SLAMing on 193.621346184 meters Centerline goodness : 0.850126 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.17, Z:-2.55 [[ 0.53524143 -0.70550166 -0.46452559 -1.45100062] [ 0.79351832 0.60846749 -0.00979697 -0.16711198] [ 0.2895605 -0.36336583 0.8855055 -2.55045584] [ 0. 0. 0. 1. ]] SLAMing on 193.651346184 meters Centerline goodness : 0.849663 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.16, Z:-2.56 [[ 0.53872896 -0.70928887 -0.45462117 -1.45442055] [ 0.79488439 0.60674285 -0.00468238 -0.15681973] [ 0.2791593 -0.35884873 0.89067259 -2.55546998] [ 0. 0. 0. 1. ]] SLAMing on 193.681346184 meters Centerline goodness : 0.850382 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.15, Z:-2.56 [[ 5.41774507e-01 -7.13617007e-01 -4.44107139e-01 -1.45538755e+00] [ 7.96927596e-01 6.04072904e-01 1.52746315e-03 -1.50112813e-01] [ 2.67183065e-01 -3.54748775e-01 8.95972386e-01 -2.56049586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71134618399998 meters Centerline goodness : 0.849576 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.15, Z:-2.56 [[ 5.41687072e-01 -7.14186496e-01 -4.43297603e-01 -1.45708479e+00] [ 7.96954161e-01 6.04039401e-01 6.83473713e-04 -1.48436098e-01] [ 2.67281091e-01 -3.53658098e-01 8.96374234e-01 -2.56169888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74134618399998 meters Centerline goodness : 0.849334 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.14, Z:-2.56 [[ 5.41571723e-01 -7.14785123e-01 -4.42472933e-01 -1.46171141e+00] [ 7.96877262e-01 6.04140937e-01 -5.98367001e-04 -1.44534234e-01] [ 2.67743716e-01 -3.52272561e-01 8.96781660e-01 -2.56328721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77134618399998 meters Centerline goodness : 0.849432 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.14, Z:-2.57 [[ 0.5440461 -0.71884572 -0.43275243 -1.46146471] [ 0.79903765 0.60125313 0.00578871 -0.1369686 ] [ 0.25603257 -0.34893481 0.90149422 -2.56816287] [ 0. 0. 0. 1. ]] SLAMing on 193.80134618399998 meters Centerline goodness : 0.848656 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.14, Z:-2.57 [[ 0.54352155 -0.71972661 -0.43194667 -1.46273788] [ 0.79938765 0.60079639 0.00480443 -0.1350584 ] [ 0.25605412 -0.34790415 0.90188635 -2.56926487] [ 0. 0. 0. 1. ]] SLAMing on 193.83134618399998 meters Centerline goodness : 0.848908 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.13, Z:-2.57 [[ 0.54305665 -0.72014096 -0.43184081 -1.46311853] [ 0.79960789 0.60050828 0.004126 -0.1329043 ] [ 0.25635268 -0.34754397 0.90194041 -2.57012737] [ 0. 0. 0. 1. ]] SLAMing on 193.86134618399998 meters Centerline goodness : 0.853088 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.12, Z:-2.57 [[ 0.54515573 -0.72405624 -0.42254915 -1.46609848] [ 0.80179067 0.59751139 0.01057611 -0.12446033] [ 0.24482023 -0.34456159 0.9062783 -2.57369032] [ 0. 0. 0. 1. ]] SLAMing on 193.89134618399999 meters Centerline goodness : 0.852558 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.12, Z:-2.57 [[ 0.54510868 -0.72419418 -0.42237343 -1.46828323] [ 0.80177419 0.5975396 0.01022642 -0.12321446] [ 0.24497893 -0.34422263 0.90636422 -2.57382547] [ 0. 0. 0. 1. ]] SLAMing on 193.921346184 meters Centerline goodness : 0.853895 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.12, Z:-2.57 [[ 0.54542157 -0.72410511 -0.42212214 -1.47016375] [ 0.80148346 0.59793501 0.00989896 -0.12189282] [ 0.24523372 -0.34372301 0.90648492 -2.57456659] [ 0. 0. 0. 1. ]] SLAMing on 193.951346184 meters Centerline goodness : 0.853608 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.12, Z:-2.58 [[ 0.54526988 -0.72500909 -0.42076428 -1.47397261] [ 0.80151029 0.59792177 0.00841494 -0.1188935 ] [ 0.24548322 -0.34183531 0.90713098 -2.57628758] [ 0. 0. 0. 1. ]] SLAMing on 193.981346184 meters Centerline goodness : 0.854813 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.11, Z:-2.58 [[ 0.54621433 -0.72796246 -0.4143918 -1.47036906] [ 0.80435164 0.59391324 0.01689669 -0.11139295] [ 0.23381262 -0.34254593 0.90994172 -2.58266167] [ 0. 0. 0. 1. ]] SLAMing on 194.011346184 meters Centerline goodness : 0.854925 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.11, Z:-2.58 [[ 0.54540834 -0.72841947 -0.41465023 -1.4701319 ] [ 0.80479066 0.59333601 0.01625956 -0.10873985] [ 0.23418314 -0.34257473 0.9098356 -2.58338455] [ 0. 0. 0. 1. ]] SLAMing on 194.041346184 meters Centerline goodness : 0.853994 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.11, Z:-2.58 [[ 0.54350421 -0.73021028 -0.41400014 -1.4710324 ] [ 0.80614703 0.59152534 0.01499134 -0.10617862] [ 0.23394474 -0.34189284 0.91015336 -2.58361641] [ 0. 0. 0. 1. ]] SLAMing on 194.071346184 meters Centerline goodness : 0.855038 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.10, Z:-2.58 [[ 0.54253788 -0.72964165 -0.41626398 -1.46904523] [ 0.80651611 0.59101618 0.01521996 -0.10224847] [ 0.23491364 -0.34398101 0.90911641 -2.58375176] [ 0. 0. 0. 1. ]] SLAMing on 194.101346184 meters Centerline goodness : 0.855943 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.10, Z:-2.59 [[ 0.54446935 -0.73329209 -0.40722947 -1.46890273] [ 0.80880283 0.58761981 0.02325811 -0.09655507] [ 0.22224112 -0.34203168 0.91302969 -2.58853457] [ 0. 0. 0. 1. ]] SLAMing on 194.131346184 meters Centerline goodness : 0.856322 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.09, Z:-2.59 [[ 0.54420554 -0.73334582 -0.40748527 -1.47068068] [ 0.80890083 0.58749515 0.02299766 -0.09493062] [ 0.22253038 -0.34213063 0.91292216 -2.58845652] [ 0. 0. 0. 1. ]] SLAMing on 194.161346184 meters Centerline goodness : 0.857101 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.09, Z:-2.59 [[ 0.54584463 -0.73091869 -0.40964803 -1.47147922] [ 0.80736082 0.58957676 0.02382753 -0.09104421] [ 0.22410297 -0.3437399 0.91193242 -2.59037553] [ 0. 0. 0. 1. ]] SLAMing on 194.191346184 meters Centerline goodness : 0.857728 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.09, Z:-2.59 [[ 0.54687559 -0.73063628 -0.40877587 -1.47352908] [ 0.80659706 0.59063821 0.0234029 -0.09054006] [ 0.22433964 -0.34251589 0.91233469 -2.59174162] [ 0. 0. 0. 1. ]] SLAMing on 194.221346184 meters Centerline goodness : 0.859959 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.09, Z:-2.59 [[ 0.54898272 -0.72769465 -0.41119154 -1.4728897 ] [ 0.80480547 0.5930105 0.0250339 -0.08878748] [ 0.22562387 -0.34467238 0.91120515 -2.59301441] [ 0. 0. 0. 1. ]] SLAMing on 194.251346184 meters Centerline goodness : 0.862304 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.08, Z:-2.60 [[ 0.55467062 -0.72839202 -0.40222578 -1.47851342] [ 0.80405732 0.59358625 0.03387024 -0.0844563 ] [ 0.21408488 -0.34219941 0.91491378 -2.5971482 ] [ 0. 0. 0. 1. ]] SLAMing on 194.281346184 meters Centerline goodness : 0.864463 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.08, Z:-2.60 [[ 0.55549531 -0.72789263 -0.40199163 -1.48146252] [ 0.80339816 0.59448564 0.0337375 -0.08386218] [ 0.21442097 -0.34170036 0.91502159 -2.59736538] [ 0. 0. 0. 1. ]] SLAMing on 194.311346184 meters Centerline goodness : 0.863143 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.08, Z:-2.60 [[ 0.55569935 -0.72754915 -0.40233129 -1.48207173] [ 0.80313945 0.59484159 0.03362301 -0.08224529] [ 0.21486099 -0.34181241 0.91487651 -2.5980443 ] [ 0. 0. 0. 1. ]] SLAMing on 194.341346184 meters Centerline goodness : 0.863227 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.08, Z:-2.60 [[ 0.55797423 -0.73143479 -0.39200499 -1.48116433] [ 0.80495471 0.59189304 0.04135872 -0.07767496] [ 0.20177382 -0.33862337 0.91903294 -2.60398695] [ 0. 0. 0. 1. ]] SLAMing on 194.371346184 meters Centerline goodness : 0.863912 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.07, Z:-2.61 [[ 0.55659022 -0.73263022 -0.39174008 -1.47794425] [ 0.80589149 0.59068876 0.04031981 -0.07486003] [ 0.20185695 -0.33814161 0.91919205 -2.60611648] [ 0. 0. 0. 1. ]] SLAMing on 194.401346184 meters Centerline goodness : 0.863049 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.07, Z:-2.61 [[ 0.55596531 -0.73249416 -0.39288025 -1.47441299] [ 0.80620746 0.59025298 0.04038512 -0.0731097 ] [ 0.20231687 -0.33919571 0.91870243 -2.60677432] [ 0. 0. 0. 1. ]] SLAMing on 194.431346184 meters Centerline goodness : 0.863449 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.07, Z:-2.61 [[ 0.55518253 -0.73241036 -0.39414137 -1.47250703] [ 0.80665132 0.58963462 0.04055451 -0.07214578] [ 0.20269685 -0.34044981 0.91815462 -2.60599665] [ 0. 0. 0. 1. ]] SLAMing on 194.46134618399998 meters Centerline goodness : 0.865116 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.07, Z:-2.60 [[ 0.55458261 -0.73185696 -0.39600949 -1.4702434 ] [ 0.80693017 0.58921267 0.0411355 -0.07111265] [ 0.20322851 -0.34236504 0.91732456 -2.60497819] [ 0. 0. 0. 1. ]] SLAMing on 194.49134618399998 meters Centerline goodness : 0.862643 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.07, Z:-2.61 [[ 0.55472582 -0.73136031 -0.3967258 -1.46784199] [ 0.80675614 0.58942905 0.0414479 -0.07092283] [ 0.20352836 -0.3430532 0.91700093 -2.60529113] [ 0. 0. 0. 1. ]] SLAMing on 194.52134618399998 meters Centerline goodness : 0.861944 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.07, Z:-2.61 [[ 0.55559236 -0.73043879 -0.39721065 -1.46496376] [ 0.8060714 0.59033285 0.04190496 -0.07111917] [ 0.20387749 -0.34346222 0.91677024 -2.60642302] [ 0. 0. 0. 1. ]] SLAMing on 194.55134618399998 meters Centerline goodness : 0.861283 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.07, Z:-2.61 [[ 0.55890875 -0.72714231 -0.39860392 -1.46107985] [ 0.8035159 0.59368024 0.04365748 -0.07321043] [ 0.20489807 -0.34468513 0.91608348 -2.60781775] [ 0. 0. 0. 1. ]] SLAMing on 194.58134618399998 meters Centerline goodness : 0.861679 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.07, Z:-2.61 [[ 0.56011278 -0.72585611 -0.39925754 -1.45965117] [ 0.80256539 0.59491364 0.04434588 -0.07394973] [ 0.20533503 -0.34526898 0.91576572 -2.60812282] [ 0. 0. 0. 1. ]] SLAMing on 194.61134618399998 meters Centerline goodness : 0.862327 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.07, Z:-2.61 [[ 0.5612128 -0.72407867 -0.40093674 -1.45694365] [ 0.80156632 0.59618727 0.0453009 -0.07332039] [ 0.20623197 -0.34680083 0.914985 -2.60872577] [ 0. 0. 0. 1. ]] SLAMing on 194.64134618399999 meters Centerline goodness : 0.862488 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.07, Z:-2.61 [[ 0.56157534 -0.72315498 -0.40209452 -1.45566138] [ 0.8011957 0.59663661 0.045937 -0.07348604] [ 0.20668475 -0.34795349 0.91444507 -2.60809748] [ 0. 0. 0. 1. ]] SLAMing on 194.671346184 meters Centerline goodness : 0.860598 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.07, Z:-2.61 [[ 0.56179734 -0.72163786 -0.40450284 -1.45241462] [ 0.8007921 0.59709898 0.04695551 -0.07190603] [ 0.20764336 -0.35030215 0.91333052 -2.60804999] [ 0. 0. 0. 1. ]] SLAMing on 194.701346184 meters Centerline goodness : 0.859441 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.07, Z:-2.61 [[ 0.56131145 -0.72209211 -0.40436672 -1.45158542] [ 0.80116209 0.59662225 0.04670325 -0.07183127] [ 0.20753013 -0.35017836 0.91340372 -2.60799089] [ 0. 0. 0. 1. ]] SLAMing on 194.731346184 meters Centerline goodness : 0.860334 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.07, Z:-2.61 [[ 0.56103641 -0.72188917 -0.40511008 -1.4478058 ] [ 0.80125155 0.59650145 0.04671166 -0.07048962] [ 0.20792811 -0.35080201 0.91307385 -2.60915591] [ 0. 0. 0. 1. ]] SLAMing on 194.761346184 meters Centerline goodness : 0.858043 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.07, Z:-2.61 [[ 0.55950353 -0.72446342 -0.40262706 -1.44351197] [ 0.80254899 0.59490028 0.04481937 -0.07101595] [ 0.20705296 -0.34820454 0.91426619 -2.61099628] [ 0. 0. 0. 1. ]] SLAMing on 194.791346184 meters Centerline goodness : 0.857397 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.07, Z:-2.61 [[ 0.55891007 -0.72488007 -0.4027014 -1.44128469] [ 0.80295422 0.59437576 0.04451946 -0.07091407] [ 0.20708468 -0.34823316 0.91424811 -2.611014 ] [ 0. 0. 0. 1. ]] SLAMing on 194.821346184 meters Centerline goodness : 0.858318 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.07, Z:-2.61 [[ 0.5583845 -0.72450627 -0.40410076 -1.43889575] [ 0.80316369 0.5940798 0.04469086 -0.06946375] [ 0.20768929 -0.34951374 0.91362208 -2.61069632] [ 0. 0. 0. 1. ]] SLAMing on 194.851346184 meters Centerline goodness : 0.859850 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.07, Z:-2.61 [[ 0.55815653 -0.72379198 -0.40569257 -1.43970302] [ 0.80319019 0.59399847 0.04529174 -0.06887001] [ 0.20819897 -0.35112817 0.91288674 -2.60874878] [ 0. 0. 0. 1. ]] SLAMing on 194.881346184 meters Centerline goodness : 0.859761 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.07, Z:-2.61 [[ 0.55866513 -0.72202085 -0.40814111 -1.43753828] [ 0.80259 0.59471523 0.04650904 -0.06756513] [ 0.20914724 -0.35355295 0.91173337 -2.60833088] [ 0. 0. 0. 1. ]] SLAMing on 194.911346184 meters Centerline goodness : 0.860934 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.07, Z:-2.61 [[ 0.55900446 -0.72162604 -0.40837467 -1.4375654 ] [ 0.80233914 0.59502868 0.04682702 -0.06854107] [ 0.20920304 -0.3538315 0.9116125 -2.60760884] [ 0. 0. 0. 1. ]] SLAMing on 194.941346184 meters Centerline goodness : 0.860502 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.07, Z:-2.61 [[ 0.55933929 -0.72118641 -0.40869269 -1.4337206 ] [ 0.80197273 0.59553263 0.04669723 -0.06803534] [ 0.20971242 -0.35387999 0.91147663 -2.60893023] [ 0. 0. 0. 1. ]] SLAMing on 194.971346184 meters Centerline goodness : 0.858119 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.07, Z:-2.61 [[ 0.55940366 -0.72082652 -0.40923915 -1.43047553] [ 0.80176503 0.59582935 0.04647818 -0.0657737 ] [ 0.21033399 -0.3541137 0.91124261 -2.61098383] [ 0. 0. 0. 1. ]] SLAMing on 195.001346184 meters Centerline goodness : 0.858084 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.06, Z:-2.61 [[ 0.55916155 -0.72084964 -0.40952919 -1.42817498] [ 0.80182232 0.59578165 0.04609982 -0.06414789] [ 0.21075894 -0.35414689 0.91113152 -2.61218374] [ 0. 0. 0. 1. ]] SLAMing on 195.031346184 meters Centerline goodness : 0.857508 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.06, Z:-2.61 [[ 0.55916781 -0.72075407 -0.40968881 -1.42801173] [ 0.80177258 0.59585327 0.0460392 -0.06393309] [ 0.21093148 -0.35422089 0.91106282 -2.61206017] [ 0. 0. 0. 1. ]] SLAMing on 195.061346184 meters Centerline goodness : 0.857508 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.06, Z:-2.61 [[ 0.55916781 -0.72075407 -0.40968881 -1.42801173] [ 0.80177258 0.59585327 0.0460392 -0.06393309] [ 0.21093148 -0.35422089 0.91106282 -2.61206017] [ 0. 0. 0. 1. ]] SLAMing on 195.091346184 meters Centerline goodness : 0.856919 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.06, Z:-2.61 [[ 0.55950358 -0.71972492 -0.41103745 -1.42648588] [ 0.80134851 0.59638574 0.04652539 -0.06283728] [ 0.21165139 -0.35541537 0.91043045 -2.6120441 ] [ 0. 0. 0. 1. ]] SLAMing on 195.121346184 meters Centerline goodness : 0.855693 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.06, Z:-2.61 [[ 0.5596495 -0.71934807 -0.41149823 -1.42653092] [ 0.80121584 0.596538 0.04685704 -0.06317976] [ 0.21176781 -0.35592242 0.91020526 -2.61137332] [ 0. 0. 0. 1. ]] SLAMing on 195.151346184 meters Centerline goodness : 0.855975 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.06, Z:-2.61 [[ 0.55981116 -0.71895788 -0.41195998 -1.42478868] [ 0.80107498 0.59669924 0.04721114 -0.06360431] [ 0.21187338 -0.35644016 0.90997807 -2.61131662] [ 0. 0. 0. 1. ]] SLAMing on 195.181346184 meters Centerline goodness : 0.854015 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.06, Z:-2.61 [[ 0.55925251 -0.71877504 -0.41303641 -1.41864331] [ 0.80144353 0.5961655 0.04769658 -0.0644358 ] [ 0.21195495 -0.35769979 0.90946466 -2.61118999] [ 0. 0. 0. 1. ]] SLAMing on 195.21134618399998 meters Centerline goodness : 0.853034 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.06, Z:-2.61 [[ 0.55868973 -0.71874551 -0.41384862 -1.41628629] [ 0.80185038 0.59558462 0.04811373 -0.06482368] [ 0.21190035 -0.35872532 0.90907337 -2.61040328] [ 0. 0. 0. 1. ]] SLAMing on 195.24134618399998 meters Centerline goodness : 0.853618 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.07, Z:-2.61 [[ 0.5579154 -0.71874039 -0.41490079 -1.41511085] [ 0.8023732 0.59485057 0.04847721 -0.06512254] [ 0.21196144 -0.35995146 0.90857432 -2.60862068] [ 0. 0. 0. 1. ]] SLAMing on 195.27134618399998 meters Centerline goodness : 0.851694 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.07, Z:-2.60 [[ 0.55563928 -0.71303584 -0.42760365 -1.41090668] [ 0.80022582 0.59820368 0.04232013 -0.07110726] [ 0.2256183 -0.36569421 0.90297515 -2.60139644] [ 0. 0. 0. 1. ]] SLAMing on 195.30134618399998 meters Centerline goodness : 0.851891 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.07, Z:-2.60 [[ 0.55551025 -0.71265585 -0.42840401 -1.40798336] [ 0.80033337 0.5980121 0.04298879 -0.07227154] [ 0.22555457 -0.36674673 0.90256411 -2.60062079] [ 0. 0. 0. 1. ]] SLAMing on 195.33134618399998 meters Centerline goodness : 0.850905 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.07, Z:-2.60 [[ 0.55530578 -0.71235593 -0.42916724 -1.40544872] [ 0.80045866 0.59781146 0.04344411 -0.07301528] [ 0.22561342 -0.36765539 0.90217964 -2.59986613] [ 0. 0. 0. 1. ]] SLAMing on 195.36134618399998 meters Centerline goodness : 0.851025 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.07, Z:-2.60 [[ 0.55550668 -0.71196461 -0.42955642 -1.40384202] [ 0.80033344 0.59794253 0.04394453 -0.07440561] [ 0.2255631 -0.36819984 0.90197016 -2.59918093] [ 0. 0. 0. 1. ]] SLAMing on 195.39134618399999 meters Centerline goodness : 0.850388 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.08, Z:-2.60 [[ 0.55557472 -0.71171108 -0.42988844 -1.4021976 ] [ 0.8002732 0.59800349 0.04421114 -0.07561642] [ 0.22560923 -0.36859079 0.90179893 -2.59843395] [ 0. 0. 0. 1. ]] SLAMing on 195.421346184 meters Centerline goodness : 0.848629 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.08, Z:-2.60 [[ 0.5558426 -0.71263308 -0.42801063 -1.39743667] [ 0.80031444 0.59798581 0.04370077 -0.079598 ] [ 0.22480167 -0.36683384 0.90271654 -2.59894148] [ 0. 0. 0. 1. ]] SLAMing on 195.451346184 meters Centerline goodness : 0.847433 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.08, Z:-2.59 [[ 0.55333743 -0.70776346 -0.43919082 -1.39375207] [ 0.79811979 0.60139895 0.03638818 -0.08401186] [ 0.23837468 -0.37066183 0.89765657 -2.59380355] [ 0. 0. 0. 1. ]] SLAMing on 195.481346184 meters Centerline goodness : 0.846823 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.09, Z:-2.59 [[ 0.55174523 -0.70969298 -0.43807885 -1.38815552] [ 0.79952198 0.59957811 0.03564668 -0.0872576 ] [ 0.23736429 -0.36992155 0.8982295 -2.592463 ] [ 0. 0. 0. 1. ]] SLAMing on 195.511346184 meters Centerline goodness : 0.846469 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:-2.59 [[ 0.55133201 -0.70887957 -0.43991223 -1.3835734 ] [ 0.79969054 0.59930111 0.03651337 -0.08805905] [ 0.2377563 -0.37192464 0.89729817 -2.59084316] [ 0. 0. 0. 1. ]] SLAMing on 195.541346184 meters Centerline goodness : 0.846822 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:-2.58 [[ 0.54828618 -0.70323907 -0.4525893 -1.38131789] [ 0.79764728 0.60236014 0.03034937 -0.09350291] [ 0.25127889 -0.37764677 0.89120247 -2.58323719] [ 0. 0. 0. 1. ]] SLAMing on 195.571346184 meters Centerline goodness : 0.846608 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:-2.58 [[ 0.54834763 -0.7022099 -0.45411027 -1.37862755] [ 0.79749618 0.6025113 0.0313046 -0.09462735] [ 0.25162417 -0.37931701 0.89039535 -2.58159305] [ 0. 0. 0. 1. ]] SLAMing on 195.601346184 meters Centerline goodness : 0.845681 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.10, Z:-2.58 [[ 0.54822611 -0.70327422 -0.45260745 -1.37551393] [ 0.79789227 0.60199974 0.03105224 -0.0992802 ] [ 0.25063133 -0.37815563 0.89116904 -2.58036575] [ 0. 0. 0. 1. ]] SLAMing on 195.631346184 meters Centerline goodness : 0.844868 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.11, Z:-2.57 [[ 0.54583987 -0.69819345 -0.46323293 -1.37480781] [ 0.79539586 0.60559608 0.02447055 -0.10631931] [ 0.26344687 -0.38181056 0.88589867 -2.57435486] [ 0. 0. 0. 1. ]] SLAMing on 195.661346184 meters Centerline goodness : 0.842931 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.11, Z:-2.57 [[ 0.54610363 -0.69764043 -0.46375496 -1.37340741] [ 0.79520837 0.60581804 0.02506286 -0.10771234] [ 0.26346626 -0.38246874 0.88560894 -2.57346074] [ 0. 0. 0. 1. ]] SLAMing on 195.691346184 meters Centerline goodness : 0.843567 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.11, Z:-2.57 [[ 0.54612606 -0.69722296 -0.46435597 -1.3724457 ] [ 0.79516301 0.60585943 0.02549797 -0.10867385] [ 0.26355667 -0.3831638 0.88528153 -2.57237927] [ 0. 0. 0. 1. ]] SLAMing on 195.721346184 meters Centerline goodness : 0.841630 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.11, Z:-2.57 [[ 0.54622291 -0.69687581 -0.464763 -1.36971177] [ 0.79513257 0.60587665 0.02603228 -0.11030801] [ 0.26344778 -0.38376762 0.88505236 -2.57171727] [ 0. 0. 0. 1. ]] SLAMing on 195.751346184 meters Centerline goodness : 0.841032 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.11, Z:-2.57 [[ 0.54631802 -0.69653172 -0.46516683 -1.36814065] [ 0.79505354 0.60596463 0.02639589 -0.11127598] [ 0.26348907 -0.38425308 0.88482941 -2.57115046] [ 0. 0. 0. 1. ]] SLAMing on 195.781346184 meters Centerline goodness : 0.840887 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.11, Z:-2.57 [[ 0.54632935 -0.69632959 -0.46545605 -1.36679559] [ 0.7950644 0.60593629 0.02671713 -0.11235057] [ 0.26343279 -0.38466389 0.88466765 -2.57048534] [ 0. 0. 0. 1. ]] SLAMing on 195.811346184 meters Centerline goodness : 0.841519 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.12, Z:-2.57 [[ 0.54516009 -0.69919896 -0.46251627 -1.36722654] [ 0.79637643 0.60427719 0.02517244 -0.11519879] [ 0.26188749 -0.38206006 0.88625338 -2.57009485] [ 0. 0. 0. 1. ]] SLAMing on 195.841346184 meters Centerline goodness : 0.841450 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.12, Z:-2.57 [[ 0.54478626 -0.69887718 -0.46344214 -1.36562404] [ 0.79652149 0.60407768 0.02537072 -0.11515476] [ 0.26222404 -0.38296325 0.88576391 -2.56899875] [ 0. 0. 0. 1. ]] SLAMing on 195.871346184 meters Centerline goodness : 0.842182 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.12, Z:-2.57 [[ 0.54441019 -0.69882952 -0.46395565 -1.36476233] [ 0.79675461 0.60376454 0.02550426 -0.11542155] [ 0.26229684 -0.38354358 0.88549121 -2.56804187] [ 0. 0. 0. 1. ]] SLAMing on 195.901346184 meters Centerline goodness : 0.843082 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.12, Z:-2.56 [[ 0.54059249 -0.69572312 -0.4730001 -1.36563234] [ 0.79509869 0.60624133 0.01701538 -0.12091056] [ 0.27491422 -0.38528015 0.88089805 -2.5617027 ] [ 0. 0. 0. 1. ]] SLAMing on 195.931346184 meters Centerline goodness : 0.841100 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.12, Z:-2.56 [[ 0.54049126 -0.69587883 -0.47288672 -1.36468099] [ 0.79517512 0.60614489 0.01687889 -0.12092029] [ 0.27489221 -0.38515064 0.88096155 -2.5619582 ] [ 0. 0. 0. 1. ]] SLAMing on 195.96134618399998 meters Centerline goodness : 0.842157 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.12, Z:-2.56 [[ 0.53977886 -0.69628354 -0.47310465 -1.3651055 ] [ 0.79561266 0.60558136 0.01648378 -0.11986241] [ 0.27502597 -0.38530564 0.88085202 -2.56142237] [ 0. 0. 0. 1. ]] SLAMing on 195.99134618399998 meters Centerline goodness : 0.841058 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.12, Z:-2.56 [[ 0.53896439 -0.69681119 -0.47325632 -1.36535513] [ 0.79613862 0.60490183 0.0160336 -0.11866059] [ 0.27510122 -0.38541918 0.88077885 -2.56103998] [ 0. 0. 0. 1. ]] SLAMing on 196.02134618399998 meters Centerline goodness : 0.840438 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.12, Z:-2.56 [[ 0.53838708 -0.69662718 -0.47418343 -1.36409789] [ 0.79639595 0.60456233 0.01605863 -0.11786495] [ 0.27548656 -0.38628352 0.88027961 -2.56013732] [ 0. 0. 0. 1. ]] SLAMing on 196.05134618399998 meters Centerline goodness : 0.840370 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.12, Z:-2.56 [[ 0.53640753 -0.70001358 -0.4714318 -1.36543348] [ 0.79811262 0.60235251 0.01370015 -0.11798557] [ 0.27437783 -0.38360453 0.8817961 -2.56011671] [ 0. 0. 0. 1. ]] SLAMing on 196.08134618399998 meters Centerline goodness : 0.839581 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.12, Z:-2.55 [[ 0.53069288 -0.69774573 -0.48116105 -1.36355018] [ 0.79779364 0.60290431 0.00563116 -0.12362283] [ 0.28616495 -0.38685564 0.87661413 -2.55311847] [ 0. 0. 0. 1. ]] SLAMing on 196.11134618399998 meters Centerline goodness : 0.840177 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.12, Z:-2.55 [[ 0.52946262 -0.69809243 -0.48201275 -1.36093048] [ 0.79861575 0.60181489 0.00563216 -0.12344201] [ 0.28615068 -0.38792499 0.8761461 -2.55174742] [ 0. 0. 0. 1. ]] SLAMing on 196.14134618399999 meters Centerline goodness : 0.840069 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.12, Z:-2.55 [[ 0.52852385 -0.69829929 -0.48274283 -1.35861104] [ 0.79925655 0.60096251 0.00574727 -0.12386005] [ 0.28609703 -0.38887294 0.8757433 -2.55033372] [ 0. 0. 0. 1. ]] SLAMing on 196.171346184 meters Centerline goodness : 0.839468 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.12, Z:-2.55 [[ 0.52694693 -0.70122018 -0.4802262 -1.357151 ] [ 0.80068716 0.59907045 0.00383016 -0.12459736] [ 0.28500354 -0.38652924 0.87713632 -2.55093608] [ 0. 0. 0. 1. ]] SLAMing on 196.201346184 meters Centerline goodness : 0.840058 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.13, Z:-2.55 [[ 0.52714206 -0.70104549 -0.48026709 -1.35633386] [ 0.80054668 0.5992574 0.00394599 -0.12514248] [ 0.28503729 -0.38655632 0.87711342 -2.55090553] [ 0. 0. 0. 1. ]] SLAMing on 196.231346184 meters Centerline goodness : 0.838399 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.13, Z:-2.55 [[ 0.52674202 -0.69886052 -0.48387685 -1.36200493] [ 0.79715341 0.60376193 -0.00423905 -0.13318355] [ 0.29510893 -0.3834912 0.87512583 -2.54641225] [ 0. 0. 0. 1. ]] SLAMing on 196.261346184 meters Centerline goodness : 0.840038 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.14, Z:-2.55 [[ 0.52838399 -0.69781036 -0.48360218 -1.36183987] [ 0.79608608 0.6051737 -0.00342706 -0.13549662] [ 0.29505476 -0.38317816 0.87528121 -2.54691765] [ 0. 0. 0. 1. ]] SLAMing on 196.291346184 meters Centerline goodness : 0.837757 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.14, Z:-2.55 [[ 0.5292999 -0.69699967 -0.48376965 -1.36132704] [ 0.79542982 0.60603892 -0.00286915 -0.13675239] [ 0.29518303 -0.38328616 0.87519066 -2.54690565] [ 0. 0. 0. 1. ]] SLAMing on 196.321346184 meters Centerline goodness : 0.836460 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.14, Z:-2.55 [[ 5.29870930e-01 -6.96511703e-01 -4.83847336e-01 -1.36100521e+00] [ 7.95025335e-01 6.06570958e-01 -2.52756949e-03 -1.37799072e-01] [ 2.95248224e-01 -3.83331605e-01 8.75148768e-01 -2.54673824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.351346184 meters Centerline goodness : 0.837593 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.14, Z:-2.55 [[ 5.30275799e-01 -6.95774572e-01 -4.84463953e-01 -1.35964261e+00] [ 7.94617475e-01 6.07106608e-01 -2.15273712e-03 -1.38083585e-01] [ 2.95619087e-01 -3.83821979e-01 8.74808576e-01 -2.54647657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.381346184 meters Centerline goodness : 0.836084 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.14, Z:-2.55 [[ 0.52911556 -0.69913892 -0.48087576 -1.36099724] [ 0.79594591 0.60535233 -0.00432131 -0.13918203] [ 0.29412045 -0.38046462 0.8767781 -2.54783106] [ 0. 0. 0. 1. ]] SLAMing on 196.411346184 meters Centerline goodness : 0.835146 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.14, Z:-2.55 [[ 0.52898252 -0.69854494 -0.48188429 -1.35724939] [ 0.79580868 0.60553357 -0.0041992 -0.13851034] [ 0.29473044 -0.3812664 0.8762248 -2.54774498] [ 0. 0. 0. 1. ]] SLAMing on 196.441346184 meters Centerline goodness : 0.835994 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.14, Z:-2.55 [[ 0.52847688 -0.69840005 -0.48264847 -1.35369693] [ 0.79599433 0.6052889 -0.00428717 -0.1378214 ] [ 0.29513592 -0.38191978 0.87580367 -2.54758177] [ 0. 0. 0. 1. ]] SLAMing on 196.471346184 meters Centerline goodness : 0.834571 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.14, Z:-2.55 [[ 0.52769642 -0.698653 -0.48313608 -1.35080506] [ 0.7964887 0.60463738 -0.00440348 -0.13751085] [ 0.29519864 -0.38248873 0.8755342 -2.54721949] [ 0. 0. 0. 1. ]] SLAMing on 196.501346184 meters Centerline goodness : 0.834364 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.14, Z:-2.55 [[ 0.52715613 -0.69878244 -0.48353853 -1.35106637] [ 0.79678567 0.60424482 -0.00456061 -0.13697949] [ 0.29536253 -0.38287242 0.87531119 -2.54635264] [ 0. 0. 0. 1. ]] SLAMing on 196.531346184 meters Centerline goodness : 0.835001 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.14, Z:-2.55 [[ 0.5267615 -0.69864066 -0.48417306 -1.35141458] [ 0.79693078 0.60405318 -0.00459269 -0.13644145] [ 0.29567491 -0.38343316 0.8749602 -2.54528178] [ 0. 0. 0. 1. ]] SLAMing on 196.561346184 meters Centerline goodness : 0.836060 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.14, Z:-2.54 [[ 0.52646951 -0.69867608 -0.48443946 -1.35268068] [ 0.79706406 0.60387636 -0.00471482 -0.13597324] [ 0.29583567 -0.38364707 0.87481208 -2.54447288] [ 0. 0. 0. 1. ]] SLAMing on 196.591346184 meters Centerline goodness : 0.835038 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.14, Z:-2.54 [[ 0.52665672 -0.69882109 -0.48402664 -1.35506359] [ 0.79691338 0.60407258 -0.00503869 -0.13544497] [ 0.29590836 -0.38307364 0.87503876 -2.54464167] [ 0. 0. 0. 1. ]] SLAMing on 196.621346184 meters Centerline goodness : 0.836231 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.13, Z:-2.55 [[ 0.52661983 -0.69917241 -0.4835592 -1.35412612] [ 0.79694066 0.60403295 -0.00545626 -0.13491879] [ 0.29590056 -0.38249461 0.87529466 -2.54564631] [ 0. 0. 0. 1. ]] SLAMing on 196.651346184 meters Centerline goodness : 0.836460 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.13, Z:-2.55 [[ 0.52539987 -0.70251408 -0.48003015 -1.35492909] [ 0.79819076 0.60235297 -0.00789975 -0.13499596] [ 0.29469728 -0.3790051 0.87721642 -2.54755157] [ 0. 0. 0. 1. ]] SLAMing on 196.681346184 meters Centerline goodness : 0.836073 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.13, Z:-2.55 [[ 0.52490138 -0.70256434 -0.4805017 -1.35338032] [ 0.79835211 0.6021339 -0.00828651 -0.13349102] [ 0.29514817 -0.37925995 0.87695464 -2.54769201] [ 0. 0. 0. 1. ]] SLAMing on 196.71134618399998 meters Centerline goodness : 0.837141 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.13, Z:-2.55 [[ 0.52340133 -0.70361082 -0.48060676 -1.3569067 ] [ 0.79917808 0.60101838 -0.00955493 -0.12993855] [ 0.29557645 -0.37908933 0.87688417 -2.54703096] [ 0. 0. 0. 1. ]] SLAMing on 196.74134618399998 meters Centerline goodness : 0.837085 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.13, Z:-2.55 [[ 0.52296929 -0.70378285 -0.48082515 -1.35778972] [ 0.79932126 0.60082007 -0.01003771 -0.12823641] [ 0.29595377 -0.37908435 0.87675904 -2.54699085] [ 0. 0. 0. 1. ]] SLAMing on 196.77134618399998 meters Centerline goodness : 0.836917 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.13, Z:-2.55 [[ 0.52257242 -0.70380051 -0.48123062 -1.35809458] [ 0.79944939 0.60064488 -0.01031517 -0.12693436] [ 0.29630853 -0.3793291 0.87653334 -2.5466891 ] [ 0. 0. 0. 1. ]] SLAMing on 196.80134618399998 meters Centerline goodness : 0.838816 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.13, Z:-2.55 [[ 0.52175109 -0.70467451 -0.48084263 -1.36044916] [ 0.79997551 0.59992885 -0.01116057 -0.12512774] [ 0.29633593 -0.37883929 0.87673588 -2.5467045 ] [ 0. 0. 0. 1. ]] SLAMing on 196.83134618399998 meters Centerline goodness : 0.838512 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.12, Z:-2.55 [[ 0.52263727 -0.70126247 -0.48485176 -1.35747593] [ 0.79870407 0.60165295 -0.00924843 -0.12297324] [ 0.29819806 -0.3824195 0.87454745 -2.54552854] [ 0. 0. 0. 1. ]] SLAMing on 196.86134618399998 meters Centerline goodness : 0.839530 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.12, Z:-2.55 [[ 0.52292563 -0.70144485 -0.48427669 -1.35908398] [ 0.79850733 0.60190865 -0.00959321 -0.12252692] [ 0.29821943 -0.38168195 0.87486231 -2.54623538] [ 0. 0. 0. 1. ]] SLAMing on 196.89134618399999 meters Centerline goodness : 0.839097 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.12, Z:-2.55 [[ 0.52433893 -0.70146832 -0.482712 -1.36190245] [ 0.79758909 0.60311712 -0.01006925 -0.12202595] [ 0.29819513 -0.37972612 0.87572127 -2.54888582] [ 0. 0. 0. 1. ]] SLAMing on 196.921346184 meters Centerline goodness : 0.840741 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.12, Z:-2.55 [[ 0.52512737 -0.70124068 -0.4821854 -1.36287505] [ 0.79706946 0.6038039 -0.01005602 -0.12256327] [ 0.29819711 -0.37905457 0.87601148 -2.54958475] [ 0. 0. 0. 1. ]] SLAMing on 196.951346184 meters Centerline goodness : 0.839388 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.12, Z:-2.55 [[ 0.52620793 -0.70064827 -0.48186846 -1.36356382] [ 0.79632964 0.60478403 -0.00976597 -0.12322053] [ 0.29826886 -0.37858721 0.87618914 -2.55040705] [ 0. 0. 0. 1. ]] SLAMing on 196.981346184 meters Centerline goodness : 0.839388 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.12, Z:-2.55 [[ 0.52620793 -0.70064827 -0.48186846 -1.36356382] [ 0.79632964 0.60478403 -0.00976597 -0.12322053] [ 0.29826886 -0.37858721 0.87618914 -2.55040705] [ 0. 0. 0. 1. ]] SLAMing on 197.011346184 meters Centerline goodness : 0.841465 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.12, Z:-2.55 [[ 0.52782361 -0.69987566 -0.48122375 -1.36691783] [ 0.79525855 0.60619809 -0.00936582 -0.12397685] [ 0.29827183 -0.37775379 0.87654777 -2.55126136] [ 0. 0. 0. 1. ]] SLAMing on 197.041346184 meters Centerline goodness : 0.843062 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.12, Z:-2.55 [[ 0.52775822 -0.70004619 -0.48104739 -1.36801362] [ 0.79532028 0.60611495 -0.00950352 -0.12370415] [ 0.29822291 -0.37757119 0.87664308 -2.5512735 ] [ 0. 0. 0. 1. ]] SLAMing on 197.071346184 meters Centerline goodness : 0.842670 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.12, Z:-2.55 [[ 0.52752892 -0.70015788 -0.48113634 -1.36711007] [ 0.79545547 0.60593579 -0.00961258 -0.1236937 ] [ 0.29826805 -0.37765163 0.87659307 -2.55111696] [ 0. 0. 0. 1. ]] SLAMing on 197.101346184 meters Centerline goodness : 0.838568 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.12, Z:-2.55 [[ 0.52722291 -0.7008092 -0.48052312 -1.36293848] [ 0.79576958 0.605517 -0.00999728 -0.12451344] [ 0.2979711 -0.37711488 0.87692508 -2.55175409] [ 0. 0. 0. 1. ]] SLAMing on 197.131346184 meters Centerline goodness : 0.840264 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.12, Z:-2.55 [[ 0.52670693 -0.70045228 -0.48160815 -1.3595078 ] [ 0.79595753 0.60527285 -0.00981794 -0.12401507] [ 0.29838134 -0.37816846 0.87633167 -2.551094 ] [ 0. 0. 0. 1. ]] SLAMing on 197.161346184 meters Centerline goodness : 0.841018 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.13, Z:-2.55 [[ 0.52522253 -0.70339892 -0.4789272 -1.36019772] [ 0.79741893 0.60331487 -0.01158556 -0.12519193] [ 0.29709317 -0.37582062 0.87777817 -2.55125793] [ 0. 0. 0. 1. ]] SLAMing on 197.191346184 meters Centerline goodness : 0.840796 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.13, Z:-2.55 [[ 0.52475543 -0.70271696 -0.48043794 -1.35889837] [ 0.79782871 0.60279683 -0.01026273 -0.12889173] [ 0.29681826 -0.37792177 0.87696868 -2.54716622] [ 0. 0. 0. 1. ]] SLAMing on 197.221346184 meters Centerline goodness : 0.842405 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.13, Z:-2.54 [[ 0.52459692 -0.70175175 -0.48201926 -1.35752826] [ 0.79777588 0.60287984 -0.00946272 -0.1297482 ] [ 0.29724017 -0.37957922 0.87610952 -2.54490952] [ 0. 0. 0. 1. ]] SLAMing on 197.251346184 meters Centerline goodness : 0.841437 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.13, Z:-2.54 [[ 0.5244579 -0.70096954 -0.48330696 -1.35614978] [ 0.79772001 0.60296274 -0.00887211 -0.1301468 ] [ 0.29763517 -0.38089059 0.875406 -2.54329323] [ 0. 0. 0. 1. ]] SLAMing on 197.281346184 meters Centerline goodness : 0.841058 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.13, Z:-2.54 [[ 0.52432569 -0.70047968 -0.48415988 -1.35521474] [ 0.7977302 0.60295543 -0.00844265 -0.13082139] [ 0.29784074 -0.38180226 0.87493882 -2.54189056] [ 0. 0. 0. 1. ]] SLAMing on 197.311346184 meters Centerline goodness : 0.840628 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.13, Z:-2.54 [[ 0.52465364 -0.69935567 -0.48542787 -1.35110292] [ 0.79736233 0.60345302 -0.00759998 -0.13203194] [ 0.29824801 -0.38307454 0.87424369 -2.54098753] [ 0. 0. 0. 1. ]] SLAMing on 197.341346184 meters Centerline goodness : 0.842379 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.13, Z:-2.54 [[ 0.52491166 -0.69902273 -0.48562844 -1.34890027] [ 0.79716424 0.60371772 -0.0073546 -0.13271913] [ 0.29832352 -0.38326511 0.87413439 -2.5411088 ] [ 0. 0. 0. 1. ]] SLAMing on 197.371346184 meters Centerline goodness : 0.841942 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.13, Z:-2.54 [[ 0.52521065 -0.69834761 -0.48627604 -1.34645214] [ 0.7968656 0.60411706 -0.00691253 -0.1333714 ] [ 0.29859501 -0.38386612 0.8737779 -2.54077247] [ 0. 0. 0. 1. ]] SLAMing on 197.401346184 meters Centerline goodness : 0.842121 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.13, Z:-2.54 [[ 0.52405139 -0.70144329 -0.4830605 -1.34629969] [ 0.79812713 0.60242313 -0.00891405 -0.13414484] [ 0.29725951 -0.38087227 0.8755416 -2.54230261] [ 0. 0. 0. 1. ]] SLAMing on 197.431346184 meters Centerline goodness : 0.842591 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.13, Z:-2.54 [[ 0.52383576 -0.70152243 -0.48317945 -1.34572992] [ 0.79826094 0.60224508 -0.00896314 -0.13408049] [ 0.29728029 -0.38100807 0.87547546 -2.5421057 ] [ 0. 0. 0. 1. ]] SLAMing on 197.46134618399998 meters Centerline goodness : 0.841898 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.13, Z:-2.54 [[ 0.52378469 -0.70091885 -0.48410987 -1.34461942] [ 0.7981536 0.6023925 -0.00860884 -0.13406889] [ 0.29765825 -0.38188486 0.87496487 -2.54118207] [ 0. 0. 0. 1. ]] SLAMing on 197.49134618399998 meters Centerline goodness : 0.842660 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-2.54 [[ 0.52376008 -0.70043001 -0.48484345 -1.34425 ] [ 0.7981792 0.60236743 -0.00796508 -0.13569215] [ 0.29763289 -0.38282017 0.87456468 -2.53936622] [ 0. 0. 0. 1. ]] SLAMing on 197.52134618399998 meters Centerline goodness : 0.845152 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-2.54 [[ 0.52361851 -0.70013518 -0.48542186 -1.34332941] [ 0.79814602 0.60241195 -0.00792252 -0.13535491] [ 0.29797076 -0.38328914 0.87424416 -2.53885054] [ 0. 0. 0. 1. ]] SLAMing on 197.55134618399998 meters Centerline goodness : 0.844854 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.13, Z:-2.54 [[ 0.52324924 -0.7000282 -0.48597402 -1.34170616] [ 0.79828707 0.60222446 -0.00796546 -0.13479004] [ 0.29824149 -0.38377886 0.87393696 -2.53849752] [ 0. 0. 0. 1. ]] SLAMing on 197.58134618399998 meters Centerline goodness : 0.844083 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-2.53 [[ 0.51817241 -0.69728562 -0.49526773 -1.34285915] [ 0.79715956 0.60356376 -0.01572936 -0.14012396] [ 0.30989351 -0.38665689 0.86859799 -2.53340194] [ 0. 0. 0. 1. ]] SLAMing on 197.61134618399998 meters Centerline goodness : 0.845404 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-2.53 [[ 0.51753492 -0.69757314 -0.49552934 -1.34206199] [ 0.79753815 0.60305663 -0.01598748 -0.13947088] [ 0.30998469 -0.38692947 0.86844405 -2.53297805] [ 0. 0. 0. 1. ]] SLAMing on 197.64134618399999 meters Centerline goodness : 0.844616 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-2.53 [[ 0.51722148 -0.69730848 -0.49622861 -1.34071641] [ 0.79762794 0.60294044 -0.01589022 -0.13914607] [ 0.31027668 -0.38758704 0.86804647 -2.53227963] [ 0. 0. 0. 1. ]] SLAMing on 197.671346184 meters Centerline goodness : 0.845686 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-2.53 [[ 0.51771144 -0.69691661 -0.49626817 -1.3392142 ] [ 0.79729304 0.60339061 -0.01560691 -0.13995137] [ 0.31032027 -0.38759129 0.86802899 -2.53248837] [ 0. 0. 0. 1. ]] SLAMing on 197.701346184 meters Centerline goodness : 0.845311 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-2.53 [[ 0.51794502 -0.69685166 -0.49611563 -1.33917863] [ 0.79716361 0.60356345 -0.01553522 -0.14055831] [ 0.310263 -0.38743894 0.86811747 -2.53248407] [ 0. 0. 0. 1. ]] SLAMing on 197.731346184 meters Centerline goodness : 0.846391 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-2.53 [[ 0.51846106 -0.6962459 -0.496427 -1.33844915] [ 0.79675144 0.6041168 -0.01516688 -0.14097127] [ 0.31045977 -0.38766549 0.86794597 -2.53246712] [ 0. 0. 0. 1. ]] SLAMing on 197.761346184 meters Centerline goodness : 0.848365 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-2.53 [[ 0.51851354 -0.69558186 -0.4973023 -1.3379663 ] [ 0.79655101 0.60438917 -0.01483938 -0.14068409] [ 0.31088614 -0.38843223 0.86745041 -2.53168568] [ 0. 0. 0. 1. ]] SLAMing on 197.791346184 meters Centerline goodness : 0.847058 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-2.53 [[ 0.51822116 -0.69540178 -0.49785861 -1.3371078 ] [ 0.79660448 0.60431684 -0.0149153 -0.14004523] [ 0.31123647 -0.38886698 0.86712994 -2.53117335] [ 0. 0. 0. 1. ]] SLAMing on 197.821346184 meters Centerline goodness : 0.848860 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-2.53 [[ 0.51817691 -0.69513936 -0.49827097 -1.33561633] [ 0.7965537 0.60438647 -0.01480537 -0.14006854] [ 0.31144003 -0.38922779 0.86689494 -2.53090895] [ 0. 0. 0. 1. ]] SLAMing on 197.851346184 meters Centerline goodness : 0.848795 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.14, Z:-2.53 [[ 0.51876289 -0.69662881 -0.49557377 -1.33259081] [ 0.79658698 0.60432171 -0.0156347 -0.14303032] [ 0.31037757 -0.38665691 0.86842512 -2.53292674] [ 0. 0. 0. 1. ]] SLAMing on 197.881346184 meters Centerline goodness : 0.848805 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.14, Z:-2.53 [[ 0.51931866 -0.69581573 -0.49613366 -1.33037979] [ 0.79616012 0.60490023 -0.01499252 -0.14437192] [ 0.3105434 -0.38721593 0.86811671 -2.53247805] [ 0. 0. 0. 1. ]] SLAMing on 197.911346184 meters Centerline goodness : 0.850755 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.15, Z:-2.53 [[ 0.51938067 -0.69536145 -0.49670532 -1.3289508 ] [ 0.79604748 0.60505662 -0.01465933 -0.1450722 ] [ 0.31072838 -0.38778724 0.86779544 -2.53167999] [ 0. 0. 0. 1. ]] SLAMing on 197.941346184 meters Centerline goodness : 0.850876 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.15, Z:-2.53 [[ 0.51912997 -0.69510502 -0.49732594 -1.32747187] [ 0.79618324 0.6048854 -0.01434932 -0.14562525] [ 0.31079948 -0.38851341 0.8674451 -2.53070708] [ 0. 0. 0. 1. ]] SLAMing on 197.971346184 meters Centerline goodness : 0.852268 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.15, Z:-2.53 [[ 0.5175521 -0.69743434 -0.49570674 -1.32778477] [ 0.7976709 0.6028958 -0.01542037 -0.14749841] [ 0.30961421 -0.38742999 0.86835306 -2.52945442] [ 0. 0. 0. 1. ]] SLAMing on 198.001346184 meters Centerline goodness : 0.852288 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.15, Z:-2.53 [[ 0.51730793 -0.69720356 -0.49628591 -1.32626068] [ 0.79783935 0.6026825 -0.01503925 -0.14823235] [ 0.30958825 -0.38817651 0.86802887 -2.52848869] [ 0. 0. 0. 1. ]] SLAMing on 198.031346184 meters Centerline goodness : 0.853327 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.16, Z:-2.52 [[ 0.51332689 -0.69263396 -0.5067087 -1.32651822] [ 0.79564611 0.605381 -0.02147367 -0.15557391] [ 0.32162521 -0.39213779 0.86184986 -2.52183261] [ 0. 0. 0. 1. ]] SLAMing on 198.061346184 meters Centerline goodness : 0.853298 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.16, Z:-2.52 [[ 0.51294045 -0.69253077 -0.5072408 -1.32302271] [ 0.79593077 0.60501806 -0.02115078 -0.1567485 ] [ 0.32153741 -0.39287947 0.86154478 -2.52088544] [ 0. 0. 0. 1. ]] SLAMing on 198.091346184 meters Centerline goodness : 0.854582 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.17, Z:-2.52 [[ 0.50938913 -0.6902158 -0.5139308 -1.32208196] [ 0.79498198 0.60607518 -0.02601029 -0.17116091] [ 0.32943341 -0.39531636 0.85743723 -2.51794604] [ 0. 0. 0. 1. ]] SLAMing on 198.121346184 meters Centerline goodness : 0.855447 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.17, Z:-2.52 [[ 0.50904322 -0.6900449 -0.51450271 -1.32044597] [ 0.79515559 0.60585438 -0.02584663 -0.17150504] [ 0.32954906 -0.39595265 0.85709913 -2.51702184] [ 0. 0. 0. 1. ]] SLAMing on 198.151346184 meters Centerline goodness : 0.854948 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.18, Z:-2.51 [[ 0.50443422 -0.68533071 -0.52523132 -1.32396636] [ 0.79380444 0.60742268 -0.0302025 -0.18034814] [ 0.33973611 -0.40169578 0.85042335 -2.51176176] [ 0. 0. 0. 1. ]] SLAMing on 198.181346184 meters Centerline goodness : 0.853797 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.18, Z:-2.51 [[ 0.50383795 -0.68508962 -0.52611741 -1.3221852 ] [ 0.79401739 0.60714411 -0.03020624 -0.17958581] [ 0.34012306 -0.40252732 0.84987532 -2.51080369] [ 0. 0. 0. 1. ]] SLAMing on 198.21134618399998 meters Centerline goodness : 0.855352 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.18, Z:-2.51 [[ 0.50330574 -0.68523247 -0.52644068 -1.3201999 ] [ 0.7943345 0.60672422 -0.03030546 -0.17947007] [ 0.3401706 -0.40291708 0.84967158 -2.51029588] [ 0. 0. 0. 1. ]] SLAMing on 198.24134618399998 meters Centerline goodness : 0.855352 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.18, Z:-2.51 [[ 0.50294046 -0.68530709 -0.5266926 -1.31821439] [ 0.79452165 0.60647326 -0.03042257 -0.17928515] [ 0.34027378 -0.40316793 0.84951126 -2.51009162] [ 0. 0. 0. 1. ]] SLAMing on 198.27134618399998 meters Centerline goodness : 0.855796 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.18, Z:-2.51 [[ 0.50253706 -0.68520852 -0.52720564 -1.3170013 ] [ 0.79465474 0.60629361 -0.03052715 -0.17873865] [ 0.34055887 -0.40360544 0.8491892 -2.50949303] [ 0. 0. 0. 1. ]] SLAMing on 198.30134618399998 meters Centerline goodness : 0.856919 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.18, Z:-2.51 [[ 0.50182041 -0.68511987 -0.52800287 -1.3166433 ] [ 0.79507645 0.60574935 -0.03035083 -0.17927087] [ 0.34063135 -0.40457198 0.84870006 -2.50749649] [ 0. 0. 0. 1. ]] SLAMing on 198.33134618399998 meters Centerline goodness : 0.855407 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.18, Z:-2.51 [[ 0.50126609 -0.68513502 -0.52850952 -1.31554246] [ 0.79534699 0.60538913 -0.03044945 -0.17902747] [ 0.3408159 -0.40508518 0.84838112 -2.50656864] [ 0. 0. 0. 1. ]] SLAMing on 198.36134618399998 meters Centerline goodness : 0.859462 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.18, Z:-2.51 [[ 0.50088442 -0.68464725 -0.52950254 -1.31374877] [ 0.7954047 0.60532244 -0.03026712 -0.17864992] [ 0.34124207 -0.40600848 0.84776822 -2.50548031] [ 0. 0. 0. 1. ]] SLAMing on 198.39134618399999 meters Centerline goodness : 0.859686 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.18, Z:-2.51 [[ 0.50039742 -0.68502576 -0.52947345 -1.31351452] [ 0.79565887 0.60496497 -0.03073043 -0.17748006] [ 0.34136402 -0.40590282 0.84776973 -2.50566627] [ 0. 0. 0. 1. ]] SLAMing on 198.421346184 meters Centerline goodness : 0.858660 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.18, Z:-2.51 [[ 0.50001553 -0.6853362 -0.52943249 -1.31313611] [ 0.79577195 0.60478582 -0.03132274 -0.17584654] [ 0.34165987 -0.40564566 0.84777363 -2.50621968] [ 0. 0. 0. 1. ]] SLAMing on 198.451346184 meters Centerline goodness : 0.859476 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.17, Z:-2.51 [[ 0.50008122 -0.68595639 -0.52856656 -1.31486931] [ 0.79572868 0.60480464 -0.03205015 -0.17383178] [ 0.34166451 -0.40456789 0.84828662 -2.50813529] [ 0. 0. 0. 1. ]] SLAMing on 198.481346184 meters Centerline goodness : 0.860533 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.17, Z:-2.51 [[ 0.5003276 -0.68626249 -0.52793568 -1.3162849 ] [ 0.79559873 0.6049575 -0.03238963 -0.17337112] [ 0.34160644 -0.40381953 0.8486665 -2.50902502] [ 0. 0. 0. 1. ]] SLAMing on 198.511346184 meters Centerline goodness : 0.860484 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.17, Z:-2.51 [[ 0.50078473 -0.68616097 -0.52763413 -1.31675433] [ 0.79523008 0.60543234 -0.03256984 -0.17287015] [ 0.34179492 -0.40328005 0.84884712 -2.50985669] [ 0. 0. 0. 1. ]] SLAMing on 198.541346184 meters Centerline goodness : 0.863840 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.17, Z:-2.51 [[ 0.50184069 -0.6862356 -0.52653265 -1.31962736] [ 0.794622 0.60622123 -0.03273669 -0.17305401] [ 0.34166036 -0.40196582 0.84952438 -2.51135661] [ 0. 0. 0. 1. ]] SLAMing on 198.571346184 meters Centerline goodness : 0.863363 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.17, Z:-2.51 [[ 0.50165692 -0.68644965 -0.52642873 -1.32036488] [ 0.7945472 0.60628211 -0.03341771 -0.1708461 ] [ 0.3421039 -0.40150825 0.84956227 -2.51218322] [ 0. 0. 0. 1. ]] SLAMing on 198.601346184 meters Centerline goodness : 0.863279 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.17, Z:-2.51 [[ 0.50154112 -0.68649378 -0.52648152 -1.32023688] [ 0.79443992 0.60639641 -0.03389117 -0.16893078] [ 0.34252258 -0.40126012 0.8495108 -2.51295674] [ 0. 0. 0. 1. ]] SLAMing on 198.631346184 meters Centerline goodness : 0.866421 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.17, Z:-2.51 [[ 0.50200056 -0.68653095 -0.52599495 -1.3209536 ] [ 0.79418958 0.60672179 -0.03393507 -0.16936037] [ 0.34243007 -0.40070429 0.8498104 -2.51345089] [ 0. 0. 0. 1. ]] SLAMing on 198.661346184 meters Centerline goodness : 0.865991 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.17, Z:-2.51 [[ 0.50197318 -0.68632073 -0.52629533 -1.32100501] [ 0.79403332 0.60691607 -0.03411707 -0.16825891] [ 0.34283235 -0.40077018 0.84961712 -2.51350729] [ 0. 0. 0. 1. ]] SLAMing on 198.691346184 meters Centerline goodness : 0.866802 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.17, Z:-2.51 [[ 0.50177525 -0.68612818 -0.52673496 -1.32165538] [ 0.793953 0.6070074 -0.03436058 -0.16644097] [ 0.34330778 -0.40096151 0.84933482 -2.51353945] [ 0. 0. 0. 1. ]] SLAMing on 198.721346184 meters Centerline goodness : 0.866568 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.16, Z:-2.51 [[ 0.50128732 -0.68630133 -0.52697392 -1.32240586] [ 0.79407646 0.60681447 -0.03491087 -0.16444352] [ 0.34373478 -0.40095721 0.84916413 -2.51352669] [ 0. 0. 0. 1. ]] SLAMing on 198.751346184 meters Centerline goodness : 0.867154 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.16, Z:-2.51 [[ 0.50001183 -0.6866597 -0.52771832 -1.31936265] [ 0.79476031 0.60589329 -0.03534642 -0.16343761] [ 0.34401195 -0.40173595 0.84868369 -2.51234961] [ 0. 0. 0. 1. ]] SLAMing on 198.781346184 meters Centerline goodness : 0.867494 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.16, Z:-2.51 [[ 0.49914642 -0.68649492 -0.52875096 -1.31514912] [ 0.7950741 0.60546993 -0.03554345 -0.16221189] [ 0.3445432 -0.40265481 0.84803248 -2.51157917] [ 0. 0. 0. 1. ]] SLAMing on 198.811346184 meters Centerline goodness : 0.867066 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.16, Z:-2.51 [[ 0.49803206 -0.68682386 -0.52937421 -1.31279596] [ 0.79569598 0.60463256 -0.03588002 -0.16138929] [ 0.34472013 -0.40335153 0.84762938 -2.51053062] [ 0. 0. 0. 1. ]] SLAMing on 198.841346184 meters Centerline goodness : 0.867397 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.16, Z:-2.51 [[ 0.49598535 -0.68961651 -0.52766239 -1.31066688] [ 0.7972161 0.60249322 -0.03805799 -0.15951252] [ 0.34415843 -0.40178475 0.84860119 -2.51113117] [ 0. 0. 0. 1. ]] SLAMing on 198.871346184 meters Centerline goodness : 0.867397 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.16, Z:-2.51 [[ 0.49598535 -0.68961651 -0.52766239 -1.31066688] [ 0.7972161 0.60249322 -0.03805799 -0.15951252] [ 0.34415843 -0.40178475 0.84860119 -2.51113117] [ 0. 0. 0. 1. ]] SLAMing on 198.901346184 meters Centerline goodness : 0.867295 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.17, Z:-2.51 [[ 0.49197207 -0.68596901 -0.53610633 -1.31175061] [ 0.79613558 0.60367104 -0.04182595 -0.17150688] [ 0.35232318 -0.40623613 0.84311363 -2.50844832] [ 0. 0. 0. 1. ]] SLAMing on 198.931346184 meters Centerline goodness : 0.868005 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.17, Z:-2.51 [[ 0.49132629 -0.68627037 -0.53631284 -1.3111196 ] [ 0.79641271 0.60326952 -0.04234002 -0.1698181 ] [ 0.35259789 -0.40632359 0.84295662 -2.508518 ] [ 0. 0. 0. 1. ]] SLAMing on 198.96134618399998 meters Centerline goodness : 0.867817 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.17, Z:-2.51 [[ 0.49095378 -0.68587558 -0.53715832 -1.30958447] [ 0.79624176 0.60346366 -0.04278642 -0.16652762] [ 0.35350169 -0.40670173 0.84239555 -2.50905444] [ 0. 0. 0. 1. ]] SLAMing on 198.99134618399998 meters Centerline goodness : 0.867537 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.17, Z:-2.51 [[ 0.49080883 -0.68623613 -0.5368302 -1.3100928 ] [ 0.79628581 0.60337076 -0.04327386 -0.16518738] [ 0.35360374 -0.40623108 0.84257979 -2.50988706] [ 0. 0. 0. 1. ]] SLAMing on 199.02134618399998 meters Centerline goodness : 0.869492 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.17, Z:-2.51 [[ 0.49190515 -0.68540296 -0.53689115 -1.30718267] [ 0.7955282 0.60440833 -0.04272531 -0.16653271] [ 0.35378554 -0.40609526 0.84256895 -2.51045948] [ 0. 0. 0. 1. ]] SLAMing on 199.05134618399998 meters Centerline goodness : 0.868615 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.17, Z:-2.51 [[ 0.49221502 -0.68716551 -0.53434814 -1.30737767] [ 0.79578404 0.60400155 -0.04370219 -0.16891932] [ 0.35277774 -0.40371485 0.84413398 -2.51162855] [ 0. 0. 0. 1. ]] SLAMing on 199.08134618399998 meters Centerline goodness : 0.871791 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.17, Z:-2.51 [[ 0.49177758 -0.6899112 -0.53120368 -1.30772523] [ 0.79676701 0.60260746 -0.04501753 -0.17123975] [ 0.3511654 -0.40110695 0.84604733 -2.51293024] [ 0. 0. 0. 1. ]] SLAMing on 199.11134618399998 meters Centerline goodness : 0.871607 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.17, Z:-2.51 [[ 0.49132751 -0.68985394 -0.53169429 -1.30751298] [ 0.79691856 0.60239558 -0.04517059 -0.17061816] [ 0.3514514 -0.40152349 0.84573093 -2.51210637] [ 0. 0. 0. 1. ]] SLAMing on 199.14134618399999 meters Centerline goodness : 0.871824 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.17, Z:-2.51 [[ 0.49098404 -0.68992685 -0.53191693 -1.30850335] [ 0.79706662 0.60218681 -0.04534141 -0.16995805] [ 0.35159562 -0.40171132 0.84558178 -2.51158128] [ 0. 0. 0. 1. ]] SLAMing on 199.171346184 meters Centerline goodness : 0.872603 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.17, Z:-2.51 [[ 0.49062942 -0.68997039 -0.5321876 -1.30839876] [ 0.79727753 0.6019075 -0.04534217 -0.17003578] [ 0.35161246 -0.40205501 0.84541141 -2.51079368] [ 0. 0. 0. 1. ]] SLAMing on 199.201346184 meters Centerline goodness : 0.872742 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.17, Z:-2.51 [[ 0.49072897 -0.68959335 -0.53258435 -1.30646245] [ 0.79719852 0.60203952 -0.04497698 -0.17108669] [ 0.35165265 -0.40250395 0.84518104 -2.5100899 ] [ 0. 0. 0. 1. ]] SLAMing on 199.231346184 meters Centerline goodness : 0.873976 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.17, Z:-2.51 [[ 0.49039828 -0.68935014 -0.53320345 -1.3050424 ] [ 0.79732281 0.60188576 -0.04483148 -0.17149735] [ 0.35183215 -0.40314999 0.84479833 -2.50888311] [ 0. 0. 0. 1. ]] SLAMing on 199.261346184 meters Centerline goodness : 0.876314 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:-2.51 [[ 0.48954772 -0.6895108 -0.533777 -1.30495257] [ 0.79779234 0.60125178 -0.04498541 -0.17075816] [ 0.35195229 -0.4038207 0.84442787 -2.50770644] [ 0. 0. 0. 1. ]] SLAMing on 199.291346184 meters Centerline goodness : 0.875776 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.17, Z:-2.51 [[ 0.48794654 -0.69266307 -0.53115538 -1.30596862] [ 0.7991437 0.59927176 -0.04735717 -0.16969515] [ 0.35110899 -0.40136171 0.84594991 -2.50873099] [ 0. 0. 0. 1. ]] SLAMing on 199.321346184 meters Centerline goodness : 0.874416 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.18, Z:-2.51 [[ 0.48575308 -0.68734879 -0.53999591 -1.30800376] [ 0.79688846 0.60209119 -0.04954783 -0.18148069] [ 0.35918342 -0.40624849 0.84020797 -2.50822523] [ 0. 0. 0. 1. ]] SLAMing on 199.351346184 meters Centerline goodness : 0.875320 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.18, Z:-2.51 [[ 0.48570691 -0.68741921 -0.5399478 -1.30602518] [ 0.79697273 0.6019846 -0.04948741 -0.18204845] [ 0.35905886 -0.40628729 0.84024245 -2.50822148] [ 0. 0. 0. 1. ]] SLAMing on 199.381346184 meters Centerline goodness : 0.876113 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.18, Z:-2.51 [[ 0.48535814 -0.68735493 -0.54034311 -1.3041791 ] [ 0.79699439 0.60192975 -0.04980477 -0.18084587] [ 0.35948214 -0.40647727 0.83996953 -2.50819854] [ 0. 0. 0. 1. ]] SLAMing on 199.411346184 meters Centerline goodness : 0.874205 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.18, Z:-2.51 [[ 0.48495901 -0.68769761 -0.54026545 -1.30404787] [ 0.79722232 0.60159862 -0.05015643 -0.1800544 ] [ 0.3595154 -0.40638786 0.83999856 -2.5082899 ] [ 0. 0. 0. 1. ]] SLAMing on 199.441346184 meters Centerline goodness : 0.874005 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.18, Z:-2.51 [[ 0.48464226 -0.68733521 -0.54101034 -1.30264358] [ 0.79721603 0.60160614 -0.05016633 -0.17940383] [ 0.35995622 -0.40698939 0.83951841 -2.50749457] [ 0. 0. 0. 1. ]] SLAMing on 199.471346184 meters Centerline goodness : 0.875275 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.18, Z:-2.51 [[ 0.48419582 -0.68718422 -0.54160157 -1.30200962] [ 0.79736123 0.6014091 -0.05022116 -0.17869616] [ 0.3602353 -0.40753522 0.83913383 -2.5067333 ] [ 0. 0. 0. 1. ]] SLAMing on 199.501346184 meters Centerline goodness : 0.875453 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.18, Z:-2.51 [[ 0.48367069 -0.68752589 -0.54163716 -1.30195497] [ 0.79760094 0.60105082 -0.05070148 -0.17754472] [ 0.36041004 -0.40748749 0.83908197 -2.50668695] [ 0. 0. 0. 1. ]] SLAMing on 199.531346184 meters Centerline goodness : 0.873614 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.18, Z:-2.51 [[ 0.48343604 -0.68736314 -0.54205305 -1.3008529 ] [ 0.79757881 0.60106624 -0.05086666 -0.17673284] [ 0.36077366 -0.40773925 0.83880336 -2.50639155] [ 0. 0. 0. 1. ]] SLAMing on 199.561346184 meters Centerline goodness : 0.875149 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.18, Z:-2.50 [[ 0.48340599 -0.68694973 -0.54260365 -1.30013199] [ 0.79757535 0.60110559 -0.05045418 -0.17826153] [ 0.36082157 -0.40837744 0.83847222 -2.50465967] [ 0. 0. 0. 1. ]] SLAMing on 199.591346184 meters Centerline goodness : 0.876054 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.18, Z:-2.50 [[ 0.48333333 -0.68705837 -0.54253081 -1.3008518 ] [ 0.79764785 0.60100578 -0.05049714 -0.17829117] [ 0.36075864 -0.40834158 0.83851676 -2.50448531] [ 0. 0. 0. 1. ]] SLAMing on 199.621346184 meters Centerline goodness : 0.875314 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.18, Z:-2.50 [[ 0.48286842 -0.68712045 -0.54286608 -1.30076244] [ 0.79773164 0.60085601 -0.0509537 -0.17625264] [ 0.36119568 -0.40845751 0.83827212 -2.50463294] [ 0. 0. 0. 1. ]] SLAMing on 199.651346184 meters Centerline goodness : 0.875275 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:-2.51 [[ 0.48218948 -0.6877972 -0.54261249 -1.30107483] [ 0.79803944 0.60037149 -0.05183738 -0.17382068] [ 0.36142268 -0.40803073 0.83838212 -2.50542191] [ 0. 0. 0. 1. ]] SLAMing on 199.681346184 meters Centerline goodness : 0.871776 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.18, Z:-2.50 [[ 0.47698711 -0.68695202 -0.54825197 -1.30400502] [ 0.79577301 0.60236894 -0.06242584 -0.17642569] [ 0.37313351 -0.4065078 0.83398009 -2.50202951] [ 0. 0. 0. 1. ]] SLAMing on 199.71134618399998 meters Centerline goodness : 0.870922 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.18, Z:-2.50 [[ 0.47646347 -0.68747898 -0.54804673 -1.30253123] [ 0.79604536 0.6019468 -0.06302244 -0.17504381] [ 0.37322158 -0.40624217 0.83407011 -2.5026517 ] [ 0. 0. 0. 1. ]] SLAMing on 199.74134618399998 meters Centerline goodness : 0.872363 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:-2.50 [[ 0.47614816 -0.68737222 -0.54845453 -1.30113704] [ 0.79607186 0.60189075 -0.0632228 -0.1735864 ] [ 0.3735673 -0.40650579 0.83378685 -2.50280269] [ 0. 0. 0. 1. ]] SLAMing on 199.77134618399998 meters Centerline goodness : 0.872869 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:-2.50 [[ 0.47541886 -0.68781171 -0.5485362 -1.30348961] [ 0.79649895 0.60128332 -0.06362221 -0.17266369] [ 0.37358577 -0.40666131 0.83370274 -2.50198649] [ 0. 0. 0. 1. ]] SLAMing on 199.80134618399998 meters Centerline goodness : 0.871546 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:-2.50 [[ 0.47494601 -0.68786867 -0.54887428 -1.3033701 ] [ 0.79667445 0.60102587 -0.0638571 -0.17193578] [ 0.37381294 -0.40694545 0.83346223 -2.50131102] [ 0. 0. 0. 1. ]] SLAMing on 199.83134618399998 meters Centerline goodness : 0.872831 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:-2.50 [[ 0.47441894 -0.68776998 -0.54945348 -1.30198325] [ 0.79679429 0.60084006 -0.06410998 -0.17065448] [ 0.37422658 -0.4073864 0.83306109 -2.50081898] [ 0. 0. 0. 1. ]] SLAMing on 199.86134618399998 meters Centerline goodness : 0.872888 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:-2.50 [[ 0.47412726 -0.68806514 -0.5493357 -1.30229243] [ 0.79692093 0.60063055 -0.06449792 -0.16963112] [ 0.37432657 -0.40719689 0.83310882 -2.50112998] [ 0. 0. 0. 1. ]] SLAMing on 199.89134618399999 meters Centerline goodness : 0.872579 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:-2.50 [[ 0.47430858 -0.68788996 -0.54939856 -1.30156669] [ 0.79666054 0.60095738 -0.06467002 -0.16870338] [ 0.37465098 -0.40701061 0.83305402 -2.50163912] [ 0. 0. 0. 1. ]] SLAMing on 199.921346184 meters Centerline goodness : 0.873044 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:-2.50 [[ 0.47430147 -0.68833196 -0.54885082 -1.3022344 ] [ 0.79668557 0.60087706 -0.06510649 -0.16797509] [ 0.37460675 -0.40638143 0.83338102 -2.50247461] [ 0. 0. 0. 1. ]] SLAMing on 199.951346184 meters Centerline goodness : 0.873735 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:-2.50 [[ 0.4743822 -0.68806117 -0.54912052 -1.30327532] [ 0.79646251 0.60116147 -0.06521013 -0.16666207] [ 0.37497866 -0.40641938 0.83319523 -2.50264003] [ 0. 0. 0. 1. ]] SLAMing on 199.981346184 meters Centerline goodness : 0.873654 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:-2.50 [[ 0.47372139 -0.68847921 -0.54916702 -1.30341187] [ 0.79677834 0.600684 -0.0657496 -0.1653262 ] [ 0.37514308 -0.4064174 0.83312218 -2.50246544] [ 0. 0. 0. 1. ]] SLAMing on 200.011346184 meters Centerline goodness : 0.872733 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.16, Z:-2.50 [[ 0.47334897 -0.6881843 -0.54985736 -1.30120175] [ 0.79681782 0.60062821 -0.06578072 -0.16434131] [ 0.37552911 -0.40699891 0.83266426 -2.50207383] [ 0. 0. 0. 1. ]] SLAMing on 200.041346184 meters Centerline goodness : 0.871507 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.16, Z:-2.50 [[ 0.47224622 -0.68866248 -0.55020678 -1.30009879] [ 0.79756362 0.59961849 -0.06595401 -0.16433146] [ 0.37533421 -0.40767838 0.83241971 -2.50073547] [ 0. 0. 0. 1. ]] SLAMing on 200.071346184 meters Centerline goodness : 0.872769 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.16, Z:-2.50 [[ 0.47181939 -0.68858348 -0.55067163 -1.29932209] [ 0.79774395 0.59937643 -0.06597333 -0.16410194] [ 0.37548775 -0.40816747 0.83211073 -2.49993062] [ 0. 0. 0. 1. ]] SLAMing on 200.101346184 meters Centerline goodness : 0.870956 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.16, Z:-2.50 [[ 0.47122447 -0.68832451 -0.55150419 -1.29682036] [ 0.79788284 0.59917893 -0.06608767 -0.16311278] [ 0.37593945 -0.4088936 0.83155009 -2.49908793] [ 0. 0. 0. 1. ]] SLAMing on 200.131346184 meters Centerline goodness : 0.871952 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.16, Z:-2.50 [[ 0.4695422 -0.69218892 -0.5480918 -1.29764034] [ 0.79975075 0.59645364 -0.06813071 -0.16462466] [ 0.37407067 -0.40634658 0.83363876 -2.49987308] [ 0. 0. 0. 1. ]] SLAMing on 200.161346184 meters Centerline goodness : 0.871765 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.16, Z:-2.50 [[ 0.47035425 -0.68846068 -0.55207678 -1.29485899] [ 0.79839738 0.59848893 -0.06612575 -0.16341756] [ 0.37593682 -0.40967413 0.83116702 -2.49751025] [ 0. 0. 0. 1. ]] SLAMing on 200.191346184 meters Centerline goodness : 0.871276 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.16, Z:-2.50 [[ 0.46972183 -0.68881463 -0.55217371 -1.29569675] [ 0.7985545 0.59819225 -0.06690844 -0.16103207] [ 0.37639355 -0.40951245 0.83103998 -2.49766714] [ 0. 0. 0. 1. ]] SLAMing on 200.221346184 meters Centerline goodness : 0.872158 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.16, Z:-2.50 [[ 0.4694938 -0.68877677 -0.55241482 -1.29633191] [ 0.7985065 0.59821893 -0.06724195 -0.15943051] [ 0.37677969 -0.40953715 0.83085281 -2.49774793] [ 0. 0. 0. 1. ]] SLAMing on 200.251346184 meters Centerline goodness : 0.869754 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.16, Z:-2.50 [[ 0.46935758 -0.68891225 -0.55236163 -1.29704601] [ 0.79862877 0.59805149 -0.06727936 -0.15951679] [ 0.37669027 -0.40955381 0.83088514 -2.4974479 ] [ 0. 0. 0. 1. ]] SLAMing on 200.281346184 meters Centerline goodness : 0.873154 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.16, Z:-2.50 [[ 0.46892041 -0.68931798 -0.55222675 -1.29708954] [ 0.79889002 0.59765986 -0.06765673 -0.15899849] [ 0.37668076 -0.40944281 0.83094415 -2.49732167] [ 0. 0. 0. 1. ]] SLAMing on 200.311346184 meters Centerline goodness : 0.871575 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.16, Z:-2.49 [[ 0.46934776 -0.6859091 -0.55609476 -1.29403764] [ 0.79791315 0.59918994 -0.06562026 -0.15799514] [ 0.37821592 -0.4129166 0.82852435 -2.49477573] [ 0. 0. 0. 1. ]] SLAMing on 200.341346184 meters Centerline goodness : 0.872642 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.16, Z:-2.49 [[ 0.46794332 -0.68669939 -0.55630297 -1.29609367] [ 0.79874532 0.59800531 -0.06629903 -0.15658181] [ 0.37819964 -0.41332021 0.82833051 -2.49343476] [ 0. 0. 0. 1. ]] SLAMing on 200.371346184 meters Centerline goodness : 0.873382 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.15, Z:-2.49 [[ 0.46745242 -0.68678829 -0.55660586 -1.29628189] [ 0.79884126 0.59782576 -0.06676079 -0.154923 ] [ 0.37860385 -0.41343223 0.82808992 -2.49321852] [ 0. 0. 0. 1. ]] SLAMing on 200.401346184 meters Centerline goodness : 0.872466 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.15, Z:-2.49 [[ 0.46845854 -0.68344577 -0.55986469 -1.29466266] [ 0.79751802 0.59979627 -0.06488014 -0.15418759] [ 0.38014682 -0.41610853 0.82604001 -2.4914726 ] [ 0. 0. 0. 1. ]] SLAMing on 200.43134618399998 meters Centerline goodness : 0.873222 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.15, Z:-2.49 [[ 0.46885646 -0.68409651 -0.5587357 -1.29615197] [ 0.7973473 0.59995774 -0.06548278 -0.15299418] [ 0.38001435 -0.41480437 0.82675657 -2.49356632] [ 0. 0. 0. 1. ]] SLAMing on 200.46134618399998 meters Centerline goodness : 0.873751 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.15, Z:-2.50 [[ 0.46879643 -0.68470303 -0.55804271 -1.296954 ] [ 0.79733926 0.59988725 -0.06622221 -0.15110952] [ 0.38010526 -0.41390463 0.82716561 -2.49513921] [ 0. 0. 0. 1. ]] SLAMing on 200.49134618399998 meters Centerline goodness : 0.873066 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.15, Z:-2.50 [[ 0.46851136 -0.6852677 -0.55758881 -1.29867861] [ 0.79747027 0.59964034 -0.06687775 -0.14934377] [ 0.3801819 -0.41332752 0.82741893 -2.49602126] [ 0. 0. 0. 1. ]] SLAMing on 200.52134618399998 meters Centerline goodness : 0.874369 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.15, Z:-2.50 [[ 0.46964404 -0.685464 -0.55639337 -1.30245596] [ 0.79686129 0.60042558 -0.06709097 -0.1488191 ] [ 0.38006126 -0.41185947 0.82820602 -2.49803702] [ 0. 0. 0. 1. ]] SLAMing on 200.55134618399998 meters Centerline goodness : 0.875522 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.15, Z:-2.50 [[ 0.47015695 -0.68560567 -0.55578531 -1.30312542] [ 0.79655885 0.60080301 -0.06730344 -0.14805094] [ 0.3800611 -0.41107252 0.82859697 -2.49953477] [ 0. 0. 0. 1. ]] SLAMing on 200.58134618399998 meters Centerline goodness : 0.874890 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.15, Z:-2.50 [[ 0.47012235 -0.68592218 -0.55542393 -1.30349059] [ 0.79648635 0.6008383 -0.06784419 -0.14648611] [ 0.38025581 -0.41049251 0.82879516 -2.50057267] [ 0. 0. 0. 1. ]] SLAMing on 200.61134618399998 meters Centerline goodness : 0.872117 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.14, Z:-2.50 [[ 0.46939152 -0.68717855 -0.55448827 -1.30501246] [ 0.79689352 0.60014702 -0.06916845 -0.14318362] [ 0.38030555 -0.40940103 0.82931205 -2.502404 ] [ 0. 0. 0. 1. ]] SLAMing on 200.64134618399999 meters Centerline goodness : 0.872127 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.14, Z:-2.50 [[ 0.46888087 -0.68763556 -0.55435374 -1.30389677] [ 0.7971655 0.59972827 -0.0696646 -0.14209843] [ 0.38036547 -0.40924728 0.82936046 -2.50272967] [ 0. 0. 0. 1. ]] SLAMing on 200.671346184 meters Centerline goodness : 0.873146 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:-2.50 [[ 0.4705822 -0.69287723 -0.54632731 -1.29800174] [ 0.79945928 0.59682473 -0.06830147 -0.12951499] [ 0.37338619 -0.40462499 0.83478223 -2.50160186] [ 0. 0. 0. 1. ]] SLAMing on 200.701346184 meters Centerline goodness : 0.873535 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:-2.50 [[ 0.4697069 -0.69261456 -0.54741255 -1.29613205] [ 0.79971496 0.59646171 -0.06847929 -0.12807859] [ 0.37394038 -0.40560881 0.8340564 -2.50041961] [ 0. 0. 0. 1. ]] SLAMing on 200.731346184 meters Centerline goodness : 0.872236 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:-2.50 [[ 0.4690252 -0.69251078 -0.54812789 -1.29579794] [ 0.79990746 0.59617324 -0.06874243 -0.12669323] [ 0.37438405 -0.40620966 0.83356481 -2.49956296] [ 0. 0. 0. 1. ]] SLAMing on 200.761346184 meters Centerline goodness : 0.873704 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:-2.50 [[ 0.46878705 -0.69253478 -0.54830126 -1.29551866] [ 0.80002187 0.59601366 -0.06879485 -0.12661485] [ 0.37443787 -0.40640287 0.83344646 -2.49907645] [ 0. 0. 0. 1. ]] SLAMing on 200.791346184 meters Centerline goodness : 0.873704 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:-2.50 [[ 0.46878705 -0.69253478 -0.54830126 -1.29551866] [ 0.80002187 0.59601366 -0.06879485 -0.12661485] [ 0.37443787 -0.40640287 0.83344646 -2.49907645] [ 0. 0. 0. 1. ]] SLAMing on 200.821346184 meters Centerline goodness : 0.872914 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.13, Z:-2.50 [[ 0.46880076 -0.69190191 -0.54908797 -1.29374272] [ 0.79981991 0.59631397 -0.06854018 -0.12658752] [ 0.3748519 -0.4070398 0.83294937 -2.49828224] [ 0. 0. 0. 1. ]] SLAMing on 200.851346184 meters Centerline goodness : 0.873694 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.13, Z:-2.50 [[ 0.46830083 -0.69200417 -0.54938562 -1.29057044] [ 0.80008729 0.59594293 -0.0686466 -0.12672379] [ 0.3749062 -0.40740919 0.83274431 -2.49762159] [ 0. 0. 0. 1. ]] SLAMing on 200.881346184 meters Centerline goodness : 0.873069 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.13, Z:-2.50 [[ 0.46795926 -0.69175357 -0.54999194 -1.28884313] [ 0.80011996 0.59589235 -0.06870487 -0.12597891] [ 0.37526282 -0.40790845 0.83233918 -2.49706225] [ 0. 0. 0. 1. ]] SLAMing on 200.911346184 meters Centerline goodness : 0.871310 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.13, Z:-2.50 [[ 0.46748947 -0.69202777 -0.55004651 -1.28908665] [ 0.8003639 0.59552893 -0.06901391 -0.1252974 ] [ 0.37532815 -0.40797409 0.83227755 -2.4967685 ] [ 0. 0. 0. 1. ]] SLAMing on 200.941346184 meters Centerline goodness : 0.873094 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.12, Z:-2.50 [[ 0.46650816 -0.69209413 -0.55079565 -1.28814758] [ 0.8008122 0.59489894 -0.06924644 -0.12419426] [ 0.3755928 -0.40877985 0.83176263 -2.49557949] [ 0. 0. 0. 1. ]] SLAMing on 200.971346184 meters Centerline goodness : 0.871574 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.12, Z:-2.50 [[ 0.46442354 -0.69564969 -0.54807142 -1.28861118] [ 0.8025752 0.59223589 -0.07162187 -0.12342516] [ 0.3744113 -0.40660565 0.83335948 -2.49634769] [ 0. 0. 0. 1. ]] SLAMing on 201.001346184 meters Centerline goodness : 0.871308 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.12, Z:-2.50 [[ 0.46371204 -0.6956451 -0.54867936 -1.28670704] [ 0.80294475 0.59173385 -0.07162946 -0.1233025 ] [ 0.37450083 -0.40734377 0.83295869 -2.49520441] [ 0. 0. 0. 1. ]] SLAMing on 201.031346184 meters Centerline goodness : 0.872083 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.12, Z:-2.49 [[ 0.46296531 -0.69523942 -0.54982294 -1.2833376 ] [ 0.8031807 0.59142392 -0.0715438 -0.12268244] [ 0.37491851 -0.40848487 0.83221164 -2.49383188] [ 0. 0. 0. 1. ]] SLAMing on 201.061346184 meters Centerline goodness : 0.871829 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.12, Z:-2.49 [[ 0.46123671 -0.69614057 -0.55013543 -1.28108811] [ 0.80422235 0.5899238 -0.07222407 -0.12186889] [ 0.37481609 -0.40911882 0.83194633 -2.4923554 ] [ 0. 0. 0. 1. ]] SLAMing on 201.091346184 meters Centerline goodness : 0.872537 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.12, Z:-2.49 [[ 0.46073087 -0.69637971 -0.55025663 -1.28130622] [ 0.8044797 0.5895388 -0.07250113 -0.12133268] [ 0.37488595 -0.40926678 0.83184207 -2.49186204] [ 0. 0. 0. 1. ]] SLAMing on 201.121346184 meters Centerline goodness : 0.872288 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.12, Z:-2.49 [[ 0.46050624 -0.69596264 -0.55097187 -1.28106172] [ 0.80436385 0.58968791 -0.07257391 -0.1202238 ] [ 0.37541018 -0.40976111 0.83136215 -2.49122951] [ 0. 0. 0. 1. ]] SLAMing on 201.151346184 meters Centerline goodness : 0.873647 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.12, Z:-2.49 [[ 0.46059198 -0.69613552 -0.55068172 -1.28452246] [ 0.80429495 0.5897526 -0.07281144 -0.11968253] [ 0.37545261 -0.40937416 0.8315336 -2.49131248] [ 0. 0. 0. 1. ]] SLAMing on 201.18134618399998 meters Centerline goodness : 0.872671 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.12, Z:-2.49 [[ 0.46234454 -0.69196201 -0.55446019 -1.28195848] [ 0.80239716 0.59261325 -0.0704864 -0.11936915] [ 0.37735437 -0.41230828 0.82921985 -2.48954849] [ 0. 0. 0. 1. ]] SLAMing on 201.21134618399998 meters Centerline goodness : 0.872896 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.12, Z:-2.49 [[ 0.46279697 -0.6920764 -0.55393972 -1.28256421] [ 0.80214776 0.59293386 -0.07062859 -0.11939218] [ 0.37733 -0.41165481 0.82955554 -2.49039387] [ 0. 0. 0. 1. ]] SLAMing on 201.24134618399998 meters Centerline goodness : 0.875209 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.12, Z:-2.49 [[ 0.46552647 -0.68785162 -0.55690686 -1.28026662] [ 0.79968412 0.59652201 -0.06831395 -0.1193652 ] [ 0.37919706 -0.41354762 0.82776081 -2.4901685 ] [ 0. 0. 0. 1. ]] SLAMing on 201.27134618399998 meters Centerline goodness : 0.876136 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.12, Z:-2.49 [[ 0.46599505 -0.68796392 -0.55637601 -1.28109526] [ 0.79940899 0.59687076 -0.06848771 -0.11913434] [ 0.37920164 -0.41285705 0.82810336 -2.49116425] [ 0. 0. 0. 1. ]] SLAMing on 201.30134618399998 meters Centerline goodness : 0.877498 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.12, Z:-2.49 [[ 0.46640523 -0.68786975 -0.55614869 -1.28226545] [ 0.79913251 0.59723817 -0.06851132 -0.11897341] [ 0.37928009 -0.41248247 0.82825409 -2.49168143] [ 0. 0. 0. 1. ]] SLAMing on 201.33134618399998 meters Centerline goodness : 0.878973 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.12, Z:-2.49 [[ 0.46859472 -0.68405374 -0.55900758 -1.28522719] [ 0.79723704 0.60004945 -0.06598301 -0.12009085] [ 0.38056812 -0.41474226 0.82653298 -2.4899811 ] [ 0. 0. 0. 1. ]] SLAMing on 201.36134618399998 meters Centerline goodness : 0.880548 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.12, Z:-2.49 [[ 0.46864111 -0.68412502 -0.55888144 -1.28700338] [ 0.79721172 0.60007459 -0.06606027 -0.12021574] [ 0.38056404 -0.41458827 0.82661211 -2.48970386] [ 0. 0. 0. 1. ]] SLAMing on 201.39134618399999 meters Centerline goodness : 0.880908 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.12, Z:-2.49 [[ 0.46918424 -0.68402757 -0.55854492 -1.28718594] [ 0.79691361 0.6004806 -0.0659678 -0.12085378] [ 0.38051918 -0.414161 0.82684692 -2.49012708] [ 0. 0. 0. 1. ]] SLAMing on 201.421346184 meters Centerline goodness : 0.881525 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.12, Z:-2.49 [[ 0.46933978 -0.68366681 -0.55885585 -1.28547735] [ 0.79664665 0.60083363 -0.06597775 -0.12017157] [ 0.38088619 -0.41424465 0.826636 -2.49040768] [ 0. 0. 0. 1. ]] SLAMing on 201.451346184 meters Centerline goodness : 0.881117 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.12, Z:-2.49 [[ 0.46811717 -0.68742829 -0.55525549 -1.2877608 ] [ 0.79809114 0.59865193 -0.06831107 -0.12028741] [ 0.37936374 -0.4111669 0.82886967 -2.49229332] [ 0. 0. 0. 1. ]] SLAMing on 201.481346184 meters Centerline goodness : 0.882248 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.12, Z:-2.49 [[ 0.46810415 -0.6870893 -0.55568589 -1.28673552] [ 0.79796066 0.59883327 -0.06824581 -0.11970162] [ 0.37965416 -0.41146933 0.82858657 -2.49217357] [ 0. 0. 0. 1. ]] SLAMing on 201.511346184 meters Centerline goodness : 0.881034 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.12, Z:-2.49 [[ 0.46759662 -0.68719471 -0.55598276 -1.28636397] [ 0.79826438 0.59842339 -0.06828928 -0.11974887] [ 0.37964112 -0.4118894 0.82838382 -2.49125448] [ 0. 0. 0. 1. ]] SLAMing on 201.541346184 meters Centerline goodness : 0.881912 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.12, Z:-2.49 [[ 0.46676591 -0.68713326 -0.5567562 -1.28473217] [ 0.79859841 0.59795752 -0.06846442 -0.11894861] [ 0.37996074 -0.41266777 0.82784972 -2.49003817] [ 0. 0. 0. 1. ]] SLAMing on 201.571346184 meters Centerline goodness : 0.881997 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.12, Z:-2.49 [[ 0.46606958 -0.68709453 -0.55738699 -1.28280188] [ 0.79893259 0.59750606 -0.06850711 -0.11872787] [ 0.38011297 -0.41338555 0.82742161 -2.48888757] [ 0. 0. 0. 1. ]] SLAMing on 201.601346184 meters Centerline goodness : 0.880555 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.12, Z:-2.49 [[ 0.46477896 -0.68690224 -0.55870013 -1.27718526] [ 0.7996001 0.59663008 -0.06835372 -0.11883879] [ 0.38028963 -0.41496731 0.82654821 -2.48679493] [ 0. 0. 0. 1. ]] SLAMing on 201.631346184 meters Centerline goodness : 0.880323 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.12, Z:-2.49 [[ 0.46381735 -0.68709919 -0.5592568 -1.27471181] [ 0.8000787 0.59595476 -0.06864404 -0.11802405] [ 0.38045701 -0.41561116 0.82614758 -2.48589815] [ 0. 0. 0. 1. ]] SLAMing on 201.661346184 meters Centerline goodness : 0.879550 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.12, Z:-2.49 [[ 0.46305232 -0.68725095 -0.5597041 -1.27297104] [ 0.80047507 0.59540015 -0.06883544 -0.11742483] [ 0.38055513 -0.41615477 0.82582868 -2.48516918] [ 0. 0. 0. 1. ]] SLAMing on 201.691346184 meters Centerline goodness : 0.880363 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.12, Z:-2.48 [[ 0.46266489 -0.687376 -0.55987091 -1.27214339] [ 0.80069902 0.59508764 -0.0689331 -0.11730242] [ 0.38055522 -0.41639516 0.82570745 -2.48474787] [ 0. 0. 0. 1. ]] SLAMing on 201.721346184 meters Centerline goodness : 0.880379 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.12, Z:-2.49 [[ 0.46158958 -0.690098 -0.55740453 -1.27265384] [ 0.80172764 0.59347636 -0.07084213 -0.11705529] [ 0.37969442 -0.41418662 0.82721314 -2.48578905] [ 0. 0. 0. 1. ]] SLAMing on 201.751346184 meters Centerline goodness : 0.882025 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.13, Z:-2.48 [[ 0.45931624 -0.685011 -0.56549847 -1.27479912] [ 0.79934611 0.5963973 -0.0731851 -0.13062547] [ 0.38739436 -0.41841389 0.82149584 -2.4848935 ] [ 0. 0. 0. 1. ]] SLAMing on 201.781346184 meters Centerline goodness : 0.882149 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.13, Z:-2.49 [[ 0.45949297 -0.68673615 -0.56325809 -1.27384793] [ 0.79967127 0.59584631 -0.07411499 -0.13249763] [ 0.3865127 -0.41636599 0.82295036 -2.48593419] [ 0. 0. 0. 1. ]] SLAMing on 201.811346184 meters Centerline goodness : 0.881655 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.13, Z:-2.49 [[ 0.459774 -0.68666933 -0.5631102 -1.27488744] [ 0.79949528 0.59608445 -0.07409876 -0.13246818] [ 0.38654258 -0.41613526 0.82305302 -2.48618629] [ 0. 0. 0. 1. ]] SLAMing on 201.841346184 meters Centerline goodness : 0.882845 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.13, Z:-2.49 [[ 0.45994373 -0.68663338 -0.56301542 -1.27602124] [ 0.79936407 0.59625444 -0.07414665 -0.13223736] [ 0.386612 -0.41595101 0.82311355 -2.48633707] [ 0. 0. 0. 1. ]] SLAMing on 201.871346184 meters Centerline goodness : 0.884695 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.13, Z:-2.49 [[ 0.4606246 -0.68621959 -0.56296328 -1.27687585] [ 0.79900934 0.5967866 -0.07368738 -0.13345916] [ 0.38653467 -0.4158707 0.82319045 -2.48626997] [ 0. 0. 0. 1. ]] SLAMing on 201.901346184 meters Centerline goodness : 0.883732 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.13, Z:-2.49 [[ 0.46041431 -0.68622069 -0.56313394 -1.27610939] [ 0.79906709 0.59669469 -0.07380539 -0.13308746] [ 0.38666582 -0.41600074 0.82306314 -2.48609246] [ 0. 0. 0. 1. ]] SLAMing on 201.93134618399998 meters Centerline goodness : 0.883476 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.13, Z:-2.49 [[ 0.45983039 -0.68655438 -0.56320431 -1.27503504] [ 0.79933475 0.59628032 -0.07425449 -0.13199974] [ 0.3868074 -0.41604431 0.82297459 -2.48607202] [ 0. 0. 0. 1. ]] SLAMing on 201.96134618399998 meters Centerline goodness : 0.882250 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.13, Z:-2.49 [[ 0.45946847 -0.68663896 -0.56339654 -1.27376187] [ 0.79947164 0.59607054 -0.07446486 -0.13156685] [ 0.38695455 -0.4162053 0.82282399 -2.48576413] [ 0. 0. 0. 1. ]] SLAMing on 201.99134618399998 meters Centerline goodness : 0.882433 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.14, Z:-2.48 [[ 0.45592765 -0.68524845 -0.56794766 -1.27899559] [ 0.79685672 0.59851684 -0.08244374 -0.14231627] [ 0.39642068 -0.41498453 0.8189252 -2.48018555] [ 0. 0. 0. 1. ]] SLAMing on 202.02134618399998 meters Centerline goodness : 0.884190 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.14, Z:-2.48 [[ 0.45586675 -0.68447191 -0.56893208 -1.27716307] [ 0.79672166 0.5987614 -0.0819719 -0.14326183] [ 0.39676203 -0.41591224 0.81828901 -2.47848534] [ 0. 0. 0. 1. ]] SLAMing on 202.05134618399998 meters Centerline goodness : 0.885746 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.14, Z:-2.48 [[ 0.45531626 -0.68421152 -0.56968562 -1.2774921 ] [ 0.79703054 0.59839163 -0.08166868 -0.14411999] [ 0.39677376 -0.41687176 0.81779492 -2.47647367] [ 0. 0. 0. 1. ]] SLAMing on 202.08134618399998 meters Centerline goodness : 0.886879 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.16, Z:-2.48 [[ 0.4528362 -0.67790345 -0.57912545 -1.28096335] [ 0.79429004 0.60179307 -0.08335726 -0.15550336] [ 0.40502185 -0.42224639 0.81096565 -2.47595345] [ 0. 0. 0. 1. ]] SLAMing on 202.11134618399998 meters Centerline goodness : 0.883634 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.15, Z:-2.48 [[ 0.45247978 -0.67770928 -0.57963107 -1.2803042 ] [ 0.79419085 0.60187088 -0.08373977 -0.15397307] [ 0.40561428 -0.42244714 0.81056491 -2.47560165] [ 0. 0. 0. 1. ]] SLAMing on 202.14134618399999 meters Centerline goodness : 0.884864 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.16, Z:-2.48 [[ 0.45333887 -0.67731669 -0.57941864 -1.27943955] [ 0.79380074 0.60246256 -0.08318203 -0.15563453] [ 0.40541862 -0.4222333 0.81077419 -2.47593636] [ 0. 0. 0. 1. ]] SLAMing on 202.171346184 meters Centerline goodness : 0.885561 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.16, Z:-2.48 [[ 0.45390961 -0.67658492 -0.57982662 -1.27841023] [ 0.79333791 0.60313434 -0.08272799 -0.15676382] [ 0.40568586 -0.42244741 0.81052894 -2.47533092] [ 0. 0. 0. 1. ]] SLAMing on 202.201346184 meters Centerline goodness : 0.886386 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.16, Z:-2.47 [[ 0.4547444 -0.67561485 -0.58030346 -1.27803972] [ 0.79271171 0.60404765 -0.08206457 -0.15782322] [ 0.40597498 -0.42269494 0.81025509 -2.47495483] [ 0. 0. 0. 1. ]] SLAMing on 202.231346184 meters Centerline goodness : 0.888617 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.16, Z:-2.48 [[ 0.45611969 -0.67482692 -0.58014089 -1.28147743] [ 0.7919712 0.6051308 -0.08123009 -0.15970705] [ 0.40587737 -0.42240423 0.81045556 -2.47509469] [ 0. 0. 0. 1. ]] SLAMing on 202.261346184 meters Centerline goodness : 0.888043 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.16, Z:-2.48 [[ 0.45650693 -0.67459985 -0.58010039 -1.28244211] [ 0.79168598 0.60551569 -0.08114227 -0.15975453] [ 0.40599845 -0.42221534 0.81049335 -2.47528869] [ 0. 0. 0. 1. ]] SLAMing on 202.291346184 meters Centerline goodness : 0.888556 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.16, Z:-2.48 [[ 0.45712409 -0.6743569 -0.57989684 -1.28251236] [ 0.79137291 0.60596473 -0.08084347 -0.16064999] [ 0.40591438 -0.42195915 0.81066885 -2.47563384] [ 0. 0. 0. 1. ]] SLAMing on 202.321346184 meters Centerline goodness : 0.889372 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.16, Z:-2.48 [[ 0.45749767 -0.67415345 -0.57983877 -1.28127038] [ 0.79111117 0.60631916 -0.08074769 -0.16102786] [ 0.40600369 -0.42177505 0.81071993 -2.47586811] [ 0. 0. 0. 1. ]] SLAMing on 202.351346184 meters Centerline goodness : 0.889927 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.16, Z:-2.48 [[ 0.45807221 -0.67364 -0.57998189 -1.27905064] [ 0.79083237 0.60676295 -0.08014295 -0.16262922] [ 0.40589902 -0.4219572 0.81067756 -2.4756802 ] [ 0. 0. 0. 1. ]] SLAMing on 202.381346184 meters Centerline goodness : 0.887628 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.16, Z:-2.47 [[ 0.45764833 -0.67361472 -0.58034577 -1.2773865 ] [ 0.79105822 0.60647064 -0.08012651 -0.16275628] [ 0.40593707 -0.42241753 0.81041874 -2.4749088 ] [ 0. 0. 0. 1. ]] SLAMing on 202.411346184 meters Centerline goodness : 0.888051 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.16, Z:-2.47 [[ 0.45749729 -0.67305789 -0.58111041 -1.27502445] [ 0.79105661 0.6065273 -0.07971243 -0.16374929] [ 0.40611041 -0.42322301 0.80991149 -2.47350927] [ 0. 0. 0. 1. ]] SLAMing on 202.441346184 meters Centerline goodness : 0.887336 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.17, Z:-2.47 [[ 0.45628494 -0.67464652 -0.58022076 -1.27468479] [ 0.79229996 0.60483709 -0.08020517 -0.16628103] [ 0.40504917 -0.42311247 0.81050047 -2.47189038] [ 0. 0. 0. 1. ]] SLAMing on 202.471346184 meters Centerline goodness : 0.886138 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:-2.47 [[ 0.45156201 -0.67319608 -0.58557561 -1.27876457] [ 0.7896898 0.60703127 -0.08889912 -0.17283537] [ 0.41530924 -0.42227962 0.80572834 -2.46753404] [ 0. 0. 0. 1. ]] SLAMing on 202.501346184 meters Centerline goodness : 0.886686 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:-2.47 [[ 0.44938941 -0.67738433 -0.58240848 -1.27956508] [ 0.79182455 0.60387456 -0.09137504 -0.17286599] [ 0.41359769 -0.42010235 0.80774437 -2.46837268] [ 0. 0. 0. 1. ]] SLAMing on 202.531346184 meters Centerline goodness : 0.887082 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.19, Z:-2.47 [[ 0.44549095 -0.67454139 -0.58866946 -1.27895365] [ 0.79094929 0.60458585 -0.0942081 -0.19001116] [ 0.41944849 -0.42363883 0.80286556 -2.46676225] [ 0. 0. 0. 1. ]] SLAMing on 202.561346184 meters Centerline goodness : 0.886403 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.19, Z:-2.47 [[ 0.44525081 -0.67402133 -0.58944632 -1.27648684] [ 0.79103107 0.60454743 -0.09376703 -0.19140427] [ 0.41954923 -0.42452051 0.80234704 -2.4650279 ] [ 0. 0. 0. 1. ]] SLAMing on 202.591346184 meters Centerline goodness : 0.886683 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.19, Z:-2.47 [[ 0.44375094 -0.67762101 -0.58644255 -1.27789395] [ 0.79273932 0.60199526 -0.09573967 -0.19202995] [ 0.41791085 -0.4224115 0.80431278 -2.46604245] [ 0. 0. 0. 1. ]] SLAMing on 202.621346184 meters Centerline goodness : 0.887521 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.19, Z:-2.46 [[ 0.44347622 -0.67731503 -0.58700357 -1.27678291] [ 0.79283438 0.6019037 -0.09552792 -0.19253873] [ 0.41802212 -0.42303225 0.80392862 -2.46488884] [ 0. 0. 0. 1. ]] SLAMing on 202.651346184 meters Centerline goodness : 0.887103 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.21, Z:-2.47 [[ 0.4411316 -0.67391373 -0.59265774 -1.28090826] [ 0.79134204 0.60357903 -0.09731454 -0.20973397] [ 0.42329739 -0.42606647 0.79955405 -2.46636473] [ 0. 0. 0. 1. ]] SLAMing on 202.68134618399998 meters Centerline goodness : 0.887103 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.21, Z:-2.47 [[ 0.4411316 -0.67391373 -0.59265774 -1.28090826] [ 0.79134204 0.60357903 -0.09731454 -0.20973397] [ 0.42329739 -0.42606647 0.79955405 -2.46636473] [ 0. 0. 0. 1. ]] SLAMing on 202.71134618399998 meters Centerline goodness : 0.886587 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.21, Z:-2.47 [[ 0.4413003 -0.67356205 -0.59293188 -1.28060576] [ 0.79121934 0.60378805 -0.09701517 -0.21052011] [ 0.42335092 -0.42632634 0.79938717 -2.46575609] [ 0. 0. 0. 1. ]] SLAMing on 202.74134618399998 meters Centerline goodness : 0.886716 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.21, Z:-2.47 [[ 0.44144646 -0.67323366 -0.59319597 -1.28019166] [ 0.79109454 0.60399145 -0.09676649 -0.21121482] [ 0.42343175 -0.42655687 0.79922136 -2.46515649] [ 0. 0. 0. 1. ]] SLAMing on 202.77134618399998 meters Centerline goodness : 0.888176 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.22, Z:-2.46 [[ 0.44248042 -0.67161557 -0.59425887 -1.27716479] [ 0.79050831 0.60501287 -0.09516327 -0.21555291] [ 0.4234474 -0.42765869 0.79862404 -2.46288148] [ 0. 0. 0. 1. ]] SLAMing on 202.80134618399998 meters Centerline goodness : 0.889040 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.22, Z:-2.46 [[ 0.44120441 -0.67514543 -0.5911999 -1.27774266] [ 0.79212398 0.60260093 -0.09701401 -0.21641245] [ 0.42175618 -0.42550061 0.80066907 -2.46417973] [ 0. 0. 0. 1. ]] SLAMing on 202.83134618399998 meters Centerline goodness : 0.886583 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.22, Z:-2.46 [[ 0.44102248 -0.67497573 -0.59152932 -1.27584682] [ 0.79213935 0.60258315 -0.09699898 -0.21629881] [ 0.42191756 -0.42579492 0.80042755 -2.46376915] [ 0. 0. 0. 1. ]] SLAMing on 202.86134618399998 meters Centerline goodness : 0.884951 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.23, Z:-2.47 [[ 0.43774576 -0.67070839 -0.59877283 -1.2773433 ] [ 0.79015357 0.60474005 -0.09973373 -0.2288234 ] [ 0.42899416 -0.42946447 0.79468502 -2.46514918] [ 0. 0. 0. 1. ]] SLAMing on 202.89134618399999 meters Centerline goodness : 0.883569 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.23, Z:-2.47 [[ 0.43580126 -0.67476091 -0.5956299 -1.27828661] [ 0.79207489 0.60180396 -0.10222213 -0.22829334] [ 0.42742793 -0.42723495 0.7967281 -2.46646217] [ 0. 0. 0. 1. ]] SLAMing on 202.921346184 meters Centerline goodness : 0.883609 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.23, Z:-2.46 [[ 0.43560479 -0.67427619 -0.59632213 -1.27682661] [ 0.79213633 0.60179183 -0.10181665 -0.22949039] [ 0.42751432 -0.4280166 0.79626207 -2.46492648] [ 0. 0. 0. 1. ]] SLAMing on 202.951346184 meters Centerline goodness : 0.884997 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.23, Z:-2.46 [[ 0.43597519 -0.6728035 -0.59771321 -1.27457759] [ 0.7917979 0.6024437 -0.10058668 -0.23295114] [ 0.42776363 -0.42941476 0.7953749 -2.46180614] [ 0. 0. 0. 1. ]] SLAMing on 202.981346184 meters Centerline goodness : 0.884558 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.23, Z:-2.46 [[ 0.43604577 -0.6721975 -0.59834322 -1.27397264] [ 0.79158141 0.60277475 -0.1003069 -0.23370191] [ 0.42809223 -0.42989897 0.79493642 -2.46055169] [ 0. 0. 0. 1. ]] SLAMing on 203.011346184 meters Centerline goodness : 0.884971 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.23, Z:-2.46 [[ 0.43609159 -0.671869 -0.59867869 -1.27377827] [ 0.79151844 0.60290069 -0.10004657 -0.23432504] [ 0.42816198 -0.43023575 0.79471663 -2.45985629] [ 0. 0. 0. 1. ]] SLAMing on 203.041346184 meters Centerline goodness : 0.884656 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.23, Z:-2.46 [[ 0.43603133 -0.67157148 -0.59905628 -1.27268828] [ 0.79136323 0.60309622 -0.10009587 -0.233858 ] [ 0.42851011 -0.43042618 0.79442582 -2.4595179 ] [ 0. 0. 0. 1. ]] SLAMing on 203.071346184 meters Centerline goodness : 0.886446 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.25, Z:-2.46 [[ 0.43267289 -0.66723504 -0.6062933 -1.27561064] [ 0.78936698 0.60525791 -0.10277468 -0.2463349 ] [ 0.43553868 -0.43412009 0.788572 -2.46098127] [ 0. 0. 0. 1. ]] SLAMing on 203.101346184 meters Centerline goodness : 0.885179 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.24, Z:-2.46 [[ 0.43030966 -0.67116255 -0.60363435 -1.27592267] [ 0.79132338 0.60222808 -0.10549239 -0.24470632] [ 0.4343281 -0.43227558 0.79025118 -2.4618237 ] [ 0. 0. 0. 1. ]] SLAMing on 203.131346184 meters Centerline goodness : 0.885681 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.24, Z:-2.46 [[ 0.42811569 -0.67406987 -0.60195246 -1.27337572] [ 0.79282611 0.599833 -0.1078292 -0.24255387] [ 0.43375536 -0.43108025 0.79121811 -2.46194977] [ 0. 0. 0. 1. ]] SLAMing on 203.161346184 meters Centerline goodness : 0.887229 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.24, Z:-2.46 [[ 0.4255363 -0.67709869 -0.60038006 -1.26989061] [ 0.79485475 0.59680332 -0.10968917 -0.24323686] [ 0.43257921 -0.43053822 0.79215659 -2.4604313 ] [ 0. 0. 0. 1. ]] SLAMing on 203.191346184 meters Centerline goodness : 0.885045 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.24, Z:-2.46 [[ 0.42501559 -0.67658605 -0.6013261 -1.26793809] [ 0.79491526 0.59674199 -0.10958434 -0.24342604] [ 0.43297976 -0.43142824 0.79145322 -2.45866536] [ 0. 0. 0. 1. ]] SLAMing on 203.221346184 meters Centerline goodness : 0.886159 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.24, Z:-2.46 [[ 0.42458759 -0.676106 -0.6021678 -1.26608594] [ 0.79495666 0.59671043 -0.10945582 -0.24386342] [ 0.43332354 -0.43222372 0.79083081 -2.456928 ] [ 0. 0. 0. 1. ]] SLAMing on 203.251346184 meters Centerline goodness : 0.887602 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.25, Z:-2.45 [[ 0.42474192 -0.67501251 -0.60328468 -1.26385508] [ 0.79473648 0.59715596 -0.10862176 -0.24556255] [ 0.43357609 -0.43331612 0.79009424 -2.45498419] [ 0. 0. 0. 1. ]] SLAMing on 203.281346184 meters Centerline goodness : 0.886813 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.24, Z:-2.45 [[ 0.42444447 -0.67510047 -0.60339559 -1.26416285] [ 0.79478681 0.59703624 -0.10891126 -0.24466249] [ 0.43377508 -0.43334408 0.78996968 -2.45488407] [ 0. 0. 0. 1. ]] SLAMing on 203.311346184 meters Centerline goodness : 0.888643 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.24, Z:-2.46 [[ 0.42416308 -0.67539662 -0.60326204 -1.26461746] [ 0.79477036 0.5969482 -0.1095122 -0.24300085] [ 0.43408036 -0.43300376 0.7899886 -2.45536722] [ 0. 0. 0. 1. ]] SLAMing on 203.341346184 meters Centerline goodness : 0.887343 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.24, Z:-2.46 [[ 0.42366375 -0.68134211 -0.59689359 -1.27012871] [ 0.79156397 0.59883981 -0.12172658 -0.24228229] [ 0.44038109 -0.42090832 0.79303259 -2.4557972 ] [ 0. 0. 0. 1. ]] SLAMing on 203.371346184 meters Centerline goodness : 0.886046 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.26, Z:-2.46 [[ 0.42120592 -0.67712044 -0.6034016 -1.2716815 ] [ 0.78926529 0.60141401 -0.12394151 -0.25762993] [ 0.4468175 -0.42403904 0.7877468 -2.45742593] [ 0. 0. 0. 1. ]] SLAMing on 203.401346184 meters Centerline goodness : 0.885471 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.26, Z:-2.46 [[ 0.41945011 -0.67972758 -0.60169097 -1.26890867] [ 0.79052859 0.5993301 -0.12596814 -0.25553026] [ 0.44623553 -0.42281657 0.78873317 -2.4580547 ] [ 0. 0. 0. 1. ]] SLAMing on 203.43134618399998 meters Centerline goodness : 0.886980 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.26, Z:-2.46 [[ 0.41895794 -0.67945699 -0.60233914 -1.2676496 ] [ 0.79067857 0.5991469 -0.12589832 -0.25574575] [ 0.44643212 -0.42351055 0.78824943 -2.45674091] [ 0. 0. 0. 1. ]] SLAMing on 203.46134618399998 meters Centerline goodness : 0.886289 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.26, Z:-2.45 [[ 0.41803279 -0.67911444 -0.60336735 -1.26633283] [ 0.79092371 0.59880225 -0.12599822 -0.2553266 ] [ 0.44686494 -0.42454616 0.78744669 -2.45471063] [ 0. 0. 0. 1. ]] SLAMing on 203.49134618399998 meters Centerline goodness : 0.888894 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.26, Z:-2.45 [[ 0.41770266 -0.6790874 -0.60362637 -1.26601408] [ 0.79104208 0.5986299 -0.12607408 -0.25534392] [ 0.44696411 -0.42483239 0.78723601 -2.45401797] [ 0. 0. 0. 1. ]] SLAMing on 203.52134618399998 meters Centerline goodness : 0.886919 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.26, Z:-2.45 [[ 0.41752992 -0.67866988 -0.60421516 -1.26470783] [ 0.79094371 0.59877628 -0.12599611 -0.2552089 ] [ 0.44729947 -0.42529303 0.78679669 -2.4531812 ] [ 0. 0. 0. 1. ]] SLAMing on 203.55134618399998 meters Centerline goodness : 0.888179 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.26, Z:-2.45 [[ 0.41718219 -0.67861438 -0.60451762 -1.26353335] [ 0.79107396 0.59859501 -0.12603969 -0.25532925] [ 0.44739357 -0.42563663 0.78655734 -2.45243484] [ 0. 0. 0. 1. ]] SLAMing on 203.58134618399998 meters Centerline goodness : 0.887210 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.25, Z:-2.45 [[ 0.41500119 -0.68106807 -0.60325807 -1.25907846] [ 0.79249464 0.59629127 -0.12801938 -0.25330224] [ 0.44690744 -0.42495059 0.78720438 -2.45217527] [ 0. 0. 0. 1. ]] SLAMing on 203.61134618399998 meters Centerline goodness : 0.887942 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.25, Z:-2.45 [[ 0.41259092 -0.68530736 -0.60010212 -1.25938371] [ 0.79464961 0.59283958 -0.13066461 -0.25207502] [ 0.44530971 -0.42295988 0.78917945 -2.45345534] [ 0. 0. 0. 1. ]] SLAMing on 203.64134618399999 meters Centerline goodness : 0.886037 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.25, Z:-2.45 [[ 0.41229818 -0.68477941 -0.60090546 -1.25728196] [ 0.79457112 0.59296848 -0.13055695 -0.25199382] [ 0.44572071 -0.42363373 0.78858577 -2.45226799] [ 0. 0. 0. 1. ]] SLAMing on 203.671346184 meters Centerline goodness : 0.887400 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.25, Z:-2.45 [[ 0.41200648 -0.68472306 -0.60116969 -1.2570813 ] [ 0.79462381 0.59287039 -0.13068169 -0.25154473] [ 0.44589647 -0.42386205 0.78836368 -2.45184101] [ 0. 0. 0. 1. ]] SLAMing on 203.701346184 meters Centerline goodness : 0.887567 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.25, Z:-2.45 [[ 0.4115347 -0.68510226 -0.6010608 -1.25799672] [ 0.79486274 0.59246308 -0.13107525 -0.25095117] [ 0.44590628 -0.42381882 0.78838138 -2.4516171 ] [ 0. 0. 0. 1. ]] SLAMing on 203.731346184 meters Centerline goodness : 0.887235 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.25, Z:-2.45 [[ 0.4114221 -0.68441341 -0.60192204 -1.25626432] [ 0.7947333 0.59271278 -0.13073078 -0.25160929] [ 0.44624078 -0.42458196 0.78778126 -2.45014062] [ 0. 0. 0. 1. ]] SLAMing on 203.761346184 meters Centerline goodness : 0.887642 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.25, Z:-2.45 [[ 0.41127479 -0.6841554 -0.60231589 -1.25510888] [ 0.79479531 0.59267931 -0.13050539 -0.25256297] [ 0.44626614 -0.42504427 0.78751756 -2.44905926] [ 0. 0. 0. 1. ]] SLAMing on 203.791346184 meters Centerline goodness : 0.887390 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.27, Z:-2.45 [[ 0.4069662 -0.6827587 -0.60681057 -1.26083064] [ 0.79407184 0.59277598 -0.13441189 -0.26628648] [ 0.45147361 -0.42715009 0.78339924 -2.45267225] [ 0. 0. 0. 1. ]] SLAMing on 203.821346184 meters Centerline goodness : 0.887786 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.26, Z:-2.45 [[ 0.40632174 -0.6831928 -0.60675386 -1.26043768] [ 0.79434373 0.59228709 -0.13495941 -0.2649568 ] [ 0.45157577 -0.42713418 0.78334904 -2.45269399] [ 0. 0. 0. 1. ]] SLAMing on 203.851346184 meters Centerline goodness : 0.887283 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.26, Z:-2.45 [[ 0.40569584 -0.68353529 -0.60678694 -1.26050374] [ 0.79453597 0.59189703 -0.13553781 -0.26343537] [ 0.45180026 -0.42712692 0.78322354 -2.45260891] [ 0. 0. 0. 1. ]] SLAMing on 203.881346184 meters Centerline goodness : 0.887945 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.26, Z:-2.45 [[ 0.40526344 -0.68410957 -0.6064286 -1.26157209] [ 0.79478597 0.5914407 -0.13606308 -0.26212191] [ 0.45174861 -0.42683955 0.78340998 -2.4531822 ] [ 0. 0. 0. 1. ]] SLAMing on 203.911346184 meters Centerline goodness : 0.887521 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.26, Z:-2.45 [[ 0.40483775 -0.68515305 -0.60553422 -1.26386413] [ 0.79507687 0.59084046 -0.13696834 -0.25991906] [ 0.45161839 -0.42599629 0.78394387 -2.45467396] [ 0. 0. 0. 1. ]] SLAMing on 203.941346184 meters Centerline goodness : 0.886902 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.26, Z:-2.45 [[ 0.404602 -0.68547053 -0.60533245 -1.26372233] [ 0.79521706 0.59058599 -0.13725166 -0.25950636] [ 0.45158283 -0.42583839 0.78405013 -2.45481682] [ 0. 0. 0. 1. ]] SLAMing on 203.971346184 meters Centerline goodness : 0.888028 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.26, Z:-2.45 [[ 0.40436853 -0.6855641 -0.60538248 -1.26309599] [ 0.79530633 0.59043063 -0.13740271 -0.25943346] [ 0.45163473 -0.42590319 0.78398504 -2.45447655] [ 0. 0. 0. 1. ]] SLAMing on 204.001346184 meters Centerline goodness : 0.888877 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.26, Z:-2.46 [[ 0.40384605 -0.68624481 -0.60495985 -1.26352167] [ 0.79557912 0.58990647 -0.13807325 -0.25780177] [ 0.45162179 -0.42553309 0.78419344 -2.45517061] [ 0. 0. 0. 1. ]] SLAMing on 204.031346184 meters Centerline goodness : 0.888680 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.25, Z:-2.46 [[ 0.4030119 -0.68766038 -0.60390779 -1.26714051] [ 0.79591242 0.58908742 -0.13964035 -0.25276815] [ 0.45177962 -0.42438099 0.78472668 -2.45773939] [ 0. 0. 0. 1. ]] SLAMing on 204.061346184 meters Centerline goodness : 0.888026 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.25, Z:-2.46 [[ 0.40246375 -0.68816696 -0.60369625 -1.26787612] [ 0.79610138 0.58867326 -0.14030821 -0.25097344] [ 0.45193531 -0.42413445 0.78477031 -2.45815331] [ 0. 0. 0. 1. ]] SLAMing on 204.091346184 meters Centerline goodness : 0.887142 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.26, Z:-2.46 [[ 0.40332319 -0.69342483 -0.59706985 -1.27432529] [ 0.79443987 0.58914204 -0.14757017 -0.25788852] [ 0.45408777 -0.41481762 0.78849898 -2.46411558] [ 0. 0. 0. 1. ]] SLAMing on 204.121346184 meters Centerline goodness : 0.888413 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.26, Z:-2.46 [[ 0.40302634 -0.69347339 -0.59721389 -1.27404633] [ 0.79450734 0.58900133 -0.14776844 -0.25771214] [ 0.45423325 -0.41493625 0.78835275 -2.46353206] [ 0. 0. 0. 1. ]] SLAMing on 204.151346184 meters Centerline goodness : 0.888314 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.26, Z:-2.46 [[ 0.40476369 -0.68992232 -0.60014461 -1.27435106] [ 0.7927655 0.59185307 -0.1457148 -0.25780135] [ 0.45572932 -0.41679388 0.78650724 -2.46233111] [ 0. 0. 0. 1. ]] SLAMing on 204.18134618399998 meters Centerline goodness : 0.888736 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.26, Z:-2.46 [[ 0.40632343 -0.68642583 -0.60309274 -1.27478918] [ 0.79095046 0.5946986 -0.14398245 -0.25668413] [ 0.45749168 -0.41851303 0.7845688 -2.46132846] [ 0. 0. 0. 1. ]] SLAMing on 204.21134618399998 meters Centerline goodness : 0.890489 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.26, Z:-2.46 [[ 0.40800674 -0.6825702 -0.60632369 -1.27358504] [ 0.78893236 0.59782122 -0.14211093 -0.25549988] [ 0.45947385 -0.42036617 0.78241681 -2.46018331] [ 0. 0. 0. 1. ]] SLAMing on 204.24134618399998 meters Centerline goodness : 0.888810 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.26, Z:-2.46 [[ 0.40452364 -0.68312818 -0.60802674 -1.28144909] [ 0.78554216 0.59998442 -0.15146685 -0.26169455] [ 0.46827784 -0.41635872 0.77933387 -2.46062436] [ 0. 0. 0. 1. ]] SLAMing on 204.27134618399998 meters Centerline goodness : 0.889473 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.26, Z:-2.46 [[ 0.40594189 -0.67963886 -0.61098462 -1.27998062] [ 0.78390768 0.6026117 -0.14949209 -0.26161301] [ 0.46978711 -0.41827044 0.77739946 -2.45921246] [ 0. 0. 0. 1. ]] SLAMing on 204.30134618399998 meters Centerline goodness : 0.892006 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.26, Z:-2.46 [[ 0.40548896 -0.68018941 -0.61067264 -1.28138914] [ 0.7839798 0.60231356 -0.1503132 -0.25908894] [ 0.47005785 -0.41780467 0.77748625 -2.46003609] [ 0. 0. 0. 1. ]] SLAMing on 204.33134618399998 meters Centerline goodness : 0.890235 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.27, Z:-2.46 [[ 0.40582026 -0.68059758 -0.60999742 -1.2947634 ] [ 0.78018041 0.60561764 -0.15667096 -0.26645856] [ 0.47605507 -0.41232779 0.77676081 -2.46337726] [ 0. 0. 0. 1. ]] SLAMing on 204.36134618399998 meters Centerline goodness : 0.891055 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.27, Z:-2.46 [[ 0.40777006 -0.67630554 -0.613461 -1.29256782] [ 0.77800991 0.60901878 -0.15426184 -0.26667377] [ 0.4779374 -0.41437538 0.77451203 -2.46162414] [ 0. 0. 0. 1. ]] SLAMing on 204.39134618399999 meters Centerline goodness : 0.889702 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.27, Z:-2.46 [[ 0.40799866 -0.67599075 -0.61365593 -1.29146548] [ 0.7777346 0.60938634 -0.15419854 -0.26642763] [ 0.47819033 -0.41434864 0.7743702 -2.46164866] [ 0. 0. 0. 1. ]] SLAMing on 204.421346184 meters Centerline goodness : 0.891071 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.26, Z:-2.46 [[ 0.40769672 -0.67622383 -0.61359981 -1.29043216] [ 0.77766638 0.60932089 -0.15480003 -0.26401748] [ 0.47855865 -0.41406448 0.77429467 -2.4623961 ] [ 0. 0. 0. 1. ]] SLAMing on 204.451346184 meters Centerline goodness : 0.890659 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.26, Z:-2.46 [[ 0.40727521 -0.67635444 -0.61373575 -1.28958864] [ 0.77751077 0.60933025 -0.15554309 -0.26003934] [ 0.47917002 -0.41383731 0.77403797 -2.46344728] [ 0. 0. 0. 1. ]] SLAMing on 204.481346184 meters Centerline goodness : 0.890875 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.26, Z:-2.46 [[ 0.40643517 -0.6770104 -0.61356936 -1.28993006] [ 0.77775239 0.60877056 -0.15652358 -0.25703829] [ 0.47949105 -0.41358835 0.77397223 -2.46401173] [ 0. 0. 0. 1. ]] SLAMing on 204.511346184 meters Centerline goodness : 0.890559 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.25, Z:-2.46 [[ 0.40571239 -0.67734834 -0.61367474 -1.28932114] [ 0.77786813 0.60842502 -0.15729006 -0.25453716] [ 0.47991523 -0.41354349 0.77373326 -2.46409302] [ 0. 0. 0. 1. ]] SLAMing on 204.541346184 meters Centerline goodness : 0.891363 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.25, Z:-2.46 [[ 0.40603057 -0.6740749 -0.61705932 -1.28806314] [ 0.77667393 0.61035767 -0.15569561 -0.25358781] [ 0.48157739 -0.41603671 0.77136027 -2.46133765] [ 0. 0. 0. 1. ]] SLAMing on 204.571346184 meters Centerline goodness : 0.891517 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.25, Z:-2.46 [[ 0.40571721 -0.67432872 -0.6169881 -1.28896288] [ 0.77676478 0.6101467 -0.15606882 -0.25257368] [ 0.48169494 -0.41593482 0.77134182 -2.46140768] [ 0. 0. 0. 1. ]] SLAMing on 204.601346184 meters Centerline goodness : 0.891517 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.25, Z:-2.46 [[ 0.40571721 -0.67432872 -0.6169881 -1.28896288] [ 0.77676478 0.6101467 -0.15606882 -0.25257368] [ 0.48169494 -0.41593482 0.77134182 -2.46140768] [ 0. 0. 0. 1. ]] SLAMing on 204.631346184 meters Centerline goodness : 0.893826 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.25, Z:-2.46 [[ 0.40561796 -0.6742664 -0.61712145 -1.28951416] [ 0.77671856 0.6101807 -0.15616594 -0.25227881] [ 0.48185304 -0.41598598 0.77121548 -2.4610874 ] [ 0. 0. 0. 1. ]] SLAMing on 204.661346184 meters Centerline goodness : 0.893276 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.25, Z:-2.46 [[ 0.40685759 -0.67189579 -0.61888848 -1.28936435] [ 0.77540453 0.6121809 -0.15486239 -0.250609 ] [ 0.4829231 -0.41688199 0.77006148 -2.46145808] [ 0. 0. 0. 1. ]] SLAMing on 204.691346184 meters Centerline goodness : 0.892481 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.25, Z:-2.46 [[ 0.40796392 -0.66887323 -0.62142902 -1.28817945] [ 0.77384323 0.61451743 -0.15341115 -0.24869699] [ 0.48449158 -0.41830243 0.76830397 -2.46091233] [ 0. 0. 0. 1. ]] SLAMing on 204.721346184 meters Centerline goodness : 0.893639 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.25, Z:-2.46 [[ 0.40901382 -0.6659579 -0.62386518 -1.28747462] [ 0.77232691 0.61676405 -0.15203046 -0.2464325 ] [ 0.4860235 -0.4196453 0.76660223 -2.46062489] [ 0. 0. 0. 1. ]] SLAMing on 204.751346184 meters Centerline goodness : 0.893094 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.24, Z:-2.46 [[ 0.40947145 -0.66402735 -0.62562034 -1.28870201] [ 0.77145496 0.6180814 -0.15110468 -0.24491094] [ 0.48702194 -0.42076486 0.76535388 -2.46017707] [ 0. 0. 0. 1. ]] SLAMing on 204.781346184 meters Centerline goodness : 0.891775 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.24, Z:-2.46 [[ 0.40884391 -0.66587025 -0.62407009 -1.29204143] [ 0.771911 0.61710832 -0.15274399 -0.24085796] [ 0.48682653 -0.41927811 0.76629355 -2.46291272] [ 0. 0. 0. 1. ]] SLAMing on 204.811346184 meters Centerline goodness : 0.891464 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.24, Z:-2.46 [[ 0.40832893 -0.66613589 -0.62412375 -1.29193983] [ 0.77195227 0.61689892 -0.15337994 -0.23847808] [ 0.48719316 -0.41916428 0.76612279 -2.46322429] [ 0. 0. 0. 1. ]] SLAMing on 204.841346184 meters Centerline goodness : 0.891816 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.24, Z:-2.46 [[ 0.40776499 -0.66714217 -0.62341723 -1.29308811] [ 0.77234317 0.61619508 -0.15423894 -0.23661324] [ 0.48704593 -0.4185988 0.76652548 -2.46422476] [ 0. 0. 0. 1. ]] SLAMing on 204.871346184 meters Centerline goodness : 0.892009 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.24, Z:-2.46 [[ 0.40691522 -0.6685398 -0.62247454 -1.29700222] [ 0.77300673 0.61509637 -0.15529664 -0.23514979] [ 0.48670382 -0.41798444 0.76707784 -2.46482494] [ 0. 0. 0. 1. ]] SLAMing on 204.901346184 meters Centerline goodness : 0.892058 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.23, Z:-2.47 [[ 0.40647123 -0.66923908 -0.62201301 -1.29867753] [ 0.77328107 0.61459066 -0.15593175 -0.23392602] [ 0.48663901 -0.41760912 0.76732334 -2.46526892] [ 0. 0. 0. 1. ]] SLAMing on 204.93134618399998 meters Centerline goodness : 0.892650 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.23, Z:-2.47 [[ 0.40604325 -0.66936215 -0.6221601 -1.29878048] [ 0.77329512 0.61445554 -0.15639386 -0.23205281] [ 0.48697385 -0.4176107 0.76711001 -2.46533116] [ 0. 0. 0. 1. ]] SLAMing on 204.96134618399998 meters Centerline goodness : 0.891276 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.23, Z:-2.47 [[ 0.40546899 -0.6700782 -0.62176371 -1.29900009] [ 0.77359956 0.61389003 -0.15710743 -0.23033021] [ 0.48696881 -0.41729395 0.76728557 -2.46591621] [ 0. 0. 0. 1. ]] SLAMing on 204.99134618399998 meters Centerline goodness : 0.891263 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.23, Z:-2.47 [[ 0.40599401 -0.66778741 -0.62388207 -1.29788029] [ 0.77251157 0.61551173 -0.1561127 -0.22756023] [ 0.48825683 -0.4185753 0.76576758 -2.46573054] [ 0. 0. 0. 1. ]] SLAMing on 205.02134618399998 meters Centerline goodness : 0.890513 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.23, Z:-2.47 [[ 0.4057733 -0.66862102 -0.62313237 -1.30000505] [ 0.77263162 0.6151522 -0.1569336 -0.22553017] [ 0.48825036 -0.41777231 0.76621008 -2.46706407] [ 0. 0. 0. 1. ]] SLAMing on 205.05134618399998 meters Centerline goodness : 0.891268 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.22, Z:-2.47 [[ 0.40698988 -0.66544695 -0.62573125 -1.29963937] [ 0.77103152 0.61757546 -0.15527702 -0.22426914] [ 0.48976488 -0.41926234 0.76442753 -2.46626336] [ 0. 0. 0. 1. ]] SLAMing on 205.08134618399998 meters Centerline goodness : 0.889586 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.22, Z:-2.47 [[ 0.40699128 -0.66613291 -0.62500004 -1.30096001] [ 0.77108639 0.61735817 -0.15586745 -0.22280531] [ 0.48967732 -0.41849233 0.76490541 -2.46762562] [ 0. 0. 0. 1. ]] SLAMing on 205.11134618399998 meters Centerline goodness : 0.890742 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.22, Z:-2.47 [[ 0.40857929 -0.66295223 -0.62734146 -1.30215646] [ 0.76935714 0.61995917 -0.15407864 -0.2218424 ] [ 0.49107286 -0.41969628 0.76334951 -2.4673719 ] [ 0. 0. 0. 1. ]] SLAMing on 205.14134618399999 meters Centerline goodness : 0.890377 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.22, Z:-2.47 [[ 0.4095601 -0.65933672 -0.63050425 -1.30094683] [ 0.76770695 0.62245505 -0.15223583 -0.220528 ] [ 0.49283523 -0.42169278 0.76111014 -2.46564229] [ 0. 0. 0. 1. ]] SLAMing on 205.171346184 meters Centerline goodness : 0.892126 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.22, Z:-2.47 [[ 0.40941517 -0.65916468 -0.63077821 -1.30093506] [ 0.76758944 0.62256719 -0.15236979 -0.21994662] [ 0.49313859 -0.42179619 0.7608563 -2.46520824] [ 0. 0. 0. 1. ]] SLAMing on 205.201346184 meters Centerline goodness : 0.889969 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.21, Z:-2.46 [[ 0.41181293 -0.6636292 -0.62450492 -1.29508965] [ 0.77040624 0.61956914 -0.15036058 -0.2063893 ] [ 0.48670765 -0.41920205 0.76641066 -2.46163814] [ 0. 0. 0. 1. ]] SLAMing on 205.231346184 meters Centerline goodness : 0.891334 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.21, Z:-2.46 [[ 0.41292082 -0.65939486 -0.62824741 -1.29225649] [ 0.76851896 0.62243264 -0.14817634 -0.20512945] [ 0.48874841 -0.42163495 0.76377285 -2.45948274] [ 0. 0. 0. 1. ]] SLAMing on 205.261346184 meters Centerline goodness : 0.891455 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.19, Z:-2.46 [[ 0.41446716 -0.65662145 -0.63013113 -1.2831409 ] [ 0.77103005 0.62118376 -0.14015487 -0.19330769] [ 0.48345592 -0.42776045 0.76373514 -2.45805784] [ 0. 0. 0. 1. ]] SLAMing on 205.291346184 meters Centerline goodness : 0.891114 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.19, Z:-2.46 [[ 0.41523214 -0.65334982 -0.63302156 -1.28067832] [ 0.76938317 0.62351287 -0.13885689 -0.19003785] [ 0.48541921 -0.42937829 0.76157893 -2.45735156] [ 0. 0. 0. 1. ]] SLAMing on 205.321346184 meters Centerline goodness : 0.889275 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.17, Z:-2.45 [[ 0.41622871 -0.65568818 -0.6299418 -1.27197844] [ 0.77091381 0.62183731 -0.13787768 -0.17136618] [ 0.48212608 -0.42824219 0.76430561 -2.45241039] [ 0. 0. 0. 1. ]] SLAMing on 205.351346184 meters Centerline goodness : 0.888768 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.16, Z:-2.45 [[ 0.41887485 -0.65999078 -0.6236634 -1.26640746] [ 0.77334093 0.61924994 -0.13591657 -0.15754466] [ 0.47590721 -0.4253724 0.76978611 -2.44945192] [ 0. 0. 0. 1. ]] SLAMing on 205.381346184 meters Centerline goodness : 0.889726 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.14, Z:-2.45 [[ 0.42193058 -0.66418982 -0.61711139 -1.26195345] [ 0.77561684 0.61689231 -0.13365031 -0.14373714] [ 0.46946044 -0.42225083 0.77544254 -2.4472656 ] [ 0. 0. 0. 1. ]] SLAMing on 205.411346184 meters Centerline goodness : 0.889928 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.13, Z:-2.45 [[ 0.42563033 -0.66344315 -0.61537144 -1.25442642] [ 0.77828368 0.61532773 -0.12508515 -0.13428451] [ 0.461642 -0.42569351 0.77824912 -2.4481703 ] [ 0. 0. 0. 1. ]] SLAMing on 205.441346184 meters Centerline goodness : 0.889228 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.12, Z:-2.45 [[ 0.42971423 -0.6656422 -0.61013616 -1.2499854 ] [ 0.77938421 0.61462748 -0.12162777 -0.11994131] [ 0.45596703 -0.42326531 0.7829052 -2.44632193] [ 0. 0. 0. 1. ]] SLAMing on 205.471346184 meters Centerline goodness : 0.888627 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.11, Z:-2.44 [[ 0.4320384 -0.67096765 -0.60261533 -1.24601514] [ 0.78202462 0.61153899 -0.12023958 -0.10600645] [ 0.44919964 -0.4193119 0.78892155 -2.44473499] [ 0. 0. 0. 1. ]] SLAMing on 205.501346184 meters Centerline goodness : 0.887500 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.10, Z:-2.45 [[ 0.43117853 -0.67210868 -0.6019593 -1.24672555] [ 0.78239046 0.61080788 -0.12156852 -0.10210733] [ 0.44938874 -0.41854948 0.78921866 -2.44641228] [ 0. 0. 0. 1. ]] SLAMing on 205.531346184 meters Centerline goodness : 0.886542 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.09, Z:-2.44 [[ 0.43358579 -0.67640738 -0.59537923 -1.2425668 ] [ 0.78487047 0.60807707 -0.11925027 -0.08797295] [ 0.44269822 -0.41559035 0.79454575 -2.44431546] [ 0. 0. 0. 1. ]] SLAMing on 205.561346184 meters Centerline goodness : 0.886750 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.09, Z:-2.44 [[ 0.43306138 -0.67683548 -0.59527436 -1.24336712] [ 0.78509314 0.60768333 -0.11979035 -0.08689048] [ 0.44281667 -0.41546924 0.79454308 -2.44417285] [ 0. 0. 0. 1. ]] SLAMing on 205.591346184 meters Centerline goodness : 0.888120 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.09, Z:-2.44 [[ 0.43251488 -0.67731132 -0.59513045 -1.24446955] [ 0.78539027 0.60720524 -0.12026606 -0.08601057] [ 0.44282389 -0.4153928 0.79457902 -2.44397509] [ 0. 0. 0. 1. ]] SLAMing on 205.621346184 meters Centerline goodness : 0.887456 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.09, Z:-2.44 [[ 0.43220662 -0.6778541 -0.59473629 -1.24529191] [ 0.78559447 0.60684526 -0.12074834 -0.08511511] [ 0.44276265 -0.41503331 0.79480097 -2.44441201] [ 0. 0. 0. 1. ]] SLAMing on 205.651346184 meters Centerline goodness : 0.888520 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.07, Z:-2.44 [[ 0.43547723 -0.68227094 -0.58725288 -1.24264744] [ 0.78761049 0.60467849 -0.11846367 -0.07080917] [ 0.43592351 -0.4109383 0.80068746 -2.44444372] [ 0. 0. 0. 1. ]] SLAMing on 205.68134618399998 meters Centerline goodness : 0.888861 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.07, Z:-2.45 [[ 0.43559828 -0.68297218 -0.58634729 -1.24472909] [ 0.78753687 0.60462887 -0.11920409 -0.06917804] [ 0.43593557 -0.40984501 0.80124107 -2.44603069] [ 0. 0. 0. 1. ]] SLAMing on 205.71134618399998 meters Centerline goodness : 0.888673 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.07, Z:-2.45 [[ 0.43551317 -0.68384221 -0.58539569 -1.24684363] [ 0.7875892 0.60438574 -0.12008803 -0.06685955] [ 0.43592607 -0.4087514 0.80180469 -2.44787692] [ 0. 0. 0. 1. ]] SLAMing on 205.74134618399998 meters Centerline goodness : 0.885966 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-2.45 [[ 0.43522856 -0.68434085 -0.58502453 -1.24845551] [ 0.78747097 0.60433876 -0.12109552 -0.06249952] [ 0.43642361 -0.40798561 0.80192405 -2.44991135] [ 0. 0. 0. 1. ]] SLAMing on 205.77134618399998 meters Centerline goodness : 0.886853 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-2.45 [[ 0.43570854 -0.68112044 -0.58841568 -1.24564357] [ 0.78634999 0.60614035 -0.11936319 -0.06088425] [ 0.43796319 -0.4106931 0.79969958 -2.44806187] [ 0. 0. 0. 1. ]] SLAMing on 205.80134618399998 meters Centerline goodness : 0.886897 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-2.45 [[ 0.43872725 -0.6831442 -0.58380853 -1.2391174 ] [ 0.7897727 0.60305797 -0.11216135 -0.0503929 ] [ 0.42869276 -0.41186779 0.80410661 -2.45156785] [ 0. 0. 0. 1. ]] SLAMing on 205.83134618399998 meters Centerline goodness : 0.886189 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-2.45 [[ 0.4388456 -0.68347018 -0.58333786 -1.2400526 ] [ 0.78964005 0.60314439 -0.11262966 -0.04928214] [ 0.42881597 -0.41119991 0.80438268 -2.45253299] [ 0. 0. 0. 1. ]] SLAMing on 205.86134618399998 meters Centerline goodness : 0.885846 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-2.45 [[ 0.44173529 -0.68816971 -0.57558004 -1.23689512] [ 0.7918728 0.60062695 -0.11038449 -0.03593532] [ 0.42167214 -0.40702545 0.810261 -2.45221568] [ 0. 0. 0. 1. ]] SLAMing on 205.89134618399999 meters Centerline goodness : 0.886270 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.02, Z:-2.45 [[ 0.44534096 -0.69127705 -0.56904084 -1.2331032 ] [ 0.7931612 0.59945252 -0.10748017 -0.021989 ] [ 0.41541154 -0.40347579 0.81525489 -2.45167613] [ 0. 0. 0. 1. ]] SLAMing on 205.921346184 meters Centerline goodness : 0.887015 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.02, Z:-2.45 [[ 0.44539872 -0.69153184 -0.56868594 -1.23354857] [ 0.79303586 0.59953652 -0.10793557 -0.02084089] [ 0.41558887 -0.40291398 0.81544235 -2.45245644] [ 0. 0. 0. 1. ]] SLAMing on 205.951346184 meters Centerline goodness : 0.887157 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.02, Z:-2.45 [[ 0.44510737 -0.69185034 -0.56852663 -1.23430111] [ 0.79312289 0.59933789 -0.10839822 -0.0196068 ] [ 0.41573489 -0.40266264 0.81549206 -2.45277394] [ 0. 0. 0. 1. ]] SLAMing on 205.981346184 meters Centerline goodness : 0.886971 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.01, Z:-2.45 [[ 0.4478444 -0.69277868 -0.5652372 -1.22922452] [ 0.79654602 0.59629528 -0.09973155 -0.01175503] [ 0.40614017 -0.40557322 0.8188776 -2.4541125 ] [ 0. 0. 0. 1. ]] SLAMing on 206.011346184 meters Centerline goodness : 0.886811 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.01, Z:-2.45 [[ 0.44762168 -0.6926348 -0.56558983 -1.229244 ] [ 0.79665964 0.59616789 -0.09958542 -0.01234747] [ 0.40616283 -0.406006 0.81865187 -2.453066 ] [ 0. 0. 0. 1. ]] SLAMing on 206.041346184 meters Centerline goodness : 0.888583 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.01, Z:-2.45 [[ 0.44727894 -0.69210944 -0.56650337 -1.22765959] [ 0.79662815 0.59623149 -0.09945651 -0.01211201] [ 0.40660194 -0.40680773 0.81803566 -2.45171092] [ 0. 0. 0. 1. ]] SLAMing on 206.071346184 meters Centerline goodness : 0.887451 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.01, Z:-2.45 [[ 0.44690731 -0.69203908 -0.5668825 -1.2266568 ] [ 0.79680631 0.59600023 -0.09941546 -0.01220575] [ 0.40666148 -0.40726605 0.81777797 -2.45092153] [ 0. 0. 0. 1. ]] SLAMing on 206.101346184 meters Centerline goodness : 0.886183 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.01, Z:-2.45 [[ 0.44573812 -0.69198671 -0.56786611 -1.22412676] [ 0.79719702 0.59541224 -0.09980568 -0.01057745] [ 0.40717863 -0.40821397 0.81704768 -2.44959451] [ 0. 0. 0. 1. ]] SLAMing on 206.131346184 meters Centerline goodness : 0.886576 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.01, Z:-2.45 [[ 0.44545733 -0.69214571 -0.56789267 -1.22300712] [ 0.79729138 0.59524014 -0.1000781 -0.00970966] [ 0.40730114 -0.40819541 0.81699589 -2.44976473] [ 0. 0. 0. 1. ]] SLAMing on 206.161346184 meters Centerline goodness : 0.886264 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.01, Z:-2.45 [[ 0.44524514 -0.69223998 -0.56794416 -1.22145829] [ 0.79724753 0.59522989 -0.1004876 -0.00804178] [ 0.40761887 -0.40805046 0.81690983 -2.45038799] [ 0. 0. 0. 1. ]] SLAMing on 206.191346184 meters Centerline goodness : 0.886619 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.01, Z:-2.45 [[ 0.44500231 -0.69293846 -0.56728232 -1.21948598] [ 0.79728028 0.59502975 -0.10140881 -0.00564721] [ 0.40781992 -0.40715585 0.81725579 -2.4522268 ] [ 0. 0. 0. 1. ]] SLAMing on 206.221346184 meters Centerline goodness : 0.886759 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.01, Z:-2.45 [[ 0.44506166 -0.69296217 -0.5672068 -1.21889171] [ 0.79718263 0.59513356 -0.10156721 -0.00532584] [ 0.40794603 -0.40696374 0.81728854 -2.45242291] [ 0. 0. 0. 1. ]] SLAMing on 206.251346184 meters Centerline goodness : 0.888308 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.01, Z:-2.45 [[ 0.44590986 -0.69263004 -0.56694623 -1.22327297] [ 0.79671472 0.59581076 -0.10126795 -0.00610436] [ 0.40793389 -0.40653803 0.81750644 -2.45249829] [ 0. 0. 0. 1. ]] SLAMing on 206.281346184 meters Centerline goodness : 0.887954 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.01, Z:-2.45 [[ 0.44779173 -0.68861704 -0.57034126 -1.22369981] [ 0.79475356 0.59880398 -0.09899785 -0.00585958] [ 0.40969422 -0.40895033 0.81542031 -2.45087283] [ 0. 0. 0. 1. ]] SLAMing on 206.311346184 meters Centerline goodness : 0.889256 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.01, Z:-2.45 [[ 0.44821846 -0.68869878 -0.56990719 -1.2260573 ] [ 0.79449357 0.59912305 -0.09915408 -0.00585699] [ 0.40973182 -0.40834491 0.81570477 -2.45128912] [ 0. 0. 0. 1. ]] SLAMing on 206.341346184 meters Centerline goodness : 0.888298 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.01, Z:-2.45 [[ 0.44760208 -0.69198759 -0.566397 -1.22812067] [ 0.79562762 0.59730743 -0.10099763 -0.00727243] [ 0.40820224 -0.40543435 0.81792049 -2.45289582] [ 0. 0. 0. 1. ]] SLAMing on 206.371346184 meters Centerline goodness : 0.889894 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.01, Z:-2.45 [[ 0.44731996 -0.69182542 -0.56681782 -1.22636844] [ 0.79573671 0.59717798 -0.10090367 -0.00740445] [ 0.40829884 -0.40590152 0.81764051 -2.4522398 ] [ 0. 0. 0. 1. ]] SLAMing on 206.401346184 meters Centerline goodness : 0.889253 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.01, Z:-2.45 [[ 0.44646232 -0.69164099 -0.56771836 -1.22338809] [ 0.79597023 0.59682667 -0.10114007 -0.00616253] [ 0.40878207 -0.40673168 0.81698626 -2.45116359] [ 0. 0. 0. 1. ]] SLAMing on 206.43134618399998 meters Centerline goodness : 0.887221 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.00, Z:-2.45 [[ 0.44525962 -0.69193338 -0.56830632 -1.22066066] [ 0.79649299 0.59604038 -0.10166009 -0.00442991] [ 0.40907553 -0.40738687 0.8165128 -2.45042746] [ 0. 0. 0. 1. ]] SLAMing on 206.46134618399998 meters Centerline goodness : 0.887090 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.00, Z:-2.45 [[ 4.43300634e-01 -6.92911201e-01 -5.68646301e-01 -1.21958828e+00] [ 7.97483770e-01 5.94526567e-01 -1.02751142e-01 -1.39960906e-03] [ 4.09272751e-01 -4.07936550e-01 8.16139441e-01 -2.44978446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49134618399998 meters Centerline goodness : 0.887090 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.00, Z:-2.45 [[ 4.43300634e-01 -6.92911201e-01 -5.68646301e-01 -1.21958828e+00] [ 7.97483770e-01 5.94526567e-01 -1.02751142e-01 -1.39960906e-03] [ 4.09272751e-01 -4.07936550e-01 8.16139441e-01 -2.44978446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52134618399998 meters Centerline goodness : 0.888508 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.00, Z:-2.45 [[ 4.42740385e-01 -6.93085745e-01 -5.68870022e-01 -1.22018380e+00] [ 7.97683296e-01 5.94195050e-01 -1.03119355e-01 -7.22262361e-04] [ 4.09490306e-01 -4.08123011e-01 8.15937067e-01 -2.44900329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55134618399998 meters Centerline goodness : 0.887180 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.00, Z:-2.45 [[ 4.43654161e-01 -6.89565784e-01 -5.72424681e-01 -1.21725072e+00] [ 7.96390186e-01 5.96279005e-01 -1.01064439e-01 -3.89900621e-04] [ 4.11015398e-01 -4.11035739e-01 8.13705084e-01 -2.44680551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58134618399998 meters Centerline goodness : 0.888134 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.00, Z:-2.45 [[ 4.43583804e-01 -6.89611165e-01 -5.72424537e-01 -1.21643931e+00] [ 7.96506539e-01 5.96142180e-01 -1.00954622e-01 -1.20281397e-03] [ 4.10865846e-01 -4.11158051e-01 8.13718817e-01 -2.44638297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61134618399998 meters Centerline goodness : 0.889451 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.00, Z:-2.45 [[ 4.43715539e-01 -6.89068082e-01 -5.72976177e-01 -1.21530614e+00] [ 7.96244340e-01 5.96523425e-01 -1.00770796e-01 -1.08651945e-03] [ 4.11231651e-01 -4.11515470e-01 8.13353274e-01 -2.44591511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64134618399999 meters Centerline goodness : 0.887807 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.00, Z:-2.45 [[ 4.43625629e-01 -6.89098589e-01 -5.73009107e-01 -1.21523185e+00] [ 7.96295364e-01 5.96451171e-01 -1.00795306e-01 -1.16192021e-03] [ 4.11229855e-01 -4.11569115e-01 8.13327038e-01 -2.44568503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.671346184 meters Centerline goodness : 0.890310 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.01, Z:-2.45 [[ 0.44668853 -0.6888024 -0.57098214 -1.20746632] [ 0.79893883 0.59434039 -0.09195784 0.00655706] [ 0.40269854 -0.41510329 0.81579602 -2.44595734] [ 0. 0. 0. 1. ]] SLAMing on 206.701346184 meters Centerline goodness : 0.890480 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.01, Z:-2.45 [[ 0.44650766 -0.68868353 -0.57126693 -1.20700409] [ 0.79892546 0.59434329 -0.0920552 0.00727807] [ 0.40292556 -0.41529634 0.81558564 -2.44576788] [ 0. 0. 0. 1. ]] SLAMing on 206.731346184 meters Centerline goodness : 0.888845 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.01, Z:-2.45 [[ 0.44671067 -0.68868766 -0.57110321 -1.20556986] [ 0.79877601 0.59453033 -0.09214435 0.00801861] [ 0.40299686 -0.41502168 0.81569022 -2.4467394 ] [ 0. 0. 0. 1. ]] SLAMing on 206.761346184 meters Centerline goodness : 0.888239 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.01, Z:-2.45 [[ 0.44663417 -0.68847369 -0.57142094 -1.204012 ] [ 0.79877836 0.59454969 -0.09199893 0.00793931] [ 0.40307698 -0.41534882 0.81548409 -2.44645101] [ 0. 0. 0. 1. ]] SLAMing on 206.791346184 meters Centerline goodness : 0.887952 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.01, Z:-2.45 [[ 0.44621311 -0.68809832 -0.5722015 -1.20197007] [ 0.79876148 0.59455766 -0.09209393 0.0086041 ] [ 0.40357647 -0.415959 0.81492586 -2.44541448] [ 0. 0. 0. 1. ]] SLAMing on 206.821346184 meters Centerline goodness : 0.887536 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.01, Z:-2.44 [[ 0.44573129 -0.68791255 -0.57280009 -1.20058058] [ 0.79893099 0.59433282 -0.09207482 0.00887954] [ 0.40377331 -0.41658711 0.81450739 -2.44446734] [ 0. 0. 0. 1. ]] SLAMing on 206.851346184 meters Centerline goodness : 0.888703 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.01, Z:-2.44 [[ 0.44560766 -0.68711989 -0.57384673 -1.19595551] [ 0.79893827 0.59443168 -0.09137077 0.00691736] [ 0.40389534 -0.4177526 0.81384969 -2.44255552] [ 0. 0. 0. 1. ]] SLAMing on 206.881346184 meters Centerline goodness : 0.887643 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.01, Z:-2.44 [[ 0.44553173 -0.68614715 -0.57506831 -1.19309983] [ 0.79872152 0.59479785 -0.0908815 0.00654336] [ 0.40440747 -0.41882884 0.81304182 -2.44102195] [ 0. 0. 0. 1. ]] SLAMing on 206.911346184 meters Centerline goodness : 0.889290 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.01, Z:-2.44 [[ 0.44541115 -0.68562473 -0.57578437 -1.1915416 ] [ 0.79858574 0.59500124 -0.09074329 0.00679534] [ 0.40480825 -0.41939512 0.81255032 -2.44020697] [ 0. 0. 0. 1. ]] SLAMing on 206.941346184 meters Centerline goodness : 0.889991 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.01, Z:-2.44 [[ 0.44533936 -0.68539194 -0.57611695 -1.19155141] [ 0.79855604 0.59505696 -0.09063924 0.00656535] [ 0.4049458 -0.41969645 0.81232616 -2.439476 ] [ 0. 0. 0. 1. ]] SLAMing on 206.971346184 meters Centerline goodness : 0.891247 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.00, Z:-2.44 [[ 0.44581412 -0.68380561 -0.57763281 -1.18947555] [ 0.79807229 0.59588343 -0.08946261 0.00385629] [ 0.40537685 -0.42110905 0.81137955 -2.43674948] [ 0. 0. 0. 1. ]] SLAMing on 207.001346184 meters Centerline goodness : 0.890377 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.00, Z:-2.44 [[ 0.44605239 -0.68277751 -0.5786641 -1.18720302] [ 0.7977342 0.59643155 -0.08882321 0.00259893] [ 0.40578001 -0.42200034 0.81071468 -2.43516666] [ 0. 0. 0. 1. ]] SLAMing on 207.031346184 meters Centerline goodness : 0.890075 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.00, Z:-2.43 [[ 0.44541312 -0.68210455 -0.57994874 -1.18359564] [ 0.79771891 0.59644867 -0.08884559 0.00391457] [ 0.40651163 -0.42306308 0.80979375 -2.43390222] [ 0. 0. 0. 1. ]] SLAMing on 207.061346184 meters Centerline goodness : 0.890701 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.00, Z:-2.43 [[ 0.44478601 -0.6820866 -0.58045092 -1.18083327] [ 0.79793636 0.59612496 -0.0890651 0.00460431] [ 0.4067714 -0.42354798 0.80940975 -2.43317739] [ 0. 0. 0. 1. ]] SLAMing on 207.091346184 meters Centerline goodness : 0.888518 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.00, Z:-2.43 [[ 0.44454867 -0.68133142 -0.58151868 -1.1770442 ] [ 0.79780641 0.59633809 -0.08880214 0.00444302] [ 0.40728542 -0.42446246 0.80867188 -2.43175636] [ 0. 0. 0. 1. ]] SLAMing on 207.121346184 meters Centerline goodness : 0.889403 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.00, Z:-2.43 [[ 0.44414935 -0.68081027 -0.58243345 -1.1748348 ] [ 0.79788502 0.59627205 -0.08853891 0.00394289] [ 0.40756699 -0.42539042 0.80804216 -2.43013638] [ 0. 0. 0. 1. ]] SLAMing on 207.151346184 meters Centerline goodness : 0.890662 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.00, Z:-2.43 [[ 0.44277459 -0.68121903 -0.58300197 -1.1747911 ] [ 0.7985533 0.59529297 -0.08910055 0.00497928] [ 0.40775396 -0.42610668 0.80757031 -2.42848085] [ 0. 0. 0. 1. ]] SLAMing on 207.18134618399998 meters Centerline goodness : 0.889565 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.01, Z:-2.43 [[ 0.44211873 -0.68087308 -0.58390314 -1.17336544] [ 0.79865709 0.59513258 -0.08924168 0.00586057] [ 0.40826204 -0.42688297 0.80690336 -2.42714126] [ 0. 0. 0. 1. ]] SLAMing on 207.21134618399998 meters Centerline goodness : 0.889819 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.01, Z:-2.43 [[ 0.44157674 -0.68075106 -0.58445528 -1.17207522] [ 0.79888024 0.59483113 -0.08925403 0.00571338] [ 0.40841198 -0.42749727 0.80650216 -2.42589365] [ 0. 0. 0. 1. ]] SLAMing on 207.24134618399998 meters Centerline goodness : 0.888340 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.01, Z:-2.42 [[ 0.44129864 -0.68031731 -0.58516995 -1.17027371] [ 0.79879218 0.59494509 -0.08928268 0.00623629] [ 0.40888454 -0.42802886 0.8059806 -2.4249478 ] [ 0. 0. 0. 1. ]] SLAMing on 207.27134618399998 meters Centerline goodness : 0.891006 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.01, Z:-2.42 [[ 0.44108727 -0.68018145 -0.58548716 -1.17011764] [ 0.79877776 0.59494715 -0.08939787 0.00653438] [ 0.40914069 -0.42824186 0.80573743 -2.42432115] [ 0. 0. 0. 1. ]] SLAMing on 207.30134618399998 meters Centerline goodness : 0.889300 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.01, Z:-2.42 [[ 0.44110762 -0.67988197 -0.58581958 -1.16985894] [ 0.79859212 0.59519039 -0.08943734 0.00684951] [ 0.40948102 -0.4283794 0.80549139 -2.42390841] [ 0. 0. 0. 1. ]] SLAMing on 207.33134618399998 meters Centerline goodness : 0.888469 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.01, Z:-2.42 [[ 0.44036172 -0.67976452 -0.58651663 -1.1676728 ] [ 0.79875233 0.59492142 -0.08979545 0.00793986] [ 0.40997107 -0.42893904 0.80494411 -2.42287354] [ 0. 0. 0. 1. ]] SLAMing on 207.36134618399998 meters Centerline goodness : 0.887061 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.00, Z:-2.42 [[ 0.4366615 -0.67597349 -0.59362157 -1.16971229] [ 0.79691158 0.59682798 -0.09342532 -0.00369156] [ 0.41744301 -0.43226866 0.79930291 -2.42382649] [ 0. 0. 0. 1. ]] SLAMing on 207.39134618399999 meters Centerline goodness : 0.889026 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.00, Z:-2.42 [[ 4.35877668e-01 -6.75341606e-01 -5.94915433e-01 -1.16561854e+00] [ 7.96912972e-01 5.96798224e-01 -9.36033932e-02 -2.04055291e-03] [ 4.18258740e-01 -4.33296197e-01 7.98319505e-01 -2.42241895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.421346184 meters Centerline goodness : 0.886436 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 4.34659273e-01 -6.75293294e-01 -5.95860960e-01 -1.16439578e+00] [ 7.97292944e-01 5.96213033e-01 -9.40955939e-02 -5.90081600e-04] [ 4.18802194e-01 -4.34176217e-01 7.97556102e-01 -2.42067582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.451346184 meters Centerline goodness : 0.886494 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 4.36215170e-01 -6.70358504e-01 -6.00279769e-01 -1.16168835e+00] [ 7.95363856e-01 5.99230856e-01 -9.12070052e-02 -1.84735986e-03] [ 4.20847551e-01 -4.37654953e-01 7.94572515e-01 -2.41687273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.481346184 meters Centerline goodness : 0.887435 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 0.43646098 -0.66995641 -0.60054994 -1.1620229 ] [ 0.79515946 0.5995432 -0.0909362 -0.00311995] [ 0.42097892 -0.43784286 0.79439938 -2.41581574] [ 0. 0. 0. 1. ]] SLAMing on 207.511346184 meters Centerline goodness : 0.890152 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 0.43757902 -0.6689115 -0.60090099 -1.16129997] [ 0.79437117 0.60069558 -0.09021789 -0.00476655] [ 0.42130635 -0.43786097 0.7942158 -2.41547818] [ 0. 0. 0. 1. ]] SLAMing on 207.541346184 meters Centerline goodness : 0.890499 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 0.43752061 -0.66923629 -0.6005818 -1.16178046] [ 0.79436009 0.60064907 -0.09062421 -0.00361441] [ 0.42138791 -0.43742825 0.79441095 -2.41627422] [ 0. 0. 0. 1. ]] SLAMing on 207.571346184 meters Centerline goodness : 0.889399 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 4.37229611e-01 -6.69595580e-01 -6.00393227e-01 -1.16253340e+00] [ 7.94437120e-01 6.00469076e-01 -9.11402787e-02 -2.05533279e-03] [ 4.21544694e-01 -4.37125437e-01 7.94494445e-01 -2.41684413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.601346184 meters Centerline goodness : 0.888849 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 4.37078743e-01 -6.69588919e-01 -6.00510493e-01 -1.16276337e+00] [ 7.94302311e-01 6.00586006e-01 -9.15439111e-02 -8.12406979e-04] [ 4.21954987e-01 -4.36974975e-01 7.94359403e-01 -2.41685797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.631346184 meters Centerline goodness : 0.889223 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 4.36510795e-01 -6.72581540e-01 -5.97572086e-01 -1.16287206e+00] [ 7.95414166e-01 5.98883922e-01 -9.30287774e-02 -2.36052051e-03] [ 4.20445753e-01 -4.34709237e-01 7.96400181e-01 -2.41828346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.661346184 meters Centerline goodness : 0.890602 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 0.4352756 -0.67590388 -0.59471766 -1.16298914] [ 0.79682456 0.59670184 -0.09496069 -0.00275631] [ 0.41905342 -0.43255157 0.79830657 -2.41950275] [ 0. 0. 0. 1. ]] SLAMing on 207.691346184 meters Centerline goodness : 0.887415 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 0.43532629 -0.67562166 -0.59500117 -1.16204659] [ 0.79674129 0.59684116 -0.09478366 -0.00317048] [ 0.41915908 -0.43280018 0.79811632 -2.41899994] [ 0. 0. 0. 1. ]] SLAMing on 207.721346184 meters Centerline goodness : 0.889267 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 0.43523208 -0.67532012 -0.59541228 -1.16193717] [ 0.79660716 0.59701217 -0.09483402 -0.00289549] [ 0.4195117 -0.43303487 0.79780369 -2.41828883] [ 0. 0. 0. 1. ]] SLAMing on 207.751346184 meters Centerline goodness : 0.889237 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 4.35358561e-01 -6.75650425e-01 -5.94944895e-01 -1.16446003e+00] [ 7.96524291e-01 5.97065754e-01 -9.51921127e-02 -1.65619599e-03] [ 4.19537814e-01 -4.32445359e-01 7.98109663e-01 -2.41935295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.781346184 meters Centerline goodness : 0.888822 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 4.35005573e-01 -6.75907902e-01 -5.94910631e-01 -1.16393384e+00] [ 7.96608825e-01 5.96879022e-01 -9.56546521e-02 -3.10914809e-04] [ 4.19743411e-01 -4.32300753e-01 7.98079901e-01 -2.41966421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.811346184 meters Centerline goodness : 0.888588 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 4.33556710e-01 -6.80069696e-01 -5.91213825e-01 -1.16437395e+00] [ 7.98346567e-01 5.94168306e-01 -9.80141964e-02 -1.91877400e-04] [ 4.17937002e-01 -4.29498815e-01 8.00536964e-01 -2.42200918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.841346184 meters Centerline goodness : 0.888694 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 4.33312747e-01 -6.79371288e-01 -5.92194830e-01 -1.16289830e+00] [ 7.98202708e-01 5.94390270e-01 -9.78398866e-02 -2.82029293e-05] [ 4.18464455e-01 -4.30296247e-01 7.99832883e-01 -2.42051881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.871346184 meters Centerline goodness : 0.887123 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.00, Z:-2.42 [[ 4.31276849e-01 -6.83536710e-01 -5.88878464e-01 -1.16524147e+00] [ 8.00152098e-01 5.91337280e-01 -1.00383469e-01 4.67037013e-04] [ 4.16841576e-01 -4.27899272e-01 8.01963411e-01 -2.42174003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.901346184 meters Centerline goodness : 0.886971 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.01, Z:-2.42 [[ 0.42681754 -0.68393396 -0.59165964 -1.17321048] [ 0.8002928 0.59033105 -0.10507469 -0.01472529] [ 0.4211392 -0.42865322 0.79931107 -2.42486945] [ 0. 0. 0. 1. ]] SLAMing on 207.93134618399998 meters Centerline goodness : 0.888847 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.01, Z:-2.42 [[ 0.42645237 -0.68358431 -0.59232666 -1.17148715] [ 0.80024218 0.59037866 -0.10519264 -0.013847 ] [ 0.42160506 -0.42914512 0.79880138 -2.42409758] [ 0. 0. 0. 1. ]] SLAMing on 207.96134618399998 meters Centerline goodness : 0.888536 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.01, Z:-2.42 [[ 0.42586329 -0.68410976 -0.59214382 -1.17206109] [ 0.80049663 0.58991935 -0.10583148 -0.01237578] [ 0.42171745 -0.42893939 0.79885255 -2.42428166] [ 0. 0. 0. 1. ]] SLAMing on 207.99134618399998 meters Centerline goodness : 0.889091 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.01, Z:-2.42 [[ 0.42540545 -0.68460805 -0.59189696 -1.17349707] [ 0.80070343 0.58953634 -0.1063998 -0.01105114] [ 0.42178693 -0.42867088 0.79895999 -2.4245176 ] [ 0. 0. 0. 1. ]] SLAMing on 208.02134618399998 meters Centerline goodness : 0.890386 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.01, Z:-2.42 [[ 0.42527317 -0.68455591 -0.59205231 -1.17502118] [ 0.80065629 0.58956944 -0.106571 -0.01057259] [ 0.42200976 -0.42870862 0.79882206 -2.42409785] [ 0. 0. 0. 1. ]] SLAMing on 208.05134618399998 meters Centerline goodness : 0.889576 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.02, Z:-2.43 [[ 0.42289861 -0.67959517 -0.59942237 -1.17918305] [ 0.79814262 0.59257508 -0.10873427 -0.02383227] [ 0.42909804 -0.43244097 0.79301304 -2.42537822] [ 0. 0. 0. 1. ]] SLAMing on 208.08134618399998 meters Centerline goodness : 0.889465 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.02, Z:-2.43 [[ 0.42297138 -0.6794103 -0.59958057 -1.17849389] [ 0.79789902 0.5928673 -0.10892898 -0.02291921] [ 0.42947918 -0.43233091 0.79286671 -2.42551282] [ 0. 0. 0. 1. ]] SLAMing on 208.11134618399998 meters Centerline goodness : 0.891340 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.02, Z:-2.43 [[ 0.42299221 -0.67964599 -0.59929868 -1.17922323] [ 0.79766098 0.59306748 -0.10958066 -0.02087848] [ 0.42990062 -0.43168541 0.79299002 -2.42654212] [ 0. 0. 0. 1. ]] SLAMing on 208.14134618399999 meters Centerline goodness : 0.891250 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.02, Z:-2.43 [[ 0.42307079 -0.68012087 -0.59870419 -1.17999561] [ 0.7975857 0.59307037 -0.11011169 -0.01936035] [ 0.42996298 -0.43093286 0.79336543 -2.42791469] [ 0. 0. 0. 1. ]] SLAMing on 208.171346184 meters Centerline goodness : 0.891340 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.02, Z:-2.43 [[ 0.42478992 -0.67626186 -0.60184999 -1.17778439] [ 0.79570396 0.5959714 -0.10804305 -0.01866099] [ 0.43175078 -0.43299882 0.79126689 -2.42685275] [ 0. 0. 0. 1. ]] SLAMing on 208.201346184 meters Centerline goodness : 0.891357 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.02, Z:-2.43 [[ 0.42471193 -0.6766003 -0.60152457 -1.1785323 ] [ 0.79560113 0.59599942 -0.10864409 -0.01713482] [ 0.43201692 -0.43243119 0.79143203 -2.4276241 ] [ 0. 0. 0. 1. ]] SLAMing on 208.231346184 meters Centerline goodness : 0.893168 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.02, Z:-2.43 [[ 0.42601742 -0.67336524 -0.60422547 -1.17734592] [ 0.79421032 0.59820404 -0.10668596 -0.01725852] [ 0.43328873 -0.43443202 0.78963896 -2.426263 ] [ 0. 0. 0. 1. ]] SLAMing on 208.261346184 meters Centerline goodness : 0.892587 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.02, Z:-2.43 [[ 0.42620006 -0.67316523 -0.60431952 -1.17810364] [ 0.79406756 0.59841476 -0.10656676 -0.01730344] [ 0.43337076 -0.43445178 0.78958308 -2.42618376] [ 0. 0. 0. 1. ]] SLAMing on 208.291346184 meters Centerline goodness : 0.894447 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.02, Z:-2.43 [[ 0.42603028 -0.67355998 -0.6039993 -1.1793007 ] [ 0.79418028 0.598202 -0.10692078 -0.0167527 ] [ 0.43333114 -0.43413285 0.78978022 -2.42645663] [ 0. 0. 0. 1. ]] SLAMing on 208.321346184 meters Centerline goodness : 0.892005 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.02, Z:-2.43 [[ 0.42568627 -0.67404473 -0.603701 -1.17794181] [ 0.79437702 0.59785779 -0.10738346 -0.0155566 ] [ 0.4333086 -0.43385454 0.7899455 -2.42716578] [ 0. 0. 0. 1. ]] SLAMing on 208.351346184 meters Centerline goodness : 0.892365 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.01, Z:-2.43 [[ 0.42535983 -0.67411603 -0.60385146 -1.17555716] [ 0.79445596 0.59770787 -0.10763376 -0.01462498] [ 0.43348441 -0.43395032 0.78979642 -2.42724054] [ 0. 0. 0. 1. ]] SLAMing on 208.381346184 meters Centerline goodness : 0.891155 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.01, Z:-2.43 [[ 0.42496521 -0.67409977 -0.60414739 -1.17349415] [ 0.79456956 0.59752658 -0.10780169 -0.01395469] [ 0.43366322 -0.43422516 0.78954716 -2.4268813 ] [ 0. 0. 0. 1. ]] SLAMing on 208.411346184 meters Centerline goodness : 0.891155 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.01, Z:-2.43 [[ 0.42496521 -0.67409977 -0.60414739 -1.17349415] [ 0.79456956 0.59752658 -0.10780169 -0.01395469] [ 0.43366322 -0.43422516 0.78954716 -2.4268813 ] [ 0. 0. 0. 1. ]] SLAMing on 208.441346184 meters Centerline goodness : 0.891043 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.02, Z:-2.43 [[ 0.42486261 -0.67366091 -0.60470881 -1.17114191] [ 0.79468297 0.59747269 -0.10726306 -0.0154149 ] [ 0.43355593 -0.43497972 0.78919066 -2.42555815] [ 0. 0. 0. 1. ]] SLAMing on 208.471346184 meters Centerline goodness : 0.891052 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.02, Z:-2.42 [[ 0.42491076 -0.67317299 -0.60521812 -1.17062642] [ 0.79458945 0.59766147 -0.10690353 -0.01599589] [ 0.43368012 -0.43547547 0.78884895 -2.42468813] [ 0. 0. 0. 1. ]] SLAMing on 208.501346184 meters Centerline goodness : 0.891191 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.02, Z:-2.42 [[ 0.42477278 -0.67312217 -0.60537148 -1.17084079] [ 0.79458379 0.59765166 -0.10700045 -0.01539641] [ 0.43382565 -0.43556748 0.78871812 -2.42456398] [ 0. 0. 0. 1. ]] SLAMing on 208.531346184 meters Centerline goodness : 0.889719 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.01, Z:-2.42 [[ 0.42426943 -0.67334344 -0.60547838 -1.16990221] [ 0.79466387 0.59744257 -0.10757188 -0.01349614] [ 0.43417138 -0.43551233 0.78855832 -2.42476166] [ 0. 0. 0. 1. ]] SLAMing on 208.561346184 meters Centerline goodness : 0.887580 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.01, Z:-2.42 [[ 0.42440939 -0.67240642 -0.60642087 -1.16743334] [ 0.79435942 0.59793891 -0.10706157 -0.0142772 ] [ 0.43459152 -0.43627819 0.78790326 -2.42331803] [ 0. 0. 0. 1. ]] SLAMing on 208.591346184 meters Centerline goodness : 0.889684 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-2.42 [[ 0.42470625 -0.67127789 -0.60746242 -1.16483438] [ 0.79403407 0.59851647 -0.10624466 -0.01586388] [ 0.43489595 -0.43722309 0.7872112 -2.42158674] [ 0. 0. 0. 1. ]] SLAMing on 208.621346184 meters Centerline goodness : 0.890702 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-2.42 [[ 0.42440021 -0.67074926 -0.60825973 -1.1635235 ] [ 0.79400102 0.59858828 -0.10608699 -0.01607971] [ 0.43525491 -0.43793551 0.78661659 -2.42004284] [ 0. 0. 0. 1. ]] SLAMing on 208.651346184 meters Centerline goodness : 0.889583 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.01, Z:-2.42 [[ 0.42406451 -0.67054405 -0.60871994 -1.16252547] [ 0.79397998 0.59858632 -0.10625539 -0.01495027] [ 0.43562035 -0.43825231 0.78623777 -2.41962457] [ 0. 0. 0. 1. ]] SLAMing on 208.68134618399998 meters Centerline goodness : 0.887593 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.01, Z:-2.42 [[ 0.42208139 -0.67460414 -0.60560429 -1.16165541] [ 0.79565048 0.59583457 -0.1091855 -0.01209258] [ 0.43449696 -0.43576418 0.78823979 -2.42198994] [ 0. 0. 0. 1. ]] SLAMing on 208.71134618399998 meters Centerline goodness : 0.887248 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.01, Z:-2.42 [[ 0.42202996 -0.67348706 -0.6068821 -1.1575947 ] [ 0.79524814 0.59642977 -0.1088666 -0.01142087] [ 0.4352828 -0.43667689 0.78730056 -2.42073759] [ 0. 0. 0. 1. ]] SLAMing on 208.74134618399998 meters Centerline goodness : 0.888078 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.01, Z:-2.42 [[ 0.42184782 -0.67386653 -0.60658743 -1.15640873] [ 0.7953986 0.59617785 -0.10914688 -0.01067858] [ 0.43518442 -0.43643542 0.78748882 -2.42135104] [ 0. 0. 0. 1. ]] SLAMing on 208.77134618399998 meters Centerline goodness : 0.887594 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.01, Z:-2.42 [[ 0.42144813 -0.67442039 -0.60624963 -1.1569208 ] [ 0.79559095 0.59581277 -0.1097369 -0.00897927] [ 0.43522007 -0.4360783 0.78766694 -2.42208122] [ 0. 0. 0. 1. ]] SLAMing on 208.80134618399998 meters Centerline goodness : 0.887187 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.01, Z:-2.42 [[ 0.42107296 -0.67494457 -0.60592689 -1.1579495 ] [ 0.79574467 0.59549544 -0.1103431 -0.00749609] [ 0.43530217 -0.4357006 0.78783057 -2.42261613] [ 0. 0. 0. 1. ]] SLAMing on 208.83134618399998 meters Centerline goodness : 0.888370 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.01, Z:-2.42 [[ 0.42070911 -0.67551581 -0.60554293 -1.15907644] [ 0.79590285 0.59516635 -0.11097595 -0.00595051] [ 0.43536478 -0.43526475 0.78803686 -2.42325856] [ 0. 0. 0. 1. ]] SLAMing on 208.86134618399998 meters Centerline goodness : 0.887492 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 0.4204031 -0.67635661 -0.60481647 -1.16066931] [ 0.7960789 0.59477949 -0.11178434 -0.00392292] [ 0.43533851 -0.43448715 0.78848037 -2.42460183] [ 0. 0. 0. 1. ]] SLAMing on 208.89134618399999 meters Centerline goodness : 0.885818 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 0.4203641 -0.67634739 -0.60485389 -1.16021173] [ 0.79611519 0.59473778 -0.11174781 -0.00426995] [ 0.43530981 -0.4345586 0.78845684 -2.42428622] [ 0. 0. 0. 1. ]] SLAMing on 208.921346184 meters Centerline goodness : 0.887797 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.01, Z:-2.42 [[ 0.42034515 -0.67618964 -0.6050434 -1.15899754] [ 0.79613497 0.59474366 -0.11157551 -0.00500786] [ 0.43529193 -0.43479599 0.78833583 -2.42366231] [ 0. 0. 0. 1. ]] SLAMing on 208.951346184 meters Centerline goodness : 0.887012 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.43 [[ 0.41877297 -0.67994088 -0.60192159 -1.1605675 ] [ 0.79777336 0.59211501 -0.11383092 -0.00469628] [ 0.4338051 -0.4325277 0.79040048 -2.42512896] [ 0. 0. 0. 1. ]] SLAMing on 208.981346184 meters Centerline goodness : 0.887798 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 0.41750833 -0.67977954 -0.6029814 -1.15877092] [ 0.7981305 0.59155045 -0.11426185 -0.00268664] [ 0.43436679 -0.43355258 0.78953002 -2.42357645] [ 0. 0. 0. 1. ]] SLAMing on 209.011346184 meters Centerline goodness : 0.886791 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 4.16740057e-01 -6.80307977e-01 -6.02916894e-01 -1.15845145e+00] [ 7.98470783e-01 5.90964727e-01 -1.14913447e-01 -1.04619491e-03] [ 4.34479152e-01 -4.33522488e-01 7.89484717e-01 -2.42365244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.041346184 meters Centerline goodness : 0.887530 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 4.16213787e-01 -6.80411064e-01 -6.03164047e-01 -1.15748584e+00] [ 7.98616033e-01 5.90699917e-01 -1.15265085e-01 -6.03105216e-05] [ 4.34716591e-01 -4.33721561e-01 7.89244634e-01 -2.42325329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.071346184 meters Centerline goodness : 0.885853 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 4.16389951e-01 -6.80385519e-01 -6.03071268e-01 -1.15724730e+00] [ 7.98542097e-01 5.90812136e-01 -1.15202168e-01 -3.16567706e-04] [ 4.34683711e-01 -4.33608770e-01 7.89324715e-01 -2.42336951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.101346184 meters Centerline goodness : 0.887345 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 4.16971585e-01 -6.79914914e-01 -6.03200139e-01 -1.15748292e+00] [ 7.98171476e-01 5.91382149e-01 -1.14845328e-01 -1.07750008e-03] [ 4.34806845e-01 -4.33569907e-01 7.89278242e-01 -2.42324874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.131346184 meters Centerline goodness : 0.887553 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 4.17267787e-01 -6.79776931e-01 -6.03150825e-01 -1.15763662e+00] [ 7.98028815e-01 5.91606837e-01 -1.14679379e-01 -1.83283491e-03] [ 4.34784548e-01 -4.33479727e-01 7.89340055e-01 -2.42308751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.161346184 meters Centerline goodness : 0.889168 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 0.41933117 -0.67563754 -0.60636233 -1.15537902] [ 0.79612649 0.59466708 -0.11204316 -0.00394971] [ 0.43628429 -0.43575793 0.78725539 -2.42078429] [ 0. 0. 0. 1. ]] SLAMing on 209.191346184 meters Centerline goodness : 0.889647 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.01, Z:-2.42 [[ 0.42143074 -0.67219169 -0.60873185 -1.15711579] [ 0.79447033 0.59733386 -0.10958625 -0.00594727] [ 0.43727911 -0.43743638 0.78577121 -2.41962084] [ 0. 0. 0. 1. ]] SLAMing on 209.221346184 meters Centerline goodness : 0.891169 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 0.42119892 -0.67263959 -0.60839744 -1.15894377] [ 0.79455835 0.59712319 -0.11009509 -0.00463097] [ 0.43734254 -0.43703534 0.78595904 -2.42022232] [ 0. 0. 0. 1. ]] SLAMing on 209.251346184 meters Centerline goodness : 0.892578 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 0.42096323 -0.67272144 -0.60847006 -1.15917459] [ 0.79454447 0.59707954 -0.11043141 -0.00359569] [ 0.4375946 -0.43696896 0.78585564 -2.42020132] [ 0. 0. 0. 1. ]] SLAMing on 209.281346184 meters Centerline goodness : 0.890430 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 0.41985767 -0.67515861 -0.60653144 -1.15800895] [ 0.79552455 0.59545328 -0.11214312 -0.00299277] [ 0.43687552 -0.4354265 0.78711088 -2.42081707] [ 0. 0. 0. 1. ]] SLAMing on 209.311346184 meters Centerline goodness : 0.891129 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-2.42 [[ 0.4196608 -0.67454803 -0.6073465 -1.15542491] [ 0.79538274 0.59567116 -0.11199183 -0.00283307] [ 0.43732266 -0.43607434 0.78650369 -2.41970826] [ 0. 0. 0. 1. ]] SLAMing on 209.341346184 meters Centerline goodness : 0.893949 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.00, Z:-2.42 [[ 0.41903279 -0.67376628 -0.60864647 -1.15128352] [ 0.79545255 0.59562999 -0.11171461 -0.00287266] [ 0.43779763 -0.4373373 0.7855376 -2.41765928] [ 0. 0. 0. 1. ]] SLAMing on 209.371346184 meters Centerline goodness : 0.892862 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.00, Z:-2.42 [[ 4.18567451e-01 -6.73741236e-01 -6.08994283e-01 -1.15053744e+00] [ 7.95468457e-01 5.95533283e-01 -1.12116202e-01 -1.33139191e-03] [ 4.38213673e-01 -4.37507549e-01 7.85210749e-01 -2.41744165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.401346184 meters Centerline goodness : 0.893796 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.00, Z:-2.42 [[ 4.17764783e-01 -6.74064746e-01 -6.09187412e-01 -1.15080684e+00] [ 7.95517154e-01 5.95276857e-01 -1.13127899e-01 2.08662463e-03] [ 4.38890697e-01 -4.37358184e-01 7.84915776e-01 -2.41776504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43134618399998 meters Centerline goodness : 0.893574 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.00, Z:-2.42 [[ 0.41856357 -0.67058966 -0.61246554 -1.1488432 ] [ 0.79399075 0.59758427 -0.11167686 0.00456367] [ 0.44088912 -0.43954811 0.782569 -2.41640337] [ 0. 0. 0. 1. ]] SLAMing on 209.46134618399998 meters Centerline goodness : 0.892018 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.01, Z:-2.42 [[ 0.41836511 -0.67110777 -0.61203349 -1.14772922] [ 0.79413555 0.59730913 -0.11211836 0.00555192] [ 0.44081669 -0.43913115 0.78284384 -2.41718518] [ 0. 0. 0. 1. ]] SLAMing on 209.49134618399998 meters Centerline goodness : 0.891976 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.01, Z:-2.42 [[ 0.41860013 -0.67042255 -0.61262349 -1.14548901] [ 0.79380551 0.59780601 -0.1118069 0.00529023] [ 0.44118787 -0.43950152 0.78242679 -2.41655198] [ 0. 0. 0. 1. ]] SLAMing on 209.52134618399998 meters Centerline goodness : 0.892624 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.00, Z:-2.42 [[ 0.41873981 -0.67015365 -0.61282221 -1.14488471] [ 0.79372961 0.59795602 -0.11154331 0.004303 ] [ 0.44119188 -0.43970751 0.78230878 -2.41588252] [ 0. 0. 0. 1. ]] SLAMing on 209.55134618399998 meters Centerline goodness : 0.896719 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.00, Z:-2.41 [[ 0.41838489 -0.66989338 -0.61334895 -1.14531664] [ 0.79390144 0.59776761 -0.1113301 0.00385486] [ 0.44121944 -0.44035978 0.78192626 -2.41458085] [ 0. 0. 0. 1. ]] SLAMing on 209.58134618399998 meters Centerline goodness : 0.893497 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.01, Z:-2.41 [[ 0.41739409 -0.67033764 -0.61353861 -1.14536477] [ 0.79430771 0.59710124 -0.11200613 0.00539261] [ 0.44142659 -0.44058775 0.78168088 -2.4139065 ] [ 0. 0. 0. 1. ]] SLAMing on 209.61134618399998 meters Centerline goodness : 0.894824 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.01, Z:-2.41 [[ 0.41654782 -0.67022547 -0.6142359 -1.14450039] [ 0.79449691 0.59677847 -0.11238382 0.00695506] [ 0.44188526 -0.44119529 0.78107883 -2.41286433] [ 0. 0. 0. 1. ]] SLAMing on 209.64134618399999 meters Centerline goodness : 0.894882 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.01, Z:-2.41 [[ 0.41500795 -0.67081914 -0.61463004 -1.14413226] [ 0.79527957 0.59560527 -0.11306976 0.00822956] [ 0.44192625 -0.44187786 0.78066968 -2.41138236] [ 0. 0. 0. 1. ]] SLAMing on 209.671346184 meters Centerline goodness : 0.893504 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.01, Z:-2.41 [[ 0.414588 -0.67054674 -0.61521042 -1.14278931] [ 0.7953762 0.59548146 -0.11304217 0.00839826] [ 0.44214646 -0.4424578 0.78021638 -2.41032654] [ 0. 0. 0. 1. ]] SLAMing on 209.701346184 meters Centerline goodness : 0.893728 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.01, Z:-2.41 [[ 0.41454747 -0.67041064 -0.61538603 -1.1411831 ] [ 0.79540389 0.59547128 -0.11290086 0.00786639] [ 0.44213465 -0.44267767 0.78009835 -2.40982967] [ 0. 0. 0. 1. ]] SLAMing on 209.731346184 meters Centerline goodness : 0.893836 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.01, Z:-2.41 [[ 0.41316502 -0.67405508 -0.61232705 -1.14138153] [ 0.79691953 0.59302158 -0.11508546 0.00801851] [ 0.44069709 -0.4404261 0.78218344 -2.41140513] [ 0. 0. 0. 1. ]] SLAMing on 209.761346184 meters Centerline goodness : 0.894701 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.01, Z:-2.41 [[ 0.41560959 -0.66979312 -0.61534205 -1.13951043] [ 0.79472855 0.59645467 -0.11246497 0.00714964] [ 0.4423519 -0.44228837 0.78019599 -2.41047577] [ 0. 0. 0. 1. ]] SLAMing on 209.791346184 meters Centerline goodness : 0.896142 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.01, Z:-2.41 [[ 0.41551696 -0.67063313 -0.61448911 -1.14203307] [ 0.79474042 0.59627159 -0.1133484 0.00961411] [ 0.44241759 -0.44126115 0.78074021 -2.41234934] [ 0. 0. 0. 1. ]] SLAMing on 209.821346184 meters Centerline goodness : 0.895453 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.01, Z:-2.41 [[ 0.41622861 -0.66852393 -0.61630309 -1.14286719] [ 0.79382678 0.59769984 -0.11222274 0.00984377] [ 0.44338784 -0.44252759 0.77947197 -2.41137544] [ 0. 0. 0. 1. ]] SLAMing on 209.851346184 meters Centerline goodness : 0.895536 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.01, Z:-2.41 [[ 0.41624192 -0.66873169 -0.61606866 -1.14348204] [ 0.79385404 0.5976372 -0.11236345 0.01004973] [ 0.44332654 -0.44229822 0.77963701 -2.41163939] [ 0. 0. 0. 1. ]] SLAMing on 209.881346184 meters Centerline goodness : 0.896094 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.01, Z:-2.41 [[ 0.41619084 -0.66846624 -0.61639117 -1.14247544] [ 0.79397302 0.59755743 -0.11194623 0.00841436] [ 0.4431614 -0.44280696 0.77944209 -2.41035826] [ 0. 0. 0. 1. ]] SLAMing on 209.911346184 meters Centerline goodness : 0.895763 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.01, Z:-2.41 [[ 0.41563473 -0.66816101 -0.61709694 -1.14006785] [ 0.79410507 0.59737992 -0.11195701 0.00864439] [ 0.44344663 -0.44350659 0.77888189 -2.40901801] [ 0. 0. 0. 1. ]] SLAMing on 209.941346184 meters Centerline goodness : 0.895608 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.01, Z:-2.41 [[ 0.41481169 -0.66834678 -0.61744946 -1.1382137 ] [ 0.79451625 0.59678518 -0.11221133 0.00902993] [ 0.44348077 -0.44402706 0.77856585 -2.4080136 ] [ 0. 0. 0. 1. ]] SLAMing on 209.971346184 meters Centerline goodness : 0.893512 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.01, Z:-2.41 [[ 0.41181312 -0.67206171 -0.615421 -1.13555285] [ 0.79659455 0.59346681 -0.11504032 0.01295174] [ 0.44254613 -0.4428659 0.77975811 -2.40884999] [ 0. 0. 0. 1. ]] SLAMing on 210.001346184 meters Centerline goodness : 0.894823 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-2.41 [[ 0.4108657 -0.67250605 -0.61556883 -1.13426718] [ 0.79701332 0.59278671 -0.11564461 0.01446269] [ 0.44267272 -0.44310215 0.77955202 -2.4084541 ] [ 0. 0. 0. 1. ]] SLAMing on 210.031346184 meters Centerline goodness : 0.895986 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-2.41 [[ 0.41033834 -0.67237694 -0.61606144 -1.13289886] [ 0.79716836 0.59255652 -0.11575566 0.01489576] [ 0.44288266 -0.4436057 0.77914628 -2.40748608] [ 0. 0. 0. 1. ]] SLAMing on 210.061346184 meters Centerline goodness : 0.896839 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-2.41 [[ 0.40995697 -0.67257658 -0.61609741 -1.13309154] [ 0.79772021 0.59189382 -0.1153437 0.01204112] [ 0.44224172 -0.44418741 0.77917893 -2.40569581] [ 0. 0. 0. 1. ]] SLAMing on 210.091346184 meters Centerline goodness : 0.894114 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-2.40 [[ 0.41026344 -0.67185489 -0.61668056 -1.13188098] [ 0.79745401 0.59235351 -0.11482343 0.0110454 ] [ 0.44243758 -0.44466654 0.77879436 -2.40477435] [ 0. 0. 0. 1. ]] SLAMing on 210.121346184 meters Centerline goodness : 0.896545 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-2.40 [[ 0.41061723 -0.67178021 -0.61652643 -1.13237752] [ 0.79732606 0.59256214 -0.11463531 0.01026721] [ 0.44233996 -0.44450136 0.77894409 -2.40484038] [ 0. 0. 0. 1. ]] SLAMing on 210.151346184 meters Centerline goodness : 0.896364 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-2.41 [[ 0.41148822 -0.67131251 -0.61645516 -1.13386742] [ 0.79664565 0.59349459 -0.11454207 0.01119726] [ 0.44275633 -0.44396361 0.77901422 -2.40606489] [ 0. 0. 0. 1. ]] SLAMing on 210.18134618399998 meters Centerline goodness : 0.897356 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-2.41 [[ 0.41154538 -0.67128499 -0.61644697 -1.1333328 ] [ 0.79643695 0.5937195 -0.11482746 0.01258655] [ 0.44307853 -0.44370443 0.77897869 -2.40674026] [ 0. 0. 0. 1. ]] SLAMing on 210.21134618399998 meters Centerline goodness : 0.897460 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-2.41 [[ 0.41155083 -0.67117931 -0.61655839 -1.13291274] [ 0.79623258 0.59394476 -0.11507954 0.01365275] [ 0.44344063 -0.4435628 0.77885329 -2.40693465] [ 0. 0. 0. 1. ]] SLAMing on 210.24134618399998 meters Centerline goodness : 0.897359 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-2.41 [[ 0.41155004 -0.67111832 -0.61662531 -1.13357415] [ 0.79599036 0.59419812 -0.11544673 0.0150014 ] [ 0.44387601 -0.44331569 0.77874597 -2.40715613] [ 0. 0. 0. 1. ]] SLAMing on 210.27134618399998 meters Centerline goodness : 0.897203 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-2.41 [[ 0.41125924 -0.67092852 -0.61702574 -1.13211305] [ 0.79593582 0.59423374 -0.11563926 0.01590951] [ 0.44424318 -0.44355518 0.77840015 -2.40670141] [ 0. 0. 0. 1. ]] SLAMing on 210.30134618399998 meters Centerline goodness : 0.897203 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-2.41 [[ 0.41125924 -0.67092852 -0.61702574 -1.13211305] [ 0.79593582 0.59423374 -0.11563926 0.01590951] [ 0.44424318 -0.44355518 0.77840015 -2.40670141] [ 0. 0. 0. 1. ]] SLAMing on 210.33134618399998 meters Centerline goodness : 0.897664 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-2.41 [[ 0.41087048 -0.67046383 -0.61778937 -1.129282 ] [ 0.79589578 0.59428804 -0.11563577 0.01666658] [ 0.44467444 -0.44418463 0.77779474 -2.40575611] [ 0. 0. 0. 1. ]] SLAMing on 210.36134618399998 meters Centerline goodness : 0.896610 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-2.41 [[ 0.41018347 -0.67078741 -0.61789462 -1.12760033] [ 0.79618661 0.59380813 -0.11609817 0.01782171] [ 0.44478804 -0.44433787 0.77764224 -2.40545867] [ 0. 0. 0. 1. ]] SLAMing on 210.39134618399999 meters Centerline goodness : 0.895521 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-2.40 [[ 0.40884948 -0.67082498 -0.61873739 -1.1267979 ] [ 0.79657027 0.59316669 -0.11674369 0.02030497] [ 0.44532899 -0.44513721 0.77687512 -2.40421063] [ 0. 0. 0. 1. ]] SLAMing on 210.421346184 meters Centerline goodness : 0.896109 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-2.40 [[ 0.40819655 -0.67090633 -0.61908018 -1.12628833] [ 0.79672605 0.59287228 -0.11717535 0.02176166] [ 0.44564916 -0.44540673 0.77653697 -2.40365206] [ 0. 0. 0. 1. ]] SLAMing on 210.451346184 meters Centerline goodness : 0.895040 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-2.40 [[ 0.40813994 -0.67145317 -0.6185244 -1.1282042 ] [ 0.79682973 0.59265425 -0.11757263 0.02243676] [ 0.44551563 -0.44487255 0.77691971 -2.404368 ] [ 0. 0. 0. 1. ]] SLAMing on 210.481346184 meters Centerline goodness : 0.895433 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-2.40 [[ 0.40817047 -0.67137605 -0.61858796 -1.12818574] [ 0.79663539 0.59286867 -0.11780828 0.02347288] [ 0.44583508 -0.4447032 0.77683341 -2.40458774] [ 0. 0. 0. 1. ]] SLAMing on 210.511346184 meters Centerline goodness : 0.894718 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.03, Z:-2.40 [[ 0.40793256 -0.67146363 -0.61864984 -1.12769869] [ 0.79653199 0.59290977 -0.11829957 0.02522404] [ 0.4462374 -0.44451615 0.77670946 -2.40490809] [ 0. 0. 0. 1. ]] SLAMing on 210.541346184 meters Centerline goodness : 0.893747 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.03, Z:-2.41 [[ 0.40745495 -0.67196575 -0.61841935 -1.12772831] [ 0.79668133 0.59257358 -0.11897655 0.02696583] [ 0.44640713 -0.44420556 0.77678961 -2.40537309] [ 0. 0. 0. 1. ]] SLAMing on 210.571346184 meters Centerline goodness : 0.894892 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.03, Z:-2.41 [[ 0.4061056 -0.67331584 -0.61783819 -1.12858746] [ 0.79742297 0.59131479 -0.12026398 0.0297997 ] [ 0.4463125 -0.44383848 0.77705376 -2.40591897] [ 0. 0. 0. 1. ]] SLAMing on 210.601346184 meters Centerline goodness : 0.893762 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.03, Z:-2.41 [[ 0.40506539 -0.67345451 -0.61836968 -1.12757451] [ 0.79770609 0.59080437 -0.12089328 0.0320001 ] [ 0.44675163 -0.44430757 0.77653317 -2.40512955] [ 0. 0. 0. 1. ]] SLAMing on 210.631346184 meters Centerline goodness : 0.894145 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.03, Z:-2.40 [[ 0.40385015 -0.67420002 -0.61835216 -1.12693778] [ 0.79824621 0.58988375 -0.1218202 0.03426538] [ 0.44688707 -0.44440016 0.77640224 -2.40485015] [ 0. 0. 0. 1. ]] SLAMing on 210.661346184 meters Centerline goodness : 0.891996 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.04, Z:-2.40 [[ 0.40253731 -0.67467459 -0.61869048 -1.12643044] [ 0.79869492 0.58908565 -0.12273765 0.03693496] [ 0.44726965 -0.44473845 0.77598812 -2.40423377] [ 0. 0. 0. 1. ]] SLAMing on 210.691346184 meters Centerline goodness : 0.892794 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.04, Z:-2.40 [[ 0.40036707 -0.67561178 -0.61907587 -1.12710009] [ 0.79962845 0.58753973 -0.12406213 0.04063532] [ 0.44754951 -0.44536029 0.77546996 -2.40316313] [ 0. 0. 0. 1. ]] SLAMing on 210.721346184 meters Centerline goodness : 0.892106 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.04, Z:-2.40 [[ 0.39938171 -0.67621491 -0.61905383 -1.12704032] [ 0.80018687 0.58666569 -0.12459674 0.04117201] [ 0.44743181 -0.44559708 0.77540184 -2.40228543] [ 0. 0. 0. 1. ]] SLAMing on 210.751346184 meters Centerline goodness : 0.892535 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.04, Z:-2.40 [[ 0.39869539 -0.67609804 -0.61962362 -1.1253147 ] [ 0.80037052 0.58636859 -0.12481548 0.04197364] [ 0.44771533 -0.44616512 0.77491139 -2.40112459] [ 0. 0. 0. 1. ]] SLAMing on 210.781346184 meters Centerline goodness : 0.892614 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.04, Z:-2.40 [[ 0.39719699 -0.67758082 -0.6189659 -1.12580128] [ 0.80121547 0.58492375 -0.12616647 0.04490244] [ 0.44753584 -0.44581211 0.77521819 -2.40171015] [ 0. 0. 0. 1. ]] SLAMing on 210.811346184 meters Centerline goodness : 0.893415 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.05, Z:-2.40 [[ 0.39652881 -0.67852959 -0.61835467 -1.12704738] [ 0.80145557 0.58435426 -0.12727555 0.04818658] [ 0.44769841 -0.44511538 0.77552462 -2.40319925] [ 0. 0. 0. 1. ]] SLAMing on 210.841346184 meters Centerline goodness : 0.892355 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.05, Z:-2.41 [[ 0.39607017 -0.67953028 -0.6175492 -1.1292057 ] [ 0.80159298 0.58391657 -0.12841394 0.05151048] [ 0.44785836 -0.44416217 0.77597864 -2.40505132] [ 0. 0. 0. 1. ]] SLAMing on 210.871346184 meters Centerline goodness : 0.892663 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.05, Z:-2.41 [[ 0.39536318 -0.68075222 -0.61665579 -1.13158553] [ 0.80188269 0.58322754 -0.12972967 0.05485019] [ 0.4479644 -0.44319527 0.77647012 -2.40671149] [ 0. 0. 0. 1. ]] SLAMing on 210.901346184 meters Centerline goodness : 0.891812 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.06, Z:-2.41 [[ 0.39443358 -0.68134047 -0.61660143 -1.13219195] [ 0.80193096 0.5828612 -0.13107077 0.06007031] [ 0.44869687 -0.44277306 0.77628805 -2.40804869] [ 0. 0. 0. 1. ]] SLAMing on 210.93134618399998 meters Centerline goodness : 0.889637 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.06, Z:-2.41 [[ 0.39372825 -0.68205391 -0.61626337 -1.13266303] [ 0.80229231 0.58220424 -0.13177731 0.06151793] [ 0.44867038 -0.44253891 0.77643686 -2.40827096] [ 0. 0. 0. 1. ]] SLAMing on 210.96134618399998 meters Centerline goodness : 0.891522 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.06, Z:-2.41 [[ 0.39284351 -0.68276057 -0.61604543 -1.13301244] [ 0.80272861 0.58143525 -0.1325135 0.06289702] [ 0.44866553 -0.44246022 0.77648451 -2.4081265 ] [ 0. 0. 0. 1. ]] SLAMing on 210.99134618399998 meters Centerline goodness : 0.893052 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.07, Z:-2.41 [[ 0.39127116 -0.68395728 -0.61571853 -1.13506472] [ 0.80346098 0.58011917 -0.13383651 0.06590173] [ 0.44872858 -0.44233945 0.77651689 -2.40808472] [ 0. 0. 0. 1. ]] SLAMing on 211.02134618399998 meters Centerline goodness : 0.892461 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.07, Z:-2.41 [[ 0.39046129 -0.68487249 -0.61521513 -1.13682773] [ 0.80386623 0.57934605 -0.13474883 0.06790554] [ 0.44870822 -0.44193646 0.77675807 -2.40862349] [ 0. 0. 0. 1. ]] SLAMing on 211.05134618399998 meters Centerline goodness : 0.891339 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.07, Z:-2.41 [[ 0.38971264 -0.6856227 -0.61485411 -1.13853364] [ 0.80419535 0.57869517 -0.13557924 0.06974684] [ 0.44876931 -0.44162587 0.77689941 -2.40894179] [ 0. 0. 0. 1. ]] SLAMing on 211.08134618399998 meters Centerline goodness : 0.892731 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.07, Z:-2.41 [[ 0.38908187 -0.68695301 -0.61376776 -1.14219781] [ 0.80461455 0.57785077 -0.13668914 0.07223894] [ 0.44856519 -0.4406632 0.77756364 -2.41050862] [ 0. 0. 0. 1. ]] SLAMing on 211.11134618399998 meters Centerline goodness : 0.892306 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.07, Z:-2.41 [[ 0.38873633 -0.68774442 -0.61310005 -1.14327337] [ 0.80475283 0.57746236 -0.13751402 0.07448945] [ 0.4486167 -0.43993731 0.77794487 -2.4118794 ] [ 0. 0. 0. 1. ]] SLAMing on 211.14134618399999 meters Centerline goodness : 0.892381 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.08, Z:-2.41 [[ 0.38821857 -0.68850044 -0.61257936 -1.14386622] [ 0.80500975 0.57692627 -0.13825842 0.0762135 ] [ 0.44860411 -0.43945787 0.77822306 -2.41263438] [ 0. 0. 0. 1. ]] SLAMing on 211.171346184 meters Centerline goodness : 0.889513 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.08, Z:-2.41 [[ 0.38819384 -0.68947902 -0.61149344 -1.14510082] [ 0.80506688 0.57664315 -0.13910428 0.07871642] [ 0.44852298 -0.43829369 0.77892604 -2.41491219] [ 0. 0. 0. 1. ]] SLAMing on 211.201346184 meters Centerline goodness : 0.890282 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.08, Z:-2.42 [[ 0.3878438 -0.69036283 -0.61071789 -1.14631974] [ 0.80514744 0.57628456 -0.14012033 0.08180245] [ 0.44868116 -0.43737314 0.77935226 -2.41677032] [ 0. 0. 0. 1. ]] SLAMing on 211.231346184 meters Centerline goodness : 0.890217 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.09, Z:-2.42 [[ 0.38715589 -0.69138131 -0.6100018 -1.14708885] [ 0.80540025 0.57564919 -0.1412744 0.08523487] [ 0.44882152 -0.43660038 0.77970465 -2.41847001] [ 0. 0. 0. 1. ]] SLAMing on 211.261346184 meters Centerline goodness : 0.888273 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.09, Z:-2.42 [[ 0.38626723 -0.69294047 -0.60879482 -1.1482323 ] [ 0.80583538 0.57466183 -0.14280448 0.08917314] [ 0.44880615 -0.43542771 0.78036898 -2.42069642] [ 0. 0. 0. 1. ]] SLAMing on 211.291346184 meters Centerline goodness : 0.888017 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.09, Z:-2.42 [[ 0.3859976 -0.69293168 -0.60897581 -1.14814967] [ 0.80571451 0.57471968 -0.14325299 0.09107186] [ 0.44925492 -0.43536534 0.78014552 -2.42086768] [ 0. 0. 0. 1. ]] SLAMing on 211.321346184 meters Centerline goodness : 0.889047 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.09, Z:-2.42 [[ 0.38683078 -0.68928642 -0.61257341 -1.14569465] [ 0.80428517 0.57714432 -0.14152668 0.09276138] [ 0.45109568 -0.43793683 0.77764003 -2.41877136] [ 0. 0. 0. 1. ]] SLAMing on 211.351346184 meters Centerline goodness : 0.886303 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.10, Z:-2.42 [[ 0.38539699 -0.69083829 -0.61172839 -1.14721138] [ 0.80499251 0.57577398 -0.14307825 0.09660422] [ 0.45106122 -0.43729484 0.77802121 -2.42000099] [ 0. 0. 0. 1. ]] SLAMing on 211.381346184 meters Centerline goodness : 0.888063 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.10, Z:-2.42 [[ 0.38565692 -0.68811292 -0.61462944 -1.144527 ] [ 0.80390679 0.57751946 -0.14214481 0.09979771] [ 0.45277214 -0.43928565 0.77590303 -2.41875741] [ 0. 0. 0. 1. ]] SLAMing on 211.411346184 meters Centerline goodness : 0.887012 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.10, Z:-2.42 [[ 0.38650771 -0.68434754 -0.61828814 -1.14229117] [ 0.80229805 0.58013377 -0.14057966 0.10231674] [ 0.45489518 -0.44171625 0.77327688 -2.41695379] [ 0. 0. 0. 1. ]] SLAMing on 211.441346184 meters Centerline goodness : 0.886692 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-2.42 [[ 0.38743165 -0.68295455 -0.61924938 -1.13505812] [ 0.80543819 0.57755296 -0.13304846 0.11705095] [ 0.44851536 -0.44721992 0.77383998 -2.41805907] [ 0. 0. 0. 1. ]] SLAMing on 211.471346184 meters Centerline goodness : 0.887490 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.13, Z:-2.42 [[ 0.3896045 -0.68778744 -0.61250043 -1.13163456] [ 0.80807643 0.57434266 -0.13093127 0.1321933 ] [ 0.441838 -0.44393575 0.7795513 -2.41672285] [ 0. 0. 0. 1. ]] SLAMing on 211.501346184 meters Centerline goodness : 0.886937 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.14, Z:-2.42 [[ 0.38891246 -0.68810438 -0.61258425 -1.13164497] [ 0.80813549 0.5740664 -0.13177558 0.13509611] [ 0.44233939 -0.4438019 0.77934314 -2.4171017 ] [ 0. 0. 0. 1. ]] SLAMing on 211.531346184 meters Centerline goodness : 0.886269 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.15, Z:-2.42 [[ 0.39033603 -0.68663991 -0.61332162 -1.12330252] [ 0.81101087 0.57175025 -0.12394766 0.14773117] [ 0.4357742 -0.44902926 0.78004715 -2.41773233] [ 0. 0. 0. 1. ]] SLAMing on 211.561346184 meters Centerline goodness : 0.887618 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.16, Z:-2.42 [[ 0.392673 -0.69126073 -0.60660244 -1.12157495] [ 0.8135563 0.56867295 -0.12139695 0.16298903] [ 0.42887534 -0.44583593 0.78568204 -2.41701479] [ 0. 0. 0. 1. ]] SLAMing on 211.591346184 meters Centerline goodness : 0.888043 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.18, Z:-2.42 [[ 0.39567685 -0.6940354 -0.60146047 -1.12364412] [ 0.81550186 0.5667114 -0.11745172 0.18029358] [ 0.42237016 -0.4440192 0.79022174 -2.41772454] [ 0. 0. 0. 1. ]] SLAMing on 211.621346184 meters Centerline goodness : 0.889477 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.20, Z:-2.42 [[ 0.39797579 -0.69935401 -0.5937333 -1.12339256] [ 0.81816493 0.56333733 -0.11513989 0.19529658] [ 0.41499568 -0.43994888 0.79638155 -2.41858042] [ 0. 0. 0. 1. ]] SLAMing on 211.651346184 meters Centerline goodness : 0.889979 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.20, Z:-2.42 [[ 0.39887371 -0.69623198 -0.59679209 -1.12082002] [ 0.81658817 0.56579282 -0.11429022 0.20028449] [ 0.41723318 -0.44174599 0.79421467 -2.4189928 ] [ 0. 0. 0. 1. ]] SLAMing on 211.68134618399998 meters Centerline goodness : 0.889764 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.22, Z:-2.42 [[ 0.40160912 -0.70253455 -0.58749921 -1.12181203] [ 0.81889519 0.56269282 -0.11308163 0.21816809] [ 0.41002534 -0.43568566 0.80128473 -2.4236426 ] [ 0. 0. 0. 1. ]] SLAMing on 211.71134618399998 meters Centerline goodness : 0.891900 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.23, Z:-2.42 [[ 0.40551072 -0.70432403 -0.58265661 -1.12003432] [ 0.82002928 0.56193182 -0.10855695 0.23254907] [ 0.40387256 -0.43377447 0.8054357 -2.42291323] [ 0. 0. 0. 1. ]] SLAMing on 211.74134618399998 meters Centerline goodness : 0.892271 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.25, Z:-2.42 [[ 0.40938084 -0.70741951 -0.57616401 -1.12051158] [ 0.82175729 0.56026398 -0.10401549 0.2455654 ] [ 0.39638653 -0.43088503 0.81068848 -2.42375379] [ 0. 0. 0. 1. ]] SLAMing on 211.77134618399998 meters Centerline goodness : 0.892500 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.26, Z:-2.43 [[ 0.4138718 -0.70993566 -0.56982585 -1.12253419] [ 0.82288397 0.55945713 -0.0993463 0.26130715] [ 0.38932262 -0.42778392 0.8157382 -2.42693195] [ 0. 0. 0. 1. ]] SLAMing on 211.80134618399998 meters Centerline goodness : 0.893961 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.27, Z:-2.43 [[ 0.41700353 -0.71400763 -0.56240658 -1.12192512] [ 0.82487221 0.55715516 -0.09572863 0.2746817 ] [ 0.3816987 -0.42399438 0.82130072 -2.42803264] [ 0. 0. 0. 1. ]] SLAMing on 211.83134618399998 meters Centerline goodness : 0.894442 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.29, Z:-2.43 [[ 0.42044141 -0.7177132 -0.55508268 -1.12130119] [ 0.82669505 0.55514102 -0.09161736 0.28750271] [ 0.37390416 -0.42036438 0.82673422 -2.42949753] [ 0. 0. 0. 1. ]] SLAMing on 211.86134618399998 meters Centerline goodness : 0.893990 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.30, Z:-2.43 [[ 0.42358085 -0.72154763 -0.54767534 -1.12130028] [ 0.82865175 0.55288121 -0.08751372 0.30021835] [ 0.36594472 -0.41676299 0.8321016 -2.4307095 ] [ 0. 0. 0. 1. ]] SLAMing on 211.89134618399999 meters Centerline goodness : 0.896229 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.31, Z:-2.43 [[ 0.42738073 -0.72394036 -0.54153122 -1.12309829] [ 0.82991599 0.5517383 -0.0826093 0.31490412] [ 0.35858772 -0.4141198 0.836612 -2.43313278] [ 0. 0. 0. 1. ]] SLAMing on 211.921346184 meters Centerline goodness : 0.897412 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.33, Z:-2.43 [[ 0.42948123 -0.72810605 -0.53423538 -1.12223792] [ 0.83219179 0.54883311 -0.07898757 0.32779003] [ 0.3507174 -0.41066262 0.8416374 -2.4332434 ] [ 0. 0. 0. 1. ]] SLAMing on 211.951346184 meters Centerline goodness : 0.896407 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.34, Z:-2.43 [[ 0.43184998 -0.7309588 -0.52839836 -1.11969432] [ 0.8340906 0.54658328 -0.07442841 0.34111306] [ 0.34321781 -0.40859019 0.84572785 -2.43292519] [ 0. 0. 0. 1. ]] SLAMing on 211.981346184 meters Centerline goodness : 0.898409 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.35, Z:-2.43 [[ 0.43399292 -0.73528353 -0.52058456 -1.12212838] [ 0.83657209 0.54336206 -0.07003436 0.3541502 ] [ 0.33436101 -0.4051121 0.85093296 -2.4349056 ] [ 0. 0. 0. 1. ]] SLAMing on 212.011346184 meters Centerline goodness : 0.898593 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.37, Z:-2.44 [[ 0.43589671 -0.73998838 -0.51226092 -1.12073999] [ 0.83892932 0.54017009 -0.06643698 0.36596519] [ 0.32587062 -0.40079104 0.85625632 -2.43570704] [ 0. 0. 0. 1. ]] SLAMing on 212.041346184 meters Centerline goodness : 0.899549 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.38, Z:-2.44 [[ 0.43731627 -0.74013307 -0.51084002 -1.11309718] [ 0.84138707 0.53729314 -0.05817119 0.37692366] [ 0.31752526 -0.40437497 0.85770542 -2.44007451] [ 0. 0. 0. 1. ]] SLAMing on 212.071346184 meters Centerline goodness : 0.899559 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.39, Z:-2.44 [[ 0.43985356 -0.74371129 -0.50341073 -1.11360008] [ 0.84293897 0.5352663 -0.05425763 0.39195287] [ 0.30981081 -0.40047911 0.86234201 -2.44306565] [ 0. 0. 0. 1. ]] SLAMing on 212.101346184 meters Centerline goodness : 0.900448 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.40, Z:-2.44 [[ 0.44214443 -0.74752482 -0.49569643 -1.11287822] [ 0.84473562 0.53283752 -0.05005911 0.40455205] [ 0.30154608 -0.39659908 0.86705198 -2.44466013] [ 0. 0. 0. 1. ]] SLAMing on 212.131346184 meters Centerline goodness : 0.899005 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.41, Z:-2.45 [[ 0.44124939 -0.74849118 -0.49503528 -1.11439085] [ 0.84509966 0.53214035 -0.05131483 0.4094469 ] [ 0.30183695 -0.39571151 0.86735625 -2.44725388] [ 0. 0. 0. 1. ]] SLAMing on 212.161346184 meters Centerline goodness : 0.899694 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.41, Z:-2.45 [[ 0.44036752 -0.74947602 -0.49432999 -1.1148931 ] [ 0.84555437 0.53132069 -0.05230804 0.4118302 ] [ 0.30185137 -0.39494812 0.8676991 -2.44849284] [ 0. 0. 0. 1. ]] SLAMing on 212.191346184 meters Centerline goodness : 0.900050 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.42, Z:-2.45 [[ 0.44178759 -0.7544672 -0.48538951 -1.11459684] [ 0.84801891 0.52774562 -0.04846114 0.42360658] [ 0.29272453 -0.39020996 0.87295392 -2.45046153] [ 0. 0. 0. 1. ]] SLAMing on 212.221346184 meters Centerline goodness : 0.900050 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.42, Z:-2.45 [[ 0.44178759 -0.7544672 -0.48538951 -1.11459684] [ 0.84801891 0.52774562 -0.04846114 0.42360658] [ 0.29272453 -0.39020996 0.87295392 -2.45046153] [ 0. 0. 0. 1. ]] SLAMing on 212.251346184 meters Centerline goodness : 0.900621 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.43, Z:-2.45 [[ 0.4420525 -0.75195265 -0.4890366 -1.11261346] [ 0.84726766 0.5290307 -0.04758181 0.42853557] [ 0.29449464 -0.39331124 0.87096451 -2.45064055] [ 0. 0. 0. 1. ]] SLAMing on 212.281346184 meters Centerline goodness : 0.899344 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.44, Z:-2.45 [[ 0.44346426 -0.75726306 -0.47947065 -1.11661642] [ 0.85004226 0.52496398 -0.04290664 0.4403643 ] [ 0.28419643 -0.38854276 0.87650837 -2.45458048] [ 0. 0. 0. 1. ]] SLAMing on 212.311346184 meters Centerline goodness : 0.899816 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.45, Z:-2.46 [[ 0.4459944 -0.75900906 -0.47433559 -1.11307594] [ 0.85223335 0.52205257 -0.03405043 0.44930017] [ 0.2734727 -0.38905831 0.87968535 -2.45972185] [ 0. 0. 0. 1. ]] SLAMing on 212.341346184 meters Centerline goodness : 0.900270 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.45, Z:-2.46 [[ 0.44652332 -0.75724842 -0.47664636 -1.1133458 ] [ 0.85156742 0.52317853 -0.03342395 0.45249125] [ 0.27468138 -0.39097194 0.87845949 -2.46012835] [ 0. 0. 0. 1. ]] SLAMing on 212.371346184 meters Centerline goodness : 0.900950 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.46, Z:-2.46 [[ 0.44663122 -0.75814188 -0.47512255 -1.11861668] [ 0.85142068 0.52333377 -0.03470725 0.45656213] [ 0.27496069 -0.38902782 0.87923488 -2.46329483] [ 0. 0. 0. 1. ]] SLAMing on 212.401346184 meters Centerline goodness : 0.900550 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.47, Z:-2.47 [[ 0.44890221 -0.76249983 -0.46591932 -1.11954404] [ 0.85323067 0.52066833 -0.03003176 0.4668099 ] [ 0.26548865 -0.38405533 0.88431741 -2.46602271] [ 0. 0. 0. 1. ]] SLAMing on 212.43134618399998 meters Centerline goodness : 0.901589 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.47, Z:-2.47 [[ 0.45031944 -0.75994519 -0.46871708 -1.11905544] [ 0.85206184 0.52264986 -0.02877053 0.46930819] [ 0.26683895 -0.38642001 0.88287969 -2.46648222] [ 0. 0. 0. 1. ]] SLAMing on 212.46134618399998 meters Centerline goodness : 0.905257 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.47, Z:-2.47 [[ 0.45241732 -0.75740701 -0.47080058 -1.12267849] [ 0.850567 0.52514798 -0.02748407 0.47149029] [ 0.2680566 -0.38801317 0.88181146 -2.46740043] [ 0. 0. 0. 1. ]] SLAMing on 212.49134618399998 meters Centerline goodness : 0.903879 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.48, Z:-2.47 [[ 0.45463309 -0.7613951 -0.46215393 -1.12371248] [ 0.85233048 0.52252393 -0.02239409 0.48204001] [ 0.25853724 -0.38372678 0.88651692 -2.47022267] [ 0. 0. 0. 1. ]] SLAMing on 212.52134618399998 meters Centerline goodness : 0.904173 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.49, Z:-2.47 [[ 0.45653921 -0.76533269 -0.45369352 -1.12438925] [ 0.85406737 0.51986675 -0.01753558 0.49261761] [ 0.24928073 -0.37947915 0.89098524 -2.47235254] [ 0. 0. 0. 1. ]] SLAMing on 212.55134618399998 meters Centerline goodness : 0.906339 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.50, Z:-2.47 [[ 0.45865571 -0.76328054 -0.45501402 -1.12727758] [ 0.85260008 0.52229635 -0.016722 0.49542248] [ 0.25041574 -0.38027535 0.89032725 -2.47464613] [ 0. 0. 0. 1. ]] SLAMing on 212.58134618399998 meters Centerline goodness : 0.906018 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.51, Z:-2.48 [[ 0.46090524 -0.76728433 -0.44591604 -1.12658552] [ 0.8540894 0.51998911 -0.0119422 0.50541352] [ 0.24103455 -0.37534794 0.89499512 -2.47737972] [ 0. 0. 0. 1. ]] SLAMing on 212.61134618399998 meters Centerline goodness : 0.906587 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.51, Z:-2.48 [[ 0.46154153 -0.7662916 -0.44696376 -1.12399944] [ 0.85341395 0.52109253 -0.01213264 0.50922371] [ 0.24220661 -0.37584539 0.89446979 -2.47973977] [ 0. 0. 0. 1. ]] SLAMing on 212.64134618399999 meters Centerline goodness : 0.908039 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.52, Z:-2.49 [[ 0.46450436 -0.77041849 -0.43668187 -1.12411967] [ 0.85511653 0.51841162 -0.00501175 0.51584639] [ 0.2302421 -0.3710859 0.89960204 -2.48588162] [ 0. 0. 0. 1. ]] SLAMing on 212.671346184 meters Centerline goodness : 0.907086 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.52, Z:-2.49 [[ 0.46487114 -0.76868396 -0.43934018 -1.12181956] [ 0.85453283 0.51937763 -0.00452861 0.51969029] [ 0.23166453 -0.37332539 0.89830936 -2.48653891] [ 0. 0. 0. 1. ]] SLAMing on 212.701346184 meters Centerline goodness : 0.908240 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.52, Z:-2.49 [[ 0.46486862 -0.76811803 -0.44033154 -1.1213431 ] [ 0.85437469 0.51963819 -0.00447724 0.522068 ] [ 0.23225213 -0.37412679 0.89782409 -2.48723376] [ 0. 0. 0. 1. ]] SLAMing on 212.731346184 meters Centerline goodness : 0.908270 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.53, Z:-2.49 [[ 0.46545577 -0.7671046 -0.44147645 -1.11907464] [ 0.85382388 0.52054429 -0.00429167 0.525065 ] [ 0.23310021 -0.37494555 0.89726257 -2.48921356] [ 0. 0. 0. 1. ]] SLAMing on 212.761346184 meters Centerline goodness : 0.907860 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.53, Z:-2.49 [[ 0.46552688 -0.76625267 -0.44287872 -1.11592702] [ 0.85358183 0.52094278 -0.00408353 0.52744813] [ 0.23384349 -0.37613224 0.89657223 -2.49004057] [ 0. 0. 0. 1. ]] SLAMing on 212.791346184 meters Centerline goodness : 0.907621 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.53, Z:-2.49 [[ 0.46525589 -0.76627671 -0.44312184 -1.11480544] [ 0.85368183 0.52077764 -0.00424101 0.52811079] [ 0.23401774 -0.37631191 0.89645136 -2.49009656] [ 0. 0. 0. 1. ]] SLAMing on 212.821346184 meters Centerline goodness : 0.906983 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.53, Z:-2.49 [[ 0.4648283 -0.76597703 -0.44408765 -1.11146552] [ 0.85384211 0.52051607 -0.00408338 0.53016156] [ 0.23428253 -0.37728267 0.89597404 -2.49102255] [ 0. 0. 0. 1. ]] SLAMing on 212.851346184 meters Centerline goodness : 0.905473 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.53, Z:-2.49 [[ 0.46443001 -0.76591925 -0.44460372 -1.1102358 ] [ 0.85399475 0.52026481 -0.00418359 0.53120157] [ 0.23451596 -0.37774626 0.8957176 -2.49098628] [ 0. 0. 0. 1. ]] SLAMing on 212.881346184 meters Centerline goodness : 0.905620 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.53, Z:-2.49 [[ 0.46384381 -0.76617544 -0.44477423 -1.10969541] [ 0.85427959 0.51979433 -0.0044997 0.53235292] [ 0.23463868 -0.37787439 0.89563142 -2.49102114] [ 0. 0. 0. 1. ]] SLAMing on 212.911346184 meters Centerline goodness : 0.903218 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.54, Z:-2.49 [[ 0.46365995 -0.76550075 -0.4461256 -1.1067766 ] [ 0.85418248 0.51995451 -0.00442782 0.53504064] [ 0.23535452 -0.37901967 0.89495941 -2.49190967] [ 0. 0. 0. 1. ]] SLAMing on 212.941346184 meters Centerline goodness : 0.903102 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.53, Z:-2.49 [[ 0.46361163 -0.7666525 -0.44419388 -1.10518734] [ 0.8543648 0.51964802 -0.00516891 0.53472583] [ 0.23478723 -0.37710725 0.89591578 -2.49373563] [ 0. 0. 0. 1. ]] SLAMing on 212.971346184 meters Centerline goodness : 0.903684 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.54, Z:-2.49 [[ 0.46356846 -0.766595 -0.44433815 -1.10342025] [ 0.85437374 0.51963353 -0.00514868 0.53507778] [ 0.23483996 -0.37724408 0.89584435 -2.49413909] [ 0. 0. 0. 1. ]] SLAMing on 213.001346184 meters Centerline goodness : 0.902840 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.54, Z:-2.49 [[ 0.46353563 -0.76651769 -0.44450573 -1.10328575] [ 0.8543791 0.5196252 -0.00509949 0.53510117] [ 0.23488522 -0.37741261 0.89576149 -2.49381429] [ 0. 0. 0. 1. ]] SLAMing on 213.031346184 meters Centerline goodness : 0.901395 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.54, Z:-2.49 [[ 0.46371427 -0.7657994 -0.44555623 -1.10331312] [ 0.85419748 0.51992821 -0.00461705 0.53528119] [ 0.23519299 -0.37845202 0.89524205 -2.49292179] [ 0. 0. 0. 1. ]] SLAMing on 213.061346184 meters Centerline goodness : 0.902632 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.54, Z:-2.49 [[ 0.46472553 -0.76316481 -0.44900965 -1.10351631] [ 0.85329369 0.52142152 -0.00308054 0.53707638] [ 0.23647425 -0.38170549 0.8935216 -2.49174623] [ 0. 0. 0. 1. ]] SLAMing on 213.091346184 meters Centerline goodness : 0.902042 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.54, Z:-2.49 [[ 0.46484367 -0.7632592 -0.44872682 -1.10431201] [ 0.85316826 0.52162445 -0.00344262 0.5380404 ] [ 0.23669449 -0.3812392 0.89366235 -2.49244688] [ 0. 0. 0. 1. ]] SLAMing on 213.121346184 meters Centerline goodness : 0.901605 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.54, Z:-2.49 [[ 0.46522158 -0.76317842 -0.4484725 -1.10437822] [ 0.85289355 0.5220719 -0.00367809 0.53898833] [ 0.23694193 -0.38078817 0.89378906 -2.49356274] [ 0. 0. 0. 1. ]] SLAMing on 213.151346184 meters Centerline goodness : 0.901305 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.54, Z:-2.50 [[ 0.46621698 -0.76341442 -0.44703484 -1.10532731] [ 0.85240559 0.52286638 -0.00393207 0.53898845] [ 0.23674128 -0.3792218 0.8945079 -2.49570496] [ 0. 0. 0. 1. ]] SLAMing on 213.18134618399998 meters Centerline goodness : 0.900602 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.54, Z:-2.50 [[ 0.46621724 -0.76383034 -0.44632354 -1.10512795] [ 0.85242196 0.52283632 -0.00435654 0.53935274] [ 0.23668182 -0.37842489 0.89486106 -2.49656336] [ 0. 0. 0. 1. ]] SLAMing on 213.21134618399998 meters Centerline goodness : 0.901926 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.54, Z:-2.50 [[ 0.46590851 -0.76417635 -0.44605355 -1.10466584] [ 0.85259101 0.52255763 -0.00470073 0.5401928 ] [ 0.23668087 -0.37811114 0.89499393 -2.49712618] [ 0. 0. 0. 1. ]] SLAMing on 213.24134618399998 meters Centerline goodness : 0.902672 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.54, Z:-2.50 [[ 0.46533393 -0.76387908 -0.44716114 -1.10357841] [ 0.85274082 0.52231166 -0.00486113 0.54247671] [ 0.2372708 -0.3790505 0.89444021 -2.49714746] [ 0. 0. 0. 1. ]] SLAMing on 213.27134618399998 meters Centerline goodness : 0.901355 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.54, Z:-2.49 [[ 0.46395725 -0.76346072 -0.44930101 -1.10597391] [ 0.85337511 0.52127747 -0.0045522 0.54457657] [ 0.23768591 -0.38131027 0.89336884 -2.49464531] [ 0. 0. 0. 1. ]] SLAMing on 213.30134618399998 meters Centerline goodness : 0.901981 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.55, Z:-2.49 [[ 0.46342106 -0.76360952 -0.4496014 -1.10511425] [ 0.85363807 0.52084512 -0.00473404 0.54565311] [ 0.23778765 -0.38160301 0.89321675 -2.49475683] [ 0. 0. 0. 1. ]] SLAMing on 213.33134618399998 meters Centerline goodness : 0.900921 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.55, Z:-2.50 [[ 0.46343582 -0.76361405 -0.4495785 -1.10211528] [ 0.85359456 0.52091512 -0.00487525 0.5462836 ] [ 0.23791504 -0.3814984 0.89322752 -2.4958095 ] [ 0. 0. 0. 1. ]] SLAMing on 213.36134618399998 meters Centerline goodness : 0.900764 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.54, Z:-2.50 [[ 0.4638403 -0.76376034 -0.44891238 -1.09917691] [ 0.85353501 0.52101592 -0.00451615 0.54460575] [ 0.23733975 -0.38106766 0.89356437 -2.49657396] [ 0. 0. 0. 1. ]] SLAMing on 213.39134618399999 meters Centerline goodness : 0.900585 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.55, Z:-2.50 [[ 0.46361699 -0.76371153 -0.44922598 -1.09887295] [ 0.85362801 0.52086345 -0.0045255 0.5451914 ] [ 0.23744157 -0.38137378 0.89340671 -2.49649418] [ 0. 0. 0. 1. ]] SLAMing on 213.421346184 meters Centerline goodness : 0.901928 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.55, Z:-2.50 [[ 0.46351022 -0.76325314 -0.45011434 -1.09675415] [ 0.85352528 0.52103132 -0.00457906 0.54718251] [ 0.23801865 -0.38206153 0.89295919 -2.49718046] [ 0. 0. 0. 1. ]] SLAMing on 213.451346184 meters Centerline goodness : 0.899679 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.55, Z:-2.50 [[ 0.46402518 -0.76281212 -0.45033133 -1.0936756 ] [ 0.85329869 0.52140738 -0.00396105 0.54592642] [ 0.23782761 -0.3824291 0.89285273 -2.4974375 ] [ 0. 0. 0. 1. ]] SLAMing on 213.481346184 meters Centerline goodness : 0.901144 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.55, Z:-2.50 [[ 0.46412106 -0.76237014 -0.45098051 -1.09215069] [ 0.85322547 0.52153018 -0.00354589 0.54550575] [ 0.23790323 -0.38314234 0.89252675 -2.49688478] [ 0. 0. 0. 1. ]] SLAMing on 213.511346184 meters Centerline goodness : 0.900897 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.54, Z:-2.49 [[ 4.64506850e-01 -7.61089657e-01 -4.52742664e-01 -1.09106276e+00] [ 8.52996785e-01 5.21911505e-01 -2.20566691e-03 5.43977719e-01] [ 2.37970316e-01 -3.85163490e-01 8.91638500e-01 -2.49475795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.541346184 meters Centerline goodness : 0.901668 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.54, Z:-2.49 [[ 4.64438932e-01 -7.60471401e-01 -4.53849895e-01 -1.08955089e+00] [ 8.52961392e-01 5.21971063e-01 -1.75297636e-03 5.44095469e-01] [ 2.38229600e-01 -3.86302287e-01 8.91076428e-01 -2.49390304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.571346184 meters Centerline goodness : 0.902388 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.54, Z:-2.49 [[ 4.64219980e-01 -7.60489495e-01 -4.54043542e-01 -1.08855346e+00] [ 8.53095872e-01 5.21751487e-01 -1.67908190e-03 5.43905249e-01] [ 2.38174818e-01 -3.86563208e-01 8.90977913e-01 -2.49355129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.601346184 meters Centerline goodness : 0.901705 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.54, Z:-2.49 [[ 4.63772120e-01 -7.60480873e-01 -4.54515414e-01 -1.08631564e+00] [ 8.53286452e-01 5.21439375e-01 -1.79136853e-03 5.44738296e-01] [ 2.38364535e-01 -3.87001059e-01 8.90737071e-01 -2.49363042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.631346184 meters Centerline goodness : 0.900161 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.54, Z:-2.50 [[ 4.63580500e-01 -7.61623130e-01 -4.52795018e-01 -1.08012861e+00] [ 8.53564383e-01 5.20981751e-01 -2.42040678e-03 5.43507387e-01] [ 2.37741379e-01 -3.85367647e-01 8.91611358e-01 -2.49542943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.661346184 meters Centerline goodness : 0.899933 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.54, Z:-2.49 [[ 4.63805744e-01 -7.60938695e-01 -4.53714155e-01 -1.07596537e+00] [ 8.53394978e-01 5.21261542e-01 -1.84826533e-03 5.42644704e-01] [ 2.37910157e-01 -3.86340146e-01 8.91145358e-01 -2.49497500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.691346184 meters Centerline goodness : 0.898159 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.54, Z:-2.49 [[ 4.63477400e-01 -7.59909058e-01 -4.55770691e-01 -1.07220069e+00] [ 8.53390529e-01 5.21270490e-01 -1.29658108e-03 5.43340718e-01] [ 2.38565095e-01 -3.88349455e-01 8.90096285e-01 -2.49362493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.721346184 meters Centerline goodness : 0.898970 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.54, Z:-2.49 [[ 4.62542957e-01 -7.59032250e-01 -4.58174701e-01 -1.06891063e+00] [ 8.53793652e-01 5.20611289e-01 -5.33676343e-04 5.43030433e-01] [ 2.38935999e-01 -3.90939803e-01 8.88862002e-01 -2.49053632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.751346184 meters Centerline goodness : 0.899114 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.54, Z:-2.49 [[ 4.62434672e-01 -7.58117129e-01 -4.59796251e-01 -1.06531255e+00] [ 8.53694758e-01 5.20773710e-01 -6.39721977e-05 5.43103905e-01] [ 2.39498298e-01 -3.92496066e-01 8.88024439e-01 -2.48931917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.781346184 meters Centerline goodness : 0.898418 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.54, Z:-2.48 [[ 0.4600088 -0.75244493 -0.47140061 -1.06135729] [ 0.85124006 0.5247311 -0.00690142 0.53899648] [ 0.2525515 -0.39810037 0.88189219 -2.48402712] [ 0. 0. 0. 1. ]] SLAMing on 213.811346184 meters Centerline goodness : 0.898205 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.54, Z:-2.48 [[ 0.46021646 -0.75199626 -0.47191358 -1.05928803] [ 0.85109275 0.52497448 -0.00655195 0.5386595 ] [ 0.25266963 -0.39862691 0.88162047 -2.48388794] [ 0. 0. 0. 1. ]] SLAMing on 213.841346184 meters Centerline goodness : 0.897477 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.54, Z:-2.48 [[ 0.45937257 -0.7542911 -0.4690648 -1.05967057] [ 0.85196262 0.52354824 -0.00754592 0.53620264] [ 0.25126987 -0.39615929 0.88313151 -2.48387898] [ 0. 0. 0. 1. ]] SLAMing on 213.871346184 meters Centerline goodness : 0.897500 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.54, Z:-2.48 [[ 0.45903693 -0.75362728 -0.4704583 -1.05631233] [ 0.85195996 0.52355457 -0.00740539 0.53763506] [ 0.2518915 -0.39741229 0.88239115 -2.48359124] [ 0. 0. 0. 1. ]] SLAMing on 213.901346184 meters Centerline goodness : 0.896301 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.54, Z:-2.48 [[ 0.45842815 -0.75355697 -0.47116401 -1.05366187] [ 0.85221251 0.52314187 -0.00751117 0.5381441 ] [ 0.25214572 -0.39808853 0.88201364 -2.48295296] [ 0. 0. 0. 1. ]] SLAMing on 213.93134618399998 meters Centerline goodness : 0.895652 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.54, Z:-2.48 [[ 0.45778591 -0.75299869 -0.47267857 -1.04919885] [ 0.85236134 0.52289955 -0.00749698 0.53959496] [ 0.25280863 -0.39946093 0.88120302 -2.48233049] [ 0. 0. 0. 1. ]] SLAMing on 213.96134618399998 meters Centerline goodness : 0.896376 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.53, Z:-2.48 [[ 0.45346199 -0.74941752 -0.48243715 -1.04696416] [ 0.8510397 0.52487506 -0.01541425 0.53373961] [ 0.26477094 -0.4035834 0.87579495 -2.47581875] [ 0. 0. 0. 1. ]] SLAMing on 213.99134618399998 meters Centerline goodness : 0.894630 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.53, Z:-2.47 [[ 0.45301096 -0.74910697 -0.48334234 -1.04561465] [ 0.85117669 0.52465414 -0.01537153 0.5343373 ] [ 0.26510248 -0.40444626 0.87529646 -2.47489822] [ 0. 0. 0. 1. ]] SLAMing on 214.02134618399998 meters Centerline goodness : 0.895417 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.53, Z:-2.47 [[ 0.4531796 -0.74853655 -0.48406745 -1.044339 ] [ 0.85103918 0.52488999 -0.01492715 0.5335586 ] [ 0.26525568 -0.40519568 0.87490336 -2.47385708] [ 0. 0. 0. 1. ]] SLAMing on 214.05134618399998 meters Centerline goodness : 0.895114 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.53, Z:-2.47 [[ 0.45317927 -0.74800273 -0.48489222 -1.04225093] [ 0.85085931 0.52518109 -0.01494164 0.53476482] [ 0.26583261 -0.40580382 0.87444627 -2.47393047] [ 0. 0. 0. 1. ]] SLAMing on 214.08134618399998 meters Centerline goodness : 0.896351 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.54, Z:-2.47 [[ 0.45294581 -0.74732732 -0.48615016 -1.03963876] [ 0.85073417 0.52538191 -0.01500726 0.53687981] [ 0.26662983 -0.40678708 0.87374642 -2.47400755] [ 0. 0. 0. 1. ]] SLAMing on 214.11134618399998 meters Centerline goodness : 0.896351 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.54, Z:-2.47 [[ 0.45294581 -0.74732732 -0.48615016 -1.03963876] [ 0.85073417 0.52538191 -0.01500726 0.53687981] [ 0.26662983 -0.40678708 0.87374642 -2.47400755] [ 0. 0. 0. 1. ]] SLAMing on 214.14134618399999 meters Centerline goodness : 0.895714 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.54, Z:-2.47 [[ 0.45227097 -0.74756908 -0.48640666 -1.03915057] [ 0.85103231 0.52488736 -0.01540347 0.53806707] [ 0.26682387 -0.40698124 0.87359676 -2.47378751] [ 0. 0. 0. 1. ]] SLAMing on 214.171346184 meters Centerline goodness : 0.892946 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.54, Z:-2.47 [[ 0.4515546 -0.74712846 -0.48774738 -1.03588134] [ 0.85120054 0.52460999 -0.01555627 0.54009729] [ 0.26749968 -0.40814633 0.87284621 -2.47340881] [ 0. 0. 0. 1. ]] SLAMing on 214.201346184 meters Centerline goodness : 0.893581 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.54, Z:-2.47 [[ 0.45142934 -0.74719645 -0.48775917 -1.03487857] [ 0.85128647 0.52447059 -0.01555453 0.53974113] [ 0.26743763 -0.40820101 0.87283964 -2.47313993] [ 0. 0. 0. 1. ]] SLAMing on 214.231346184 meters Centerline goodness : 0.892286 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.54, Z:-2.47 [[ 0.45106656 -0.74735104 -0.48785795 -1.03431466] [ 0.85146369 0.52417737 -0.01573759 0.53991874] [ 0.2674856 -0.40829463 0.87278116 -2.47277686] [ 0. 0. 0. 1. ]] SLAMing on 214.261346184 meters Centerline goodness : 0.893286 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.54, Z:-2.47 [[ 0.4507931 -0.74755966 -0.48779108 -1.03426545] [ 0.85160574 0.52394024 -0.01594658 0.5402441 ] [ 0.26749439 -0.40821708 0.87281474 -2.47271951] [ 0. 0. 0. 1. ]] SLAMing on 214.291346184 meters Centerline goodness : 0.894599 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.54, Z:-2.47 [[ 0.45095723 -0.74740588 -0.48787501 -1.03338834] [ 0.85143379 0.52421574 -0.01607318 0.54070364] [ 0.26776496 -0.40814496 0.8727655 -2.47304958] [ 0. 0. 0. 1. ]] SLAMing on 214.321346184 meters Centerline goodness : 0.892910 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.54, Z:-2.47 [[ 0.45056649 -0.74766741 -0.48783531 -1.03377503] [ 0.85163576 0.52387946 -0.01633557 0.5410453 ] [ 0.26778047 -0.40809773 0.87278283 -2.47270847] [ 0. 0. 0. 1. ]] SLAMing on 214.351346184 meters Centerline goodness : 0.892388 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.54, Z:-2.47 [[ 0.4503849 -0.74771277 -0.48793345 -1.03387314] [ 0.8517162 0.52374605 -0.01641923 0.54108053] [ 0.26783008 -0.40818585 0.8727264 -2.47232277] [ 0. 0. 0. 1. ]] SLAMing on 214.381346184 meters Centerline goodness : 0.892124 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.53, Z:-2.47 [[ 0.44737821 -0.74230151 -0.49883986 -1.03389258] [ 0.84967582 0.52684802 -0.02195822 0.53463584] [ 0.27911242 -0.41402854 0.86641597 -2.46769918] [ 0. 0. 0. 1. ]] SLAMing on 214.411346184 meters Centerline goodness : 0.893580 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.53, Z:-2.47 [[ 0.44722162 -0.7420314 -0.49938184 -1.03224444] [ 0.84971297 0.52679454 -0.02180311 0.53481286] [ 0.27925022 -0.41458041 0.86610762 -2.46734019] [ 0. 0. 0. 1. ]] SLAMing on 214.441346184 meters Centerline goodness : 0.893823 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.53, Z:-2.47 [[ 0.44697568 -0.7420318 -0.49960139 -1.03138657] [ 0.84984453 0.52658321 -0.02178066 0.53451861] [ 0.27924365 -0.41484808 0.86598155 -2.46671812] [ 0. 0. 0. 1. ]] SLAMing on 214.471346184 meters Centerline goodness : 0.894898 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.53, Z:-2.47 [[ 0.44686684 -0.74158717 -0.50035837 -1.03004832] [ 0.84980294 0.5266573 -0.0216116 0.53484373] [ 0.27954427 -0.4155485 0.86554864 -2.46608358] [ 0. 0. 0. 1. ]] SLAMing on 214.501346184 meters Centerline goodness : 0.891678 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.54, Z:-2.47 [[ 0.44635924 -0.74123336 -0.50133476 -1.02727531] [ 0.85001253 0.52632821 -0.02138507 0.53536479] [ 0.27971795 -0.4165954 0.8649891 -2.46542782] [ 0. 0. 0. 1. ]] SLAMing on 214.531346184 meters Centerline goodness : 0.891476 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.54, Z:-2.47 [[ 0.4460484 -0.7412833 -0.50153754 -1.02441093] [ 0.8501672 0.52607588 -0.02144515 0.53547089] [ 0.27974373 -0.41682519 0.86487005 -2.46537115] [ 0. 0. 0. 1. ]] SLAMing on 214.561346184 meters Centerline goodness : 0.891995 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.54, Z:-2.46 [[ 0.44597349 -0.74043855 -0.50285028 -1.01958596] [ 0.85003451 0.52630474 -0.02108671 0.53610211] [ 0.2802659 -0.41803598 0.86411628 -2.46498562] [ 0. 0. 0. 1. ]] SLAMing on 214.591346184 meters Centerline goodness : 0.889502 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.53, Z:-2.46 [[ 0.44553629 -0.74180758 -0.50121745 -1.01635073] [ 0.85055557 0.52544165 -0.02159387 0.53361314] [ 0.27937902 -0.41669244 0.86505189 -2.46466409] [ 0. 0. 0. 1. ]] SLAMing on 214.621346184 meters Centerline goodness : 0.889955 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.53, Z:-2.46 [[ 0.44543509 -0.74125774 -0.50212005 -1.01492043] [ 0.85047825 0.5255741 -0.02141523 0.53362564] [ 0.27977549 -0.41750309 0.86453273 -2.46355307] [ 0. 0. 0. 1. ]] SLAMing on 214.651346184 meters Centerline goodness : 0.891754 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.53, Z:-2.46 [[ 0.44562649 -0.74048742 -0.50308589 -1.01440236] [ 0.85021902 0.52600567 -0.02111064 0.53363509] [ 0.28025819 -0.41832573 0.86397855 -2.46254815] [ 0. 0. 0. 1. ]] SLAMing on 214.68134618399998 meters Centerline goodness : 0.890852 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.53, Z:-2.46 [[ 0.44776976 -0.73639827 -0.50716844 -1.01196734] [ 0.84855619 0.52877823 -0.01860048 0.53270517] [ 0.281877 -0.42203219 0.86164621 -2.46030741] [ 0. 0. 0. 1. ]] SLAMing on 214.71134618399998 meters Centerline goodness : 0.889935 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.53, Z:-2.46 [[ 0.44839822 -0.735659 -0.50768581 -1.01014228] [ 0.84810484 0.52951483 -0.01822712 0.53223349] [ 0.28223611 -0.42239778 0.86134946 -2.46014325] [ 0. 0. 0. 1. ]] SLAMing on 214.74134618399998 meters Centerline goodness : 0.890395 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.53, Z:-2.46 [[ 0.44892852 -0.73489245 -0.50832694 -1.00773002] [ 0.84770069 0.53017501 -0.01783222 0.53153286] [ 0.28260701 -0.42290371 0.86097952 -2.45965924] [ 0. 0. 0. 1. ]] SLAMing on 214.77134618399998 meters Centerline goodness : 0.891909 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.53, Z:-2.46 [[ 0.4494773 -0.73422017 -0.50881323 -1.00499359] [ 0.84732483 0.53078925 -0.01741876 0.53089219] [ 0.28286179 -0.42330074 0.8607007 -2.45956112] [ 0. 0. 0. 1. ]] SLAMing on 214.80134618399998 meters Centerline goodness : 0.891920 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.53, Z:-2.46 [[ 0.44967935 -0.7353383 -0.50701682 -1.00334514] [ 0.847485 0.53052139 -0.01778283 0.5278418 ] [ 0.28205966 -0.42169258 0.8617527 -2.45935182] [ 0. 0. 0. 1. ]] SLAMing on 214.83134618399998 meters Centerline goodness : 0.892301 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.53, Z:-2.46 [[ 0.44876875 -0.73799265 -0.5039578 -1.00473567] [ 0.84836174 0.52906499 -0.01930288 0.52640341] [ 0.28087181 -0.41887598 0.86351256 -2.45995896] [ 0. 0. 0. 1. ]] SLAMing on 214.86134618399998 meters Centerline goodness : 0.891728 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.52, Z:-2.45 [[ 0.44542165 -0.73262891 -0.51464011 -1.00353336] [ 0.84611527 0.53238589 -0.02557755 0.52027697] [ 0.29272598 -0.42405207 0.85702471 -2.45448522] [ 0. 0. 0. 1. ]] SLAMing on 214.89134618399999 meters Centerline goodness : 0.891678 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.52, Z:-2.45 [[ 0.4435785 -0.73228999 -0.51671026 -0.99990927] [ 0.84694108 0.53107144 -0.02557226 0.5213016 ] [ 0.29313637 -0.42627984 0.85577834 -2.4514541 ] [ 0. 0. 0. 1. ]] SLAMing on 214.921346184 meters Centerline goodness : 0.890469 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.52, Z:-2.45 [[ 0.44112597 -0.73596873 -0.51357367 -1.00188274] [ 0.8487351 0.528089 -0.02776214 0.52114399] [ 0.29164467 -0.4236414 0.85759626 -2.45145654] [ 0. 0. 0. 1. ]] SLAMing on 214.951346184 meters Centerline goodness : 0.892299 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.51, Z:-2.45 [[ 0.43776231 -0.72999664 -0.52485148 -1.00011504] [ 0.84639685 0.53151027 -0.0333048 0.51448252] [ 0.30327634 -0.42965305 0.85054201 -2.44589858] [ 0. 0. 0. 1. ]] SLAMing on 214.981346184 meters Centerline goodness : 0.891212 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.51, Z:-2.45 [[ 0.43635935 -0.73228584 -0.5228269 -0.99758389] [ 0.8475861 0.52954872 -0.03429224 0.51243634] [ 0.30197403 -0.42817708 0.85174883 -2.44524598] [ 0. 0. 0. 1. ]] SLAMing on 215.011346184 meters Centerline goodness : 0.893923 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.51, Z:-2.44 [[ 0.43553932 -0.73207019 -0.52381175 -0.99371565] [ 0.84784698 0.52911641 -0.03451555 0.51366669] [ 0.30242519 -0.42907933 0.8511345 -2.44440483] [ 0. 0. 0. 1. ]] SLAMing on 215.041346184 meters Centerline goodness : 0.890223 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.51, Z:-2.44 [[ 0.43048999 -0.72901327 -0.53218232 -0.99420367] [ 0.84609911 0.53126152 -0.0433301 0.50885555] [ 0.3143162 -0.43162581 0.84552025 -2.43897311] [ 0. 0. 0. 1. ]] SLAMing on 215.071346184 meters Centerline goodness : 0.892743 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.51, Z:-2.44 [[ 0.42920386 -0.7290726 -0.533139 -0.99229713] [ 0.84650755 0.53055102 -0.04405212 0.51145052] [ 0.31497463 -0.43239885 0.84488 -2.43811154] [ 0. 0. 0. 1. ]] SLAMing on 215.101346184 meters Centerline goodness : 0.892621 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.51, Z:-2.44 [[ 0.4277929 -0.72851837 -0.53502731 -0.99085429] [ 0.84701976 0.52973261 -0.04405552 0.5126473 ] [ 0.31551667 -0.43433206 0.84368531 -2.4353497 ] [ 0. 0. 0. 1. ]] SLAMing on 215.131346184 meters Centerline goodness : 0.891472 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.51, Z:-2.43 [[ 0.42722279 -0.72782871 -0.53641966 -0.98863556] [ 0.84716308 0.52952726 -0.04376753 0.51274117] [ 0.31590409 -0.43573645 0.84281573 -2.433372 ] [ 0. 0. 0. 1. ]] SLAMing on 215.161346184 meters Centerline goodness : 0.893376 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.51, Z:-2.43 [[ 0.42679515 -0.72718818 -0.53762742 -0.98584493] [ 0.84723432 0.52943301 -0.04352814 0.51289485] [ 0.31629086 -0.4369188 0.84205823 -2.43182071] [ 0. 0. 0. 1. ]] SLAMing on 215.191346184 meters Centerline goodness : 0.893484 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.51, Z:-2.43 [[ 0.42593308 -0.7265964 -0.53910916 -0.98213147] [ 0.84751326 0.52899881 -0.04337656 0.51313124] [ 0.31670536 -0.43842665 0.84111818 -2.42970038] [ 0. 0. 0. 1. ]] SLAMing on 215.221346184 meters Centerline goodness : 0.893554 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.51, Z:-2.43 [[ 0.42585936 -0.72623507 -0.53965399 -0.98122269] [ 0.84741376 0.5291574 -0.04338629 0.513517 ] [ 0.31707055 -0.43883375 0.84076822 -2.42912391] [ 0. 0. 0. 1. ]] SLAMing on 215.251346184 meters Centerline goodness : 0.896088 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.51, Z:-2.43 [[ 0.42620764 -0.72560007 -0.5402329 -0.98009423] [ 0.84707291 0.52971856 -0.04319412 0.51371173] [ 0.31751305 -0.43920699 0.84040626 -2.42885876] [ 0. 0. 0. 1. ]] SLAMing on 215.281346184 meters Centerline goodness : 0.894550 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.51, Z:-2.43 [[ 0.42659011 -0.72529596 -0.54033938 -0.97985359] [ 0.8468018 0.53015997 -0.04309442 0.51347349] [ 0.31772251 -0.4391767 0.84034292 -2.42883257] [ 0. 0. 0. 1. ]] SLAMing on 215.311346184 meters Centerline goodness : 0.895131 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.51, Z:-2.43 [[ 0.42796093 -0.72401369 -0.5409747 -0.97874297] [ 0.84587481 0.53169161 -0.04242461 0.51268474] [ 0.3183477 -0.43944079 0.83996817 -2.42885037] [ 0. 0. 0. 1. ]] SLAMing on 215.341346184 meters Centerline goodness : 0.894519 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.51, Z:-2.43 [[ 0.42810135 -0.7239027 -0.54101212 -0.97847307] [ 0.84577194 0.53185748 -0.04239639 0.51269709] [ 0.3184322 -0.43942292 0.83994549 -2.42894387] [ 0. 0. 0. 1. ]] SLAMing on 215.371346184 meters Centerline goodness : 0.895559 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.51, Z:-2.43 [[ 0.42739512 -0.72447826 -0.54080003 -0.98454205] [ 0.8431101 0.5353321 -0.05084195 0.50518583] [ 0.3263415 -0.43422436 0.83961326 -2.42571245] [ 0. 0. 0. 1. ]] SLAMing on 215.401346184 meters Centerline goodness : 0.895226 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.51, Z:-2.43 [[ 0.42657855 -0.72467058 -0.54118692 -0.98272089] [ 0.84348419 0.53471359 -0.05114489 0.50596831] [ 0.3264432 -0.4346653 0.83934553 -2.42508778] [ 0. 0. 0. 1. ]] SLAMing on 215.43134618399998 meters Centerline goodness : 0.894063 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.51, Z:-2.42 [[ 0.42621496 -0.72423922 -0.54205015 -0.97991537] [ 0.84351596 0.53466627 -0.05111549 0.50659778] [ 0.32683578 -0.43544176 0.83879011 -2.42429799] [ 0. 0. 0. 1. ]] SLAMing on 215.46134618399998 meters Centerline goodness : 0.896195 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.51, Z:-2.42 [[ 0.42592069 -0.72402888 -0.54256221 -0.97713397] [ 0.84361216 0.53452093 -0.05104799 0.5065431 ] [ 0.32697108 -0.43596968 0.83846309 -2.42359298] [ 0. 0. 0. 1. ]] SLAMing on 215.49134618399998 meters Centerline goodness : 0.894999 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.51, Z:-2.42 [[ 0.42540849 -0.72341359 -0.54378342 -0.97384836] [ 0.84369141 0.53440881 -0.05091202 0.50709265] [ 0.32743309 -0.43712699 0.83767987 -2.42225966] [ 0. 0. 0. 1. ]] SLAMing on 215.52134618399998 meters Centerline goodness : 0.893784 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.51, Z:-2.42 [[ 0.42242831 -0.72733349 -0.54086996 -0.97451677] [ 0.84581568 0.53081442 -0.0532154 0.50750277] [ 0.32580692 -0.4349966 0.83942111 -2.42221736] [ 0. 0. 0. 1. ]] SLAMing on 215.55134618399998 meters Centerline goodness : 0.894778 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.50, Z:-2.42 [[ 0.41811954 -0.72231154 -0.55085578 -0.97380367] [ 0.84358281 0.53369297 -0.05949675 0.50071299] [ 0.33696304 -0.43981571 0.83247705 -2.41730376] [ 0. 0. 0. 1. ]] SLAMing on 215.58134618399998 meters Centerline goodness : 0.893087 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.50, Z:-2.42 [[ 0.41691583 -0.72431686 -0.54913229 -0.97125884] [ 0.84435106 0.53229964 -0.06106047 0.50239945] [ 0.33653005 -0.43820336 0.83350186 -2.41864801] [ 0. 0. 0. 1. ]] SLAMing on 215.61134618399998 meters Centerline goodness : 0.893714 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.50, Z:-2.42 [[ 0.41641697 -0.72339731 -0.55072066 -0.96638264] [ 0.84432664 0.53236133 -0.06085992 0.50329234] [ 0.33720829 -0.43964502 0.83246791 -2.4173325 ] [ 0. 0. 0. 1. ]] SLAMing on 215.64134618399999 meters Centerline goodness : 0.894114 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.50, Z:-2.42 [[ 0.41599262 -0.72326445 -0.55121564 -0.96569177] [ 0.84450579 0.53208119 -0.06082416 0.50316837] [ 0.33728342 -0.4402024 0.83214286 -2.41625682] [ 0. 0. 0. 1. ]] SLAMing on 215.671346184 meters Centerline goodness : 0.894278 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.50, Z:-2.41 [[ 0.41576799 -0.72238989 -0.55253039 -0.96383426] [ 0.84438747 0.53229961 -0.06055519 0.50335802] [ 0.33785616 -0.44137283 0.83129011 -2.41458418] [ 0. 0. 0. 1. ]] SLAMing on 215.701346184 meters Centerline goodness : 0.893505 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.50, Z:-2.42 [[ 0.41445917 -0.72554124 -0.54937555 -0.96628131] [ 0.84562129 0.53014754 -0.06219498 0.50223311] [ 0.33637512 -0.43878639 0.83325763 -2.41526299] [ 0. 0. 0. 1. ]] SLAMing on 215.731346184 meters Centerline goodness : 0.893780 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.49, Z:-2.41 [[ 0.41440145 -0.72258211 -0.5533051 -0.97191463] [ 0.84164325 0.5355949 -0.06909951 0.49191894] [ 0.34627746 -0.43705057 0.83010766 -2.41053677] [ 0. 0. 0. 1. ]] SLAMing on 215.761346184 meters Centerline goodness : 0.894293 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.48, Z:-2.41 [[ 0.41287945 -0.72185458 -0.55538862 -0.97840146] [ 0.8383607 0.53951028 -0.07797434 0.4838817 ] [ 0.355924 -0.43342199 0.82792722 -2.40773349] [ 0. 0. 0. 1. ]] SLAMing on 215.791346184 meters Centerline goodness : 0.894409 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.48, Z:-2.41 [[ 0.413119 -0.72215764 -0.55481622 -0.97844599] [ 0.83823803 0.5396579 -0.07827099 0.48436335] [ 0.35593495 -0.43273282 0.82828293 -2.40882605] [ 0. 0. 0. 1. ]] SLAMing on 215.821346184 meters Centerline goodness : 0.893491 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.49, Z:-2.41 [[ 0.41334986 -0.72195738 -0.55490489 -0.97761717] [ 0.83794021 0.54008759 -0.07849588 0.48541774] [ 0.35636792 -0.43253086 0.82820225 -2.4094317 ] [ 0. 0. 0. 1. ]] SLAMing on 215.851346184 meters Centerline goodness : 0.893459 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.49, Z:-2.41 [[ 0.41523004 -0.71806098 -0.55854493 -0.97519876] [ 0.83617496 0.54309156 -0.0765702 0.48639542] [ 0.35832311 -0.43524704 0.82593254 -2.40835962] [ 0. 0. 0. 1. ]] SLAMing on 215.881346184 meters Centerline goodness : 0.893978 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.49, Z:-2.41 [[ 0.41513572 -0.71817329 -0.55847065 -0.97618713] [ 0.83619311 0.54303837 -0.07674893 0.48655738] [ 0.35839003 -0.43512809 0.82596618 -2.40818678] [ 0. 0. 0. 1. ]] SLAMing on 215.911346184 meters Centerline goodness : 0.893984 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.49, Z:-2.41 [[ 0.41455217 -0.71863711 -0.55830745 -0.97790936] [ 0.83650364 0.5424998 -0.07717268 0.4873083 ] [ 0.35834083 -0.43503411 0.82603703 -2.40796895] [ 0. 0. 0. 1. ]] SLAMing on 215.941346184 meters Centerline goodness : 0.892579 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.49, Z:-2.41 [[ 0.41400953 -0.71909331 -0.55812268 -0.97799477] [ 0.83670343 0.54210266 -0.07779508 0.48897928] [ 0.35850171 -0.43477526 0.82610351 -2.40844777] [ 0. 0. 0. 1. ]] SLAMing on 215.971346184 meters Centerline goodness : 0.894390 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.49, Z:-2.41 [[ 0.41381112 -0.71870642 -0.55876778 -0.97680937] [ 0.83647165 0.54240399 -0.07818626 0.49146591] [ 0.35927084 -0.43503906 0.82563035 -2.40876097] [ 0. 0. 0. 1. ]] SLAMing on 216.001346184 meters Centerline goodness : 0.893750 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.49, Z:-2.41 [[ 0.41347904 -0.71902084 -0.55860909 -0.97724028] [ 0.83658939 0.54216095 -0.07861106 0.49240185] [ 0.35937903 -0.43482241 0.82569739 -2.40896777] [ 0. 0. 0. 1. ]] SLAMing on 216.031346184 meters Centerline goodness : 0.893750 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.49, Z:-2.41 [[ 0.41347904 -0.71902084 -0.55860909 -0.97724028] [ 0.83658939 0.54216095 -0.07861106 0.49240185] [ 0.35937903 -0.43482241 0.82569739 -2.40896777] [ 0. 0. 0. 1. ]] SLAMing on 216.061346184 meters Centerline goodness : 0.893277 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.49, Z:-2.41 [[ 0.41323883 -0.71925209 -0.55848912 -0.97733834] [ 0.83676148 0.5418792 -0.07872205 0.49240063] [ 0.35925463 -0.43479118 0.82576797 -2.40885196] [ 0. 0. 0. 1. ]] SLAMing on 216.091346184 meters Centerline goodness : 0.893255 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.49, Z:-2.41 [[ 0.41319835 -0.71923329 -0.55854329 -0.9769139 ] [ 0.83675498 0.5418828 -0.07876627 0.49227161] [ 0.35931632 -0.43481779 0.82572712 -2.40857439] [ 0. 0. 0. 1. ]] SLAMing on 216.121346184 meters Centerline goodness : 0.895353 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.49, Z:-2.41 [[ 0.41311659 -0.71915904 -0.55869935 -0.97675374] [ 0.83675156 0.54188347 -0.0787981 0.4921985 ] [ 0.35941831 -0.43493975 0.82561849 -2.40815126] [ 0. 0. 0. 1. ]] SLAMing on 216.151346184 meters Centerline goodness : 0.895433 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.49, Z:-2.41 [[ 0.41297372 -0.71907522 -0.55891281 -0.9765518 ] [ 0.83669841 0.54193519 -0.07900644 0.49289916] [ 0.3597061 -0.43501388 0.82545409 -2.40793629] [ 0. 0. 0. 1. ]] SLAMing on 216.18134618399998 meters Centerline goodness : 0.897540 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.49, Z:-2.41 [[ 0.41272642 -0.71884693 -0.55938895 -0.97643065] [ 0.83672918 0.54188796 -0.07900453 0.49332055] [ 0.3599183 -0.4354498 0.82513168 -2.40733406] [ 0. 0. 0. 1. ]] SLAMing on 216.21134618399998 meters Centerline goodness : 0.895427 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.49, Z:-2.41 [[ 0.412362 -0.71900067 -0.55946011 -0.97644717] [ 0.836887 0.54161293 -0.07921863 0.49352427] [ 0.35996907 -0.43553814 0.82506291 -2.40684169] [ 0. 0. 0. 1. ]] SLAMing on 216.24134618399998 meters Centerline goodness : 0.896249 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.49, Z:-2.41 [[ 0.41181966 -0.71904624 -0.55980093 -0.97641404] [ 0.83712203 0.541229 -0.07935922 0.49363969] [ 0.36004345 -0.43594 0.82481818 -2.40579948] [ 0. 0. 0. 1. ]] SLAMing on 216.27134618399998 meters Centerline goodness : 0.897843 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.48, Z:-2.41 [[ 0.40976406 -0.7174667 -0.56332491 -0.98390352] [ 0.83580207 0.54268751 -0.08321763 0.47865494] [ 0.36541527 -0.43672853 0.82203399 -2.40819552] [ 0. 0. 0. 1. ]] SLAMing on 216.30134618399998 meters Centerline goodness : 0.898195 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.48, Z:-2.41 [[ 0.40961565 -0.71747477 -0.56342256 -0.98308805] [ 0.83584476 0.54260908 -0.08330024 0.47860996] [ 0.36548402 -0.43681271 0.82195869 -2.40785467] [ 0. 0. 0. 1. ]] SLAMing on 216.33134618399998 meters Centerline goodness : 0.897764 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.48, Z:-2.41 [[ 0.40947277 -0.7174732 -0.5635284 -0.98245263] [ 0.83587798 0.54254435 -0.08338844 0.4787204 ] [ 0.36556812 -0.43689568 0.82187719 -2.40761692] [ 0. 0. 0. 1. ]] SLAMing on 216.36134618399998 meters Centerline goodness : 0.899194 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.48, Z:-2.41 [[ 0.41012521 -0.71706037 -0.5635794 -0.98346784] [ 0.83551451 0.54315473 -0.08305692 0.47820041] [ 0.36566764 -0.43681503 0.82187578 -2.40776955] [ 0. 0. 0. 1. ]] SLAMing on 216.39134618399999 meters Centerline goodness : 0.901211 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.48, Z:-2.41 [[ 0.41010323 -0.71710619 -0.56353709 -0.98427489] [ 0.83553358 0.54312132 -0.0830835 0.47801167] [ 0.3656487 -0.43678135 0.82190211 -2.40753218] [ 0. 0. 0. 1. ]] SLAMing on 216.421346184 meters Centerline goodness : 0.898803 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.48, Z:-2.41 [[ 0.40995857 -0.71669601 -0.5641638 -0.98324775] [ 0.83541905 0.54329311 -0.08311204 0.47877847] [ 0.36607238 -0.4372407 0.82146917 -2.40701579] [ 0. 0. 0. 1. ]] SLAMing on 216.451346184 meters Centerline goodness : 0.899614 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.48, Z:-2.41 [[ 0.40941344 -0.71677613 -0.5644578 -0.98215557] [ 0.83567627 0.54287793 -0.08323891 0.47899203] [ 0.36609535 -0.43762487 0.82125433 -2.40629892] [ 0. 0. 0. 1. ]] SLAMing on 216.481346184 meters Centerline goodness : 0.898768 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.48, Z:-2.41 [[ 0.40651352 -0.72043761 -0.56188647 -0.98085784] [ 0.8377192 0.53936786 -0.08549183 0.47963447] [ 0.36465503 -0.4359495 0.82278475 -2.4062371 ] [ 0. 0. 0. 1. ]] SLAMing on 216.511346184 meters Centerline goodness : 0.899747 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.48, Z:-2.40 [[ 0.40553109 -0.7205901 -0.56240061 -0.98007822] [ 0.83822764 0.5385573 -0.08561814 0.47981352] [ 0.36458054 -0.43669892 0.82242026 -2.40482726] [ 0. 0. 0. 1. ]] SLAMing on 216.541346184 meters Centerline goodness : 0.900769 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.48, Z:-2.40 [[ 0.40454179 -0.72012567 -0.56370644 -0.9782266 ] [ 0.83849776 0.53812371 -0.08569942 0.48056358] [ 0.36505815 -0.43799759 0.82151729 -2.40270254] [ 0. 0. 0. 1. ]] SLAMing on 216.571346184 meters Centerline goodness : 0.900476 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.48, Z:-2.40 [[ 0.40219325 -0.72024145 -0.56523698 -0.97610606] [ 0.83973025 0.53619417 -0.08572588 0.48002058] [ 0.3648201 -0.44016822 0.82046221 -2.39849289] [ 0. 0. 0. 1. ]] SLAMing on 216.601346184 meters Centerline goodness : 0.900074 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.47, Z:-2.40 [[ 0.39851512 -0.71678143 -0.57219759 -0.9790587 ] [ 0.83844536 0.53758949 -0.08948134 0.4670484 ] [ 0.37174598 -0.44409675 0.81521961 -2.39769364] [ 0. 0. 0. 1. ]] SLAMing on 216.631346184 meters Centerline goodness : 0.900330 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.47, Z:-2.40 [[ 0.39794327 -0.71634834 -0.57313716 -0.97679362] [ 0.83855472 0.53741966 -0.08947679 0.46756812] [ 0.37211173 -0.44500018 0.81455982 -2.39633456] [ 0. 0. 0. 1. ]] SLAMing on 216.661346184 meters Centerline goodness : 0.900727 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.47, Z:-2.40 [[ 0.3977032 -0.71690858 -0.57260305 -0.97795018] [ 0.83869508 0.53711921 -0.08996399 0.46856571] [ 0.37205206 -0.44446039 0.81488172 -2.39709021] [ 0. 0. 0. 1. ]] SLAMing on 216.691346184 meters Centerline goodness : 0.900980 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.47, Z:-2.40 [[ 0.3979979 -0.71682144 -0.57250738 -0.97932905] [ 0.83833124 0.53762243 -0.09034855 0.47037557] [ 0.37255659 -0.44399228 0.8149064 -2.39816816] [ 0. 0. 0. 1. ]] SLAMing on 216.721346184 meters Centerline goodness : 0.901975 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.47, Z:-2.40 [[ 0.39853377 -0.71714718 -0.57172612 -0.98214565] [ 0.83805024 0.53800628 -0.09066992 0.47084974] [ 0.37261592 -0.44300018 0.81541904 -2.39942577] [ 0. 0. 0. 1. ]] SLAMing on 216.751346184 meters Centerline goodness : 0.902858 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.47, Z:-2.40 [[ 0.40069282 -0.71689019 -0.57053809 -0.98509457] [ 0.83687289 0.53984959 -0.09058803 0.47109765] [ 0.37294642 -0.44116989 0.81625982 -2.40253851] [ 0. 0. 0. 1. ]] SLAMing on 216.781346184 meters Centerline goodness : 0.903841 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.47, Z:-2.40 [[ 0.40108039 -0.71719609 -0.56988095 -0.98618354] [ 0.83662163 0.54017066 -0.090994 0.47213124] [ 0.37309351 -0.44027882 0.81667362 -2.40396798] [ 0. 0. 0. 1. ]] SLAMing on 216.811346184 meters Centerline goodness : 0.902853 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.47, Z:-2.41 [[ 0.4012635 -0.71732823 -0.56958565 -0.98695754] [ 0.83644902 0.54038759 -0.09129235 0.47332989] [ 0.3732836 -0.43979706 0.81684631 -2.40501939] [ 0. 0. 0. 1. ]] SLAMing on 216.841346184 meters Centerline goodness : 0.902600 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.46, Z:-2.41 [[ 0.40063903 -0.71674394 -0.57075957 -0.99669468] [ 0.8349611 0.54210513 -0.09466782 0.45850745] [ 0.37726428 -0.43863441 0.81564178 -2.41130433] [ 0. 0. 0. 1. ]] SLAMing on 216.871346184 meters Centerline goodness : 0.903201 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.46, Z:-2.41 [[ 0.39898315 -0.71770147 -0.57071626 -0.99840257] [ 0.83569066 0.54077592 -0.09582551 0.46207886] [ 0.37740372 -0.43870949 0.81553689 -2.4115805 ] [ 0. 0. 0. 1. ]] SLAMing on 216.901346184 meters Centerline goodness : 0.903540 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.46, Z:-2.41 [[ 0.39747432 -0.71840046 -0.57088961 -0.99852754] [ 0.8364286 0.53950413 -0.09655303 0.46366338] [ 0.37736104 -0.43913105 0.81532973 -2.41067489] [ 0. 0. 0. 1. ]] SLAMing on 216.93134618399998 meters Centerline goodness : 0.902556 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.47, Z:-2.41 [[ 0.39616422 -0.71843033 -0.57176199 -0.99677217] [ 0.83688436 0.53870997 -0.09703678 0.46554664] [ 0.37772805 -0.44005617 0.81466072 -2.40943066] [ 0. 0. 0. 1. ]] SLAMing on 216.96134618399998 meters Centerline goodness : 0.901865 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.47, Z:-2.41 [[ 0.39382012 -0.71995565 -0.57146266 -0.99752402] [ 0.83812565 0.53653527 -0.09836313 0.4683241 ] [ 0.37742697 -0.44022013 0.81471168 -2.40901229] [ 0. 0. 0. 1. ]] SLAMing on 216.99134618399998 meters Centerline goodness : 0.902160 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.47, Z:-2.41 [[ 0.39263441 -0.72103315 -0.57091979 -0.99834688] [ 0.83866782 0.53547724 -0.09950085 0.47098919] [ 0.37745797 -0.4397446 0.81495409 -2.40975344] [ 0. 0. 0. 1. ]] SLAMing on 217.02134618399998 meters Centerline goodness : 0.901938 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.47, Z:-2.41 [[ 0.3920433 -0.72184451 -0.5703004 -0.99892122] [ 0.8389077 0.53493538 -0.10038924 0.47331859] [ 0.37753929 -0.43907247 0.81527876 -2.41104025] [ 0. 0. 0. 1. ]] SLAMing on 217.05134618399998 meters Centerline goodness : 0.901403 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.48, Z:-2.41 [[ 0.39244844 -0.72213995 -0.56964735 -0.99995934] [ 0.83856848 0.53536018 -0.10095735 0.47541468] [ 0.37787185 -0.43806776 0.81566507 -2.41308952] [ 0. 0. 0. 1. ]] SLAMing on 217.08134618399998 meters Centerline goodness : 0.899981 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.49, Z:-2.42 [[ 0.39746921 -0.72382024 -0.56400575 -1.00247296] [ 0.83892212 0.53567312 -0.09624962 0.49095085] [ 0.37179014 -0.43490064 0.82014238 -2.41618091] [ 0. 0. 0. 1. ]] SLAMing on 217.11134618399998 meters Centerline goodness : 0.901962 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.49, Z:-2.42 [[ 0.39761236 -0.72494725 -0.56245524 -1.00651612] [ 0.83878456 0.53566856 -0.09746615 0.49372193] [ 0.3719474 -0.43302503 0.821063 -2.41897812] [ 0. 0. 0. 1. ]] SLAMing on 217.14134618399999 meters Centerline goodness : 0.902854 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.51, Z:-2.42 [[ 0.40054548 -0.72928411 -0.55471434 -1.00568963] [ 0.8406113 0.53337629 -0.09424634 0.50804697] [ 0.36460384 -0.42854919 0.82668593 -2.42096396] [ 0. 0. 0. 1. ]] SLAMing on 217.171346184 meters Centerline goodness : 0.900605 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.51, Z:-2.42 [[ 0.4008323 -0.73026707 -0.55321197 -1.00892074] [ 0.84047029 0.53343115 -0.09518876 0.50992248] [ 0.36461371 -0.42680349 0.82758421 -2.42352078] [ 0. 0. 0. 1. ]] SLAMing on 217.201346184 meters Centerline goodness : 0.899214 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.51, Z:-2.43 [[ 0.40063239 -0.73130306 -0.55198688 -1.01200978] [ 0.84053955 0.53313029 -0.09625672 0.51231865] [ 0.36467376 -0.42540324 0.82827841 -2.42556635] [ 0. 0. 0. 1. ]] SLAMing on 217.231346184 meters Centerline goodness : 0.898935 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.53, Z:-2.43 [[ 0.40161334 -0.73780647 -0.54253879 -1.01379087] [ 0.84364085 0.52856251 -0.09429634 0.5286725 ] [ 0.35633811 -0.41983722 0.83472142 -2.4295622 ] [ 0. 0. 0. 1. ]] SLAMing on 217.261346184 meters Centerline goodness : 0.900771 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.54, Z:-2.43 [[ 0.40263933 -0.738685 -0.54057936 -1.00790429] [ 0.84686592 0.52475825 -0.08629542 0.54036518] [ 0.34741861 -0.4230523 0.83685546 -2.43304825] [ 0. 0. 0. 1. ]] SLAMing on 217.291346184 meters Centerline goodness : 0.899765 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.55, Z:-2.43 [[ 0.40386236 -0.74362688 -0.53283605 -1.00772354] [ 0.84956724 0.52090232 -0.08304381 0.55360828] [ 0.33930914 -0.41914178 0.84213388 -2.43305015] [ 0. 0. 0. 1. ]] SLAMing on 217.321346184 meters Centerline goodness : 0.901400 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.57, Z:-2.43 [[ 0.40526176 -0.74833233 -0.52513011 -1.01138947] [ 0.85247271 0.5168267 -0.07861584 0.56656823] [ 0.33023203 -0.41579909 0.84738298 -2.43450505] [ 0. 0. 0. 1. ]] SLAMing on 217.351346184 meters Centerline goodness : 0.901458 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.57, Z:-2.43 [[ 0.40538966 -0.74611979 -0.52817088 -1.01205744] [ 0.8518031 0.51802326 -0.07799603 0.57003408] [ 0.33179918 -0.41827881 0.84554842 -2.43361126] [ 0. 0. 0. 1. ]] SLAMing on 217.381346184 meters Centerline goodness : 0.900608 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.57, Z:-2.43 [[ 0.40459937 -0.74708351 -0.52741404 -1.01573733] [ 0.85213328 0.51731604 -0.07907581 0.57249679] [ 0.33191598 -0.41743304 0.84592047 -2.43448992] [ 0. 0. 0. 1. ]] SLAMing on 217.411346184 meters Centerline goodness : 0.901229 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.58, Z:-2.44 [[ 0.40406506 -0.74796951 -0.52656722 -1.01828141] [ 0.8523049 0.51686531 -0.08016614 0.57519337] [ 0.33212615 -0.41640348 0.84634529 -2.43599051] [ 0. 0. 0. 1. ]] SLAMing on 217.441346184 meters Centerline goodness : 0.898266 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.58, Z:-2.44 [[ 0.40418355 -0.74961679 -0.52412816 -1.02127656] [ 0.8522922 0.51665026 -0.08167319 0.57828924] [ 0.33201455 -0.41369938 0.84771408 -2.44008559] [ 0. 0. 0. 1. ]] SLAMing on 217.471346184 meters Centerline goodness : 0.897799 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.59, Z:-2.44 [[ 0.40591611 -0.75533725 -0.51448785 -1.02089791] [ 0.8547537 0.51301696 -0.07880171 0.59094341] [ 0.32346286 -0.40777351 0.85386916 -2.4425434 ] [ 0. 0. 0. 1. ]] SLAMing on 217.501346184 meters Centerline goodness : 0.899996 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.59, Z:-2.44 [[ 0.40567189 -0.75617541 -0.51344821 -1.02320857] [ 0.85479622 0.51278668 -0.07983256 0.59342197] [ 0.32365683 -0.40650777 0.85439902 -2.44438573] [ 0. 0. 0. 1. ]] SLAMing on 217.531346184 meters Centerline goodness : 0.900493 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.60, Z:-2.44 [[ 0.40644425 -0.75394158 -0.51611547 -1.02415103] [ 0.85380459 0.51452699 -0.07924454 0.5970525 ] [ 0.32530109 -0.40845327 0.85284531 -2.44458077] [ 0. 0. 0. 1. ]] SLAMing on 217.561346184 meters Centerline goodness : 0.899625 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.61, Z:-2.45 [[ 0.40810691 -0.75751214 -0.50953323 -1.02827657] [ 0.85603366 0.51148294 -0.07477683 0.61237121] [ 0.31726191 -0.40566065 0.85719561 -2.44694977] [ 0. 0. 0. 1. ]] SLAMing on 217.591346184 meters Centerline goodness : 0.897643 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.62, Z:-2.45 [[ 0.40977479 -0.76268854 -0.50039066 -1.02979112] [ 0.85885103 0.50741064 -0.07006682 0.62302211] [ 0.3073427 -0.40104942 0.86295992 -2.44939651] [ 0. 0. 0. 1. ]] SLAMing on 217.621346184 meters Centerline goodness : 0.899282 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.63, Z:-2.45 [[ 0.41030147 -0.7629772 -0.49951827 -1.0235281 ] [ 0.86157563 0.50384245 -0.06188874 0.63463553] [ 0.2988982 -0.40497973 0.86408986 -2.45322816] [ 0. 0. 0. 1. ]] SLAMing on 217.651346184 meters Centerline goodness : 0.901469 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.65, Z:-2.46 [[ 0.40978268 -0.76888768 -0.49080535 -1.02715699] [ 0.86500739 0.49833959 -0.05847965 0.64910285] [ 0.28955202 -0.40058631 0.86930445 -2.45542868] [ 0. 0. 0. 1. ]] SLAMing on 217.68134618399998 meters Centerline goodness : 0.900752 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.65, Z:-2.46 [[ 0.40867149 -0.76961486 -0.49059207 -1.03035773] [ 0.86543228 0.49748026 -0.05950094 0.652542 ] [ 0.28985268 -0.40025788 0.86935554 -2.4562349 ] [ 0. 0. 0. 1. ]] SLAMing on 217.71134618399998 meters Centerline goodness : 0.897530 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.66, Z:-2.46 [[ 0.40762857 -0.7698281 -0.49112489 -1.03105629] [ 0.86564668 0.49698258 -0.06053212 0.6573519 ] [ 0.29067984 -0.40046601 0.86898343 -2.45739099] [ 0. 0. 0. 1. ]] SLAMing on 217.74134618399998 meters Centerline goodness : 0.898013 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.67, Z:-2.46 [[ 0.40808221 -0.77610015 -0.48076757 -1.03164785] [ 0.86855154 0.49226169 -0.05741639 0.67050684] [ 0.28122433 -0.39414081 0.87496623 -2.46150322] [ 0. 0. 0. 1. ]] SLAMing on 217.77134618399998 meters Centerline goodness : 0.899895 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.67, Z:-2.46 [[ 0.40787452 -0.77661626 -0.48010994 -1.03412337] [ 0.86860731 0.49208666 -0.05806942 0.67180372] [ 0.28135336 -0.39334197 0.87528418 -2.46218298] [ 0. 0. 0. 1. ]] SLAMing on 217.80134618399998 meters Centerline goodness : 0.899123 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.68, Z:-2.46 [[ 0.4102717 -0.7795666 -0.47323677 -1.03598649] [ 0.87057435 0.48934849 -0.05136481 0.68198978] [ 0.27161999 -0.39091427 0.87943653 -2.46425901] [ 0. 0. 0. 1. ]] SLAMing on 217.83134618399998 meters Centerline goodness : 0.900493 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.69, Z:-2.46 [[ 0.41119854 -0.77680349 -0.47696133 -1.03830613] [ 0.86956086 0.49124686 -0.05040266 0.6854979 ] [ 0.27345872 -0.3940214 0.8774779 -2.463373 ] [ 0. 0. 0. 1. ]] SLAMing on 217.86134618399998 meters Centerline goodness : 0.900332 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.69, Z:-2.47 [[ 0.4147098 -0.77982766 -0.46891855 -1.0453121 ] [ 0.87114738 0.48913449 -0.04300802 0.69436149] [ 0.26290308 -0.39066132 0.88219369 -2.46794361] [ 0. 0. 0. 1. ]] SLAMing on 217.89134618399999 meters Centerline goodness : 0.901639 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.70, Z:-2.47 [[ 0.41511662 -0.78034252 -0.46770048 -1.04816179] [ 0.87093308 0.48946049 -0.04363483 0.69548366] [ 0.26297102 -0.38922228 0.8828093 -2.46964494] [ 0. 0. 0. 1. ]] SLAMing on 217.921346184 meters Centerline goodness : 0.901639 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.70, Z:-2.47 [[ 0.41511662 -0.78034252 -0.46770048 -1.04816179] [ 0.87093308 0.48946049 -0.04363483 0.69548366] [ 0.26297102 -0.38922228 0.8828093 -2.46964494] [ 0. 0. 0. 1. ]] SLAMing on 217.951346184 meters Centerline goodness : 0.902829 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.71, Z:-2.47 [[ 0.41743933 -0.78404827 -0.4593612 -1.04883645] [ 0.87254605 0.48702446 -0.03834813 0.70629606] [ 0.25378692 -0.38480579 0.88742138 -2.47254654] [ 0. 0. 0. 1. ]] SLAMing on 217.981346184 meters Centerline goodness : 0.902894 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.71, Z:-2.48 [[ 0.41800636 -0.78534636 -0.45661994 -1.05490805] [ 0.87223578 0.48745505 -0.03990396 0.70947446] [ 0.25392013 -0.38160014 0.88876651 -2.47653242] [ 0. 0. 0. 1. ]] SLAMing on 218.011346184 meters Centerline goodness : 0.902519 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.71, Z:-2.48 [[ 0.41777673 -0.78610858 -0.45551718 -1.0569981 ] [ 0.87231419 0.48723949 -0.04081202 0.7112514 ] [ 0.25402864 -0.38030379 0.889291 -2.47804033] [ 0. 0. 0. 1. ]] SLAMing on 218.041346184 meters Centerline goodness : 0.903081 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.72, Z:-2.48 [[ 0.41732089 -0.78480341 -0.45817778 -1.05703239] [ 0.87221792 0.48743912 -0.04048456 0.71548612] [ 0.2551062 -0.38273582 0.88793813 -2.47824841] [ 0. 0. 0. 1. ]] SLAMing on 218.071346184 meters Centerline goodness : 0.903814 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.72, Z:-2.48 [[ 0.41841304 -0.78941049 -0.44917881 -1.06146976] [ 0.87540223 0.48232071 -0.03221282 0.72153894] [ 0.24207738 -0.37973387 0.89286098 -2.48245813] [ 0. 0. 0. 1. ]] SLAMing on 218.101346184 meters Centerline goodness : 0.901253 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.74, Z:-2.49 [[ 0.41518712 -0.79077537 -0.44977101 -1.0606667 ] [ 0.87934648 0.47555788 -0.02438158 0.73624167] [ 0.23317251 -0.38538164 0.89281105 -2.48727906] [ 0. 0. 0. 1. ]] SLAMing on 218.131346184 meters Centerline goodness : 0.901643 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.74, Z:-2.49 [[ 0.4137836 -0.79209867 -0.44873469 -1.06135846] [ 0.88007227 0.4741573 -0.0254491 0.7383867 ] [ 0.23292903 -0.38438854 0.89330259 -2.48840021] [ 0. 0. 0. 1. ]] SLAMing on 218.161346184 meters Centerline goodness : 0.899864 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.75, Z:-2.49 [[ 0.41434047 -0.79785516 -0.43789168 -1.06167259] [ 0.8827762 0.46937148 -0.01991487 0.74659526] [ 0.22142305 -0.37830881 0.89880714 -2.49246989] [ 0. 0. 0. 1. ]] SLAMing on 218.191346184 meters Centerline goodness : 0.900891 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.75, Z:-2.49 [[ 0.41358603 -0.79850932 -0.43741223 -1.06291863] [ 0.88309915 0.46873021 -0.02068521 0.74849532] [ 0.22154566 -0.37772326 0.89902317 -2.49318743] [ 0. 0. 0. 1. ]] SLAMing on 218.221346184 meters Centerline goodness : 0.902146 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.75, Z:-2.49 [[ 0.41402017 -0.79673852 -0.44022157 -1.06473205] [ 0.88249824 0.46987184 -0.02042817 0.75375174] [ 0.22312363 -0.38003709 0.89765676 -2.49464168] [ 0. 0. 0. 1. ]] SLAMing on 218.251346184 meters Centerline goodness : 0.901495 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.76, Z:-2.50 [[ 0.41378652 -0.7970516 -0.43987437 -1.06784307] [ 0.88256026 0.46973291 -0.02093743 0.75527282] [ 0.22331168 -0.37955201 0.89781522 -2.49515621] [ 0. 0. 0. 1. ]] SLAMing on 218.281346184 meters Centerline goodness : 0.903262 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.76, Z:-2.50 [[ 0.41588942 -0.80063116 -0.431307 -1.07054894] [ 0.88440658 0.46652991 -0.0132227 0.76231113] [ 0.21180412 -0.37595157 0.90210832 -2.49890474] [ 0. 0. 0. 1. ]] SLAMing on 218.311346184 meters Centerline goodness : 0.904952 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.77, Z:-2.50 [[ 0.41418298 -0.80107928 -0.43211624 -1.07602568] [ 0.88504326 0.46529014 -0.0142657 0.76761045] [ 0.21248738 -0.37653295 0.90170508 -2.49943326] [ 0. 0. 0. 1. ]] SLAMing on 218.341346184 meters Centerline goodness : 0.903762 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.77, Z:-2.50 [[ 0.41283776 -0.80213654 -0.43144171 -1.07734916] [ 0.8856371 0.46412105 -0.01544591 0.77080243] [ 0.21263091 -0.37572413 0.90200858 -2.50081256] [ 0. 0. 0. 1. ]] SLAMing on 218.371346184 meters Centerline goodness : 0.907125 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.77, Z:-2.50 [[ 0.41185077 -0.80316633 -0.4304681 -1.07831976] [ 0.8860883 0.46322224 -0.0165131 0.77321619] [ 0.21266516 -0.37463181 0.90245473 -2.50228808] [ 0. 0. 0. 1. ]] SLAMing on 218.401346184 meters Centerline goodness : 0.906131 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.78, Z:-2.50 [[ 0.4116258 -0.80380977 -0.42948115 -1.08308702] [ 0.88611895 0.46312729 -0.01750209 0.77641336] [ 0.21297279 -0.37336708 0.90290621 -2.50437919] [ 0. 0. 0. 1. ]] SLAMing on 218.43134618399998 meters Centerline goodness : 0.905185 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.79, Z:-2.51 [[ 0.41406453 -0.80444056 -0.42594126 -1.08191131] [ 0.88749012 0.46076622 -0.00746782 0.78581954] [ 0.20226677 -0.3749265 0.90472 -2.51016911] [ 0. 0. 0. 1. ]] SLAMing on 218.46134618399998 meters Centerline goodness : 0.904566 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.79, Z:-2.51 [[ 0.41521394 -0.80174183 -0.42989234 -1.08218357] [ 0.88649171 0.462696 -0.00669707 0.79100293] [ 0.20427878 -0.37831528 0.90285532 -2.51138645] [ 0. 0. 0. 1. ]] SLAMing on 218.49134618399998 meters Centerline goodness : 0.903189 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.80, Z:-2.51 [[ 0.41624322 -0.79929015 -0.43344761 -1.08323095] [ 0.88559045 0.46442847 -0.00598014 0.79512619] [ 0.20608528 -0.38136787 0.90115892 -2.5119361 ] [ 0. 0. 0. 1. ]] SLAMing on 218.52134618399998 meters Centerline goodness : 0.902652 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.80, Z:-2.51 [[ 0.41625899 -0.79737021 -0.43695447 -1.08442102] [ 0.88499812 0.46554965 -0.00646978 0.80385697] [ 0.20858281 -0.38401078 0.89946036 -2.51491849] [ 0. 0. 0. 1. ]] SLAMing on 218.55134618399998 meters Centerline goodness : 0.902749 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.81, Z:-2.52 [[ 0.41495263 -0.79829624 -0.43650594 -1.08499016] [ 0.88556771 0.46444882 -0.00755796 0.80736492] [ 0.20876816 -0.38341936 0.89966963 -2.51665409] [ 0. 0. 0. 1. ]] SLAMing on 218.58134618399998 meters Centerline goodness : 0.900683 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.81, Z:-2.52 [[ 0.41344846 -0.79905201 -0.4365504 -1.08505157] [ 0.88617652 0.46326663 -0.00867213 0.8114293 ] [ 0.20916872 -0.38327524 0.899638 -2.5181286 ] [ 0. 0. 0. 1. ]] SLAMing on 218.61134618399998 meters Centerline goodness : 0.903674 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.82, Z:-2.52 [[ 0.41178966 -0.79958413 -0.43714356 -1.08599627] [ 0.88683586 0.46198441 -0.00962055 0.81577827] [ 0.20964595 -0.38371294 0.89934029 -2.51909906] [ 0. 0. 0. 1. ]] SLAMing on 218.64134618399999 meters Centerline goodness : 0.904683 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.82, Z:-2.52 [[ 0.40912433 -0.79927522 -0.44020042 -1.08968584] [ 0.88773959 0.46022475 -0.01056423 0.8236501 ] [ 0.21103486 -0.38646126 0.89783739 -2.51935698] [ 0. 0. 0. 1. ]] SLAMing on 218.671346184 meters Centerline goodness : 0.903125 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.83, Z:-2.52 [[ 0.40779732 -0.79918192 -0.44159891 -1.09154773] [ 0.88815533 0.459406 -0.01123555 0.82848085] [ 0.21185243 -0.3876266 0.89714222 -2.52016327] [ 0. 0. 0. 1. ]] SLAMing on 218.701346184 meters Centerline goodness : 0.902379 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.83, Z:-2.52 [[ 0.40724769 -0.79837849 -0.44355507 -1.09346218] [ 0.88812758 0.45945155 -0.01156189 0.83323322] [ 0.21302284 -0.38922494 0.89617254 -2.52112109] [ 0. 0. 0. 1. ]] SLAMing on 218.731346184 meters Centerline goodness : 0.903754 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.84, Z:-2.52 [[ 0.40771977 -0.79642783 -0.44661763 -1.09510561] [ 0.88749395 0.46068061 -0.01130728 0.83794446] [ 0.21475352 -0.39176024 0.89465347 -2.52186793] [ 0. 0. 0. 1. ]] SLAMing on 218.761346184 meters Centerline goodness : 0.902983 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.85, Z:-2.52 [[ 0.40776193 -0.79398075 -0.45091548 -1.10012823] [ 0.88673748 0.46212174 -0.01183808 0.84826684] [ 0.21777705 -0.39501654 0.89248815 -2.52463113] [ 0. 0. 0. 1. ]] SLAMing on 218.791346184 meters Centerline goodness : 0.901751 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.85, Z:-2.53 [[ 0.40747774 -0.79387333 -0.45136132 -1.10183882] [ 0.88659724 0.46236434 -0.01282803 0.85381439] [ 0.21887721 -0.39494856 0.89224907 -2.52765475] [ 0. 0. 0. 1. ]] SLAMing on 218.821346184 meters Centerline goodness : 0.900339 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.86, Z:-2.53 [[ 0.40732693 -0.7945491 -0.45030713 -1.1048525 ] [ 0.8865438 0.46243228 -0.01401707 0.85788568] [ 0.2193738 -0.39350746 0.89276369 -2.53076284] [ 0. 0. 0. 1. ]] SLAMing on 218.851346184 meters Centerline goodness : 0.900224 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.87, Z:-2.53 [[ 0.40669009 -0.79387822 -0.45206255 -1.11081545] [ 0.88631726 0.46282193 -0.01541337 0.8671519 ] [ 0.2214608 -0.39440237 0.89185306 -2.53438045] [ 0. 0. 0. 1. ]] SLAMing on 218.881346184 meters Centerline goodness : 0.899925 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.87, Z:-2.54 [[ 0.40603263 -0.79331325 -0.45364257 -1.1145189 ] [ 0.88623962 0.46293876 -0.0163416 0.87285183] [ 0.22297274 -0.3954008 0.89103388 -2.53549804] [ 0. 0. 0. 1. ]] SLAMing on 218.911346184 meters Centerline goodness : 0.897895 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.88, Z:-2.54 [[ 0.40617551 -0.79223254 -0.4553999 -1.11782517] [ 0.88574897 0.46385556 -0.01693442 0.8779914 ] [ 0.22465577 -0.39649164 0.89012592 -2.53687487] [ 0. 0. 0. 1. ]] SLAMing on 218.941346184 meters Centerline goodness : 0.898932 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.89, Z:-2.54 [[ 0.40773858 -0.79525178 -0.44869127 -1.12170262] [ 0.88744679 0.46079602 -0.01025775 0.88941777] [ 0.21491265 -0.39400715 0.89362795 -2.54152242] [ 0. 0. 0. 1. ]] SLAMing on 218.971346184 meters Centerline goodness : 0.898302 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.90, Z:-2.54 [[ 0.40920542 -0.79244747 -0.45230292 -1.13043515] [ 0.88588633 0.46377042 -0.01106384 0.8982364 ] [ 0.21853223 -0.39616159 0.89179575 -2.54301734] [ 0. 0. 0. 1. ]] SLAMing on 219.001346184 meters Centerline goodness : 0.897990 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.90, Z:-2.54 [[ 0.4097987 -0.79087544 -0.45451189 -1.13437774] [ 0.88515525 0.46515799 -0.01132326 0.90264883] [ 0.22037513 -0.39767333 0.89066869 -2.54362293] [ 0. 0. 0. 1. ]] SLAMing on 219.031346184 meters Centerline goodness : 0.898050 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.91, Z:-2.54 [[ 0.41048986 -0.78926995 -0.45667387 -1.13764785] [ 0.88434293 0.46669183 -0.0116758 0.9072991 ] [ 0.22234132 -0.39906351 0.88955756 -2.5445194 ] [ 0. 0. 0. 1. ]] SLAMing on 219.061346184 meters Centerline goodness : 0.894889 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.92, Z:-2.55 [[ 0.4129623 -0.79252353 -0.44874112 -1.14609345] [ 0.88559032 0.46443738 -0.00526392 0.92024612] [ 0.21258393 -0.39522699 0.8936463 -2.55202926] [ 0. 0. 0. 1. ]] SLAMing on 219.091346184 meters Centerline goodness : 0.892345 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.92, Z:-2.55 [[ 0.41269249 -0.79334885 -0.44752935 -1.15041945] [ 0.88558118 0.46443665 -0.00667572 0.92313262] [ 0.2131452 -0.39356856 0.89424433 -2.55333048] [ 0. 0. 0. 1. ]] SLAMing on 219.121346184 meters Centerline goodness : 0.890579 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.93, Z:-2.55 [[ 0.41193523 -0.7935838 -0.44781036 -1.15353451] [ 0.8856835 0.46422163 -0.00793757 0.92728681] [ 0.21418239 -0.39334849 0.89409333 -2.55421402] [ 0. 0. 0. 1. ]] SLAMing on 219.151346184 meters Centerline goodness : 0.891888 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.93, Z:-2.55 [[ 0.41138166 -0.79233261 -0.45052654 -1.15631625] [ 0.88553657 0.46449545 -0.00830448 0.93212427] [ 0.21584744 -0.39554142 0.89272441 -2.55420711] [ 0. 0. 0. 1. ]] SLAMing on 219.18134618399998 meters Centerline goodness : 0.885454 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.94, Z:-2.55 [[ 0.40983254 -0.78984856 -0.45626367 -1.16523148] [ 0.88532114 0.46488219 -0.00954078 0.94264655] [ 0.21964463 -0.40002975 0.88979348 -2.55289501] [ 0. 0. 0. 1. ]] SLAMing on 219.21134618399998 meters Centerline goodness : 0.885039 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.95, Z:-2.55 [[ 0.40941229 -0.78901675 -0.45807658 -1.16907187] [ 0.88513479 0.4652224 -0.01022362 0.94741612] [ 0.22117409 -0.40127384 0.88885394 -2.55331636] [ 0. 0. 0. 1. ]] SLAMing on 219.24134618399998 meters Centerline goodness : 0.883909 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.95, Z:-2.55 [[ 0.40838706 -0.78980067 -0.45764058 -1.1724273 ] [ 0.88538924 0.46469852 -0.01188202 0.95168924] [ 0.22204933 -0.40033759 0.88905788 -2.5545952 ] [ 0. 0. 0. 1. ]] SLAMing on 219.27134618399998 meters Centerline goodness : 0.877500 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.96, Z:-2.56 [[ 0.40630617 -0.79188443 -0.45588853 -1.17859599] [ 0.88605086 0.4633406 -0.01514465 0.95916595] [ 0.22322448 -0.39778706 0.88990802 -2.55727526] [ 0. 0. 0. 1. ]] SLAMing on 219.30134618399998 meters Centerline goodness : 0.876044 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.96, Z:-2.56 [[ 0.40542609 -0.79278682 -0.455103 -1.1825441 ] [ 0.88630188 0.46280847 -0.0166524 0.96224551] [ 0.22382732 -0.39660733 0.89028308 -2.55785188] [ 0. 0. 0. 1. ]] SLAMing on 219.33134618399998 meters Centerline goodness : 0.872357 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.97, Z:-2.56 [[ 0.40453923 -0.79207418 -0.45712855 -1.18530481] [ 0.88628271 0.46281024 -0.01759662 0.96749822] [ 0.2255016 -0.3980266 0.88922655 -2.55823209] [ 0. 0. 0. 1. ]] SLAMing on 219.36134618399998 meters Centerline goodness : 0.871799 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.97, Z:-2.56 [[ 0.40219581 -0.79243743 -0.45856455 -1.190713 ] [ 0.88698679 0.46138866 -0.01936319 0.97364299] [ 0.2269206 -0.39895291 0.88845012 -2.55790374] [ 0. 0. 0. 1. ]] SLAMing on 219.39134618399999 meters Centerline goodness : 0.868624 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.97, Z:-2.56 [[ 0.40035767 -0.7936369 -0.45809847 -1.19181648] [ 0.88789658 0.45959716 -0.02025123 0.97440426] [ 0.22661288 -0.39863633 0.88867074 -2.55679105] [ 0. 0. 0. 1. ]] SLAMing on 219.421346184 meters Centerline goodness : 0.868384 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.98, Z:-2.56 [[ 0.39715669 -0.79641251 -0.45606324 -1.19319406] [ 0.88948125 0.45642022 -0.02244281 0.9760504 ] [ 0.22603022 -0.39674639 0.88966434 -2.55589368] [ 0. 0. 0. 1. ]] SLAMing on 219.451346184 meters Centerline goodness : 0.863815 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.98, Z:-2.55 [[ 0.39051625 -0.79808211 -0.45887036 -1.19296454] [ 0.88893638 0.45649815 -0.03743738 0.97656592] [ 0.23935158 -0.39328665 0.88771416 -2.54807113] [ 0. 0. 0. 1. ]] SLAMing on 219.481346184 meters Centerline goodness : 0.864376 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.98, Z:-2.55 [[ 0.38810866 -0.8010288 -0.45576806 -1.19449164] [ 0.89023191 0.45379324 -0.03948223 0.97681258] [ 0.23845087 -0.39041588 0.88922248 -2.54756423] [ 0. 0. 0. 1. ]] SLAMing on 219.511346184 meters Centerline goodness : 0.864133 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.98, Z:-2.55 [[ 0.38709208 -0.80153006 -0.45575134 -1.19467232] [ 0.89064955 0.45292057 -0.04007902 0.97783386] [ 0.2385437 -0.39040046 0.88920436 -2.54707941] [ 0. 0. 0. 1. ]] SLAMing on 219.541346184 meters Centerline goodness : 0.861948 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.98, Z:-2.55 [[ 0.38564689 -0.80187359 -0.4563718 -1.19542796] [ 0.8912083 0.45176597 -0.04068499 0.97875431] [ 0.23879747 -0.3910323 0.88885854 -2.54540269] [ 0. 0. 0. 1. ]] SLAMing on 219.571346184 meters Centerline goodness : 0.862878 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.98, Z:-2.54 [[ 0.38423386 -0.80212063 -0.45712891 -1.1968474 ] [ 0.89180545 0.45055794 -0.04099494 0.9790105 ] [ 0.23884595 -0.39191841 0.88845516 -2.54333379] [ 0. 0. 0. 1. ]] SLAMing on 219.601346184 meters Centerline goodness : 0.863500 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.98, Z:-2.54 [[ 0.38377105 -0.80236267 -0.4570929 -1.19790441] [ 0.89196374 0.4502081 -0.04139271 0.97946405] [ 0.23899889 -0.39182497 0.88845524 -2.5426576 ] [ 0. 0. 0. 1. ]] SLAMing on 219.631346184 meters Centerline goodness : 0.862109 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.98, Z:-2.54 [[ 0.38394417 -0.80252639 -0.4566599 -1.19764608] [ 0.89189405 0.45033317 -0.0415336 0.97923054] [ 0.23898091 -0.39134566 0.88867131 -2.54261605] [ 0. 0. 0. 1. ]] SLAMing on 219.661346184 meters Centerline goodness : 0.860176 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.98, Z:-2.55 [[ 0.38513459 -0.80313729 -0.45457874 -1.19752384] [ 0.89131256 0.45140444 -0.04237866 0.98055207] [ 0.23923475 -0.38885025 0.88969782 -2.54541184] [ 0. 0. 0. 1. ]] SLAMing on 219.691346184 meters Centerline goodness : 0.861192 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.98, Z:-2.55 [[ 0.38579114 -0.80341261 -0.45353431 -1.19814599] [ 0.89099851 0.45198802 -0.04276091 0.98061039] [ 0.23934673 -0.38760161 0.89021241 -2.54616657] [ 0. 0. 0. 1. ]] SLAMing on 219.721346184 meters Centerline goodness : 0.860066 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.98, Z:-2.55 [[ 0.38635666 -0.80319074 -0.45344588 -1.19959842] [ 0.89065413 0.4526524 -0.04290713 0.98077362] [ 0.23971597 -0.38728599 0.89025042 -2.54584867] [ 0. 0. 0. 1. ]] SLAMing on 219.751346184 meters Centerline goodness : 0.859915 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.98, Z:-2.54 [[ 0.38767875 -0.8026874 -0.4532087 -1.20202355] [ 0.89004001 0.45389236 -0.04255011 0.97937424] [ 0.2398624 -0.3868781 0.89038832 -2.54497539] [ 0. 0. 0. 1. ]] SLAMing on 219.781346184 meters Centerline goodness : 0.859099 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.98, Z:-2.54 [[ 0.38787577 -0.80210914 -0.45406313 -1.20323169] [ 0.88974932 0.454445 -0.04273036 0.9805195 ] [ 0.24062113 -0.38742829 0.88994426 -2.544433 ] [ 0. 0. 0. 1. ]] SLAMing on 219.811346184 meters Centerline goodness : 0.859897 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.98, Z:-2.54 [[ 0.38812596 -0.80225543 -0.45359064 -1.20429601] [ 0.88964583 0.4546357 -0.0428565 0.98032581] [ 0.24060036 -0.3869013 0.89017911 -2.54419218] [ 0. 0. 0. 1. ]] SLAMing on 219.841346184 meters Centerline goodness : 0.859897 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.98, Z:-2.54 [[ 0.38812596 -0.80225543 -0.45359064 -1.20429601] [ 0.88964583 0.4546357 -0.0428565 0.98032581] [ 0.24060036 -0.3869013 0.89017911 -2.54419218] [ 0. 0. 0. 1. ]] SLAMing on 219.871346184 meters Centerline goodness : 0.860000 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.98, Z:-2.54 [[ 0.38928041 -0.80177377 -0.45345296 -1.2065351 ] [ 0.88901752 0.45586514 -0.0428349 0.98033915] [ 0.2410573 -0.38645283 0.89025029 -2.54423067] [ 0. 0. 0. 1. ]] SLAMing on 219.901346184 meters Centerline goodness : 0.856458 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.98, Z:-2.54 [[ 0.38974442 -0.80206785 -0.45253338 -1.20748154] [ 0.88878765 0.45627568 -0.04323223 0.98072784] [ 0.24115515 -0.38535656 0.89069889 -2.54480569] [ 0. 0. 0. 1. ]] SLAMing on 219.93134618399998 meters Centerline goodness : 0.856110 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.98, Z:-2.55 [[ 0.39043476 -0.8027683 -0.45069252 -1.20765318] [ 0.88860944 0.45659855 -0.04348603 0.98000716] [ 0.24069475 -0.38351117 0.89161944 -2.54593102] [ 0. 0. 0. 1. ]] SLAMing on 219.96134618399998 meters Centerline goodness : 0.855676 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.98, Z:-2.55 [[ 0.39121682 -0.8032714 -0.4491152 -1.20761649] [ 0.88837415 0.45704474 -0.04360587 0.97895484] [ 0.24029309 -0.38192299 0.89240914 -2.54671058] [ 0. 0. 0. 1. ]] SLAMing on 219.99134618399998 meters Centerline goodness : 0.855154 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.98, Z:-2.54 [[ 0.39278081 -0.80486593 -0.44487535 -1.21348358] [ 0.88790391 0.45787592 -0.04445541 0.97527488] [ 0.23947835 -0.37754533 0.89448848 -2.54487304] [ 0. 0. 0. 1. ]] SLAMing on 220.02134618399998 meters Centerline goodness : 0.854953 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.98, Z:-2.54 [[ 0.39237618 -0.80504168 -0.44491441 -1.2139291 ] [ 0.88808452 0.4575097 -0.04461793 0.97539839] [ 0.23947195 -0.37761458 0.89446096 -2.54418488] [ 0. 0. 0. 1. ]] SLAMing on 220.05134618399998 meters Centerline goodness : 0.855420 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.98, Z:-2.54 [[ 0.39111749 -0.8056951 -0.44483988 -1.21437422] [ 0.88867085 0.45631866 -0.04513757 0.97570341] [ 0.23935586 -0.37766214 0.89447196 -2.54301722] [ 0. 0. 0. 1. ]] SLAMing on 220.08134618399998 meters Centerline goodness : 0.856827 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.98, Z:-2.54 [[ 0.38765693 -0.80807992 -0.44354138 -1.21557561] [ 0.89046097 0.45268118 -0.04646513 0.97531377] [ 0.23833037 -0.37694376 0.89504862 -2.54040597] [ 0. 0. 0. 1. ]] SLAMing on 220.11134618399998 meters Centerline goodness : 0.853797 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.98, Z:-2.54 [[ 0.38574973 -0.8090127 -0.44350378 -1.215128 ] [ 0.89134429 0.4508661 -0.04717114 0.97623533] [ 0.23812287 -0.3771183 0.89503033 -2.5394306 ] [ 0. 0. 0. 1. ]] SLAMing on 220.14134618399999 meters Centerline goodness : 0.854779 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.98, Z:-2.54 [[ 0.38436401 -0.81033071 -0.44229905 -1.21525838] [ 0.89209563 0.44929924 -0.04791218 0.97562736] [ 0.23754933 -0.37615733 0.89558695 -2.53831506] [ 0. 0. 0. 1. ]] SLAMing on 220.171346184 meters Centerline goodness : 0.855938 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.97, Z:-2.54 [[ 0.38301911 -0.81244708 -0.43957492 -1.2157624 ] [ 0.89292352 0.44752318 -0.04909771 0.9744169 ] [ 0.23660925 -0.37370143 0.89686304 -2.53772782] [ 0. 0. 0. 1. ]] SLAMing on 220.201346184 meters Centerline goodness : 0.856158 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.97, Z:-2.54 [[ 0.38178552 -0.81481854 -0.436246 -1.21590002] [ 0.89384829 0.44557497 -0.04998192 0.97241194] [ 0.23510649 -0.37085536 0.89843822 -2.53754393] [ 0. 0. 0. 1. ]] SLAMing on 220.231346184 meters Centerline goodness : 0.854838 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.97, Z:-2.54 [[ 0.38198595 -0.81475388 -0.4361913 -1.21621264] [ 0.89376662 0.44574738 -0.04990496 0.97194525] [ 0.23509139 -0.37079023 0.89846905 -2.536941 ] [ 0. 0. 0. 1. ]] SLAMing on 220.261346184 meters Centerline goodness : 0.854770 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.97, Z:-2.54 [[ 0.38319817 -0.81422636 -0.43611306 -1.21734804] [ 0.89325988 0.44682409 -0.04934591 0.97048457] [ 0.23504456 -0.37065304 0.89853791 -2.53640379] [ 0. 0. 0. 1. ]] SLAMing on 220.291346184 meters Centerline goodness : 0.857686 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.97, Z:-2.53 [[ 0.38447238 -0.81474973 -0.43400907 -1.22081754] [ 0.89281856 0.44768691 -0.04951214 0.96743011] [ 0.23464018 -0.3684553 0.89954693 -2.53498851] [ 0. 0. 0. 1. ]] SLAMing on 220.321346184 meters Centerline goodness : 0.856525 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.96, Z:-2.54 [[ 0.38745768 -0.81456965 -0.43168604 -1.22386939] [ 0.89160858 0.45013459 -0.04912224 0.96439756] [ 0.2343303 -0.36586219 0.90068539 -2.53547787] [ 0. 0. 0. 1. ]] SLAMing on 220.351346184 meters Centerline goodness : 0.856382 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.96, Z:-2.53 [[ 0.38864377 -0.81389303 -0.431896 -1.22548952] [ 0.8909726 0.45141334 -0.04892665 0.9640398 ] [ 0.23478467 -0.36579247 0.90059537 -2.5349887 ] [ 0. 0. 0. 1. ]] SLAMing on 220.381346184 meters Centerline goodness : 0.857358 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.96, Z:-2.53 [[ 0.38958657 -0.81313906 -0.43246638 -1.2273369 ] [ 0.89045931 0.45246349 -0.04856965 0.96350072] [ 0.23516913 -0.36617163 0.90034095 -2.53392011] [ 0. 0. 0. 1. ]] SLAMing on 220.411346184 meters Centerline goodness : 0.858277 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.96, Z:-2.53 [[ 0.38894074 -0.81372638 -0.43194267 -1.2290944 ] [ 0.89079039 0.45176838 -0.04896755 0.96228307] [ 0.23498423 -0.3657249 0.90057077 -2.53200456] [ 0. 0. 0. 1. ]] SLAMing on 220.441346184 meters Centerline goodness : 0.858693 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.96, Z:-2.53 [[ 0.38806212 -0.8143341 -0.43158749 -1.23013941] [ 0.89122572 0.45086585 -0.04936309 0.96218171] [ 0.2347861 -0.36548593 0.90071945 -2.53107683] [ 0. 0. 0. 1. ]] SLAMing on 220.471346184 meters Centerline goodness : 0.858386 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.96, Z:-2.53 [[ 0.38679745 -0.81495494 -0.4315509 -1.23004132] [ 0.89177652 0.44971039 -0.04995197 0.96299456] [ 0.23478153 -0.36552567 0.90070451 -2.53042441] [ 0. 0. 0. 1. ]] SLAMing on 220.501346184 meters Centerline goodness : 0.856181 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.96, Z:-2.53 [[ 0.38492857 -0.81736224 -0.42865949 -1.23187406] [ 0.89289559 0.4473448 -0.05118683 0.9623467 ] [ 0.23359677 -0.3630449 0.90201494 -2.53011571] [ 0. 0. 0. 1. ]] SLAMing on 220.531346184 meters Centerline goodness : 0.857529 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.96, Z:-2.53 [[ 0.38465674 -0.8177684 -0.42812853 -1.23276871] [ 0.89306019 0.44698984 -0.05141574 0.96207829] [ 0.23341527 -0.36256713 0.90225406 -2.52962698] [ 0. 0. 0. 1. ]] SLAMing on 220.561346184 meters Centerline goodness : 0.859959 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.96, Z:-2.53 [[ 0.38544743 -0.81776016 -0.42743256 -1.23545515] [ 0.89275222 0.4476162 -0.05131488 0.96141465] [ 0.233289 -0.36181218 0.90258971 -2.52934328] [ 0. 0. 0. 1. ]] SLAMing on 220.591346184 meters Centerline goodness : 0.859012 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.96, Z:-2.53 [[ 0.38567876 -0.8177631 -0.42721822 -1.23756389] [ 0.89265628 0.44780766 -0.05131338 0.96113121] [ 0.23327377 -0.36156855 0.90269127 -2.5286019 ] [ 0. 0. 0. 1. ]] SLAMing on 220.621346184 meters Centerline goodness : 0.858573 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.96, Z:-2.53 [[ 0.38634657 -0.81706003 -0.42795938 -1.23920128] [ 0.89226576 0.44862089 -0.05100107 0.96088821] [ 0.23366245 -0.36214941 0.90235783 -2.52767609] [ 0. 0. 0. 1. ]] SLAMing on 220.651346184 meters Centerline goodness : 0.859091 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.96, Z:-2.53 [[ 0.38656109 -0.81684239 -0.42818108 -1.24103056] [ 0.89201374 0.4490767 -0.05139667 0.9618013 ] [ 0.23426912 -0.36207545 0.90223021 -2.52717573] [ 0. 0. 0. 1. ]] SLAMing on 220.68134618399998 meters Centerline goodness : 0.859931 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.96, Z:-2.53 [[ 0.38674196 -0.81699062 -0.42773472 -1.24400066] [ 0.89193405 0.44921554 -0.05156599 0.96203768] [ 0.23427401 -0.36156843 0.90243225 -2.5268074 ] [ 0. 0. 0. 1. ]] SLAMing on 220.71134618399998 meters Centerline goodness : 0.859060 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.96, Z:-2.53 [[ 0.38652366 -0.8172061 -0.42752036 -1.24491285] [ 0.89195464 0.44911691 -0.05206653 0.96286631] [ 0.23455571 -0.36120382 0.90250508 -2.52671197] [ 0. 0. 0. 1. ]] SLAMing on 220.74134618399998 meters Centerline goodness : 0.856209 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.96, Z:-2.53 [[ 0.38609264 -0.81796251 -0.42646197 -1.24596153] [ 0.8922112 0.4485482 -0.05257076 0.96305167] [ 0.23428965 -0.36019696 0.90297647 -2.52677249] [ 0. 0. 0. 1. ]] SLAMing on 220.77134618399998 meters Centerline goodness : 0.856288 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.96, Z:-2.53 [[ 0.38508193 -0.81906094 -0.42526589 -1.24829087] [ 0.89277619 0.44735065 -0.05317958 0.96334814] [ 0.23380028 -0.35918877 0.90350476 -2.52655883] [ 0. 0. 0. 1. ]] SLAMing on 220.80134618399998 meters Centerline goodness : 0.857316 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.96, Z:-2.53 [[ 0.38429404 -0.81901574 -0.42606491 -1.2496767 ] [ 0.89301177 0.44684263 -0.0534943 0.96443528] [ 0.23419664 -0.35992344 0.90310966 -2.52531361] [ 0. 0. 0. 1. ]] SLAMing on 220.83134618399998 meters Centerline goodness : 0.858779 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.96, Z:-2.52 [[ 0.38397814 -0.81889923 -0.42657336 -1.25187433] [ 0.89305054 0.44673667 -0.05373151 0.96479498] [ 0.23456665 -0.36031985 0.90285552 -2.52390505] [ 0. 0. 0. 1. ]] SLAMing on 220.86134618399998 meters Centerline goodness : 0.856660 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.96, Z:-2.52 [[ 0.38463307 -0.81898935 -0.42580963 -1.25504355] [ 0.89277338 0.44727735 -0.05383915 0.96487657] [ 0.23454869 -0.35944319 0.90320956 -2.52401779] [ 0. 0. 0. 1. ]] SLAMing on 220.89134618399999 meters Centerline goodness : 0.856728 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.96, Z:-2.52 [[ 0.38534008 -0.82016457 -0.42289846 -1.25825854] [ 0.892704 0.44737152 -0.05420601 0.96204212] [ 0.23365058 -0.3566354 0.90455437 -2.52346267] [ 0. 0. 0. 1. ]] SLAMing on 220.921346184 meters Centerline goodness : 0.857769 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.96, Z:-2.52 [[ 0.38632224 -0.82013248 -0.42206378 -1.25883271] [ 0.89227473 0.44822207 -0.0542475 0.96148744] [ 0.23366844 -0.35563983 0.90494164 -2.52382618] [ 0. 0. 0. 1. ]] SLAMing on 220.951346184 meters Centerline goodness : 0.856174 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.96, Z:-2.52 [[ 0.38707022 -0.81972304 -0.42217387 -1.25933227] [ 0.89180787 0.44913059 -0.05440988 0.96219945] [ 0.23421223 -0.35543754 0.90488054 -2.52404534] [ 0. 0. 0. 1. ]] SLAMing on 220.981346184 meters Centerline goodness : 0.859771 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.96, Z:-2.52 [[ 0.38919451 -0.81943958 -0.42076883 -1.26801391] [ 0.890534 0.45150704 -0.05559297 0.9610476 ] [ 0.23553517 -0.35307248 0.90546287 -2.51872613] [ 0. 0. 0. 1. ]] SLAMing on 221.011346184 meters Centerline goodness : 0.860024 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.96, Z:-2.52 [[ 0.39051663 -0.8173453 -0.42360762 -1.26982229] [ 0.88960544 0.45343276 -0.05478045 0.96249797] [ 0.23685212 -0.35545097 0.90418786 -2.51795705] [ 0. 0. 0. 1. ]] SLAMing on 221.041346184 meters Centerline goodness : 0.861581 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.96, Z:-2.52 [[ 0.39174231 -0.81535988 -0.4262936 -1.27162239] [ 0.88875301 0.45520241 -0.05393378 0.96384773] [ 0.23802531 -0.35774158 0.90297559 -2.5172965 ] [ 0. 0. 0. 1. ]] SLAMing on 221.071346184 meters Centerline goodness : 0.863684 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.96, Z:-2.52 [[ 0.39248591 -0.81488798 -0.42651189 -1.27376364] [ 0.88835427 0.45600204 -0.05374774 0.96397748] [ 0.23828868 -0.35779843 0.90288359 -2.51700365] [ 0. 0. 0. 1. ]] SLAMing on 221.101346184 meters Centerline goodness : 0.859954 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.96, Z:-2.52 [[ 0.39276213 -0.81556584 -0.42495913 -1.27525087] [ 0.88838929 0.45591621 -0.05389698 0.96335954] [ 0.23770229 -0.35636045 0.90360658 -2.51754991] [ 0. 0. 0. 1. ]] SLAMing on 221.131346184 meters Centerline goodness : 0.860166 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.96, Z:-2.50 [[ 0.39138092 -0.81853182 -0.42050759 -1.28389471] [ 0.88662872 0.45777012 -0.06584862 0.95638622] [ 0.246395 -0.34706221 0.90489631 -2.50472032] [ 0. 0. 0. 1. ]] SLAMing on 221.161346184 meters Centerline goodness : 0.859062 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.96, Z:-2.50 [[ 0.39012627 -0.82067602 -0.41748336 -1.28464035] [ 0.88739121 0.45607807 -0.06730259 0.95583498] [ 0.24563863 -0.34421456 0.90618872 -2.5046561 ] [ 0. 0. 0. 1. ]] SLAMing on 221.191346184 meters Centerline goodness : 0.858312 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.94, Z:-2.50 [[ 0.38863258 -0.82567827 -0.40892556 -1.30089006] [ 0.88767696 0.4544772 -0.07402756 0.93888772] [ 0.24697029 -0.33422428 0.90956023 -2.49680846] [ 0. 0. 0. 1. ]] SLAMing on 221.221346184 meters Centerline goodness : 0.858877 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.94, Z:-2.50 [[ 0.38780152 -0.82588726 -0.40929234 -1.30172367] [ 0.88798271 0.45382145 -0.0743828 0.9396364 ] [ 0.24717745 -0.33459875 0.90936625 -2.49595367] [ 0. 0. 0. 1. ]] SLAMing on 221.251346184 meters Centerline goodness : 0.857746 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.94, Z:-2.50 [[ 0.38686994 -0.82662281 -0.4086886 -1.30115584] [ 0.88842238 0.45286214 -0.07497705 0.93982897] [ 0.24705734 -0.33408173 0.90958896 -2.49547166] [ 0. 0. 0. 1. ]] SLAMing on 221.281346184 meters Centerline goodness : 0.858727 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.94, Z:-2.49 [[ 0.38621158 -0.82702826 -0.40849098 -1.30163107] [ 0.88885924 0.45203295 -0.07480286 0.93773278] [ 0.24651546 -0.33420125 0.90969206 -2.49342086] [ 0. 0. 0. 1. ]] SLAMing on 221.311346184 meters Centerline goodness : 0.857647 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.94, Z:-2.49 [[ 0.38614035 -0.82677009 -0.40908049 -1.3014212 ] [ 0.8886852 0.45229832 -0.07526517 0.93789051] [ 0.24725341 -0.33448086 0.90938897 -2.49182508] [ 0. 0. 0. 1. ]] SLAMing on 221.341346184 meters Centerline goodness : 0.858469 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.94, Z:-2.49 [[ 0.38609228 -0.82648788 -0.40969566 -1.30060172] [ 0.88844777 0.45265913 -0.07589648 0.93887137] [ 0.24818 -0.33469015 0.90905951 -2.49080056] [ 0. 0. 0. 1. ]] SLAMing on 221.371346184 meters Centerline goodness : 0.860981 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.94, Z:-2.49 [[ 0.38655666 -0.82630302 -0.40963064 -1.30098265] [ 0.88822771 0.45310593 -0.07580598 0.93756484] [ 0.24824478 -0.33454198 0.90909636 -2.48949437] [ 0. 0. 0. 1. ]] SLAMing on 221.401346184 meters Centerline goodness : 0.857953 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.94, Z:-2.49 [[ 0.38634189 -0.82588206 -0.41068085 -1.30244135] [ 0.88813258 0.45325846 -0.07600844 0.9379285 ] [ 0.24891858 -0.3353738 0.9086055 -2.48762585] [ 0. 0. 0. 1. ]] SLAMing on 221.43134618399998 meters Centerline goodness : 0.860412 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.94, Z:-2.49 [[ 0.38565503 -0.82574244 -0.41160615 -1.30333309] [ 0.88829812 0.45288978 -0.07627114 0.93829115] [ 0.24939254 -0.33621462 0.90816468 -2.48577605] [ 0. 0. 0. 1. ]] SLAMing on 221.46134618399998 meters Centerline goodness : 0.858874 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.94, Z:-2.48 [[ 0.38430863 -0.82719746 -0.40994053 -1.30392297] [ 0.88902636 0.45129854 -0.07721242 0.93774987] [ 0.24887548 -0.33477454 0.90883827 -2.48496446] [ 0. 0. 0. 1. ]] SLAMing on 221.49134618399998 meters Centerline goodness : 0.859137 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.94, Z:-2.48 [[ 0.38196168 -0.82926165 -0.4079588 -1.3039482 ] [ 0.89009265 0.44887148 -0.07905363 0.93829809] [ 0.24867721 -0.33292568 0.9095714 -2.48376895] [ 0. 0. 0. 1. ]] SLAMing on 221.52134618399998 meters Centerline goodness : 0.858197 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.94, Z:-2.48 [[ 0.37965945 -0.83155222 -0.40543755 -1.30446382] [ 0.89126151 0.44625583 -0.08067625 0.93787711] [ 0.24801538 -0.33072138 0.91055573 -2.48259168] [ 0. 0. 0. 1. ]] SLAMing on 221.55134618399998 meters Centerline goodness : 0.857980 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.94, Z:-2.48 [[ 0.37487226 -0.83480822 -0.40319478 -1.30523499] [ 0.89365818 0.44111215 -0.08243258 0.93710597] [ 0.24666951 -0.32941662 0.9113939 -2.47967624] [ 0. 0. 0. 1. ]] SLAMing on 221.58134618399998 meters Centerline goodness : 0.856801 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.94, Z:-2.48 [[ 0.37253041 -0.83582802 -0.40325254 -1.30495684] [ 0.8946613 0.43891908 -0.08325384 0.93741254] [ 0.24658113 -0.32975986 0.91129369 -2.47759178] [ 0. 0. 0. 1. ]] SLAMing on 221.61134618399998 meters Centerline goodness : 0.857777 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.94, Z:-2.47 [[ 0.37015507 -0.83254548 -0.41213256 -1.30109616] [ 0.89135256 0.44326986 -0.09488124 0.93658608] [ 0.26167889 -0.33223464 0.90617013 -2.46886003] [ 0. 0. 0. 1. ]] SLAMing on 221.64134618399999 meters Centerline goodness : 0.857395 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.94, Z:-2.47 [[ 0.36855886 -0.8334968 -0.41163995 -1.30037974] [ 0.89212007 0.44160684 -0.09542107 0.93572366] [ 0.26131617 -0.33206398 0.90633734 -2.46712848] [ 0. 0. 0. 1. ]] SLAMing on 221.671346184 meters Centerline goodness : 0.856379 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.93, Z:-2.46 [[ 0.36516786 -0.83173009 -0.41818356 -1.29862466] [ 0.88917509 0.44465545 -0.10793144 0.93196531] [ 0.27571742 -0.33242531 0.90192756 -2.45536951] [ 0. 0. 0. 1. ]] SLAMing on 221.701346184 meters Centerline goodness : 0.856364 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.93, Z:-2.45 [[ 0.36300379 -0.83211429 -0.41930187 -1.29768407] [ 0.8898505 0.44306536 -0.10889986 0.93383435] [ 0.27639527 -0.33358492 0.90129172 -2.45341066] [ 0. 0. 0. 1. ]] SLAMing on 221.731346184 meters Centerline goodness : 0.856364 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.93, Z:-2.45 [[ 0.36300379 -0.83211429 -0.41930187 -1.29768407] [ 0.8898505 0.44306536 -0.10889986 0.93383435] [ 0.27639527 -0.33358492 0.90129172 -2.45341066] [ 0. 0. 0. 1. ]] SLAMing on 221.761346184 meters Centerline goodness : 0.855388 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.93, Z:-2.43 [[ 0.36102935 -0.83190026 -0.42142588 -1.29850794] [ 0.88589161 0.44710584 -0.12366253 0.93251949] [ 0.29129686 -0.32869184 0.89839179 -2.4349592 ] [ 0. 0. 0. 1. ]] SLAMing on 221.791346184 meters Centerline goodness : 0.855402 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.93, Z:-2.43 [[ 0.35768957 -0.83463729 -0.41885411 -1.29827194] [ 0.88765649 0.44318949 -0.12509608 0.93105448] [ 0.29004159 -0.32705301 0.89939547 -2.43309558] [ 0. 0. 0. 1. ]] SLAMing on 221.821346184 meters Centerline goodness : 0.854620 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.92, Z:-2.42 [[ 0.35665531 -0.83582741 -0.41736019 -1.30209267] [ 0.88524744 0.44511894 -0.13492999 0.9230357 ] [ 0.29855311 -0.32134354 0.89866811 -2.42288274] [ 0. 0. 0. 1. ]] SLAMing on 221.851346184 meters Centerline goodness : 0.854369 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.91, Z:-2.42 [[ 0.35683684 -0.83363205 -0.42157452 -1.3042087 ] [ 0.88189257 0.44946017 -0.14230614 0.91189474] [ 0.30811192 -0.32100337 0.89555786 -2.41838011] [ 0. 0. 0. 1. ]] SLAMing on 221.881346184 meters Centerline goodness : 0.853729 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.90, Z:-2.42 [[ 0.35750597 -0.83121637 -0.42575677 -1.30776433] [ 0.8785117 0.45399809 -0.1486705 0.90125016] [ 0.31687012 -0.32088172 0.89254034 -2.41635712] [ 0. 0. 0. 1. ]] SLAMing on 221.911346184 meters Centerline goodness : 0.853125 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.89, Z:-2.42 [[ 0.35964694 -0.82580977 -0.43438727 -1.30627829] [ 0.87378759 0.4613839 -0.15368844 0.89257971] [ 0.32733671 -0.32428863 0.88751764 -2.41559163] [ 0. 0. 0. 1. ]] SLAMing on 221.941346184 meters Centerline goodness : 0.856521 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.80, Z:-2.45 [[ 0.36523399 -0.82760317 -0.42623599 -1.35605129] [ 0.8713322 0.46509374 -0.15642254 0.79950912] [ 0.32769549 -0.31426231 0.89098534 -2.44747236] [ 0. 0. 0. 1. ]] SLAMing on 221.971346184 meters Centerline goodness : 0.855139 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.71, Z:-2.48 [[ 0.37032154 -0.83109625 -0.41489876 -1.40452258] [ 0.86928373 0.467503 -0.16058254 0.70937444] [ 0.32742596 -0.30119757 0.89558487 -2.47694504] [ 0. 0. 0. 1. ]] SLAMing on 222.001346184 meters Centerline goodness : 0.854331 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.60, Z:-2.51 [[ 0.37773687 -0.83396592 -0.40226323 -1.46201679] [ 0.8658624 0.47207172 -0.16562184 0.60340218] [ 0.32802006 -0.28574313 0.90041863 -2.51354276] [ 0. 0. 0. 1. ]] SLAMing on 222.031346184 meters Centerline goodness : 0.852690 Centerline is valid? [False, False] Translation: X:-1.52, Y:0.51, Z:-2.55 [[ 0.38829262 -0.83486724 -0.39016091 -1.51553682] [ 0.86017747 0.4802585 -0.17159978 0.50583681] [ 0.33064113 -0.2689767 0.90461482 -2.54678281] [ 0. 0. 0. 1. ]] SLAMing on 222.061346184 meters Centerline goodness : 0.852602 Centerline is valid? [False, False] Translation: X:-1.57, Y:0.42, Z:-2.58 [[ 0.39505212 -0.8355187 -0.38189307 -1.56540352] [ 0.85639273 0.4853866 -0.17604356 0.41813311] [ 0.33245347 -0.25750407 0.90728515 -2.57630615] [ 0. 0. 0. 1. ]] SLAMing on 222.091346184 meters Centerline goodness : 0.849978 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.33, Z:-2.60 [[ 0.40440988 -0.83539296 -0.37225161 -1.61780333] [ 0.85167556 0.49232853 -0.17961447 0.33242503] [ 0.33331875 -0.24439973 0.91058629 -2.60384835] [ 0. 0. 0. 1. ]] SLAMing on 222.121346184 meters Centerline goodness : 0.853584 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.24, Z:-2.64 [[ 0.41067127 -0.83573788 -0.3645426 -1.66802576] [ 0.84864828 0.49654281 -0.18232207 0.24275582] [ 0.33338447 -0.23449401 0.91316338 -2.63517367] [ 0. 0. 0. 1. ]] SLAMing on 222.151346184 meters Centerline goodness : 0.853502 Centerline is valid? [False, False] Translation: X:-1.72, Y:0.16, Z:-2.66 [[ 0.41705522 -0.83608354 -0.35641164 -1.71882083] [ 0.84508238 0.50104969 -0.18650733 0.15564512] [ 0.33451565 -0.22341334 0.91552486 -2.66499599] [ 0. 0. 0. 1. ]] SLAMing on 222.18134618399998 meters Centerline goodness : 0.850144 Centerline is valid? [False, False] Translation: X:-1.72, Y:0.16, Z:-2.66 [[ 0.41784201 -0.83173623 -0.36554467 -1.71685765] [ 0.83821127 0.50812392 -0.19802009 0.15696374] [ 0.35044247 -0.22366255 0.9094862 -2.65760987] [ 0. 0. 0. 1. ]] SLAMing on 222.21134618399998 meters Centerline goodness : 0.849840 Centerline is valid? [False, False] Translation: X:-1.72, Y:0.16, Z:-2.66 [[ 0.41886234 -0.83167337 -0.36451852 -1.71649055] [ 0.83737392 0.50904216 -0.19920089 0.161779 ] [ 0.35122537 -0.22180055 0.90964018 -2.6608057 ] [ 0. 0. 0. 1. ]] SLAMing on 222.24134618399998 meters Centerline goodness : 0.847446 Centerline is valid? [False, False] Translation: X:-1.72, Y:0.16, Z:-2.66 [[ 0.41838517 -0.83206949 -0.36416235 -1.71513931] [ 0.83741537 0.5086342 -0.20006687 0.16393368] [ 0.35169496 -0.22125013 0.90959278 -2.66154411] [ 0. 0. 0. 1. ]] SLAMing on 222.27134618399998 meters Centerline goodness : 0.845485 Centerline is valid? [False, False] Translation: X:-1.76, Y:0.07, Z:-2.70 [[ 0.42409055 -0.83214112 -0.35733507 -1.76464881] [ 0.83460403 0.51229034 -0.20247152 0.0746137 ] [ 0.35154419 -0.21236703 0.91176583 -2.69664984] [ 0. 0. 0. 1. ]] SLAMing on 222.30134618399998 meters Centerline goodness : 0.842555 Centerline is valid? [False, False] Translation: X:-1.76, Y:0.08, Z:-2.70 [[ 0.42261767 -0.8333128 -0.35634825 -1.76356637] [ 0.83525024 0.51072869 -0.20374799 0.07807621] [ 0.35178309 -0.21153246 0.91186769 -2.69825876] [ 0. 0. 0. 1. ]] SLAMing on 222.33134618399998 meters Centerline goodness : 0.844123 Centerline is valid? [False, False] Translation: X:-1.76, Y:0.08, Z:-2.70 [[ 0.42200876 -0.8330117 -0.35777104 -1.76281481] [ 0.83512875 0.51076444 -0.20415599 0.08141077] [ 0.35280105 -0.21262926 0.91121908 -2.69821433] [ 0. 0. 0. 1. ]] SLAMing on 222.36134618399998 meters Centerline goodness : 0.842771 Centerline is valid? [False, False] Translation: X:-1.76, Y:0.08, Z:-2.70 [[ 0.42109764 -0.83294889 -0.35898875 -1.76355848] [ 0.8351811 0.51045514 -0.20471465 0.08286863] [ 0.35376449 -0.21361576 0.91061462 -2.69625574] [ 0. 0. 0. 1. ]] SLAMing on 222.39134618399999 meters Centerline goodness : 0.845929 Centerline is valid? [False, False] Translation: X:-1.76, Y:0.09, Z:-2.69 [[ 0.42018304 -0.83142271 -0.36356911 -1.76356447] [ 0.83465782 0.51132295 -0.20468311 0.08850619] [ 0.35607941 -0.21745143 0.90880269 -2.69474294] [ 0. 0. 0. 1. ]] SLAMing on 222.421346184 meters Centerline goodness : 0.841335 Centerline is valid? [False, False] Translation: X:-1.76, Y:0.09, Z:-2.70 [[ 0.42006865 -0.83069647 -0.36535695 -1.76439677] [ 0.83430365 0.51190817 -0.20466424 0.09273032] [ 0.35704307 -0.21884561 0.90808967 -2.69552625] [ 0. 0. 0. 1. ]] SLAMing on 222.451346184 meters Centerline goodness : 0.840464 Centerline is valid? [False, False] Translation: X:-1.77, Y:0.09, Z:-2.70 [[ 0.42035211 -0.83076693 -0.3648704 -1.76589855] [ 0.83412874 0.51207299 -0.20496465 0.09406829] [ 0.35711812 -0.21819156 0.90821753 -2.69618736] [ 0. 0. 0. 1. ]] SLAMing on 222.481346184 meters Centerline goodness : 0.839277 Centerline is valid? [False, False] Translation: X:-1.77, Y:0.10, Z:-2.70 [[ 0.42009335 -0.83070276 -0.36531425 -1.76627872] [ 0.83408509 0.51204688 -0.20520732 0.09638061] [ 0.35752431 -0.21849694 0.90798428 -2.69680491] [ 0. 0. 0. 1. ]] SLAMing on 222.511346184 meters Centerline goodness : 0.839984 Centerline is valid? [False, False] Translation: X:-1.77, Y:0.10, Z:-2.70 [[ 0.41986458 -0.82992231 -0.36734546 -1.76826042] [ 0.83346213 0.51278719 -0.20588877 0.10222942] [ 0.35924173 -0.21972313 0.90700999 -2.69690615] [ 0. 0. 0. 1. ]] SLAMing on 222.541346184 meters Centerline goodness : 0.837803 Centerline is valid? [False, False] Translation: X:-1.77, Y:0.11, Z:-2.70 [[ 0.41906718 -0.83066857 -0.36656844 -1.76983117] [ 0.83372348 0.51193423 -0.2069505 0.10530274] [ 0.35956621 -0.21889055 0.90708272 -2.69777683] [ 0. 0. 0. 1. ]] SLAMing on 222.571346184 meters Centerline goodness : 0.837689 Centerline is valid? [False, False] Translation: X:-1.77, Y:0.11, Z:-2.70 [[ 0.41881862 -0.83098564 -0.36613363 -1.77033012] [ 0.83371289 0.51167579 -0.20763116 0.10857221] [ 0.35988023 -0.21829053 0.90710279 -2.69941872] [ 0. 0. 0. 1. ]] SLAMing on 222.601346184 meters Centerline goodness : 0.835903 Centerline is valid? [False, False] Translation: X:-1.77, Y:0.11, Z:-2.70 [[ 0.41888431 -0.83089122 -0.36627274 -1.77446992] [ 0.83324642 0.51203428 -0.2086176 0.11419936] [ 0.36088273 -0.21780881 0.90682026 -2.7008653 ] [ 0. 0. 0. 1. ]] SLAMing on 222.631346184 meters Centerline goodness : 0.833527 Centerline is valid? [False, False] Translation: X:-1.78, Y:0.12, Z:-2.70 [[ 0.41901254 -0.83065161 -0.36666933 -1.77643238] [ 0.83292809 0.51240685 -0.20897374 0.1170774 ] [ 0.36146825 -0.21784657 0.90657795 -2.70143972] [ 0. 0. 0. 1. ]] SLAMing on 222.661346184 meters Centerline goodness : 0.835344 Centerline is valid? [False, False] Translation: X:-1.78, Y:0.12, Z:-2.70 [[ 0.42023253 -0.82933148 -0.36825795 -1.77864151] [ 0.83181123 0.5142486 -0.20889818 0.11980107] [ 0.36262197 -0.21853529 0.90595123 -2.70120263] [ 0. 0. 0. 1. ]] SLAMing on 222.691346184 meters Centerline goodness : 0.837160 Centerline is valid? [False, False] Translation: X:-1.78, Y:0.12, Z:-2.70 [[ 0.42233113 -0.82751684 -0.36993553 -1.78073653] [ 0.83051251 0.51677175 -0.20783631 0.12000205] [ 0.36316028 -0.21946034 0.90551188 -2.70085429] [ 0. 0. 0. 1. ]] SLAMing on 222.721346184 meters Centerline goodness : 0.837464 Centerline is valid? [False, False] Translation: X:-1.78, Y:0.12, Z:-2.70 [[ 0.42283884 -0.82717883 -0.37011147 -1.78281346] [ 0.83008409 0.51739256 -0.20800323 0.1208608 ] [ 0.36354879 -0.2192718 0.90540165 -2.7003465 ] [ 0. 0. 0. 1. ]] SLAMing on 222.751346184 meters Centerline goodness : 0.835428 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.13, Z:-2.70 [[ 0.42160404 -0.83207169 -0.36042578 -1.78738184] [ 0.83526836 0.51107325 -0.20280753 0.12752814] [ 0.35295438 -0.21554777 0.9104737 -2.7009836 ] [ 0. 0. 0. 1. ]] SLAMing on 222.781346184 meters Centerline goodness : 0.835564 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.13, Z:-2.70 [[ 0.42150163 -0.83274799 -0.35898072 -1.78838843] [ 0.83534282 0.5106106 -0.2036644 0.12816079] [ 0.35290048 -0.21402709 0.91085326 -2.70134613] [ 0. 0. 0. 1. ]] SLAMing on 222.811346184 meters Centerline goodness : 0.833525 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.13, Z:-2.70 [[ 0.42046517 -0.83433587 -0.35650061 -1.78934495] [ 0.83593986 0.5089854 -0.20527645 0.13002098] [ 0.35272311 -0.21170148 0.91146525 -2.702383 ] [ 0. 0. 0. 1. ]] SLAMing on 222.841346184 meters Centerline goodness : 0.829659 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.13, Z:-2.70 [[ 0.41968353 -0.83537683 -0.35498068 -1.79024711] [ 0.83633175 0.50787812 -0.20641955 0.13081026] [ 0.35272502 -0.21025073 0.91180025 -2.70230048] [ 0. 0. 0. 1. ]] SLAMing on 222.871346184 meters Centerline goodness : 0.831221 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.13, Z:-2.70 [[ 0.41958078 -0.83619209 -0.35317808 -1.7915311 ] [ 0.83639559 0.50732806 -0.20751061 0.13176784] [ 0.35269588 -0.20832913 0.91225248 -2.70270879] [ 0. 0. 0. 1. ]] SLAMing on 222.901346184 meters Centerline goodness : 0.829122 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-2.70 [[ 0.42232092 -0.83653022 -0.34908772 -1.79695511] [ 0.83541354 0.50865105 -0.20822661 0.12948347] [ 0.35175169 -0.20369415 0.91366265 -2.70273191] [ 0. 0. 0. 1. ]] SLAMing on 222.93134618399998 meters Centerline goodness : 0.832988 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-2.70 [[ 0.42486715 -0.83464238 -0.35051391 -1.79784573] [ 0.83385238 0.51155297 -0.20737351 0.13027098] [ 0.35238915 -0.20417067 0.91331058 -2.70301988] [ 0. 0. 0. 1. ]] SLAMing on 222.96134618399998 meters Centerline goodness : 0.831477 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-2.70 [[ 0.42657967 -0.83771117 -0.34098354 -1.80372077] [ 0.83768289 0.50809875 -0.20030735 0.13397061] [ 0.34105301 -0.20018904 0.91848092 -2.7042152 ] [ 0. 0. 0. 1. ]] SLAMing on 222.99134618399998 meters Centerline goodness : 0.836369 Centerline is valid? [False, False] Translation: X:-1.81, Y:0.13, Z:-2.70 [[ 0.43169704 -0.83437761 -0.34271221 -1.8069195 ] [ 0.83489652 0.51343015 -0.19833627 0.13332229] [ 0.34144612 -0.20050805 0.91826525 -2.70463601] [ 0. 0. 0. 1. ]] SLAMing on 223.02134618399998 meters Centerline goodness : 0.837321 Centerline is valid? [False, False] Translation: X:-1.81, Y:0.13, Z:-2.70 [[ 0.43417636 -0.83226314 -0.34471576 -1.80824382] [ 0.83339149 0.51637136 -0.197026 0.13350444] [ 0.34197883 -0.20173915 0.91779725 -2.70428946] [ 0. 0. 0. 1. ]] SLAMing on 223.05134618399998 meters Centerline goodness : 0.838496 Centerline is valid? [False, False] Translation: X:-1.81, Y:0.13, Z:-2.70 [[ 0.43530062 -0.83195455 -0.34404214 -1.80967605] [ 0.83295937 0.51718094 -0.19672968 0.13208048] [ 0.34160219 -0.20093657 0.91811352 -2.70372594] [ 0. 0. 0. 1. ]] SLAMing on 223.08134618399998 meters Centerline goodness : 0.839801 Centerline is valid? [False, False] Translation: X:-1.81, Y:0.13, Z:-2.71 [[ 0.4367772 -0.83224321 -0.3414629 -1.81059238] [ 0.83240053 0.51783767 -0.19736641 0.13186377] [ 0.3410792 -0.19802875 0.91893938 -2.70518834] [ 0. 0. 0. 1. ]] SLAMing on 223.11134618399998 meters Centerline goodness : 0.837979 Centerline is valid? [False, False] Translation: X:-1.81, Y:0.13, Z:-2.71 [[ 0.43705459 -0.83235951 -0.3408239 -1.81094675] [ 0.83208786 0.51804427 -0.1981412 0.13306659] [ 0.34148658 -0.1969969 0.91900987 -2.70538503] [ 0. 0. 0. 1. ]] SLAMing on 223.14134618399999 meters Centerline goodness : 0.837653 Centerline is valid? [False, False] Translation: X:-1.81, Y:0.13, Z:-2.70 [[ 0.43723003 -0.83254209 -0.34015228 -1.8121096 ] [ 0.83189478 0.51810775 -0.19878489 0.133379 ] [ 0.34173232 -0.19605618 0.91911969 -2.70471125] [ 0. 0. 0. 1. ]] SLAMing on 223.171346184 meters Centerline goodness : 0.835901 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.14, Z:-2.71 [[ 0.43803354 -0.83699947 -0.32796113 -1.81861429] [ 0.83638201 0.51318671 -0.19262538 0.13545797] [ 0.32953263 -0.18992441 0.92484429 -2.70553126] [ 0. 0. 0. 1. ]] SLAMing on 223.201346184 meters Centerline goodness : 0.838573 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.13, Z:-2.71 [[ 0.43939052 -0.83693303 -0.32631133 -1.81880429] [ 0.83584104 0.51399502 -0.19281825 0.13445086] [ 0.32909836 -0.18802189 0.92538751 -2.70613537] [ 0. 0. 0. 1. ]] SLAMing on 223.231346184 meters Centerline goodness : 0.839747 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.13, Z:-2.71 [[ 0.44089188 -0.83624639 -0.32604651 -1.81973031] [ 0.83509519 0.51533197 -0.19248113 0.13344809] [ 0.32898384 -0.18741651 0.92555102 -2.70579595] [ 0. 0. 0. 1. ]] SLAMing on 223.261346184 meters Centerline goodness : 0.838992 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.13, Z:-2.71 [[ 0.44434164 -0.83347761 -0.32844419 -1.8210408 ] [ 0.83308641 0.51925509 -0.19063363 0.13287317] [ 0.32943518 -0.18891593 0.92508553 -2.70523509] [ 0. 0. 0. 1. ]] SLAMing on 223.291346184 meters Centerline goodness : 0.841619 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.13, Z:-2.70 [[ 0.44584969 -0.83283582 -0.32802827 -1.82235847] [ 0.8323513 0.52054937 -0.19031467 0.13163263] [ 0.32925578 -0.18818302 0.92529875 -2.70476873] [ 0. 0. 0. 1. ]] SLAMing on 223.321346184 meters Centerline goodness : 0.841230 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.13, Z:-2.71 [[ 0.44759758 -0.83258068 -0.32629099 -1.82287303] [ 0.83163009 0.52168665 -0.19035345 0.13042925] [ 0.32870626 -0.18615166 0.92590483 -2.70546857] [ 0. 0. 0. 1. ]] SLAMing on 223.351346184 meters Centerline goodness : 0.842776 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.13, Z:-2.71 [[ 0.44911809 -0.83282256 -0.32357306 -1.82327826] [ 0.83123498 0.52226912 -0.19048196 0.12781336] [ 0.32762989 -0.18341635 0.92683175 -2.70611427] [ 0. 0. 0. 1. ]] SLAMing on 223.381346184 meters Centerline goodness : 0.841819 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.13, Z:-2.71 [[ 0.4523169 -0.83166736 -0.32208511 -1.82489713] [ 0.82988002 0.52475512 -0.18955534 0.12547451] [ 0.3266628 -0.18155292 0.92753973 -2.70707278] [ 0. 0. 0. 1. ]] SLAMing on 223.411346184 meters Centerline goodness : 0.840860 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.13, Z:-2.71 [[ 0.45410646 -0.83075656 -0.32191747 -1.82557019] [ 0.82866791 0.52654676 -0.18988944 0.1259279 ] [ 0.3272565 -0.18053266 0.92752959 -2.70689897] [ 0. 0. 0. 1. ]] SLAMing on 223.441346184 meters Centerline goodness : 0.841025 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.12, Z:-2.71 [[ 0.4595374 -0.82910078 -0.31846078 -1.82736216] [ 0.82614049 0.53066272 -0.18944382 0.12414684] [ 0.32606329 -0.17603682 0.9288131 -2.7103888 ] [ 0. 0. 0. 1. ]] SLAMing on 223.471346184 meters Centerline goodness : 0.840613 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.12, Z:-2.71 [[ 0.461526 -0.82863244 -0.31679967 -1.82922768] [ 0.82519442 0.5320873 -0.18957129 0.1238392 ] [ 0.32565 -0.17392924 0.92935499 -2.71143699] [ 0. 0. 0. 1. ]] SLAMing on 223.501346184 meters Centerline goodness : 0.839559 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.12, Z:-2.71 [[ 0.46370802 -0.82767834 -0.31610667 -1.83157085] [ 0.82403851 0.53396919 -0.18930782 0.12359821] [ 0.3254772 -0.17270051 0.92964462 -2.71179079] [ 0. 0. 0. 1. ]] SLAMing on 223.531346184 meters Centerline goodness : 0.841643 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.13, Z:-2.71 [[ 0.46568637 -0.82594123 -0.31773776 -1.83330417] [ 0.82255674 0.53641893 -0.18882569 0.12505856] [ 0.32639948 -0.17342379 0.92918651 -2.71116612] [ 0. 0. 0. 1. ]] SLAMing on 223.561346184 meters Centerline goodness : 0.841268 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.12, Z:-2.71 [[ 0.46766247 -0.82473716 -0.31796295 -1.83600626] [ 0.82136858 0.53838612 -0.18839862 0.12487253] [ 0.32656618 -0.17305781 0.92919617 -2.71048632] [ 0. 0. 0. 1. ]] SLAMing on 223.591346184 meters Centerline goodness : 0.845844 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.13, Z:-2.71 [[ 0.46912353 -0.82364508 -0.31864071 -1.83727926] [ 0.82013164 0.5401447 -0.18875328 0.12631953] [ 0.3275778 -0.17277872 0.92889197 -2.70985581] [ 0. 0. 0. 1. ]] SLAMing on 223.621346184 meters Centerline goodness : 0.843697 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.13, Z:-2.71 [[ 0.46885184 -0.82380424 -0.31862914 -1.83833739] [ 0.8199968 0.54003626 -0.18964728 0.12733355] [ 0.32830352 -0.1723584 0.92871383 -2.70856287] [ 0. 0. 0. 1. ]] SLAMing on 223.651346184 meters Centerline goodness : 0.839826 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.13, Z:-2.71 [[ 0.46774233 -0.82443432 -0.31863015 -1.83841973] [ 0.82027397 0.5391677 -0.19091571 0.12927806] [ 0.32919254 -0.17206466 0.92845357 -2.70752123] [ 0. 0. 0. 1. ]] SLAMing on 223.68134618399998 meters Centerline goodness : 0.839826 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.13, Z:-2.71 [[ 0.46774233 -0.82443432 -0.31863015 -1.83841973] [ 0.82027397 0.5391677 -0.19091571 0.12927806] [ 0.32919254 -0.17206466 0.92845357 -2.70752123] [ 0. 0. 0. 1. ]] SLAMing on 223.71134618399998 meters Centerline goodness : 0.843398 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.13, Z:-2.71 [[ 0.46636391 -0.82552522 -0.31782515 -1.83948232] [ 0.82102254 0.53768857 -0.19186713 0.12981783] [ 0.3292821 -0.17146171 0.92853335 -2.70645292] [ 0. 0. 0. 1. ]] SLAMing on 223.74134618399998 meters Centerline goodness : 0.845021 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.13, Z:-2.70 [[ 0.46271263 -0.8269875 -0.31935668 -1.8387258 ] [ 0.82241142 0.53492655 -0.1936312 0.13344764] [ 0.33096295 -0.17304698 0.92764124 -2.704196 ] [ 0. 0. 0. 1. ]] SLAMing on 223.77134618399998 meters Centerline goodness : 0.846982 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.14, Z:-2.70 [[ 0.46082533 -0.82741525 -0.32097355 -1.83707087] [ 0.8228737 0.53382559 -0.19470263 0.1364125 ] [ 0.33244381 -0.17439679 0.9268586 -2.70288919] [ 0. 0. 0. 1. ]] SLAMing on 223.80134618399998 meters Centerline goodness : 0.846987 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.14, Z:-2.70 [[ 0.45899864 -0.82771687 -0.32280805 -1.83468113] [ 0.8232794 0.5328471 -0.19566552 0.13947667] [ 0.33396298 -0.17595101 0.92601834 -2.70193182] [ 0. 0. 0. 1. ]] SLAMing on 223.83134618399998 meters Centerline goodness : 0.851265 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.14, Z:-2.70 [[ 0.45853433 -0.82787311 -0.32306716 -1.83593413] [ 0.82357787 0.53244661 -0.19549962 0.1387422 ] [ 0.3338649 -0.17642767 0.92596302 -2.70044756] [ 0. 0. 0. 1. ]] SLAMing on 223.86134618399998 meters Centerline goodness : 0.850337 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.15, Z:-2.70 [[ 0.45748671 -0.829438 -0.32052849 -1.83438135] [ 0.82690068 0.52939015 -0.18968747 0.14939427] [ 0.32701862 -0.17826573 0.9280518 -2.69905999] [ 0. 0. 0. 1. ]] SLAMing on 223.89134618399999 meters Centerline goodness : 0.853612 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.15, Z:-2.70 [[ 0.45741212 -0.8296807 -0.32000639 -1.83658187] [ 0.82699999 0.5291682 -0.18987376 0.14917797] [ 0.3268718 -0.17779472 0.92819387 -2.69819286] [ 0. 0. 0. 1. ]] SLAMing on 223.921346184 meters Centerline goodness : 0.855577 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.15, Z:-2.70 [[ 0.45306949 -0.83117781 -0.32229099 -1.83240595] [ 0.82865675 0.52596576 -0.19154113 0.15363627] [ 0.32871877 -0.18028716 0.92706014 -2.69681564] [ 0. 0. 0. 1. ]] SLAMing on 223.951346184 meters Centerline goodness : 0.854725 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.16, Z:-2.70 [[ 0.45161445 -0.83146149 -0.3235988 -1.83152348] [ 0.82888127 0.52519894 -0.19267048 0.15626604] [ 0.33015183 -0.18121221 0.92637028 -2.69528877] [ 0. 0. 0. 1. ]] SLAMing on 223.981346184 meters Centerline goodness : 0.855674 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.16, Z:-2.69 [[ 0.44900711 -0.83232671 -0.32499979 -1.8315902 ] [ 0.82975368 0.52334902 -0.19394494 0.15848036] [ 0.33151388 -0.18258712 0.92561358 -2.69275569] [ 0. 0. 0. 1. ]] SLAMing on 224.011346184 meters Centerline goodness : 0.856056 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.16, Z:-2.69 [[ 0.44331949 -0.83873658 -0.31621003 -1.83425843] [ 0.83666152 0.51378113 -0.18980634 0.16376497] [ 0.32166026 -0.18041591 0.92950781 -2.68893562] [ 0. 0. 0. 1. ]] SLAMing on 224.041346184 meters Centerline goodness : 0.857645 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-2.69 [[ 0.44198949 -0.83915224 -0.31696817 -1.83230813] [ 0.83698142 0.51290349 -0.19076716 0.16772615] [ 0.32265677 -0.18097939 0.92905278 -2.68982327] [ 0. 0. 0. 1. ]] SLAMing on 224.071346184 meters Centerline goodness : 0.857586 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-2.69 [[ 0.43804707 -0.84078723 -0.31810628 -1.82944631] [ 0.8387193 0.50960274 -0.19197654 0.17054616] [ 0.32351926 -0.18270712 0.92841446 -2.68872822] [ 0. 0. 0. 1. ]] SLAMing on 224.101346184 meters Centerline goodness : 0.857296 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-2.69 [[ 0.43659229 -0.8409141 -0.31976657 -1.82771528] [ 0.83899391 0.50887436 -0.1927073 0.17320929] [ 0.32477129 -0.18414768 0.92769243 -2.68765041] [ 0. 0. 0. 1. ]] SLAMing on 224.131346184 meters Centerline goodness : 0.860709 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-2.69 [[ 0.43535797 -0.8412749 -0.32049957 -1.82762097] [ 0.839313 0.50805343 -0.19348231 0.17503297] [ 0.32560271 -0.18476539 0.92727807 -2.68638494] [ 0. 0. 0. 1. ]] SLAMing on 224.161346184 meters Centerline goodness : 0.860158 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-2.69 [[ 0.43495855 -0.84152467 -0.32038615 -1.82840348] [ 0.83942916 0.5076997 -0.19390641 0.17550012] [ 0.32583698 -0.18460022 0.92722868 -2.68562247] [ 0. 0. 0. 1. ]] SLAMing on 224.191346184 meters Centerline goodness : 0.863167 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-2.69 [[ 0.43416112 -0.84270167 -0.31836773 -1.83018062] [ 0.83980843 0.50649492 -0.19540908 0.1762975 ] [ 0.3259232 -0.18252888 0.92760836 -2.68530189] [ 0. 0. 0. 1. ]] SLAMing on 224.221346184 meters Centerline goodness : 0.860870 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-2.68 [[ 0.43303405 -0.84317004 -0.3186625 -1.83016918] [ 0.84002967 0.50569515 -0.19652625 0.17819956] [ 0.32685113 -0.18258339 0.92727108 -2.6841354 ] [ 0. 0. 0. 1. ]] SLAMing on 224.251346184 meters Centerline goodness : 0.861083 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-2.68 [[ 0.43253985 -0.84348167 -0.31850895 -1.83016171] [ 0.84013081 0.50527583 -0.19717138 0.17902054] [ 0.32724532 -0.18230471 0.92718687 -2.68347629] [ 0. 0. 0. 1. ]] SLAMing on 224.281346184 meters Centerline goodness : 0.862740 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-2.68 [[ 0.43007512 -0.84402177 -0.32041011 -1.82721179] [ 0.84069588 0.50377388 -0.19860092 0.18433086] [ 0.32903775 -0.18395414 0.92622623 -2.68321538] [ 0. 0. 0. 1. ]] SLAMing on 224.311346184 meters Centerline goodness : 0.860104 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.19, Z:-2.68 [[ 0.42885772 -0.84543304 -0.31831437 -1.82636702] [ 0.84119081 0.50219459 -0.20049589 0.1859485 ] [ 0.32936161 -0.18177891 0.92654053 -2.68339346] [ 0. 0. 0. 1. ]] SLAMing on 224.341346184 meters Centerline goodness : 0.860332 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.19, Z:-2.68 [[ 0.42683676 -0.84660582 -0.31791346 -1.82482533] [ 0.84185073 0.50038484 -0.20224332 0.18898387] [ 0.33029945 -0.18131079 0.92629837 -2.68316565] [ 0. 0. 0. 1. ]] SLAMing on 224.371346184 meters Centerline goodness : 0.856357 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.19, Z:-2.68 [[ 0.42208158 -0.85006793 -0.31501056 -1.82262931] [ 0.84414968 0.49523037 -0.20532464 0.19238403] [ 0.33054269 -0.17925232 0.92661218 -2.68369484] [ 0. 0. 0. 1. ]] SLAMing on 224.401346184 meters Centerline goodness : 0.856054 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.20, Z:-2.68 [[ 0.41989178 -0.85103308 -0.31533091 -1.81989108] [ 0.84495911 0.49338483 -0.20643527 0.19636793] [ 0.33126273 -0.17976125 0.92625639 -2.6846652 ] [ 0. 0. 0. 1. ]] SLAMing on 224.43134618399998 meters Centerline goodness : 0.857464 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.20, Z:-2.68 [[ 0.41786622 -0.8516525 -0.31634766 -1.81729155] [ 0.84549608 0.49196606 -0.20761929 0.19996601] [ 0.3324518 -0.18071362 0.92564485 -2.68452794] [ 0. 0. 0. 1. ]] SLAMing on 224.46134618399998 meters Centerline goodness : 0.859812 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.10, Z:-2.72 [[ 0.42033755 -0.85298886 -0.30939676 -1.8671816 ] [ 0.84633572 0.49151156 -0.20526138 0.09997911] [ 0.32715775 -0.17557446 0.9285157 -2.7235378 ] [ 0. 0. 0. 1. ]] SLAMing on 224.49134618399998 meters Centerline goodness : 0.859902 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.10, Z:-2.72 [[ 0.41859982 -0.85282978 -0.31217873 -1.86560953] [ 0.84662763 0.49083949 -0.20566539 0.10333839] [ 0.32862722 -0.17820764 0.92749457 -2.72203604] [ 0. 0. 0. 1. ]] SLAMing on 224.52134618399998 meters Centerline goodness : 0.861543 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.10, Z:-2.72 [[ 0.41730349 -0.85318869 -0.31293267 -1.86495788] [ 0.84710034 0.48988248 -0.2060004 0.10372874] [ 0.32905745 -0.17912069 0.9271661 -2.72060501] [ 0. 0. 0. 1. ]] SLAMing on 224.55134618399998 meters Centerline goodness : 0.859285 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.02, Z:-2.75 [[ 0.42013332 -0.85333245 -0.30872599 -1.90832053] [ 0.84709121 0.49080451 -0.20383181 0.02365425] [ 0.3254604 -0.17588254 0.92905374 -2.74910327] [ 0. 0. 0. 1. ]] SLAMing on 224.58134618399998 meters Centerline goodness : 0.859756 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.07, Z:-2.78 [[ 0.42492562 -0.85362631 -0.30126459 -1.95808889] [ 0.8453413 0.49323236 -0.20523138 -0.06713174] [ 0.32378435 -0.16746333 0.93119264 -2.78241767] [ 0. 0. 0. 1. ]] SLAMing on 224.61134618399998 meters Centerline goodness : 0.861886 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.16, Z:-2.81 [[ 0.42958449 -0.8545858 -0.29178806 -2.00780692] [ 0.8435762 0.49507906 -0.20802867 -0.15591074] [ 0.3222365 -0.15677957 0.93358653 -2.81360681] [ 0. 0. 0. 1. ]] SLAMing on 224.64134618399999 meters Centerline goodness : 0.862922 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.24, Z:-2.85 [[ 0.43706904 -0.85361396 -0.28339699 -2.05612688] [ 0.8408853 0.49962509 -0.20805451 -0.2439058 ] [ 0.31919048 -0.14737018 0.93616209 -2.84628746] [ 0. 0. 0. 1. ]] SLAMing on 224.671346184 meters Centerline goodness : 0.863663 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.33, Z:-2.88 [[ 0.44373 -0.85243207 -0.27651991 -2.10595879] [ 0.83819675 0.50394775 -0.20847752 -0.33396287] [ 0.31706451 -0.13927036 0.93812252 -2.8785305 ] [ 0. 0. 0. 1. ]] SLAMing on 224.701346184 meters Centerline goodness : 0.861929 Centerline is valid? [False, False] Translation: X:-2.16, Y:-0.43, Z:-2.91 [[ 0.44949668 -0.85127578 -0.27070699 -2.15823798] [ 0.83602137 0.50765529 -0.20821711 -0.42747713] [ 0.31467602 -0.13272393 0.93987412 -2.91242311] [ 0. 0. 0. 1. ]] SLAMing on 224.731346184 meters Centerline goodness : 0.861829 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.52, Z:-2.95 [[ 0.45574351 -0.8494348 -0.26600447 -2.21094701] [ 0.83362379 0.51208047 -0.20699027 -0.52285666] [ 0.31204043 -0.12741318 0.94148641 -2.94744706] [ 0. 0. 0. 1. ]] SLAMing on 224.761346184 meters Centerline goodness : 0.860237 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.62, Z:-2.98 [[ 0.46230455 -0.84701067 -0.26238794 -2.26436748] [ 0.83119781 0.51701387 -0.20446724 -0.62031991] [ 0.30884414 -0.12357015 0.94305128 -2.98434308] [ 0. 0. 0. 1. ]] SLAMing on 224.791346184 meters Centerline goodness : 0.858548 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.72, Z:-3.02 [[ 0.46789068 -0.84503903 -0.25881913 -2.31546582] [ 0.82893587 0.52117462 -0.20308208 -0.71618195] [ 0.30650225 -0.11952425 0.94433592 -3.02088924] [ 0. 0. 0. 1. ]] SLAMing on 224.821346184 meters Centerline goodness : 0.857577 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.81, Z:-3.06 [[ 0.4738549 -0.84325986 -0.25372099 -2.36520167] [ 0.82635746 0.52536976 -0.20278058 -0.8083289 ] [ 0.30429406 -0.11357566 0.94578311 -3.05530025] [ 0. 0. 0. 1. ]] SLAMing on 224.851346184 meters Centerline goodness : 0.856653 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.91, Z:-3.09 [[ 0.47853885 -0.84219985 -0.2483948 -2.41574733] [ 0.82524595 0.52801638 -0.20041913 -0.90530265] [ 0.29994948 -0.10907846 0.94769837 -3.09229993] [ 0. 0. 0. 1. ]] SLAMing on 224.881346184 meters Centerline goodness : 0.856086 Centerline is valid? [False, False] Translation: X:-2.47, Y:-1.00, Z:-3.13 [[ 0.48277795 -0.84057149 -0.24569293 -2.46907106] [ 0.82368755 0.53112913 -0.19859675 -1.0033708 ] [ 0.29742944 -0.10649608 0.94878571 -3.12914775] [ 0. 0. 0. 1. ]] SLAMing on 224.911346184 meters Centerline goodness : 0.855348 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.10, Z:-3.17 [[ 0.48725538 -0.83821509 -0.24490335 -2.52225965] [ 0.82159493 0.53506313 -0.19669573 -1.10126923] [ 0.29591209 -0.1053703 0.94938566 -3.16624257] [ 0. 0. 0. 1. ]] SLAMing on 224.941346184 meters Centerline goodness : 0.853963 Centerline is valid? [False, False] Translation: X:-2.57, Y:-1.20, Z:-3.20 [[ 0.49300587 -0.83596675 -0.24104937 -2.57432516] [ 0.81930838 0.53930508 -0.19463763 -1.19562625] [ 0.29270973 -0.10153627 0.95079514 -3.20015695] [ 0. 0. 0. 1. ]] SLAMing on 224.971346184 meters Centerline goodness : 0.854870 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.29, Z:-3.24 [[ 0.49937561 -0.8325239 -0.23984986 -2.62919311] [ 0.81659998 0.54477679 -0.19074256 -1.29399454] [ 0.28946237 -0.10060921 0.95188724 -3.23609738] [ 0. 0. 0. 1. ]] SLAMing on 225.001346184 meters Centerline goodness : 0.856165 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.38, Z:-3.26 [[ 0.50718389 -0.83020458 -0.23135438 -2.68108323] [ 0.81258934 0.55009451 -0.19259956 -1.37812171] [ 0.28716382 -0.09031271 0.95361447 -3.2605332 ] [ 0. 0. 0. 1. ]] SLAMing on 225.031346184 meters Centerline goodness : 0.854174 Centerline is valid? [False, False] Translation: X:-2.74, Y:-1.47, Z:-3.29 [[ 0.51412989 -0.82653916 -0.22913637 -2.73602442] [ 0.80912868 0.556015 -0.19015283 -1.47243259] [ 0.28457201 -0.08763755 0.95464047 -3.29314949] [ 0. 0. 0. 1. ]] SLAMing on 225.061346184 meters Centerline goodness : 0.856412 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.56, Z:-3.32 [[ 0.52140364 -0.82293081 -0.22566154 -2.78835946] [ 0.80506657 0.56207238 -0.18958498 -1.5615792 ] [ 0.28285344 -0.08282226 0.95558066 -3.32323305] [ 0. 0. 0. 1. ]] SLAMing on 225.091346184 meters Centerline goodness : 0.853692 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.65, Z:-3.35 [[ 0.52775686 -0.81967396 -0.22272695 -2.84056427] [ 0.80138039 0.56741371 -0.1892912 -1.6519635 ] [ 0.28153539 -0.07858928 0.95632711 -3.35404864] [ 0. 0. 0. 1. ]] SLAMing on 225.121346184 meters Centerline goodness : 0.852738 Centerline is valid? [False, False] Translation: X:-2.90, Y:-1.75, Z:-3.39 [[ 0.53285901 -0.81661965 -0.22179635 -2.89709477] [ 0.79860817 0.5719717 -0.18727886 -1.74738185] [ 0.27979683 -0.07733514 0.9569394 -3.38783536] [ 0. 0. 0. 1. ]] SLAMing on 225.151346184 meters Centerline goodness : 0.853333 Centerline is valid? [False, False] Translation: X:-2.95, Y:-1.84, Z:-3.42 [[ 0.53699968 -0.81515986 -0.21713069 -2.95310799] [ 0.79716012 0.5745586 -0.18552132 -1.84097409] [ 0.27598384 -0.07346304 0.95835072 -3.41936977] [ 0. 0. 0. 1. ]] SLAMing on 225.18134618399998 meters Centerline goodness : 0.852949 Centerline is valid? [False, False] Translation: X:-3.01, Y:-1.93, Z:-3.45 [[ 0.54184328 -0.81304361 -0.21299283 -3.01090263] [ 0.7948362 0.57806673 -0.18459216 -1.93346596] [ 0.27320555 -0.06927439 0.95945807 -3.45037206] [ 0. 0. 0. 1. ]] SLAMing on 225.21134618399998 meters Centerline goodness : 0.849098 Centerline is valid? [False, False] Translation: X:-3.06, Y:-2.01, Z:-3.48 [[ 0.544559 -0.81049377 -0.21576689 -3.05885465] [ 0.79315577 0.58128179 -0.18170143 -2.01270747] [ 0.27268924 -0.0721896 0.95939003 -3.47657423] [ 0. 0. 0. 1. ]] SLAMing on 225.24134618399998 meters Centerline goodness : 0.852817 Centerline is valid? [False, False] Translation: X:-3.12, Y:-2.10, Z:-3.50 [[ 0.5510595 -0.80767731 -0.20973981 -3.11654465] [ 0.78979152 0.58595155 -0.18135639 -2.10088552] [ 0.26937481 -0.06571256 0.96079086 -3.50404268] [ 0. 0. 0. 1. ]] SLAMing on 225.27134618399998 meters Centerline goodness : 0.853856 Centerline is valid? [False, False] Translation: X:-3.17, Y:-2.19, Z:-3.53 [[ 0.5584367 -0.80346482 -0.20638007 -3.17413314] [ 0.78521362 0.5922151 -0.18088905 -2.18761499] [ 0.26755938 -0.06103736 0.96160617 -3.531462 ] [ 0. 0. 0. 1. ]] SLAMing on 225.30134618399998 meters Centerline goodness : 0.852977 Centerline is valid? [False, False] Translation: X:-3.24, Y:-2.28, Z:-3.56 [[ 0.56600175 -0.79822962 -0.20608613 -3.23506423] [ 0.78045639 0.5993463 -0.17796584 -2.27929525] [ 0.26557457 -0.06011226 0.96221446 -3.56264347] [ 0. 0. 0. 1. ]] SLAMing on 225.33134618399998 meters Centerline goodness : 0.852383 Centerline is valid? [False, False] Translation: X:-3.29, Y:-2.36, Z:-3.59 [[ 0.57732727 -0.79072696 -0.20357825 -3.29282502] [ 0.77257895 0.60969447 -0.17718473 -2.36046993] [ 0.26422527 -0.05498669 0.96289224 -3.58840829] [ 0. 0. 0. 1. ]] SLAMing on 225.36134618399998 meters Centerline goodness : 0.854511 Centerline is valid? [False, False] Translation: X:-3.35, Y:-2.45, Z:-3.62 [[ 0.58592029 -0.78449882 -0.20312315 -3.35208932] [ 0.76673777 0.61781379 -0.17441133 -2.44801837] [ 0.26231777 -0.05355105 0.96349451 -3.61877453] [ 0. 0. 0. 1. ]] SLAMing on 225.39134618399999 meters Centerline goodness : 0.854712 Centerline is valid? [False, False] Translation: X:-3.42, Y:-2.54, Z:-3.65 [[ 0.59354011 -0.77806977 -0.20571238 -3.41606999] [ 0.7611964 0.62572734 -0.17042694 -2.54040579] [ 0.26132391 -0.0554323 0.96365817 -3.65185714] [ 0. 0. 0. 1. ]] SLAMing on 225.421346184 meters Centerline goodness : 0.850148 Centerline is valid? [False, False] Translation: X:-3.41, Y:-2.54, Z:-3.64 [[ 0.59951132 -0.77080473 -0.21551394 -3.4115977 ] [ 0.75094942 0.63487056 -0.18169847 -2.53993995] [ 0.27687749 -0.05290978 0.95944745 -3.64312314] [ 0. 0. 0. 1. ]] SLAMing on 225.451346184 meters Centerline goodness : 0.851007 Centerline is valid? [False, False] Translation: X:-3.41, Y:-2.54, Z:-3.64 [[ 0.60103861 -0.77004801 -0.21395946 -3.41212627] [ 0.74983341 0.63596383 -0.18248249 -2.53893809] [ 0.27659076 -0.05075493 0.95964654 -3.64431892] [ 0. 0. 0. 1. ]] SLAMing on 225.481346184 meters Centerline goodness : 0.849377 Centerline is valid? [False, False] Translation: X:-3.41, Y:-2.54, Z:-3.64 [[ 0.60250504 -0.76896509 -0.21372965 -3.41167923] [ 0.74851234 0.63735649 -0.18304639 -2.53726141] [ 0.27697826 -0.04969291 0.95959036 -3.64494806] [ 0. 0. 0. 1. ]] SLAMing on 225.511346184 meters Centerline goodness : 0.848397 Centerline is valid? [False, False] Translation: X:-3.41, Y:-2.53, Z:-3.65 [[ 0.60457851 -0.76738409 -0.21355675 -3.41065902] [ 0.74661174 0.63936442 -0.1838044 -2.53429124] [ 0.27758916 -0.04831978 0.95948395 -3.64645641] [ 0. 0. 0. 1. ]] SLAMing on 225.541346184 meters Centerline goodness : 0.848397 Centerline is valid? [False, False] Translation: X:-3.41, Y:-2.53, Z:-3.65 [[ 0.60457851 -0.76738409 -0.21355675 -3.41065902] [ 0.74661174 0.63936442 -0.1838044 -2.53429124] [ 0.27758916 -0.04831978 0.95948395 -3.64645641] [ 0. 0. 0. 1. ]] SLAMing on 225.571346184 meters Centerline goodness : 0.850179 Centerline is valid? [False, False] Translation: X:-3.41, Y:-2.54, Z:-3.64 [[ 0.61176532 -0.75930683 -0.22180248 -3.40793396] [ 0.73544682 0.64921381 -0.19400878 -2.53769312] [ 0.29130942 -0.04443608 0.95559628 -3.63710117] [ 0. 0. 0. 1. ]] SLAMing on 225.601346184 meters Centerline goodness : 0.847755 Centerline is valid? [False, False] Translation: X:-3.41, Y:-2.54, Z:-3.64 [[ 0.61441222 -0.75642748 -0.22431026 -3.4066329 ] [ 0.73288388 0.65246281 -0.19280432 -2.5351725 ] [ 0.29219659 -0.04593204 0.95525463 -3.63774172] [ 0. 0. 0. 1. ]] SLAMing on 225.631346184 meters Centerline goodness : 0.851025 Centerline is valid? [False, False] Translation: X:-3.41, Y:-2.53, Z:-3.64 [[ 0.61644631 -0.75405927 -0.22669047 -3.40666909] [ 0.73071363 0.6551054 -0.19207943 -2.53253694] [ 0.29334543 -0.04723916 0.95483869 -3.63698206] [ 0. 0. 0. 1. ]] SLAMing on 225.661346184 meters Centerline goodness : 0.853132 Centerline is valid? [False, False] Translation: X:-3.40, Y:-2.53, Z:-3.62 [[ 0.62268675 -0.74534331 -0.2381692 -3.40403912] [ 0.71923828 0.66507858 -0.20091485 -2.53335668] [ 0.30815177 -0.04619339 0.95021506 -3.62455429] [ 0. 0. 0. 1. ]] SLAMing on 225.691346184 meters Centerline goodness : 0.854696 Centerline is valid? [False, False] Translation: X:-3.40, Y:-2.53, Z:-3.62 [[ 0.62397741 -0.74426039 -0.2381778 -3.40448793] [ 0.71799312 0.6663398 -0.20118934 -2.53203896] [ 0.3084446 -0.04547242 0.95015482 -3.6243619 ] [ 0. 0. 0. 1. ]] SLAMing on 225.721346184 meters Centerline goodness : 0.854010 Centerline is valid? [False, False] Translation: X:-3.40, Y:-2.53, Z:-3.62 [[ 0.62464887 -0.7436482 -0.23832989 -3.40439655] [ 0.71709009 0.66707264 -0.20197994 -2.52990333] [ 0.30918537 -0.04473746 0.94994893 -3.62413726] [ 0. 0. 0. 1. ]] SLAMing on 225.751346184 meters Centerline goodness : 0.852196 Centerline is valid? [False, False] Translation: X:-3.40, Y:-2.53, Z:-3.61 [[ 0.62611424 -0.73950482 -0.24721162 -3.39944949] [ 0.70938421 0.67184239 -0.21307708 -2.52871683] [ 0.32365878 -0.04195743 0.94524313 -3.61432337] [ 0. 0. 0. 1. ]] SLAMing on 225.781346184 meters Centerline goodness : 0.851771 Centerline is valid? [False, False] Translation: X:-3.40, Y:-2.53, Z:-3.61 [[ 0.62534007 -0.74010638 -0.24737085 -3.39826032] [ 0.7094948 0.67122202 -0.21465818 -2.52565058] [ 0.32491065 -0.04127397 0.94484365 -3.61381871] [ 0. 0. 0. 1. ]] SLAMing on 225.811346184 meters Centerline goodness : 0.850872 Centerline is valid? [False, False] Translation: X:-3.39, Y:-2.52, Z:-3.61 [[ 0.62624609 -0.73641418 -0.25594921 -3.39307267] [ 0.70198729 0.67544775 -0.22579678 -2.52425981] [ 0.33916027 -0.03826874 0.9399499 -3.60566979] [ 0. 0. 0. 1. ]] SLAMing on 225.841346184 meters Centerline goodness : 0.850466 Centerline is valid? [False, False] Translation: X:-3.39, Y:-2.52, Z:-3.61 [[ 0.62590712 -0.73722515 -0.25443929 -3.39355359] [ 0.70226633 0.67466399 -0.22726746 -2.52318314] [ 0.33920831 -0.03643583 0.9400054 -3.60565931] [ 0. 0. 0. 1. ]] SLAMing on 225.871346184 meters Centerline goodness : 0.851460 Centerline is valid? [False, False] Translation: X:-3.39, Y:-2.52, Z:-3.61 [[ 0.62587611 -0.73711264 -0.2548412 -3.39210135] [ 0.70189211 0.67480161 -0.22801371 -2.5209456 ] [ 0.34003904 -0.03616269 0.93971576 -3.60574916] [ 0. 0. 0. 1. ]] SLAMing on 225.901346184 meters Centerline goodness : 0.852287 Centerline is valid? [False, False] Translation: X:-3.39, Y:-2.52, Z:-3.61 [[ 0.62702312 -0.73578136 -0.25586678 -3.39112007] [ 0.70044365 0.67625339 -0.22816671 -2.5186663 ] [ 0.34091158 -0.03615446 0.93939989 -3.60581278] [ 0. 0. 0. 1. ]] SLAMing on 225.93134618399998 meters Centerline goodness : 0.854340 Centerline is valid? [False, False] Translation: X:-3.39, Y:-2.52, Z:-3.61 [[ 0.63084184 -0.73136713 -0.25911522 -3.39138325] [ 0.69696134 0.68088851 -0.22502385 -2.51867111] [ 0.34100362 -0.03863883 0.93926757 -3.6052269 ] [ 0. 0. 0. 1. ]] SLAMing on 225.96134618399998 meters Centerline goodness : 0.851402 Centerline is valid? [False, False] Translation: X:-3.39, Y:-2.52, Z:-3.60 [[ 0.63177349 -0.73030338 -0.25984464 -3.39141439] [ 0.69588912 0.6820239 -0.22490386 -2.51753822] [ 0.3414683 -0.03873476 0.93909479 -3.60458692] [ 0. 0. 0. 1. ]] SLAMing on 225.99134618399998 meters Centerline goodness : 0.854911 Centerline is valid? [False, False] Translation: X:-3.39, Y:-2.51, Z:-3.61 [[ 0.63230314 -0.72939253 -0.2611116 -3.38921921] [ 0.69492291 0.68297271 -0.22501204 -2.51460146] [ 0.3424542 -0.03917661 0.93871738 -3.60526604] [ 0. 0. 0. 1. ]] SLAMing on 226.02134618399998 meters Centerline goodness : 0.856380 Centerline is valid? [False, False] Translation: X:-3.39, Y:-2.51, Z:-3.61 [[ 0.63320569 -0.72812484 -0.2624591 -3.38708762] [ 0.69356247 0.68430759 -0.22515376 -2.51168265] [ 0.3435428 -0.03946314 0.93830752 -3.60584557] [ 0. 0. 0. 1. ]] SLAMing on 226.05134618399998 meters Centerline goodness : 0.855638 Centerline is valid? [False, False] Translation: X:-3.39, Y:-2.51, Z:-3.61 [[ 0.63345278 -0.72757587 -0.2633836 -3.38507381] [ 0.69273049 0.68489803 -0.22591848 -2.50884461] [ 0.34476375 -0.03934516 0.93786455 -3.60596543] [ 0. 0. 0. 1. ]] SLAMing on 226.08134618399998 meters Centerline goodness : 0.857077 Centerline is valid? [False, False] Translation: X:-3.38, Y:-2.51, Z:-3.61 [[ 0.63320794 -0.72773729 -0.26352638 -3.38334428] [ 0.69247782 0.68476402 -0.22709625 -2.50666347] [ 0.34571979 -0.03868702 0.93753994 -3.60599119] [ 0. 0. 0. 1. ]] SLAMing on 226.11134618399998 meters Centerline goodness : 0.855944 Centerline is valid? [False, False] Translation: X:-3.38, Y:-2.50, Z:-3.61 [[ 0.63203283 -0.72828376 -0.2648344 -3.38001893] [ 0.69281216 0.68414162 -0.22795075 -2.50390957] [ 0.34719707 -0.03940814 0.93696382 -3.6059979 ] [ 0. 0. 0. 1. ]] SLAMing on 226.14134618399999 meters Centerline goodness : 0.856123 Centerline is valid? [False, False] Translation: X:-3.38, Y:-2.50, Z:-3.60 [[ 0.63135857 -0.72804445 -0.26709104 -3.37834192] [ 0.69242165 0.68432539 -0.22858483 -2.49966658] [ 0.3491971 -0.04062063 0.93616844 -3.60494359] [ 0. 0. 0. 1. ]] SLAMing on 226.171346184 meters Centerline goodness : 0.856480 Centerline is valid? [False, False] Translation: X:-3.38, Y:-2.50, Z:-3.60 [[ 0.63093431 -0.72784164 -0.26864184 -3.37708773] [ 0.69195657 0.68451074 -0.22943661 -2.49623292] [ 0.35088174 -0.04112905 0.93551612 -3.60402496] [ 0. 0. 0. 1. ]] SLAMing on 226.201346184 meters Centerline goodness : 0.856662 Centerline is valid? [False, False] Translation: X:-3.37, Y:-2.49, Z:-3.60 [[ 0.63026816 -0.72783911 -0.27020784 -3.37417849] [ 0.69172938 0.68447268 -0.2302338 -2.49297086] [ 0.35252305 -0.04180167 0.93486904 -3.60401002] [ 0. 0. 0. 1. ]] SLAMing on 226.231346184 meters Centerline goodness : 0.855570 Centerline is valid? [False, False] Translation: X:-3.37, Y:-2.48, Z:-3.60 [[ 0.62877183 -0.73096351 -0.26521375 -3.36874274] [ 0.69607109 0.68113179 -0.22703419 -2.48313426] [ 0.34659923 -0.04185492 0.93707905 -3.60222201] [ 0. 0. 0. 1. ]] SLAMing on 226.261346184 meters Centerline goodness : 0.856651 Centerline is valid? [False, False] Translation: X:-3.37, Y:-2.48, Z:-3.60 [[ 0.62818167 -0.7306865 -0.26736685 -3.36608168] [ 0.69576579 0.68134386 -0.22733349 -2.47969293] [ 0.34827827 -0.04321798 0.93639439 -3.6020595 ] [ 0. 0. 0. 1. ]] SLAMing on 226.291346184 meters Centerline goodness : 0.855724 Centerline is valid? [False, False] Translation: X:-3.36, Y:-2.48, Z:-3.60 [[ 0.62733552 -0.73070585 -0.26929371 -3.36403331] [ 0.69576987 0.68123673 -0.22764183 -2.47632718] [ 0.34979198 -0.04455864 0.93576712 -3.60153965] [ 0. 0. 0. 1. ]] SLAMing on 226.321346184 meters Centerline goodness : 0.857302 Centerline is valid? [False, False] Translation: X:-3.36, Y:-2.47, Z:-3.60 [[ 0.62559806 -0.73399197 -0.26435366 -3.35975976] [ 0.70047077 0.67765799 -0.22387574 -2.46602456] [ 0.34346437 -0.04511579 0.93808144 -3.60013911] [ 0. 0. 0. 1. ]] SLAMing on 226.351346184 meters Centerline goodness : 0.858489 Centerline is valid? [False, False] Translation: X:-3.36, Y:-2.46, Z:-3.60 [[ 0.62447962 -0.73424663 -0.26628385 -3.35711615] [ 0.70041568 0.67732476 -0.22505344 -2.4623398 ] [ 0.34560538 -0.0459681 0.93725336 -3.59913536] [ 0. 0. 0. 1. ]] SLAMing on 226.381346184 meters Centerline goodness : 0.855954 Centerline is valid? [False, False] Translation: X:-3.35, Y:-2.45, Z:-3.60 [[ 0.621896 -0.73694129 -0.26488279 -3.35061029] [ 0.70487892 0.67414187 -0.22063191 -2.45012316] [ 0.34116134 -0.04950019 0.93870052 -3.59851666] [ 0. 0. 0. 1. ]] SLAMing on 226.411346184 meters Centerline goodness : 0.859011 Centerline is valid? [False, False] Translation: X:-3.35, Y:-2.44, Z:-3.60 [[ 0.61828846 -0.73893407 -0.26776074 -3.34748054] [ 0.70673247 0.67176726 -0.22194135 -2.44438322] [ 0.34387292 -0.05201143 0.93757465 -3.5972294 ] [ 0. 0. 0. 1. ]] SLAMing on 226.441346184 meters Centerline goodness : 0.859232 Centerline is valid? [False, False] Translation: X:-3.34, Y:-2.44, Z:-3.60 [[ 0.61674756 -0.73962953 -0.26938934 -3.34381158] [ 0.70721136 0.67092392 -0.22296451 -2.44067911] [ 0.34565089 -0.05300238 0.9368651 -3.59730437] [ 0. 0. 0. 1. ]] SLAMing on 226.471346184 meters Centerline goodness : 0.860944 Centerline is valid? [False, False] Translation: X:-3.34, Y:-2.44, Z:-3.60 [[ 0.61564972 -0.74018003 -0.27038665 -3.3411886 ] [ 0.70737737 0.67030294 -0.22430164 -2.43739618] [ 0.34726456 -0.05317415 0.93625842 -3.59703037] [ 0. 0. 0. 1. ]] SLAMing on 226.501346184 meters Centerline goodness : 0.859624 Centerline is valid? [False, False] Translation: X:-3.33, Y:-2.42, Z:-3.60 [[ 0.61295592 -0.74245222 -0.27027714 -3.33170157] [ 0.71101888 0.66750076 -0.22112188 -2.42289654] [ 0.34458263 -0.05663419 0.93704609 -3.59717132] [ 0. 0. 0. 1. ]] SLAMing on 226.531346184 meters Centerline goodness : 0.859039 Centerline is valid? [False, False] Translation: X:-3.33, Y:-2.42, Z:-3.60 [[ 0.61172323 -0.7430653 -0.27138284 -3.32945659] [ 0.71126998 0.66679145 -0.2224504 -2.41954295] [ 0.34625093 -0.05694839 0.93641186 -3.5966317 ] [ 0. 0. 0. 1. ]] SLAMing on 226.561346184 meters Centerline goodness : 0.862530 Centerline is valid? [False, False] Translation: X:-3.33, Y:-2.42, Z:-3.60 [[ 0.61047246 -0.74354092 -0.27289242 -3.32742995] [ 0.71156334 0.66618397 -0.22333055 -2.41623162] [ 0.34785196 -0.05784309 0.93576343 -3.59599917] [ 0. 0. 0. 1. ]] SLAMing on 226.591346184 meters Centerline goodness : 0.863478 Centerline is valid? [False, False] Translation: X:-3.32, Y:-2.41, Z:-3.60 [[ 0.60968253 -0.74350409 -0.2747524 -3.32473387] [ 0.71141569 0.66613075 -0.22395878 -2.41280284] [ 0.34953529 -0.05891942 0.93506876 -3.59574946] [ 0. 0. 0. 1. ]] SLAMing on 226.621346184 meters Centerline goodness : 0.863211 Centerline is valid? [False, False] Translation: X:-3.32, Y:-2.40, Z:-3.59 [[ 0.60699885 -0.74613779 -0.27355217 -3.31873968] [ 0.71621496 0.6627787 -0.21854181 -2.40142989] [ 0.34436685 -0.06326753 0.93670096 -3.5939382 ] [ 0. 0. 0. 1. ]] SLAMing on 226.651346184 meters Centerline goodness : 0.864907 Centerline is valid? [False, False] Translation: X:-3.32, Y:-2.40, Z:-3.59 [[ 0.60514983 -0.74649208 -0.27666453 -3.31642029] [ 0.71665325 0.66214067 -0.21903848 -2.39813194] [ 0.34670133 -0.06572144 0.93567028 -3.59170908] [ 0. 0. 0. 1. ]] SLAMing on 226.68134618399998 meters Centerline goodness : 0.865632 Centerline is valid? [False, False] Translation: X:-3.31, Y:-2.38, Z:-3.59 [[ 0.60047887 -0.74985547 -0.2777443 -3.30670186] [ 0.72182809 0.65775459 -0.21522804 -2.3840089 ] [ 0.34407751 -0.07124375 0.93623448 -3.59002415] [ 0. 0. 0. 1. ]] SLAMing on 226.71134618399998 meters Centerline goodness : 0.865145 Centerline is valid? [False, False] Translation: X:-3.30, Y:-2.38, Z:-3.59 [[ 0.59905757 -0.75077433 -0.27833061 -3.30436656] [ 0.72234669 0.65670561 -0.2166864 -2.38069124] [ 0.34546386 -0.07124357 0.93572382 -3.59003381] [ 0. 0. 0. 1. ]] SLAMing on 226.74134618399998 meters Centerline goodness : 0.861679 Centerline is valid? [False, False] Translation: X:-3.30, Y:-2.38, Z:-3.59 [[ 0.59815604 -0.75162759 -0.27796639 -3.30269852] [ 0.72255411 0.65585156 -0.2185733 -2.37751376] [ 0.34659041 -0.07010482 0.93539318 -3.59026624] [ 0. 0. 0. 1. ]] SLAMing on 226.77134618399998 meters Centerline goodness : 0.863772 Centerline is valid? [False, False] Translation: X:-3.29, Y:-2.37, Z:-3.59 [[ 0.59442336 -0.75523272 -0.27619634 -3.29354811] [ 0.72729796 0.65143834 -0.21602261 -2.36539528] [ 0.34307223 -0.07246814 0.93650938 -3.58931786] [ 0. 0. 0. 1. ]] SLAMing on 226.80134618399998 meters Centerline goodness : 0.866210 Centerline is valid? [False, False] Translation: X:-3.29, Y:-2.35, Z:-3.59 [[ 0.59085096 -0.75912068 -0.27318663 -3.28541957] [ 0.73285077 0.64660345 -0.21173975 -2.35284226] [ 0.33737944 -0.07509839 0.93836845 -3.59033439] [ 0. 0. 0. 1. ]] SLAMing on 226.83134618399998 meters Centerline goodness : 0.864210 Centerline is valid? [False, False] Translation: X:-3.28, Y:-2.35, Z:-3.59 [[ 0.58994869 -0.75934738 -0.27450337 -3.28331755] [ 0.73308624 0.64621912 -0.21209764 -2.35012518] [ 0.33844511 -0.07610792 0.93790324 -3.59048749] [ 0. 0. 0. 1. ]] SLAMing on 226.86134618399998 meters Centerline goodness : 0.862599 Centerline is valid? [False, False] Translation: X:-3.28, Y:-2.34, Z:-3.59 [[ 0.58882026 -0.76112339 -0.2719961 -3.27693172] [ 0.73658529 0.64385203 -0.2071151 -2.33997113] [ 0.33276539 -0.07839476 0.93974542 -3.58955496] [ 0. 0. 0. 1. ]] SLAMing on 226.89134618399999 meters Centerline goodness : 0.863934 Centerline is valid? [False, False] Translation: X:-3.28, Y:-2.34, Z:-3.59 [[ 0.58943735 -0.76005679 -0.27363714 -3.27530958] [ 0.7353915 0.64505473 -0.2076144 -2.33614051] [ 0.33430967 -0.07885474 0.93915865 -3.58961421] [ 0. 0. 0. 1. ]] SLAMing on 226.921346184 meters Centerline goodness : 0.867546 Centerline is valid? [False, False] Translation: X:-3.27, Y:-2.33, Z:-3.59 [[ 0.59033176 -0.7577094 -0.27818139 -3.27391124] [ 0.73381864 0.6473542 -0.20601634 -2.33393472] [ 0.33618241 -0.0825167 0.93817503 -3.58741206] [ 0. 0. 0. 1. ]] SLAMing on 226.951346184 meters Centerline goodness : 0.867410 Centerline is valid? [False, False] Translation: X:-3.27, Y:-2.33, Z:-3.58 [[ 0.59024835 -0.75933091 -0.27390409 -3.27201049] [ 0.73711776 0.64532125 -0.20054401 -2.32582087] [ 0.32903539 -0.0835288 0.9406161 -3.58464618] [ 0. 0. 0. 1. ]] SLAMing on 226.981346184 meters Centerline goodness : 0.867139 Centerline is valid? [False, False] Translation: X:-3.27, Y:-2.32, Z:-3.58 [[ 0.58954259 -0.75895279 -0.2764601 -3.27008615] [ 0.73692241 0.64551514 -0.2006379 -2.32249879] [ 0.33073387 -0.08544506 0.93984799 -3.58354253] [ 0. 0. 0. 1. ]] SLAMing on 227.011346184 meters Centerline goodness : 0.867710 Centerline is valid? [False, False] Translation: X:-3.26, Y:-2.31, Z:-3.58 [[ 0.58714433 -0.76065734 -0.27687893 -3.25898061] [ 0.73954877 0.64313909 -0.19859438 -2.30775821] [ 0.32913394 -0.08816191 0.94015867 -3.58303539] [ 0. 0. 0. 1. ]] SLAMing on 227.041346184 meters Centerline goodness : 0.867641 Centerline is valid? [False, False] Translation: X:-3.26, Y:-2.31, Z:-3.58 [[ 0.58527357 -0.76190408 -0.2774113 -3.25640283] [ 0.74047337 0.64163501 -0.20000929 -2.30514304] [ 0.33038469 -0.08835553 0.93970168 -3.58256181] [ 0. 0. 0. 1. ]] SLAMing on 227.071346184 meters Centerline goodness : 0.869257 Centerline is valid? [False, False] Translation: X:-3.25, Y:-2.30, Z:-3.58 [[ 0.58410471 -0.76229218 -0.27880517 -3.25405056] [ 0.74086277 0.64102489 -0.20052294 -2.30181086] [ 0.33157812 -0.08942998 0.93917955 -3.58260065] [ 0. 0. 0. 1. ]] SLAMing on 227.101346184 meters Centerline goodness : 0.870329 Centerline is valid? [False, False] Translation: X:-3.25, Y:-2.30, Z:-3.58 [[ 0.5824348 -0.76279757 -0.28090848 -3.25154832] [ 0.74141172 0.64018772 -0.20116747 -2.29709393] [ 0.33328422 -0.0911019 0.93841466 -3.58233466] [ 0. 0. 0. 1. ]] SLAMing on 227.131346184 meters Centerline goodness : 0.866817 Centerline is valid? [False, False] Translation: X:-3.24, Y:-2.28, Z:-3.58 [[ 0.57828717 -0.76646768 -0.2794839 -3.24234765] [ 0.74603178 0.63545803 -0.19907206 -2.28228509] [ 0.33018259 -0.09338305 0.93928646 -3.58281006] [ 0. 0. 0. 1. ]] SLAMing on 227.161346184 meters Centerline goodness : 0.870573 Centerline is valid? [False, False] Translation: X:-3.24, Y:-2.28, Z:-3.58 [[ 0.57652333 -0.7675329 -0.28020367 -3.23966245] [ 0.74695191 0.63408149 -0.20000878 -2.27948569] [ 0.33118528 -0.09398894 0.93887294 -3.58285983] [ 0. 0. 0. 1. ]] SLAMing on 227.191346184 meters Centerline goodness : 0.870470 Centerline is valid? [False, False] Translation: X:-3.24, Y:-2.27, Z:-3.58 [[ 0.57512797 -0.76765329 -0.28272999 -3.23678317] [ 0.74731249 0.63360856 -0.20016053 -2.27459806] [ 0.33279403 -0.09616973 0.93808289 -3.58296652] [ 0. 0. 0. 1. ]] SLAMing on 227.221346184 meters Centerline goodness : 0.871026 Centerline is valid? [False, False] Translation: X:-3.23, Y:-2.27, Z:-3.58 [[ 0.57432784 -0.76755088 -0.28462814 -3.23491805] [ 0.74737823 0.63349754 -0.20026646 -2.27248279] [ 0.33402593 -0.09770627 0.93748609 -3.58195677] [ 0. 0. 0. 1. ]] SLAMing on 227.251346184 meters Centerline goodness : 0.870809 Centerline is valid? [False, False] Translation: X:-3.23, Y:-2.27, Z:-3.58 [[ 0.57417653 -0.76687324 -0.28675207 -3.23258128] [ 0.74697924 0.63405851 -0.19997957 -2.26878315] [ 0.33517657 -0.09937427 0.9368999 -3.58251401] [ 0. 0. 0. 1. ]] SLAMing on 227.281346184 meters Centerline goodness : 0.871294 Centerline is valid? [False, False] Translation: X:-3.23, Y:-2.27, Z:-3.58 [[ 0.57265191 -0.76680831 -0.28995655 -3.23011958] [ 0.74740578 0.63365825 -0.19965427 -2.26533749] [ 0.33682991 -0.10238281 0.93598257 -3.58133445] [ 0. 0. 0. 1. ]] SLAMing on 227.311346184 meters Centerline goodness : 0.872776 Centerline is valid? [False, False] Translation: X:-3.22, Y:-2.25, Z:-3.58 [[ 0.57119432 -0.76749216 -0.29102032 -3.22138446] [ 0.74882514 0.632446 -0.19817409 -2.2516237 ] [ 0.3361517 -0.10472742 0.93596699 -3.57899298] [ 0. 0. 0. 1. ]] SLAMing on 227.341346184 meters Centerline goodness : 0.873464 Centerline is valid? [False, False] Translation: X:-3.22, Y:-2.25, Z:-3.58 [[ 0.56958473 -0.76789919 -0.29309396 -3.21793214] [ 0.74949693 0.63161583 -0.19828209 -2.24834624] [ 0.33738344 -0.10673458 0.93529682 -3.57905658] [ 0. 0. 0. 1. ]] SLAMing on 227.371346184 meters Centerline goodness : 0.875732 Centerline is valid? [False, False] Translation: X:-3.21, Y:-2.24, Z:-3.58 [[ 0.56777639 -0.769012 -0.29368439 -3.20913895] [ 0.75120352 0.629931 -0.19718064 -2.23599197] [ 0.33663518 -0.10866223 0.93534447 -3.57612329] [ 0. 0. 0. 1. ]] SLAMing on 227.401346184 meters Centerline goodness : 0.874940 Centerline is valid? [False, False] Translation: X:-3.20, Y:-2.22, Z:-3.57 [[ 0.56275433 -0.77272623 -0.29360133 -3.19923802] [ 0.75614256 0.62471903 -0.19487064 -2.22266768] [ 0.334 -0.11234016 0.93585452 -3.5749052 ] [ 0. 0. 0. 1. ]] SLAMing on 227.43134618399998 meters Centerline goodness : 0.874169 Centerline is valid? [False, False] Translation: X:-3.19, Y:-2.21, Z:-3.57 [[ 0.56067948 -0.77342409 -0.29572571 -3.18863048] [ 0.75763875 0.62328233 -0.19365605 -2.20819704] [ 0.33409886 -0.11547428 0.93543767 -3.57393977] [ 0. 0. 0. 1. ]] SLAMing on 227.46134618399998 meters Centerline goodness : 0.874169 Centerline is valid? [False, False] Translation: X:-3.19, Y:-2.21, Z:-3.57 [[ 0.56067948 -0.77342409 -0.29572571 -3.18863048] [ 0.75763875 0.62328233 -0.19365605 -2.20819704] [ 0.33409886 -0.11547428 0.93543767 -3.57393977] [ 0. 0. 0. 1. ]] SLAMing on 227.49134618399998 meters Centerline goodness : 0.874295 Centerline is valid? [False, False] Translation: X:-3.24, Y:-2.28, Z:-3.61 [[ 0.56055433 -0.77447261 -0.29320816 -3.24305982] [ 0.75849902 0.62226856 -0.19354866 -2.28352061] [ 0.33235236 -0.11390356 0.93625204 -3.60750215] [ 0. 0. 0. 1. ]] SLAMing on 227.52134618399998 meters Centerline goodness : 0.874884 Centerline is valid? [False, False] Translation: X:-3.29, Y:-2.36, Z:-3.64 [[ 0.56028378 -0.7758798 -0.28998727 -3.29481513] [ 0.76037605 0.62063307 -0.19142324 -2.35731107] [ 0.32849712 -0.11324804 0.93769106 -3.64293236] [ 0. 0. 0. 1. ]] SLAMing on 227.55134618399998 meters Centerline goodness : 0.878006 Centerline is valid? [False, False] Translation: X:-3.36, Y:-2.44, Z:-3.68 [[ 0.56502087 -0.77451025 -0.28440338 -3.35613467] [ 0.75882725 0.62313705 -0.18942393 -2.44416323] [ 0.32393306 -0.10878456 0.93980492 -3.68408817] [ 0. 0. 0. 1. ]] SLAMing on 227.58134618399998 meters Centerline goodness : 0.877689 Centerline is valid? [False, False] Translation: X:-3.42, Y:-2.52, Z:-3.72 [[ 0.5712293 -0.77213198 -0.27840491 -3.41640823] [ 0.75511457 0.62731541 -0.19046617 -2.52451797] [ 0.32171271 -0.10142775 0.94138905 -3.71995338] [ 0. 0. 0. 1. ]] SLAMing on 227.61134618399998 meters Centerline goodness : 0.875349 Centerline is valid? [False, False] Translation: X:-3.46, Y:-2.59, Z:-3.75 [[ 0.57615272 -0.77003733 -0.27402655 -3.46159988] [ 0.7512908 0.63097578 -0.19347275 -2.58533762] [ 0.32188536 -0.09440377 0.94206037 -3.74559707] [ 0. 0. 0. 1. ]] SLAMing on 227.64134618399999 meters Centerline goodness : 0.873730 Centerline is valid? [False, False] Translation: X:-3.51, Y:-2.66, Z:-3.77 [[ 0.577729 -0.76978473 -0.27140498 -3.51444721] [ 0.74966853 0.63194237 -0.1965857 -2.65501045] [ 0.32284098 -0.08989051 0.94217482 -3.77312706] [ 0. 0. 0. 1. ]] SLAMing on 227.671346184 meters Centerline goodness : 0.872566 Centerline is valid? [False, False] Translation: X:-3.57, Y:-2.74, Z:-3.81 [[ 0.58286585 -0.76780054 -0.26598821 -3.57313246] [ 0.74689123 0.63516266 -0.19677879 -2.73868714] [ 0.32003264 -0.08396862 0.94367811 -3.81274552] [ 0. 0. 0. 1. ]] SLAMing on 227.701346184 meters Centerline goodness : 0.871657 Centerline is valid? [False, False] Translation: X:-3.63, Y:-2.82, Z:-3.85 [[ 0.5873554 -0.76655134 -0.25963953 -3.63035398] [ 0.74476421 0.63749184 -0.19730796 -2.82123691] [ 0.31676477 -0.07748033 0.94533427 -3.85228964] [ 0. 0. 0. 1. ]] SLAMing on 227.731346184 meters Centerline goodness : 0.868878 Centerline is valid? [False, False] Translation: X:-3.68, Y:-2.90, Z:-3.88 [[ 0.58946866 -0.76415604 -0.26190122 -3.68338836] [ 0.7429256 0.64014479 -0.19564305 -2.89544472] [ 0.31715652 -0.07924767 0.94505637 -3.88481642] [ 0. 0. 0. 1. ]] SLAMing on 227.761346184 meters Centerline goodness : 0.868359 Centerline is valid? [False, False] Translation: X:-3.74, Y:-2.98, Z:-3.92 [[ 0.59570188 -0.76064838 -0.25797928 -3.74472182] [ 0.73878267 0.6449263 -0.1956278 -2.9770435 ] [ 0.31518159 -0.07405477 0.94613765 -3.92197339] [ 0. 0. 0. 1. ]] SLAMing on 227.791346184 meters Centerline goodness : 0.867478 Centerline is valid? [False, False] Translation: X:-3.79, Y:-3.05, Z:-3.95 [[ 0.59882439 -0.758171 -0.2580428 -3.79344968] [ 0.73674843 0.64782926 -0.19369822 -3.04765056] [ 0.31402405 -0.07412141 0.94651725 -3.95369221] [ 0. 0. 0. 1. ]] SLAMing on 227.821346184 meters Centerline goodness : 0.868194 Centerline is valid? [False, False] Translation: X:-3.85, Y:-3.13, Z:-3.99 [[ 0.60377192 -0.75654272 -0.25120228 -3.85341983] [ 0.7335775 0.65063134 -0.19632349 -3.12679917] [ 0.31196718 -0.06574173 0.94781565 -3.98663862] [ 0. 0. 0. 1. ]] SLAMing on 227.851346184 meters Centerline goodness : 0.864317 Centerline is valid? [False, False] Translation: X:-3.90, Y:-3.20, Z:-4.02 [[ 0.60666738 -0.75410562 -0.25155396 -3.90464817] [ 0.73235585 0.65325715 -0.19211975 -3.19873125] [ 0.30920801 -0.06767423 0.94858347 -4.02182982] [ 0. 0. 0. 1. ]] SLAMing on 227.881346184 meters Centerline goodness : 0.867574 Centerline is valid? [False, False] Translation: X:-3.97, Y:-3.29, Z:-4.06 [[ 0.61032835 -0.75206461 -0.24879334 -3.97282038] [ 0.73102516 0.65571126 -0.1887987 -3.289477 ] [ 0.30512541 -0.066645 0.94997733 -4.06329244] [ 0. 0. 0. 1. ]] SLAMing on 227.911346184 meters Centerline goodness : 0.864063 Centerline is valid? [False, False] Translation: X:-4.04, Y:-3.38, Z:-4.10 [[ 0.61403594 -0.75011675 -0.24552949 -4.03984491] [ 0.72934151 0.65816297 -0.18676849 -3.37756356] [ 0.30169659 -0.06439229 0.951227 -4.10302968] [ 0. 0. 0. 1. ]] SLAMing on 227.941346184 meters Centerline goodness : 0.861528 Centerline is valid? [False, False] Translation: X:-4.09, Y:-3.45, Z:-4.14 [[ 0.61513664 -0.74918535 -0.24561802 -4.09485759] [ 0.7301772 0.65885777 -0.18096325 -3.45399123] [ 0.29740236 -0.06802756 0.95232562 -4.13855051] [ 0. 0. 0. 1. ]] SLAMing on 227.971346184 meters Centerline goodness : 0.861509 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.53, Z:-4.17 [[ 0.61717678 -0.74632534 -0.24918128 -4.15072968] [ 0.72887821 0.66157998 -0.17620583 -3.53007958] [ 0.29636022 -0.07287266 0.95229208 -4.17244563] [ 0. 0. 0. 1. ]] SLAMing on 228.001346184 meters Centerline goodness : 0.859704 Centerline is valid? [False, False] Translation: X:-4.21, Y:-3.60, Z:-4.20 [[ 0.61928652 -0.7439088 -0.25116509 -4.20673817] [ 0.72751002 0.66397873 -0.17280457 -3.60344703] [ 0.29531912 -0.07570957 0.95239418 -4.20461669] [ 0. 0. 0. 1. ]] SLAMing on 228.031346184 meters Centerline goodness : 0.859226 Centerline is valid? [False, False] Translation: X:-4.27, Y:-3.68, Z:-4.24 [[ 0.62416281 -0.74182739 -0.24517935 -4.26995218] [ 0.72481135 0.66693912 -0.17274464 -3.68416641] [ 0.29166641 -0.069888 0.95396351 -4.24023853] [ 0. 0. 0. 1. ]] SLAMing on 228.061346184 meters Centerline goodness : 0.857744 Centerline is valid? [False, False] Translation: X:-4.34, Y:-3.77, Z:-4.28 [[ 0.62829402 -0.7391715 -0.24263577 -4.33801665] [ 0.7218826 0.67019357 -0.17241259 -3.76761404] [ 0.2900554 -0.06682874 0.95467365 -4.27670698] [ 0. 0. 0. 1. ]] SLAMing on 228.091346184 meters Centerline goodness : 0.856711 Centerline is valid? [False, False] Translation: X:-4.40, Y:-3.84, Z:-4.31 [[ 0.63043177 -0.73600793 -0.24667411 -4.3962883 ] [ 0.72054116 0.67306649 -0.16673916 -3.84315898] [ 0.28874942 -0.07262118 0.9546465 -4.31038269] [ 0. 0. 0. 1. ]] SLAMing on 228.121346184 meters Centerline goodness : 0.857830 Centerline is valid? [False, False] Translation: X:-4.45, Y:-3.92, Z:-4.34 [[ 0.63250841 -0.73354876 -0.24867515 -4.45373816] [ 0.71926595 0.67538736 -0.16281402 -3.91512193] [ 0.28738408 -0.07588233 0.95480483 -4.34125429] [ 0. 0. 0. 1. ]] SLAMing on 228.151346184 meters Centerline goodness : 0.855118 Centerline is valid? [False, False] Translation: X:-4.52, Y:-3.99, Z:-4.38 [[ 0.63834064 -0.72981028 -0.24474103 -4.51749601] [ 0.71494621 0.67995037 -0.16284782 -3.9909815 ] [ 0.28525977 -0.07102429 0.95581505 -4.3751546 ] [ 0. 0. 0. 1. ]] SLAMing on 228.18134618399998 meters Centerline goodness : 0.853594 Centerline is valid? [False, False] Translation: X:-4.58, Y:-4.07, Z:-4.41 [[ 0.64514383 -0.72440682 -0.24294895 -4.58254438] [ 0.70869792 0.68617332 -0.16405316 -4.06660907] [ 0.28554631 -0.06633953 0.95606609 -4.40792151] [ 0. 0. 0. 1. ]] SLAMing on 228.21134618399998 meters Centerline goodness : 0.855299 Centerline is valid? [False, False] Translation: X:-4.64, Y:-4.13, Z:-4.44 [[ 0.6503117 -0.71864366 -0.24626404 -4.63748115] [ 0.70352965 0.69203374 -0.16166428 -4.13090562] [ 0.28660203 -0.06812189 0.95562476 -4.43651226] [ 0. 0. 0. 1. ]] SLAMing on 228.24134618399998 meters Centerline goodness : 0.851318 Centerline is valid? [False, False] Translation: X:-4.70, Y:-4.20, Z:-4.47 [[ 0.66091081 -0.70985348 -0.24352605 -4.69711901] [ 0.69355879 0.70169387 -0.16310093 -4.19784614] [ 0.2866585 -0.06110447 0.95608219 -4.46755178] [ 0. 0. 0. 1. ]] SLAMing on 228.27134618399998 meters Centerline goodness : 0.849630 Centerline is valid? [False, False] Translation: X:-4.76, Y:-4.27, Z:-4.50 [[ 0.66943542 -0.70234287 -0.24201386 -4.75997248] [ 0.68508481 0.70965592 -0.16446057 -4.26979469] [ 0.28725428 -0.05570429 0.95623324 -4.49961487] [ 0. 0. 0. 1. ]] SLAMing on 228.30134618399998 meters Centerline goodness : 0.851058 Centerline is valid? [False, False] Translation: X:-4.82, Y:-4.34, Z:-4.53 [[ 0.67815547 -0.69486328 -0.23931189 -4.82360064] [ 0.67646375 0.71746173 -0.16626927 -4.33987499] [ 0.28723154 -0.0491294 0.95660041 -4.53076454] [ 0. 0. 0. 1. ]] SLAMing on 228.33134618399998 meters Centerline goodness : 0.849965 Centerline is valid? [False, False] Translation: X:-4.88, Y:-4.41, Z:-4.56 [[ 0.68925989 -0.68442225 -0.23766994 -4.88452583] [ 0.66522906 0.72780268 -0.16665398 -4.40610547] [ 0.28703851 -0.04323705 0.95694276 -4.56127077] [ 0. 0. 0. 1. ]] SLAMing on 228.36134618399998 meters Centerline goodness : 0.849605 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.48, Z:-4.59 [[ 0.6988437 -0.67483972 -0.23708403 -4.94882525] [ 0.65521446 0.7369244 -0.16624214 -4.47704148] [ 0.28689981 -0.03916361 0.95715971 -4.5940667 ] [ 0. 0. 0. 1. ]] SLAMing on 228.39134618399999 meters Centerline goodness : 0.849905 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.47, Z:-4.60 [[ 0.70069435 -0.67319216 -0.23630435 -4.94776456] [ 0.65323674 0.73852162 -0.16693587 -4.47484281] [ 0.28689579 -0.03739166 0.95723177 -4.59611965] [ 0. 0. 0. 1. ]] SLAMing on 228.421346184 meters Centerline goodness : 0.848079 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.47, Z:-4.60 [[ 0.70249483 -0.67161949 -0.23543213 -4.94673143] [ 0.65132621 0.74004242 -0.16766453 -4.47205305] [ 0.28683652 -0.03555965 0.95731934 -4.59868872] [ 0. 0. 0. 1. ]] SLAMing on 228.451346184 meters Centerline goodness : 0.849611 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.47, Z:-4.60 [[ 0.7072252 -0.66783394 -0.23201367 -4.9493621 ] [ 0.64699422 0.74366415 -0.16841054 -4.4720285 ] [ 0.28501052 -0.03100732 0.95802273 -4.60186385] [ 0. 0. 0. 1. ]] SLAMing on 228.481346184 meters Centerline goodness : 0.850649 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.47, Z:-4.60 [[ 0.7094057 -0.66587571 -0.23098288 -4.95048781] [ 0.64487922 0.74548195 -0.16848576 -4.47087447] [ 0.28438415 -0.0294313 0.95825855 -4.60306632] [ 0. 0. 0. 1. ]] SLAMing on 228.511346184 meters Centerline goodness : 0.850386 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.47, Z:-4.61 [[ 0.71194355 -0.66265118 -0.23244309 -4.9484048 ] [ 0.64190558 0.74832164 -0.16724817 -4.46754407] [ 0.28476939 -0.03013526 0.95812226 -4.60552041] [ 0. 0. 0. 1. ]] SLAMing on 228.541346184 meters Centerline goodness : 0.852822 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.47, Z:-4.60 [[ 0.71805025 -0.65340332 -0.23972472 -4.9481818 ] [ 0.62952428 0.75662779 -0.17667364 -4.47180576] [ 0.29682152 -0.02405198 0.95463003 -4.59768221] [ 0. 0. 0. 1. ]] SLAMing on 228.571346184 meters Centerline goodness : 0.852609 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.47, Z:-4.60 [[ 0.7194733 -0.65230294 -0.23845135 -4.94881856] [ 0.628142 0.75763237 -0.17728741 -4.47170795] [ 0.29630356 -0.02222775 0.95483513 -4.59831684] [ 0. 0. 0. 1. ]] SLAMing on 228.601346184 meters Centerline goodness : 0.851579 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.47, Z:-4.60 [[ 0.72110305 -0.65074176 -0.23779309 -4.94877395] [ 0.62656856 0.75899887 -0.17701002 -4.47155506] [ 0.2956725 -0.02135121 0.95505073 -4.5993181 ] [ 0. 0. 0. 1. ]] SLAMing on 228.631346184 meters Centerline goodness : 0.850665 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.48, Z:-4.59 [[ 0.72451662 -0.64432318 -0.2447924 -4.94807357] [ 0.61705851 0.76458214 -0.18615305 -4.47751126] [ 0.30710662 -0.01618026 0.95153756 -4.59026583] [ 0. 0. 0. 1. ]] SLAMing on 228.661346184 meters Centerline goodness : 0.852100 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.48, Z:-4.59 [[ 0.72493224 -0.6444066 -0.24333799 -4.94754918] [ 0.6168539 0.76454452 -0.18698379 -4.47737979] [ 0.30653632 -0.01455341 0.9517477 -4.59151905] [ 0. 0. 0. 1. ]] SLAMing on 228.691346184 meters Centerline goodness : 0.853774 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.48, Z:-4.59 [[ 0.72514781 -0.6453241 -0.24024458 -4.94841338] [ 0.6171914 0.76382434 -0.18880451 -4.47873129] [ 0.30534476 -0.01136571 0.95217404 -4.59238083] [ 0. 0. 0. 1. ]] SLAMing on 228.721346184 meters Centerline goodness : 0.851437 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.48, Z:-4.59 [[ 0.72417065 -0.64754501 -0.23719683 -4.94797306] [ 0.61880481 0.76197993 -0.19096385 -4.47963735] [ 0.30439691 -0.00848813 0.95250746 -4.59327202] [ 0. 0. 0. 1. ]] SLAMing on 228.751346184 meters Centerline goodness : 0.851393 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.48, Z:-4.59 [[ 0.72425538 -0.64792942 -0.23588476 -4.94832058] [ 0.61898117 0.76166626 -0.19164244 -4.47959973] [ 0.30383623 -0.00721016 0.95269699 -4.59382941] [ 0. 0. 0. 1. ]] SLAMing on 228.781346184 meters Centerline goodness : 0.851862 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.48, Z:-4.60 [[ 0.72477664 -0.64810523 -0.23379143 -4.94862683] [ 0.61887702 0.76153328 -0.19250533 -4.48038498] [ 0.30280366 -0.00516478 0.95303896 -4.59506558] [ 0. 0. 0. 1. ]] SLAMing on 228.811346184 meters Centerline goodness : 0.852735 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.48, Z:-4.60 [[ 7.24625431e-01 -6.49054670e-01 -2.31616106e-01 -4.94918039e+00] [ 6.19376211e-01 7.60736435e-01 -1.94044285e-01 -4.48139689e+00] [ 3.02144160e-01 -2.84808228e-03 9.53257990e-01 -4.59524978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.841346184 meters Centerline goodness : 0.853236 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.48, Z:-4.60 [[ 7.24713318e-01 -6.50018579e-01 -2.28618577e-01 -4.94874861e+00] [ 6.19915687e-01 7.59918315e-01 -1.95521597e-01 -4.48436874e+00] [ 3.00824114e-01 -2.71366074e-05 9.53679638e-01 -4.59613450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.871346184 meters Centerline goodness : 0.852392 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.48, Z:-4.60 [[ 7.25075174e-01 -6.50211374e-01 -2.26916638e-01 -4.94845849e+00] [ 6.19714672e-01 7.59750524e-01 -1.96806674e-01 -4.48488457e+00] [ 3.00365973e-01 2.07606336e-03 9.53821772e-01 -4.59682914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.901346184 meters Centerline goodness : 0.853911 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.49, Z:-4.60 [[ 0.72663155 -0.65029616 -0.22163369 -4.94832128] [ 0.61918176 0.75964592 -0.19887689 -4.48736887] [ 0.29769201 0.00727869 0.95463422 -4.6008153 ] [ 0. 0. 0. 1. ]] SLAMing on 228.93134618399998 meters Centerline goodness : 0.855248 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.49, Z:-4.60 [[ 0.72773878 -0.64974456 -0.21960937 -4.94804327] [ 0.61834074 0.760092 -0.19978707 -4.48854796] [ 0.29673389 0.00959938 0.95491196 -4.60227578] [ 0. 0. 0. 1. ]] SLAMing on 228.96134618399998 meters Centerline goodness : 0.854347 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.49, Z:-4.60 [[ 0.72924963 -0.64832924 -0.21877882 -4.94707707] [ 0.61692701 0.76128637 -0.19960995 -4.48983066] [ 0.2959663 0.01059492 0.95513962 -4.60365575] [ 0. 0. 0. 1. ]] SLAMing on 228.99134618399998 meters Centerline goodness : 0.855562 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.49, Z:-4.61 [[ 0.73150938 -0.64632468 -0.21715992 -4.9470208 ] [ 0.61491963 0.76296291 -0.19940274 -4.49182538] [ 0.29456388 0.01232907 0.95555226 -4.60556264] [ 0. 0. 0. 1. ]] SLAMing on 229.02134618399998 meters Centerline goodness : 0.858461 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.49, Z:-4.61 [[ 0.73442576 -0.64282858 -0.21769293 -4.94509229] [ 0.61154548 0.76590557 -0.19849631 -4.49137972] [ 0.29433133 0.01265168 0.9556197 -4.60767765] [ 0. 0. 0. 1. ]] SLAMing on 229.05134618399998 meters Centerline goodness : 0.860409 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.50, Z:-4.61 [[ 0.74077348 -0.63669631 -0.21417856 -4.94687051] [ 0.60586742 0.77095509 -0.19634898 -4.49677133] [ 0.29013672 0.01568631 0.95685664 -4.6124443 ] [ 0. 0. 0. 1. ]] SLAMing on 229.08134618399998 meters Centerline goodness : 0.862370 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.50, Z:-4.61 [[ 0.74366054 -0.63382042 -0.21269857 -4.94737114] [ 0.60316875 0.77329191 -0.1954663 -4.49897266] [ 0.28836861 0.01706744 0.95736735 -4.61463263] [ 0. 0. 0. 1. ]] SLAMing on 229.11134618399998 meters Centerline goodness : 0.862779 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.50, Z:-4.62 [[ 0.74602061 -0.63165964 -0.21085387 -4.94727436] [ 0.60108712 0.77501878 -0.19503888 -4.50108977] [ 0.2866139 0.01876148 0.95786245 -4.61726553] [ 0. 0. 0. 1. ]] SLAMing on 229.14134618399999 meters Centerline goodness : 0.867864 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.51, Z:-4.62 [[ 0.75207827 -0.62559812 -0.20737713 -4.94937383] [ 0.59558766 0.77985308 -0.19262531 -4.50803099] [ 0.28222973 0.02135805 0.95910907 -4.62147276] [ 0. 0. 0. 1. ]] SLAMing on 229.171346184 meters Centerline goodness : 0.869751 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.51, Z:-4.62 [[ 0.75448365 -0.62299921 -0.20646162 -4.94904368] [ 0.59330683 0.78191781 -0.19128918 -4.51024961] [ 0.28060902 0.02182947 0.95957389 -4.62366533] [ 0. 0. 0. 1. ]] SLAMing on 229.201346184 meters Centerline goodness : 0.868265 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.52, Z:-4.63 [[ 0.75958556 -0.61809162 -0.20246608 -4.95089891] [ 0.58899093 0.78573026 -0.18899109 -4.51633851] [ 0.27589754 0.02430422 0.96087973 -4.62839883] [ 0. 0. 0. 1. ]] SLAMing on 229.231346184 meters Centerline goodness : 0.866635 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.52, Z:-4.63 [[ 0.76193893 -0.61560592 -0.20119249 -4.9509449 ] [ 0.58665582 0.78764363 -0.18828824 -4.51776513] [ 0.27437934 0.02543339 0.96128514 -4.63092968] [ 0. 0. 0. 1. ]] SLAMing on 229.261346184 meters Centerline goodness : 0.868724 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.52, Z:-4.63 [[ 0.76420378 -0.61363343 -0.19861167 -4.95138179] [ 0.58471768 0.78910541 -0.1881964 -4.52016548] [ 0.27220914 0.02768864 0.96183965 -4.6339854 ] [ 0. 0. 0. 1. ]] SLAMing on 229.291346184 meters Centerline goodness : 0.868872 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.53, Z:-4.64 [[ 0.76905384 -0.60817971 -0.19665611 -4.95336905] [ 0.58006337 0.79329996 -0.18493692 -4.52549095] [ 0.26848216 0.02815344 0.96287315 -4.63700256] [ 0. 0. 0. 1. ]] SLAMing on 229.321346184 meters Centerline goodness : 0.867287 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.53, Z:-4.64 [[ 0.77085938 -0.6063771 -0.19514773 -4.95429356] [ 0.57841365 0.7946397 -0.18435128 -4.52688207] [ 0.26685853 0.0292328 0.96329225 -4.63879827] [ 0. 0. 0. 1. ]] SLAMing on 229.351346184 meters Centerline goodness : 0.867287 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.53, Z:-4.64 [[ 0.77085938 -0.6063771 -0.19514773 -4.95429356] [ 0.57841365 0.7946397 -0.18435128 -4.52688207] [ 0.26685853 0.0292328 0.96329225 -4.63879827] [ 0. 0. 0. 1. ]] SLAMing on 229.381346184 meters Centerline goodness : 0.866036 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.53, Z:-4.64 [[ 0.77231717 -0.60506987 -0.19343381 -4.95499139] [ 0.5771061 0.79557682 -0.18440736 -4.52782241] [ 0.26547079 0.03078914 0.96362715 -4.6407203 ] [ 0. 0. 0. 1. ]] SLAMing on 229.411346184 meters Centerline goodness : 0.858081 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.53, Z:-4.64 [[ 0.77370898 -0.60402442 -0.1911254 -4.95358732] [ 0.57595487 0.79628104 -0.1849662 -4.52769265] [ 0.26391363 0.03303041 0.96398059 -4.64468122] [ 0. 0. 0. 1. ]] SLAMing on 229.441346184 meters Centerline goodness : 0.858555 Centerline is valid? [False, False] Translation: X:-4.93, Y:-4.52, Z:-4.67 [[ 0.77221858 -0.60053265 -0.20745842 -4.93089824] [ 0.57819044 0.79958175 -0.16237252 -4.51581554] [ 0.26338997 0.0054366 0.96467412 -4.66989797] [ 0. 0. 0. 1. ]] SLAMing on 229.471346184 meters Centerline goodness : 0.857728 Centerline is valid? [False, False] Translation: X:-4.96, Y:-4.53, Z:-4.66 [[ 0.7738593 -0.6100045 -0.1704004 -4.96373917] [ 0.58828673 0.79196353 -0.16343954 -4.53460094] [ 0.23464976 0.02623491 0.9717259 -4.65588038] [ 0. 0. 0. 1. ]] SLAMing on 229.501346184 meters Centerline goodness : 0.856559 Centerline is valid? [False, False] Translation: X:-4.96, Y:-4.53, Z:-4.66 [[ 0.77381747 -0.60971618 -0.17161791 -4.96054089] [ 0.58808849 0.79222133 -0.1629027 -4.53307694] [ 0.23528378 0.02513044 0.97160177 -4.65733013] [ 0. 0. 0. 1. ]] SLAMing on 229.531346184 meters Centerline goodness : 0.853869 Centerline is valid? [False, False] Translation: X:-4.93, Y:-4.52, Z:-4.68 [[ 7.71714626e-01 -6.07226202e-01 -1.89031416e-01 -4.93203525e+00] [ 5.90724981e-01 7.94522811e-01 -1.40632501e-01 -4.51921235e+00] [ 2.35585512e-01 -3.13742157e-03 9.71848560e-01 -4.67983898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.561346184 meters Centerline goodness : 0.853340 Centerline is valid? [False, False] Translation: X:-4.93, Y:-4.52, Z:-4.68 [[ 7.71190638e-01 -6.11078135e-01 -1.78461517e-01 -4.93118981e+00] [ 5.95545605e-01 7.91569970e-01 -1.36902939e-01 -4.51707632e+00] [ 2.24923171e-01 -7.03707495e-04 9.74376248e-01 -4.67877193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.591346184 meters Centerline goodness : 0.850492 Centerline is valid? [False, False] Translation: X:-4.93, Y:-4.52, Z:-4.68 [[ 7.70169042e-01 -6.12488700e-01 -1.78037185e-01 -4.92844513e+00] [ 5.96752764e-01 7.90479343e-01 -1.37943998e-01 -4.51760434e+00] [ 2.25223857e-01 -3.98572643e-06 9.74307043e-01 -4.67975551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.621346184 meters Centerline goodness : 0.849845 Centerline is valid? [False, False] Translation: X:-4.93, Y:-4.52, Z:-4.68 [[ 7.69024789e-01 -6.14315627e-01 -1.76683851e-01 -4.92655643e+00] [ 5.98285151e-01 7.89058936e-01 -1.39430532e-01 -4.51863343e+00] [ 2.25068326e-01 1.51821111e-03 9.74341800e-01 -4.68068535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.651346184 meters Centerline goodness : 0.850009 Centerline is valid? [False, False] Translation: X:-4.92, Y:-4.52, Z:-4.68 [[ 7.67660724e-01 -6.16090181e-01 -1.76436681e-01 -4.92144010e+00] [ 6.00027991e-01 7.87674329e-01 -1.39769674e-01 -4.52059409e+00] [ 2.25085368e-01 1.42874188e-03 9.74337999e-01 -4.68257324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68134618399998 meters Centerline goodness : 0.876882 Centerline is valid? [False, False] Translation: X:-4.92, Y:-4.52, Z:-4.68 [[ 7.66995619e-01 -6.16789812e-01 -1.76884282e-01 -4.92015815e+00] [ 6.00792468e-01 7.87127516e-01 -1.39566056e-01 -4.52253710e+00] [ 2.25313407e-01 7.75808806e-04 9.74286029e-01 -4.68152446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71134618399998 meters Centerline goodness : 0.852375 Centerline is valid? [False, False] Translation: X:-4.92, Y:-4.52, Z:-4.68 [[ 7.66673100e-01 -6.16606198e-01 -1.78911021e-01 -4.91579032e+00] [ 6.00945457e-01 7.87270031e-01 -1.38095820e-01 -4.52225473e+00] [ 2.26002024e-01 -1.64141486e-03 9.74125449e-01 -4.68249057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74134618399998 meters Centerline goodness : 0.856709 Centerline is valid? [False, False] Translation: X:-4.91, Y:-4.53, Z:-4.68 [[ 7.66244673e-01 -6.20799321e-01 -1.65762795e-01 -4.91449576e+00] [ 6.05961461e-01 7.83963936e-01 -1.34949084e-01 -4.52638853e+00] [ 2.13728353e-01 2.95815146e-03 9.76888653e-01 -4.68163964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77134618399998 meters Centerline goodness : 0.858014 Centerline is valid? [False, False] Translation: X:-4.91, Y:-4.53, Z:-4.68 [[ 7.65713514e-01 -6.21844958e-01 -1.64291397e-01 -4.91135679e+00] [ 6.06803321e-01 7.83127688e-01 -1.36017478e-01 -4.52905280e+00] [ 2.13242925e-01 4.45785583e-03 9.76989039e-01 -4.68346622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80134618399998 meters Centerline goodness : 0.858534 Centerline is valid? [False, False] Translation: X:-4.91, Y:-4.53, Z:-4.69 [[ 0.76581369 -0.62207259 -0.16295732 -4.9085029 ] [ 0.60690249 0.78293839 -0.13666328 -4.53185145] [ 0.21260002 0.0057594 0.97712234 -4.68557794] [ 0. 0. 0. 1. ]] SLAMing on 229.83134618399998 meters Centerline goodness : 0.860284 Centerline is valid? [False, False] Translation: X:-4.91, Y:-4.54, Z:-4.68 [[ 0.76851435 -0.62045583 -0.15626982 -4.91045601] [ 0.60385567 0.78408074 -0.14344239 -4.54451151] [ 0.21152782 0.01587312 0.97724307 -4.67645772] [ 0. 0. 0. 1. ]] SLAMing on 229.86134618399998 meters Centerline goodness : 0.859334 Centerline is valid? [False, False] Translation: X:-4.91, Y:-4.55, Z:-4.68 [[ 0.77010491 -0.61855621 -0.15597001 -4.90954727] [ 0.60232259 0.78559558 -0.1415877 -4.54895611] [ 0.2101093 0.01509312 0.97756139 -4.6775904 ] [ 0. 0. 0. 1. ]] SLAMing on 229.89134618399999 meters Centerline goodness : 0.861243 Centerline is valid? [False, False] Translation: X:-4.91, Y:-4.55, Z:-4.68 [[ 0.77178031 -0.61639908 -0.15622841 -4.90785917] [ 0.6004409 0.78730392 -0.14008302 -4.55224472] [ 0.20934629 0.01430739 0.97773689 -4.6788198 ] [ 0. 0. 0. 1. ]] SLAMing on 229.921346184 meters Centerline goodness : 0.859677 Centerline is valid? [False, False] Translation: X:-4.91, Y:-4.56, Z:-4.68 [[ 0.77491673 -0.61318234 -0.15333458 -4.90777261] [ 0.59757578 0.78978787 -0.13834128 -4.56415998] [ 0.20593022 0.01557395 0.97844274 -4.68025814] [ 0. 0. 0. 1. ]] SLAMing on 229.951346184 meters Centerline goodness : 0.859988 Centerline is valid? [False, False] Translation: X:-4.91, Y:-4.57, Z:-4.68 [[ 0.77618401 -0.61200556 -0.15161657 -4.90760119] [ 0.5965709 0.79068517 -0.13755042 -4.57080814] [ 0.2040626 0.0163144 0.97882189 -4.68105997] [ 0. 0. 0. 1. ]] SLAMing on 229.981346184 meters Centerline goodness : 0.859208 Centerline is valid? [False, False] Translation: X:-4.91, Y:-4.58, Z:-4.68 [[ 0.77712847 -0.61122765 -0.14990697 -4.90761974] [ 0.59585598 0.79126367 -0.13732245 -4.57634762] [ 0.20255122 0.01739423 0.97911718 -4.68166069] [ 0. 0. 0. 1. ]] SLAMing on 230.011346184 meters Centerline goodness : 0.853591 Centerline is valid? [False, False] Translation: X:-4.91, Y:-4.59, Z:-4.68 [[ 0.77807644 -0.61088089 -0.14636121 -4.90677247] [ 0.59548422 0.79146926 -0.13774961 -4.58630849] [ 0.199989 0.02002393 0.97959351 -4.683006 ] [ 0. 0. 0. 1. ]] SLAMing on 230.041346184 meters Centerline goodness : 0.851353 Centerline is valid? [False, False] Translation: X:-4.90, Y:-4.59, Z:-4.69 [[ 0.77808237 -0.61125539 -0.14475727 -4.90274313] [ 0.59581707 0.79114817 -0.1381542 -4.58900631] [ 0.19897195 0.02124649 0.97977485 -4.68685981] [ 0. 0. 0. 1. ]] SLAMing on 230.071346184 meters Centerline goodness : 0.849919 Centerline is valid? [False, False] Translation: X:-4.90, Y:-4.59, Z:-4.69 [[ 0.77786955 -0.61184643 -0.14339773 -4.90020446] [ 0.59648563 0.79067644 -0.13796976 -4.59382318] [ 0.19779751 0.02178779 0.98000073 -4.6885718 ] [ 0. 0. 0. 1. ]] SLAMing on 230.101346184 meters Centerline goodness : 0.862177 Centerline is valid? [False, False] Translation: X:-4.90, Y:-4.60, Z:-4.69 [[ 0.77724586 -0.61271576 -0.14306735 -4.89687615] [ 0.59780429 0.79004883 -0.13584134 -4.60301529] [ 0.19626232 0.02005584 0.9803463 -4.68823943] [ 0. 0. 0. 1. ]] SLAMing on 230.131346184 meters Centerline goodness : 0.861669 Centerline is valid? [False, False] Translation: X:-4.89, Y:-4.61, Z:-4.69 [[ 0.7768871 -0.61313461 -0.14322146 -4.89255543] [ 0.59843638 0.78974967 -0.13479374 -4.60574907] [ 0.19575581 0.01901058 0.98046839 -4.69044376] [ 0. 0. 0. 1. ]] SLAMing on 230.161346184 meters Centerline goodness : 0.862361 Centerline is valid? [False, False] Translation: X:-4.89, Y:-4.61, Z:-4.69 [[ 0.77704407 -0.61346561 -0.14093422 -4.89005228] [ 0.59880512 0.78945778 -0.134866 -4.61144475] [ 0.19399726 0.02040469 0.98078984 -4.69335641] [ 0. 0. 0. 1. ]] SLAMing on 230.191346184 meters Centerline goodness : 0.860801 Centerline is valid? [False, False] Translation: X:-4.89, Y:-4.62, Z:-4.69 [[ 0.77719683 -0.61394829 -0.13795863 -4.8895863 ] [ 0.59919566 0.78901662 -0.13571047 -4.61958257] [ 0.19217086 0.02280953 0.98109637 -4.69401383] [ 0. 0. 0. 1. ]] SLAMing on 230.221346184 meters Centerline goodness : 0.858134 Centerline is valid? [False, False] Translation: X:-4.88, Y:-4.63, Z:-4.70 [[ 0.77790029 -0.6137157 -0.13499694 -4.88468608] [ 0.59947311 0.78919601 -0.13342283 -4.63269837] [ 0.18842273 0.02286262 0.98182187 -4.69923745] [ 0. 0. 0. 1. ]] SLAMing on 230.251346184 meters Centerline goodness : 0.856995 Centerline is valid? [False, False] Translation: X:-4.88, Y:-4.64, Z:-4.70 [[ 0.77789927 -0.61635592 -0.12238509 -4.88468437] [ 0.60412162 0.78713889 -0.12429575 -4.63963627] [ 0.17294448 0.02275409 0.9846687 -4.70404969] [ 0. 0. 0. 1. ]] SLAMing on 230.281346184 meters Centerline goodness : 0.856191 Centerline is valid? [False, False] Translation: X:-4.88, Y:-4.65, Z:-4.70 [[ 0.77803284 -0.61669451 -0.1198031 -4.88427799] [ 0.60446564 0.78681929 -0.12464629 -4.64818157] [ 0.17113207 0.02456205 0.98494189 -4.70422044] [ 0. 0. 0. 1. ]] SLAMing on 230.311346184 meters Centerline goodness : 0.854576 Centerline is valid? [False, False] Translation: X:-4.88, Y:-4.66, Z:-4.71 [[ 0.77876244 -0.61519178 -0.12275235 -4.87576821] [ 0.60407276 0.78818218 -0.11774951 -4.65804924] [ 0.16918974 0.01754755 0.98542727 -4.70820608] [ 0. 0. 0. 1. ]] SLAMing on 230.341346184 meters Centerline goodness : 0.850534 Centerline is valid? [False, False] Translation: X:-4.87, Y:-4.66, Z:-4.71 [[ 0.77906311 -0.6144335 -0.12462806 -4.87094229] [ 0.60369292 0.78883357 -0.11531022 -4.66127654] [ 0.16916126 0.01459686 0.98548029 -4.70915787] [ 0. 0. 0. 1. ]] SLAMing on 230.371346184 meters Centerline goodness : 0.849705 Centerline is valid? [False, False] Translation: X:-4.87, Y:-4.66, Z:-4.71 [[ 0.77914761 -0.61401768 -0.12614 -4.86512465] [ 0.60358427 0.78919806 -0.11336865 -4.66413357] [ 0.1691598 0.01219479 0.98551319 -4.71117532] [ 0. 0. 0. 1. ]] SLAMing on 230.40134618399998 meters Centerline goodness : 0.845858 Centerline is valid? [False, False] Translation: X:-4.85, Y:-4.67, Z:-4.72 [[ 7.78446636e-01 -6.13601385e-01 -1.32341130e-01 -4.85041013e+00] [ 6.03898503e-01 7.89601541e-01 -1.08793400e-01 -4.66748034e+00] [ 1.71252541e-01 4.76924641e-03 9.85215622e-01 -4.71811021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43134618399998 meters Centerline goodness : 0.841433 Centerline is valid? [False, False] Translation: X:-4.84, Y:-4.67, Z:-4.72 [[ 7.78399013e-01 -6.10882876e-01 -1.44627410e-01 -4.84301967e+00] [ 6.00269025e-01 7.91719659e-01 -1.13389058e-01 -4.67037862e+00] [ 1.83771798e-01 1.44657706e-03 9.82967870e-01 -4.71998121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46134618399998 meters Centerline goodness : 0.838413 Centerline is valid? [False, False] Translation: X:-4.84, Y:-4.67, Z:-4.72 [[ 7.78419795e-01 -6.10597794e-01 -1.45715324e-01 -4.83697858e+00] [ 6.00248912e-01 7.91940797e-01 -1.11942027e-01 -4.67287657e+00] [ 1.83749465e-01 -3.27574963e-04 9.82973055e-01 -4.72246242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49134618399998 meters Centerline goodness : 0.837198 Centerline is valid? [False, False] Translation: X:-4.83, Y:-4.69, Z:-4.73 [[ 7.79259300e-01 -6.10134044e-01 -1.43148146e-01 -4.82955670e+00] [ 6.00382480e-01 7.92297185e-01 -1.08655642e-01 -4.68596305e+00] [ 1.79710380e-01 -1.27271936e-03 9.83718740e-01 -4.73113383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52134618399998 meters Centerline goodness : 0.833925 Centerline is valid? [False, False] Translation: X:-4.82, Y:-4.69, Z:-4.73 [[ 0.78048398 -0.60557225 -0.1553287 -4.82233447] [ 0.5951477 0.7957744 -0.11199244 -4.690881 ] [ 0.19142612 -0.00503521 0.98149411 -4.73398839] [ 0. 0. 0. 1. ]] SLAMing on 230.55134618399998 meters Centerline goodness : 0.828816 Centerline is valid? [False, False] Translation: X:-4.82, Y:-4.69, Z:-4.74 [[ 0.78189845 -0.60332121 -0.15696602 -4.81836137] [ 0.59334444 0.79746302 -0.10952217 -4.69415143] [ 0.19125165 -0.0074997 0.98151239 -4.73530847] [ 0. 0. 0. 1. ]] SLAMing on 230.58134618399998 meters Centerline goodness : 0.307561 Centerline is valid? [False, False] Translation: X:-4.81, Y:-4.70, Z:-4.74 [[ 0.78479629 -0.59828242 -0.16171868 -4.80975512] [ 0.58982197 0.80113073 -0.10148695 -4.70126476] [ 0.19027566 -0.01573865 0.98160454 -4.73950735] [ 0. 0. 0. 1. ]] SLAMing on 230.61134618399998 meters Centerline goodness : 0.816738 Centerline is valid? [False, False] Translation: X:-4.81, Y:-4.71, Z:-4.74 [[ 0.78580381 -0.59678399 -0.16236147 -4.80660105] [ 0.58865009 0.80221686 -0.09969543 -4.70516161] [ 0.18974574 -0.01723304 0.98168201 -4.74082501] [ 0. 0. 0. 1. ]] SLAMing on 230.64134618399999 meters Centerline goodness : 0.301206 Centerline is valid? [False, False] Translation: X:-4.80, Y:-4.71, Z:-4.74 [[ 0.78684655 -0.59224497 -0.17354654 -4.80099897] [ 0.58350055 0.80551092 -0.10334057 -4.71097614] [ 0.20099656 -0.01995133 0.97938875 -4.7439519 ] [ 0. 0. 0. 1. ]] SLAMing on 230.671346184 meters Centerline goodness : 0.296469 Centerline is valid? [False, False] Translation: X:-4.80, Y:-4.71, Z:-4.75 [[ 0.78787815 -0.59075233 -0.17395318 -4.79559411] [ 0.58232972 0.8065739 -0.10163973 -4.71475305] [ 0.20035 -0.02121838 0.97949459 -4.74729141] [ 0. 0. 0. 1. ]] SLAMing on 230.701346184 meters Centerline goodness : 0.291616 Centerline is valid? [False, False] Translation: X:-4.79, Y:-4.72, Z:-4.75 [[ 0.78910022 -0.58937755 -0.17307495 -4.78943889] [ 0.58128274 0.80756153 -0.09977351 -4.72377424] [ 0.19857294 -0.02187419 0.97984198 -4.75134437] [ 0. 0. 0. 1. ]] SLAMing on 230.731346184 meters Centerline goodness : 0.285156 Centerline is valid? [False, False] Translation: X:-4.79, Y:-4.73, Z:-4.75 [[ 0.78949226 -0.58832192 -0.17486934 -4.786041 ] [ 0.58063011 0.80826278 -0.09787726 -4.72575769] [ 0.19892372 -0.02426106 0.97971463 -4.75133826] [ 0. 0. 0. 1. ]] SLAMing on 230.761346184 meters Centerline goodness : 0.414858 Centerline is valid? [False, False] Translation: X:-4.78, Y:-4.73, Z:-4.75 [[ 0.78983866 -0.58355259 -0.18873597 -4.77910263] [ 0.57588483 0.81150486 -0.0990784 -4.73352808] [ 0.21097762 -0.03043423 0.97701699 -4.75113983] [ 0. 0. 0. 1. ]] SLAMing on 230.791346184 meters Centerline goodness : 0.268898 Centerline is valid? [False, False] Translation: X:-4.78, Y:-4.74, Z:-4.75 [[ 0.78964867 -0.58351472 -0.18964588 -4.77517736] [ 0.57615368 0.81147011 -0.09779159 -4.73634385] [ 0.2109548 -0.03204417 0.97697044 -4.75176627] [ 0. 0. 0. 1. ]] SLAMing on 230.821346184 meters Centerline goodness : 0.264255 Centerline is valid? [False, False] Translation: X:-4.77, Y:-4.74, Z:-4.75 [[ 0.78858342 -0.58437192 -0.19143054 -4.76934625] [ 0.57733559 0.8107619 -0.09668897 -4.73753847] [ 0.21170691 -0.03427234 0.9767321 -4.75223377] [ 0. 0. 0. 1. ]] SLAMing on 230.851346184 meters Centerline goodness : 0.257634 Centerline is valid? [False, False] Translation: X:-4.76, Y:-4.74, Z:-4.75 [[ 0.78664826 -0.58625851 -0.19361167 -4.76267831] [ 0.57956727 0.80928279 -0.09572427 -4.73819506] [ 0.21280576 -0.03690966 0.97639715 -4.75208962] [ 0. 0. 0. 1. ]] SLAMing on 230.881346184 meters Centerline goodness : 0.239818 Centerline is valid? [False, False] Translation: X:-4.74, Y:-4.74, Z:-4.75 [[ 0.77894889 -0.59306038 -0.2037597 -4.74256925] [ 0.58731602 0.80383459 -0.09439198 -4.73529219] [ 0.21976924 -0.0461448 0.97445992 -4.75027155] [ 0. 0. 0. 1. ]] SLAMing on 230.911346184 meters Centerline goodness : 0.232119 Centerline is valid? [False, False] Translation: X:-4.74, Y:-4.74, Z:-4.75 [[ 0.77470241 -0.59808446 -0.20525875 -4.73569827] [ 0.59231255 0.8000214 -0.09555938 -4.73648048] [ 0.22136397 -0.04754725 0.97403144 -4.74769884] [ 0. 0. 0. 1. ]] SLAMing on 230.941346184 meters Centerline goodness : 0.225375 Centerline is valid? [False, False] Translation: X:-4.72, Y:-4.73, Z:-4.75 [[ 0.76948306 -0.6029454 -0.21060073 -4.72376189] [ 0.59779138 0.79602441 -0.09481885 -4.73481582] [ 0.22481391 -0.0529338 0.97296285 -4.74500511] [ 0. 0. 0. 1. ]] SLAMing on 230.971346184 meters Centerline goodness : 0.721691 Centerline is valid? [False, False] Translation: X:-4.69, Y:-4.72, Z:-4.74 [[ 0.75486772 -0.62144637 -0.20971204 -4.69456417] [ 0.61982574 0.78047366 -0.08171245 -4.71859772] [ 0.21445463 -0.06830283 0.97434282 -4.74277409] [ 0. 0. 0. 1. ]] SLAMing on 231.001346184 meters Centerline goodness : 0.705852 Centerline is valid? [False, False] Translation: X:-4.68, Y:-4.71, Z:-4.74 [[ 0.74918897 -0.62826574 -0.20975712 -4.67672716] [ 0.62770069 0.77454172 -0.07795489 -4.70722894] [ 0.21144203 -0.07326174 0.97464095 -4.7423815 ] [ 0. 0. 0. 1. ]] SLAMing on 231.031346184 meters Centerline goodness : 0.390578 Centerline is valid? [False, False] Translation: X:-4.66, Y:-4.70, Z:-4.74 [[ 0.74356384 -0.63566396 -0.20747081 -4.66105206] [ 0.63599858 0.76812799 -0.07406214 -4.69795537] [ 0.20644277 -0.07688121 0.97543358 -4.74429553] [ 0. 0. 0. 1. ]] SLAMing on 231.061346184 meters Centerline goodness : 0.370018 Centerline is valid? [False, False] Translation: X:-4.62, Y:-4.67, Z:-4.74 [[ 0.73159633 -0.6498637 -0.20601935 -4.62157984] [ 0.65083091 0.75573363 -0.0727036 -4.66723698] [ 0.20294318 -0.08089407 0.97584333 -4.73976247] [ 0. 0. 0. 1. ]] SLAMing on 231.091346184 meters Centerline goodness : 0.365310 Centerline is valid? [False, False] Translation: X:-4.60, Y:-4.65, Z:-4.74 [[ 0.72616149 -0.6544167 -0.21078016 -4.59566809] [ 0.6582837 0.750255 -0.06148175 -4.64548958] [ 0.19837355 -0.09410746 0.97559813 -4.74104323] [ 0. 0. 0. 1. ]] SLAMing on 231.121346184 meters Centerline goodness : 0.434940 Centerline is valid? [False, False] Translation: X:-4.57, Y:-4.62, Z:-4.74 [[ 0.72141915 -0.65766481 -0.21686725 -4.56996849] [ 0.66455761 0.74554632 -0.05023811 -4.62044701] [ 0.19472441 -0.10787804 0.97490755 -4.74028562] [ 0. 0. 0. 1. ]] SLAMing on 231.15134618399998 meters Centerline goodness : 0.475519 Centerline is valid? [False, False] Translation: X:-4.53, Y:-4.57, Z:-4.73 [[ 0.71957277 -0.65916407 -0.21844394 -4.5300089 ] [ 0.66854258 0.74266208 -0.03877942 -4.57455633] [ 0.18779203 -0.11813446 0.97507866 -4.73268354] [ 0. 0. 0. 1. ]] SLAMing on 231.18134618399998 meters Centerline goodness : 0.555269 Centerline is valid? [False, False] Translation: X:-4.50, Y:-4.54, Z:-4.72 [[ 0.72060653 -0.6583218 -0.21757444 -4.50406149] [ 0.66787572 0.74334472 -0.0371571 -4.54220261] [ 0.18619414 -0.11853704 0.9753362 -4.72474333] [ 0. 0. 0. 1. ]] SLAMing on 231.21134618399998 meters Centerline goodness : 0.294013 Centerline is valid? [False, False] Translation: X:-4.47, Y:-4.49, Z:-4.72 [[ 0.72418692 -0.65644648 -0.21126127 -4.46548329] [ 0.66585006 0.74533421 -0.03347569 -4.49127555] [ 0.17943525 -0.11642567 0.97685621 -4.71807759] [ 0. 0. 0. 1. ]] SLAMing on 231.24134618399998 meters Centerline goodness : 0.572782 Centerline is valid? [False, False] Translation: X:-4.44, Y:-4.46, Z:-4.71 [[ 0.72539846 -0.65499521 -0.21160894 -4.43986696] [ 0.66457613 0.74651291 -0.03251224 -4.45738558] [ 0.17926417 -0.11704592 0.9768135 -4.71303099] [ 0. 0. 0. 1. ]] SLAMing on 231.27134618399998 meters Centerline goodness : 0.572782 Centerline is valid? [False, False] Translation: X:-4.44, Y:-4.46, Z:-4.71 [[ 0.72539846 -0.65499521 -0.21160894 -4.43986696] [ 0.66457613 0.74651291 -0.03251224 -4.45738558] [ 0.17926417 -0.11704592 0.9768135 -4.71303099] [ 0. 0. 0. 1. ]] SLAMing on 231.30134618399998 meters Centerline goodness : 0.368140 Centerline is valid? [False, False] Translation: X:-4.42, Y:-4.42, Z:-4.71 [[ 0.72637292 -0.65365722 -0.21240203 -4.41502323] [ 0.66345538 0.74754608 -0.03165163 -4.42276556] [ 0.17946962 -0.11792838 0.97666962 -4.70768816] [ 0. 0. 0. 1. ]] SLAMing on 231.33134618399998 meters Centerline goodness : 0.395061 Centerline is valid? [False, False] Translation: X:-4.39, Y:-4.39, Z:-4.70 [[ 0.72733104 -0.65242247 -0.21291893 -4.39130476] [ 0.66249025 0.74845589 -0.03033883 -4.3882724 ] [ 0.17915416 -0.11899034 0.97659873 -4.70262218] [ 0. 0. 0. 1. ]] SLAMing on 231.36134618399998 meters Centerline goodness : 0.369814 Centerline is valid? [False, False] Translation: X:-4.37, Y:-4.35, Z:-4.70 [[ 0.7279521 -0.65180766 -0.21267935 -4.36807244] [ 0.6619347 0.74897072 -0.02975416 -4.35230913] [ 0.17868459 -0.11912024 0.97666892 -4.69704737] [ 0. 0. 0. 1. ]] Total time of SLAM: 13944.69 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%| | 0/7713 [00:00